version: 66.06
glider: 148
mission: 9
dive: 342
start: 12 23 110 0 11 59
data:
$ID,148
$MISSION,9
$DIVE,342
$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,-865288.38
$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,34
$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
$GPS1,000325,2247.246,-15757.939,35,1.3,35,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-70.5
$GPS2,001102,2247.150,-15757.939,13,1.3,13,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.213,0.131
$KALMAN_X,-46215.2,151.7,45.5,66535.1,-153.5
$KALMAN_Y,-8719.7,495.3,22.8,132760.2,-1538.0
$MHEAD_RNG_PITCHd_Wd,291.5,8646,-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,-75.32,0.000,2,0.000,0.000,414,1847,3263,0,0,0,0,0,0
$GC,100,-1.17,-146.0,3.2,-3.6,10,125,11.40,2.45,-8.45,0.000,4,0.150,0.041,2597,3363,3718,0,0,0,0,0,0
$GC,247,-1.07,-146.0,33.1,-14.0,31,252,0.12,2.53,0.00,0.000,6,0.108,0.024,2625,1786,3719,0,0,0,0,0,0
$GC,516,-0.99,-146.0,67.2,-12.1,55,520,0.00,2.53,0.00,0.000,4,0.000,0.030,2625,3368,3720,0,0,0,0,0,0
$GC,570,-0.99,-146.0,74.7,-12.9,59,575,0.00,2.50,0.00,0.000,6,0.000,0.024,2625,1801,3720,0,0,0,0,0,0
$GC,839,-0.99,-146.0,106.6,-10.4,83,843,0.00,2.47,0.00,0.000,4,0.000,0.029,2625,3363,3721,0,0,0,0,0,0
$GC,868,-0.99,-146.0,110.6,-10.7,85,873,0.00,2.42,0.00,0.000,6,0.000,0.022,2625,1815,3721,0,0,0,0,0,0
$GC,1131,-0.99,-146.0,135.8,-9.8,110,1136,0.00,2.47,0.00,0.000,4,0.000,0.030,2625,3360,3722,0,0,0,0,0,0
$GC,1172,-1.05,-146.0,140.2,-10.1,113,1178,0.00,2.42,0.00,0.000,6,0.000,0.022,2625,1824,3722,0,0,0,0,0,0
$GC,1434,-1.05,-146.0,164.8,-9.2,138,1438,0.00,2.45,0.00,0.000,4,0.000,0.030,2625,3368,3723,0,0,0,0,0,0
$GC,1491,-1.17,-146.0,169.9,-9.3,143,1495,0.00,2.42,0.00,0.000,6,0.000,0.022,2625,1834,3723,0,0,0,0,0,0
$GC,1754,-1.23,-146.0,194.5,-9.4,167,1755,0.15,0.00,0.00,0.000,6,0.054,0.000,2532,1834,3723,0,0,0,0,0,0
$GC,2000,-1.00,-146.0,231.6,-15.2,176,2007,0.50,2.45,0.00,0.000,4,0.083,0.029,2639,3360,3723,0,0,0,0,0,0
$GC,2025,-1.00,-146.0,235.0,-9.9,176,2030,0.00,2.40,0.00,0.000,6,0.000,0.023,2639,1845,3723,0,0,0,0,0,0
$GC,2285,-1.14,-146.0,252.8,-6.9,183,2290,0.12,2.42,0.00,0.000,4,0.063,0.031,2566,3358,3724,0,0,0,0,0,0
$GC,2352,-1.14,-146.0,259.2,-10.0,184,2357,0.20,2.38,0.00,0.000,6,0.087,0.023,2611,1851,3723,0,0,0,0,0,0
$GC,2617,-1.21,-146.0,279.7,-7.6,191,2621,0.00,2.40,0.00,0.000,4,0.000,0.033,2611,3358,3723,0,0,0,0,0,0
$GC,2651,-1.32,-146.0,282.5,-8.1,191,2656,0.17,2.40,0.00,0.000,6,0.048,0.025,2534,1857,3723,0,0,0,0,0,0
$GC,2901,-1.17,-146.0,312.7,-12.4,197,2908,0.28,2.70,0.00,0.000,4,0.086,0.049,2600,219,3723,0,0,0,0,0,0
$GC,2932,-1.26,-146.0,316.1,-9.2,197,2936,0.00,2.58,0.00,0.000,6,0.000,0.024,2600,1847,3723,0,0,0,0,0,0
$GC,3188,-1.26,-146.0,338.7,-8.8,204,3192,0.00,2.45,0.00,0.000,4,0.000,0.038,2600,3363,3721,0,0,0,0,0,0
$GC,3248,-1.38,-146.0,344.3,-9.1,205,3253,0.17,2.38,0.00,0.000,6,0.046,0.027,2505,1873,3721,0,0,0,0,0,0
$GC,3519,-1.15,-146.0,382.1,-14.5,212,3521,0.50,0.00,0.00,0.000,6,0.082,0.000,2609,1872,3719,0,0,0,0,0,0
$GC,3761,-1.25,-146.0,400.7,-7.1,218,3766,0.10,2.45,0.00,0.000,4,0.076,0.043,2552,3354,3718,0,0,0,0,0,0
$GC,3790,-1.25,-146.0,403.5,-9.6,218,3795,0.15,2.40,0.00,0.000,6,0.094,0.028,2586,1870,3718,0,0,0,0,0,0
$GC,4046,-1.25,-146.0,426.2,-8.8,225,4047,0.00,0.00,0.00,0.000,6,0.000,0.000,2586,1870,3717,0,0,0,0,0,0
$GC,4288,-1.25,-146.0,446.8,-8.5,231,4293,0.00,2.45,0.00,0.000,4,0.000,0.048,2586,3350,3715,0,0,0,0,0,0
$GC,4340,-1.34,-146.0,451.1,-7.6,232,4344,0.00,2.35,0.00,0.000,6,0.000,0.030,2586,1885,3715,0,0,0,0,0,0
$GC,4617,-1.34,-146.0,473.0,-7.9,239,4622,0.00,2.85,0.00,0.000,4,0.000,0.064,2586,224,3713,0,0,0,0,0,0
$GC,4646,-1.42,-146.0,475.5,-8.3,239,4651,0.15,2.65,0.00,0.000,6,0.054,0.032,2513,1851,3713,0,0,0,0,0,0
$STATE,4858,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4858,begin apogee
$GC,4864,-0.31,0.0,500.3,11.9,245,4986,1.25,0.00,118.18,0.864,6,0.079,0.000,2792,1673,3119,0,0,0,0,0,0
$STATE,4987,end apogee,CONTROL_FINISHED_OK
$STATE,4987,begin climb
$GC,4991,1.17,146.0,505.1,0.0,248,5121,1.30,2.67,120.30,0.847,4,0.026,0.067,3121,193,2523,0,0,0,0,0,0
$GC,5238,0.74,146.0,496.0,10.6,253,5245,0.47,2.40,0.00,0.000,6,0.104,0.031,3023,1662,2517,0,0,0,0,0,0
$GC,5495,0.76,214.2,479.5,6.2,260,5560,0.00,2.65,57.55,0.830,4,0.000,0.060,3022,184,2244,0,0,0,0,0,0
$GC,5598,0.68,214.2,471.9,9.8,262,5603,0.00,2.45,0.00,0.000,6,0.000,0.028,3022,1688,2242,0,0,0,0,0,0
$GC,5866,0.73,247.9,451.5,7.6,269,5903,0.00,2.67,29.40,0.803,4,0.000,0.058,3022,190,2108,0,0,0,0,0,0
$GC,5928,0.73,247.9,446.2,9.9,270,5932,0.00,2.45,0.00,0.000,6,0.000,0.028,3022,1685,2107,0,0,0,0,0,0
$GC,6196,0.73,249.0,422.1,9.0,277,6200,0.00,2.70,0.00,0.000,4,0.000,0.056,3022,3261,2101,0,0,0,0,0,0
$GC,6241,0.80,249.0,418.1,9.1,278,6246,0.00,2.60,0.00,0.000,6,0.000,0.035,3022,1705,2099,0,0,0,0,0,0
$GC,6528,0.81,259.4,392.9,8.6,285,6540,0.00,0.00,9.90,0.710,6,0.000,0.000,3022,1705,2062,0,0,0,0,0,0
$GC,6772,0.83,272.6,372.2,8.5,291,6787,0.00,0.00,13.05,0.728,6,0.000,0.000,3023,1704,2008,0,0,0,0,0,0
$GC,7017,0.85,291.2,352.2,8.2,297,7038,0.10,0.00,18.05,0.739,6,0.077,0.000,3078,1705,1932,0,0,0,0,0,0
$GC,7259,0.75,291.2,326.2,10.9,303,7266,0.25,2.67,0.00,0.000,4,0.096,0.064,3021,164,1927,0,0,0,0,0,0
$GC,7291,0.75,291.2,322.5,10.9,303,7296,0.00,2.45,0.00,0.000,6,0.000,0.025,3021,1698,1926,0,0,0,0,0,0
$GC,7548,0.81,292.4,299.7,9.0,310,7549,0.00,0.00,0.00,0.000,6,0.000,0.000,3021,1699,1925,0,0,0,0,0,0
$GC,7790,0.93,333.3,281.4,7.3,316,7835,0.17,2.75,37.33,0.717,4,0.051,0.056,3092,160,1760,0,0,0,0,0,0
$GC,7862,0.78,333.3,273.6,13.2,317,7867,0.30,2.47,0.00,0.000,6,0.095,0.025,3029,1685,1759,0,0,0,0,0,0
$GC,8122,0.85,333.3,249.1,9.2,324,8127,0.00,2.60,0.00,0.000,4,0.000,0.043,3029,3260,1755,0,0,0,0,0,0
$GC,8136,0.92,333.3,247.7,9.5,324,8142,0.12,2.62,0.00,0.000,6,0.061,0.029,3081,1665,1753,0,0,0,0,0,0
$GC,8407,0.92,333.3,215.7,12.0,331,8411,0.00,2.65,0.00,0.000,4,0.000,0.038,3081,3261,1752,0,0,0,0,0,0
$GC,8450,0.92,333.3,210.4,11.8,332,8454,0.00,2.58,0.00,0.000,6,0.000,0.029,3081,1686,1751,0,0,0,0,0,0
$GC,8715,0.92,333.3,178.8,12.4,348,8719,0.00,2.53,0.00,0.000,4,0.000,0.050,3081,167,1750,0,0,0,0,0,0
$GC,8792,0.92,333.3,168.7,13.2,355,8796,0.00,2.38,0.00,0.000,6,0.000,0.023,3081,1683,1750,0,0,0,0,0,0
$GC,9059,0.92,333.3,140.9,9.5,379,9063,0.00,2.53,0.00,0.000,4,0.000,0.034,3081,3260,1750,0,0,0,0,0,0
$GC,9089,0.92,333.3,137.4,10.3,381,9095,0.00,2.58,0.00,0.000,6,0.000,0.028,3081,1670,1748,0,0,0,0,0,0
$GC,9350,0.92,333.3,109.5,10.3,406,9354,0.00,2.47,0.00,0.000,4,0.000,0.052,3081,167,1748,0,0,0,0,0,0
$GC,9377,0.92,333.3,106.7,10.3,408,9381,0.00,2.35,0.00,0.000,6,0.000,0.021,3081,1678,1748,0,0,0,0,0,0
$GC,9649,0.96,365.9,85.7,7.6,433,9689,0.00,2.60,28.05,0.540,4,0.000,0.032,3081,3258,1625,0,0,0,0,0,0
$GC,9716,1.06,365.9,79.2,9.6,439,9725,0.00,2.60,0.00,0.000,6,0.000,0.027,3082,1681,1623,0,0,0,0,0,0
$GC,9981,1.06,365.9,55.0,9.8,464,9986,0.00,2.47,0.00,0.000,4,0.000,0.044,3081,170,1622,0,0,0,0,0,0
$GC,10081,1.13,365.9,44.6,11.1,472,10086,0.10,2.33,0.00,0.000,6,0.073,0.020,3154,1677,1622,0,0,0,0,0,0
$STATE,10368,end climb,SURFACE_DEPTH_REACHED
$STATE,10368,begin surface coast
$FINISH,0.7,1.023446
$STATE,10403,end surface coast,CONTROL_FINISHED_OK
$STATE,10403,begin surface
$SM_CCo,10425,26.92,0.062,0,0,1406,420.20
$SM_GC,1.37,0.00,0.00,26.92,0.000,0.000,0.062,412,1881,1406,-11.26,2.57,420.20
$IRIDIUM_FIX,2239.35,-15759.32,170300,212148
$TT8_MAMPS,0.026845
$HUMID,47.83
$INTERNAL_PRESSURE,9.7894
$TCM_TEMP,22.50
$XPDR_PINGS,2
$24V_AH,23.6,46.110
$10V_AH,10.3,39.524
$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,29.200,131.025,431.800,26.925,0.000,30.057,38.555,257.854,0.500,0.000,15.363,1082.426,6789.065,498.438,1930.847,613.338,33.369,1279.213,0.000,1930.033,0.000,0.537,0.000
$DEVICE_MAMPS,149.565,67.496,863.642,62.127,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.865,311.236,393.425,583.096,1031.230,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355492
$DATA_FILE_SIZE,41665,515
$CAP_FILE_SIZE,116728,0
$CFSIZE,260165632,153026560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,231210,030722,2247.107,-15759.625,11,6.6,30,10.1