version: 66.06
glider: 148
mission: 9
dive: 448
start: 1 5 111 10 30 11
data:
$ID,148
$MISSION,9
$DIVE,448
$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,380
$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,-867729.31
$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,48
$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
$GPS1,101906,2249.596,-15800.931,36,0.9,41,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.61
$_SM_ANGLEo,-68.1
$GPS2,102914,2249.542,-15801.027,14,0.9,14,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.243,0.061
$KALMAN_X,-63051.0,-107.3,66.5,78287.6,-1266.6
$KALMAN_Y,-90807.7,-834.2,245.9,220389.5,-503.9
$MHEAD_RNG_PITCHd_Wd,65.8,6926,-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,-146.0,0.0,0.0,0,94,0.00,0.00,-74.82,0.000,2,0.000,0.000,415,1870,3464,0,0,0,0,0,0
$GC,97,-1.17,-146.0,4.1,-5.1,10,122,11.38,0.00,-4.68,0.000,6,0.148,0.000,2596,1870,3718,0,0,0,0,0,0
$GC,403,-1.03,-146.0,50.0,-12.7,48,408,0.17,2.42,0.00,0.000,4,0.099,0.034,2634,3367,3719,0,0,0,0,0,0
$GC,435,-0.92,-146.0,53.8,-12.9,50,440,0.10,2.50,0.00,0.000,6,0.115,0.021,2657,1776,3719,0,0,0,0,0,0
$GC,702,-0.92,-146.0,80.6,-10.4,74,707,0.00,2.53,0.00,0.000,4,0.000,0.031,2658,3361,3720,0,0,0,0,0,0
$GC,772,-1.08,-146.0,87.6,-8.6,80,777,0.12,2.47,0.00,0.000,6,0.062,0.021,2571,1804,3720,0,0,0,0,0,0
$GC,1034,-0.89,-146.0,125.1,-13.6,104,1036,0.50,0.00,0.00,0.000,6,0.079,0.000,2667,1803,3720,0,0,0,0,0,0
$GC,1290,-1.06,-146.0,143.9,-6.6,128,1295,0.17,2.53,0.00,0.000,4,0.048,0.030,2580,3367,3721,0,0,0,0,0,0
$GC,1350,-1.06,-146.0,149.8,-10.3,133,1355,0.22,2.45,0.00,0.000,6,0.082,0.023,2631,1807,3721,0,0,0,0,0,0
$GC,1618,-1.14,-146.0,171.6,-8.2,157,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1807,3722,0,0,0,0,0,0
$GC,1881,-1.23,-146.0,190.0,-6.2,182,1886,0.17,2.53,0.00,0.000,4,0.048,0.031,2531,3368,3722,0,0,0,0,0,0
$GC,1941,-1.09,-146.0,195.4,-10.9,187,1950,0.40,2.45,0.00,0.000,6,0.080,0.022,2619,1809,3722,0,0,0,0,0,0
$GC,2195,-1.09,-146.0,215.4,-7.6,197,2200,0.00,2.47,0.00,0.000,4,0.000,0.031,2619,3363,3721,0,0,0,0,0,0
$GC,2228,-1.20,-146.0,218.1,-7.6,197,2233,0.00,2.45,0.00,0.000,6,0.000,0.023,2619,1821,3721,0,0,0,0,0,0
$GC,2481,-1.26,-146.0,237.3,-7.9,203,2486,0.15,2.50,0.00,0.000,4,0.054,0.031,2535,3364,3722,0,0,0,0,0,0
$GC,2528,-1.17,-146.0,242.4,-10.9,204,2533,0.30,2.42,0.00,0.000,6,0.081,0.023,2602,1836,3722,0,0,0,0,0,0
$GC,2813,-1.17,-146.0,265.6,-8.2,211,2814,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1836,3722,0,0,0,0,0,0
$GC,3054,-1.17,-146.0,288.4,-9.7,217,3058,0.00,2.47,0.00,0.000,4,0.000,0.033,2602,3368,3721,0,0,0,0,0,0
$GC,3115,-1.31,-146.0,294.0,-9.1,218,3119,0.12,2.42,0.00,0.000,6,0.061,0.025,2533,1849,3721,0,0,0,0,0,0
$GC,3385,-1.17,-146.0,325.0,-11.7,225,3393,0.30,2.70,0.00,0.000,4,0.084,0.046,2603,217,3720,0,0,0,0,0,0
$GC,3402,-1.17,-146.0,327.2,-10.7,225,3407,0.00,2.58,0.00,0.000,6,0.000,0.023,2603,1853,3720,0,0,0,0,0,0
$GC,3671,-1.24,-146.0,345.8,-6.6,232,3675,0.00,2.42,0.00,0.000,4,0.000,0.038,2603,3364,3719,0,0,0,0,0,0
$GC,3721,-1.40,-146.0,349.3,-6.9,233,3726,0.20,2.38,0.00,0.000,6,0.042,0.027,2526,1870,3719,0,0,0,0,0,0
$GC,4008,-1.25,-146.0,383.1,-12.1,240,4010,0.28,0.00,0.00,0.000,6,0.086,0.000,2586,1870,3717,0,0,0,0,0,0
$GC,4254,-1.25,-146.0,406.0,-9.1,246,4258,0.00,2.42,0.00,0.000,4,0.000,0.043,2586,3353,3716,0,0,0,0,0,0
$GC,4297,-1.35,-146.0,409.8,-8.7,247,4301,0.00,2.38,0.00,0.000,6,0.000,0.028,2586,1877,3715,0,0,0,0,0,0
$GC,4584,-1.35,-146.0,432.6,-7.8,254,4588,0.00,2.45,0.00,0.000,4,0.000,0.046,2586,3360,3714,0,0,0,0,0,0
$GC,4604,-1.35,-146.0,434.0,-8.1,254,4608,0.00,2.40,0.00,0.000,6,0.000,0.027,2586,1868,3714,0,0,0,0,0,0
$GC,4872,-1.35,-146.0,453.4,-7.2,261,4876,0.00,2.47,0.00,0.000,4,0.000,0.048,2586,3350,3712,0,0,0,0,0,0
$GC,4891,-1.35,-146.0,454.9,-7.9,261,4895,0.00,2.35,0.00,0.000,6,0.000,0.027,2586,1881,3712,0,0,0,0,0,0
$GC,5161,-1.35,-146.0,473.5,-7.2,268,5165,0.00,2.47,0.00,0.000,4,0.000,0.050,2586,3354,3710,0,0,0,0,0,0
$GC,5189,-1.41,-146.0,475.7,-7.3,268,5194,0.15,2.35,0.00,0.000,6,0.054,0.028,2521,1889,3710,0,0,0,0,0,0
$STATE,5442,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5442,begin apogee
$GC,5448,-0.31,0.0,503.0,11.0,275,5569,1.20,0.00,118.12,0.877,6,0.080,0.000,2790,1678,3120,0,0,0,0,0,0
$STATE,5570,end apogee,CONTROL_FINISHED_OK
$STATE,5570,begin climb
$GC,5574,1.17,146.0,509.0,0.0,278,5706,1.33,2.72,121.88,0.861,4,0.025,0.052,3136,3240,2523,0,0,0,0,0,0
$GC,5826,0.85,150.7,505.6,8.8,283,5837,0.43,2.60,4.68,0.577,6,0.096,0.038,3047,1690,2504,0,0,0,0,0,0
$GC,6080,0.81,221.7,489.5,6.0,290,6149,0.00,2.75,61.00,0.848,4,0.000,0.076,3046,163,2216,0,0,0,0,0,0
$GC,6180,0.67,221.7,481.5,9.9,292,6186,0.20,2.45,0.00,0.000,6,0.100,0.029,3005,1658,2215,0,0,0,0,0,0
$GC,6454,0.73,271.6,462.2,6.9,299,6501,0.00,0.00,44.72,0.828,6,0.000,0.000,3005,1659,2012,0,0,0,0,0,0
$GC,6740,0.82,287.4,439.3,8.4,306,6761,0.15,2.65,14.52,0.765,4,0.056,0.057,3071,170,1947,0,0,0,0,0,0
$GC,6771,0.69,287.4,435.9,11.6,306,6776,0.28,2.47,0.00,0.000,6,0.092,0.027,3013,1680,1947,0,0,0,0,0,0
$GC,7029,0.76,290.4,412.8,8.9,313,7033,0.00,2.70,0.00,0.000,4,0.000,0.056,3013,3255,1942,0,0,0,0,0,0
$GC,7052,0.86,303.7,410.3,8.5,313,7074,0.15,2.65,15.82,0.765,6,0.057,0.035,3081,1669,1881,0,0,0,0,0,0
$GC,7360,0.77,303.7,373.6,12.1,321,7365,0.25,2.60,0.00,0.000,4,0.092,0.064,3023,162,1876,0,0,0,0,0,0
$GC,7391,0.77,303.7,369.5,12.1,321,7395,0.00,2.47,0.00,0.000,6,0.000,0.027,3022,1688,1876,0,0,0,0,0,0
$GC,7645,0.83,303.7,342.8,10.7,328,7650,0.00,2.65,0.00,0.000,4,0.000,0.051,3023,3264,1875,0,0,0,0,0,0
$GC,7690,0.95,303.7,338.1,11.3,329,7697,0.20,2.62,0.00,0.000,6,0.047,0.035,3104,1675,1872,0,0,0,0,0,0
$GC,7980,0.82,303.7,298.7,13.5,336,7985,0.28,2.58,0.00,0.000,4,0.095,0.062,3041,167,1872,0,0,0,0,0,0
$GC,8014,0.82,303.7,294.6,10.9,336,8018,0.00,2.45,0.00,0.000,6,0.000,0.025,3041,1691,1872,0,0,0,0,0,0
$GC,8265,0.83,306.0,271.8,8.9,342,8269,0.00,2.62,0.00,0.000,4,0.000,0.048,3041,3257,1871,0,0,0,0,0,0
$GC,8308,0.91,306.0,267.9,9.7,343,8313,0.00,2.58,0.00,0.000,6,0.000,0.032,3041,1694,1870,0,0,0,0,0,0
$GC,8597,1.01,342.0,245.7,7.5,350,8640,0.17,2.70,33.50,0.697,4,0.051,0.061,3114,171,1724,0,0,0,0,0,0
$GC,8674,0.91,342.0,236.3,14.2,351,8679,0.25,2.45,0.00,0.000,6,0.096,0.025,3061,1687,1724,0,0,0,0,0,0
$GC,8931,0.91,342.0,211.3,9.8,358,8935,0.00,2.58,0.00,0.000,4,0.000,0.041,3061,3252,1719,0,0,0,0,0,0
$GC,8991,0.99,342.0,205.1,9.4,359,8996,0.00,2.58,0.00,0.000,6,0.000,0.030,3061,1688,1717,0,0,0,0,0,0
$GC,9259,0.99,342.0,179.0,9.5,380,9260,0.00,0.00,0.00,0.000,6,0.000,0.000,3061,1688,1717,0,0,0,0,0,0
$GC,9515,0.99,342.0,155.3,9.5,404,9519,0.00,2.53,0.00,0.000,4,0.000,0.048,3061,173,1717,0,0,0,0,0,0
$GC,9544,0.99,342.0,152.8,9.9,406,9548,0.00,2.42,0.00,0.000,6,0.000,0.023,3061,1701,1717,0,0,0,0,0,0
$GC,9808,1.08,361.5,130.4,8.2,430,9828,0.15,0.00,17.50,0.574,6,0.054,0.000,3149,1704,1646,0,0,0,0,0,0
$GC,10083,0.98,361.5,95.2,12.8,456,10088,0.32,2.55,0.00,0.000,4,0.089,0.044,3074,167,1643,0,0,0,0,0,0
$GC,10127,1.07,361.5,90.5,10.5,459,10132,0.00,2.42,0.00,0.000,6,0.000,0.021,3073,1701,1643,0,0,0,0,0,0
$GC,10394,1.15,361.5,66.4,9.8,484,10399,0.15,2.50,0.00,0.000,4,0.054,0.032,3154,3259,1642,0,0,0,0,0,0
$GC,10450,1.06,361.5,58.8,13.6,488,10460,0.25,2.58,0.00,0.000,6,0.076,0.028,3093,1684,1640,0,0,0,0,0,0
$GC,10713,1.06,361.5,32.3,10.3,513,10718,0.00,2.55,0.00,0.000,4,0.000,0.033,3093,3264,1640,0,0,0,0,0,0
$GC,10734,1.07,366.1,30.6,8.8,514,10746,0.00,2.50,4.90,0.376,6,0.000,0.025,3094,1689,1627,0,0,0,0,0,0
$STATE,10978,end climb,SURFACE_DEPTH_REACHED
$STATE,10978,begin surface coast
$FINISH,0.8,1.024345
$STATE,11023,end surface coast,CONTROL_FINISHED_OK
$STATE,11023,begin surface
$SM_CCo,11045,12.95,0.151,1,0,1569,380.21
$SM_GC,1.88,0.00,0.00,12.95,0.000,0.000,0.151,413,1854,1569,-11.26,1.81,380.21
$IRIDIUM_FIX,2239.35,-15802.37,310300,101020
$TT8_MAMPS,0.026845
$HUMID,49.80
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.5,58.544
$10V_AH,10.1,51.461
$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,31.350,136.400,436.650,12.950,0.000,56.666,80.037,248.295,0.000,0.000,15.873,1170.495,7159.391,509.518,2099.179,732.528,33.377,1326.535,0.000,2106.005,0.000,0.536,0.000
$DEVICE_MAMPS,148.031,75.933,877.448,151.099,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,379.620,349.633,438.829,654.055,1155.683,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355276
$DATA_FILE_SIZE,44622,559
$CAP_FILE_SIZE,128848,0
$CFSIZE,260165632,146898944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,050111,133543,2249.349,-15800.346,23,1.7,29,10.1