version: 66.06
glider: 148
mission: 9
dive: 280
start: 12 15 110 6 3 31
data:
$ID,148
$MISSION,9
$DIVE,280
$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,-863904.81
$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,45
$R_STBD_OVSHOOT,64
$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
$GPS1,055646,2247.013,-15758.009,10,99.0,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.45
$_SM_ANGLEo,-66.8
$GPS2,060237,2246.998,-15757.973,41,1.7,41,10.1
$SPEED_LIMITS,0.174,0.260
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.251,0.069
$KALMAN_X,-55937.5,91.2,110.1,76193.6,373.4
$KALMAN_Y,1337.2,162.7,104.5,122674.0,-689.4
$MHEAD_RNG_PITCHd_Wd,275.4,8584,-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,-82.32,0.000,2,0.000,0.000,410,1815,3331,0,0,0,0,0,0
$GC,107,-1.28,-146.0,3.5,-5.6,11,132,11.50,2.42,-7.12,0.000,4,0.158,0.038,2573,3352,3717,0,0,0,0,0,0
$GC,211,-1.12,-146.0,29.4,-17.3,26,220,0.15,2.50,0.00,0.000,6,0.081,0.023,2611,1794,3720,0,0,0,0,0,0
$GC,477,-1.12,-146.0,69.3,-14.2,51,481,0.00,2.50,0.00,0.000,4,0.000,0.029,2611,3352,3720,0,0,0,0,0,0
$GC,533,-1.12,-146.0,77.7,-15.0,55,537,0.00,2.47,0.00,0.000,6,0.000,0.022,2611,1789,3720,0,0,0,0,0,0
$GC,798,-1.12,-146.0,110.3,-10.2,79,803,0.00,2.47,0.00,0.000,4,0.000,0.028,2611,3353,3721,0,0,0,0,0,0
$GC,818,-1.12,-146.0,112.9,-10.6,80,827,0.00,2.45,0.00,0.000,6,0.000,0.021,2611,1810,3721,0,0,0,0,0,0
$GC,1085,-1.12,-146.0,141.9,-11.4,105,1089,0.00,2.45,0.00,0.000,4,0.000,0.028,2611,3359,3722,0,0,0,0,0,0
$GC,1166,-1.24,-146.0,150.9,-9.9,112,1172,0.00,2.42,0.00,0.000,6,0.000,0.021,2611,1822,3722,0,0,0,0,0,0
$GC,1429,-1.32,-146.0,174.9,-8.8,137,1434,0.17,2.45,0.00,0.000,4,0.050,0.030,2541,3358,3723,0,0,0,0,0,0
$GC,1450,-1.32,-146.0,177.2,-10.0,138,1459,0.10,2.42,0.00,0.000,6,0.080,0.022,2569,1835,3723,0,0,0,0,0,0
$GC,1718,-1.32,-146.0,210.9,-13.1,158,1723,0.00,2.60,0.00,0.000,4,0.000,0.038,2568,215,3724,0,0,0,0,0,0
$GC,1737,-1.32,-146.0,213.7,-13.2,158,1741,0.00,2.47,0.00,0.000,6,0.000,0.019,2569,1829,3724,0,0,0,0,0,0
$GC,2002,-1.32,-146.0,242.7,-10.2,165,2006,0.00,2.42,0.00,0.000,4,0.000,0.029,2568,3361,3724,0,0,0,0,0,0
$GC,2036,-1.32,-146.0,245.9,-9.0,165,2040,0.00,2.38,0.00,0.000,6,0.000,0.022,2568,1845,3724,0,0,0,0,0,0
$GC,2285,-1.32,-146.0,273.2,-11.2,171,2289,0.00,2.42,0.00,0.000,4,0.000,0.031,2568,3357,3724,0,0,0,0,0,0
$GC,2313,-1.32,-146.0,276.7,-11.6,171,2317,0.00,2.38,0.00,0.000,6,0.000,0.022,2568,1856,3724,0,0,0,0,0,0
$GC,2568,-1.32,-146.0,304.4,-10.8,178,2569,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1856,3724,0,0,0,0,0,0
$GC,2811,-1.32,-146.0,327.6,-9.4,184,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,2568,1856,3724,0,0,0,0,0,0
$GC,3054,-1.32,-146.0,351.3,-9.8,190,3058,0.00,2.42,0.00,0.000,4,0.000,0.036,2568,3361,3723,0,0,0,0,0,0
$GC,3093,-1.39,-146.0,355.2,-10.0,190,3099,0.00,2.42,0.00,0.000,6,0.000,0.027,2568,1851,3723,0,0,0,0,0,0
$GC,3343,-1.39,-146.0,380.6,-10.1,197,3347,0.00,2.72,0.00,0.000,4,0.000,0.054,2568,218,3722,0,0,0,0,0,0
$GC,3361,-1.39,-146.0,382.5,-10.0,197,3366,0.00,2.55,0.00,0.000,6,0.000,0.025,2568,1831,3722,0,0,0,0,0,0
$GC,3627,-1.39,-146.0,406.2,-8.9,204,3631,0.00,2.50,0.00,0.000,4,0.000,0.040,2569,3367,3721,0,0,0,0,0,0
$GC,3650,-1.39,-146.0,408.4,-9.2,204,3655,0.00,2.42,0.00,0.000,6,0.000,0.028,2568,1851,3721,0,0,0,0,0,0
$GC,3910,-1.45,-146.0,429.8,-8.1,211,3915,0.10,2.53,0.00,0.000,4,0.078,0.044,2522,3367,3718,0,0,0,0,0,0
$GC,3930,-1.45,-146.0,431.9,-10.3,211,3935,0.10,2.45,0.00,0.000,6,0.120,0.028,2543,1847,3719,0,0,0,0,0,0
$GC,4194,-1.45,-146.0,457.9,-10.1,218,4195,0.00,0.00,0.00,0.000,6,0.000,0.000,2543,1847,3717,0,0,0,0,0,0
$GC,4438,-1.45,-146.0,484.2,-10.7,224,4443,0.00,2.55,0.00,0.000,4,0.000,0.050,2543,3367,3715,0,0,0,0,0,0
$GC,4477,-1.45,-146.0,488.5,-10.8,224,4482,0.00,2.45,0.00,0.000,6,0.000,0.031,2543,1861,3715,0,0,0,0,0,0
$STATE,4602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4602,begin apogee
$GC,4608,-0.31,0.0,502.2,10.8,228,4730,1.10,0.00,118.57,0.873,6,0.078,0.000,2789,1677,3120,0,0,0,0,0,0
$STATE,4730,end apogee,CONTROL_FINISHED_OK
$STATE,4731,begin climb
$GC,4733,1.28,146.0,507.3,0.0,231,4866,1.42,2.78,121.32,0.854,4,0.025,0.051,3145,3244,2523,0,0,0,0,0,0
$GC,4871,1.13,300.0,508.9,2.9,234,5013,0.20,2.62,131.30,0.844,6,0.119,0.038,3106,1700,1894,0,0,0,0,0,0
$GC,5273,0.98,300.0,453.8,15.3,244,5279,0.15,2.65,0.00,0.000,4,0.120,0.048,3075,3254,1887,0,0,0,0,0,0
$GC,5307,0.98,300.0,448.7,13.4,244,5311,0.00,2.62,0.00,0.000,6,0.000,0.037,3075,1683,1884,0,0,0,0,0,0
$GC,5558,0.92,300.0,416.4,12.9,250,5563,0.00,2.62,0.00,0.000,4,0.000,0.069,3075,168,1883,0,0,0,0,0,0
$GC,5582,0.80,300.0,412.9,12.9,250,5587,0.17,2.45,0.00,0.000,6,0.110,0.027,3037,1690,1882,0,0,0,0,0,0
$GC,5843,0.81,305.0,386.8,9.8,257,5844,0.00,0.00,0.00,0.000,6,0.000,0.000,3036,1690,1880,0,0,0,0,0,0
$GC,6085,0.81,305.5,362.3,10.0,263,6086,0.00,0.00,0.00,0.000,6,0.000,0.000,3037,1690,1879,0,0,0,0,0,0
$GC,6329,0.89,323.6,339.5,9.2,269,6350,0.00,0.00,19.38,0.745,6,0.000,0.000,3036,1690,1800,0,0,0,0,0,0
$GC,6573,0.96,323.6,312.1,11.8,275,6575,0.12,0.00,0.00,0.000,6,0.065,0.000,3101,1691,1796,0,0,0,0,0,0
$GC,6817,0.87,323.6,277.2,14.1,281,6822,0.22,2.62,0.00,0.000,4,0.099,0.056,3052,164,1794,0,0,0,0,0,0
$GC,6861,0.93,323.6,271.6,13.2,282,6865,0.00,2.45,0.00,0.000,6,0.000,0.025,3052,1690,1793,0,0,0,0,0,0
$GC,7151,0.96,345.8,244.6,9.0,289,7176,0.00,2.65,19.62,0.674,4,0.000,0.044,3052,3255,1709,0,0,0,0,0,0
$GC,7204,1.08,355.3,239.8,9.6,290,7221,0.17,2.60,9.90,0.617,6,0.050,0.031,3124,1672,1670,0,0,0,0,0,0
$GC,7484,0.96,355.3,200.4,14.9,297,7489,0.25,2.53,0.00,0.000,4,0.099,0.051,3067,173,1667,0,0,0,0,0,0
$GC,7537,1.05,355.3,192.8,12.9,299,7542,0.10,2.40,0.00,0.000,6,0.078,0.023,3120,1687,1667,0,0,0,0,0,0
$GC,7800,0.97,355.3,155.3,14.8,323,7805,0.22,2.55,0.00,0.000,4,0.096,0.044,3071,162,1666,0,0,0,0,0,0
$GC,7810,0.91,355.3,153.5,14.2,323,7816,0.00,2.38,0.00,0.000,6,0.000,0.021,3071,1684,1666,0,0,0,0,0,0
$GC,8072,0.98,355.3,122.9,12.2,348,8073,0.00,0.00,0.00,0.000,6,0.000,0.000,3071,1684,1666,0,0,0,0,0,0
$GC,8329,1.11,365.2,93.9,9.6,372,8346,0.12,2.58,9.57,0.506,4,0.064,0.032,3140,3251,1630,0,0,0,0,0,0
$GC,8352,1.11,365.2,91.2,10.6,374,8357,0.17,2.58,0.00,0.000,6,0.100,0.025,3103,1659,1630,0,0,0,0,0,0
$GC,8615,1.11,365.2,64.2,10.5,398,8616,0.00,0.00,0.00,0.000,6,0.000,0.000,3102,1659,1629,0,0,0,0,0,0
$GC,8870,1.11,365.2,34.9,11.9,422,8874,0.00,2.42,0.00,0.000,4,0.000,0.044,3103,167,1629,0,0,0,0,0,0
$GC,8890,1.11,365.2,32.6,12.7,423,8894,0.00,2.33,0.00,0.000,6,0.000,0.019,3102,1668,1629,0,0,0,0,0,0
$STATE,9132,end climb,SURFACE_DEPTH_REACHED
$STATE,9132,begin surface coast
$FINISH,0.8,1.010438
$STATE,9177,end surface coast,CONTROL_FINISHED_OK
$STATE,9177,begin surface
$SM_CCo,9199,42.33,0.062,0,0,1285,450.13
$SM_GC,1.32,0.00,0.00,42.33,0.000,0.000,0.062,413,1837,1285,-11.26,1.33,450.13
$IRIDIUM_FIX,2237.01,-15758.03,100300,030318
$TT8_MAMPS,0.026845
$HUMID,45.78
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.50
$XPDR_PINGS,0
$24V_AH,23.6,38.674
$10V_AH,10.4,32.710
$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,27.425,110.525,429.675,42.325,0.000,29.309,36.331,132.883,0.000,0.000,43.327,948.313,5986.109,505.645,1694.096,462.301,33.360,1178.444,0.000,1679.266,0.000,0.536,0.000
$DEVICE_MAMPS,158.002,69.030,872.846,62.127,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,315.582,292.376,363.516,552.394,977.411,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355440
$DATA_FILE_SIZE,35178,467
$CAP_FILE_SIZE,99745,0
$CFSIZE,260165632,156536832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151210,083836,2247.156,-15759.479,9,1.7,24,10.1