version: 66.06
glider: 148
mission: 9
dive: 517
start: 1 14 111 8 10 29
data:
$ID,148
$MISSION,9
$DIVE,517
$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,-869444.06
$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,30
$R_STBD_OVSHOOT,97
$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
$GPS1,075554,2250.390,-15800.042,37,1.5,37,10.1
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-67.0
$GPS2,080934,2250.457,-15800.036,12,1.9,12,10.1
$SPEED_LIMITS,0.156,0.251
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.250,0.016
$KALMAN_X,-106102.3,283.9,-0.4,122723.6,-469.0
$KALMAN_Y,-141804.3,145.9,-254.3,272593.8,-547.5
$MHEAD_RNG_PITCHd_Wd,76.3,5251,-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,20,-1.17,-146.0,0.0,0.0,0,96,0.00,0.00,-74.60,0.000,2,0.000,0.000,414,1845,3459,0,0,0,0,0,0
$GC,99,-1.17,-146.0,4.2,-6.5,10,124,11.60,2.40,-4.53,0.000,4,0.155,0.038,2598,3323,3717,0,0,0,0,0,0
$GC,167,-0.96,-146.0,22.8,-16.0,19,176,0.20,2.50,0.00,0.000,6,0.068,0.024,2648,1783,3719,0,0,0,0,0,0
$GC,447,-0.96,-146.0,52.6,-9.9,49,451,0.00,2.45,0.00,0.000,4,0.000,0.028,2647,3318,3719,0,0,0,0,0,0
$GC,514,-1.06,-146.0,58.4,-9.4,54,519,0.00,2.40,0.00,0.000,6,0.000,0.023,2647,1799,3719,0,0,0,0,0,0
$GC,776,-1.06,-146.0,84.9,-10.0,78,780,0.00,2.45,0.00,0.000,4,0.000,0.028,2648,3326,3719,0,0,0,0,0,0
$GC,819,-1.14,-146.0,89.1,-9.9,81,825,0.15,2.40,0.00,0.000,6,0.053,0.022,2535,1816,3720,0,0,0,0,0,0
$GC,1083,-0.90,-146.0,127.3,-13.7,106,1095,0.52,2.40,0.00,0.000,4,0.082,0.027,2655,3325,3720,0,0,0,0,0,0
$GC,1110,-0.90,-146.0,130.7,-8.9,108,1119,0.00,2.40,0.00,0.000,6,0.000,0.021,2656,1819,3720,0,0,0,0,0,0
$GC,1378,-1.07,-146.0,149.3,-7.3,133,1383,0.12,2.42,0.00,0.000,4,0.061,0.028,2566,3328,3720,0,0,0,0,0,0
$GC,1445,-1.07,-146.0,156.7,-11.1,139,1450,0.25,2.35,0.00,0.000,6,0.081,0.022,2624,1828,3721,0,0,0,0,0,0
$GC,1713,-1.16,-146.0,180.3,-8.7,163,1717,0.00,2.35,0.00,0.000,4,0.000,0.028,2624,3318,3721,0,0,0,0,0,0
$GC,1752,-1.30,-146.0,184.3,-8.1,166,1758,0.20,2.35,0.00,0.000,6,0.043,0.023,2512,1835,3721,0,0,0,0,0,0
$GC,2040,-1.07,-146.0,221.2,-12.9,182,2047,0.47,2.62,0.00,0.000,4,0.081,0.038,2623,215,3721,0,0,0,0,0,0
$GC,2061,-1.07,-146.0,223.8,-9.3,182,2065,0.00,2.45,0.00,0.000,6,0.000,0.019,2623,1806,3721,0,0,0,0,0,0
$GC,2327,-1.17,-146.0,241.5,-6.5,189,2331,0.00,2.45,0.00,0.000,4,0.000,0.029,2623,3363,3721,0,0,0,0,0,0
$GC,2383,-1.35,-146.0,245.1,-6.1,190,2388,0.22,2.38,0.00,0.000,6,0.037,0.024,2516,1860,3721,0,0,0,0,0,0
$GC,2657,-1.12,-146.0,279.8,-13.7,197,2664,0.45,2.67,0.00,0.000,4,0.082,0.041,2613,214,3722,0,0,0,0,0,0
$GC,2699,-1.29,-146.0,284.1,-8.5,197,2705,0.15,2.55,0.00,0.000,6,0.054,0.021,2540,1850,3721,0,0,0,0,0,0
$GC,2949,-1.18,-146.0,311.8,-11.3,204,2954,0.25,2.40,0.00,0.000,4,0.085,0.031,2601,3356,3720,0,0,0,0,0,0
$GC,3003,-1.30,-146.0,316.6,-8.1,205,3008,0.10,2.38,0.00,0.000,6,0.075,0.027,2533,1874,3720,0,0,0,0,0,0
$GC,3282,-1.16,-146.0,348.2,-11.3,212,3289,0.32,2.75,0.00,0.000,4,0.081,0.048,2604,213,3719,0,0,0,0,0,0
$GC,3338,-1.32,-146.0,352.9,-7.3,213,3343,0.15,2.58,0.00,0.000,6,0.054,0.024,2532,1846,3719,0,0,0,0,0,0
$GC,3616,-1.20,-146.0,382.7,-11.0,220,3621,0.25,2.42,0.00,0.000,4,0.086,0.037,2592,3352,3717,0,0,0,0,0,0
$GC,3640,-1.20,-146.0,385.3,-10.0,220,3644,0.00,2.40,0.00,0.000,6,0.000,0.026,2592,1860,3717,0,0,0,0,0,0
$GC,3901,-1.20,-146.0,407.7,-8.8,227,3902,0.00,0.00,0.00,0.000,6,0.000,0.000,2592,1860,3716,0,0,0,0,0,0
$GC,4143,-1.26,-146.0,429.0,-8.8,233,4147,0.00,2.45,0.00,0.000,4,0.000,0.041,2592,3354,3714,0,0,0,0,0,0
$GC,4162,-1.34,-146.0,430.8,-9.0,233,4167,0.10,2.38,0.00,0.000,6,0.075,0.027,2526,1865,3714,0,0,0,0,0,0
$GC,4430,-1.20,-146.0,461.2,-11.7,240,4437,0.30,2.80,0.00,0.000,4,0.084,0.061,2593,220,3712,0,0,0,0,0,0
$GC,4456,-1.27,-146.0,464.3,-9.8,240,4461,0.00,2.60,0.00,0.000,6,0.000,0.028,2593,1843,3712,0,0,0,0,0,0
$GC,4716,-1.35,-146.0,486.3,-8.5,247,4721,0.12,2.50,0.00,0.000,4,0.067,0.048,2535,3353,3710,0,0,0,0,0,0
$GC,4751,-1.29,-146.0,490.1,-11.0,247,4756,0.20,2.40,0.00,0.000,6,0.084,0.029,2581,1873,3710,0,0,0,0,0,0
$STATE,4877,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4877,begin apogee
$GC,4882,-0.31,0.0,501.7,9.1,250,5004,0.93,0.00,118.47,0.867,6,0.066,0.000,2795,1679,3120,0,0,0,0,0,0
$STATE,5005,end apogee,CONTROL_FINISHED_OK
$STATE,5005,begin climb
$GC,5009,1.17,146.0,507.7,0.0,253,5140,1.30,2.72,121.60,0.850,4,0.025,0.049,3129,3237,2523,0,0,0,0,0,0
$GC,5300,0.91,174.4,499.1,7.8,259,5333,0.32,2.60,24.58,0.805,6,0.099,0.036,3060,1692,2408,0,0,0,0,0,0
$GC,5608,0.84,227.0,477.6,6.8,267,5661,0.00,2.78,45.97,0.825,4,0.000,0.074,3060,172,2193,0,0,0,0,0,0
$GC,5698,0.67,227.0,469.8,10.0,269,5704,0.25,2.42,0.00,0.000,6,0.095,0.026,3007,1663,2191,0,0,0,0,0,0
$GC,5983,0.73,273.0,449.6,7.1,276,6030,0.00,2.67,40.85,0.815,4,0.000,0.059,3007,169,2006,0,0,0,0,0,0
$GC,6054,0.73,273.0,443.7,9.1,277,6058,0.00,2.42,0.00,0.000,6,0.000,0.026,3007,1670,2005,0,0,0,0,0,0
$GC,6313,0.83,296.1,422.9,8.0,284,6342,0.15,2.78,21.67,0.782,4,0.057,0.054,3073,3248,1912,0,0,0,0,0,0
$GC,6363,0.76,296.1,417.7,11.0,285,6370,0.22,2.65,0.00,0.000,6,0.089,0.035,3023,1672,1908,0,0,0,0,0,0
$GC,6648,0.76,296.1,391.3,9.1,292,6652,0.00,2.62,0.00,0.000,4,0.000,0.067,3024,160,1905,0,0,0,0,0,0
$GC,6668,0.76,296.1,389.3,10.2,292,6673,0.00,2.45,0.00,0.000,6,0.000,0.026,3023,1679,1905,0,0,0,0,0,0
$GC,6934,0.76,296.1,365.0,9.1,299,6938,0.00,2.62,0.00,0.000,4,0.000,0.046,3024,3255,1903,0,0,0,0,0,0
$GC,6952,0.76,299.0,363.3,8.9,299,6957,0.00,2.62,0.00,0.000,6,0.000,0.033,3024,1673,1901,0,0,0,0,0,0
$GC,7218,0.76,299.0,338.7,9.5,306,7219,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1674,1900,0,0,0,0,0,0
$GC,7459,0.76,299.0,315.7,9.3,312,7464,0.00,2.62,0.00,0.000,4,0.000,0.038,3024,3262,1900,0,0,0,0,0,0
$GC,7492,0.88,307.3,312.7,8.7,312,7509,0.12,2.60,9.82,0.669,6,0.066,0.033,3095,1678,1866,0,0,0,0,0,0
$GC,7795,0.76,307.3,277.0,12.0,320,7802,0.30,2.65,0.00,0.000,4,0.092,0.040,3027,3254,1863,0,0,0,0,0,0
$GC,7822,0.82,311.2,273.9,8.8,320,7833,0.00,2.60,4.40,0.499,6,0.000,0.031,3026,1675,1850,0,0,0,0,0,0
$GC,8085,0.93,339.3,252.7,7.8,327,8115,0.15,0.00,26.98,0.693,6,0.055,0.000,3102,1675,1736,0,0,0,0,0,0
$GC,8327,0.82,339.3,225.9,11.1,333,8332,0.28,2.60,0.00,0.000,4,0.090,0.058,3038,163,1731,0,0,0,0,0,0
$GC,8374,0.90,339.3,221.0,9.7,334,8379,0.00,2.42,0.00,0.000,6,0.000,0.023,3039,1685,1731,0,0,0,0,0,0
$GC,8659,1.00,359.8,197.6,8.2,341,8684,0.15,2.62,19.27,0.634,4,0.055,0.038,3108,3252,1652,0,0,0,0,0,0
$GC,8717,1.00,359.8,191.2,12.5,346,8722,0.15,2.62,0.00,0.000,6,0.100,0.030,3076,1668,1649,0,0,0,0,0,0
$GC,8981,1.00,359.8,162.7,10.1,370,8985,0.00,2.60,0.00,0.000,4,0.000,0.035,3077,3258,1648,0,0,0,0,0,0
$GC,9020,1.00,359.8,158.2,10.9,373,9025,0.00,2.58,0.00,0.000,6,0.000,0.028,3076,1675,1645,0,0,0,0,0,0
$GC,9284,1.00,359.8,131.8,10.7,398,9292,0.00,0.00,0.00,0.000,6,0.000,0.000,3076,1675,1645,0,0,0,0,0,0
$GC,9548,1.02,377.8,107.5,8.3,423,9570,0.00,2.60,16.80,0.549,4,0.000,0.031,3076,3258,1578,0,0,0,0,0,0
$GC,9597,1.14,400.4,103.8,8.1,427,9627,0.12,2.58,20.83,0.548,6,0.064,0.027,3150,1683,1486,0,0,0,0,0,0
$GC,9884,0.99,400.4,64.7,14.1,454,9890,0.32,2.50,0.00,0.000,4,0.091,0.043,3075,174,1483,0,0,0,0,0,0
$GC,9906,0.90,400.4,62.2,14.0,455,9910,0.00,2.38,0.00,0.000,6,0.000,0.021,3075,1698,1482,0,0,0,0,0,0
$GC,10173,0.90,400.4,33.7,11.7,479,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,3075,1699,1482,0,0,0,0,0,0
$STATE,10452,end climb,SURFACE_DEPTH_REACHED
$STATE,10452,begin surface coast
$FINISH,0.6,1.024059
$STATE,10497,end surface coast,CONTROL_FINISHED_OK
$STATE,10497,begin surface
$SM_CCo,10578,0.00,0.000,0,0,1478,402.54
$SM_GC,1.44,10.75,0.00,0.00,0.021,0.000,0.000,413,1876,1478,-11.17,2.43,402.54
$IRIDIUM_FIX,2244.02,-15801.49,090400,080804
$TT8_MAMPS,0.026845
$HUMID,50.86
$INTERNAL_PRESSURE,9.7601
$TCM_TEMP,21.70
$XPDR_PINGS,0
$24V_AH,23.4,66.808
$10V_AH,10.0,59.317
$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,31.675,141.800,471.250,0.000,0.000,51.849,73.708,473.171,0.000,0.000,14.170,1109.957,6797.088,500.465,2053.907,931.504,33.378,1348.960,0.000,2054.711,0.000,0.536,0.000
$DEVICE_MAMPS,154.934,79.768,866.710,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,357.600,327.020,409.547,631.949,1116.388,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355404
$DATA_FILE_SIZE,41576,529
$CAP_FILE_SIZE,130490,0
$CFSIZE,260165632,142831616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140111,110801,2250.234,-15758.757,37,1.7,37,10.1