version: 66.06
glider: 148
mission: 9
dive: 475
start: 1 8 111 21 39 1
data:
$ID,148
$MISSION,9
$DIVE,475
$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,-868443.19
$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,30
$R_STBD_OVSHOOT,55
$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
$GPS1,213110,2249.668,-15759.211,8,2.5,27,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.53
$_SM_ANGLEo,-65.4
$GPS2,213806,2249.619,-15759.208,36,1.0,41,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.220,0.119
$KALMAN_X,-85487.3,248.6,-36.2,103604.6,-271.9
$KALMAN_Y,-107686.8,269.9,306.6,236246.5,-920.8
$MHEAD_RNG_PITCHd_Wd,51.5,3835,-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,-146.0,0.0,0.0,0,96,0.00,0.00,-75.30,0.000,2,0.000,0.000,418,1846,3463,0,0,0,0,0,0
$GC,100,-1.17,-146.0,4.3,-6.2,10,125,11.40,2.72,-4.30,0.000,4,0.150,0.051,2597,200,3719,0,0,0,0,0,0
$GC,202,-1.17,-146.0,29.5,-12.8,25,211,0.00,2.50,0.00,0.000,6,0.000,0.019,2597,1779,3720,0,0,0,0,0,0
$GC,469,-1.01,-146.0,68.9,-14.2,50,475,0.20,2.55,0.00,0.000,4,0.099,0.029,2640,3370,3721,0,0,0,0,0,0
$GC,536,-1.09,-146.0,77.9,-11.5,55,540,0.00,2.50,0.00,0.000,6,0.000,0.022,2640,1789,3721,0,0,0,0,0,0
$GC,801,-1.09,-146.0,104.9,-10.7,79,806,0.00,2.55,0.00,0.000,4,0.000,0.031,2640,3371,3722,0,0,0,0,0,0
$GC,831,-1.09,-146.0,107.8,-9.6,81,835,0.00,2.45,0.00,0.000,6,0.000,0.022,2640,1810,3722,0,0,0,0,0,0
$GC,1098,-1.19,-146.0,128.6,-7.9,105,1103,0.17,2.50,0.00,0.000,4,0.048,0.029,2557,3373,3722,0,0,0,0,0,0
$GC,1129,-1.11,-146.0,131.9,-11.3,107,1134,0.28,2.42,0.00,0.000,6,0.081,0.021,2619,1824,3722,0,0,0,0,0,0
$GC,1389,-1.11,-146.0,157.3,-9.4,131,1393,0.00,2.45,0.00,0.000,4,0.000,0.030,2620,3367,3723,0,0,0,0,0,0
$GC,1436,-1.21,-146.0,161.4,-9.0,135,1441,0.10,2.42,0.00,0.000,6,0.075,0.021,2550,1831,3723,0,0,0,0,0,0
$GC,1698,-1.03,-146.0,198.5,-14.2,159,1703,0.40,2.47,0.00,0.000,4,0.081,0.029,2633,3367,3724,0,0,0,0,0,0
$GC,1725,-1.03,-146.0,201.7,-10.5,160,1730,0.00,2.40,0.00,0.000,6,0.000,0.022,2633,1837,3724,0,0,0,0,0,0
$GC,1985,-1.16,-146.0,221.8,-7.5,167,1990,0.10,2.45,0.00,0.000,4,0.076,0.030,2566,3367,3724,0,0,0,0,0,0
$GC,2018,-1.16,-146.0,224.9,-9.0,167,2023,0.17,2.38,0.00,0.000,6,0.087,0.022,2607,1855,3724,0,0,0,0,0,0
$GC,2270,-1.16,-146.0,244.6,-7.8,173,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2606,1855,3725,0,0,0,0,0,0
$GC,2512,-1.22,-146.0,266.0,-8.8,179,2516,0.00,2.42,0.00,0.000,4,0.000,0.031,2607,3372,3724,0,0,0,0,0,0
$GC,2545,-1.32,-146.0,269.2,-10.0,179,2550,0.15,2.40,0.00,0.000,6,0.054,0.023,2522,1854,3724,0,0,0,0,0,0
$GC,2796,-1.13,-146.0,301.1,-12.9,185,2802,0.38,2.45,0.00,0.000,4,0.081,0.032,2606,3365,3724,0,0,0,0,0,0
$GC,2820,-1.13,-146.0,304.0,-9.8,185,2825,0.00,2.38,0.00,0.000,6,0.000,0.025,2606,1865,3724,0,0,0,0,0,0
$GC,3080,-1.22,-146.0,323.6,-7.7,192,3084,0.00,2.42,0.00,0.000,4,0.000,0.035,2606,3373,3723,0,0,0,0,0,0
$GC,3107,-1.33,-146.0,325.4,-8.4,192,3112,0.15,2.42,0.00,0.000,6,0.051,0.027,2526,1865,3723,0,0,0,0,0,0
$GC,3367,-1.18,-146.0,356.3,-12.3,199,3374,0.32,2.75,0.00,0.000,4,0.084,0.049,2600,214,3722,0,0,0,0,0,0
$GC,3404,-1.32,-146.0,360.3,-9.8,199,3410,0.12,2.60,0.00,0.000,6,0.062,0.025,2527,1860,3722,0,0,0,0,0,0
$GC,3654,-1.18,-146.0,391.7,-13.0,205,3659,0.32,2.45,0.00,0.000,4,0.082,0.041,2599,3363,3721,0,0,0,0,0,0
$GC,3711,-1.31,-146.0,397.6,-9.1,206,3716,0.10,2.38,0.00,0.000,6,0.074,0.028,2525,1879,3721,0,0,0,0,0,0
$GC,3986,-1.18,-146.0,431.1,-12.5,213,3994,0.32,2.80,0.00,0.000,4,0.081,0.058,2600,223,3719,0,0,0,0,0,0
$GC,4018,-1.29,-146.0,434.6,-9.0,213,4022,0.00,2.62,0.00,0.000,6,0.000,0.028,2600,1858,3719,0,0,0,0,0,0
$GC,4275,-1.38,-146.0,454.0,-7.5,220,4280,0.17,2.50,0.00,0.000,4,0.050,0.047,2523,3357,3718,0,0,0,0,0,0
$GC,4350,-1.29,-146.0,462.0,-11.2,221,4355,0.25,2.35,0.00,0.000,6,0.084,0.026,2579,1885,3717,0,0,0,0,0,0
$GC,4605,-1.29,-146.0,483.3,-8.2,228,4609,0.00,2.42,0.00,0.000,4,0.000,0.045,2579,3357,3715,0,0,0,0,0,0
$GC,4625,-1.29,-146.0,484.7,-7.7,228,4629,0.00,2.38,0.00,0.000,6,0.000,0.028,2579,1888,3715,0,0,0,0,0,0
$STATE,4846,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4846,begin apogee
$GC,4851,-0.31,0.0,502.3,7.9,234,4974,0.93,0.00,119.28,0.867,6,0.074,0.000,2790,1678,3120,0,0,0,0,0,0
$STATE,4975,end apogee,CONTROL_FINISHED_OK
$STATE,4975,begin climb
$GC,4977,1.17,146.0,506.8,0.0,237,5111,1.35,2.70,122.05,0.850,4,0.029,0.070,3133,186,2524,0,0,0,0,0,0
$GC,5130,0.76,200.5,507.7,6.7,240,5184,0.52,2.42,47.00,0.828,6,0.108,0.028,3026,1673,2302,0,0,0,0,0,0
$GC,5467,0.79,225.8,481.7,8.0,249,5491,0.00,0.00,22.23,0.801,6,0.000,0.000,3026,1673,2198,0,0,0,0,0,0
$GC,5711,0.82,250.4,462.2,8.0,255,5735,0.00,0.00,22.70,0.800,6,0.000,0.000,3026,1673,2099,0,0,0,0,0,0
$GC,5955,0.86,278.4,443.0,7.8,261,5987,0.00,2.80,25.65,0.799,4,0.000,0.054,3026,3258,1983,0,0,0,0,0,0
$GC,6028,0.97,308.6,437.6,7.8,262,6065,0.20,2.65,28.60,0.795,6,0.046,0.036,3101,1686,1861,0,0,0,0,0,0
$GC,6334,0.82,308.6,401.8,11.6,270,6341,0.25,2.65,0.00,0.000,4,0.095,0.067,3044,160,1854,0,0,0,0,0,0
$GC,6373,0.82,308.6,397.6,9.9,270,6379,0.00,2.47,0.00,0.000,6,0.000,0.027,3043,1685,1854,0,0,0,0,0,0
$GC,6623,0.82,308.6,374.9,9.3,277,6627,0.00,2.67,0.00,0.000,4,0.000,0.051,3044,3258,1852,0,0,0,0,0,0
$GC,6659,0.82,308.6,371.6,10.6,277,6663,0.00,2.62,0.00,0.000,6,0.000,0.034,3043,1683,1850,0,0,0,0,0,0
$GC,6908,0.82,308.6,346.4,10.0,283,6912,0.00,2.62,0.00,0.000,4,0.000,0.064,3043,161,1850,0,0,0,0,0,0
$GC,6926,0.82,308.6,344.6,9.3,283,6931,0.00,2.45,0.00,0.000,6,0.000,0.025,3043,1687,1850,0,0,0,0,0,0
$GC,7192,0.82,308.6,319.5,9.4,290,7196,0.00,2.62,0.00,0.000,4,0.000,0.049,3044,3258,1849,0,0,0,0,0,0
$GC,7210,0.82,308.6,317.5,9.2,290,7215,0.00,2.60,0.00,0.000,6,0.000,0.031,3044,1675,1848,0,0,0,0,0,0
$GC,7474,0.82,308.6,292.4,9.6,297,7478,0.00,2.62,0.00,0.000,4,0.000,0.041,3044,3257,1848,0,0,0,0,0,0
$GC,7513,0.90,308.6,288.7,10.0,297,7518,0.00,2.58,0.00,0.000,6,0.000,0.032,3044,1684,1846,0,0,0,0,0,0
$GC,7762,0.90,308.6,264.7,9.6,304,7767,0.00,2.60,0.00,0.000,4,0.000,0.038,3044,3258,1846,0,0,0,0,0,0
$GC,7805,0.98,308.6,260.7,9.6,305,7810,0.12,2.55,0.00,0.000,6,0.063,0.032,3105,1707,1846,0,0,0,0,0,0
$GC,8095,0.86,308.6,225.2,12.6,312,8102,0.25,2.62,0.00,0.000,4,0.094,0.058,3046,168,1845,0,0,0,0,0,0
$GC,8167,0.86,308.6,216.6,11.4,313,8171,0.00,2.42,0.00,0.000,6,0.000,0.022,3046,1711,1845,0,0,0,0,0,0
$GC,8427,0.86,308.6,191.7,9.2,325,8431,0.00,2.50,0.00,0.000,4,0.000,0.035,3046,3251,1845,0,0,0,0,0,0
$GC,8468,0.96,308.6,187.6,9.6,328,8474,0.10,2.53,0.00,0.000,6,0.076,0.030,3099,1702,1844,0,0,0,0,0,0
$GC,8730,0.88,308.6,157.3,11.1,353,8735,0.22,2.55,0.00,0.000,4,0.094,0.048,3050,173,1844,0,0,0,0,0,0
$GC,8768,0.88,308.6,153.5,9.8,356,8772,0.00,2.42,0.00,0.000,6,0.000,0.021,3050,1712,1844,0,0,0,0,0,0
$GC,9030,0.98,339.6,132.0,7.7,380,9062,0.10,0.00,25.45,0.589,6,0.081,0.000,3096,1715,1736,0,0,0,0,0,0
$GC,9317,0.98,339.6,102.8,10.3,407,9322,0.10,2.58,0.00,0.000,4,0.119,0.052,3074,173,1731,0,0,0,0,0,0
$GC,9377,0.98,339.6,96.9,9.1,412,9385,0.00,2.45,0.00,0.000,6,0.000,0.021,3074,1708,1731,0,0,0,0,0,0
$GC,9642,1.00,358.8,75.8,8.2,437,9662,0.00,0.00,17.92,0.521,6,0.000,0.000,3075,1711,1657,0,0,0,0,0,0
$GC,9919,1.00,358.8,50.8,9.3,463,9923,0.00,2.50,0.00,0.000,4,0.000,0.031,3074,3260,1654,0,0,0,0,0,0
$GC,9939,1.00,358.8,48.6,9.9,464,9943,0.00,2.53,0.00,0.000,6,0.000,0.025,3075,1697,1653,0,0,0,0,0,0
$GC,10216,1.00,358.8,21.2,9.5,495,10225,0.00,2.53,0.00,0.000,4,0.000,0.044,3074,175,1653,0,0,0,0,0,0
$GC,10246,1.00,358.8,18.0,10.3,499,10255,0.00,2.42,0.00,0.000,6,0.000,0.020,3074,1712,1652,0,0,0,0,0,0
$STATE,10399,end climb,SURFACE_DEPTH_REACHED
$STATE,10399,begin surface coast
$FINISH,0.7,1.013282
$STATE,10453,end surface coast,CONTROL_FINISHED_OK
$STATE,10453,begin surface
$SM_CCo,10474,16.12,0.217,1,0,1569,380.21
$SM_GC,2.06,0.00,0.00,16.12,0.000,0.000,0.217,415,1848,1569,-11.25,1.64,380.21
$IRIDIUM_FIX,2241.69,-15759.32,030400,181830
$TT8_MAMPS,0.026845
$HUMID,48.89
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,22.10
$XPDR_PINGS,2
$24V_AH,23.5,61.669
$10V_AH,10.0,54.481
$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,29.975,146.625,430.875,16.125,0.000,29.060,35.953,180.155,0.500,0.000,42.876,1104.433,6730.964,523.326,1982.338,572.289,33.385,1298.910,0.000,1965.885,0.000,0.538,0.000
$DEVICE_MAMPS,150.332,98.176,866.710,217.061,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.471,344.938,417.999,636.528,1125.527,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355344
$DATA_FILE_SIZE,41498,531
$CAP_FILE_SIZE,119072,0
$CFSIZE,260165632,145313792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090111,003553,2249.680,-15757.939,55,99.0,74,10.1