version: 66.06
glider: 148
mission: 9
dive: 518
start: 1 14 111 11 21 10
data:
$ID,148
$MISSION,9
$DIVE,518
$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,208
$T_MISSION,450
$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,-869460.12
$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,31
$R_STBD_OVSHOOT,49
$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
$GPS1,110801,2250.234,-15758.757,37,1.7,37,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-66.4
$GPS2,112014,2250.339,-15758.687,13,1.6,13,10.1
$SPEED_LIMITS,0.139,0.240
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.240,-0.002
$KALMAN_X,-106490.6,326.8,-106.3,125499.2,-498.0
$KALMAN_Y,-142254.2,-115.8,64.6,272771.4,-520.8
$MHEAD_RNG_PITCHd_Wd,80.3,2946,-14.1,-8.013
$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,-1.06,-146.0,0.0,0.0,0,95,0.00,0.00,-74.80,0.000,2,0.000,0.000,413,1877,3331,0,0,0,0,0,0
$GC,98,-1.06,-146.0,3.5,-4.0,10,124,11.65,2.38,-7.38,0.000,4,0.153,0.038,2619,3368,3719,0,0,0,0,0,0
$GC,201,-0.99,-146.0,22.9,-11.7,25,211,0.08,2.55,0.00,0.000,6,0.079,0.024,2640,1792,3721,0,0,0,0,0,0
$GC,484,-0.93,-146.0,51.7,-10.7,56,488,0.00,2.53,0.00,0.000,4,0.000,0.028,2640,3370,3721,0,0,0,0,0,0
$GC,549,-0.93,-146.0,58.4,-10.2,61,553,0.00,2.47,0.00,0.000,6,0.000,0.022,2640,1801,3721,0,0,0,0,0,0
$GC,818,-0.86,-146.0,86.4,-10.2,85,823,0.15,2.53,0.00,0.000,4,0.109,0.029,2672,3362,3722,0,0,0,0,0,0
$GC,867,-0.96,-146.0,91.1,-8.0,89,871,0.00,2.45,0.00,0.000,6,0.000,0.022,2673,1814,3722,0,0,0,0,0,0
$GC,1135,-0.96,-146.0,110.7,-7.1,113,1139,0.00,2.45,0.00,0.000,4,0.000,0.027,2672,3366,3722,0,0,0,0,0,0
$GC,1183,-1.12,-146.0,114.4,-6.5,117,1188,0.22,2.42,0.00,0.000,6,0.037,0.021,2562,1830,3722,0,0,0,0,0,0
$GC,1451,-0.88,-146.0,147.9,-13.1,141,1460,0.50,2.47,0.00,0.000,4,0.080,0.028,2665,3370,3722,0,0,0,0,0,0
$GC,1497,-1.04,-146.0,152.6,-6.5,145,1503,0.15,2.38,0.00,0.000,6,0.052,0.021,2606,1854,3723,0,0,0,0,0,0
$GC,1761,-1.04,-146.0,175.0,-9.0,170,1765,0.12,2.45,0.00,0.000,4,0.105,0.028,2634,3371,3723,0,0,0,0,0,0
$GC,1806,-1.11,-146.0,179.0,-7.8,174,1810,0.00,2.40,0.00,0.000,6,0.000,0.022,2634,1855,3723,0,0,0,0,0,0
$GC,2070,-1.11,-146.0,198.6,-6.8,198,2075,0.00,2.42,0.00,0.000,4,0.000,0.029,2635,3369,3723,0,0,0,0,0,0
$GC,2100,-1.19,-146.0,200.9,-6.7,200,2105,0.15,2.38,0.00,0.000,6,0.051,0.023,2545,1872,3723,0,0,0,0,0,0
$GC,2357,-0.94,-146.0,229.4,-11.5,207,2360,0.55,0.00,0.00,0.000,6,0.078,0.000,2652,1872,3723,0,0,0,0,0,0
$GC,2599,-1.06,-146.0,245.0,-6.0,213,2604,0.10,2.40,0.00,0.000,4,0.074,0.031,2582,3367,3723,0,0,0,0,0,0
$GC,2618,-1.06,-146.0,246.7,-8.1,213,2623,0.20,2.35,0.00,0.000,6,0.082,0.022,2628,1871,3723,0,0,0,0,0,0
$GC,2885,-1.13,-146.0,264.9,-6.7,220,2886,0.00,0.00,0.00,0.000,6,0.000,0.000,2628,1871,3723,0,0,0,0,0,0
$GC,3127,-1.20,-146.0,280.7,-6.2,226,3131,0.12,2.40,0.00,0.000,4,0.063,0.031,2559,3361,3723,0,0,0,0,0,0
$GC,3160,-1.09,-146.0,283.6,-9.0,226,3165,0.28,2.38,0.00,0.000,6,0.078,0.024,2621,1872,3723,0,0,0,0,0,0
$GC,3417,-1.09,-146.0,301.8,-7.3,233,3421,0.00,2.40,0.00,0.000,4,0.000,0.034,2621,3368,3722,0,0,0,0,0,0
$GC,3450,-1.18,-146.0,304.6,-6.9,233,3454,0.00,2.38,0.00,0.000,6,0.000,0.026,2621,1886,3722,0,0,0,0,0,0
$GC,3699,-1.18,-146.0,324.2,-8.0,239,3703,0.00,2.38,0.00,0.000,4,0.000,0.033,2621,3368,3721,0,0,0,0,0,0
$GC,3738,-1.29,-146.0,327.5,-9.3,239,3744,0.17,2.35,0.00,0.000,6,0.048,0.027,2529,1908,3720,0,0,0,0,0,0
$GC,3988,-1.07,-146.0,359.8,-13.4,246,3996,0.40,2.80,0.00,0.000,4,0.081,0.049,2621,211,3719,0,0,0,0,0,0
$GC,4042,-1.20,-146.0,365.1,-8.3,247,4048,0.10,2.67,0.00,0.000,6,0.075,0.024,2559,1899,3718,0,0,0,0,0,0
$GC,4323,-1.08,-146.0,394.3,-10.6,254,4325,0.30,0.00,0.00,0.000,6,0.081,0.000,2625,1900,3717,0,0,0,0,0,0
$GC,4565,-1.17,-146.0,409.8,-5.9,260,4569,0.00,2.38,0.00,0.000,4,0.000,0.040,2625,3354,3715,0,0,0,0,0,0
$GC,4590,-1.27,-146.0,411.3,-6.4,260,4595,0.17,2.35,0.00,0.000,6,0.046,0.028,2543,1897,3716,0,0,0,0,0,0
$GC,4855,-1.10,-146.0,436.1,-9.9,267,4862,0.32,2.85,0.00,0.000,4,0.080,0.057,2619,220,3714,0,0,0,0,0,0
$GC,4896,-1.24,-146.0,439.3,-7.1,267,4902,0.12,2.65,0.00,0.000,6,0.064,0.027,2552,1875,3714,0,0,0,0,0,0
$GC,5147,-1.12,-146.0,462.6,-9.6,274,5152,0.25,2.42,0.00,0.000,4,0.083,0.044,2613,3354,3712,0,0,0,0,0,0
$GC,5182,-1.21,-146.0,465.7,-7.1,274,5186,0.00,2.35,0.00,0.000,6,0.000,0.028,2613,1899,3712,0,0,0,0,0,0
$GC,5434,-1.27,-146.0,483.4,-7.1,280,5441,0.12,2.90,0.00,0.000,4,0.063,0.065,2553,221,3711,0,0,0,0,0,0
$GC,5451,-1.27,-146.0,485.2,-8.8,280,5456,0.15,2.67,0.00,0.000,6,0.096,0.030,2587,1874,3711,0,0,0,0,0,0
$STATE,5636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5636,begin apogee
$GC,5642,-0.31,0.0,500.4,8.0,285,5764,0.90,0.00,118.97,0.867,6,0.073,0.000,2792,1680,3120,0,0,0,0,0,0
$STATE,5765,end apogee,CONTROL_FINISHED_OK
$STATE,5765,begin climb
$GC,5769,1.06,146.0,505.5,0.0,288,5898,1.23,0.00,122.88,0.851,6,0.027,0.000,3106,1680,2524,0,0,0,0,0,0
$GC,6136,0.73,146.0,488.4,9.0,297,6138,0.40,0.00,0.00,0.000,6,0.096,0.000,3021,1680,2516,0,0,0,0,0,0
$GC,6382,0.68,194.0,472.7,6.2,303,6430,0.00,2.62,41.35,0.828,4,0.000,0.064,3021,189,2327,0,0,0,0,0,0
$GC,6473,0.54,199.0,466.3,7.8,305,6486,0.20,2.40,5.15,0.596,6,0.094,0.027,2978,1658,2307,0,0,0,0,0,0
$GC,6762,0.64,280.8,451.5,5.0,312,6846,0.00,2.80,72.93,0.830,4,0.000,0.054,2978,3258,1973,0,0,0,0,0,0
$GC,6858,0.83,352.9,446.3,5.3,314,6935,0.25,2.62,65.53,0.813,6,0.038,0.035,3080,1689,1680,0,0,0,0,0,0
$GC,7177,0.67,352.9,407.0,12.9,322,7184,0.30,2.65,0.00,0.000,4,0.089,0.065,3010,163,1672,0,0,0,0,0,0
$GC,7206,0.67,352.9,403.8,10.9,322,7210,0.00,2.47,0.00,0.000,6,0.000,0.027,3010,1685,1671,0,0,0,0,0,0
$GC,7465,0.67,352.9,379.2,9.3,329,7469,0.00,2.62,0.00,0.000,4,0.000,0.047,3010,3257,1668,0,0,0,0,0,0
$GC,7508,0.79,352.9,375.3,8.7,330,7513,0.10,2.62,0.00,0.000,6,0.077,0.034,3064,1672,1666,0,0,0,0,0,0
$GC,7798,0.69,352.9,342.8,11.3,337,7803,0.25,2.60,0.00,0.000,4,0.087,0.063,3006,168,1665,0,0,0,0,0,0
$GC,7836,0.77,352.9,338.9,8.6,337,7842,0.00,2.42,0.00,0.000,6,0.000,0.025,3006,1678,1665,0,0,0,0,0,0
$GC,8088,0.83,352.9,318.3,8.3,344,8093,0.15,2.62,0.00,0.000,4,0.056,0.045,3080,3252,1665,0,0,0,0,0,0
$GC,8126,0.76,352.9,313.8,12.5,344,8132,0.25,2.62,0.00,0.000,6,0.085,0.034,3024,1675,1663,0,0,0,0,0,0
$GC,8375,0.76,352.9,288.7,9.9,351,8377,0.00,0.00,0.00,0.000,6,0.000,0.000,3024,1676,1662,0,0,0,0,0,0
$GC,8621,0.76,352.9,265.8,9.3,357,8625,0.00,2.60,0.00,0.000,4,0.000,0.038,3024,3253,1662,0,0,0,0,0,0
$GC,8667,0.88,352.9,261.5,9.4,358,8673,0.12,2.60,0.00,0.000,6,0.064,0.032,3087,1679,1661,0,0,0,0,0,0
$GC,8951,0.74,352.9,229.1,11.5,365,8956,0.28,2.58,0.00,0.000,4,0.088,0.057,3022,170,1661,0,0,0,0,0,0
$GC,9009,0.82,352.9,223.4,9.7,366,9013,0.00,2.38,0.00,0.000,6,0.000,0.022,3022,1684,1661,0,0,0,0,0,0
$GC,9287,0.89,355.6,200.9,7.9,373,9292,0.12,2.55,0.00,0.000,4,0.064,0.035,3085,3251,1660,0,0,0,0,0,0
$GC,9345,0.89,355.6,194.9,11.0,375,9355,0.12,2.60,0.00,0.000,6,0.074,0.031,3052,1682,1660,0,0,0,0,0,0
$GC,9610,0.89,355.6,171.3,8.8,400,9615,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1682,1659,0,0,0,0,0,0
$GC,9876,0.89,355.6,147.4,9.1,425,9881,0.00,0.00,0.00,0.000,6,0.000,0.000,3052,1682,1660,0,0,0,0,0,0
$GC,10137,0.91,373.4,123.9,7.4,450,10159,0.00,2.58,16.17,0.561,4,0.000,0.031,3052,3256,1597,0,0,0,0,0,0
$GC,10183,1.02,411.2,120.6,6.6,454,10226,0.12,2.58,34.55,0.577,6,0.063,0.026,3109,1679,1442,0,0,0,0,0,0
$GC,10480,0.92,411.2,89.2,11.2,482,10485,0.22,2.60,0.00,0.000,4,0.088,0.031,3060,3264,1438,0,0,0,0,0,0
$GC,10501,0.92,411.2,87.5,10.4,483,10505,0.00,2.55,0.00,0.000,6,0.000,0.026,3060,1682,1436,0,0,0,0,0,0
$GC,10768,0.92,411.2,64.3,9.1,507,10776,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1682,1436,0,0,0,0,0,0
$GC,11034,0.92,411.2,38.6,9.8,532,11042,0.00,0.00,0.00,0.000,6,0.000,0.000,3060,1682,1436,0,0,0,0,0,0
$GC,11326,0.92,411.2,10.8,9.4,573,11335,0.00,2.58,0.00,0.000,4,0.000,0.029,3059,3261,1436,0,0,0,0,0,0
$GC,11350,0.92,411.2,8.5,9.0,576,11359,0.00,2.58,0.00,0.000,6,0.000,0.026,3060,1680,1436,0,0,0,0,0,0
$STATE,11396,end climb,SURFACE_DEPTH_REACHED
$STATE,11397,begin surface coast
$FINISH,0.7,1.023614
$STATE,11442,end surface coast,CONTROL_FINISHED_OK
$STATE,11442,begin surface
$SM_CCo,11524,0.00,0.000,0,0,1432,413.82
$SM_GC,1.57,10.70,0.00,0.00,0.022,0.000,0.000,409,1854,1432,-11.19,1.78,413.82
$IRIDIUM_FIX,2244.02,-15550.60,090400,111122
$TT8_MAMPS,0.026845
$HUMID,50.39
$INTERNAL_PRESSURE,9.75034
$TCM_TEMP,22.00
$XPDR_PINGS,1
$24V_AH,23.4,66.947
$10V_AH,10.0,59.445
$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,32.125,141.675,477.525,0.000,0.000,56.229,83.308,379.948,0.250,0.000,15.449,1194.217,7491.897,524.282,2169.904,872.447,33.384,1386.075,0.000,2187.355,0.000,0.537,0.000
$DEVICE_MAMPS,152.633,65.195,867.477,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,399.628,376.708,468.985,710.047,1255.375,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,44651,590
$CAP_FILE_SIZE,134175,0
$CFSIZE,260165632,142766080
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140111,143430,2250.262,-15757.206,37,1.4,37,10.1