version: 66.06
glider: 148
mission: 9
dive: 434
start: 1 3 111 15 5 23
data:
$ID,148
$MISSION,9
$DIVE,434
$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,-867392.12
$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,33
$R_STBD_OVSHOOT,45
$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
$GPS1,145306,2249.675,-15802.184,26,1.2,26,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-66.6
$GPS2,150426,2249.788,-15802.185,34,1.2,34,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.245,-0.052
$KALMAN_X,-47306.7,-315.8,-429.3,61262.7,-369.8
$KALMAN_Y,-85170.4,170.8,-176.8,214623.7,682.6
$MHEAD_RNG_PITCHd_Wd,91.9,8858,-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,-75.35,0.000,2,0.000,0.000,407,1846,3271,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.1,-2.9,10,131,11.57,2.72,-8.85,0.000,4,0.153,0.054,2598,215,3717,0,0,0,0,0,0
$GC,161,-0.96,-146.0,18.5,-21.2,18,170,0.20,2.47,0.00,0.000,6,0.078,0.020,2647,1780,3718,0,0,0,0,0,0
$GC,446,-0.96,-146.0,49.7,-11.2,51,450,0.00,2.53,0.00,0.000,4,0.000,0.029,2647,3368,3719,0,0,0,0,0,0
$GC,546,-1.08,-146.0,59.6,-9.3,59,551,0.10,2.50,0.00,0.000,6,0.071,0.022,2570,1796,3719,0,0,0,0,0,0
$GC,813,-0.82,-146.0,104.4,-16.1,83,822,0.55,2.50,0.00,0.000,4,0.083,0.028,2676,3367,3719,0,0,0,0,0,0
$GC,849,-0.95,-146.0,109.3,-8.6,86,858,0.08,2.47,0.00,0.000,6,0.032,0.022,2610,1819,3719,0,0,0,0,0,0
$GC,1116,-0.95,-146.0,135.0,-9.2,111,1121,0.17,2.47,0.00,0.000,4,0.092,0.029,2650,3370,3720,0,0,0,0,0,0
$GC,1154,-1.13,-146.0,138.2,-7.1,114,1159,0.15,2.42,0.00,0.000,6,0.050,0.021,2556,1824,3720,0,0,0,0,0,0
$GC,1415,-0.94,-146.0,171.5,-13.4,138,1427,0.45,2.45,0.00,0.000,4,0.080,0.028,2648,3367,3721,0,0,0,0,0,0
$GC,1464,-1.14,-146.0,176.6,-8.6,142,1470,0.15,2.38,0.00,0.000,6,0.051,0.022,2538,1851,3721,0,0,0,0,0,0
$GC,1723,-0.95,-146.0,212.0,-14.4,161,1730,0.47,2.65,0.00,0.000,4,0.081,0.036,2649,208,3721,0,0,0,0,0,0
$GC,1751,-1.08,-146.0,215.3,-10.0,161,1756,0.10,2.55,0.00,0.000,6,0.072,0.020,2577,1859,3721,0,0,0,0,0,0
$GC,2011,-0.98,-146.0,244.8,-11.3,168,2016,0.32,2.38,0.00,0.000,4,0.079,0.028,2643,3366,3721,0,0,0,0,0,0
$GC,2068,-1.21,-146.0,248.8,-5.6,169,2073,0.20,2.40,0.00,0.000,6,0.041,0.023,2546,1856,3721,0,0,0,0,0,0
$GC,2343,-1.05,-146.0,280.4,-12.3,176,2346,0.40,0.00,0.00,0.000,6,0.078,0.000,2630,1856,3721,0,0,0,0,0,0
$GC,2586,-1.18,-146.0,299.1,-7.4,182,2591,0.12,2.45,0.00,0.000,4,0.064,0.033,2556,3367,3721,0,0,0,0,0,0
$GC,2643,-1.18,-146.0,305.0,-10.4,183,2648,0.20,2.35,0.00,0.000,6,0.082,0.024,2603,1877,3721,0,0,0,0,0,0
$GC,2917,-1.18,-146.0,328.7,-8.5,190,2921,0.00,2.40,0.00,0.000,4,0.000,0.035,2603,3370,3720,0,0,0,0,0,0
$GC,2968,-1.32,-146.0,333.1,-7.7,191,2973,0.12,2.35,0.00,0.000,6,0.063,0.026,2524,1890,3720,0,0,0,0,0,0
$GC,3248,-1.15,-146.0,366.4,-12.3,198,3256,0.38,2.80,0.00,0.000,4,0.084,0.050,2606,214,3719,0,0,0,0,0,0
$GC,3289,-1.30,-146.0,370.3,-7.7,198,3295,0.12,2.65,0.00,0.000,6,0.061,0.025,2528,1877,3719,0,0,0,0,0,0
$GC,3540,-1.17,-146.0,396.8,-10.8,205,3545,0.30,2.40,0.00,0.000,4,0.084,0.038,2599,3358,3718,0,0,0,0,0,0
$GC,3571,-1.23,-146.0,399.7,-7.9,205,3575,0.00,2.38,0.00,0.000,6,0.000,0.027,2599,1884,3718,0,0,0,0,0,0
$GC,3826,-1.31,-146.0,418.4,-7.4,212,3831,0.10,2.45,0.00,0.000,4,0.076,0.043,2536,3357,3716,0,0,0,0,0,0
$GC,3847,-1.31,-146.0,420.3,-8.9,212,3852,0.17,2.33,0.00,0.000,6,0.089,0.026,2575,1898,3716,0,0,0,0,0,0
$GC,4111,-1.31,-146.0,444.3,-9.1,219,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2576,1898,3714,0,0,0,0,0,0
$GC,4355,-1.31,-146.0,466.5,-9.2,225,4359,0.00,2.45,0.00,0.000,4,0.000,0.048,2575,3364,3712,0,0,0,0,0,0
$GC,4388,-1.31,-146.0,469.7,-9.3,225,4393,0.00,2.35,0.00,0.000,6,0.000,0.028,2575,1899,3712,0,0,0,0,0,0
$GC,4638,-1.31,-146.0,493.8,-9.7,231,4639,0.00,0.00,0.00,0.000,6,0.000,0.000,2575,1899,3711,0,0,0,0,0,0
$STATE,4717,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4717,begin apogee
$GC,4723,-0.31,0.0,501.7,9.6,233,4844,0.95,0.00,117.93,0.865,6,0.076,0.000,2790,1684,3120,0,0,0,0,0,0
$STATE,4845,end apogee,CONTROL_FINISHED_OK
$STATE,4845,begin climb
$GC,4849,1.17,146.0,507.7,0.0,236,4976,1.33,0.00,121.32,0.849,6,0.025,0.000,3132,1684,2524,0,0,0,0,0,0
$GC,5216,0.82,146.0,489.8,9.7,245,5223,0.43,2.65,0.00,0.000,4,0.099,0.069,3039,182,2516,0,0,0,0,0,0
$GC,5276,0.66,156.2,484.7,8.6,246,5292,0.17,2.40,8.38,0.701,6,0.106,0.027,3002,1670,2483,0,0,0,0,0,0
$GC,5553,0.75,226.9,467.9,6.1,253,5617,0.00,0.00,61.92,0.830,6,0.000,0.000,3002,1670,2194,0,0,0,0,0,0
$GC,5837,0.78,253.2,446.4,7.9,260,5866,0.12,2.62,23.45,0.792,4,0.065,0.058,3057,183,2086,0,0,0,0,0,0
$GC,5932,0.65,253.2,435.7,11.7,262,5937,0.25,2.45,0.00,0.000,6,0.094,0.025,3002,1688,2085,0,0,0,0,0,0
$GC,6213,0.77,293.5,414.4,7.3,269,6257,0.12,2.65,36.38,0.793,4,0.065,0.055,3056,181,1921,0,0,0,0,0,0
$GC,6271,0.68,293.5,408.1,11.9,270,6276,0.22,2.45,0.00,0.000,6,0.094,0.025,3009,1684,1921,0,0,0,0,0,0
$GC,6538,0.77,307.8,385.3,8.4,277,6558,0.00,2.65,13.52,0.728,4,0.000,0.054,3008,184,1864,0,0,0,0,0,0
$GC,6605,0.87,307.8,378.9,9.9,278,6610,0.17,2.40,0.00,0.000,6,0.051,0.026,3082,1677,1863,0,0,0,0,0,0
$GC,6872,0.75,307.8,348.7,11.6,285,6877,0.25,2.55,0.00,0.000,4,0.094,0.056,3025,184,1859,0,0,0,0,0,0
$GC,6937,0.75,307.8,341.2,11.3,286,6941,0.00,2.38,0.00,0.000,6,0.000,0.025,3025,1663,1859,0,0,0,0,0,0
$GC,7202,0.75,307.8,314.1,10.5,293,7206,0.00,2.53,0.00,0.000,4,0.000,0.057,3025,181,1857,0,0,0,0,0,0
$GC,7236,0.75,307.8,310.5,11.9,293,7240,0.00,2.35,0.00,0.000,6,0.000,0.024,3025,1651,1857,0,0,0,0,0,0
$GC,7490,0.82,307.8,284.2,10.2,300,7495,0.00,2.65,0.00,0.000,4,0.000,0.044,3025,3245,1855,0,0,0,0,0,0
$GC,7504,0.89,307.8,282.6,10.2,300,7510,0.12,2.62,0.00,0.000,6,0.064,0.031,3085,1654,1854,0,0,0,0,0,0
$GC,7775,0.81,307.8,250.9,11.5,307,7780,0.22,2.55,0.00,0.000,4,0.094,0.060,3036,167,1854,0,0,0,0,0,0
$GC,7813,0.81,307.8,246.7,10.2,307,7819,0.00,2.35,0.00,0.000,6,0.000,0.022,3036,1648,1854,0,0,0,0,0,0
$GC,8063,0.91,326.7,226.3,8.2,314,8087,0.00,2.65,16.30,0.648,4,0.000,0.037,3036,3244,1786,0,0,0,0,0,0
$GC,8112,1.00,326.7,222.1,9.2,315,8118,0.17,2.62,0.00,0.000,6,0.048,0.031,3114,1647,1784,0,0,0,0,0,0
$GC,8380,0.86,326.7,188.7,12.6,326,8385,0.28,2.47,0.00,0.000,4,0.093,0.052,3050,170,1783,0,0,0,0,0,0
$GC,8459,0.86,326.7,180.4,9.3,333,8468,0.00,2.35,0.00,0.000,6,0.000,0.023,3050,1640,1782,0,0,0,0,0,0
$GC,8725,0.86,326.7,156.9,9.1,358,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,3050,1643,1782,0,0,0,0,0,0
$GC,8993,0.95,346.4,133.4,8.2,383,9017,0.00,2.67,17.77,0.571,4,0.000,0.032,3050,3249,1706,0,0,0,0,0,0
$GC,9047,1.06,346.4,128.2,9.4,388,9057,0.12,2.67,0.00,0.000,6,0.027,0.028,3123,1629,1703,0,0,0,0,0,0
$GC,9315,0.95,346.4,96.1,11.6,413,9320,0.25,2.42,0.00,0.000,4,0.094,0.045,3064,167,1702,0,0,0,0,0,0
$GC,9351,1.05,346.4,92.0,9.1,416,9356,0.10,2.30,0.00,0.000,6,0.079,0.021,3114,1634,1702,0,0,0,0,0,0
$GC,9615,0.98,346.4,65.1,10.4,440,9620,0.20,2.60,0.00,0.000,4,0.094,0.031,3070,3256,1701,0,0,0,0,0,0
$GC,9635,0.98,346.4,62.9,11.6,441,9639,0.00,2.65,0.00,0.000,6,0.000,0.026,3070,1613,1701,0,0,0,0,0,0
$GC,9903,0.98,346.4,39.6,9.2,465,9908,0.00,2.62,0.00,0.000,4,0.000,0.030,3070,3251,1701,0,0,0,0,0,0
$GC,9922,0.98,346.7,37.5,9.0,466,9926,0.00,2.60,0.00,0.000,6,0.000,0.025,3070,1622,1701,0,0,0,0,0,0
$GC,10218,0.98,350.2,11.9,8.9,507,10228,0.00,2.62,4.38,0.344,4,0.000,0.030,3070,3250,1690,0,0,0,0,0,0
$GC,10245,1.05,350.2,9.3,9.0,510,10254,0.00,2.62,0.00,0.000,6,0.000,0.025,3070,1632,1689,0,0,0,0,0,0
$STATE,10304,end climb,SURFACE_DEPTH_REACHED
$STATE,10304,begin surface coast
$FINISH,1.0,1.023742
$STATE,10357,end surface coast,CONTROL_FINISHED_OK
$STATE,10357,begin surface
$SM_CCo,10378,39.97,0.375,1,0,1406,420.20
$SM_GC,1.70,0.00,0.00,39.97,0.000,0.000,0.375,408,1867,1406,-11.28,2.18,420.20
$IRIDIUM_FIX,2239.35,-15805.41,290300,151506
$TT8_MAMPS,0.027612
$HUMID,48.70
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.40
$XPDR_PINGS,2
$24V_AH,23.5,56.837
$10V_AH,10.1,49.850
$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,32.575,140.950,421.350,39.975,0.000,50.466,114.726,284.870,0.500,0.000,36.330,1109.312,6661.159,557.873,2004.144,772.397,33.379,1336.609,0.000,1988.271,0.000,0.538,0.000
$DEVICE_MAMPS,153.400,69.030,865.176,375.063,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,356.384,327.978,408.621,643.908,1138.782,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355400
$DATA_FILE_SIZE,41375,527
$CAP_FILE_SIZE,124630,0
$CFSIZE,260165632,147726336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030111,180027,2249.727,-15801.188,41,1.9,41,10.1