version: 66.06
glider: 146
mission: 5
dive: 120
start: 9 2 110 0 6 30
data:
$ID,146
$MISSION,5
$DIVE,120
$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,120
$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,-249734.36
$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,48
$R_STBD_OVSHOOT,28
$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
$GPS1,235925,2251.985,-15741.907,36,1.6,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-66.1
$GPS2,000536,2252.017,-15741.929,9,1.1,25,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.030,0.206
$KALMAN_X,-112442.6,110.1,-151.9,161842.1,-408.0
$KALMAN_Y,826.8,367.7,185.3,130920.4,-95.2
$MHEAD_RNG_PITCHd_Wd,358.3,11081,-17.1,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.20,-105.2,0.0,0.0,0,105,0.00,0.00,-85.15,0.000,6,0.000,0.000,471,1737,3431,0,0,0,0,0,0
$GC,108,-1.21,-116.8,4.0,-5.0,11,127,11.52,2.60,-0.82,0.000,4,0.143,0.042,2727,3366,3478,0,0,0,0,0,0
$GC,210,-1.11,-116.8,29.8,-15.4,25,220,0.10,2.60,0.00,0.000,6,0.087,0.033,2753,1788,3479,0,0,0,0,0,0
$GC,478,-0.99,-116.8,71.6,-15.9,50,483,0.15,2.75,0.00,0.000,4,0.110,0.064,2784,188,3479,0,0,0,0,0,0
$GC,512,-0.91,-116.8,77.7,-16.1,52,516,0.00,2.45,0.00,0.000,6,0.000,0.015,2784,1829,3479,0,0,0,0,0,0
$GC,773,-0.91,-116.8,108.6,-10.4,76,778,0.00,2.80,0.00,0.000,4,0.000,0.059,2784,185,3480,0,0,0,0,0,0
$GC,821,-0.91,-116.8,113.4,-12.0,79,825,0.00,2.42,0.00,0.000,6,0.000,0.016,2785,1808,3480,0,0,0,0,0,0
$GC,1087,-0.91,-116.8,136.9,-8.5,103,1091,0.00,2.35,0.00,0.000,4,0.000,0.031,2784,3317,3480,0,0,0,0,0,0
$GC,1122,-0.97,-116.8,140.4,-8.7,105,1128,0.00,2.53,0.00,0.000,6,0.000,0.031,2784,1730,3480,0,0,0,0,0,0
$GC,1389,-1.02,-116.8,163.2,-8.3,130,1393,0.00,2.60,0.00,0.000,4,0.000,0.065,2784,196,3481,0,0,0,0,0,0
$GC,1421,-1.07,-116.8,166.8,-9.8,132,1431,0.00,2.33,0.00,0.000,6,0.000,0.023,2784,1730,3481,0,0,0,0,0,0
$GC,1689,-1.14,-116.8,188.5,-8.5,157,1694,0.15,0.00,0.00,0.000,6,0.065,0.000,2735,1731,3481,0,0,0,0,0,0
$GC,1964,-1.10,-116.8,219.7,-11.5,172,1969,0.12,2.50,0.00,0.000,4,0.106,0.028,2761,3316,3481,0,0,0,0,0,0
$GC,1998,-1.15,-116.8,223.2,-9.6,172,2004,0.00,2.50,0.00,0.000,6,0.000,0.031,2761,1749,3481,0,0,0,0,0,0
$GC,2248,-1.15,-116.8,245.4,-8.8,179,2253,0.00,2.67,0.00,0.000,4,0.000,0.074,2761,193,3480,0,0,0,0,0,0
$GC,2303,-1.20,-116.8,250.7,-9.4,180,2308,0.10,2.33,0.00,0.000,6,0.084,0.017,2724,1736,3481,0,0,0,0,0,0
$GC,2571,-1.20,-116.8,276.7,-9.8,187,2575,0.00,2.50,0.00,0.000,4,0.000,0.030,2724,3332,3480,0,0,0,0,0,0
$GC,2591,-1.20,-116.8,278.9,-8.9,187,2596,0.00,2.55,0.00,0.000,6,0.000,0.038,2724,1740,3480,0,0,0,0,0,0
$GC,2847,-1.20,-116.8,304.2,-10.2,194,2848,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1740,3480,0,0,0,0,0,0
$GC,3091,-1.20,-116.8,331.5,-11.3,200,3093,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1740,3479,0,0,0,0,0,0
$GC,3334,-1.20,-116.8,355.6,-9.2,206,3338,0.00,2.58,0.00,0.000,4,0.000,0.046,2724,3321,3479,0,0,0,0,0,0
$GC,3439,-1.20,-116.8,364.5,-8.2,208,3444,0.00,2.62,0.00,0.000,6,0.000,0.053,2724,1740,3479,0,0,0,0,0,0
$GC,3702,-1.20,-116.8,383.8,-7.4,215,3707,0.00,2.83,0.00,0.000,4,0.000,0.098,2724,180,3477,0,0,0,0,0,0
$GC,3734,-1.20,-116.8,387.1,-9.6,215,3740,0.00,2.42,0.00,0.000,6,0.000,0.033,2723,1706,3477,0,0,0,0,0,0
$GC,3984,-1.20,-116.8,409.2,-8.9,222,3989,0.00,2.67,0.00,0.000,4,0.000,0.051,2724,3319,3475,0,0,0,0,0,0
$GC,4053,-1.25,-116.8,415.5,-9.1,223,4057,0.00,2.67,0.00,0.000,6,0.000,0.054,2724,1743,3475,0,0,0,0,0,0
$GC,4307,-1.25,-116.8,438.3,-9.0,230,4312,0.00,2.58,0.00,0.000,4,0.000,0.044,2724,3317,3474,0,0,0,0,0,0
$GC,4329,-1.25,-116.8,440.4,-9.1,230,4334,0.00,2.65,0.00,0.000,6,0.000,0.062,2724,1749,3473,0,0,0,0,0,0
$GC,4585,-1.25,-116.8,460.6,-7.8,237,4586,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1749,3472,0,0,0,0,0,0
$GC,4828,-1.25,-116.8,480.4,-8.2,243,4832,0.00,2.60,0.00,0.000,4,0.000,0.051,2725,3313,3470,0,0,0,0,0,0
$GC,4872,-1.32,-116.8,484.3,-8.7,244,4877,0.00,2.70,0.00,0.000,6,0.000,0.067,2724,1752,3470,0,0,0,0,0,0
$STATE,5066,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5066,begin apogee
$GC,5073,-0.31,0.0,501.3,8.6,249,5172,0.93,0.00,95.62,0.915,6,0.078,0.000,2933,1752,3001,0,0,0,0,0,0
$STATE,5173,end apogee,CONTROL_FINISHED_OK
$STATE,5173,begin climb
$GC,5176,1.21,116.8,503.9,0.0,251,5288,1.38,3.03,100.18,0.891,4,0.051,0.117,3271,234,2522,0,0,0,0,0,0
$GC,5323,0.98,131.4,501.3,7.3,254,5345,0.28,2.55,13.35,0.804,6,0.110,0.038,3216,1780,2463,0,0,0,0,0,0
$GC,5588,1.00,149.3,482.2,7.1,261,5611,0.00,2.83,15.98,0.826,4,0.000,0.065,3216,3401,2391,0,0,0,0,0,0
$GC,5640,1.00,149.3,478.1,8.3,262,5645,0.00,2.72,0.00,0.000,6,0.000,0.058,3216,1820,2388,0,0,0,0,0,0
$GC,5912,1.01,156.9,456.9,7.6,269,5921,0.00,0.00,7.35,0.732,6,0.000,0.000,3216,1821,2361,0,0,0,0,0,0
$GC,6156,1.02,165.9,438.6,7.5,275,6170,0.00,2.67,9.20,0.772,4,0.000,0.045,3216,3410,2324,0,0,0,0,0,0
$GC,6217,1.03,168.0,434.0,7.9,276,6221,0.00,2.70,0.00,0.000,6,0.000,0.051,3216,1825,2322,0,0,0,0,0,0
$GC,6483,1.06,192.8,415.4,6.7,283,6513,0.00,2.67,24.88,0.843,4,0.000,0.043,3216,3418,2213,0,0,0,0,0,0
$GC,6558,1.09,192.8,409.4,8.5,284,6564,0.10,2.70,0.00,0.000,6,0.093,0.049,3242,1835,2210,0,0,0,0,0,0
$GC,6809,1.05,192.8,387.6,8.9,291,6814,0.00,2.58,0.00,0.000,4,0.000,0.035,3242,3413,2207,0,0,0,0,0,0
$GC,6843,1.05,192.8,384.6,8.4,291,6849,0.00,2.62,0.00,0.000,6,0.000,0.048,3242,1847,2207,0,0,0,0,0,0
$GC,7093,1.05,192.8,362.0,9.1,298,7094,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1846,2206,0,0,0,0,0,0
$GC,7338,1.05,192.8,339.6,9.2,304,7342,0.00,2.53,0.00,0.000,4,0.000,0.038,3242,3415,2204,0,0,0,0,0,0
$GC,7387,1.05,192.8,334.8,9.0,305,7391,0.00,2.55,0.00,0.000,6,0.000,0.041,3242,1862,2203,0,0,0,0,0,0
$GC,7665,1.08,216.7,314.8,6.8,312,7688,0.00,0.00,20.65,0.779,6,0.000,0.000,3242,1861,2116,0,0,0,0,0,0
$GC,7910,1.08,216.7,295.4,8.1,318,7914,0.00,2.50,0.00,0.000,4,0.000,0.037,3242,3422,2112,0,0,0,0,0,0
$GC,7931,1.08,216.7,293.3,9.5,318,7935,0.00,2.55,0.00,0.000,6,0.000,0.034,3241,1855,2111,0,0,0,0,0,0
$GC,8187,1.08,216.7,270.3,9.2,325,8191,0.00,2.53,0.00,0.000,4,0.000,0.030,3242,3422,2110,0,0,0,0,0,0
$GC,8272,1.12,216.7,262.9,8.6,327,8276,0.00,2.50,0.00,0.000,6,0.000,0.038,3242,1878,2109,0,0,0,0,0,0
$GC,8555,1.12,218.7,240.6,7.9,334,8559,0.00,2.47,0.00,0.000,4,0.000,0.034,3242,3424,2109,0,0,0,0,0,0
$GC,8588,1.12,218.7,237.9,8.2,334,8594,0.00,2.47,0.00,0.000,6,0.000,0.033,3242,1887,2108,0,0,0,0,0,0
$GC,8840,1.15,239.7,220.2,6.9,341,8865,0.00,2.90,20.15,0.689,4,0.000,0.069,3242,236,2023,0,0,0,0,0,0
$GC,8877,1.16,247.1,217.2,7.6,342,8892,0.00,2.65,8.20,0.606,6,0.000,0.019,3242,1915,1993,0,0,0,0,0,0
$GC,9147,1.16,247.1,196.1,8.0,350,9151,0.00,2.38,0.00,0.000,4,0.000,0.036,3242,3418,1990,0,0,0,0,0,0
$GC,9171,1.20,247.1,194.2,8.1,351,9180,0.00,2.55,0.00,0.000,6,0.000,0.038,3242,1870,1989,0,0,0,0,0,0
$GC,9437,1.21,252.6,173.0,7.7,376,9448,0.00,2.80,5.88,0.532,4,0.000,0.068,3242,245,1970,0,0,0,0,0,0
$GC,9476,1.21,252.6,169.5,9.1,379,9481,0.00,2.55,0.00,0.000,6,0.000,0.025,3242,1899,1969,0,0,0,0,0,0
$GC,9743,1.25,252.6,146.0,9.4,403,9748,0.12,2.85,0.00,0.000,4,0.081,0.064,3278,242,1969,0,0,0,0,0,0
$GC,9761,1.25,252.6,143.7,9.7,404,9765,0.00,2.58,0.00,0.000,6,0.000,0.020,3278,1902,1968,0,0,0,0,0,0
$GC,10024,1.25,252.6,117.0,9.8,428,10025,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1904,1969,0,0,0,0,0,0
$GC,10278,1.25,252.7,95.2,8.0,452,10280,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1905,1969,0,0,0,0,0,0
$GC,10536,1.25,253.4,73.5,8.0,476,10540,0.00,2.40,0.00,0.000,4,0.000,0.028,3279,3422,1969,0,0,0,0,0,0
$GC,10606,1.30,253.4,67.7,8.9,481,10611,0.00,2.53,0.00,0.000,6,0.000,0.033,3278,1856,1968,0,0,0,0,0,0
$GC,10874,1.32,266.8,48.9,7.3,505,10894,0.00,0.00,14.05,0.523,6,0.000,0.000,3279,1856,1913,0,0,0,0,0,0
$GC,11161,1.32,270.6,26.6,7.8,534,11170,0.00,0.00,5.07,0.405,6,0.000,0.000,3278,1856,1896,0,0,0,0,0,0
$STATE,11441,end climb,SURFACE_DEPTH_REACHED
$STATE,11442,begin surface coast
$FINISH,0.4,1.023307
$STATE,11504,end surface coast,CONTROL_FINISHED_OK
$STATE,11504,begin surface
$SM_CCo,11526,127.28,0.469,1,0,1287,420.20
$SM_GC,0.89,0.00,0.00,127.28,0.000,0.000,0.469,476,1745,1287,-11.62,-0.71,420.20
$IRIDIUM_FIX,2244.02,-15741.52,261199,202054
$TT8_MAMPS,0.025311
$HUMID,41.65
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.00
$XPDR_PINGS,56
$24V_AH,23.6,19.579
$10V_AH,10.4,19.071
$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,26.250,140.275,340.550,127.275,0.000,27.970,35.846,158.265,14.000,0.000,26.956,1170.151,7594.238,561.431,2178.182,524.811,33.369,1342.497,0.000,2176.815,0.000,0.537,0.000
$DEVICE_MAMPS,142.662,116.584,915.031,469.404,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,395.913,362.616,451.016,859.652,1300.290,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,44643,585
$CAP_FILE_SIZE,116830,0
$CFSIZE,260165632,175591424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020910,032158,2253.565,-15742.060,8,99.0,27,10.1