version: 66.06
glider: 148
mission: 9
dive: 303
start: 12 18 110 1 21 32
data:
$ID,148
$MISSION,9
$DIVE,303
$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,185
$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,420
$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,-864383.94
$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,31
$R_STBD_OVSHOOT,50
$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
$GPS1,010331,2248.382,-15757.473,40,0.9,40,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-67.5
$GPS2,012037,2248.353,-15757.442,10,1.1,15,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.076,-0.239
$KALMAN_X,-50529.4,-227.0,-165.4,72293.6,333.0
$KALMAN_Y,-1338.3,-203.5,-282.7,128610.7,601.3
$MHEAD_RNG_PITCHd_Wd,187.4,2578,-15.9,-9.009
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.17,-146.0,0.0,0.0,0,96,0.00,0.00,-75.47,0.000,2,0.000,0.000,409,1851,3273,0,0,0,0,0,0
$GC,99,-1.17,-146.0,3.0,-3.4,10,132,11.43,2.75,-8.70,0.000,4,0.150,0.053,2597,198,3719,0,0,0,0,0,0
$GC,192,-1.17,-146.0,23.0,-14.6,23,201,0.00,2.50,0.00,0.000,6,0.000,0.020,2597,1778,3720,0,0,0,0,0,0
$GC,473,-0.96,-146.0,66.2,-15.9,52,478,0.25,2.55,0.00,0.000,4,0.103,0.029,2653,3370,3720,0,0,0,0,0,0
$GC,563,-1.07,-146.0,77.4,-9.9,59,568,0.12,2.50,0.00,0.000,6,0.059,0.022,2568,1793,3720,0,0,0,0,0,0
$GC,829,-0.82,-146.0,123.0,-16.7,83,838,0.55,2.50,0.00,0.000,4,0.084,0.028,2677,3365,3721,0,0,0,0,0,0
$GC,874,-1.02,-146.0,128.0,-8.0,87,879,0.17,2.42,0.00,0.000,6,0.046,0.022,2604,1821,3721,0,0,0,0,0,0
$GC,1135,-1.02,-146.0,156.0,-10.2,111,1136,0.15,0.00,0.00,0.000,6,0.100,0.000,2637,1820,3721,0,0,0,0,0,0
$GC,1393,-1.13,-146.0,176.2,-7.4,135,1398,0.10,2.50,0.00,0.000,4,0.076,0.029,2571,3372,3722,0,0,0,0,0,0
$GC,1452,-1.13,-146.0,182.9,-11.6,140,1459,0.17,2.42,0.00,0.000,6,0.087,0.022,2613,1827,3723,0,0,0,0,0,0
$GC,1723,-1.13,-146.0,209.3,-10.1,160,1727,0.00,2.45,0.00,0.000,4,0.000,0.030,2613,3369,3723,0,0,0,0,0,0
$GC,1736,-1.13,-146.0,211.0,-9.8,160,1741,0.00,2.42,0.00,0.000,6,0.000,0.021,2613,1818,3723,0,0,0,0,0,0
$GC,2005,-1.13,-146.0,232.5,-7.8,167,2009,0.00,2.47,0.00,0.000,4,0.000,0.031,2614,3367,3723,0,0,0,0,0,0
$GC,2086,-1.26,-146.0,239.6,-8.9,168,2090,0.12,2.40,0.00,0.000,6,0.062,0.024,2539,1845,3723,0,0,0,0,0,0
$GC,2335,-1.06,-146.0,275.7,-14.7,174,2343,0.43,2.62,0.00,0.000,4,0.081,0.040,2628,220,3722,0,0,0,0,0,0
$GC,2352,-1.06,-146.0,277.9,-11.9,174,2356,0.00,2.55,0.00,0.000,6,0.000,0.021,2627,1863,3722,0,0,0,0,0,0
$GC,2622,-1.19,-146.0,295.9,-6.5,181,2627,0.12,2.42,0.00,0.000,4,0.064,0.034,2558,3367,3721,0,0,0,0,0,0
$GC,2660,-1.19,-146.0,299.8,-10.0,181,2666,0.20,2.38,0.00,0.000,6,0.084,0.024,2603,1862,3722,0,0,0,0,0,0
$GC,2912,-1.25,-146.0,321.4,-8.5,188,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2603,1861,3721,0,0,0,0,0,0
$GC,3154,-1.31,-146.0,340.2,-7.5,194,3156,0.12,0.00,0.00,0.000,6,0.064,0.000,2541,1862,3720,0,0,0,0,0,0
$GC,3397,-1.20,-146.0,365.1,-10.7,200,3402,0.25,2.45,0.00,0.000,4,0.085,0.037,2601,3369,3718,0,0,0,0,0,0
$GC,3437,-1.30,-146.0,369.0,-9.1,200,3443,0.10,2.40,0.00,0.000,6,0.075,0.030,2524,1870,3718,0,0,0,0,0,0
$GC,3687,-1.14,-146.0,401.2,-13.2,207,3694,0.35,2.75,0.00,0.000,4,0.082,0.054,2606,224,3717,0,0,0,0,0,0
$GC,3713,-1.23,-146.0,404.2,-9.8,207,3717,0.00,2.60,0.00,0.000,6,0.000,0.027,2606,1857,3717,0,0,0,0,0,0
$GC,3974,-1.33,-146.0,421.8,-6.5,214,3979,0.15,2.47,0.00,0.000,4,0.055,0.044,2534,3362,3715,0,0,0,0,0,0
$GC,4035,-1.27,-146.0,428.0,-10.1,215,4040,0.22,2.38,0.00,0.000,6,0.084,0.029,2585,1879,3714,0,0,0,0,0,0
$GC,4306,-1.27,-146.0,451.9,-9.0,222,4307,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1879,3712,0,0,0,0,0,0
$GC,4548,-1.27,-146.0,472.2,-8.3,228,4552,0.00,2.47,0.00,0.000,4,0.000,0.050,2585,3353,3711,0,0,0,0,0,0
$GC,4571,-1.27,-146.0,474.2,-8.8,228,4575,0.00,2.35,0.00,0.000,6,0.000,0.028,2585,1884,3710,0,0,0,0,0,0
$GC,4831,-1.27,-146.0,492.3,-6.9,235,4833,0.00,0.00,0.00,0.000,6,0.000,0.000,2585,1884,3709,0,0,0,0,0,0
$STATE,4949,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4949,begin apogee
$GC,4955,-0.31,0.0,500.8,6.9,238,5075,0.90,0.00,116.85,0.866,6,0.071,0.000,2790,1682,3120,0,0,0,0,0,0
$STATE,5076,end apogee,CONTROL_FINISHED_OK
$STATE,5076,begin climb
$GC,5078,1.17,146.0,505.8,0.0,241,5209,1.33,2.67,120.57,0.849,4,0.028,0.071,3131,181,2522,0,0,0,0,0,0
$GC,5358,0.71,146.0,496.0,9.7,247,5365,0.55,2.42,0.00,0.000,6,0.104,0.028,3017,1665,2516,0,0,0,0,0,0
$GC,5631,0.78,203.2,479.1,6.6,254,5684,0.00,2.62,47.95,0.829,4,0.000,0.059,3016,183,2290,0,0,0,0,0,0
$GC,5761,0.78,203.2,467.4,9.8,257,5766,0.00,2.40,0.00,0.000,6,0.000,0.027,3016,1675,2286,0,0,0,0,0,0
$GC,6048,0.84,252.7,446.0,6.9,264,6094,0.10,0.00,43.22,0.818,6,0.077,0.000,3081,1675,2089,0,0,0,0,0,0
$GC,6332,0.68,252.7,416.0,11.2,271,6337,0.30,2.55,0.00,0.000,4,0.093,0.056,3012,186,2081,0,0,0,0,0,0
$GC,6377,0.68,252.7,411.7,9.3,272,6381,0.00,2.40,0.00,0.000,6,0.000,0.027,3012,1667,2081,0,0,0,0,0,0
$GC,6666,0.69,263.2,387.1,8.6,279,6682,0.00,2.72,8.90,0.693,4,0.000,0.050,3012,3261,2044,0,0,0,0,0,0
$GC,6707,0.76,263.2,383.4,9.5,279,6713,0.00,2.65,0.00,0.000,6,0.000,0.034,3012,1676,2042,0,0,0,0,0,0
$GC,6957,0.79,287.2,362.9,8.0,286,6985,0.00,2.67,22.02,0.759,4,0.000,0.064,3012,173,1948,0,0,0,0,0,0
$GC,7004,0.81,308.5,359.1,8.1,287,7033,0.10,2.40,20.95,0.745,6,0.078,0.025,3064,1669,1861,0,0,0,0,0,0
$GC,7291,0.75,308.5,326.6,12.3,294,7298,0.20,2.70,0.00,0.000,4,0.095,0.050,3022,3255,1855,0,0,0,0,0,0
$GC,7338,0.87,308.5,320.6,11.6,295,7343,0.12,2.65,0.00,0.000,6,0.065,0.035,3081,1665,1852,0,0,0,0,0,0
$GC,7627,0.77,308.5,283.7,12.3,302,7632,0.25,2.55,0.00,0.000,4,0.089,0.061,3022,171,1851,0,0,0,0,0,0
$GC,7665,0.85,308.5,278.9,11.8,302,7672,0.10,2.40,0.00,0.000,6,0.077,0.025,3077,1670,1851,0,0,0,0,0,0
$GC,7917,0.78,308.5,250.1,11.5,309,7922,0.20,2.65,0.00,0.000,4,0.095,0.044,3033,3256,1850,0,0,0,0,0,0
$GC,7951,0.89,313.7,246.7,8.8,309,7955,0.00,2.60,0.00,0.000,6,0.000,0.031,3033,1664,1848,0,0,0,0,0,0
$GC,8200,0.92,330.8,226.1,8.3,315,8225,0.12,2.60,18.60,0.655,4,0.064,0.055,3095,170,1771,0,0,0,0,0,0
$GC,8247,0.77,330.8,220.8,12.2,316,8252,0.30,2.40,0.00,0.000,6,0.091,0.023,3029,1670,1770,0,0,0,0,0,0
$GC,8506,0.87,344.1,198.5,8.5,323,8528,0.00,2.65,12.62,0.605,4,0.000,0.036,3029,3251,1715,0,0,0,0,0,0
$GC,8564,1.02,344.1,193.1,9.1,328,8571,0.22,2.60,0.00,0.000,6,0.040,0.029,3118,1671,1713,0,0,0,0,0,0
$GC,8827,0.87,344.1,156.6,14.1,353,8832,0.28,2.50,0.00,0.000,4,0.091,0.046,3053,168,1712,0,0,0,0,0,0
$GC,8864,0.87,344.1,151.8,12.1,356,8869,0.00,2.38,0.00,0.000,6,0.000,0.022,3053,1684,1712,0,0,0,0,0,0
$GC,9126,0.94,344.1,127.7,9.1,380,9131,0.00,2.55,0.00,0.000,4,0.000,0.033,3053,3257,1711,0,0,0,0,0,0
$GC,9158,1.06,348.7,124.8,8.8,382,9169,0.12,2.60,4.55,0.418,6,0.025,0.028,3136,1673,1698,0,0,0,0,0,0
$GC,9424,0.95,348.7,95.2,11.1,407,9429,0.30,2.47,0.00,0.000,4,0.087,0.044,3065,163,1698,0,0,0,0,0,0
$GC,9454,0.95,348.7,91.8,10.8,409,9458,0.00,2.35,0.00,0.000,6,0.000,0.021,3065,1680,1697,0,0,0,0,0,0
$GC,9721,1.05,369.2,69.6,8.2,433,9747,0.00,2.55,20.38,0.517,4,0.000,0.031,3065,3250,1612,0,0,0,0,0,0
$GC,9765,1.18,396.7,65.6,7.9,436,9800,0.17,2.62,24.90,0.514,6,0.021,0.026,3166,1655,1500,0,0,0,0,0,0
$GC,10062,0.99,396.7,19.5,16.8,468,10071,0.38,2.45,0.00,0.000,4,0.091,0.041,3079,181,1497,0,0,0,0,0,0
$GC,10097,0.93,396.7,15.0,14.2,472,10106,0.00,2.35,0.00,0.000,6,0.000,0.021,3080,1665,1497,0,0,0,0,0,0
$STATE,10199,end climb,SURFACE_DEPTH_REACHED
$STATE,10199,begin surface coast
$FINISH,0.8,1.023589
$STATE,10247,end surface coast,CONTROL_FINISHED_OK
$STATE,10247,begin surface
$SM_CCo,10267,17.75,0.242,1,0,1406,420.20
$SM_GC,1.59,0.00,0.00,17.75,0.000,0.000,0.242,407,1896,1406,-11.29,3.00,420.20
$IRIDIUM_FIX,2239.35,-15757.16,130300,010128
$TT8_MAMPS,0.026845
$HUMID,46.37
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,23.6,41.385
$10V_AH,10.3,35.139
$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,31.825,136.375,461.525,17.750,0.000,89.978,151.133,505.317,0.500,0.000,16.719,1058.716,6814.118,514.804,1873.909,1056.516,33.377,1329.694,0.000,1871.214,0.000,0.537,0.000
$DEVICE_MAMPS,149.565,71.331,865.943,241.605,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.574,302.088,374.435,550.048,972.965,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,38202,495
$CAP_FILE_SIZE,127671,0
$CFSIZE,260165632,155246592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181210,041407,2247.124,-15758.053,24,1.8,24,10.1