version: 66.06
glider: 148
mission: 9
dive: 488
start: 1 10 111 13 8 39
data:
$ID,148
$MISSION,9
$DIVE,488
$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,-868716.88
$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,26
$R_STBD_OVSHOOT,78
$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
$GPS1,125800,2249.521,-15800.186,34,1.7,40,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-65.4
$GPS2,130744,2249.501,-15800.181,10,1.7,10,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.211,0.136
$KALMAN_X,-92066.4,-242.3,62.6,108903.0,-303.1
$KALMAN_Y,-119017.8,-177.9,454.3,247657.2,-1161.4
$MHEAD_RNG_PITCHd_Wd,47.1,5507,-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,-146.0,0.0,0.0,0,103,0.00,0.00,-82.65,0.000,2,0.000,0.000,408,1840,3516,0,0,0,0,0,0
$GC,106,-1.17,-146.0,4.3,-5.8,11,131,11.73,2.42,-3.42,0.000,4,0.160,0.041,2595,3332,3720,0,0,0,0,0,0
$GC,228,-1.09,-146.0,33.7,-13.6,27,233,0.12,2.47,0.00,0.000,6,0.107,0.024,2623,1782,3721,0,0,0,0,0,0
$GC,497,-1.02,-146.0,64.9,-11.8,51,501,0.00,2.50,0.00,0.000,4,0.000,0.031,2623,3334,3721,0,0,0,0,0,0
$GC,542,-1.02,-146.0,71.1,-11.0,54,550,0.00,2.47,0.00,0.000,6,0.000,0.022,2623,1794,3721,0,0,0,0,0,0
$GC,806,-1.02,-146.0,98.3,-10.1,79,810,0.00,2.47,0.00,0.000,4,0.000,0.030,2622,3334,3722,0,0,0,0,0,0
$GC,842,-1.02,-146.0,102.5,-10.2,82,846,0.00,2.42,0.00,0.000,6,0.000,0.022,2623,1804,3722,0,0,0,0,0,0
$GC,1112,-1.02,-146.0,126.9,-9.2,107,1117,0.00,2.45,0.00,0.000,4,0.000,0.029,2623,3335,3722,0,0,0,0,0,0
$GC,1173,-1.14,-146.0,132.2,-7.4,112,1183,0.00,2.42,0.00,0.000,6,0.000,0.022,2623,1818,3723,0,0,0,0,0,0
$GC,1436,-1.21,-146.0,152.2,-7.7,137,1438,0.12,0.00,0.00,0.000,6,0.064,0.000,2560,1818,3723,0,0,0,0,0,0
$GC,1692,-1.09,-146.0,179.1,-11.0,161,1697,0.25,2.42,0.00,0.000,4,0.087,0.028,2619,3343,3723,0,0,0,0,0,0
$GC,1722,-1.09,-146.0,181.7,-8.3,163,1726,0.00,2.38,0.00,0.000,6,0.000,0.022,2619,1827,3724,0,0,0,0,0,0
$GC,2006,-1.17,-146.0,203.8,-8.1,186,2007,0.00,0.00,0.00,0.000,6,0.000,0.000,2619,1827,3724,0,0,0,0,0,0
$GC,2247,-1.25,-146.0,223.7,-8.3,192,2252,0.15,2.45,0.00,0.000,4,0.054,0.031,2547,3342,3724,0,0,0,0,0,0
$GC,2285,-1.17,-146.0,228.0,-11.8,192,2291,0.25,2.40,0.00,0.000,6,0.081,0.023,2603,1830,3724,0,0,0,0,0,0
$GC,2536,-1.17,-146.0,248.9,-8.1,199,2541,0.00,2.65,0.00,0.000,4,0.000,0.044,2603,215,3724,0,0,0,0,0,0
$GC,2556,-1.24,-146.0,250.7,-8.0,199,2560,0.00,2.50,0.00,0.000,6,0.000,0.020,2603,1819,3724,0,0,0,0,0,0
$GC,2820,-1.30,-146.0,270.1,-7.5,206,2825,0.12,2.47,0.00,0.000,4,0.065,0.032,2545,3357,3724,0,0,0,0,0,0
$GC,2883,-1.24,-146.0,276.6,-10.9,207,2888,0.20,2.40,0.00,0.000,6,0.087,0.024,2590,1843,3724,0,0,0,0,0,0
$GC,3152,-1.24,-146.0,300.0,-8.5,214,3156,0.00,2.45,0.00,0.000,4,0.000,0.035,2590,3356,3722,0,0,0,0,0,0
$GC,3197,-1.31,-146.0,303.8,-8.9,215,3201,0.00,2.38,0.00,0.000,6,0.000,0.026,2590,1859,3722,0,0,0,0,0,0
$GC,3483,-1.31,-146.0,331.0,-9.5,222,3487,0.00,2.42,0.00,0.000,4,0.000,0.036,2590,3360,3721,0,0,0,0,0,0
$GC,3506,-1.31,-146.0,333.3,-10.0,222,3510,0.00,2.40,0.00,0.000,6,0.000,0.026,2590,1864,3721,0,0,0,0,0,0
$GC,3771,-1.31,-146.0,357.9,-9.4,229,3775,0.00,2.45,0.00,0.000,4,0.000,0.038,2590,3363,3719,0,0,0,0,0,0
$GC,3823,-1.40,-146.0,362.7,-8.7,230,3828,0.15,2.40,0.00,0.000,6,0.054,0.028,2511,1877,3719,0,0,0,0,0,0
$GC,4101,-1.20,-146.0,396.3,-12.1,237,4109,0.38,2.78,0.00,0.000,4,0.085,0.052,2594,214,3717,0,0,0,0,0,0
$GC,4154,-1.34,-146.0,400.7,-7.3,238,4159,0.12,2.62,0.00,0.000,6,0.063,0.026,2531,1851,3718,0,0,0,0,0,0
$GC,4437,-1.22,-146.0,429.4,-10.6,245,4442,0.25,2.47,0.00,0.000,4,0.087,0.044,2591,3349,3716,0,0,0,0,0,0
$GC,4500,-1.33,-146.0,434.7,-7.4,246,4504,0.00,2.38,0.00,0.000,6,0.000,0.028,2590,1874,3715,0,0,0,0,0,0
$GC,4769,-1.39,-146.0,455.6,-8.0,253,4776,0.15,2.85,0.00,0.000,4,0.056,0.062,2527,214,3714,0,0,0,0,0,0
$GC,4787,-1.39,-146.0,457.7,-10.9,253,4792,0.12,2.65,0.00,0.000,6,0.107,0.030,2555,1853,3714,0,0,0,0,0,0
$GC,5056,-1.39,-146.0,485.7,-10.3,260,5057,0.00,0.00,0.00,0.000,6,0.000,0.000,2555,1853,3712,0,0,0,0,0,0
$STATE,5218,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5218,begin apogee
$GC,5224,-0.31,0.0,502.5,10.4,264,5346,1.05,0.00,118.95,0.867,6,0.077,0.000,2791,1673,3120,0,0,0,0,0,0
$STATE,5347,end apogee,CONTROL_FINISHED_OK
$STATE,5347,begin climb
$GC,5351,1.17,146.0,508.2,0.0,267,5482,1.33,2.67,121.70,0.851,4,0.025,0.069,3126,184,2523,0,0,0,0,0,0
$GC,5748,0.73,146.0,485.6,9.8,275,5755,0.50,2.40,0.00,0.000,6,0.100,0.030,3021,1654,2515,0,0,0,0,0,0
$GC,6000,0.82,216.4,469.4,6.1,282,6065,0.00,2.60,59.92,0.831,4,0.000,0.061,3021,184,2236,0,0,0,0,0,0
$GC,6217,0.76,222.6,451.7,8.8,286,6230,0.00,2.42,6.38,0.644,6,0.000,0.027,3021,1677,2211,0,0,0,0,0,0
$GC,6512,0.79,248.6,428.1,7.9,294,6542,0.00,2.62,23.95,0.788,4,0.000,0.058,3021,187,2105,0,0,0,0,0,0
$GC,6561,0.80,256.6,423.9,8.7,295,6576,0.00,2.42,8.65,0.690,6,0.000,0.027,3020,1673,2072,0,0,0,0,0,0
$GC,6842,0.82,278.0,400.6,8.1,302,6867,0.00,2.75,19.70,0.766,4,0.000,0.056,3021,3257,1985,0,0,0,0,0,0
$GC,6896,0.93,295.4,396.1,8.3,303,6921,0.17,2.62,17.65,0.750,6,0.049,0.035,3106,1691,1914,0,0,0,0,0,0
$GC,7174,0.76,295.4,364.3,11.8,310,7181,0.35,2.65,0.00,0.000,4,0.087,0.064,3025,169,1909,0,0,0,0,0,0
$GC,7219,0.76,295.4,359.5,9.2,311,7224,0.00,2.42,0.00,0.000,6,0.000,0.026,3025,1676,1908,0,0,0,0,0,0
$GC,7508,0.77,303.7,335.5,8.7,318,7521,0.00,2.70,7.60,0.640,4,0.000,0.051,3025,3259,1881,0,0,0,0,0,0
$GC,7563,0.89,303.7,330.3,9.2,319,7569,0.12,2.62,0.00,0.000,6,0.064,0.034,3083,1672,1877,0,0,0,0,0,0
$GC,7839,0.79,303.7,297.6,12.2,326,7841,0.22,0.00,0.00,0.000,6,0.091,0.000,3034,1672,1877,0,0,0,0,0,0
$GC,8080,0.79,303.7,273.8,9.6,332,8085,0.00,2.65,0.00,0.000,4,0.000,0.041,3034,3259,1877,0,0,0,0,0,0
$GC,8113,0.89,303.7,270.7,10.0,332,8118,0.00,2.62,0.00,0.000,6,0.000,0.032,3034,1673,1874,0,0,0,0,0,0
$GC,8365,0.89,303.7,247.3,9.5,338,8369,0.00,2.65,0.00,0.000,4,0.000,0.039,3034,3260,1874,0,0,0,0,0,0
$GC,8383,0.96,303.7,245.3,9.4,338,8389,0.15,2.60,0.00,0.000,6,0.056,0.031,3107,1682,1874,0,0,0,0,0,0
$GC,8648,0.82,303.7,213.7,11.9,345,8653,0.30,2.55,0.00,0.000,4,0.091,0.057,3039,173,1874,0,0,0,0,0,0
$GC,8729,0.82,303.7,205.6,10.3,346,8734,0.00,2.40,0.00,0.000,6,0.000,0.022,3039,1688,1874,0,0,0,0,0,0
$GC,8992,0.94,343.4,185.0,7.4,364,9030,0.10,0.00,35.50,0.644,6,0.077,0.000,3094,1692,1720,0,0,0,0,0,0
$GC,9283,0.94,343.4,155.0,10.2,392,9288,0.12,2.58,0.00,0.000,4,0.105,0.038,3066,3259,1715,0,0,0,0,0,0
$GC,9311,0.94,343.4,152.6,9.4,394,9316,0.00,2.62,0.00,0.000,6,0.000,0.028,3066,1657,1712,0,0,0,0,0,0
$GC,9575,0.94,343.4,127.3,10.1,418,9579,0.00,2.60,0.00,0.000,4,0.000,0.035,3066,3254,1712,0,0,0,0,0,0
$GC,9614,1.03,343.4,123.4,10.5,421,9618,0.00,2.58,0.00,0.000,6,0.000,0.028,3066,1671,1710,0,0,0,0,0,0
$GC,9881,1.10,343.4,97.3,9.5,445,9887,0.15,0.00,0.00,0.000,6,0.055,0.000,3148,1670,1710,0,0,0,0,0,0
$GC,10147,0.94,343.4,61.7,13.2,470,10152,0.35,2.45,0.00,0.000,4,0.084,0.043,3066,173,1711,0,0,0,0,0,0
$GC,10190,0.94,343.4,56.9,10.5,473,10194,0.00,2.35,0.00,0.000,6,0.000,0.020,3066,1678,1710,0,0,0,0,0,0
$GC,10459,1.00,343.4,29.2,10.9,497,10468,0.00,2.55,0.00,0.000,4,0.000,0.033,3066,3245,1710,0,0,0,0,0,0
$GC,10490,1.09,343.4,25.4,10.7,501,10499,0.08,2.58,0.00,0.000,6,0.032,0.032,3140,1667,1710,0,0,0,0,0,0
$STATE,10648,end climb,SURFACE_DEPTH_REACHED
$STATE,10648,begin surface coast
$FINISH,0.6,1.011809
$STATE,10687,end surface coast,CONTROL_FINISHED_OK
$STATE,10687,begin surface
$SM_CCo,10708,17.52,0.063,0,0,1570,380.21
$SM_GC,1.48,0.00,0.00,17.52,0.000,0.000,0.063,417,1837,1570,-11.24,1.33,380.21
$IRIDIUM_FIX,2241.69,-15801.49,050400,131310
$TT8_MAMPS,0.026845
$HUMID,50.82
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,21.40
$XPDR_PINGS,1
$24V_AH,23.4,63.141
$10V_AH,10.0,55.932
$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,30.175,136.725,420.000,17.525,0.000,53.375,82.098,243.073,0.250,0.000,11.839,1135.969,6899.459,474.838,2084.173,714.764,33.391,1331.255,0.000,2094.526,0.000,0.536,0.000
$DEVICE_MAMPS,159.536,69.030,867.477,62.894,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.718,325.696,416.536,598.900,1058.308,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355292
$DATA_FILE_SIZE,41588,531
$CAP_FILE_SIZE,126897,0
$CFSIZE,260165632,144556032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100111,160857,2249.449,-15758.945,33,99.0,52,10.1