version: 66.06
glider: 148
mission: 9
dive: 213
start: 12 7 110 12 38 27
data:
$ID,148
$MISSION,9
$DIVE,213
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,600
$D_NO_BLEED,200
$D_BOOST,4
$D_FINISH,0
$D_PITCH,0
$D_SAFE,0
$D_CALL,0
$SURFACE_URGENCY,0
$SURFACE_URGENCY_TRY,0
$SURFACE_URGENCY_FORCE,0
$T_DIVE,166
$T_MISSION,350
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,4
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,0
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,150
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52499
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,1
$HD_A,0.003
$HD_B,0.0099999998
$HD_C,9.9999997e-06
$HEADING,-1
$ESCAPE_HEADING,180
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,450
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$KERMIT,0
$N_NOCOMM,1
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-862438.31
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,420
$PITCH_MAX,3705
$C_PITCH,2860
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.039999999
$PITCH_ADJ_DBAND,1.5
$ROLL_MIN,160
$ROLL_MAX,3940
$ROLL_DEG,45
$C_ROLL_DIVE,1790
$C_ROLL_CLIMB,1680
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,84
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,1
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,511
$VBD_MAX,3949
$C_VBD,3120
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,91.800003
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-11.449877
$PRESSURE_SLOPE,0.00011637
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,0
$ALTIM_BOTTOM_PING_RANGE,0
$ALTIM_TOP_PING_RANGE,0
$ALTIM_BOTTOM_TURN_MARGIN,0
$ALTIM_TOP_TURN_MARGIN,0
$ALTIM_TOP_MIN_OBSTACLE,1
$ALTIM_PING_DEPTH,0
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,3
$ALTIM_SENSITIVITY,3
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,53
$DEVICE4,35
$DEVICE5,87
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$COMPASS_DEVICE,33
$COMPASS2_DEVICE,-1
$PHONE_DEVICE,48
$GPS_DEVICE,32
$RAFOS_DEVICE,-1
$XPDR_DEVICE,24
$SIM_W,0
$SIM_PITCH,0
$SEABIRD_T_G,0.0043994542
$SEABIRD_T_H,0.00064267928
$SEABIRD_T_I,2.722389e-05
$SEABIRD_T_J,3.0868655e-06
$SEABIRD_C_G,-10.114415
$SEABIRD_C_H,1.1488829
$SEABIRD_C_I,-0.0023405037
$SEABIRD_C_J,0.00025300399
$GPS1,123158,2247.077,-15803.108,11,99.0,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-67.2
$GPS2,123732,2247.053,-15803.112,11,1.8,11,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.025,0.259
$KALMAN_X,-77733.4,-277.1,52.2,89571.8,333.7
$KALMAN_Y,8018.3,-22.8,62.5,116322.5,-72.0
$MHEAD_RNG_PITCHd_Wd,344.4,5461,-17.6,-10.040
$D_GRID,500
$GCHEAD,st_secs,pitch_ctl,vbd_ctl,depth,ob_vertv,data_pts,end_secs,pitch_secs,roll_secs,vbd_secs,vbd_i,gcphase,pitch_i,roll_i,pitch_ad,roll_ad,vbd_ad,pitch_retries,pitch_errors,roll_retries,roll_errors,vbd_retries,vbd_errors
$STATE,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.28,-145.9,0.0,0.0,0,105,0.00,0.00,-83.25,0.000,2,0.000,0.000,412,1832,3343,0,0,0,0,0,0
$GC,108,-1.28,-146.0,3.4,-4.3,11,132,11.93,2.40,-6.95,0.000,4,0.173,0.041,2571,3328,3716,0,0,0,0,0,0
$GC,262,-1.13,-146.0,37.6,-17.6,32,267,0.20,2.47,0.00,0.000,6,0.099,0.024,2615,1776,3718,0,0,0,0,0,0
$GC,530,-1.05,-146.0,73.3,-12.9,56,535,0.00,2.47,0.00,0.000,4,0.000,0.029,2615,3332,3719,0,0,0,0,0,0
$GC,552,-1.05,-146.0,77.0,-11.9,57,561,0.00,2.45,0.00,0.000,6,0.000,0.022,2615,1799,3719,0,0,0,0,0,0
$GC,812,-1.05,-146.0,103.9,-10.3,82,816,0.00,2.42,0.00,0.000,4,0.000,0.029,2615,3328,3720,0,0,0,0,0,0
$GC,860,-1.15,-146.0,108.4,-10.0,86,865,0.00,2.40,0.00,0.000,6,0.000,0.022,2615,1812,3721,0,0,0,0,0,0
$GC,1123,-1.24,-146.0,135.7,-9.0,110,1128,0.10,2.62,0.00,0.000,4,0.077,0.040,2557,204,3721,0,0,0,0,0,0
$GC,1155,-1.16,-146.0,139.5,-12.6,112,1165,0.17,2.47,0.00,0.000,6,0.074,0.019,2602,1783,3721,0,0,0,0,0,0
$GC,1415,-1.23,-146.0,165.4,-10.1,137,1420,0.00,2.53,0.00,0.000,4,0.000,0.031,2602,3367,3723,0,0,0,0,0,0
$GC,1504,-1.36,-146.0,173.6,-9.0,145,1509,0.17,2.45,0.00,0.000,6,0.044,0.023,2509,1819,3723,0,0,0,0,0,0
$GC,1762,-1.12,-146.0,213.2,-16.0,163,1765,0.50,0.00,0.00,0.000,6,0.087,0.000,2613,1818,3723,0,0,0,0,0,0
$GC,2007,-1.23,-146.0,237.1,-9.3,169,2011,0.00,2.45,0.00,0.000,4,0.000,0.031,2613,3358,3723,0,0,0,0,0,0
$GC,2050,-1.41,-146.0,241.2,-8.9,170,2055,0.25,2.42,0.00,0.000,6,0.035,0.025,2509,1833,3722,0,0,0,0,0,0
$GC,2338,-1.22,-146.0,282.6,-14.4,177,2345,0.35,2.62,0.00,0.000,4,0.088,0.040,2590,212,3723,0,0,0,0,0,0
$GC,2393,-1.38,-146.0,289.0,-10.8,178,2399,0.12,2.53,0.00,0.000,6,0.063,0.022,2525,1832,3723,0,0,0,0,0,0
$GC,2672,-1.27,-146.0,325.5,-13.5,185,2677,0.25,2.47,0.00,0.000,4,0.091,0.036,2584,3363,3723,0,0,0,0,0,0
$GC,2721,-1.37,-146.0,331.3,-10.3,186,2725,0.00,2.42,0.00,0.000,6,0.000,0.026,2583,1844,3723,0,0,0,0,0,0
$GC,3003,-1.44,-146.0,358.9,-9.6,193,3008,0.15,2.50,0.00,0.000,4,0.057,0.041,2513,3361,3722,0,0,0,0,0,0
$GC,3029,-1.36,-146.0,361.8,-12.0,193,3034,0.22,2.42,0.00,0.000,6,0.091,0.027,2563,1849,3722,0,0,0,0,0,0
$GC,3289,-1.36,-146.0,386.8,-9.5,200,3290,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1849,3721,0,0,0,0,0,0
$GC,3532,-1.36,-146.0,407.9,-8.6,206,3537,0.00,2.75,0.00,0.000,4,0.000,0.056,2563,216,3720,0,0,0,0,0,0
$GC,3557,-1.36,-146.0,410.0,-9.1,206,3562,0.00,2.60,0.00,0.000,6,0.000,0.028,2563,1849,3719,0,0,0,0,0,0
$GC,3816,-1.36,-146.0,432.9,-9.0,213,3817,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1849,3718,0,0,0,0,0,0
$GC,4060,-1.36,-146.0,455.5,-9.2,219,4064,0.00,2.50,0.00,0.000,4,0.000,0.048,2563,3362,3717,0,0,0,0,0,0
$GC,4083,-1.36,-146.0,457.8,-9.8,219,4088,0.00,2.45,0.00,0.000,6,0.000,0.031,2563,1853,3717,0,0,0,0,0,0
$GC,4344,-1.36,-146.0,483.3,-10.0,226,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,2563,1847,3714,0,0,0,0,0,0
$STATE,4543,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4543,begin apogee
$GC,4549,-0.31,0.0,503.6,10.0,231,4670,1.00,0.00,117.90,0.873,6,0.073,0.000,2791,1673,3120,0,0,0,0,0,0
$STATE,4671,end apogee,CONTROL_FINISHED_OK
$STATE,4671,begin climb
$GC,4673,1.28,146.0,508.9,0.0,234,4804,1.40,2.75,120.60,0.858,4,0.026,0.051,3152,3244,2522,0,0,0,0,0,0
$GC,4879,0.97,146.0,504.3,10.6,238,4888,0.40,2.62,0.00,0.000,6,0.112,0.038,3072,1686,2517,0,0,0,0,0,0
$GC,5132,0.88,190.4,483.6,8.0,245,5177,0.00,2.78,37.38,0.828,4,0.000,0.072,3071,167,2342,0,0,0,0,0,0
$GC,5225,0.69,190.4,474.5,11.2,247,5231,0.30,2.42,0.00,0.000,6,0.109,0.028,3010,1665,2338,0,0,0,0,0,0
$GC,5509,0.84,258.4,454.6,6.9,254,5570,0.12,0.00,58.53,0.831,6,0.067,0.000,3064,1665,2066,0,0,0,0,0,0
$GC,5792,0.84,258.4,423.8,11.2,261,5797,0.10,2.58,0.00,0.000,4,0.124,0.060,3043,166,2057,0,0,0,0,0,0
$GC,5827,0.84,258.4,419.8,11.7,261,5831,0.00,2.45,0.00,0.000,6,0.000,0.026,3043,1677,2056,0,0,0,0,0,0
$GC,6076,0.85,266.3,395.0,9.7,267,6088,0.00,2.67,6.30,0.639,4,0.000,0.060,3043,164,2034,0,0,0,0,0,0
$GC,6124,0.85,266.3,390.4,10.1,268,6128,0.00,2.42,0.00,0.000,6,0.000,0.026,3043,1677,2033,0,0,0,0,0,0
$GC,6410,0.89,302.3,365.3,8.4,275,6453,0.00,2.65,33.22,0.779,4,0.000,0.058,3043,159,1886,0,0,0,0,0,0
$GC,6476,0.90,307.5,359.5,9.8,276,6488,0.00,2.42,6.10,0.611,6,0.000,0.025,3043,1669,1865,0,0,0,0,0,0
$GC,6745,0.93,333.2,336.2,8.8,283,6773,0.00,2.75,22.77,0.743,4,0.000,0.048,3043,3261,1761,0,0,0,0,0,0
$GC,6812,1.06,346.1,329.6,9.4,284,6834,0.20,2.65,12.15,0.693,6,0.048,0.032,3118,1669,1709,0,0,0,0,0,0
$GC,7080,0.93,346.1,288.3,16.0,291,7085,0.25,2.58,0.00,0.000,4,0.099,0.061,3061,163,1705,0,0,0,0,0,0
$GC,7104,0.93,346.1,284.2,14.7,291,7109,0.00,2.42,0.00,0.000,6,0.000,0.024,3061,1676,1704,0,0,0,0,0,0
$GC,7366,0.93,346.1,252.8,11.7,298,7371,0.00,2.62,0.00,0.000,4,0.000,0.041,3061,3254,1703,0,0,0,0,0,0
$GC,7385,0.93,346.1,250.5,11.0,298,7389,0.00,2.60,0.00,0.000,6,0.000,0.030,3061,1676,1701,0,0,0,0,0,0
$GC,7648,0.93,346.1,221.8,10.7,305,7652,0.00,2.53,0.00,0.000,4,0.000,0.054,3061,169,1701,0,0,0,0,0,0
$GC,7671,0.93,346.1,219.2,10.8,305,7675,0.00,2.38,0.00,0.000,6,0.000,0.023,3061,1683,1701,0,0,0,0,0,0
$GC,7933,0.93,346.1,193.3,10.3,315,7937,0.00,2.53,0.00,0.000,4,0.000,0.035,3061,3254,1700,0,0,0,0,0,0
$GC,7970,1.03,360.4,189.7,9.4,318,7993,0.10,2.55,13.20,0.607,6,0.077,0.029,3115,1672,1648,0,0,0,0,0,0
$GC,8247,0.95,360.4,151.8,13.7,344,8249,0.22,0.00,0.00,0.000,6,0.099,0.000,3066,1672,1646,0,0,0,0,0,0
$GC,8503,1.02,367.0,125.8,9.7,368,8515,0.00,0.00,7.12,0.498,6,0.000,0.000,3067,1672,1622,0,0,0,0,0,0
$GC,8775,1.16,371.1,99.3,9.9,393,8782,0.20,0.00,4.95,0.423,6,0.045,0.000,3159,1672,1606,0,0,0,0,0,0
$GC,9041,1.02,371.1,58.5,16.3,418,9049,0.30,0.00,0.00,0.000,6,0.095,0.000,3091,1672,1605,0,0,0,0,0,0
$GC,9306,1.05,390.9,30.7,9.1,443,9334,0.00,2.65,18.55,0.488,4,0.000,0.033,3091,3259,1524,0,0,0,0,0,0
$GC,9343,1.05,390.9,26.5,11.1,447,9352,0.00,2.58,0.00,0.000,6,0.000,0.024,3091,1678,1523,0,0,0,0,0,0
$STATE,9560,end climb,SURFACE_DEPTH_REACHED
$STATE,9560,begin surface coast
$FINISH,0.7,0.998532
$STATE,9605,end surface coast,CONTROL_FINISHED_OK
$STATE,9605,begin surface
$SM_CCo,9626,34.92,0.362,1,0,1284,450.13
$SM_GC,1.57,0.00,0.00,34.92,0.000,0.000,0.362,414,1868,1284,-11.25,2.21,450.13
$IRIDIUM_FIX,2239.35,-15800.20,020300,101053
$TT8_MAMPS,0.026845
$HUMID,44.21
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.6,30.875
$10V_AH,10.4,25.890
$FG_AHR_24Vo,0.000
$FG_AHR_10Vo,0.000
$DEVICES,Pitch_motor,Roll_motor,VBD_pump_during_apogee,VBD_pump_during_surface,VBD_valve,Iridium_during_init,Iridium_during_connect,Iridium_during_xfer,Transponder_ping,GUMSTIX_24V,GPS,TT8,LPSleep,TT8_Active,TT8_Sampling,TT8_CF8,TT8_Kalman,Analog_circuits,GPS_charging,Compass,RAFOS,Transponder,Compass2
$DEVICE_SECS,29.850,111.875,458.775,34.925,0.000,25.971,34.853,150.558,0.000,0.000,13.181,997.963,6189.086,529.142,1803.368,485.488,33.363,1274.189,0.000,1815.719,0.000,0.537,0.000
$DEVICE_MAMPS,173.342,72.098,872.846,362.024,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.546,309.250,381.942,581.628,1024.895,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355376
$DATA_FILE_SIZE,38314,488
$CAP_FILE_SIZE,107019,0
$CFSIZE,260165632,160145408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,071210,152036,2248.442,-15803.021,22,1.6,22,10.1