version: 66.06
glider: 148
mission: 9
dive: 278
start: 12 15 110 0 55 51
data:
$ID,148
$MISSION,9
$DIVE,278
$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,-863839.12
$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,30
$R_STBD_OVSHOOT,48
$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
$GPS1,003837,2248.607,-15757.349,25,1.2,25,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-67.9
$GPS2,005456,2248.686,-15757.328,14,1.1,14,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.052,-0.255
$KALMAN_X,-56761.1,81.5,-50.2,78295.3,-53.4
$KALMAN_Y,1431.4,-27.3,115.9,125882.1,321.5
$MHEAD_RNG_PITCHd_Wd,181.5,3225,-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,-146.0,0.0,0.0,0,104,0.00,0.00,-82.40,0.000,2,0.000,0.000,410,1858,3380,0,0,0,0,0,0
$GC,108,-1.28,-146.0,3.8,-7.0,11,133,11.43,2.67,-6.00,0.000,4,0.154,0.045,2573,202,3717,0,0,0,0,0,0
$GC,204,-1.28,-146.0,28.8,-15.1,25,212,0.00,2.50,0.00,0.000,6,0.000,0.020,2573,1784,3719,0,0,0,0,0,0
$GC,471,-1.09,-146.0,73.7,-18.7,50,476,0.22,2.53,0.00,0.000,4,0.099,0.031,2621,3366,3719,0,0,0,0,0,0
$GC,534,-1.09,-146.0,84.1,-12.9,55,538,0.00,2.47,0.00,0.000,6,0.000,0.022,2622,1791,3719,0,0,0,0,0,0
$GC,801,-1.09,-146.0,115.0,-11.7,79,806,0.00,2.50,0.00,0.000,4,0.000,0.028,2622,3368,3720,0,0,0,0,0,0
$GC,841,-1.20,-146.0,119.6,-9.2,82,850,0.08,2.50,0.00,0.000,6,0.034,0.022,2526,1805,3720,0,0,0,0,0,0
$GC,1102,-1.05,-146.0,159.4,-14.5,107,1111,0.43,2.55,0.00,0.000,4,0.084,0.036,2624,214,3720,0,0,0,0,0,0
$GC,1128,-1.05,-146.0,162.1,-12.0,109,1133,0.00,2.50,0.00,0.000,6,0.000,0.018,2624,1829,3720,0,0,0,0,0,0
$GC,1395,-1.18,-146.0,184.7,-7.4,133,1399,0.00,2.42,0.00,0.000,4,0.000,0.029,2624,3360,3721,0,0,0,0,0,0
$GC,1436,-1.36,-146.0,187.7,-7.1,136,1441,0.25,2.42,0.00,0.000,6,0.034,0.022,2518,1823,3721,0,0,0,0,0,0
$GC,1700,-1.18,-146.0,224.2,-14.7,149,1702,0.38,0.00,0.00,0.000,6,0.085,0.000,2600,1823,3720,0,0,0,0,0,0
$GC,1946,-1.28,-146.0,247.4,-8.8,155,1950,0.00,2.47,0.00,0.000,4,0.000,0.031,2600,3363,3721,0,0,0,0,0,0
$GC,2002,-1.44,-146.0,252.3,-8.1,156,2007,0.22,2.45,0.00,0.000,6,0.038,0.024,2485,1822,3721,0,0,0,0,0,0
$GC,2276,-1.18,-146.0,294.5,-16.3,163,2278,0.55,0.00,0.00,0.000,6,0.088,0.000,2599,1822,3721,0,0,0,0,0,0
$GC,2521,-1.30,-146.0,314.4,-7.6,169,2523,0.10,0.00,0.00,0.000,6,0.077,0.000,2545,1822,3720,0,0,0,0,0,0
$GC,2763,-1.30,-146.0,339.1,-10.5,175,2768,0.15,2.53,0.00,0.000,4,0.099,0.038,2578,3358,3719,0,0,0,0,0,0
$GC,2810,-1.42,-146.0,344.2,-10.1,176,2815,0.12,2.42,0.00,0.000,6,0.063,0.028,2498,1833,3719,0,0,0,0,0,0
$GC,3095,-1.26,-146.0,384.3,-14.1,183,3102,0.38,2.72,0.00,0.000,4,0.088,0.052,2583,211,3718,0,0,0,0,0,0
$GC,3145,-1.44,-146.0,390.1,-9.5,184,3150,0.15,2.53,0.00,0.000,6,0.055,0.026,2513,1805,3716,0,0,0,0,0,0
$GC,3429,-1.33,-146.0,421.8,-11.1,191,3435,0.25,2.58,0.00,0.000,4,0.091,0.043,2572,3367,3715,0,0,0,0,0,0
$GC,3477,-1.44,-146.0,427.0,-9.8,192,3482,0.10,2.47,0.00,0.000,6,0.076,0.030,2501,1827,3714,0,0,0,0,0,0
$GC,3762,-1.28,-146.0,466.4,-14.7,199,3764,0.40,0.00,0.00,0.000,6,0.090,0.000,2577,1827,3712,0,0,0,0,0,0
$GC,4004,-1.37,-146.0,489.9,-8.9,205,4009,0.00,2.60,0.00,0.000,4,0.000,0.050,2577,3373,3710,0,0,0,0,0,0
$GC,4039,-1.48,-146.0,492.6,-7.9,205,4044,0.17,2.50,0.00,0.000,6,0.048,0.031,2496,1825,3710,0,0,0,0,0,0
$STATE,4124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4124,begin apogee
$GC,4131,-0.31,0.0,502.3,10.8,207,4253,1.35,0.00,117.60,0.861,6,0.090,0.000,2790,1671,3120,0,0,0,0,0,0
$STATE,4254,end apogee,CONTROL_FINISHED_OK
$STATE,4254,begin climb
$GC,4256,1.28,146.0,505.9,0.0,210,4390,1.45,2.70,121.25,0.844,4,0.030,0.072,3142,184,2523,0,0,0,0,0,0
$GC,4529,0.85,146.0,490.4,11.0,216,4536,0.47,2.45,0.00,0.000,6,0.110,0.028,3045,1683,2517,0,0,0,0,0,0
$GC,4797,0.93,208.4,470.7,7.1,223,4855,0.00,2.62,52.70,0.821,4,0.000,0.058,3045,184,2269,0,0,0,0,0,0
$GC,4875,0.88,228.0,464.2,9.1,225,4900,0.00,2.45,18.02,0.769,6,0.000,0.028,3045,1680,2189,0,0,0,0,0,0
$GC,5165,0.88,233.4,435.8,9.8,232,5178,0.00,2.60,5.18,0.590,4,0.000,0.057,3045,185,2167,0,0,0,0,0,0
$GC,5206,0.82,233.4,431.2,11.0,232,5212,0.00,2.42,0.00,0.000,6,0.000,0.027,3045,1688,2167,0,0,0,0,0,0
$GC,5456,0.84,245.7,407.1,9.5,239,5473,0.00,2.70,11.93,0.729,4,0.000,0.054,3045,3259,2118,0,0,0,0,0,0
$GC,5507,0.84,245.7,402.0,10.7,240,5511,0.00,2.60,0.00,0.000,6,0.000,0.033,3045,1703,2114,0,0,0,0,0,0
$GC,5785,0.86,261.3,375.4,9.3,247,5805,0.00,2.75,14.35,0.737,4,0.000,0.067,3045,167,2053,0,0,0,0,0,0
$GC,5857,0.86,261.3,367.5,11.3,248,5862,0.00,2.45,0.00,0.000,6,0.000,0.026,3045,1687,2052,0,0,0,0,0,0
$GC,6117,0.86,265.7,341.6,9.8,255,6128,0.00,2.62,4.82,0.553,4,0.000,0.056,3045,171,2035,0,0,0,0,0,0
$GC,6147,0.86,265.7,338.3,10.5,255,6151,0.00,2.40,0.00,0.000,6,0.000,0.025,3045,1673,2034,0,0,0,0,0,0
$GC,6403,0.87,271.0,313.6,9.8,262,6415,0.00,2.70,5.97,0.594,4,0.000,0.049,3045,3242,2014,0,0,0,0,0,0
$GC,6434,0.87,271.0,310.1,10.4,262,6438,0.00,2.62,0.00,0.000,6,0.000,0.033,3045,1662,2013,0,0,0,0,0,0
$GC,6690,0.90,298.6,286.3,8.8,269,6722,0.00,2.65,25.92,0.716,4,0.000,0.064,3045,174,1902,0,0,0,0,0,0
$GC,6770,0.92,314.2,279.1,9.3,270,6791,0.00,2.40,15.15,0.676,6,0.000,0.025,3045,1676,1838,0,0,0,0,0,0
$GC,7070,1.00,314.2,247.0,11.5,278,7075,0.12,2.65,0.00,0.000,4,0.064,0.044,3120,3254,1833,0,0,0,0,0,0
$GC,7110,0.93,314.2,241.3,13.8,278,7116,0.28,2.62,0.00,0.000,6,0.094,0.031,3061,1667,1831,0,0,0,0,0,0
$GC,7360,0.95,329.8,216.4,9.3,285,7380,0.00,2.67,13.52,0.630,4,0.000,0.036,3061,3241,1774,0,0,0,0,0,0
$GC,7410,1.06,329.8,210.9,11.8,286,7415,0.12,2.58,0.00,0.000,6,0.064,0.031,3120,1679,1771,0,0,0,0,0,0
$GC,7681,0.96,329.8,170.8,13.9,306,7686,0.25,2.53,0.00,0.000,4,0.097,0.051,3063,169,1770,0,0,0,0,0,0
$GC,7742,0.96,329.8,162.7,12.7,311,7748,0.00,2.38,0.00,0.000,6,0.000,0.022,3064,1682,1770,0,0,0,0,0,0
$GC,8005,1.03,329.8,135.0,10.2,336,8009,0.00,2.55,0.00,0.000,4,0.000,0.032,3062,3264,1769,0,0,0,0,0,0
$GC,8032,1.13,329.8,132.1,10.8,338,8038,0.17,2.58,0.00,0.000,6,0.049,0.028,3154,1666,1767,0,0,0,0,0,0
$GC,8294,0.99,329.8,92.5,15.1,362,8299,0.35,2.45,0.00,0.000,4,0.114,0.045,3079,173,1768,0,0,0,0,0,0
$GC,8346,1.06,329.8,87.0,10.1,366,8355,0.00,2.38,0.00,0.000,6,0.000,0.020,3079,1677,1767,0,0,0,0,0,0
$GC,8613,1.18,354.4,63.8,8.9,391,8642,0.15,0.00,21.85,0.522,6,0.055,0.000,3161,1680,1673,0,0,0,0,0,0
$GC,8904,1.04,354.4,25.1,15.0,420,8913,0.32,2.58,0.00,0.000,4,0.097,0.031,3088,3252,1671,0,0,0,0,0,0
$GC,8922,0.96,354.4,22.4,14.5,422,8931,0.00,2.58,0.00,0.000,6,0.000,0.025,3088,1668,1670,0,0,0,0,0,0
$STATE,9103,end climb,SURFACE_DEPTH_REACHED
$STATE,9103,begin surface coast
$FINISH,0.6,1.023567
$STATE,9142,end surface coast,CONTROL_FINISHED_OK
$STATE,9142,begin surface
$SM_CCo,9162,52.35,0.402,1,0,1284,450.13
$SM_GC,1.56,0.00,0.00,52.35,0.000,0.000,0.402,409,1870,1284,-11.27,2.26,450.13
$IRIDIUM_FIX,2239.35,-15802.37,100300,000037
$TT8_MAMPS,0.026845
$HUMID,45.74
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.20
$XPDR_PINGS,3
$24V_AH,23.6,38.458
$10V_AH,10.3,32.515
$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,31.175,122.425,428.275,52.350,0.000,57.866,80.751,624.305,0.750,0.000,16.231,975.346,5863.143,537.761,1767.939,1057.046,33.373,1279.102,0.000,1771.901,0.000,0.537,0.000
$DEVICE_MAMPS,154.167,72.098,860.574,401.908,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,308.323,276.348,351.281,534.956,946.043,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355492
$DATA_FILE_SIZE,35085,456
$CAP_FILE_SIZE,118297,0
$CFSIZE,260165632,156626944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,151210,033037,2247.529,-15757.400,27,1.4,27,10.1