version: 66.06
glider: 148
mission: 9
dive: 328
start: 12 21 110 6 28 29
data:
$ID,148
$MISSION,9
$DIVE,328
$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,-864908.75
$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,28
$R_STBD_OVSHOOT,51
$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
$GPS1,062131,2249.571,-15757.251,38,1.5,38,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.41
$_SM_ANGLEo,-66.0
$GPS2,062732,2249.621,-15757.256,13,1.1,13,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.085,-0.236
$KALMAN_X,-46276.9,-260.5,-136.3,68367.9,340.0
$KALMAN_Y,-2886.1,-729.2,493.2,132265.2,-511.8
$MHEAD_RNG_PITCHd_Wd,189.8,4942,-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,17,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-75.78,0.000,2,0.000,0.000,404,1875,3318,0,0,0,0,0,0
$GC,100,-1.17,-146.0,3.8,-5.4,10,124,11.60,2.72,-7.10,0.000,4,0.155,0.048,2596,200,3717,0,0,0,0,0,0
$GC,234,-1.08,-146.0,32.8,-14.5,29,239,0.12,2.50,0.00,0.000,6,0.114,0.019,2622,1798,3718,0,0,0,0,0,0
$GC,503,-0.96,-146.0,70.3,-13.6,53,508,0.12,2.50,0.00,0.000,4,0.110,0.029,2649,3364,3719,0,0,0,0,0,0
$GC,580,-1.03,-146.0,80.2,-10.5,59,584,0.00,2.47,0.00,0.000,6,0.000,0.021,2649,1783,3719,0,0,0,0,0,0
$GC,848,-1.10,-146.0,104.5,-8.5,83,853,0.12,2.55,0.00,0.000,4,0.063,0.028,2573,3366,3720,0,0,0,0,0,0
$GC,863,-1.10,-146.0,106.9,-9.5,84,869,0.20,2.45,0.00,0.000,6,0.090,0.021,2619,1794,3720,0,0,0,0,0,0
$GC,1124,-1.10,-146.0,131.5,-9.4,108,1128,0.00,2.53,0.00,0.000,4,0.000,0.029,2618,3373,3721,0,0,0,0,0,0
$GC,1174,-1.10,-146.0,136.1,-8.9,112,1183,0.00,2.47,0.00,0.000,6,0.000,0.021,2618,1820,3721,0,0,0,0,0,0
$GC,1436,-1.10,-146.0,159.7,-9.3,137,1440,0.00,2.45,0.00,0.000,4,0.000,0.029,2618,3367,3722,0,0,0,0,0,0
$GC,1495,-1.20,-146.0,164.5,-8.0,142,1499,0.00,2.40,0.00,0.000,6,0.000,0.022,2618,1829,3723,0,0,0,0,0,0
$GC,1761,-1.20,-146.0,187.7,-8.8,166,1765,0.00,2.45,0.00,0.000,4,0.000,0.029,2618,3362,3723,0,0,0,0,0,0
$GC,1801,-1.27,-146.0,191.2,-8.5,169,1806,0.15,2.40,0.00,0.000,6,0.053,0.023,2531,1832,3723,0,0,0,0,0,0
$GC,2074,-1.02,-146.0,232.4,-15.4,180,2081,0.50,2.60,0.00,0.000,4,0.083,0.038,2633,213,3723,0,0,0,0,0,0
$GC,2093,-0.92,-146.0,234.8,-13.8,180,2098,0.12,2.55,0.00,0.000,6,0.101,0.020,2661,1850,3723,0,0,0,0,0,0
$GC,2363,-1.12,-146.0,252.8,-6.4,187,2367,0.17,2.42,0.00,0.000,4,0.046,0.031,2561,3366,3723,0,0,0,0,0,0
$GC,2406,-1.12,-146.0,256.8,-10.1,188,2411,0.25,2.38,0.00,0.000,6,0.077,0.025,2618,1856,3723,0,0,0,0,0,0
$GC,2697,-1.20,-146.0,281.5,-8.7,195,2701,0.00,2.42,0.00,0.000,4,0.000,0.031,2618,3361,3723,0,0,0,0,0,0
$GC,2730,-1.32,-146.0,284.7,-8.1,195,2735,0.20,2.40,0.00,0.000,6,0.042,0.025,2521,1856,3723,0,0,0,0,0,0
$GC,2981,-1.13,-146.0,314.2,-11.7,201,2983,0.43,0.00,0.00,0.000,6,0.081,0.000,2612,1856,3722,0,0,0,0,0,0
$GC,3224,-1.23,-146.0,332.9,-7.5,207,3228,0.00,2.45,0.00,0.000,4,0.000,0.035,2612,3364,3722,0,0,0,0,0,0
$GC,3267,-1.37,-146.0,336.4,-8.4,208,3272,0.20,2.38,0.00,0.000,6,0.041,0.028,2519,1869,3721,0,0,0,0,0,0
$GC,3556,-1.19,-146.0,373.3,-13.2,215,3563,0.32,2.75,0.00,0.000,4,0.085,0.051,2594,215,3720,0,0,0,0,0,0
$GC,3602,-1.33,-146.0,378.2,-9.2,216,3607,0.10,2.62,0.00,0.000,6,0.077,0.026,2535,1861,3720,0,0,0,0,0,0
$GC,3892,-1.21,-146.0,408.9,-10.9,223,3894,0.28,0.00,0.00,0.000,6,0.084,0.000,2596,1861,3718,0,0,0,0,0,0
$GC,4134,-1.28,-146.0,428.1,-7.7,229,4138,0.00,2.42,0.00,0.000,4,0.000,0.043,2596,3353,3717,0,0,0,0,0,0
$GC,4167,-1.37,-146.0,430.6,-7.9,229,4172,0.15,2.40,0.00,0.000,6,0.053,0.029,2516,1861,3717,0,0,0,0,0,0
$GC,4418,-1.22,-146.0,458.4,-11.5,235,4420,0.35,0.00,0.00,0.000,6,0.083,0.000,2592,1861,3715,0,0,0,0,0,0
$GC,4661,-1.29,-146.0,477.8,-7.7,241,4665,0.00,2.50,0.00,0.000,4,0.000,0.048,2592,3357,3713,0,0,0,0,0,0
$GC,4695,-1.38,-146.0,480.6,-7.6,241,4700,0.15,2.40,0.00,0.000,6,0.053,0.029,2513,1874,3713,0,0,0,0,0,0
$STATE,4902,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4902,begin apogee
$GC,4908,-0.31,0.0,504.4,11.8,246,5029,1.25,0.00,118.10,0.867,6,0.081,0.000,2791,1677,3120,0,0,0,0,0,0
$STATE,5030,end apogee,CONTROL_FINISHED_OK
$STATE,5030,begin climb
$GC,5033,1.17,146.0,508.9,0.0,249,5162,1.33,2.65,120.78,0.850,4,0.025,0.071,3124,188,2524,0,0,0,0,0,0
$GC,5295,0.72,146.0,497.6,10.8,255,5302,0.50,2.40,0.00,0.000,6,0.104,0.028,3020,1666,2518,0,0,0,0,0,0
$GC,5584,0.82,226.8,480.3,5.6,262,5660,0.00,2.75,68.30,0.835,4,0.000,0.054,3020,3265,2193,0,0,0,0,0,0
$GC,5682,0.86,257.8,473.8,7.7,264,5717,0.12,2.60,28.05,0.802,6,0.064,0.036,3079,1699,2067,0,0,0,0,0,0
$GC,5999,0.72,257.8,438.1,11.7,272,6006,0.25,2.67,0.00,0.000,4,0.095,0.068,3021,167,2059,0,0,0,0,0,0
$GC,6050,0.72,257.8,432.5,11.3,273,6054,0.00,2.42,0.00,0.000,6,0.000,0.027,3021,1683,2058,0,0,0,0,0,0
$GC,6332,0.72,257.8,404.9,9.6,280,6336,0.00,2.65,0.00,0.000,4,0.000,0.049,3021,3265,2056,0,0,0,0,0,0
$GC,6385,0.79,257.8,399.7,9.6,281,6389,0.00,2.62,0.00,0.000,6,0.000,0.035,3021,1682,2053,0,0,0,0,0,0
$GC,6662,0.79,257.8,373.4,9.5,288,6666,0.00,2.60,0.00,0.000,4,0.000,0.065,3021,167,2053,0,0,0,0,0,0
$GC,6736,0.79,257.8,365.5,11.3,289,6740,0.00,2.42,0.00,0.000,6,0.000,0.025,3021,1683,2053,0,0,0,0,0,0
$GC,6992,0.82,278.7,343.8,8.1,296,7011,0.00,0.00,16.95,0.735,6,0.000,0.000,3021,1684,1984,0,0,0,0,0,0
$GC,7234,0.85,304.4,324.3,7.9,302,7266,0.10,2.62,24.33,0.736,4,0.077,0.055,3068,165,1878,0,0,0,0,0,0
$GC,7273,0.74,304.4,320.4,9.7,302,7279,0.22,2.45,0.00,0.000,6,0.097,0.026,3021,1680,1877,0,0,0,0,0,0
$GC,7525,0.81,304.4,296.3,9.7,309,7529,0.00,2.65,0.00,0.000,4,0.000,0.046,3021,3254,1873,0,0,0,0,0,0
$GC,7562,0.92,304.4,292.1,10.2,309,7568,0.17,2.60,0.00,0.000,6,0.052,0.033,3074,1677,1871,0,0,0,0,0,0
$GC,7813,0.85,304.4,262.5,11.9,316,7819,0.12,2.55,0.00,0.000,4,0.111,0.061,3047,172,1871,0,0,0,0,0,0
$GC,7833,0.85,304.4,260.2,10.1,316,7837,0.00,2.38,0.00,0.000,6,0.000,0.023,3047,1684,1871,0,0,0,0,0,0
$GC,8100,0.85,304.4,235.4,9.3,323,8105,0.00,2.55,0.00,0.000,4,0.000,0.041,3047,3250,1870,0,0,0,0,0,0
$GC,8123,0.85,304.4,232.9,10.1,323,8128,0.00,2.58,0.00,0.000,6,0.000,0.030,3047,1677,1868,0,0,0,0,0,0
$GC,8384,0.85,304.4,207.0,10.0,330,8385,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1677,1868,0,0,0,0,0,0
$GC,8634,0.86,306.9,185.0,8.9,348,8635,0.00,0.00,0.00,0.000,6,0.000,0.000,3047,1677,1868,0,0,0,0,0,0
$GC,8890,0.87,316.9,161.3,8.6,372,8906,0.00,2.58,10.82,0.566,4,0.000,0.033,3047,3258,1827,0,0,0,0,0,0
$GC,8936,0.97,327.1,157.2,8.6,376,8954,0.10,2.55,10.40,0.554,6,0.075,0.028,3087,1677,1785,0,0,0,0,0,0
$GC,9218,0.97,327.1,127.6,10.7,403,9223,0.00,0.00,0.00,0.000,6,0.000,0.000,3087,1676,1784,0,0,0,0,0,0
$GC,9479,0.97,327.1,100.0,9.8,428,9483,0.00,2.45,0.00,0.000,4,0.000,0.052,3088,172,1783,0,0,0,0,0,0
$GC,9590,0.97,327.1,88.0,10.7,438,9599,0.00,2.40,0.00,0.000,6,0.000,0.022,3088,1683,1783,0,0,0,0,0,0
$GC,9857,0.99,338.8,65.5,8.5,463,9873,0.00,2.53,11.20,0.485,4,0.000,0.031,3088,3260,1738,0,0,0,0,0,0
$GC,9909,1.06,338.8,60.9,9.0,467,9913,0.00,2.55,0.00,0.000,6,0.000,0.026,3088,1680,1735,0,0,0,0,0,0
$GC,10176,1.06,340.8,36.4,8.9,491,10180,0.00,2.50,0.00,0.000,4,0.000,0.044,3087,168,1735,0,0,0,0,0,0
$GC,10276,1.06,340.8,26.0,9.6,502,10285,0.00,2.38,0.00,0.000,6,0.000,0.021,3088,1680,1735,0,0,0,0,0,0
$STATE,10517,end climb,SURFACE_DEPTH_REACHED
$STATE,10517,begin surface coast
$FINISH,0.7,1.023016
$STATE,10568,end surface coast,CONTROL_FINISHED_OK
$STATE,10568,begin surface
$SM_CCo,10591,44.65,0.383,1,0,1406,420.20
$SM_GC,1.66,0.00,0.00,44.65,0.000,0.000,0.383,413,1843,1406,-11.26,1.47,420.20
$IRIDIUM_FIX,2239.35,-15757.16,160300,030351
$TT8_MAMPS,0.026845
$HUMID,45.43
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,23.10
$XPDR_PINGS,2
$24V_AH,23.6,44.536
$10V_AH,10.3,37.988
$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,30.400,131.150,408.925,44.650,0.000,30.786,34.080,160.726,0.500,0.000,14.551,1142.386,6746.571,496.471,2098.961,522.857,33.398,1312.382,0.000,2098.703,0.000,0.538,0.000
$DEVICE_MAMPS,154.934,70.564,867.477,382.733,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,369.759,338.274,433.234,656.587,1160.250,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355304
$DATA_FILE_SIZE,41457,548
$CAP_FILE_SIZE,120662,0
$CFSIZE,260165632,153817088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211210,092704,2248.097,-15757.683,15,2.1,34,10.1