version: 66.06
glider: 148
mission: 9
dive: 405
start: 12 30 110 23 29 41
data:
$ID,148
$MISSION,9
$DIVE,405
$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,-866622.06
$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,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
$GPS1,232028,2250.040,-15802.778,12,4.0,31,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-68.1
$GPS2,232844,2250.056,-15802.850,9,1.9,9,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.248,-0.036
$KALMAN_X,-37276.8,639.3,-151.6,48849.5,-653.2
$KALMAN_Y,-67342.7,-408.3,-388.9,198081.0,379.0
$MHEAD_RNG_PITCHd_Wd,88.2,9986,-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,-75.03,0.000,2,0.000,0.000,412,1874,3279,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.5,-4.0,10,123,11.52,0.00,-8.20,0.000,6,0.154,0.000,2591,1874,3717,0,0,0,0,0,0
$GC,396,-1.01,-146.0,55.8,-14.5,45,401,0.22,2.38,0.00,0.000,4,0.090,0.029,2641,3361,3720,0,0,0,0,0,0
$GC,449,-1.01,-146.0,62.3,-10.5,49,454,0.00,2.50,0.00,0.000,6,0.000,0.022,2641,1774,3720,0,0,0,0,0,0
$GC,718,-1.01,-146.0,89.5,-9.7,73,722,0.00,2.53,0.00,0.000,4,0.000,0.030,2641,3361,3720,0,0,0,0,0,0
$GC,774,-1.13,-146.0,95.7,-8.6,78,779,0.12,2.47,0.00,0.000,6,0.061,0.022,2559,1801,3721,0,0,0,0,0,0
$GC,1036,-0.95,-146.0,131.8,-15.0,102,1048,0.45,2.50,0.00,0.000,4,0.079,0.028,2649,3369,3721,0,0,0,0,0,0
$GC,1085,-1.10,-146.0,136.9,-8.3,106,1095,0.08,2.45,0.00,0.000,6,0.033,0.021,2547,1828,3721,0,0,0,0,0,0
$GC,1349,-0.94,-146.0,171.7,-13.6,131,1358,0.43,2.45,0.00,0.000,4,0.079,0.028,2646,3367,3722,0,0,0,0,0,0
$GC,1380,-1.04,-146.0,175.3,-9.5,134,1384,0.00,2.42,0.00,0.000,6,0.000,0.021,2646,1830,3722,0,0,0,0,0,0
$GC,1643,-1.18,-146.0,194.2,-6.6,158,1648,0.17,2.45,0.00,0.000,4,0.048,0.030,2553,3363,3722,0,0,0,0,0,0
$GC,1665,-1.18,-146.0,196.3,-9.1,159,1675,0.17,2.42,0.00,0.000,6,0.067,0.021,2598,1839,3722,0,0,0,0,0,0
$GC,1946,-1.18,-146.0,223.9,-9.6,169,1950,0.00,2.42,0.00,0.000,4,0.000,0.030,2598,3367,3722,0,0,0,0,0,0
$GC,1999,-1.28,-146.0,228.0,-7.2,170,2003,0.00,2.40,0.00,0.000,6,0.000,0.023,2598,1840,3722,0,0,0,0,0,0
$GC,2277,-1.28,-146.0,248.7,-7.2,177,2281,0.00,2.42,0.00,0.000,4,0.000,0.031,2598,3366,3722,0,0,0,0,0,0
$GC,2320,-1.37,-146.0,251.9,-7.1,178,2325,0.15,2.40,0.00,0.000,6,0.054,0.023,2513,1853,3722,0,0,0,0,0,0
$GC,2609,-1.15,-146.0,290.6,-14.2,185,2617,0.43,2.42,0.00,0.000,4,0.081,0.032,2602,3363,3722,0,0,0,0,0,0
$GC,2627,-1.04,-146.0,293.2,-12.8,185,2631,0.15,2.38,0.00,0.000,6,0.092,0.022,2638,1854,3722,0,0,0,0,0,0
$GC,2898,-1.21,-146.0,312.6,-7.3,192,2903,0.17,2.45,0.00,0.000,4,0.048,0.035,2545,3358,3721,0,0,0,0,0,0
$GC,2941,-1.14,-146.0,317.8,-11.9,193,2946,0.30,2.35,0.00,0.000,6,0.077,0.025,2612,1872,3721,0,0,0,0,0,0
$GC,3229,-1.25,-146.0,343.2,-8.7,200,3234,0.12,2.42,0.00,0.000,4,0.062,0.038,2541,3360,3720,0,0,0,0,0,0
$GC,3296,-1.25,-146.0,349.9,-9.6,201,3301,0.20,2.35,0.00,0.000,6,0.084,0.026,2587,1883,3719,0,0,0,0,0,0
$GC,3561,-1.25,-146.0,371.6,-8.0,208,3565,0.00,2.40,0.00,0.000,4,0.000,0.039,2587,3353,3718,0,0,0,0,0,0
$GC,3581,-1.25,-146.0,373.3,-8.6,208,3585,0.00,2.33,0.00,0.000,6,0.000,0.026,2587,1892,3718,0,0,0,0,0,0
$GC,3849,-1.25,-146.0,396.1,-8.7,215,3853,0.00,2.40,0.00,0.000,4,0.000,0.041,2587,3353,3717,0,0,0,0,0,0
$GC,3892,-1.32,-146.0,400.1,-9.2,216,3896,0.00,2.30,0.00,0.000,6,0.000,0.027,2587,1906,3716,0,0,0,0,0,0
$GC,4180,-1.32,-146.0,426.3,-9.1,223,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1906,3714,0,0,0,0,0,0
$GC,4422,-1.32,-146.0,447.0,-8.3,229,4423,0.00,0.00,0.00,0.000,6,0.000,0.000,2587,1906,3713,0,0,0,0,0,0
$GC,4666,-1.39,-146.0,465.6,-7.5,235,4671,0.12,2.40,0.00,0.000,4,0.064,0.047,2527,3350,3711,0,0,0,0,0,0
$GC,4692,-1.31,-146.0,468.1,-9.5,235,4697,0.22,2.33,0.00,0.000,6,0.084,0.027,2577,1898,3711,0,0,0,0,0,0
$GC,4952,-1.31,-146.0,489.7,-8.3,242,4956,0.00,2.40,0.00,0.000,4,0.000,0.047,2577,3349,3710,0,0,0,0,0,0
$GC,4989,-1.37,-146.0,493.2,-8.9,242,4995,0.00,2.33,0.00,0.000,6,0.000,0.028,2577,1911,3710,0,0,0,0,0,0
$STATE,5074,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5074,begin apogee
$GC,5081,-0.31,0.0,500.5,8.4,245,5203,0.95,0.00,117.75,0.866,6,0.073,0.000,2793,1682,3120,0,0,0,0,0,0
$STATE,5203,end apogee,CONTROL_FINISHED_OK
$STATE,5203,begin climb
$GC,5206,1.17,146.0,505.2,0.0,248,5340,1.35,2.70,121.53,0.849,4,0.029,0.069,3140,187,2522,0,0,0,0,0,0
$GC,5387,0.68,146.0,503.1,10.8,252,5394,0.62,2.38,0.00,0.000,6,0.100,0.027,3010,1660,2518,0,0,0,0,0,0
$GC,5654,0.76,213.1,485.9,6.2,259,5718,0.00,2.60,56.65,0.830,4,0.000,0.058,3010,184,2250,0,0,0,0,0,0
$GC,5733,0.78,228.0,480.1,8.4,260,5754,0.00,2.45,14.07,0.753,6,0.000,0.028,3010,1681,2189,0,0,0,0,0,0
$GC,6027,0.81,255.0,456.6,7.9,268,6059,0.12,2.75,24.12,0.795,4,0.066,0.053,3067,3260,2079,0,0,0,0,0,0
$GC,6075,0.71,255.0,452.1,10.1,269,6082,0.22,2.62,0.00,0.000,6,0.090,0.036,3017,1689,2076,0,0,0,0,0,0
$GC,6360,0.73,268.0,427.3,8.5,276,6377,0.00,2.70,11.98,0.737,4,0.000,0.069,3016,167,2026,0,0,0,0,0,0
$GC,6485,0.74,274.5,416.5,8.7,278,6497,0.00,2.42,7.55,0.670,6,0.000,0.026,3017,1680,2000,0,0,0,0,0,0
$GC,6739,0.81,331.3,399.2,6.6,285,6796,0.00,2.72,51.30,0.795,4,0.000,0.050,3017,3256,1769,0,0,0,0,0,0
$GC,6815,0.92,357.3,393.4,7.9,286,6846,0.17,2.67,24.23,0.762,6,0.051,0.034,3085,1666,1663,0,0,0,0,0,0
$GC,7110,0.84,357.3,354.8,13.8,294,7115,0.20,2.60,0.00,0.000,4,0.097,0.063,3043,167,1655,0,0,0,0,0,0
$GC,7143,0.84,357.3,349.8,12.6,294,7147,0.00,2.42,0.00,0.000,6,0.000,0.025,3043,1683,1655,0,0,0,0,0,0
$GC,7393,0.84,357.3,322.0,11.0,300,7397,0.00,2.62,0.00,0.000,4,0.000,0.047,3043,3252,1653,0,0,0,0,0,0
$GC,7417,0.84,357.3,319.3,10.6,300,7422,0.00,2.65,0.00,0.000,6,0.000,0.033,3043,1659,1651,0,0,0,0,0,0
$GC,7676,0.84,357.3,291.9,10.7,307,7677,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1659,1650,0,0,0,0,0,0
$GC,7920,0.84,357.3,265.3,11.0,313,7924,0.00,2.65,0.00,0.000,4,0.000,0.038,3043,3259,1650,0,0,0,0,0,0
$GC,7938,0.84,357.3,263.1,11.0,313,7943,0.00,2.62,0.00,0.000,6,0.000,0.030,3043,1665,1648,0,0,0,0,0,0
$GC,8202,0.90,357.3,236.8,9.7,320,8207,0.00,2.62,0.00,0.000,4,0.000,0.035,3043,3258,1648,0,0,0,0,0,0
$GC,8240,1.02,357.3,233.1,10.3,320,8246,0.15,2.60,0.00,0.000,6,0.055,0.031,3114,1678,1647,0,0,0,0,0,0
$GC,8491,0.91,357.3,201.5,12.9,327,8496,0.25,2.53,0.00,0.000,4,0.093,0.052,3056,167,1647,0,0,0,0,0,0
$GC,8515,0.91,357.3,198.3,11.0,327,8519,0.00,2.40,0.00,0.000,6,0.000,0.022,3055,1695,1647,0,0,0,0,0,0
$GC,8780,0.91,357.3,172.4,10.0,351,8781,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1698,1647,0,0,0,0,0,0
$GC,9039,0.91,357.3,145.5,10.0,375,9043,0.00,2.53,0.00,0.000,4,0.000,0.051,3056,167,1647,0,0,0,0,0,0
$GC,9066,0.91,357.3,142.4,10.7,377,9071,0.00,2.38,0.00,0.000,6,0.000,0.022,3056,1677,1647,0,0,0,0,0,0
$GC,9336,1.00,381.9,119.7,8.0,401,9366,0.10,2.58,20.35,0.565,4,0.077,0.032,3108,3252,1563,0,0,0,0,0,0
$GC,9421,1.00,381.9,110.4,10.1,409,9427,0.15,2.55,0.00,0.000,6,0.097,0.028,3075,1675,1559,0,0,0,0,0,0
$GC,9686,1.07,381.9,87.2,9.6,433,9690,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1675,1559,0,0,0,0,0,0
$GC,9950,1.07,381.9,61.2,10.4,458,9954,0.00,2.47,0.00,0.000,4,0.000,0.044,3075,163,1558,0,0,0,0,0,0
$GC,9981,1.07,381.9,58.1,10.6,460,9985,0.00,2.38,0.00,0.000,6,0.000,0.021,3075,1695,1558,0,0,0,0,0,0
$GC,10248,1.15,381.9,31.0,10.0,484,10253,0.15,2.50,0.00,0.000,4,0.054,0.031,3157,3264,1558,0,0,0,0,0,0
$GC,10270,1.15,381.9,28.5,9.6,486,10279,0.17,2.58,0.00,0.000,6,0.077,0.028,3113,1684,1558,0,0,0,0,0,0
$STATE,10470,end climb,SURFACE_DEPTH_REACHED
$STATE,10470,begin surface coast
$FINISH,0.8,1.023505
$STATE,10509,end surface coast,CONTROL_FINISHED_OK
$STATE,10509,begin surface
$SM_CCo,10530,24.85,0.311,1,0,1406,420.20
$SM_GC,1.34,0.00,0.00,24.85,0.000,0.000,0.311,409,1854,1406,-11.27,1.81,420.20
$IRIDIUM_FIX,2239.35,-15800.20,250300,202047
$TT8_MAMPS,0.027612
$HUMID,49.09
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.5,53.463
$10V_AH,10.2,46.546
$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,30.575,139.675,449.525,24.850,0.000,25.465,38.833,296.497,0.250,0.000,11.337,1100.835,6777.782,518.997,1992.203,670.456,33.377,1344.312,0.000,1995.178,0.000,0.538,0.000
$DEVICE_MAMPS,154.167,69.030,865.943,310.635,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,353.791,317.889,401.564,603.348,1067.097,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355416
$DATA_FILE_SIZE,41528,523
$CAP_FILE_SIZE,123344,0
$CFSIZE,260165632,149405696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,311210,022701,2249.392,-15801.341,39,1.4,39,10.1