version: 66.06
glider: 148
mission: 9
dive: 326
start: 12 21 110 0 30 44
data:
$ID,148
$MISSION,9
$DIVE,326
$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,-864858.88
$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,29
$R_STBD_OVSHOOT,73
$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
$GPS1,002237,2250.024,-15759.766,63,1.5,63,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-66.7
$GPS2,002949,2250.010,-15759.820,9,1.2,14,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.251,-0.004
$KALMAN_X,-46097.1,-58.7,0.0,63435.2,11.0
$KALMAN_Y,-2232.2,315.7,-642.3,132415.3,29.4
$MHEAD_RNG_PITCHd_Wd,80.7,4815,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-75.28,0.000,2,0.000,0.000,408,1834,3296,0,0,0,0,0,0
$GC,100,-1.17,-146.0,3.9,-5.3,10,125,11.60,2.65,-7.47,0.000,4,0.156,0.048,2597,198,3717,0,0,0,0,0,0
$GC,147,-0.33,-146.0,19.7,-30.9,16,156,0.82,2.47,0.00,0.000,6,0.081,0.020,2784,1762,3718,0,0,0,0,0,0
$GC,442,-0.76,-146.0,34.6,-4.8,55,454,0.35,2.55,0.00,0.000,4,0.038,0.026,2684,3370,3720,0,0,0,0,0,0
$GC,515,-0.94,-146.0,39.3,-6.9,61,520,0.12,2.50,0.00,0.000,6,0.068,0.021,2636,1794,3719,0,0,0,0,0,0
$GC,783,-0.85,-146.0,72.7,-12.8,85,788,0.17,2.55,0.00,0.000,4,0.095,0.030,2674,3370,3720,0,0,0,0,0,0
$GC,827,-0.95,-146.0,78.7,-9.9,88,836,0.08,2.47,0.00,0.000,6,0.033,0.022,2620,1819,3720,0,0,0,0,0,0
$GC,1095,-0.95,-146.0,107.4,-9.2,113,1100,0.15,2.47,0.00,0.000,4,0.099,0.029,2654,3371,3721,0,0,0,0,0,0
$GC,1114,-0.95,-146.0,110.0,-9.3,114,1122,0.00,2.45,0.00,0.000,6,0.000,0.021,2653,1830,3721,0,0,0,0,0,0
$GC,1382,-1.07,-146.0,130.8,-8.2,139,1387,0.12,2.47,0.00,0.000,4,0.063,0.029,2572,3370,3722,0,0,0,0,0,0
$GC,1414,-0.96,-146.0,134.9,-12.3,141,1420,0.35,2.40,0.00,0.000,6,0.078,0.022,2650,1833,3722,0,0,0,0,0,0
$GC,1682,-1.09,-146.0,156.9,-7.8,166,1687,0.12,2.45,0.00,0.000,4,0.062,0.030,2565,3370,3722,0,0,0,0,0,0
$GC,1736,-1.09,-146.0,163.3,-11.1,171,1741,0.25,2.38,0.00,0.000,6,0.081,0.023,2622,1851,3722,0,0,0,0,0,0
$GC,2000,-1.09,-146.0,186.7,-9.6,195,2004,0.00,2.40,0.00,0.000,4,0.000,0.030,2622,3368,3722,0,0,0,0,0,0
$GC,2026,-1.15,-146.0,189.6,-10.0,197,2030,0.00,2.38,0.00,0.000,6,0.000,0.021,2622,1859,3722,0,0,0,0,0,0
$GC,2301,-1.22,-146.0,213.8,-8.5,211,2306,0.12,2.42,0.00,0.000,4,0.064,0.030,2551,3376,3722,0,0,0,0,0,0
$GC,2327,-1.14,-146.0,216.5,-10.5,211,2332,0.28,2.38,0.00,0.000,6,0.080,0.022,2614,1861,3722,0,0,0,0,0,0
$GC,2587,-1.14,-146.0,238.1,-7.9,218,2591,0.00,2.40,0.00,0.000,4,0.000,0.031,2614,3371,3722,0,0,0,0,0,0
$GC,2617,-1.20,-146.0,240.4,-8.1,218,2621,0.00,2.35,0.00,0.000,6,0.000,0.023,2614,1873,3722,0,0,0,0,0,0
$GC,2871,-1.26,-146.0,260.6,-8.0,225,2876,0.12,2.72,0.00,0.000,4,0.064,0.045,2548,220,3722,0,0,0,0,0,0
$GC,2886,-1.26,-146.0,262.2,-8.7,225,2891,0.17,2.58,0.00,0.000,6,0.093,0.021,2587,1879,3722,0,0,0,0,0,0
$GC,3157,-1.26,-146.0,289.6,-10.0,232,3161,0.00,2.35,0.00,0.000,4,0.000,0.033,2587,3367,3722,0,0,0,0,0,0
$GC,3189,-1.26,-146.0,293.3,-10.5,232,3193,0.00,2.35,0.00,0.000,6,0.000,0.025,2587,1879,3722,0,0,0,0,0,0
$GC,3440,-1.26,-146.0,318.6,-10.0,238,3444,0.00,2.40,0.00,0.000,4,0.000,0.035,2587,3371,3721,0,0,0,0,0,0
$GC,3469,-1.26,-146.0,321.7,-10.2,238,3473,0.00,2.35,0.00,0.000,6,0.000,0.026,2587,1890,3721,0,0,0,0,0,0
$GC,3723,-1.26,-146.0,345.7,-9.3,245,3724,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1889,3720,0,0,0,0,0,0
$GC,3967,-1.26,-146.0,367.4,-8.9,251,3971,0.00,2.78,0.00,0.000,4,0.000,0.053,2587,217,3718,0,0,0,0,0,0
$GC,4004,-1.35,-146.0,370.9,-9.3,251,4010,0.00,2.65,0.00,0.000,6,0.000,0.025,2587,1890,3719,0,0,0,0,0,0
$GC,4256,-1.35,-146.0,391.8,-8.5,258,4259,0.00,2.38,0.00,0.000,4,0.000,0.040,2587,3362,3717,0,0,0,0,0,0
$GC,4283,-1.35,-146.0,394.4,-8.0,258,4287,0.00,2.35,0.00,0.000,6,0.000,0.027,2587,1887,3717,0,0,0,0,0,0
$GC,4542,-1.35,-146.0,414.8,-8.1,265,4543,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1887,3715,0,0,0,0,0,0
$GC,4787,-1.35,-146.0,435.2,-8.5,271,4791,0.00,2.42,0.00,0.000,4,0.000,0.044,2587,3367,3714,0,0,0,0,0,0
$GC,4805,-1.35,-146.0,437.2,-9.3,271,4810,0.00,2.35,0.00,0.000,6,0.000,0.028,2587,1895,3714,0,0,0,0,0,0
$GC,5069,-1.35,-146.0,458.4,-7.9,278,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1895,3712,0,0,0,0,0,0
$GC,5314,-1.35,-146.0,476.4,-7.3,284,5318,0.00,2.42,0.00,0.000,4,0.000,0.048,2587,3361,3710,0,0,0,0,0,0
$GC,5352,-1.44,-146.0,479.4,-7.4,284,5358,0.17,2.38,0.00,0.000,6,0.047,0.029,2505,1895,3710,0,0,0,0,0,0
$STATE,5558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5558,begin apogee
$GC,5564,-0.31,0.0,503.3,11.9,290,5685,1.30,0.00,117.60,0.870,6,0.085,0.000,2791,1681,3120,0,0,0,0,0,0
$STATE,5686,end apogee,CONTROL_FINISHED_OK
$STATE,5686,begin climb
$GC,5690,1.17,146.0,507.5,0.0,293,5822,1.35,2.72,121.95,0.852,4,0.027,0.074,3135,189,2524,0,0,0,0,0,0
$GC,5937,0.69,146.0,498.3,11.4,298,5943,0.57,2.40,0.00,0.000,6,0.103,0.028,3014,1667,2518,0,0,0,0,0,0
$GC,6186,0.81,241.1,484.3,5.0,305,6270,0.00,0.00,81.28,0.841,6,0.000,0.000,3014,1667,2137,0,0,0,0,0,0
$GC,6510,0.82,251.9,458.7,8.6,313,6527,0.10,2.78,9.62,0.723,4,0.078,0.054,3065,3252,2093,0,0,0,0,0,0
$GC,6548,0.71,251.9,455.0,10.2,313,6557,0.22,2.62,0.00,0.000,6,0.092,0.035,3016,1694,2090,0,0,0,0,0,0
$GC,6800,0.71,255.7,432.2,8.8,320,6812,0.00,2.67,4.30,0.545,4,0.000,0.069,3016,160,2077,0,0,0,0,0,0
$GC,6823,0.72,258.8,430.0,8.9,320,6834,0.00,2.47,4.50,0.558,6,0.000,0.027,3016,1685,2064,0,0,0,0,0,0
$GC,7091,0.74,273.2,407.2,8.4,327,7111,0.00,2.72,14.05,0.756,4,0.000,0.049,3016,3253,2005,0,0,0,0,0,0
$GC,7136,0.80,273.2,403.2,9.3,328,7140,0.00,2.62,0.00,0.000,6,0.000,0.035,3016,1681,2002,0,0,0,0,0,0
$GC,7425,0.81,282.0,378.1,8.6,335,7440,0.00,2.65,8.40,0.684,4,0.000,0.064,3016,161,1970,0,0,0,0,0,0
$GC,7486,0.81,282.0,371.9,10.2,336,7491,0.00,2.47,0.00,0.000,6,0.000,0.027,3016,1687,1970,0,0,0,0,0,0
$GC,7756,0.83,296.7,349.2,8.4,343,7777,0.10,2.67,14.90,0.732,4,0.078,0.058,3069,161,1910,0,0,0,0,0,0
$GC,7802,0.69,296.7,344.3,12.8,344,7807,0.28,2.45,0.00,0.000,6,0.091,0.027,3010,1684,1908,0,0,0,0,0,0
$GC,8092,0.81,327.0,321.3,7.7,351,8126,0.12,2.70,27.77,0.742,4,0.064,0.048,3075,3254,1786,0,0,0,0,0,0
$GC,8142,0.73,327.0,316.0,10.9,352,8149,0.25,2.65,0.00,0.000,6,0.087,0.031,3021,1669,1784,0,0,0,0,0,0
$GC,8424,0.83,343.4,291.7,8.3,359,8444,0.00,2.70,14.95,0.688,4,0.000,0.040,3021,3255,1719,0,0,0,0,0,0
$GC,8469,0.93,344.4,287.5,9.0,360,8475,0.17,2.62,0.00,0.000,6,0.052,0.031,3098,1673,1716,0,0,0,0,0,0
$GC,8757,0.81,344.4,252.1,12.4,367,8762,0.28,2.58,0.00,0.000,4,0.090,0.058,3036,168,1715,0,0,0,0,0,0
$GC,8792,0.81,344.4,248.1,11.7,367,8796,0.00,2.42,0.00,0.000,6,0.000,0.023,3036,1686,1714,0,0,0,0,0,0
$GC,9042,0.87,344.4,225.3,9.2,373,9046,0.00,2.58,0.00,0.000,4,0.000,0.038,3036,3254,1713,0,0,0,0,0,0
$GC,9085,0.99,344.4,221.0,10.7,374,9090,0.17,2.55,0.00,0.000,6,0.049,0.030,3114,1682,1711,0,0,0,0,0,0
$GC,9350,0.85,344.4,187.3,12.6,387,9355,0.30,2.50,0.00,0.000,4,0.090,0.049,3044,174,1711,0,0,0,0,0,0
$GC,9406,0.95,344.4,181.0,9.1,392,9411,0.10,2.35,0.00,0.000,6,0.077,0.022,3102,1676,1711,0,0,0,0,0,0
$GC,9667,0.86,344.4,150.9,11.5,416,9672,0.25,2.55,0.00,0.000,4,0.091,0.032,3044,3258,1711,0,0,0,0,0,0
$GC,9716,0.99,344.4,146.1,9.1,420,9726,0.10,2.60,0.00,0.000,6,0.029,0.028,3105,1674,1709,0,0,0,0,0,0
$GC,9984,0.91,344.4,113.6,12.7,445,9989,0.20,2.50,0.00,0.000,4,0.097,0.051,3060,164,1709,0,0,0,0,0,0
$GC,10043,0.91,344.4,105.6,11.8,450,10052,0.00,2.40,0.00,0.000,6,0.000,0.021,3060,1674,1709,0,0,0,0,0,0
$GC,10310,1.06,376.2,82.1,7.7,475,10349,0.12,0.00,29.10,0.541,6,0.064,0.000,3138,1677,1585,0,0,0,0,0,0
$GC,10603,0.95,376.2,44.5,13.7,503,10608,0.30,2.58,0.00,0.000,4,0.087,0.032,3068,3260,1582,0,0,0,0,0,0
$GC,10622,0.95,376.2,42.0,13.0,504,10627,0.00,2.60,0.00,0.000,6,0.000,0.026,3067,1648,1580,0,0,0,0,0,0
$GC,10910,1.03,376.2,15.2,10.2,540,10918,0.00,2.62,0.00,0.000,4,0.000,0.032,3068,3251,1581,0,0,0,0,0,0
$GC,10941,1.15,382.2,12.6,8.8,544,10958,0.12,2.58,6.55,0.397,6,0.026,0.030,3163,1669,1560,0,0,0,0,0,0
$STATE,11002,end climb,SURFACE_DEPTH_REACHED
$STATE,11002,begin surface coast
$FINISH,0.7,0.999785
$STATE,11040,end surface coast,CONTROL_FINISHED_OK
$STATE,11040,begin surface
$SM_CCo,11060,24.40,0.308,1,0,1404,420.20
$SM_GC,1.30,0.00,0.00,24.40,0.000,0.000,0.308,409,1876,1404,-11.27,2.43,420.20
$IRIDIUM_FIX,2241.69,-15802.37,150300,212108
$TT8_MAMPS,0.026845
$HUMID,46.81
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.40
$XPDR_PINGS,3
$24V_AH,23.6,44.332
$10V_AH,10.3,37.770
$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,32.625,156.475,454.975,24.400,0.000,25.597,40.652,217.852,0.750,0.000,15.980,1167.869,7096.244,579.053,2066.254,611.357,33.378,1396.179,0.000,2071.629,0.000,0.537,0.000
$DEVICE_MAMPS,155.701,73.632,869.778,307.567,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,377.180,343.261,432.081,666.363,1178.552,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355360
$DATA_FILE_SIZE,44884,558
$CAP_FILE_SIZE,129235,0
$CFSIZE,260165632,153923584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211210,033646,2249.761,-15758.371,11,2.5,30,10.1