version: 66.06
glider: 148
mission: 9
dive: 265
start: 12 13 110 10 50 58
data:
$ID,148
$MISSION,9
$DIVE,265
$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,-863566.19
$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,33
$R_STBD_OVSHOOT,70
$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
$GPS1,104336,2249.550,-15757.036,36,0.9,36,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-65.7
$GPS2,105001,2249.569,-15757.023,12,1.5,12,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.070,-0.250
$KALMAN_X,-59426.7,-78.0,31.2,81562.7,18.0
$KALMAN_Y,1128.7,-392.6,2.2,128309.5,79.3
$MHEAD_RNG_PITCHd_Wd,185.5,4940,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.28,-146.0,0.0,0.0,0,103,0.00,0.00,-82.88,0.000,2,0.000,0.000,408,1827,3349,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.5,-5.6,11,132,11.93,2.65,-6.62,0.000,4,0.172,0.049,2573,202,3716,0,0,0,0,0,0
$GC,240,-1.28,-146.0,33.3,-14.4,29,244,0.00,2.42,0.00,0.000,6,0.000,0.020,2573,1763,3718,0,0,0,0,0,0
$GC,508,-1.10,-146.0,76.0,-16.6,53,513,0.22,2.55,0.00,0.000,4,0.104,0.031,2621,3367,3718,0,0,0,0,0,0
$GC,581,-1.10,-146.0,86.4,-10.2,59,585,0.00,2.47,0.00,0.000,6,0.000,0.023,2621,1794,3719,0,0,0,0,0,0
$GC,849,-1.18,-146.0,114.3,-9.0,83,853,0.00,2.50,0.00,0.000,4,0.000,0.028,2621,3373,3719,0,0,0,0,0,0
$GC,918,-1.35,-146.0,120.4,-7.9,89,923,0.22,2.45,0.00,0.000,6,0.037,0.026,2530,1814,3719,0,0,0,0,0,0
$GC,1182,-1.18,-146.0,157.3,-14.9,113,1191,0.30,2.58,0.00,0.000,4,0.092,0.038,2598,208,3720,0,0,0,0,0,0
$GC,1209,-1.10,-146.0,160.7,-14.1,115,1214,0.10,2.50,0.00,0.000,6,0.120,0.019,2619,1831,3720,0,0,0,0,0,0
$GC,1474,-1.21,-146.0,187.8,-9.4,139,1478,0.00,2.40,0.00,0.000,4,0.000,0.029,2619,3361,3721,0,0,0,0,0,0
$GC,1541,-1.40,-146.0,193.8,-8.4,145,1546,0.28,2.42,0.00,0.000,6,0.031,0.023,2500,1815,3721,0,0,0,0,0,0
$GC,1794,-1.17,-146.0,231.7,-14.8,154,1802,0.45,2.50,0.00,0.000,4,0.088,0.030,2600,3368,3722,0,0,0,0,0,0
$GC,1825,-1.17,-146.0,235.7,-10.4,154,1829,0.00,2.42,0.00,0.000,6,0.000,0.022,2600,1831,3722,0,0,0,0,0,0
$GC,2080,-1.25,-146.0,258.9,-9.4,161,2084,0.00,2.45,0.00,0.000,4,0.000,0.031,2600,3359,3722,0,0,0,0,0,0
$GC,2125,-1.37,-146.0,262.9,-8.8,162,2130,0.15,2.42,0.00,0.000,6,0.053,0.024,2511,1832,3721,0,0,0,0,0,0
$GC,2412,-1.19,-146.0,302.4,-14.2,169,2419,0.43,2.62,0.00,0.000,4,0.087,0.041,2597,215,3721,0,0,0,0,0,0
$GC,2443,-1.32,-146.0,306.0,-9.8,169,2449,0.10,2.55,0.00,0.000,6,0.075,0.022,2533,1832,3721,0,0,0,0,0,0
$GC,2700,-1.32,-146.0,335.1,-11.5,176,2702,0.17,0.00,0.00,0.000,6,0.097,0.000,2571,1832,3721,0,0,0,0,0,0
$GC,2942,-1.32,-146.0,358.3,-9.3,182,2947,0.00,2.47,0.00,0.000,4,0.000,0.038,2570,3364,3721,0,0,0,0,0,0
$GC,2975,-1.38,-146.0,361.3,-8.7,182,2979,0.00,2.42,0.00,0.000,6,0.000,0.028,2571,1843,3721,0,0,0,0,0,0
$GC,3227,-1.38,-146.0,381.2,-7.9,188,3231,0.00,2.50,0.00,0.000,4,0.000,0.040,2570,3371,3719,0,0,0,0,0,0
$GC,3264,-1.45,-146.0,384.7,-8.7,188,3270,0.12,2.42,0.00,0.000,6,0.063,0.028,2482,1856,3719,0,0,0,0,0,0
$GC,3516,-1.26,-146.0,417.2,-13.2,195,3523,0.43,2.75,0.00,0.000,4,0.086,0.056,2580,220,3717,0,0,0,0,0,0
$GC,3547,-1.36,-146.0,420.9,-9.0,195,3551,0.00,2.60,0.00,0.000,6,0.000,0.027,2580,1845,3717,0,0,0,0,0,0
$GC,3802,-1.45,-146.0,439.9,-7.6,202,3807,0.15,2.50,0.00,0.000,4,0.056,0.042,2508,3364,3716,0,0,0,0,0,0
$GC,3823,-1.45,-146.0,442.0,-9.8,202,3828,0.15,2.42,0.00,0.000,6,0.100,0.028,2542,1860,3716,0,0,0,0,0,0
$GC,4087,-1.45,-146.0,467.6,-9.6,209,4088,0.00,0.00,0.00,0.000,6,0.000,0.000,2542,1861,3713,0,0,0,0,0,0
$GC,4331,-1.45,-146.0,490.1,-9.0,215,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2541,1860,3712,0,0,0,0,0,0
$STATE,4452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4452,begin apogee
$GC,4459,-0.31,0.0,502.5,10.0,218,4580,1.10,0.00,117.43,0.871,6,0.078,0.000,2790,1679,3120,0,0,0,0,0,0
$STATE,4581,end apogee,CONTROL_FINISHED_OK
$STATE,4581,begin climb
$GC,4583,1.28,146.0,507.9,0.0,221,4714,1.42,2.78,120.75,0.856,4,0.025,0.051,3147,3248,2523,0,0,0,0,0,0
$GC,4755,0.99,170.4,507.4,8.9,225,4784,0.35,2.60,20.95,0.800,6,0.110,0.036,3076,1691,2424,0,0,0,0,0,0
$GC,5045,0.85,170.4,478.9,10.1,232,5047,0.15,0.00,0.00,0.000,6,0.122,0.000,3047,1691,2418,0,0,0,0,0,0
$GC,5292,0.89,202.9,457.3,8.5,238,5325,0.00,2.75,27.65,0.810,4,0.000,0.073,3046,167,2292,0,0,0,0,0,0
$GC,5381,0.79,207.1,448.8,9.8,240,5393,0.00,2.42,4.85,0.579,6,0.000,0.026,3046,1670,2275,0,0,0,0,0,0
$GC,5672,0.81,223.1,421.6,9.3,247,5693,0.00,2.67,14.77,0.763,4,0.000,0.060,3046,174,2209,0,0,0,0,0,0
$GC,5735,0.73,223.1,414.6,11.5,248,5740,0.12,2.42,0.00,0.000,6,0.124,0.026,3022,1666,2208,0,0,0,0,0,0
$GC,6006,0.88,287.5,393.5,7.1,255,6071,0.12,2.65,56.72,0.800,4,0.066,0.058,3075,167,1945,0,0,0,0,0,0
$GC,6087,0.78,287.5,385.6,11.1,256,6093,0.20,2.45,0.00,0.000,6,0.101,0.027,3033,1666,1944,0,0,0,0,0,0
$GC,6339,0.81,306.8,362.9,9.1,263,6363,0.00,2.70,17.23,0.740,4,0.000,0.046,3033,3256,1868,0,0,0,0,0,0
$GC,6383,0.89,306.8,358.1,10.1,264,6388,0.00,2.65,0.00,0.000,6,0.000,0.034,3032,1661,1865,0,0,0,0,0,0
$GC,6672,0.99,327.6,331.0,9.1,271,6697,0.17,2.72,18.62,0.729,4,0.051,0.044,3104,3253,1783,0,0,0,0,0,0
$GC,6730,0.99,327.6,323.9,12.8,272,6735,0.12,2.65,0.00,0.000,6,0.113,0.035,3078,1672,1780,0,0,0,0,0,0
$GC,7003,0.99,327.6,290.1,12.3,279,7004,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1672,1777,0,0,0,0,0,0
$GC,7247,0.99,327.6,260.4,12.3,285,7251,0.00,2.58,0.00,0.000,4,0.000,0.063,3078,164,1775,0,0,0,0,0,0
$GC,7274,0.99,327.6,256.8,12.6,285,7279,0.00,2.40,0.00,0.000,6,0.000,0.024,3078,1686,1774,0,0,0,0,0,0
$GC,7528,0.99,327.6,226.1,12.0,292,7533,0.00,2.58,0.00,0.000,4,0.000,0.041,3078,3249,1773,0,0,0,0,0,0
$GC,7555,0.99,327.6,223.1,12.1,292,7559,0.00,2.60,0.00,0.000,6,0.000,0.031,3078,1665,1772,0,0,0,0,0,0
$GC,7815,0.99,327.6,193.6,10.6,302,7820,0.00,2.50,0.00,0.000,4,0.000,0.051,3078,171,1772,0,0,0,0,0,0
$GC,7834,0.99,327.6,191.5,11.0,303,7842,0.00,2.42,0.00,0.000,6,0.000,0.023,3078,1685,1771,0,0,0,0,0,0
$GC,8101,0.99,327.6,162.1,12.2,328,8105,0.00,2.55,0.00,0.000,4,0.000,0.034,3077,3259,1771,0,0,0,0,0,0
$GC,8127,0.99,327.6,157.8,13.0,330,8137,0.00,2.60,0.00,0.000,6,0.000,0.028,3078,1677,1770,0,0,0,0,0,0
$GC,8395,0.99,327.6,128.1,11.0,355,8399,0.00,2.47,0.00,0.000,4,0.000,0.047,3078,174,1769,0,0,0,0,0,0
$GC,8463,1.05,327.6,119.6,11.0,361,8467,0.00,2.35,0.00,0.000,6,0.000,0.021,3078,1685,1770,0,0,0,0,0,0
$GC,8731,1.17,349.8,93.8,9.0,385,8755,0.15,2.60,18.27,0.544,4,0.055,0.032,3131,3261,1693,0,0,0,0,0,0
$GC,8764,1.17,349.8,89.3,11.9,388,8773,0.00,2.62,0.00,0.000,6,0.000,0.025,3131,1664,1691,0,0,0,0,0,0
$GC,9030,1.17,349.8,55.0,13.5,413,9034,0.00,2.45,0.00,0.000,4,0.000,0.044,3131,167,1691,0,0,0,0,0,0
$GC,9061,1.07,349.8,49.6,15.1,415,9071,0.15,2.38,0.00,0.000,6,0.082,0.021,3094,1669,1690,0,0,0,0,0,0
$GC,9342,1.14,354.0,18.3,9.8,448,9359,0.00,2.60,5.12,0.379,4,0.000,0.029,3094,3261,1674,0,0,0,0,0,0
$GC,9417,1.26,354.0,10.6,10.6,459,9427,0.12,2.58,0.00,0.000,6,0.025,0.027,3175,1681,1673,0,0,0,0,0,0
$STATE,9471,end climb,SURFACE_DEPTH_REACHED
$STATE,9471,begin surface coast
$FINISH,0.9,1.023728
$STATE,9505,end surface coast,CONTROL_FINISHED_OK
$STATE,9507,begin surface
$SM_CCo,9528,52.42,0.403,1,0,1284,450.13
$SM_GC,1.46,0.00,0.00,52.42,0.000,0.000,0.403,407,1851,1284,-11.28,1.75,450.13
$IRIDIUM_FIX,2239.35,-15800.20,080300,080857
$TT8_MAMPS,0.026845
$HUMID,45.39
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.30
$XPDR_PINGS,3
$24V_AH,23.6,36.702
$10V_AH,10.3,31.131
$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,30.500,132.200,422.375,52.425,0.000,28.321,40.653,181.332,0.750,0.000,13.961,1000.603,6160.338,529.495,1752.187,532.104,33.363,1273.237,0.000,1758.613,0.000,0.537,0.000
$DEVICE_MAMPS,171.808,72.865,870.545,403.442,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,319.309,282.414,362.625,540.017,954.993,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355436
$DATA_FILE_SIZE,38305,472
$CAP_FILE_SIZE,112336,0
$CFSIZE,260165632,157347840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,131210,133131,2248.635,-15757.320,7,1.7,7,10.1