version: 66.06
glider: 146
mission: 5
dive: 11
start: 8 14 110 8 12 53
data:
$ID,146
$MISSION,5
$DIVE,11
$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,420
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$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,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52407
$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,0
$ESCAPE_HEADING_DELTA,10
$FIX_MISSING_TIMEOUT,0
$TGT_DEFAULT_LAT,2143
$TGT_DEFAULT_LON,-15810
$TGT_AUTO_DEFAULT,0
$SM_CC,420
$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,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-247380.89
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,3010
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2050
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,15
$R_STBD_OVSHOOT,36
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,1.5
$ROLL_ADJ_DBAND,0.039999999
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3001
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.0012300001
$VBD_PUMP_AD_RATE_SURFACE,4
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,20
$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,-29.527605
$PRESSURE_SLOPE,0.000115925
$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,4
$ALTIM_SENSITIVITY,1
$XPDR_VALID,5
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,0
$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,0.0043563824
$SEABIRD_T_H,0.00063101487
$SEABIRD_T_I,2.4083547e-05
$SEABIRD_T_J,2.5612533e-06
$SEABIRD_C_G,-9.9059887
$SEABIRD_C_H,1.1423759
$SEABIRD_C_I,-0.0019893181
$SEABIRD_C_J,0.00023308786
$GPS1,075615,2142.779,-15814.178,10,2.0,29,9.9
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.80
$_SM_ANGLEo,-67.3
$GPS2,081201,2142.792,-15814.242,49,1.3,49,9.9
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NEXT
$TGT_LATLONG,2144.950,-15814.050
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.070,0.230
$KALMAN_X,2777.4,-1015.4,-804.2,-7218.4,1110.1
$KALMAN_Y,15.9,-532.1,169.6,4435.8,-99.6
$MHEAD_RNG_PITCHd_Wd,333.1,4010,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.06,-146.0,0.0,0.0,0,105,0.00,0.00,-86.78,0.000,2,0.000,0.000,482,2120,3479,0,0,0,0,0,0
$GC,108,-1.06,-146.0,4.0,-5.7,11,134,11.75,2.47,-2.03,0.000,4,0.146,0.047,2771,3638,3601,0,0,0,0,0,0
$GC,204,-1.02,-146.0,28.7,-12.5,24,214,0.00,2.60,0.00,0.000,6,0.000,0.037,2771,2031,3602,0,0,0,0,0,0
$GC,471,-0.91,-146.0,63.5,-13.0,49,476,0.17,2.65,0.00,0.000,4,0.105,0.062,2809,469,3602,0,0,0,0,0,0
$GC,555,-0.91,-146.0,74.0,-10.4,55,564,0.00,2.47,0.00,0.000,6,0.000,0.019,2809,2077,3602,0,0,0,0,0,0
$GC,815,-0.91,-146.0,99.3,-9.4,80,820,0.00,2.70,0.00,0.000,4,0.000,0.062,2809,474,3602,0,0,0,0,0,0
$GC,939,-0.91,-146.0,110.5,-8.7,90,944,0.00,2.38,0.00,0.000,6,0.000,0.018,2809,2037,3602,0,0,0,0,0,0
$GC,1202,-0.91,-146.0,130.1,-7.5,114,1207,0.00,2.62,0.00,0.000,4,0.000,0.059,2809,466,3602,0,0,0,0,0,0
$GC,1274,-0.96,-146.0,136.4,-8.0,119,1280,0.00,2.33,0.00,0.000,6,0.000,0.026,2809,2012,3602,0,0,0,0,0,0
$GC,1538,-1.01,-146.0,159.0,-8.6,144,1542,0.00,2.60,0.00,0.000,4,0.000,0.058,2808,467,3602,0,0,0,0,0,0
$GC,1642,-1.09,-146.0,168.3,-9.0,152,1649,0.12,2.28,0.00,0.000,6,0.043,0.025,2764,1981,3602,0,0,0,0,0,0
$GC,1905,-1.05,-146.0,195.6,-10.4,177,1906,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1981,3601,0,0,0,0,0,0
$GC,2159,-1.01,-146.0,218.7,-8.6,187,2164,0.12,2.58,0.00,0.000,4,0.111,0.061,2790,474,3601,0,0,0,0,0,0
$GC,2238,-1.06,-146.0,224.9,-7.7,188,2244,0.00,2.28,0.00,0.000,6,0.000,0.026,2790,1975,3601,0,0,0,0,0,0
$GC,2488,-1.06,-146.0,243.9,-7.6,195,2493,0.00,2.55,0.00,0.000,4,0.000,0.069,2790,472,3601,0,0,0,0,0,0
$GC,2568,-1.11,-146.0,250.5,-8.4,196,2573,0.00,2.28,0.00,0.000,6,0.000,0.028,2790,1955,3601,0,0,0,0,0,0
$GC,2817,-1.11,-146.0,270.5,-8.1,203,2822,0.00,2.50,0.00,0.000,4,0.000,0.066,2790,474,3600,0,0,0,0,0,0
$GC,2896,-1.17,-146.0,276.5,-7.4,204,2902,0.15,2.25,0.00,0.000,6,0.072,0.031,2749,1921,3600,0,0,0,0,0,0
$GC,3147,-1.17,-146.0,298.2,-8.4,211,3151,0.00,2.50,0.00,0.000,4,0.000,0.071,2748,467,3599,0,0,0,0,0,0
$GC,3185,-1.17,-146.0,302.0,-9.8,212,3190,0.00,2.25,0.00,0.000,6,0.000,0.031,2748,1904,3599,0,0,0,0,0,0
$GC,3469,-1.17,-146.0,326.4,-8.4,219,3473,0.00,2.75,0.00,0.000,4,0.000,0.053,2748,3603,3597,0,0,0,0,0,0
$GC,3485,-1.17,-146.0,327.8,-8.2,219,3490,0.00,2.70,0.00,0.000,6,0.000,0.041,2748,1942,3597,0,0,0,0,0,0
$GC,3745,-1.17,-146.0,351.6,-9.2,226,3750,0.00,2.58,0.00,0.000,4,0.000,0.090,2748,478,3596,0,0,0,0,0,0
$GC,3800,-1.17,-146.0,356.6,-8.4,227,3804,0.00,2.22,0.00,0.000,6,0.000,0.033,2748,1886,3596,0,0,0,0,0,0
$GC,4074,-1.17,-146.0,377.6,-7.6,234,4079,0.00,2.45,0.00,0.000,4,0.000,0.084,2748,478,3595,0,0,0,0,0,0
$GC,4168,-1.17,-146.0,385.9,-8.9,236,4172,0.00,2.22,0.00,0.000,6,0.000,0.039,2748,1861,3594,0,0,0,0,0,0
$GC,4446,-1.17,-146.0,409.7,-8.5,243,4451,0.00,2.47,0.00,0.000,4,0.000,0.092,2748,470,3592,0,0,0,0,0,0
$GC,4487,-1.17,-146.0,413.2,-9.1,244,4491,0.00,2.22,0.00,0.000,6,0.000,0.044,2748,1855,3592,0,0,0,0,0,0
$GC,4770,-1.17,-146.0,434.2,-7.3,251,4775,0.00,2.95,0.00,0.000,4,0.000,0.066,2748,3590,3590,0,0,0,0,0,0
$GC,4797,-1.17,-146.0,436.2,-7.3,251,4802,0.00,2.83,0.00,0.000,6,0.000,0.051,2748,1904,3590,0,0,0,0,0,0
$GC,5048,-1.17,-146.0,455.7,-8.1,257,5053,0.00,2.60,0.00,0.000,4,0.000,0.110,2748,480,3588,0,0,0,0,0,0
$GC,5098,-1.17,-146.0,460.9,-9.7,258,5102,0.00,2.20,0.00,0.000,6,0.000,0.043,2748,1845,3587,0,0,0,0,0,0
$GC,5370,-1.17,-146.0,484.6,-8.4,265,5371,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1845,3585,0,0,0,0,0,0
$STATE,5612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5612,begin apogee
$GC,5620,-0.31,0.0,503.0,7.6,271,5740,0.85,0.00,117.53,0.943,6,0.084,0.000,2939,2016,3001,0,0,0,0,0,0
$STATE,5741,end apogee,CONTROL_FINISHED_OK
$STATE,5741,begin climb
$GC,5744,1.06,146.0,507.1,0.0,274,5878,1.27,2.92,122.80,0.913,4,0.051,0.078,3244,3630,2404,0,0,0,0,0,0
$GC,5958,0.92,187.9,501.6,6.5,279,6002,0.17,2.70,36.35,0.883,6,0.135,0.059,3212,2064,2234,0,0,0,0,0,0
$GC,6287,0.85,205.7,478.1,7.4,287,6308,0.00,3.08,15.60,0.845,4,0.000,0.109,3212,459,2161,0,0,0,0,0,0
$GC,6388,0.71,205.7,468.9,9.9,289,6393,0.22,2.60,0.00,0.000,6,0.127,0.038,3169,2028,2157,0,0,0,0,0,0
$GC,6656,0.72,209.4,448.1,7.9,296,6661,0.00,2.83,0.00,0.000,4,0.000,0.084,3169,457,2155,0,0,0,0,0,0
$GC,6728,0.68,209.4,441.4,9.5,297,6732,0.00,2.58,0.00,0.000,6,0.000,0.039,3169,2027,2153,0,0,0,0,0,0
$GC,6978,0.68,209.4,420.9,8.1,303,6979,0.00,0.00,0.00,0.000,6,0.000,0.000,3169,2027,2153,0,0,0,0,0,0
$GC,7223,0.71,239.0,403.5,6.9,309,7257,0.00,2.83,28.90,0.867,4,0.000,0.079,3169,460,2025,0,0,0,0,0,0
$GC,7269,0.72,242.5,400.0,7.9,310,7278,0.00,2.55,4.60,0.605,6,0.000,0.031,3169,2018,2011,0,0,0,0,0,0
$GC,7548,0.77,282.5,382.0,6.5,317,7591,0.00,2.78,35.88,0.864,4,0.000,0.081,3168,452,1848,0,0,0,0,0,0
$GC,7654,0.77,282.5,373.8,8.2,319,7658,0.00,2.50,0.00,0.000,6,0.000,0.035,3169,2001,1844,0,0,0,0,0,0
$GC,7920,0.81,282.5,350.9,8.7,326,7925,0.00,2.70,0.00,0.000,4,0.000,0.076,3169,457,1841,0,0,0,0,0,0
$GC,8016,0.81,284.4,342.4,7.9,328,8020,0.00,2.42,0.00,0.000,6,0.000,0.032,3169,1978,1840,0,0,0,0,0,0
$GC,8288,0.87,291.5,322.6,7.7,335,8303,0.12,2.70,7.82,0.722,4,0.103,0.072,3198,457,1812,0,0,0,0,0,0
$GC,8327,0.82,291.5,319.0,10.0,335,8332,0.00,2.42,0.00,0.000,6,0.000,0.028,3198,1984,1810,0,0,0,0,0,0
$GC,8576,0.82,291.5,297.4,8.3,342,8581,0.00,2.62,0.00,0.000,4,0.000,0.066,3198,449,1809,0,0,0,0,0,0
$GC,8616,0.76,291.5,293.6,9.8,343,8621,0.12,2.40,0.00,0.000,6,0.123,0.022,3174,1980,1808,0,0,0,0,0,0
$GC,8901,0.82,291.5,269.2,8.5,350,8905,0.00,2.60,0.00,0.000,4,0.000,0.065,3174,451,1807,0,0,0,0,0,0
$GC,8933,0.82,291.5,266.3,8.9,350,8939,0.00,2.40,0.00,0.000,6,0.000,0.028,3174,1991,1807,0,0,0,0,0,0
$GC,9184,0.88,291.5,245.6,8.4,357,9189,0.12,2.62,0.00,0.000,4,0.129,0.061,3205,454,1807,0,0,0,0,0,0
$GC,9240,0.84,291.5,240.3,9.9,358,9245,0.00,2.35,0.00,0.000,6,0.000,0.022,3205,1963,1806,0,0,0,0,0,0
$GC,9507,0.84,291.5,216.8,8.8,365,9511,0.00,2.55,0.00,0.000,4,0.000,0.065,3205,452,1806,0,0,0,0,0,0
$GC,9550,0.84,291.5,212.2,10.6,366,9555,0.00,2.33,0.00,0.000,6,0.000,0.027,3205,1936,1806,0,0,0,0,0,0
$GC,9813,0.85,302.2,190.9,7.6,379,9828,0.00,2.53,9.95,0.647,4,0.000,0.065,3204,457,1769,0,0,0,0,0,0
$GC,9855,0.85,302.2,187.3,8.4,382,9859,0.00,2.30,0.00,0.000,6,0.000,0.022,3205,1933,1768,0,0,0,0,0,0
$GC,10123,0.88,325.8,167.8,7.1,406,10147,0.00,0.00,21.95,0.663,6,0.000,0.000,3205,1934,1672,0,0,0,0,0,0
$GC,10399,0.88,325.8,144.1,8.7,432,10403,0.00,2.53,0.00,0.000,4,0.000,0.064,3205,449,1669,0,0,0,0,0,0
$GC,10469,0.88,325.8,138.2,8.9,437,10473,0.00,2.30,0.00,0.000,6,0.000,0.021,3205,1933,1667,0,0,0,0,0,0
$GC,10735,0.94,325.8,116.6,8.0,461,10740,0.00,2.72,0.00,0.000,4,0.000,0.036,3205,3639,1667,0,0,0,0,0,0
$GC,10758,1.01,325.8,114.4,8.1,462,10767,0.00,2.83,0.00,0.000,6,0.000,0.032,3205,1904,1667,0,0,0,0,0,0
$GC,11024,1.09,331.5,93.5,7.8,487,11036,0.17,2.45,5.75,0.484,4,0.074,0.061,3251,451,1649,0,0,0,0,0,0
$GC,11124,1.09,331.5,84.1,9.2,495,11128,0.00,2.25,0.00,0.000,6,0.000,0.020,3251,1929,1648,0,0,0,0,0,0
$GC,11390,1.09,331.5,60.8,8.5,519,11398,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1931,1649,0,0,0,0,0,0
$GC,11656,1.11,352.1,41.2,7.2,544,11679,0.00,2.53,18.52,0.536,4,0.000,0.056,3251,450,1566,0,0,0,0,0,0
$GC,11696,1.11,352.1,37.7,8.8,547,11700,0.00,2.28,0.00,0.000,6,0.000,0.025,3251,1928,1565,0,0,0,0,0,0
$GC,12011,1.11,352.1,10.4,8.6,587,12020,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1930,1564,0,0,0,0,0,0
$STATE,12090,end climb,SURFACE_DEPTH_REACHED
$STATE,12090,begin surface coast
$FINISH,0.2,1.019442
$STATE,12147,end surface coast,CONTROL_FINISHED_OK
$STATE,12147,begin surface
$SM_CCo,12168,62.05,0.431,1,0,1288,420.20
$SM_GC,0.93,0.00,0.00,62.05,0.000,0.000,0.431,477,2126,1288,-11.65,2.15,420.20
$IRIDIUM_FIX,2131.85,-15801.15,081199,080822
$TT8_MAMPS,0.025311
$HUMID,42.79
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,23.70
$XPDR_PINGS,67
$24V_AH,23.5,4.732
$10V_AH,10.4,4.409
$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,26.600,157.100,425.650,62.050,0.000,156.713,198.174,177.003,16.750,0.000,52.919,1235.810,8085.729,562.991,2452.048,846.557,33.339,1474.901,0.000,2417.393,0.000,0.536,0.000
$DEVICE_MAMPS,146.497,112.749,943.410,431.054,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,409.790,377.676,465.143,885.162,1338.982,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356072
$DATA_FILE_SIZE,48110,606
$CAP_FILE_SIZE,132050,0
$CFSIZE,260165632,182812672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140810,113744,2144.639,-15814.467,13,1.6,13,9.9