version: 66.06
glider: 148
mission: 9
dive: 491
start: 1 10 111 22 21 36
data:
$ID,148
$MISSION,9
$DIVE,491
$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,-868789.94
$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,19
$R_STBD_OVSHOOT,77
$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
$GPS1,220944,2249.998,-15756.959,40,4.3,59,10.1
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-67.6
$GPS2,222039,2250.054,-15756.897,35,1.9,42,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.078,-0.238
$KALMAN_X,-92925.6,206.5,-141.6,115169.9,-122.1
$KALMAN_Y,-121912.0,365.8,316.5,251167.7,-958.6
$MHEAD_RNG_PITCHd_Wd,188.1,5862,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.17,-146.0,0.0,0.0,0,95,0.00,0.00,-75.05,0.000,2,0.000,0.000,411,1818,3418,0,0,0,0,0,0
$GC,98,-1.17,-146.0,3.8,-4.8,10,122,11.57,2.42,-5.45,0.000,4,0.155,0.038,2596,3340,3716,0,0,0,0,0,0
$GC,146,-0.32,-146.0,18.8,-31.1,16,155,0.82,2.53,0.00,0.000,6,0.073,0.021,2785,1769,3718,0,0,0,0,0,0
$GC,436,-1.06,-146.0,42.2,-9.4,53,449,0.62,2.50,0.00,0.000,4,0.045,0.026,2627,3339,3719,0,0,0,0,0,0
$GC,477,-1.39,-146.0,45.7,-8.3,56,483,0.30,2.45,0.00,0.000,6,0.029,0.022,2499,1785,3719,0,0,0,0,0,0
$GC,742,-0.93,-146.0,98.5,-21.1,80,751,0.75,0.00,0.00,0.000,6,0.090,0.000,2654,1785,3719,0,0,0,0,0,0
$GC,1010,-1.05,-146.0,123.1,-7.5,105,1015,0.10,2.47,0.00,0.000,4,0.076,0.028,2583,3337,3720,0,0,0,0,0,0
$GC,1079,-1.05,-146.0,130.1,-10.1,111,1084,0.20,2.42,0.00,0.000,6,0.087,0.022,2630,1792,3720,0,0,0,0,0,0
$GC,1344,-1.14,-146.0,150.2,-7.6,135,1348,0.00,2.45,0.00,0.000,4,0.000,0.028,2630,3345,3720,0,0,0,0,0,0
$GC,1380,-1.27,-146.0,153.3,-7.8,138,1385,0.20,2.42,0.00,0.000,6,0.042,0.022,2534,1798,3721,0,0,0,0,0,0
$GC,1641,-1.07,-146.0,187.4,-13.4,162,1653,0.40,2.47,0.00,0.000,4,0.084,0.028,2624,3346,3721,0,0,0,0,0,0
$GC,1664,-1.07,-146.0,190.0,-10.8,164,1668,0.00,2.40,0.00,0.000,6,0.000,0.021,2624,1811,3721,0,0,0,0,0,0
$GC,1922,-1.16,-146.0,209.3,-7.5,179,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1811,3722,0,0,0,0,0,0
$GC,2163,-1.26,-146.0,229.2,-8.1,185,2168,0.17,2.45,0.00,0.000,4,0.049,0.029,2541,3346,3721,0,0,0,0,0,0
$GC,2217,-1.18,-146.0,235.7,-12.3,186,2222,0.28,2.40,0.00,0.000,6,0.079,0.023,2603,1819,3721,0,0,0,0,0,0
$GC,2495,-1.18,-146.0,261.6,-9.1,193,2496,0.00,0.00,0.00,0.000,6,0.000,0.000,2602,1819,3721,0,0,0,0,0,0
$GC,2739,-1.18,-146.0,281.4,-8.1,199,2743,0.00,2.45,0.00,0.000,4,0.000,0.031,2602,3344,3721,0,0,0,0,0,0
$GC,2784,-1.30,-146.0,284.8,-7.1,200,2789,0.12,2.40,0.00,0.000,6,0.063,0.025,2529,1824,3721,0,0,0,0,0,0
$GC,3072,-1.13,-146.0,319.1,-11.9,207,3077,0.38,2.45,0.00,0.000,4,0.084,0.034,2610,3343,3721,0,0,0,0,0,0
$GC,3123,-1.27,-146.0,323.2,-7.2,208,3128,0.12,2.40,0.00,0.000,6,0.061,0.028,2544,1837,3720,0,0,0,0,0,0
$GC,3406,-1.16,-146.0,352.7,-11.0,215,3408,0.28,0.00,0.00,0.000,6,0.081,0.000,2605,1837,3719,0,0,0,0,0,0
$GC,3650,-1.25,-146.0,370.2,-6.9,221,3655,0.00,2.45,0.00,0.000,4,0.000,0.038,2605,3339,3718,0,0,0,0,0,0
$GC,3699,-1.40,-146.0,373.4,-6.4,222,3704,0.22,2.40,0.00,0.000,6,0.038,0.029,2517,1851,3718,0,0,0,0,0,0
$GC,3982,-1.23,-146.0,405.0,-11.7,229,3990,0.30,2.72,0.00,0.000,4,0.085,0.053,2588,214,3716,0,0,0,0,0,0
$GC,3999,-1.23,-146.0,407.0,-11.0,229,4004,0.00,2.55,0.00,0.000,6,0.000,0.025,2588,1816,3716,0,0,0,0,0,0
$GC,4270,-1.23,-146.0,427.9,-7.7,236,4274,0.00,2.55,0.00,0.000,4,0.000,0.043,2588,3367,3714,0,0,0,0,0,0
$GC,4313,-1.33,-146.0,431.6,-7.7,237,4318,0.00,2.42,0.00,0.000,6,0.000,0.028,2588,1848,3714,0,0,0,0,0,0
$GC,4602,-1.33,-146.0,456.9,-9.1,244,4603,0.00,0.00,0.00,0.000,6,0.000,0.000,2588,1848,3712,0,0,0,0,0,0
$GC,4844,-1.40,-146.0,478.7,-8.7,250,4846,0.15,0.00,0.00,0.000,6,0.057,0.000,2524,1848,3711,0,0,0,0,0,0
$STATE,5085,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5085,begin apogee
$GC,5091,-0.31,0.0,503.0,10.0,256,5214,1.20,0.00,118.85,0.870,6,0.078,0.000,2793,1669,3120,0,0,0,0,0,0
$STATE,5214,end apogee,CONTROL_FINISHED_OK
$STATE,5215,begin climb
$GC,5219,1.17,146.0,506.4,0.0,259,5350,1.30,2.78,122.07,0.852,4,0.029,0.051,3125,3253,2523,0,0,0,0,0,0
$GC,5488,0.88,146.0,495.9,9.0,265,5496,0.35,2.60,0.00,0.000,6,0.097,0.036,3052,1695,2517,0,0,0,0,0,0
$GC,5769,0.85,228.0,478.6,5.6,272,5842,0.00,0.00,70.80,0.836,6,0.000,0.000,3051,1695,2189,0,0,0,0,0,0
$GC,6055,0.78,236.9,456.0,8.6,279,6070,0.00,2.72,8.23,0.694,4,0.000,0.072,3051,168,2153,0,0,0,0,0,0
$GC,6209,0.65,236.9,439.2,10.4,282,6214,0.22,2.42,0.00,0.000,6,0.094,0.026,3003,1666,2152,0,0,0,0,0,0
$GC,6481,0.77,275.9,418.7,7.4,289,6519,0.10,0.00,35.92,0.801,6,0.077,0.000,3053,1667,1995,0,0,0,0,0,0
$GC,6762,0.77,275.9,392.4,9.1,296,6767,0.12,2.72,0.00,0.000,4,0.105,0.054,3026,3262,1988,0,0,0,0,0,0
$GC,6788,0.80,302.9,390.4,7.9,296,6820,0.00,2.65,24.90,0.773,6,0.000,0.034,3026,1669,1885,0,0,0,0,0,0
$GC,7095,0.83,324.8,365.9,8.1,304,7118,0.00,0.00,20.90,0.752,6,0.000,0.000,3026,1669,1795,0,0,0,0,0,0
$GC,7337,0.83,324.8,343.0,9.7,310,7341,0.00,2.67,0.00,0.000,4,0.000,0.042,3026,3258,1790,0,0,0,0,0,0
$GC,7376,0.95,324.8,339.2,9.7,310,7382,0.17,2.65,0.00,0.000,6,0.051,0.034,3097,1665,1788,0,0,0,0,0,0
$GC,7626,0.82,324.8,306.5,13.2,317,7628,0.28,0.00,0.00,0.000,6,0.087,0.000,3038,1665,1788,0,0,0,0,0,0
$GC,7869,0.82,324.8,282.0,9.8,323,7874,0.00,2.65,0.00,0.000,4,0.000,0.041,3038,3254,1787,0,0,0,0,0,0
$GC,7916,0.94,324.8,277.8,9.3,324,7921,0.10,2.60,0.00,0.000,6,0.077,0.033,3089,1678,1785,0,0,0,0,0,0
$GC,8204,0.86,324.8,243.7,11.9,331,8209,0.20,2.58,0.00,0.000,4,0.093,0.060,3044,170,1785,0,0,0,0,0,0
$GC,8243,0.86,324.8,239.6,10.4,331,8249,0.00,2.40,0.00,0.000,6,0.000,0.023,3045,1695,1785,0,0,0,0,0,0
$GC,8493,0.86,324.8,216.4,9.4,338,8497,0.00,2.55,0.00,0.000,4,0.000,0.040,3045,3252,1784,0,0,0,0,0,0
$GC,8536,0.98,324.8,212.0,10.4,339,8541,0.12,2.58,0.00,0.000,6,0.064,0.030,3112,1678,1782,0,0,0,0,0,0
$GC,8806,0.87,324.8,178.0,12.9,355,8811,0.28,2.53,0.00,0.000,4,0.087,0.050,3048,171,1782,0,0,0,0,0,0
$GC,8844,0.93,324.8,173.0,11.0,358,8849,0.00,2.40,0.00,0.000,6,0.000,0.022,3048,1691,1782,0,0,0,0,0,0
$GC,9108,0.99,324.8,147.8,9.8,382,9113,0.12,2.50,0.00,0.000,4,0.065,0.034,3112,3260,1782,0,0,0,0,0,0
$GC,9158,0.99,324.8,141.4,13.1,386,9168,0.12,2.58,0.00,0.000,6,0.075,0.028,3078,1687,1781,0,0,0,0,0,0
$GC,9425,0.99,324.8,115.7,9.1,411,9429,0.00,2.55,0.00,0.000,4,0.000,0.033,3079,3261,1781,0,0,0,0,0,0
$GC,9443,0.99,324.8,113.1,10.4,412,9452,0.00,2.55,0.00,0.000,6,0.000,0.028,3079,1699,1781,0,0,0,0,0,0
$GC,9710,1.01,340.6,91.6,8.3,437,9732,0.00,2.58,13.10,0.522,4,0.000,0.047,3078,177,1730,0,0,0,0,0,0
$GC,9748,1.01,340.7,88.0,9.0,440,9757,0.00,2.42,0.00,0.000,6,0.000,0.021,3078,1697,1729,0,0,0,0,0,0
$GC,10012,1.01,340.7,65.5,10.2,465,10022,0.00,0.00,0.00,0.000,6,0.000,0.000,3078,1700,1728,0,0,0,0,0,0
$GC,10278,1.01,340.7,40.7,10.1,490,10286,0.00,0.00,0.00,0.000,6,0.000,0.000,3079,1699,1728,0,0,0,0,0,0
$GC,10562,1.01,340.7,16.0,11.5,525,10571,0.00,2.53,0.00,0.000,4,0.000,0.033,3078,3254,1728,0,0,0,0,0,0
$GC,10581,1.01,340.7,13.8,12.1,527,10590,0.00,2.53,0.00,0.000,6,0.000,0.025,3079,1689,1727,0,0,0,0,0,0
$STATE,10659,end climb,SURFACE_DEPTH_REACHED
$STATE,10659,begin surface coast
$FINISH,0.7,1.001359
$STATE,10707,end surface coast,CONTROL_FINISHED_OK
$STATE,10707,begin surface
$SM_CCo,10727,24.40,0.308,1,0,1569,380.21
$SM_GC,1.42,0.00,0.00,24.40,0.000,0.000,0.308,413,1884,1569,-11.26,2.66,380.21
$IRIDIUM_FIX,2244.02,-15759.32,050400,191959
$TT8_MAMPS,0.026845
$HUMID,49.37
$INTERNAL_PRESSURE,9.76987
$TCM_TEMP,21.90
$XPDR_PINGS,0
$24V_AH,23.4,63.468
$10V_AH,10.0,56.282
$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,32.400,116.350,414.775,24.400,0.000,29.738,37.747,424.616,0.000,0.000,43.670,1121.475,6892.451,544.055,2066.408,793.142,33.377,1320.849,0.000,2045.006,0.000,0.537,0.000
$DEVICE_MAMPS,154.934,72.098,869.778,307.567,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,371.077,337.585,423.489,663.509,1173.591,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,41515,546
$CAP_FILE_SIZE,119319,0
$CFSIZE,260165632,144388096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,110111,012204,2248.351,-15757.378,9,99.0,28,10.1