version: 66.06
glider: 148
mission: 9
dive: 422
start: 1 2 111 2 3 31
data:
$ID,148
$MISSION,9
$DIVE,422
$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,-867059.75
$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,40
$R_STBD_OVSHOOT,47
$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
$GPS1,015310,2249.780,-15759.371,6,2.4,25,10.1
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-67.0
$GPS2,020234,2249.886,-15759.438,12,3.4,31,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.240,0.072
$KALMAN_X,-38061.4,-24.2,-475.7,56503.7,186.4
$KALMAN_Y,-81926.4,-234.8,-126.0,211916.7,-661.9
$MHEAD_RNG_PITCHd_Wd,63.1,4167,-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,-75.72,0.000,2,0.000,0.000,410,1772,3280,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.3,-3.7,10,123,11.57,0.00,-8.20,0.000,6,0.155,0.000,2597,1772,3716,0,0,0,0,0,0
$GC,401,-1.03,-146.0,52.4,-13.3,46,406,0.17,2.58,0.00,0.000,4,0.099,0.031,2635,3364,3719,0,0,0,0,0,0
$GC,498,-1.10,-146.0,63.1,-10.0,54,502,0.00,2.50,0.00,0.000,6,0.000,0.022,2634,1792,3719,0,0,0,0,0,0
$GC,761,-1.10,-146.0,92.6,-11.2,78,766,0.00,2.50,0.00,0.000,4,0.000,0.030,2635,3364,3719,0,0,0,0,0,0
$GC,809,-1.18,-146.0,98.0,-9.6,82,814,0.15,2.50,0.00,0.000,6,0.052,0.022,2547,1792,3720,0,0,0,0,0,0
$GC,1073,-0.95,-146.0,137.4,-14.3,106,1083,0.55,0.00,0.00,0.000,6,0.079,0.000,2649,1792,3720,0,0,0,0,0,0
$GC,1336,-1.10,-146.0,156.0,-6.4,131,1341,0.12,2.50,0.00,0.000,4,0.062,0.028,2569,3365,3721,0,0,0,0,0,0
$GC,1425,-1.10,-146.0,164.1,-10.1,139,1430,0.22,2.45,0.00,0.000,6,0.081,0.023,2620,1807,3721,0,0,0,0,0,0
$GC,1691,-1.17,-146.0,188.9,-10.5,163,1695,0.00,2.47,0.00,0.000,4,0.000,0.029,2620,3368,3721,0,0,0,0,0,0
$GC,1731,-1.28,-146.0,193.2,-9.7,166,1738,0.17,2.45,0.00,0.000,6,0.048,0.022,2509,1823,3721,0,0,0,0,0,0
$GC,1994,-1.02,-146.0,232.8,-15.4,177,1996,0.57,0.00,0.00,0.000,6,0.082,0.000,2636,1823,3721,0,0,0,0,0,0
$GC,2240,-1.15,-146.0,251.1,-7.1,183,2245,0.12,2.47,0.00,0.000,4,0.061,0.029,2544,3369,3721,0,0,0,0,0,0
$GC,2314,-1.06,-146.0,259.5,-11.7,184,2322,0.38,2.42,0.00,0.000,6,0.077,0.022,2628,1829,3721,0,0,0,0,0,0
$GC,2572,-1.19,-146.0,279.8,-7.7,191,2577,0.12,2.47,0.00,0.000,4,0.062,0.032,2548,3367,3721,0,0,0,0,0,0
$GC,2608,-1.13,-146.0,283.4,-11.2,191,2613,0.30,2.45,0.00,0.000,6,0.078,0.024,2616,1832,3721,0,0,0,0,0,0
$GC,2858,-1.23,-146.0,303.8,-7.9,197,2863,0.10,2.47,0.00,0.000,4,0.074,0.033,2543,3363,3721,0,0,0,0,0,0
$GC,2883,-1.23,-146.0,306.2,-9.6,197,2888,0.20,2.42,0.00,0.000,6,0.087,0.025,2589,1832,3721,0,0,0,0,0,0
$GC,3143,-1.23,-146.0,330.5,-9.2,204,3147,0.00,2.47,0.00,0.000,4,0.000,0.035,2589,3369,3719,0,0,0,0,0,0
$GC,3180,-1.30,-146.0,334.0,-9.3,204,3185,0.00,2.42,0.00,0.000,6,0.000,0.026,2590,1842,3720,0,0,0,0,0,0
$GC,3431,-1.30,-146.0,355.4,-8.6,211,3436,0.00,2.47,0.00,0.000,4,0.000,0.038,2589,3360,3718,0,0,0,0,0,0
$GC,3494,-1.40,-146.0,360.8,-8.1,212,3499,0.15,2.40,0.00,0.000,6,0.054,0.028,2512,1859,3718,0,0,0,0,0,0
$GC,3763,-1.22,-146.0,394.3,-12.6,219,3770,0.35,2.75,0.00,0.000,4,0.084,0.052,2592,215,3717,0,0,0,0,0,0
$GC,3786,-1.22,-146.0,396.9,-11.0,219,3790,0.00,2.62,0.00,0.000,6,0.000,0.026,2592,1854,3717,0,0,0,0,0,0
$GC,4050,-1.28,-146.0,420.1,-8.9,226,4054,0.00,2.45,0.00,0.000,4,0.000,0.042,2593,3361,3715,0,0,0,0,0,0
$GC,4099,-1.39,-146.0,424.6,-8.9,227,4104,0.15,2.42,0.00,0.000,6,0.053,0.030,2515,1863,3715,0,0,0,0,0,0
$GC,4381,-1.24,-146.0,460.4,-12.8,234,4389,0.30,2.83,0.00,0.000,4,0.086,0.061,2585,211,3713,0,0,0,0,0,0
$GC,4422,-1.37,-146.0,465.0,-10.3,234,4428,0.10,2.65,0.00,0.000,6,0.075,0.031,2521,1846,3713,0,0,0,0,0,0
$GC,4674,-1.24,-146.0,494.4,-11.9,241,4679,0.28,2.50,0.00,0.000,4,0.090,0.048,2585,3359,3711,0,0,0,0,0,0
$GC,4697,-1.24,-146.0,497.2,-10.2,241,4702,0.00,2.42,0.00,0.000,6,0.000,0.028,2585,1862,3711,0,0,0,0,0,0
$STATE,4752,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4752,begin apogee
$GC,4760,-0.31,0.0,501.6,8.1,243,4882,0.90,0.00,118.43,0.863,6,0.074,0.000,2790,1678,3120,0,0,0,0,0,0
$STATE,4882,end apogee,CONTROL_FINISHED_OK
$STATE,4882,begin climb
$GC,4885,1.17,146.0,506.7,0.0,246,5015,1.35,2.65,121.57,0.849,4,0.023,0.070,3130,184,2524,0,0,0,0,0,0
$GC,5021,0.87,222.2,508.6,5.8,249,5098,0.38,2.42,64.85,0.830,6,0.107,0.029,3053,1662,2214,0,0,0,0,0,0
$GC,5367,0.78,222.2,473.3,10.8,258,5369,0.10,0.00,0.00,0.000,6,0.128,0.000,3032,1661,2205,0,0,0,0,0,0
$GC,5612,0.78,222.2,450.1,9.4,264,5616,0.00,2.53,0.00,0.000,4,0.000,0.058,3031,183,2203,0,0,0,0,0,0
$GC,5640,0.69,222.2,447.2,10.3,264,5644,0.00,2.42,0.00,0.000,6,0.000,0.026,3031,1679,2203,0,0,0,0,0,0
$GC,5894,0.70,228.7,424.5,8.7,271,5906,0.00,2.58,5.10,0.591,4,0.000,0.057,3031,183,2186,0,0,0,0,0,0
$GC,5978,0.63,228.7,416.3,10.6,272,5983,0.15,2.40,0.00,0.000,6,0.110,0.025,3000,1670,2186,0,0,0,0,0,0
$GC,6228,0.76,274.0,397.6,7.1,278,6275,0.10,2.75,41.15,0.796,4,0.077,0.051,3047,3254,2001,0,0,0,0,0,0
$GC,6293,0.76,274.0,392.1,9.1,279,6298,0.10,2.62,0.00,0.000,6,0.115,0.034,3025,1681,1997,0,0,0,0,0,0
$GC,6562,0.77,287.4,368.4,8.5,286,6582,0.00,2.65,12.30,0.715,4,0.000,0.066,3025,166,1947,0,0,0,0,0,0
$GC,6616,0.77,287.4,363.4,9.9,287,6620,0.00,2.45,0.00,0.000,6,0.000,0.025,3025,1680,1946,0,0,0,0,0,0
$GC,6893,0.77,287.4,337.8,9.2,294,6897,0.00,2.65,0.00,0.000,4,0.000,0.048,3025,3255,1942,0,0,0,0,0,0
$GC,6919,0.85,295.2,335.4,8.7,294,6932,0.00,2.62,7.75,0.644,6,0.000,0.032,3025,1672,1916,0,0,0,0,0,0
$GC,7178,0.85,295.2,310.9,9.6,300,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,3025,1672,1913,0,0,0,0,0,0
$GC,7420,0.91,295.2,286.5,10.2,306,7422,0.12,0.00,0.00,0.000,6,0.066,0.000,3094,1672,1912,0,0,0,0,0,0
$GC,7664,0.79,295.2,255.2,13.0,312,7669,0.25,2.58,0.00,0.000,4,0.095,0.061,3036,166,1911,0,0,0,0,0,0
$GC,7699,0.79,295.2,251.3,11.4,312,7703,0.00,2.38,0.00,0.000,6,0.000,0.022,3036,1677,1911,0,0,0,0,0,0
$GC,7949,0.81,310.5,229.7,8.4,318,7969,0.00,2.65,14.43,0.647,4,0.000,0.054,3036,169,1854,0,0,0,0,0,0
$GC,7983,0.83,330.0,226.8,8.2,318,8008,0.00,2.38,18.88,0.652,6,0.000,0.022,3036,1660,1774,0,0,0,0,0,0
$GC,8284,0.91,338.7,200.9,8.6,326,8300,0.10,2.55,8.32,0.569,4,0.076,0.048,3094,166,1738,0,0,0,0,0,0
$GC,8310,0.82,338.7,197.6,12.0,326,8315,0.25,2.40,0.00,0.000,6,0.094,0.023,3041,1666,1738,0,0,0,0,0,0
$GC,8581,0.89,338.7,170.8,10.2,351,8586,0.00,2.58,0.00,0.000,4,0.000,0.034,3041,3250,1735,0,0,0,0,0,0
$GC,8602,0.97,338.7,168.8,9.7,352,8608,0.12,2.60,0.00,0.000,6,0.063,0.028,3097,1645,1734,0,0,0,0,0,0
$GC,8869,0.89,338.7,134.2,13.6,377,8875,0.20,0.00,0.00,0.000,6,0.100,0.000,3056,1645,1733,0,0,0,0,0,0
$GC,9131,0.97,338.7,105.4,9.7,402,9133,0.00,0.00,0.00,0.000,6,0.000,0.000,3056,1645,1733,0,0,0,0,0,0
$GC,9387,1.09,363.5,83.1,8.0,426,9419,0.17,0.00,22.62,0.539,6,0.049,0.000,3115,1645,1637,0,0,0,0,0,0
$GC,9673,1.02,363.5,52.2,11.0,453,9682,0.15,0.00,0.00,0.000,6,0.104,0.000,3083,1645,1634,0,0,0,0,0,0
$GC,9944,1.02,363.5,27.2,9.1,480,9952,0.00,2.62,0.00,0.000,4,0.000,0.032,3083,3247,1634,0,0,0,0,0,0
$GC,9987,1.10,363.5,22.9,9.3,486,9995,0.00,2.58,0.00,0.000,6,0.000,0.027,3083,1669,1632,0,0,0,0,0,0
$STATE,10198,end climb,SURFACE_DEPTH_REACHED
$STATE,10198,begin surface coast
$FINISH,0.7,1.023576
$STATE,10255,end surface coast,CONTROL_FINISHED_OK
$STATE,10256,begin surface
$SM_CCo,10275,27.15,0.062,0,0,1407,420.20
$SM_GC,1.52,0.00,0.00,27.15,0.000,0.000,0.062,409,1843,1407,-11.27,1.50,420.20
$IRIDIUM_FIX,2239.35,-15759.32,270300,232320
$TT8_MAMPS,0.026845
$HUMID,49.17
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.5,55.398
$10V_AH,10.2,48.456
$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,31.225,121.600,435.400,27.150,0.000,24.658,38.461,343.497,0.250,0.000,33.424,1080.676,6567.231,517.359,2000.743,703.106,33.417,1285.724,0.000,1981.139,0.000,0.538,0.000
$DEVICE_MAMPS,154.934,69.797,862.875,62.127,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,357.588,326.535,413.866,648.947,1147.786,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355448
$DATA_FILE_SIZE,41714,528
$CAP_FILE_SIZE,118591,0
$CFSIZE,260165632,148443136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020111,045651,2250.156,-15758.312,38,99.0,57,10.1