version: 66.06
glider: 148
mission: 9
dive: 470
start: 1 8 111 5 59 4
data:
$ID,148
$MISSION,9
$DIVE,470
$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,-868320.19
$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,29
$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
$GPS1,055152,2247.310,-15802.699,10,3.4,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.54
$_SM_ANGLEo,-67.5
$GPS2,055810,2247.319,-15802.754,14,3.8,33,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.050,0.245
$KALMAN_X,-82217.0,20.1,-207.8,94629.0,-781.7
$KALMAN_Y,-103482.2,-313.6,-336.0,229000.6,-56.1
$MHEAD_RNG_PITCHd_Wd,1.4,4983,-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,-146.0,0.0,0.0,0,90,0.00,0.00,-68.50,0.000,2,0.000,0.000,411,1883,3226,0,0,0,0,0,0
$GC,93,-1.17,-146.0,3.3,-3.8,9,126,11.57,2.80,-9.85,0.000,4,0.155,0.051,2598,202,3719,0,0,0,0,0,0
$GC,186,-1.17,-146.0,21.6,-14.1,22,194,0.00,2.50,0.00,0.000,6,0.000,0.019,2599,1787,3720,0,0,0,0,0,0
$GC,469,-1.02,-146.0,59.7,-13.6,52,474,0.17,2.55,0.00,0.000,4,0.103,0.031,2636,3368,3720,0,0,0,0,0,0
$GC,548,-1.10,-146.0,68.6,-10.4,58,552,0.00,2.50,0.00,0.000,6,0.000,0.023,2637,1786,3720,0,0,0,0,0,0
$GC,810,-1.10,-146.0,97.8,-11.6,82,814,0.00,2.53,0.00,0.000,4,0.000,0.030,2636,3368,3721,0,0,0,0,0,0
$GC,857,-1.10,-146.0,103.2,-11.0,86,861,0.00,2.45,0.00,0.000,6,0.000,0.021,2636,1809,3721,0,0,0,0,0,0
$GC,1119,-1.16,-146.0,129.7,-9.9,110,1124,0.12,2.50,0.00,0.000,4,0.063,0.028,2558,3364,3721,0,0,0,0,0,0
$GC,1190,-1.08,-146.0,138.5,-12.0,116,1200,0.25,2.47,0.00,0.000,6,0.067,0.022,2621,1816,3722,0,0,0,0,0,0
$GC,1452,-1.08,-146.0,164.6,-10.0,141,1456,0.00,2.58,0.00,0.000,4,0.000,0.039,2621,214,3723,0,0,0,0,0,0
$GC,1472,-1.14,-146.0,166.3,-9.4,142,1476,0.00,2.47,0.00,0.000,6,0.000,0.018,2621,1828,3723,0,0,0,0,0,0
$GC,1738,-1.21,-146.0,190.1,-8.6,166,1743,0.10,2.45,0.00,0.000,4,0.077,0.028,2562,3364,3723,0,0,0,0,0,0
$GC,1779,-1.21,-146.0,194.8,-10.3,169,1786,0.15,2.45,0.00,0.000,6,0.093,0.023,2597,1819,3724,0,0,0,0,0,0
$GC,2041,-1.21,-146.0,219.3,-9.2,180,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2597,1819,3724,0,0,0,0,0,0
$GC,2285,-1.21,-146.0,242.5,-9.6,186,2289,0.00,2.45,0.00,0.000,4,0.000,0.029,2597,3353,3725,0,0,0,0,0,0
$GC,2333,-1.31,-146.0,247.1,-8.9,187,2338,0.00,2.42,0.00,0.000,6,0.000,0.024,2597,1826,3725,0,0,0,0,0,0
$GC,2616,-1.31,-146.0,272.3,-8.7,194,2620,0.00,2.62,0.00,0.000,4,0.000,0.044,2597,212,3724,0,0,0,0,0,0
$GC,2644,-1.37,-146.0,275.0,-9.1,194,2649,0.15,2.50,0.00,0.000,6,0.054,0.021,2515,1820,3725,0,0,0,0,0,0
$GC,2901,-1.17,-146.0,306.7,-12.6,201,2907,0.38,2.47,0.00,0.000,4,0.083,0.031,2598,3371,3725,0,0,0,0,0,0
$GC,2935,-1.24,-146.0,310.4,-8.5,201,2940,0.00,2.47,0.00,0.000,6,0.000,0.026,2598,1827,3725,0,0,0,0,0,0
$GC,3187,-1.30,-146.0,330.9,-8.3,207,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1822,3723,0,0,0,0,0,0
$GC,3429,-1.37,-146.0,350.8,-8.1,213,3434,0.15,2.50,0.00,0.000,4,0.055,0.038,2524,3361,3723,0,0,0,0,0,0
$GC,3458,-1.24,-146.0,354.0,-12.1,213,3463,0.30,2.45,0.00,0.000,6,0.080,0.026,2591,1833,3723,0,0,0,0,0,0
$GC,3715,-1.24,-146.0,377.4,-9.0,220,3719,0.00,2.70,0.00,0.000,4,0.000,0.055,2592,215,3721,0,0,0,0,0,0
$GC,3733,-1.24,-146.0,379.4,-9.7,220,3738,0.00,2.55,0.00,0.000,6,0.000,0.024,2592,1833,3721,0,0,0,0,0,0
$GC,3997,-1.24,-146.0,400.6,-8.0,227,4001,0.00,2.50,0.00,0.000,4,0.000,0.039,2591,3367,3720,0,0,0,0,0,0
$GC,4050,-1.35,-146.0,405.0,-8.1,228,4055,0.12,2.45,0.00,0.000,6,0.063,0.028,2514,1834,3719,0,0,0,0,0,0
$GC,4329,-1.19,-146.0,439.4,-12.8,235,4336,0.38,2.72,0.00,0.000,4,0.084,0.058,2598,218,3718,0,0,0,0,0,0
$GC,4364,-1.34,-146.0,443.3,-9.4,235,4369,0.12,2.58,0.00,0.000,6,0.062,0.028,2530,1834,3718,0,0,0,0,0,0
$GC,4616,-1.23,-146.0,470.7,-11.1,241,4621,0.25,2.53,0.00,0.000,4,0.085,0.046,2588,3367,3716,0,0,0,0,0,0
$GC,4640,-1.23,-146.0,473.2,-8.2,241,4645,0.00,2.47,0.00,0.000,6,0.000,0.028,2588,1829,3716,0,0,0,0,0,0
$GC,4902,-1.30,-146.0,490.3,-6.2,248,4906,0.00,2.55,0.00,0.000,4,0.000,0.045,2589,3370,3715,0,0,0,0,0,0
$GC,4935,-1.41,-146.0,492.7,-5.8,248,4940,0.15,2.45,0.00,0.000,6,0.053,0.030,2506,1843,3714,0,0,0,0,0,0
$STATE,5019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5020,begin apogee
$GC,5025,-0.31,0.0,500.7,9.4,250,5148,1.27,0.00,119.18,0.865,6,0.077,0.000,2792,1677,3120,0,0,0,0,0,0
$STATE,5149,end apogee,CONTROL_FINISHED_OK
$STATE,5149,begin climb
$GC,5153,1.17,146.0,504.1,0.0,253,5286,1.35,2.67,122.12,0.848,4,0.026,0.070,3136,183,2522,0,0,0,0,0,0
$GC,5551,0.71,146.0,477.1,11.7,262,5558,0.57,2.42,0.00,0.000,6,0.099,0.028,3016,1675,2514,0,0,0,0,0,0
$GC,5827,0.83,241.8,462.2,5.0,269,5912,0.10,0.00,82.30,0.830,6,0.077,0.000,3068,1675,2134,0,0,0,0,0,0
$GC,6153,0.72,241.8,432.1,10.0,277,6158,0.22,2.60,0.00,0.000,4,0.094,0.056,3018,175,2125,0,0,0,0,0,0
$GC,6182,0.72,241.8,429.2,9.5,277,6186,0.00,2.42,0.00,0.000,6,0.000,0.025,3017,1684,2125,0,0,0,0,0,0
$GC,6436,0.76,271.9,409.5,7.8,284,6465,0.00,0.00,26.55,0.782,6,0.000,0.000,3017,1684,2011,0,0,0,0,0,0
$GC,6682,0.77,280.0,388.6,8.7,290,6695,0.00,2.70,8.00,0.668,4,0.000,0.050,3017,3256,1978,0,0,0,0,0,0
$GC,6724,0.87,280.0,384.7,9.1,291,6730,0.12,2.60,0.00,0.000,6,0.064,0.034,3078,1689,1975,0,0,0,0,0,0
$GC,7014,0.78,280.0,352.9,11.0,298,7019,0.22,2.62,0.00,0.000,4,0.094,0.064,3029,163,1973,0,0,0,0,0,0
$GC,7063,0.78,280.0,347.5,10.7,299,7067,0.00,2.45,0.00,0.000,6,0.000,0.025,3029,1688,1973,0,0,0,0,0,0
$GC,7345,0.80,302.5,324.5,8.1,306,7373,0.00,2.65,21.38,0.729,4,0.000,0.056,3029,167,1885,0,0,0,0,0,0
$GC,7399,0.80,302.5,319.7,10.2,307,7403,0.00,2.42,0.00,0.000,6,0.000,0.025,3029,1673,1884,0,0,0,0,0,0
$GC,7676,0.80,302.5,293.7,9.4,314,7680,0.00,2.62,0.00,0.000,4,0.000,0.043,3029,3247,1881,0,0,0,0,0,0
$GC,7715,0.92,302.8,290.1,9.0,314,7722,0.12,2.60,0.00,0.000,6,0.064,0.033,3088,1669,1879,0,0,0,0,0,0
$GC,7965,0.84,302.8,261.3,11.6,321,7970,0.20,2.58,0.00,0.000,4,0.097,0.061,3044,170,1879,0,0,0,0,0,0
$GC,7999,0.84,302.8,257.4,10.7,321,8003,0.00,2.35,0.00,0.000,6,0.000,0.022,3044,1669,1879,0,0,0,0,0,0
$GC,8250,0.84,302.8,234.1,9.1,327,8251,0.00,0.00,0.00,0.000,6,0.000,0.000,3044,1673,1879,0,0,0,0,0,0
$GC,8492,0.84,302.9,211.9,9.0,333,8496,0.00,2.58,0.00,0.000,4,0.000,0.036,3044,3251,1877,0,0,0,0,0,0
$GC,8529,0.96,302.9,208.4,9.2,333,8536,0.10,2.62,0.00,0.000,6,0.074,0.031,3091,1654,1875,0,0,0,0,0,0
$GC,8793,0.89,302.9,182.0,10.5,352,8799,0.17,0.00,0.00,0.000,6,0.099,0.000,3054,1654,1876,0,0,0,0,0,0
$GC,9054,0.89,302.9,158.2,9.3,377,9058,0.00,2.60,0.00,0.000,4,0.000,0.032,3054,3251,1876,0,0,0,0,0,0
$GC,9113,1.01,302.9,153.0,9.8,382,9118,0.10,2.58,0.00,0.000,6,0.077,0.029,3098,1656,1875,0,0,0,0,0,0
$GC,9374,0.93,302.9,124.8,9.4,406,9376,0.17,0.00,0.00,0.000,6,0.099,0.000,3061,1656,1875,0,0,0,0,0,0
$GC,9632,1.02,373.3,107.1,6.1,430,9705,0.00,2.67,61.55,0.572,4,0.000,0.031,3061,3248,1596,0,0,0,0,0,0
$GC,9749,1.25,425.3,99.7,6.8,441,9802,0.30,2.55,45.38,0.555,6,0.037,0.035,3154,1673,1387,0,0,0,0,0,0
$GC,10066,1.08,425.3,53.3,17.1,471,10072,0.28,2.50,0.00,0.000,4,0.100,0.042,3094,163,1380,0,0,0,0,0,0
$GC,10099,1.08,425.3,48.4,15.7,473,10103,0.00,2.35,0.00,0.000,6,0.000,0.021,3094,1676,1380,0,0,0,0,0,0
$GC,10385,1.08,425.3,14.3,9.7,507,10394,0.00,2.58,0.00,0.000,4,0.000,0.033,3094,3253,1380,0,0,0,0,0,0
$GC,10429,1.08,425.3,8.4,13.0,513,10438,0.00,2.58,0.00,0.000,6,0.000,0.025,3094,1672,1376,0,0,0,0,0,0
$STATE,10463,end climb,SURFACE_DEPTH_REACHED
$STATE,10463,begin surface coast
$FINISH,0.8,1.012348
$STATE,10496,end surface coast,CONTROL_FINISHED_OK
$STATE,10496,begin surface
$SM_CCo,10577,0.00,0.000,0,0,1372,428.54
$SM_GC,1.49,10.88,0.00,0.00,0.024,0.000,0.000,413,1825,1372,-11.17,0.99,428.54
$IRIDIUM_FIX,2239.35,-15802.37,030400,030319
$TT8_MAMPS,0.026845
$HUMID,49.29
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,21.70
$XPDR_PINGS,2
$24V_AH,23.5,61.066
$10V_AH,10.1,53.925
$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,30.575,137.400,486.450,0.000,0.000,27.591,33.992,155.191,0.500,0.000,36.134,1085.892,6833.977,551.369,1957.044,523.621,33.371,1337.372,0.000,1941.929,0.000,0.535,0.000
$DEVICE_MAMPS,154.934,69.797,865.176,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,353.899,321.991,408.393,591.089,1044.671,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355328
$DATA_FILE_SIZE,41556,523
$CAP_FILE_SIZE,118108,0
$CFSIZE,260165632,145604608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080111,085641,2248.617,-15802.924,38,1.6,43,10.1