version: 66.06
glider: 148
mission: 9
dive: 442
start: 1 4 111 16 2 17
data:
$ID,148
$MISSION,9
$DIVE,442
$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,-867577
$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,34
$R_STBD_OVSHOOT,75
$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
$GPS1,154806,2247.255,-15800.454,32,1.1,36,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-66.2
$GPS2,160119,2247.333,-15800.566,11,1.2,11,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.225,-0.110
$KALMAN_X,-57614.1,-381.5,-111.1,74094.5,-900.3
$KALMAN_Y,-89085.9,447.7,-296.1,213826.7,730.4
$MHEAD_RNG_PITCHd_Wd,233.8,4201,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.17,-146.0,0.0,0.0,0,96,0.00,0.00,-75.00,0.000,2,0.000,0.000,412,1825,3279,0,0,0,0,0,0
$GC,99,-1.17,-146.0,3.5,-4.5,10,125,11.45,2.72,-8.40,0.000,4,0.150,0.052,2597,201,3718,0,0,0,0,0,0
$GC,215,-1.17,-146.0,28.7,-17.3,27,224,0.00,2.47,0.00,0.000,6,0.000,0.019,2597,1770,3720,0,0,0,0,0,0
$GC,481,-1.01,-146.0,67.0,-16.7,52,486,0.20,2.53,0.00,0.000,4,0.101,0.028,2640,3363,3720,0,0,0,0,0,0
$GC,582,-1.12,-146.0,78.1,-9.3,60,587,0.10,2.47,0.00,0.000,6,0.071,0.022,2561,1796,3720,0,0,0,0,0,0
$GC,844,-0.88,-146.0,121.1,-15.0,84,857,0.50,2.50,0.00,0.000,4,0.084,0.028,2662,3367,3721,0,0,0,0,0,0
$GC,862,-0.75,-146.0,124.1,-15.4,85,868,0.15,2.47,0.00,0.000,6,0.093,0.020,2698,1796,3721,0,0,0,0,0,0
$GC,1126,-1.03,-146.0,140.8,-5.6,110,1131,0.25,2.50,0.00,0.000,4,0.035,0.026,2547,3367,3721,0,0,0,0,0,0
$GC,1189,-0.89,-146.0,148.5,-13.3,115,1197,0.47,2.42,0.00,0.000,6,0.067,0.023,2661,1824,3721,0,0,0,0,0,0
$GC,1453,-1.06,-146.0,166.0,-5.8,140,1458,0.15,2.47,0.00,0.000,4,0.054,0.029,2570,3364,3722,0,0,0,0,0,0
$GC,1503,-1.06,-146.0,171.1,-10.3,144,1513,0.22,2.45,0.00,0.000,6,0.067,0.022,2627,1833,3722,0,0,0,0,0,0
$GC,1770,-1.14,-146.0,192.5,-8.0,169,1774,0.00,2.42,0.00,0.000,4,0.000,0.029,2627,3363,3722,0,0,0,0,0,0
$GC,1820,-1.28,-146.0,196.5,-6.6,173,1826,0.20,2.42,0.00,0.000,6,0.042,0.022,2525,1834,3722,0,0,0,0,0,0
$GC,2101,-1.07,-146.0,233.9,-13.8,183,2108,0.43,2.47,0.00,0.000,4,0.079,0.030,2624,3369,3722,0,0,0,0,0,0
$GC,2137,-1.16,-146.0,237.8,-9.0,183,2141,0.00,2.42,0.00,0.000,6,0.000,0.022,2624,1840,3722,0,0,0,0,0,0
$GC,2389,-1.25,-146.0,256.9,-7.7,189,2394,0.15,2.45,0.00,0.000,4,0.054,0.030,2539,3370,3722,0,0,0,0,0,0
$GC,2433,-1.15,-146.0,261.5,-11.4,190,2438,0.30,2.40,0.00,0.000,6,0.080,0.023,2607,1857,3722,0,0,0,0,0,0
$GC,2722,-1.15,-146.0,286.4,-8.5,197,2727,0.00,2.42,0.00,0.000,4,0.000,0.031,2607,3360,3722,0,0,0,0,0,0
$GC,2766,-1.26,-146.0,290.1,-8.0,198,2770,0.00,2.40,0.00,0.000,6,0.000,0.025,2607,1857,3721,0,0,0,0,0,0
$GC,3053,-1.33,-146.0,312.9,-7.9,205,3058,0.15,2.45,0.00,0.000,4,0.054,0.035,2535,3362,3721,0,0,0,0,0,0
$GC,3083,-1.21,-146.0,316.2,-12.1,205,3088,0.28,2.40,0.00,0.000,6,0.081,0.025,2597,1859,3721,0,0,0,0,0,0
$GC,3339,-1.21,-146.0,339.9,-8.9,212,3343,0.00,2.45,0.00,0.000,4,0.000,0.035,2596,3368,3720,0,0,0,0,0,0
$GC,3378,-1.31,-146.0,343.0,-8.3,212,3383,0.00,2.40,0.00,0.000,6,0.000,0.026,2596,1874,3720,0,0,0,0,0,0
$GC,3628,-1.31,-146.0,362.1,-7.7,219,3629,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1874,3719,0,0,0,0,0,0
$GC,3871,-1.31,-146.0,382.1,-8.3,225,3875,0.00,2.40,0.00,0.000,4,0.000,0.038,2596,3357,3718,0,0,0,0,0,0
$GC,3938,-1.42,-146.0,387.6,-8.1,226,3943,0.20,2.38,0.00,0.000,6,0.043,0.028,2505,1882,3718,0,0,0,0,0,0
$GC,4207,-1.22,-146.0,421.6,-13.1,233,4212,0.38,2.45,0.00,0.000,4,0.086,0.041,2588,3363,3715,0,0,0,0,0,0
$GC,4227,-1.15,-146.0,423.9,-11.0,233,4231,0.10,2.33,0.00,0.000,6,0.116,0.026,2610,1902,3715,0,0,0,0,0,0
$GC,4498,-1.27,-146.0,442.7,-6.9,240,4503,0.12,2.40,0.00,0.000,4,0.061,0.044,2537,3353,3714,0,0,0,0,0,0
$GC,4517,-1.27,-146.0,444.6,-8.2,240,4522,0.20,2.33,0.00,0.000,6,0.087,0.026,2582,1906,3714,0,0,0,0,0,0
$GC,4782,-1.27,-146.0,467.9,-8.9,247,4786,0.00,2.42,0.00,0.000,4,0.000,0.047,2582,3359,3712,0,0,0,0,0,0
$GC,4797,-1.27,-146.0,469.3,-9.0,247,4801,0.00,2.33,0.00,0.000,6,0.000,0.026,2582,1913,3712,0,0,0,0,0,0
$GC,5065,-1.27,-146.0,492.1,-8.4,254,5070,0.00,2.40,0.00,0.000,4,0.000,0.046,2582,3354,3711,0,0,0,0,0,0
$GC,5089,-1.27,-146.0,494.0,-8.6,254,5093,0.00,2.33,0.00,0.000,6,0.000,0.028,2582,1916,3711,0,0,0,0,0,0
$STATE,5182,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5182,begin apogee
$GC,5190,-0.31,0.0,501.1,7.6,257,5311,0.93,0.00,117.80,0.867,6,0.078,0.000,2790,1676,3120,0,0,0,0,0,0
$STATE,5312,end apogee,CONTROL_FINISHED_OK
$STATE,5312,begin climb
$GC,5314,1.17,146.0,504.9,0.0,260,5448,1.35,2.75,121.38,0.851,4,0.026,0.048,3134,3237,2523,0,0,0,0,0,0
$GC,5541,0.85,146.0,497.4,9.3,265,5548,0.40,2.60,0.00,0.000,6,0.097,0.036,3049,1693,2518,0,0,0,0,0,0
$GC,5810,0.81,203.0,478.7,6.6,272,5863,0.00,2.78,47.88,0.828,4,0.000,0.076,3048,162,2291,0,0,0,0,0,0
$GC,5915,0.64,203.0,470.1,9.2,274,5920,0.22,2.45,0.00,0.000,6,0.097,0.028,3001,1663,2289,0,0,0,0,0,0
$GC,6181,0.74,283.6,454.5,5.6,281,6258,0.00,2.67,69.78,0.824,4,0.000,0.058,3001,167,1962,0,0,0,0,0,0
$GC,6307,0.82,286.2,445.1,8.9,283,6313,0.15,2.45,0.00,0.000,6,0.056,0.026,3066,1671,1960,0,0,0,0,0,0
$GC,6558,0.72,286.2,418.6,10.7,290,6564,0.22,2.60,0.00,0.000,4,0.092,0.055,3018,165,1954,0,0,0,0,0,0
$GC,6596,0.72,286.2,414.5,9.6,290,6602,0.00,2.42,0.00,0.000,6,0.000,0.025,3017,1665,1954,0,0,0,0,0,0
$GC,6846,0.74,299.8,393.4,8.4,297,6862,0.00,0.00,14.55,0.739,6,0.000,0.000,3018,1666,1897,0,0,0,0,0,0
$GC,7091,0.80,299.8,371.1,9.1,303,7092,0.00,0.00,0.00,0.000,6,0.000,0.000,3017,1666,1892,0,0,0,0,0,0
$GC,7334,0.87,301.0,349.2,9.0,309,7339,0.12,2.70,0.00,0.000,4,0.066,0.048,3079,3258,1891,0,0,0,0,0,0
$GC,7349,0.87,301.0,347.5,9.3,309,7354,0.15,2.67,0.00,0.000,6,0.102,0.032,3047,1648,1889,0,0,0,0,0,0
$GC,7619,0.87,301.0,318.2,10.9,316,7624,0.00,2.55,0.00,0.000,4,0.000,0.065,3046,160,1889,0,0,0,0,0,0
$GC,7666,0.87,301.0,312.2,13.0,317,7671,0.00,2.40,0.00,0.000,6,0.000,0.025,3046,1658,1888,0,0,0,0,0,0
$GC,7948,0.87,301.0,282.0,10.6,324,7949,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1659,1887,0,0,0,0,0,0
$GC,8193,0.87,301.0,258.9,9.3,330,8198,0.00,2.65,0.00,0.000,4,0.000,0.044,3046,3252,1886,0,0,0,0,0,0
$GC,8217,0.87,305.7,256.5,8.8,330,8229,0.00,2.65,4.78,0.510,6,0.000,0.031,3047,1639,1873,0,0,0,0,0,0
$GC,8479,0.87,305.7,232.4,9.3,337,8480,0.00,0.00,0.00,0.000,6,0.000,0.000,3046,1639,1872,0,0,0,0,0,0
$GC,8724,0.87,305.7,209.9,9.1,343,8728,0.00,2.47,0.00,0.000,4,0.000,0.056,3046,171,1872,0,0,0,0,0,0
$GC,8752,0.87,305.7,207.2,9.9,343,8756,0.00,2.33,0.00,0.000,6,0.000,0.021,3046,1650,1872,0,0,0,0,0,0
$GC,9013,0.87,305.7,184.0,9.3,362,9018,0.00,2.58,0.00,0.000,4,0.000,0.035,3047,3248,1871,0,0,0,0,0,0
$GC,9060,0.98,305.7,180.1,9.4,366,9065,0.10,2.62,0.00,0.000,6,0.077,0.029,3110,1638,1870,0,0,0,0,0,0
$GC,9321,0.85,305.7,149.7,11.5,390,9326,0.28,2.42,0.00,0.000,4,0.092,0.047,3048,169,1870,0,0,0,0,0,0
$GC,9384,0.86,311.3,143.8,8.8,395,9402,0.00,2.30,6.80,0.509,6,0.000,0.021,3048,1640,1849,0,0,0,0,0,0
$GC,9658,0.97,340.7,122.8,7.8,421,9691,0.10,2.53,26.48,0.579,4,0.077,0.047,3107,176,1730,0,0,0,0,0,0
$GC,9753,0.91,340.7,111.3,12.6,430,9758,0.22,2.30,0.00,0.000,6,0.091,0.021,3059,1636,1730,0,0,0,0,0,0
$GC,10014,1.05,374.9,89.3,7.6,454,10048,0.12,0.00,31.35,0.548,6,0.064,0.000,3127,1640,1590,0,0,0,0,0,0
$GC,10301,0.96,374.9,54.5,11.8,481,10310,0.25,0.00,0.00,0.000,6,0.086,0.000,3071,1640,1586,0,0,0,0,0,0
$GC,10569,1.02,374.9,31.9,9.6,506,10577,0.00,0.00,0.00,0.000,6,0.000,0.000,3070,1640,1586,0,0,0,0,0,0
$STATE,10836,end climb,SURFACE_DEPTH_REACHED
$STATE,10836,begin surface coast
$FINISH,0.8,1.023820
$STATE,10881,end surface coast,CONTROL_FINISHED_OK
$STATE,10881,begin surface
$SM_CCo,10903,26.48,0.321,1,0,1406,420.20
$SM_GC,1.87,0.00,0.00,26.48,0.000,0.000,0.321,417,1872,1406,-11.24,2.32,420.20
$IRIDIUM_FIX,2241.69,-15802.37,300300,161607
$TT8_MAMPS,0.026845
$HUMID,48.62
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,22.20
$XPDR_PINGS,1
$24V_AH,23.5,57.876
$10V_AH,10.1,50.767
$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,31.425,134.375,440.775,26.475,0.000,61.349,69.421,454.012,0.250,0.000,12.933,1140.941,7112.831,535.258,2028.911,912.974,33.395,1346.461,0.000,2036.323,0.000,0.538,0.000
$DEVICE_MAMPS,150.332,75.933,867.477,321.373,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,377.000,340.458,432.463,638.977,1129.876,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355448
$DATA_FILE_SIZE,44640,555
$CAP_FILE_SIZE,129590,0
$CFSIZE,260165632,147259392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,040111,190537,2247.164,-15802.485,25,1.2,25,10.1