version: 66.06
glider: 148
mission: 9
dive: 357
start: 12 24 110 21 0 51
data:
$ID,148
$MISSION,9
$DIVE,357
$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,-865594.88
$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,30
$R_STBD_OVSHOOT,49
$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
$GPS1,205207,2247.678,-15801.002,34,0.8,34,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-68.6
$GPS2,205955,2247.647,-15800.964,9,1.0,14,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.250,0.005
$KALMAN_X,-46148.0,451.7,171.9,60832.3,-31.9
$KALMAN_Y,-19288.0,961.2,286.4,143515.5,-1013.6
$MHEAD_RNG_PITCHd_Wd,261.1,3678,-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,18,-1.17,-146.0,0.0,0.0,0,96,0.00,0.00,-75.90,0.000,2,0.000,0.000,417,1874,3309,0,0,0,0,0,0
$GC,101,-1.17,-146.0,3.5,-4.3,10,126,11.43,2.72,-7.43,0.000,4,0.151,0.044,2597,196,3718,0,0,0,0,0,0
$GC,209,-1.17,-146.0,27.4,-11.8,26,218,0.00,2.53,0.00,0.000,6,0.000,0.018,2597,1798,3719,0,0,0,0,0,0
$GC,481,-0.98,-146.0,66.4,-14.6,52,486,0.22,2.47,0.00,0.000,4,0.096,0.028,2646,3363,3720,0,0,0,0,0,0
$GC,569,-1.08,-146.0,76.3,-9.7,59,574,0.00,2.50,0.00,0.000,6,0.000,0.022,2646,1788,3721,0,0,0,0,0,0
$GC,836,-1.08,-146.0,105.1,-11.5,83,841,0.00,2.53,0.00,0.000,4,0.000,0.028,2646,3367,3721,0,0,0,0,0,0
$GC,886,-1.19,-146.0,111.6,-10.5,87,893,0.20,2.47,0.00,0.000,6,0.041,0.021,2539,1803,3721,0,0,0,0,0,0
$GC,1155,-0.97,-146.0,152.1,-14.0,112,1164,0.45,2.47,0.00,0.000,4,0.081,0.026,2644,3367,3721,0,0,0,0,0,0
$GC,1218,-1.18,-146.0,158.2,-6.3,118,1223,0.17,2.42,0.00,0.000,6,0.047,0.021,2553,1829,3722,0,0,0,0,0,0
$GC,1483,-1.00,-146.0,191.7,-13.7,142,1488,0.43,0.00,0.00,0.000,6,0.078,0.000,2641,1828,3723,0,0,0,0,0,0
$GC,1739,-1.12,-146.0,211.5,-6.9,155,1744,0.12,2.45,0.00,0.000,4,0.063,0.030,2566,3361,3723,0,0,0,0,0,0
$GC,1784,-1.12,-146.0,215.7,-9.6,156,1789,0.22,2.40,0.00,0.000,6,0.079,0.023,2618,1834,3723,0,0,0,0,0,0
$GC,2071,-1.12,-146.0,239.1,-8.3,163,2076,0.00,2.42,0.00,0.000,4,0.000,0.030,2618,3365,3723,0,0,0,0,0,0
$GC,2094,-1.12,-146.0,241.2,-9.4,163,2098,0.00,2.42,0.00,0.000,6,0.000,0.022,2618,1834,3723,0,0,0,0,0,0
$GC,2355,-1.18,-146.0,262.3,-8.0,170,2360,0.00,2.42,0.00,0.000,4,0.000,0.030,2618,3363,3723,0,0,0,0,0,0
$GC,2407,-1.32,-146.0,266.5,-6.4,171,2412,0.20,2.40,0.00,0.000,6,0.042,0.024,2523,1855,3723,0,0,0,0,0,0
$GC,2687,-1.11,-146.0,301.2,-13.2,178,2692,0.40,2.42,0.00,0.000,4,0.084,0.032,2614,3368,3722,0,0,0,0,0,0
$GC,2716,-1.18,-146.0,304.3,-8.0,178,2721,0.00,2.40,0.00,0.000,6,0.000,0.025,2614,1855,3722,0,0,0,0,0,0
$GC,2971,-1.27,-146.0,322.4,-7.1,185,2973,0.12,0.00,0.00,0.000,6,0.062,0.000,2540,1855,3722,0,0,0,0,0,0
$GC,3216,-1.13,-146.0,349.0,-11.2,191,3218,0.32,0.00,0.00,0.000,6,0.079,0.000,2612,1856,3721,0,0,0,0,0,0
$GC,3459,-1.23,-146.0,368.2,-7.8,197,3463,0.00,2.42,0.00,0.000,4,0.000,0.038,2612,3355,3719,0,0,0,0,0,0
$GC,3492,-1.38,-146.0,371.0,-8.0,197,3497,0.22,2.40,0.00,0.000,6,0.038,0.028,2523,1869,3719,0,0,0,0,0,0
$GC,3743,-1.20,-146.0,399.7,-11.7,203,3745,0.35,0.00,0.00,0.000,6,0.087,0.000,2599,1869,3718,0,0,0,0,0,0
$GC,3985,-1.26,-146.0,417.0,-7.0,209,3987,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1869,3717,0,0,0,0,0,0
$GC,4229,-1.33,-146.0,437.3,-8.4,215,4234,0.12,2.47,0.00,0.000,4,0.064,0.044,2530,3354,3715,0,0,0,0,0,0
$GC,4278,-1.24,-146.0,442.6,-11.8,216,4283,0.28,2.40,0.00,0.000,6,0.084,0.029,2591,1872,3715,0,0,0,0,0,0
$GC,4561,-1.24,-146.0,467.5,-8.6,223,4566,0.00,2.83,0.00,0.000,4,0.000,0.064,2591,223,3713,0,0,0,0,0,0
$GC,4586,-1.33,-146.0,469.6,-9.2,223,4591,0.00,2.62,0.00,0.000,6,0.000,0.029,2591,1847,3713,0,0,0,0,0,0
$GC,4846,-1.39,-146.0,488.7,-7.2,230,4851,0.15,2.50,0.00,0.000,4,0.055,0.049,2519,3350,3710,0,0,0,0,0,0
$GC,4890,-1.30,-146.0,492.7,-9.6,231,4895,0.25,2.40,0.00,0.000,6,0.087,0.031,2573,1874,3710,0,0,0,0,0,0
$STATE,5012,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5012,begin apogee
$GC,5020,-0.31,0.0,502.3,7.3,234,5141,0.98,0.00,117.50,0.865,6,0.077,0.000,2793,1678,3120,0,0,0,0,0,0
$STATE,5141,end apogee,CONTROL_FINISHED_OK
$STATE,5141,begin climb
$GC,5144,1.17,146.0,506.2,0.0,237,5274,1.33,2.72,119.90,0.851,4,0.033,0.068,3129,180,2523,0,0,0,0,0,0
$GC,5327,0.70,146.0,502.5,10.0,241,5334,0.55,2.42,0.00,0.000,6,0.102,0.029,3015,1666,2519,0,0,0,0,0,0
$GC,5609,0.80,230.1,486.1,5.5,248,5688,0.00,2.65,71.07,0.838,4,0.000,0.061,3014,191,2181,0,0,0,0,0,0
$GC,5708,0.81,239.8,478.7,8.6,250,5724,0.00,2.45,9.93,0.718,6,0.000,0.028,3014,1683,2141,0,0,0,0,0,0
$GC,5980,0.81,239.8,453.8,9.3,257,5985,0.10,2.60,0.00,0.000,4,0.077,0.060,3062,184,2134,0,0,0,0,0,0
$GC,6018,0.63,239.8,448.9,13.4,257,6025,0.30,2.42,0.00,0.000,6,0.091,0.028,2998,1675,2134,0,0,0,0,0,0
$GC,6268,0.69,239.8,425.7,9.1,264,6272,0.00,2.58,0.00,0.000,4,0.000,0.058,2998,177,2131,0,0,0,0,0,0
$GC,6312,0.69,239.8,421.5,10.5,265,6317,0.00,2.40,0.00,0.000,6,0.000,0.026,2998,1672,2131,0,0,0,0,0,0
$GC,6600,0.81,279.9,399.4,7.3,272,6642,0.15,2.65,34.55,0.795,4,0.054,0.060,3074,187,1977,0,0,0,0,0,0
$GC,6685,0.66,279.9,389.3,13.5,273,6691,0.32,2.40,0.00,0.000,6,0.090,0.027,3004,1664,1976,0,0,0,0,0,0
$GC,6935,0.74,283.9,366.9,8.8,280,6944,0.00,2.72,3.95,0.499,4,0.000,0.050,3004,3258,1961,0,0,0,0,0,0
$GC,6970,0.86,283.9,363.7,9.7,280,6975,0.17,2.65,0.00,0.000,6,0.051,0.035,3061,1673,1959,0,0,0,0,0,0
$GC,7219,0.78,283.9,334.8,11.7,286,7225,0.15,2.60,0.00,0.000,4,0.102,0.064,3030,170,1958,0,0,0,0,0,0
$GC,7285,0.78,283.9,327.0,11.4,287,7289,0.00,2.40,0.00,0.000,6,0.000,0.026,3029,1665,1958,0,0,0,0,0,0
$GC,7550,0.78,283.9,301.8,9.4,294,7551,0.00,0.00,0.00,0.000,6,0.000,0.000,3030,1666,1957,0,0,0,0,0,0
$GC,7792,0.79,293.9,280.7,8.6,300,7808,0.00,2.62,10.02,0.658,4,0.000,0.056,3030,170,1921,0,0,0,0,0,0
$GC,7822,0.79,293.9,277.8,9.2,300,7827,0.00,2.38,0.00,0.000,6,0.000,0.024,3030,1653,1920,0,0,0,0,0,0
$GC,8078,0.81,304.8,255.9,8.6,307,8094,0.00,2.67,11.12,0.650,4,0.000,0.044,3030,3248,1876,0,0,0,0,0,0
$GC,8137,0.95,319.6,250.6,8.4,308,8158,0.15,2.65,14.75,0.663,6,0.055,0.033,3084,1652,1816,0,0,0,0,0,0
$GC,8416,0.88,319.6,221.0,10.5,315,8421,0.15,2.53,0.00,0.000,4,0.106,0.058,3053,171,1812,0,0,0,0,0,0
$GC,8472,0.88,319.6,215.2,9.8,316,8476,0.00,2.35,0.00,0.000,6,0.000,0.023,3052,1666,1811,0,0,0,0,0,0
$GC,8728,0.88,319.6,189.5,10.7,327,8733,0.00,2.53,0.00,0.000,4,0.000,0.049,3052,167,1809,0,0,0,0,0,0
$GC,8778,0.88,319.6,183.7,11.3,331,8783,0.00,2.33,0.00,0.000,6,0.000,0.023,3052,1652,1809,0,0,0,0,0,0
$GC,9042,0.88,319.6,158.0,9.9,356,9046,0.00,2.50,0.00,0.000,4,0.000,0.048,3052,159,1808,0,0,0,0,0,0
$GC,9081,0.88,319.6,153.5,11.1,359,9087,0.00,2.33,0.00,0.000,6,0.000,0.022,3052,1648,1808,0,0,0,0,0,0
$GC,9343,0.88,319.6,128.3,9.8,384,9348,0.00,2.60,0.00,0.000,4,0.000,0.032,3052,3264,1808,0,0,0,0,0,0
$GC,9362,0.88,319.6,126.6,10.1,385,9366,0.00,2.65,0.00,0.000,6,0.000,0.028,3053,1625,1807,0,0,0,0,0,0
$GC,9629,0.97,319.6,100.7,9.0,409,9634,0.00,2.62,0.00,0.000,4,0.000,0.031,3052,3258,1807,0,0,0,0,0,0
$GC,9719,1.13,329.0,92.5,8.6,417,9740,0.22,2.62,8.25,0.486,6,0.041,0.028,3124,1634,1777,0,0,0,0,0,0
$GC,9993,1.03,329.0,61.2,11.4,443,9998,0.17,2.42,0.00,0.000,4,0.098,0.045,3085,166,1776,0,0,0,0,0,0
$GC,10025,1.03,329.0,57.8,11.1,445,10029,0.00,2.33,0.00,0.000,6,0.000,0.020,3085,1662,1776,0,0,0,0,0,0
$GC,10292,1.05,346.8,34.3,8.3,469,10318,0.00,2.60,16.75,0.482,4,0.000,0.030,3085,3250,1704,0,0,0,0,0,0
$GC,10333,1.07,365.0,30.8,8.3,472,10362,0.00,2.60,17.38,0.479,6,0.000,0.027,3085,1647,1630,0,0,0,0,0,0
$STATE,10608,end climb,SURFACE_DEPTH_REACHED
$STATE,10608,begin surface coast
$FINISH,0.6,1.023518
$STATE,10653,end surface coast,CONTROL_FINISHED_OK
$STATE,10653,begin surface
$SM_CCo,10675,32.62,0.352,1,0,1407,420.20
$SM_GC,1.50,0.00,0.00,32.62,0.000,0.000,0.352,411,1838,1407,-11.27,1.36,420.20
$IRIDIUM_FIX,2241.69,-15759.32,190300,181847
$TT8_MAMPS,0.026845
$HUMID,46.77
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.60
$XPDR_PINGS,0
$24V_AH,23.6,47.797
$10V_AH,10.3,41.172
$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,31.300,141.025,435.175,32.625,0.000,27.530,36.664,266.193,0.000,0.000,15.757,1101.867,6934.131,517.819,1988.808,640.884,33.372,1334.744,0.000,1991.445,0.000,0.538,0.000
$DEVICE_MAMPS,151.099,68.263,865.176,352.053,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.991,320.000,397.742,608.439,1076.047,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355388
$DATA_FILE_SIZE,41410,521
$CAP_FILE_SIZE,124530,0
$CFSIZE,260165632,152170496
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,251210,000036,2247.494,-15802.370,32,1.0,32,10.1