version: 66.06
glider: 148
mission: 9
dive: 505
start: 1 12 111 18 1 37
data:
$ID,148
$MISSION,9
$DIVE,505
$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,-869133.06
$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,22
$R_STBD_OVSHOOT,36
$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
$GPS1,174525,2250.083,-15756.826,49,2.0,49,10.1
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.47
$_SM_ANGLEo,-65.5
$GPS2,180043,2250.004,-15756.912,10,1.8,21,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,-0.068,-0.241
$KALMAN_X,-98782.9,-190.5,-48.7,121303.9,-165.6
$KALMAN_Y,-134401.0,214.9,-284.6,264317.6,-663.0
$MHEAD_RNG_PITCHd_Wd,185.6,5767,-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,-146.0,0.0,0.0,0,96,0.00,0.00,-75.03,0.000,2,0.000,0.000,412,1798,3455,0,0,0,0,0,0
$GC,99,-1.17,-146.0,4.1,-6.1,10,124,11.55,2.65,-4.75,0.000,4,0.153,0.045,2595,196,3717,0,0,0,0,0,0
$GC,136,0.39,-146.0,16.6,-31.7,14,145,1.52,2.55,0.00,0.000,6,0.074,0.020,2941,1800,3718,0,0,0,0,0,0
$GC,424,-0.39,-146.0,44.5,-10.9,50,436,0.68,2.50,0.00,0.000,4,0.048,0.027,2774,3373,3720,0,0,0,0,0,0
$GC,743,-1.06,-146.0,85.7,-13.2,79,752,0.57,2.58,0.00,0.000,6,0.051,0.023,2628,1744,3720,0,0,0,0,0,0
$GC,1007,-1.06,-146.0,111.5,-10.1,104,1011,0.00,2.58,0.00,0.000,4,0.000,0.028,2627,3365,3719,0,0,0,0,0,0
$GC,1112,-1.19,-146.0,120.9,-7.3,113,1119,0.12,2.53,0.00,0.000,6,0.061,0.023,2532,1772,3719,0,0,0,0,0,0
$GC,1375,-0.97,-146.0,157.1,-14.2,138,1387,0.50,2.50,0.00,0.000,4,0.082,0.037,2646,214,3721,0,0,0,0,0,0
$GC,1402,-1.05,-146.0,160.4,-10.5,140,1408,0.00,2.42,0.00,0.000,6,0.000,0.018,2646,1781,3721,0,0,0,0,0,0
$GC,1666,-1.21,-146.0,178.9,-7.2,165,1672,0.20,2.50,0.00,0.000,4,0.044,0.028,2550,3362,3721,0,0,0,0,0,0
$GC,1735,-1.21,-146.0,186.6,-10.4,171,1744,0.17,2.55,0.00,0.000,6,0.065,0.023,2595,1777,3721,0,0,0,0,0,0
$GC,2017,-1.21,-146.0,211.2,-8.8,189,2021,0.00,2.53,0.00,0.000,4,0.000,0.030,2595,3364,3721,0,0,0,0,0,0
$GC,2073,-1.30,-146.0,216.8,-8.7,190,2077,0.00,2.47,0.00,0.000,6,0.000,0.024,2594,1794,3721,0,0,0,0,0,0
$GC,2348,-1.30,-146.0,241.3,-9.0,197,2352,0.00,2.50,0.00,0.000,4,0.000,0.030,2595,3354,3721,0,0,0,0,0,0
$GC,2366,-1.30,-146.0,243.2,-9.1,197,2370,0.00,2.45,0.00,0.000,6,0.000,0.022,2595,1798,3722,0,0,0,0,0,0
$GC,2629,-1.30,-146.0,266.4,-9.3,204,2633,0.00,2.50,0.00,0.000,4,0.000,0.031,2595,3355,3721,0,0,0,0,0,0
$GC,2668,-1.37,-146.0,270.1,-10.4,204,2675,0.15,2.45,0.00,0.000,6,0.054,0.025,2505,1814,3721,0,0,0,0,0,0
$GC,2918,-1.14,-146.0,305.8,-14.8,211,2925,0.45,2.62,0.00,0.000,4,0.082,0.044,2609,212,3721,0,0,0,0,0,0
$GC,2974,-1.31,-146.0,311.4,-8.4,212,2980,0.15,2.47,0.00,0.000,6,0.053,0.021,2528,1790,3721,0,0,0,0,0,0
$GC,3253,-1.14,-146.0,344.8,-11.9,219,3260,0.35,2.55,0.00,0.000,4,0.082,0.035,2607,3360,3719,0,0,0,0,0,0
$GC,3289,-1.27,-146.0,348.2,-8.4,219,3294,0.10,2.50,0.00,0.000,6,0.072,0.028,2529,1800,3719,0,0,0,0,0,0
$GC,3541,-1.11,-146.0,376.5,-11.5,225,3548,0.40,2.58,0.00,0.000,4,0.081,0.038,2616,3360,3718,0,0,0,0,0,0
$GC,3553,-1.01,-146.0,378.0,-11.2,225,3558,0.10,2.50,0.00,0.000,6,0.109,0.025,2640,1802,3717,0,0,0,0,0,0
$GC,3829,-1.21,-146.0,394.0,-5.9,232,3834,0.20,2.55,0.00,0.000,4,0.043,0.037,2536,3362,3716,0,0,0,0,0,0
$GC,3867,-1.15,-146.0,398.0,-10.6,232,3874,0.32,2.47,0.00,0.000,6,0.074,0.028,2610,1814,3716,0,0,0,0,0,0
$GC,4118,-1.26,-146.0,417.8,-7.7,239,4123,0.10,2.58,0.00,0.000,4,0.076,0.044,2549,3354,3714,0,0,0,0,0,0
$GC,4163,-1.26,-146.0,422.0,-9.5,240,4168,0.15,2.45,0.00,0.000,6,0.091,0.028,2585,1824,3714,0,0,0,0,0,0
$GC,4450,-1.26,-146.0,446.9,-8.7,247,4455,0.00,2.55,0.00,0.000,4,0.000,0.047,2585,3353,3713,0,0,0,0,0,0
$GC,4475,-1.26,-146.0,449.1,-9.1,247,4479,0.00,2.47,0.00,0.000,6,0.000,0.028,2585,1820,3712,0,0,0,0,0,0
$GC,4734,-1.26,-146.0,473.2,-9.5,254,4738,0.00,2.55,0.00,0.000,4,0.000,0.047,2585,3357,3711,0,0,0,0,0,0
$GC,4777,-1.35,-146.0,477.1,-8.9,255,4781,0.00,2.47,0.00,0.000,6,0.000,0.029,2585,1828,3710,0,0,0,0,0,0
$STATE,5062,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5062,begin apogee
$GC,5069,-0.31,0.0,500.1,7.4,262,5192,0.90,0.00,118.88,0.863,6,0.070,0.000,2790,1674,3120,0,0,0,0,0,0
$STATE,5192,end apogee,CONTROL_FINISHED_OK
$STATE,5192,begin climb
$GC,5195,1.17,146.0,504.8,0.0,265,5322,1.33,0.00,121.82,0.848,6,0.026,0.000,3135,1674,2524,0,0,0,0,0,0
$GC,5564,0.83,146.0,486.8,9.4,274,5571,0.43,2.60,0.00,0.000,4,0.097,0.069,3041,184,2517,0,0,0,0,0,0
$GC,5785,0.67,168.1,468.4,8.1,278,5810,0.17,2.40,18.45,0.788,6,0.105,0.027,3004,1669,2434,0,0,0,0,0,0
$GC,6087,0.74,226.9,448.8,6.6,286,6141,0.00,0.00,52.20,0.822,6,0.000,0.000,3004,1669,2195,0,0,0,0,0,0
$GC,6367,0.78,255.6,426.9,7.8,293,6400,0.10,2.65,26.38,0.790,4,0.078,0.058,3052,184,2077,0,0,0,0,0,0
$GC,6421,0.66,255.6,421.8,10.9,294,6426,0.22,2.45,0.00,0.000,6,0.093,0.027,3005,1682,2076,0,0,0,0,0,0
$GC,6701,0.78,291.6,400.3,7.5,301,6744,0.10,2.72,32.58,0.785,4,0.078,0.055,3058,3253,1930,0,0,0,0,0,0
$GC,6759,0.78,291.6,394.8,9.6,302,6765,0.12,2.60,0.00,0.000,6,0.104,0.035,3031,1696,1926,0,0,0,0,0,0
$GC,7035,0.78,291.6,368.6,9.4,309,7036,0.00,0.00,0.00,0.000,6,0.000,0.000,3031,1696,1923,0,0,0,0,0,0
$GC,7277,0.79,296.7,347.0,8.8,315,7289,0.00,2.67,4.90,0.555,4,0.000,0.064,3031,168,1909,0,0,0,0,0,0
$GC,7308,0.79,296.7,344.0,10.4,315,7312,0.00,2.45,0.00,0.000,6,0.000,0.026,3031,1682,1909,0,0,0,0,0,0
$GC,7564,0.81,314.4,322.5,8.3,322,7584,0.00,0.00,17.80,0.718,6,0.000,0.000,3031,1683,1838,0,0,0,0,0,0
$GC,7808,0.82,319.8,301.3,8.8,328,7815,0.00,0.00,6.03,0.578,6,0.000,0.000,3031,1683,1816,0,0,0,0,0,0
$GC,8052,0.89,329.2,280.1,8.6,334,8064,0.10,0.00,9.77,0.640,6,0.077,0.000,3089,1683,1778,0,0,0,0,0,0
$GC,8297,0.81,329.2,252.2,11.4,340,8299,0.25,0.00,0.00,0.000,6,0.091,0.000,3034,1683,1774,0,0,0,0,0,0
$GC,8539,0.88,329.2,229.8,9.1,346,8543,0.00,2.60,0.00,0.000,4,0.000,0.040,3034,3255,1773,0,0,0,0,0,0
$GC,8572,1.02,341.8,227.0,8.5,346,8590,0.20,2.60,12.10,0.626,6,0.045,0.031,3111,1667,1726,0,0,0,0,0,0
$GC,8855,0.91,341.8,194.8,11.6,355,8861,0.25,2.53,0.00,0.000,4,0.094,0.053,3051,167,1723,0,0,0,0,0,0
$GC,8872,0.84,341.8,192.0,12.0,356,8876,0.00,2.42,0.00,0.000,6,0.000,0.023,3051,1694,1723,0,0,0,0,0,0
$GC,9136,0.92,355.4,168.4,8.4,380,9157,0.00,0.00,13.45,0.589,6,0.000,0.000,3051,1698,1669,0,0,0,0,0,0
$GC,9411,1.00,355.4,142.7,9.1,406,9413,0.10,0.00,0.00,0.000,6,0.077,0.000,3111,1698,1666,0,0,0,0,0,0
$GC,9665,0.93,355.4,115.9,9.9,430,9667,0.22,0.00,0.00,0.000,6,0.091,0.000,3062,1698,1665,0,0,0,0,0,0
$GC,9922,1.03,362.0,96.0,8.7,454,9931,0.00,0.00,6.62,0.462,6,0.000,0.000,3062,1698,1644,0,0,0,0,0,0
$GC,10187,1.14,382.0,73.3,8.2,479,10213,0.17,2.65,19.95,0.520,4,0.051,0.044,3153,163,1561,0,0,0,0,0,0
$GC,10242,0.94,382.0,66.9,13.7,483,10247,0.40,2.40,0.00,0.000,6,0.090,0.021,3067,1677,1560,0,0,0,0,0,0
$GC,10506,1.01,382.0,40.9,11.0,507,10510,0.00,2.53,0.00,0.000,4,0.000,0.031,3067,3256,1559,0,0,0,0,0,0
$GC,10538,1.09,382.0,36.9,13.0,509,10543,0.12,2.53,0.00,0.000,6,0.064,0.024,3134,1668,1557,0,0,0,0,0,0
$STATE,10749,end climb,SURFACE_DEPTH_REACHED
$STATE,10749,begin surface coast
$FINISH,1.0,1.024075
$STATE,10775,end surface coast,CONTROL_FINISHED_OK
$STATE,10775,begin surface
$SM_CCo,10858,0.00,0.000,0,0,1553,384.14
$SM_GC,1.53,10.88,0.00,0.00,0.016,0.000,0.000,408,1835,1553,-11.17,1.27,384.14
$IRIDIUM_FIX,2239.35,-15557.74,070400,171727
$TT8_MAMPS,0.027612
$HUMID,50.35
$INTERNAL_PRESSURE,9.77963
$TCM_TEMP,21.70
$XPDR_PINGS,1
$24V_AH,23.4,65.237
$10V_AH,10.0,57.913
$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,33.875,116.775,460.925,0.000,0.000,52.569,86.414,561.592,0.250,0.000,22.746,1122.257,7076.159,502.553,2048.714,1023.542,33.385,1317.620,0.000,2038.172,0.000,0.535,0.000
$DEVICE_MAMPS,153.400,69.030,862.875,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,367.211,323.117,421.052,620.990,1098.490,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355448
$DATA_FILE_SIZE,41700,543
$CAP_FILE_SIZE,127624,0
$CFSIZE,260165632,143552512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120111,210406,2248.617,-15757.722,43,1.2,54,10.1