version: 66.06
glider: 148
mission: 9
dive: 486
start: 1 10 111 6 58 44
data:
$ID,148
$MISSION,9
$DIVE,486
$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,-868689.75
$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,40
$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
$GPS1,064807,2249.635,-15802.729,33,1.2,33,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.48
$_SM_ANGLEo,-67.6
$GPS2,065749,2249.585,-15802.775,8,1.2,13,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.250,0.006
$KALMAN_X,-91272.8,104.8,-31.5,103389.8,-828.9
$KALMAN_Y,-116993.3,-476.5,-537.8,247076.7,83.6
$MHEAD_RNG_PITCHd_Wd,78.5,9887,-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,-146.0,0.0,0.0,0,97,0.00,0.00,-75.75,0.000,2,0.000,0.000,408,1845,3479,0,0,0,0,0,0
$GC,102,-1.17,-146.0,4.2,-6.0,10,127,11.70,2.47,-4.03,0.000,4,0.159,0.039,2597,3367,3717,0,0,0,0,0,0
$GC,223,-1.11,-146.0,33.6,-12.2,26,232,0.00,2.55,0.00,0.000,6,0.000,0.023,2597,1783,3719,0,0,0,0,0,0
$GC,491,-0.97,-146.0,67.8,-13.1,51,496,0.22,2.58,0.00,0.000,4,0.094,0.030,2645,3373,3719,0,0,0,0,0,0
$GC,535,-0.97,-146.0,73.0,-10.1,54,540,0.00,2.53,0.00,0.000,6,0.000,0.022,2645,1789,3720,0,0,0,0,0,0
$GC,799,-0.97,-146.0,97.9,-9.9,78,804,0.00,2.55,0.00,0.000,4,0.000,0.029,2645,3374,3720,0,0,0,0,0,0
$GC,831,-1.07,-146.0,100.9,-8.2,80,840,0.00,2.53,0.00,0.000,6,0.000,0.022,2645,1802,3720,0,0,0,0,0,0
$GC,1098,-1.18,-146.0,121.7,-7.3,105,1104,0.17,0.00,0.00,0.000,6,0.048,0.000,2558,1802,3721,0,0,0,0,0,0
$GC,1366,-1.04,-146.0,155.5,-13.7,130,1371,0.30,2.50,0.00,0.000,4,0.082,0.028,2630,3369,3721,0,0,0,0,0,0
$GC,1404,-1.14,-146.0,160.0,-9.4,133,1409,0.00,2.45,0.00,0.000,6,0.000,0.022,2630,1809,3722,0,0,0,0,0,0
$GC,1672,-1.23,-146.0,182.0,-7.9,157,1677,0.15,2.62,0.00,0.000,4,0.055,0.041,2558,205,3722,0,0,0,0,0,0
$GC,1692,-1.23,-146.0,184.8,-9.3,158,1698,0.15,2.53,0.00,0.000,6,0.100,0.018,2591,1842,3722,0,0,0,0,0,0
$GC,1980,-1.23,-146.0,212.0,-9.4,177,1984,0.00,2.45,0.00,0.000,4,0.000,0.031,2591,3378,3722,0,0,0,0,0,0
$GC,2023,-1.23,-146.0,216.4,-10.0,178,2027,0.00,2.42,0.00,0.000,6,0.000,0.022,2592,1830,3722,0,0,0,0,0,0
$GC,2309,-1.23,-146.0,244.4,-10.0,185,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,2591,1830,3722,0,0,0,0,0,0
$GC,2555,-1.23,-146.0,267.4,-9.2,191,2559,0.00,2.45,0.00,0.000,4,0.000,0.031,2591,3370,3722,0,0,0,0,0,0
$GC,2598,-1.31,-146.0,271.1,-8.3,192,2602,0.00,2.45,0.00,0.000,6,0.000,0.025,2591,1830,3722,0,0,0,0,0,0
$GC,2885,-1.31,-146.0,295.8,-8.7,199,2889,0.00,2.47,0.00,0.000,4,0.000,0.034,2591,3370,3722,0,0,0,0,0,0
$GC,2924,-1.39,-146.0,299.0,-7.9,199,2931,0.15,2.45,0.00,0.000,6,0.052,0.025,2505,1838,3722,0,0,0,0,0,0
$GC,3174,-1.17,-146.0,330.5,-12.9,206,3176,0.45,0.00,0.00,0.000,6,0.081,0.000,2604,1839,3721,0,0,0,0,0,0
$GC,3418,-1.26,-146.0,349.5,-7.7,212,3423,0.00,2.47,0.00,0.000,4,0.000,0.037,2604,3368,3721,0,0,0,0,0,0
$GC,3453,-1.39,-146.0,352.3,-8.1,212,3458,0.20,2.45,0.00,0.000,6,0.042,0.028,2510,1850,3721,0,0,0,0,0,0
$GC,3703,-1.19,-146.0,385.3,-13.9,218,3705,0.43,0.00,0.00,0.000,6,0.082,0.000,2600,1850,3719,0,0,0,0,0,0
$GC,3949,-1.28,-146.0,404.4,-7.2,224,3953,0.00,2.50,0.00,0.000,4,0.000,0.043,2600,3362,3718,0,0,0,0,0,0
$GC,4000,-1.41,-146.0,408.5,-7.7,225,4005,0.20,2.42,0.00,0.000,6,0.042,0.028,2499,1861,3718,0,0,0,0,0,0
$GC,4279,-1.18,-146.0,444.6,-13.4,232,4281,0.50,0.00,0.00,0.000,6,0.081,0.000,2600,1861,3716,0,0,0,0,0,0
$GC,4523,-1.28,-146.0,463.9,-7.4,238,4527,0.00,2.50,0.00,0.000,4,0.000,0.050,2600,3362,3714,0,0,0,0,0,0
$GC,4575,-1.43,-146.0,467.7,-6.9,239,4580,0.20,2.42,0.00,0.000,6,0.041,0.029,2498,1864,3714,0,0,0,0,0,0
$GC,4855,-1.21,-146.0,498.8,-11.2,246,4862,0.45,2.80,0.00,0.000,4,0.083,0.064,2593,222,3712,0,0,0,0,0,0
$STATE,4865,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4865,begin apogee
$GC,4873,-0.31,0.0,500.3,10.6,246,4996,0.82,0.00,119.00,0.858,6,0.069,0.000,2786,1676,3120,0,0,0,0,0,0
$STATE,4997,end apogee,CONTROL_FINISHED_OK
$STATE,4997,begin climb
$GC,4999,1.17,146.0,502.7,0.0,249,5132,1.35,2.80,121.55,0.843,4,0.030,0.060,3117,3262,2523,0,0,0,0,0,0
$GC,5151,0.94,207.1,502.2,6.5,252,5211,0.25,2.62,52.55,0.822,6,0.107,0.036,3065,1693,2275,0,0,0,0,0,0
$GC,5454,0.80,207.1,473.9,9.6,260,5461,0.15,2.70,0.00,0.000,4,0.113,0.074,3034,164,2267,0,0,0,0,0,0
$GC,5597,0.68,207.1,460.1,9.4,263,5602,0.12,2.42,0.00,0.000,6,0.119,0.028,3010,1670,2266,0,0,0,0,0,0
$GC,5880,0.75,261.5,440.4,6.7,270,5933,0.00,2.67,47.35,0.811,4,0.000,0.060,3009,161,2052,0,0,0,0,0,0
$GC,5951,0.77,275.1,435.3,8.4,271,5971,0.00,2.42,13.55,0.739,6,0.000,0.027,3009,1665,1997,0,0,0,0,0,0
$GC,6260,0.85,293.5,409.9,8.2,279,6285,0.15,2.83,17.35,0.758,4,0.056,0.059,3070,3251,1921,0,0,0,0,0,0
$GC,6310,0.85,293.5,404.3,11.9,280,6315,0.12,2.67,0.00,0.000,6,0.104,0.036,3043,1663,1918,0,0,0,0,0,0
$GC,6593,0.85,293.5,374.7,10.2,287,6594,0.00,0.00,0.00,0.000,6,0.000,0.000,3043,1663,1916,0,0,0,0,0,0
$GC,6836,0.85,293.5,350.2,10.2,293,6841,0.00,2.67,0.00,0.000,4,0.000,0.045,3043,3257,1914,0,0,0,0,0,0
$GC,6861,0.85,293.5,347.9,9.8,293,6866,0.00,2.65,0.00,0.000,6,0.000,0.035,3043,1662,1913,0,0,0,0,0,0
$GC,7120,0.85,293.5,323.5,9.2,300,7125,0.00,2.58,0.00,0.000,4,0.000,0.065,3043,171,1912,0,0,0,0,0,0
$GC,7139,0.85,293.5,321.6,9.6,300,7143,0.00,2.40,0.00,0.000,6,0.000,0.025,3042,1673,1912,0,0,0,0,0,0
$GC,7408,0.87,309.8,298.5,8.3,307,7425,0.00,0.00,14.38,0.689,6,0.000,0.000,3044,1673,1857,0,0,0,0,0,0
$GC,7654,0.88,316.8,277.8,8.7,313,7667,0.00,2.67,7.68,0.607,4,0.000,0.046,3043,3250,1828,0,0,0,0,0,0
$GC,7725,1.00,321.1,271.6,8.8,314,7738,0.15,2.65,5.35,0.538,6,0.057,0.033,3115,1653,1810,0,0,0,0,0,0
$GC,7990,0.85,321.1,240.1,11.9,321,7995,0.30,2.53,0.00,0.000,4,0.099,0.060,3047,170,1808,0,0,0,0,0,0
$GC,8028,0.85,321.1,235.7,10.6,321,8033,0.00,2.38,0.00,0.000,6,0.000,0.023,3047,1666,1807,0,0,0,0,0,0
$GC,8277,0.86,326.0,213.6,8.8,328,8289,0.00,2.60,5.10,0.496,4,0.000,0.038,3047,3248,1791,0,0,0,0,0,0
$GC,8306,0.86,327.3,211.1,9.0,328,8310,0.00,2.62,0.00,0.000,6,0.000,0.029,3048,1655,1790,0,0,0,0,0,0
$GC,8571,0.88,340.1,187.6,8.5,344,8591,0.00,2.67,14.15,0.603,4,0.000,0.034,3048,3258,1733,0,0,0,0,0,0
$GC,8608,0.98,365.8,184.5,7.9,347,8642,0.10,2.62,24.65,0.619,6,0.075,0.029,3099,1663,1628,0,0,0,0,0,0
$GC,8897,0.91,365.8,150.5,11.8,375,8899,0.17,0.00,0.00,0.000,6,0.097,0.000,3059,1663,1624,0,0,0,0,0,0
$GC,9158,0.97,365.8,126.2,9.8,399,9163,0.00,2.60,0.00,0.000,4,0.000,0.034,3059,3253,1623,0,0,0,0,0,0
$GC,9207,1.11,365.8,121.5,9.2,403,9212,0.17,2.55,0.00,0.000,6,0.050,0.033,3135,1668,1621,0,0,0,0,0,0
$GC,9471,1.00,365.8,89.7,12.5,427,9476,0.25,2.47,0.00,0.000,4,0.091,0.046,3076,167,1621,0,0,0,0,0,0
$GC,9528,1.07,365.8,82.6,11.7,432,9532,0.00,2.33,0.00,0.000,6,0.000,0.021,3076,1669,1621,0,0,0,0,0,0
$GC,9797,1.07,365.8,57.8,11.2,456,9801,0.00,2.55,0.00,0.000,4,0.000,0.033,3076,3251,1620,0,0,0,0,0,0
$GC,9815,1.07,365.8,55.2,10.8,457,9820,0.00,2.55,0.00,0.000,6,0.000,0.025,3076,1652,1620,0,0,0,0,0,0
$GC,10084,1.07,365.8,30.7,10.7,481,10088,0.00,2.40,0.00,0.000,4,0.000,0.044,3076,174,1620,0,0,0,0,0,0
$GC,10106,1.07,365.8,28.1,10.4,483,10114,0.00,2.33,0.00,0.000,6,0.000,0.019,3076,1666,1620,0,0,0,0,0,0
$STATE,10352,end climb,SURFACE_DEPTH_REACHED
$STATE,10353,begin surface coast
$FINISH,0.7,1.010015
$STATE,10391,end surface coast,CONTROL_FINISHED_OK
$STATE,10392,begin surface
$SM_CCo,10414,7.00,0.065,0,0,1570,380.21
$SM_GC,1.75,0.00,0.00,7.00,0.000,0.000,0.065,415,1823,1570,-11.25,0.93,380.21
$IRIDIUM_FIX,2241.69,-15802.37,050400,070700
$TT8_MAMPS,0.026845
$HUMID,49.52
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,22.20
$XPDR_PINGS,2
$24V_AH,23.5,62.896
$10V_AH,10.0,55.709
$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,30.150,132.075,442.650,7.000,0.000,52.435,67.225,255.901,0.500,0.000,14.949,1092.248,6741.819,488.176,1979.487,701.305,33.382,1278.381,0.000,1989.989,0.000,0.537,0.000
$DEVICE_MAMPS,158.769,74.399,857.506,65.195,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,357.021,334.548,416.743,625.954,1106.324,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355292
$DATA_FILE_SIZE,41451,528
$CAP_FILE_SIZE,121389,0
$CFSIZE,260165632,144674816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100111,095337,2249.390,-15801.576,33,0.9,33,10.1