version: 66.06
glider: 146
mission: 5
dive: 40
start: 8 21 110 7 44 40
data:
$ID,146
$MISSION,5
$DIVE,40
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,1040
$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,400
$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,-247904.44
$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,3000
$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,1770
$C_ROLL_CLIMB,1820
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,35
$R_STBD_OVSHOOT,64
$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
$GPS1,073727,2250.607,-15747.350,41,2.4,60,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-66.2
$GPS2,074346,2250.591,-15747.352,10,2.5,29,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.232,-0.061
$KALMAN_X,-28992.5,210.5,329.8,68471.2,-1184.4
$KALMAN_Y,38101.1,177.6,-537.6,91918.4,217.2
$MHEAD_RNG_PITCHd_Wd,94.7,9600,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.06,-146.0,0.0,0.0,0,104,0.00,0.00,-86.40,0.000,2,0.000,0.000,479,1749,3505,0,0,0,0,0,0
$GC,107,-1.06,-146.0,4.7,-6.8,11,133,11.95,2.70,-1.55,0.000,4,0.153,0.067,2759,197,3600,0,0,0,0,0,0
$GC,184,-0.81,-146.0,29.7,-20.1,21,194,0.25,2.42,0.00,0.000,6,0.086,0.016,2818,1790,3601,0,0,0,0,0,0
$GC,451,-0.76,-146.0,60.6,-11.5,46,456,0.00,2.38,0.00,0.000,4,0.000,0.026,2818,3317,3601,0,0,0,0,0,0
$GC,474,-0.76,-146.0,64.1,-10.9,47,483,0.00,2.53,0.00,0.000,6,0.000,0.030,2817,1770,3601,0,0,0,0,0,0
$GC,735,-0.76,-146.0,89.2,-10.3,72,739,0.00,2.70,0.00,0.000,4,0.000,0.062,2817,193,3601,0,0,0,0,0,0
$GC,769,-0.76,-146.0,92.7,-10.7,74,779,0.00,2.38,0.00,0.000,6,0.000,0.024,2818,1766,3602,0,0,0,0,0,0
$GC,1035,-0.76,-146.0,113.1,-7.8,99,1039,0.00,2.42,0.00,0.000,4,0.000,0.033,2818,3305,3603,0,0,0,0,0,0
$GC,1057,-0.82,-146.0,115.5,-8.3,100,1066,0.00,2.47,0.00,0.000,6,0.000,0.032,2817,1780,3603,0,0,0,0,0,0
$GC,1324,-0.86,-146.0,137.8,-8.8,125,1329,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1780,3603,0,0,0,0,0,0
$GC,1588,-0.91,-146.0,158.6,-7.3,150,1592,0.00,2.72,0.00,0.000,4,0.000,0.072,2817,188,3603,0,0,0,0,0,0
$GC,1618,-0.96,-146.0,161.1,-8.3,152,1623,0.12,2.40,0.00,0.000,6,0.075,0.021,2777,1782,3603,0,0,0,0,0,0
$GC,1878,-0.96,-146.0,186.7,-10.0,176,1880,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,1784,3603,0,0,0,0,0,0
$GC,2140,-0.96,-146.0,212.5,-9.8,192,2144,0.00,2.72,0.00,0.000,4,0.000,0.074,2776,195,3603,0,0,0,0,0,0
$GC,2173,-0.92,-146.0,216.1,-10.8,192,2179,0.05,2.35,0.00,0.000,6,0.091,0.024,2794,1774,3602,0,0,0,0,0,0
$GC,2423,-0.92,-146.0,236.4,-7.8,199,2427,0.00,2.72,0.00,0.000,4,0.000,0.074,2793,189,3602,0,0,0,0,0,0
$GC,2440,-0.92,-146.0,237.7,-7.6,199,2444,0.00,2.40,0.00,0.000,6,0.000,0.020,2794,1781,3602,0,0,0,0,0,0
$GC,2700,-0.92,-146.0,257.0,-7.2,206,2701,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1783,3602,0,0,0,0,0,0
$GC,2944,-0.92,-146.0,273.9,-6.8,212,2948,0.00,2.45,0.00,0.000,4,0.000,0.032,2795,3318,3602,0,0,0,0,0,0
$GC,2967,-0.97,-146.0,275.5,-7.3,212,2971,0.00,2.47,0.00,0.000,6,0.000,0.038,2794,1774,3602,0,0,0,0,0,0
$GC,3222,-1.01,-146.0,293.6,-7.2,219,3227,0.00,2.78,0.00,0.000,4,0.000,0.080,2794,192,3601,0,0,0,0,0,0
$GC,3255,-1.07,-146.0,296.2,-7.8,219,3261,0.12,2.40,0.00,0.000,6,0.072,0.024,2753,1742,3602,0,0,0,0,0,0
$GC,3506,-1.04,-146.0,317.1,-8.3,226,3511,0.00,2.55,0.00,0.000,4,0.000,0.044,2753,3342,3601,0,0,0,0,0,0
$GC,3533,-1.04,-146.0,319.6,-8.4,226,3537,0.00,2.58,0.00,0.000,6,0.000,0.048,2753,1769,3601,0,0,0,0,0,0
$GC,3783,-1.04,-146.0,339.6,-8.1,232,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1770,3600,0,0,0,0,0,0
$GC,4028,-1.04,-146.0,360.3,-8.4,238,4033,0.10,2.88,0.00,0.000,4,0.121,0.103,2773,188,3599,0,0,0,0,0,0
$GC,4078,-1.08,-146.0,364.5,-8.2,239,4082,0.00,2.47,0.00,0.000,6,0.000,0.031,2774,1765,3599,0,0,0,0,0,0
$GC,4350,-1.12,-146.0,385.2,-7.5,246,4355,0.00,2.62,0.00,0.000,4,0.000,0.057,2774,3357,3598,0,0,0,0,0,0
$GC,4380,-1.18,-146.0,387.3,-7.8,246,4385,0.15,2.65,0.00,0.000,6,0.066,0.058,2727,1775,3598,0,0,0,0,0,0
$GC,4630,-1.13,-146.0,409.1,-8.6,252,4635,0.12,2.95,0.00,0.000,4,0.115,0.109,2752,185,3596,0,0,0,0,0,0
$GC,4670,-1.13,-146.0,412.4,-7.9,253,4674,0.00,2.53,0.00,0.000,6,0.000,0.032,2752,1755,3596,0,0,0,0,0,0
$GC,4954,-1.13,-146.0,432.7,-7.2,260,4959,0.00,2.70,0.00,0.000,4,0.000,0.062,2752,3356,3594,0,0,0,0,0,0
$GC,4976,-1.13,-146.0,434.5,-7.6,260,4980,0.00,2.70,0.00,0.000,6,0.000,0.058,2752,1756,3593,0,0,0,0,0,0
$GC,5232,-1.13,-146.0,454.2,-7.8,267,5237,0.00,2.67,0.00,0.000,4,0.000,0.050,2752,3359,3593,0,0,0,0,0,0
$GC,5259,-1.13,-146.0,456.5,-8.4,267,5263,0.00,2.70,0.00,0.000,6,0.000,0.065,2752,1771,3593,0,0,0,0,0,0
$GC,5509,-1.13,-146.0,476.2,-7.9,273,5510,0.00,0.00,0.00,0.000,6,0.000,0.000,2752,1771,3590,0,0,0,0,0,0
$GC,5754,-1.13,-146.0,494.6,-7.4,279,5759,0.00,2.67,0.00,0.000,4,0.000,0.056,2752,3353,3588,0,0,0,0,0,0
$GC,5788,-1.18,-146.0,497.2,-7.5,279,5794,0.00,2.72,0.00,0.000,6,0.000,0.064,2752,1780,3588,0,0,0,0,0,0
$STATE,5832,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5832,begin apogee
$GC,5839,-0.31,0.0,500.5,7.0,281,5962,0.80,0.00,119.90,0.919,6,0.081,0.000,2932,1841,3000,0,0,0,0,0,0
$STATE,5963,end apogee,CONTROL_FINISHED_OK
$STATE,5963,begin climb
$GC,5965,1.06,146.0,503.8,0.0,284,6100,1.23,2.67,124.20,0.896,4,0.048,0.059,3232,3387,2403,0,0,0,0,0,0
$GC,6162,0.92,146.0,497.7,8.4,288,6168,0.15,2.75,0.00,0.000,6,0.120,0.062,3203,1813,2398,0,0,0,0,0,0
$GC,6414,0.90,201.3,482.2,6.0,294,6468,0.00,2.72,47.53,0.876,4,0.000,0.054,3203,3375,2179,0,0,0,0,0,0
$GC,6505,0.85,208.4,475.7,7.8,296,6519,0.00,2.72,7.47,0.724,6,0.000,0.066,3203,1826,2150,0,0,0,0,0,0
$GC,6789,0.79,210.5,453.1,7.9,303,6794,0.15,2.60,0.00,0.000,4,0.120,0.044,3173,3386,2144,0,0,0,0,0,0
$GC,6822,0.83,241.3,450.6,6.9,303,6857,0.00,2.67,29.33,0.858,6,0.000,0.061,3173,1834,2017,0,0,0,0,0,0
$GC,7115,0.86,266.0,430.3,7.1,311,7140,0.00,0.00,22.73,0.843,6,0.000,0.000,3173,1834,1916,0,0,0,0,0,0
$GC,7357,0.87,279.0,412.0,7.5,317,7377,0.00,3.08,12.40,0.796,4,0.000,0.106,3173,233,1862,0,0,0,0,0,0
$GC,7401,0.87,279.0,408.5,9.2,318,7405,0.00,2.55,0.00,0.000,6,0.000,0.030,3173,1824,1861,0,0,0,0,0,0
$GC,7685,0.92,314.1,388.6,6.7,325,7723,0.12,0.00,31.92,0.838,6,0.170,0.000,3205,1824,1719,0,0,0,0,0,0
$GC,7967,0.92,314.1,363.3,9.3,332,7971,0.00,2.83,0.00,0.000,4,0.000,0.079,3205,232,1714,0,0,0,0,0,0
$GC,7988,0.85,314.1,361.1,10.2,332,7993,0.00,2.60,0.00,0.000,6,0.000,0.028,3205,1846,1713,0,0,0,0,0,0
$GC,8244,0.85,314.1,336.5,9.5,339,8249,0.00,2.85,0.00,0.000,4,0.000,0.077,3205,230,1712,0,0,0,0,0,0
$GC,8266,0.80,314.1,334.1,10.5,339,8271,0.15,2.58,0.00,0.000,6,0.116,0.028,3176,1842,1711,0,0,0,0,0,0
$GC,8521,0.86,314.1,313.2,8.2,346,8526,0.00,2.83,0.00,0.000,4,0.000,0.075,3175,230,1711,0,0,0,0,0,0
$GC,8543,0.86,314.1,311.2,9.2,346,8548,0.00,2.53,0.00,0.000,6,0.000,0.028,3175,1837,1710,0,0,0,0,0,0
$GC,8799,0.92,314.1,288.3,9.3,353,8804,0.10,2.83,0.00,0.000,4,0.100,0.071,3202,226,1709,0,0,0,0,0,0
$GC,8838,0.92,314.1,283.9,11.6,354,8843,0.00,2.50,0.00,0.000,6,0.000,0.025,3202,1818,1708,0,0,0,0,0,0
$GC,9121,0.92,314.1,257.2,9.0,361,9126,0.00,2.78,0.00,0.000,4,0.000,0.071,3203,228,1708,0,0,0,0,0,0
$GC,9136,0.92,314.1,255.8,8.5,361,9140,0.00,2.42,0.00,0.000,6,0.000,0.025,3202,1810,1708,0,0,0,0,0,0
$GC,9403,0.92,314.1,233.5,8.4,368,9407,0.00,2.53,0.00,0.000,4,0.000,0.037,3203,3387,1708,0,0,0,0,0,0
$GC,9433,0.97,314.1,231.2,8.7,368,9438,0.00,2.62,0.00,0.000,6,0.000,0.043,3203,1787,1707,0,0,0,0,0,0
$GC,9682,0.97,314.1,208.8,9.1,374,9687,0.00,2.67,0.00,0.000,4,0.000,0.071,3203,241,1707,0,0,0,0,0,0
$GC,9715,0.97,314.1,205.4,9.9,374,9720,0.00,2.40,0.00,0.000,6,0.000,0.021,3203,1800,1707,0,0,0,0,0,0
$GC,9973,0.97,314.1,183.3,8.6,393,9978,0.00,2.70,0.00,0.000,4,0.000,0.071,3202,241,1707,0,0,0,0,0,0
$GC,9995,0.97,314.1,181.8,8.5,394,9999,0.00,2.40,0.00,0.000,6,0.000,0.024,3202,1803,1707,0,0,0,0,0,0
$GC,10261,0.97,314.1,159.4,8.2,418,10266,0.00,0.00,0.00,0.000,6,0.000,0.000,3203,1805,1707,0,0,0,0,0,0
$GC,10527,0.97,314.1,137.7,8.1,443,10531,0.00,2.70,0.00,0.000,4,0.000,0.065,3203,237,1707,0,0,0,0,0,0
$GC,10558,0.97,314.1,135.0,8.9,445,10563,0.00,2.38,0.00,0.000,6,0.000,0.024,3203,1788,1707,0,0,0,0,0,0
$GC,10826,1.03,326.9,115.0,7.5,469,10843,0.10,2.55,10.90,0.562,4,0.096,0.033,3232,3382,1667,0,0,0,0,0,0
$GC,10899,1.08,326.9,108.4,8.9,474,10908,0.00,2.65,0.00,0.000,6,0.000,0.041,3232,1787,1667,0,0,0,0,0,0
$GC,11167,1.08,329.2,86.6,7.9,499,11171,0.00,2.62,0.00,0.000,4,0.000,0.065,3232,235,1666,0,0,0,0,0,0
$GC,11183,1.09,334.1,84.8,7.8,500,11198,0.00,2.38,7.80,0.511,6,0.000,0.019,3232,1790,1637,0,0,0,0,0,0
$GC,11453,1.16,354.6,66.9,7.3,525,11473,0.00,0.00,18.65,0.551,6,0.000,0.000,3232,1790,1555,0,0,0,0,0,0
$GC,11731,1.24,376.6,44.2,7.2,551,11760,0.15,2.60,20.12,0.531,4,0.170,0.032,3272,3372,1464,0,0,0,0,0,0
$GC,11779,1.24,376.6,39.9,9.6,554,11783,0.00,2.60,0.00,0.000,6,0.000,0.036,3273,1794,1464,0,0,0,0,0,0
$STATE,12092,end climb,SURFACE_DEPTH_REACHED
$STATE,12092,begin surface coast
$FINISH,0.3,1.009704
$STATE,12142,end surface coast,CONTROL_FINISHED_OK
$STATE,12142,begin surface
$SM_CCo,12163,41.67,0.389,1,0,1288,420.20
$SM_GC,1.00,0.00,0.00,41.67,0.000,0.000,0.389,475,1790,1288,-11.62,0.57,420.20
$IRIDIUM_FIX,2244.02,-15751.94,151199,040436
$TT8_MAMPS,0.025311
$HUMID,41.53
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.80
$XPDR_PINGS,65
$24V_AH,23.5,9.618
$10V_AH,10.4,8.654
$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,27.125,167.200,452.950,41.675,0.000,29.287,36.031,159.389,16.250,0.000,32.016,1209.886,8033.672,584.858,2207.861,550.300,33.379,1427.512,0.000,2201.493,0.000,0.535,0.000
$DEVICE_MAMPS,170.274,118.885,918.866,388.869,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,405.932,372.833,462.305,856.410,1295.204,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,48010,601
$CAP_FILE_SIZE,129500,0
$CFSIZE,260165632,180494336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210810,110931,2249.190,-15746.396,39,1.4,39,10.1