version: 66.06
glider: 148
mission: 9
dive: 420
start: 1 1 111 19 52 1
data:
$ID,148
$MISSION,9
$DIVE,420
$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,-867010.62
$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,78
$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
$GPS1,194252,2249.763,-15801.146,12,99.0,31,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-68.9
$GPS2,195106,2249.765,-15801.177,15,1.7,25,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.164,0.190
$KALMAN_X,-37694.4,176.6,349.8,52112.4,-366.7
$KALMAN_Y,-80140.4,638.7,146.7,208761.2,-2018.1
$MHEAD_RNG_PITCHd_Wd,30.7,7142,-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,19,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-74.45,0.000,2,0.000,0.000,406,1827,3261,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.4,-4.1,10,123,11.50,0.00,-8.65,0.000,6,0.151,0.000,2595,1828,3718,0,0,0,0,0,0
$GC,402,-1.03,-146.0,54.9,-14.5,46,407,0.17,2.42,0.00,0.000,4,0.104,0.030,2633,3336,3721,0,0,0,0,0,0
$GC,488,-1.10,-146.0,65.1,-10.3,53,493,0.00,2.45,0.00,0.000,6,0.000,0.022,2633,1783,3721,0,0,0,0,0,0
$GC,757,-1.10,-146.0,93.0,-10.2,77,761,0.00,2.47,0.00,0.000,4,0.000,0.030,2633,3337,3721,0,0,0,0,0,0
$GC,818,-1.19,-146.0,99.1,-7.2,82,827,0.10,2.45,0.00,0.000,6,0.028,0.028,2532,1807,3721,0,0,0,0,0,0
$GC,1083,-0.97,-146.0,132.2,-12.2,107,1092,0.50,2.42,0.00,0.000,4,0.082,0.028,2646,3336,3721,0,0,0,0,0,0
$GC,1108,-0.89,-146.0,134.9,-11.0,109,1112,0.00,2.40,0.00,0.000,6,0.000,0.021,2646,1797,3722,0,0,0,0,0,0
$GC,1376,-1.03,-146.0,151.8,-6.5,133,1380,0.00,2.45,0.00,0.000,4,0.000,0.029,2646,3336,3722,0,0,0,0,0,0
$GC,1444,-1.23,-146.0,156.6,-6.8,139,1449,0.22,2.38,0.00,0.000,6,0.040,0.022,2549,1818,3723,0,0,0,0,0,0
$GC,1710,-1.08,-146.0,190.4,-13.8,163,1715,0.32,2.42,0.00,0.000,4,0.083,0.028,2622,3336,3723,0,0,0,0,0,0
$GC,1751,-1.15,-146.0,194.7,-9.2,166,1756,0.00,2.38,0.00,0.000,6,0.000,0.022,2623,1833,3723,0,0,0,0,0,0
$GC,2025,-1.23,-146.0,217.8,-8.4,177,2030,0.12,2.42,0.00,0.000,4,0.064,0.030,2556,3343,3723,0,0,0,0,0,0
$GC,2055,-1.12,-146.0,221.0,-10.6,177,2060,0.25,2.38,0.00,0.000,6,0.079,0.022,2614,1842,3723,0,0,0,0,0,0
$GC,2311,-1.20,-146.0,243.4,-8.5,184,2315,0.00,2.40,0.00,0.000,4,0.000,0.029,2614,3343,3723,0,0,0,0,0,0
$GC,2354,-1.34,-146.0,247.1,-8.4,185,2359,0.20,2.35,0.00,0.000,6,0.042,0.024,2515,1851,3723,0,0,0,0,0,0
$GC,2643,-1.09,-146.0,289.2,-15.1,192,2651,0.50,2.67,0.00,0.000,4,0.082,0.040,2616,211,3723,0,0,0,0,0,0
$GC,2674,-1.24,-146.0,293.0,-9.2,192,2679,0.12,2.53,0.00,0.000,6,0.061,0.021,2542,1821,3723,0,0,0,0,0,0
$GC,2931,-1.12,-146.0,323.2,-12.1,199,2937,0.30,2.47,0.00,0.000,4,0.081,0.032,2609,3367,3722,0,0,0,0,0,0
$GC,2965,-1.24,-146.0,326.5,-8.4,199,2969,0.00,2.40,0.00,0.000,6,0.000,0.025,2609,1856,3722,0,0,0,0,0,0
$GC,3215,-1.34,-146.0,346.4,-8.1,205,3220,0.17,2.47,0.00,0.000,4,0.049,0.037,2530,3367,3722,0,0,0,0,0,0
$GC,3252,-1.23,-146.0,350.0,-11.0,205,3257,0.28,2.40,0.00,0.000,6,0.079,0.025,2592,1865,3721,0,0,0,0,0,0
$GC,3502,-1.23,-146.0,370.8,-7.9,211,3506,0.00,2.42,0.00,0.000,4,0.000,0.039,2592,3360,3719,0,0,0,0,0,0
$GC,3525,-1.23,-146.0,372.7,-8.3,211,3530,0.00,2.40,0.00,0.000,6,0.000,0.026,2592,1865,3720,0,0,0,0,0,0
$GC,3786,-1.23,-146.0,392.8,-7.8,218,3790,0.00,2.45,0.00,0.000,4,0.000,0.040,2592,3364,3718,0,0,0,0,0,0
$GC,3829,-1.32,-146.0,396.5,-7.6,219,3833,0.00,2.38,0.00,0.000,6,0.000,0.028,2592,1881,3718,0,0,0,0,0,0
$GC,4122,-1.38,-146.0,420.7,-8.2,226,4124,0.15,0.00,0.00,0.000,6,0.057,0.000,2524,1881,3716,0,0,0,0,0,0
$GC,4364,-1.25,-146.0,447.3,-11.2,232,4366,0.28,0.00,0.00,0.000,6,0.085,0.000,2584,1881,3715,0,0,0,0,0,0
$GC,4612,-1.25,-146.0,468.3,-8.4,238,4616,0.00,2.45,0.00,0.000,4,0.000,0.047,2584,3360,3713,0,0,0,0,0,0
$GC,4646,-1.32,-146.0,471.6,-8.6,238,4650,0.00,2.38,0.00,0.000,6,0.000,0.028,2584,1885,3712,0,0,0,0,0,0
$GC,4896,-1.32,-146.0,491.4,-7.9,244,4897,0.00,0.00,0.00,0.000,6,0.000,0.000,2584,1885,3710,0,0,0,0,0,0
$STATE,5017,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5017,begin apogee
$GC,5022,-0.31,0.0,500.5,7.5,247,5144,0.90,0.00,118.28,0.867,6,0.074,0.000,2791,1673,3120,0,0,0,0,0,0
$STATE,5145,end apogee,CONTROL_FINISHED_OK
$STATE,5145,begin climb
$GC,5149,1.17,146.0,503.7,0.0,250,5279,1.33,2.70,120.50,0.850,4,0.025,0.072,3133,190,2523,0,0,0,0,0,0
$GC,5334,0.70,146.0,499.4,11.2,254,5341,0.57,2.40,0.00,0.000,6,0.102,0.028,3014,1666,2519,0,0,0,0,0,0
$GC,5610,0.75,190.0,478.2,7.2,261,5652,0.00,2.62,37.28,0.818,4,0.000,0.059,3014,184,2344,0,0,0,0,0,0
$GC,5751,0.70,201.9,466.7,8.5,264,5767,0.00,2.42,11.18,0.736,6,0.000,0.027,3014,1672,2296,0,0,0,0,0,0
$GC,6035,0.75,244.7,446.1,7.2,271,6081,0.00,2.67,37.60,0.808,4,0.000,0.058,3014,184,2121,0,0,0,0,0,0
$GC,6107,0.78,265.1,440.6,8.2,272,6132,0.00,2.40,19.15,0.771,6,0.000,0.026,3014,1668,2039,0,0,0,0,0,0
$GC,6417,0.79,275.1,414.0,8.6,280,6433,0.00,2.62,9.52,0.706,4,0.000,0.057,3014,185,1996,0,0,0,0,0,0
$GC,6454,0.79,275.1,410.5,9.1,280,6458,0.00,2.40,0.00,0.000,6,0.000,0.025,3014,1666,1996,0,0,0,0,0,0
$GC,6703,0.80,281.8,388.6,8.7,286,6716,0.00,2.72,6.70,0.644,4,0.000,0.049,3014,3247,1970,0,0,0,0,0,0
$GC,6744,0.89,281.8,384.7,9.8,286,6750,0.17,2.60,0.00,0.000,6,0.050,0.035,3096,1678,1968,0,0,0,0,0,0
$GC,6996,0.74,281.8,354.4,12.3,293,7003,0.32,2.62,0.00,0.000,4,0.094,0.065,3021,166,1967,0,0,0,0,0,0
$GC,7032,0.74,281.8,350.1,10.4,293,7037,0.00,2.40,0.00,0.000,6,0.000,0.025,3021,1663,1967,0,0,0,0,0,0
$GC,7282,0.74,281.8,327.7,9.1,299,7286,0.00,2.62,0.00,0.000,4,0.000,0.044,3022,3251,1966,0,0,0,0,0,0
$GC,7297,0.74,281.8,326.5,9.0,299,7302,0.00,2.62,0.00,0.000,6,0.000,0.031,3021,1660,1965,0,0,0,0,0,0
$GC,7566,0.80,288.1,302.7,8.7,306,7578,0.00,2.62,6.43,0.604,4,0.000,0.064,3021,166,1945,0,0,0,0,0,0
$GC,7614,0.80,288.1,298.2,10.5,307,7618,0.00,2.40,0.00,0.000,6,0.000,0.025,3021,1666,1945,0,0,0,0,0,0
$GC,7901,0.89,302.3,273.5,8.4,314,7918,0.15,0.00,14.55,0.680,6,0.056,0.000,3089,1667,1887,0,0,0,0,0,0
$GC,8146,0.80,302.3,244.8,12.0,320,8151,0.25,2.58,0.00,0.000,4,0.093,0.054,3031,166,1883,0,0,0,0,0,0
$GC,8219,0.87,302.3,236.9,10.3,321,8223,0.00,2.35,0.00,0.000,6,0.000,0.022,3031,1660,1883,0,0,0,0,0,0
$GC,8482,0.97,317.3,214.1,8.4,328,8503,0.17,2.70,14.40,0.634,4,0.050,0.041,3116,3244,1826,0,0,0,0,0,0
$GC,8530,0.84,317.3,208.8,13.8,329,8537,0.32,2.65,0.00,0.000,6,0.084,0.031,3044,1641,1822,0,0,0,0,0,0
$GC,8796,0.84,317.3,184.0,9.1,345,8800,0.00,2.47,0.00,0.000,4,0.000,0.052,3044,167,1821,0,0,0,0,0,0
$GC,8845,0.84,317.3,179.3,9.9,349,8850,0.00,2.35,0.00,0.000,6,0.000,0.023,3044,1665,1821,0,0,0,0,0,0
$GC,9111,0.84,317.3,154.5,9.4,373,9116,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1669,1820,0,0,0,0,0,0
$GC,9374,0.93,332.0,130.0,8.4,398,9396,0.00,2.65,13.48,0.561,4,0.000,0.033,3044,3257,1765,0,0,0,0,0,0
$GC,9421,1.03,332.0,125.5,9.2,402,9431,0.12,2.65,0.00,0.000,6,0.027,0.028,3127,1654,1763,0,0,0,0,0,0
$GC,9687,0.89,332.0,92.8,12.2,427,9692,0.30,2.45,0.00,0.000,4,0.090,0.047,3057,167,1762,0,0,0,0,0,0
$GC,9725,0.89,332.0,88.4,9.9,430,9729,0.00,2.30,0.00,0.000,6,0.000,0.021,3057,1647,1762,0,0,0,0,0,0
$GC,9992,1.02,368.0,68.1,7.5,454,10030,0.10,2.58,32.55,0.535,4,0.077,0.044,3116,163,1618,0,0,0,0,0,0
$GC,10059,0.93,368.0,60.5,12.8,459,10069,0.22,2.35,0.00,0.000,6,0.077,0.021,3062,1632,1618,0,0,0,0,0,0
$GC,10325,1.03,381.8,37.0,8.4,484,10350,0.00,2.62,13.32,0.475,4,0.000,0.030,3062,3250,1560,0,0,0,0,0,0
$GC,10398,1.20,390.1,30.6,8.7,490,10413,0.22,2.60,8.20,0.436,6,0.038,0.027,3154,1635,1528,0,0,0,0,0,0
$STATE,10591,end climb,SURFACE_DEPTH_REACHED
$STATE,10592,begin surface coast
$FINISH,0.7,1.017081
$STATE,10624,end surface coast,CONTROL_FINISHED_OK
$STATE,10624,begin surface
$SM_CCo,10645,19.98,0.272,1,0,1406,420.20
$SM_GC,1.52,0.00,0.00,19.98,0.000,0.000,0.272,410,1850,1406,-11.27,1.67,420.20
$IRIDIUM_FIX,2244.02,-15801.49,270300,161640
$TT8_MAMPS,0.027612
$HUMID,49.17
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,21.60
$XPDR_PINGS,2
$24V_AH,23.5,55.149
$10V_AH,10.1,48.228
$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,31.575,139.950,463.125,19.975,0.000,31.202,38.022,273.519,0.500,0.000,26.977,1118.137,6839.336,505.353,2044.422,657.579,33.378,1355.179,0.000,2031.278,0.000,0.537,0.000
$DEVICE_MAMPS,151.099,72.098,867.477,272.285,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,353.893,325.315,408.307,618.528,1093.984,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355408
$DATA_FILE_SIZE,41683,524
$CAP_FILE_SIZE,126279,0
$CFSIZE,260165632,148549632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,010111,225127,2249.865,-15800.255,36,99.0,55,10.1