version: 66.06
glider: 146
mission: 5
dive: 125
start: 9 2 110 16 42 39
data:
$ID,146
$MISSION,5
$DIVE,125
$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,-249856.77
$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,34
$R_STBD_OVSHOOT,61
$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
$GPS1,163606,2257.956,-15742.236,32,1.1,32,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-68.9
$GPS2,164144,2257.952,-15742.276,14,2.0,14,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.155,-0.153
$KALMAN_X,-117544.0,-230.6,50.4,166485.1,-1226.9
$KALMAN_Y,250.3,-432.5,162.1,143313.0,-350.1
$MHEAD_RNG_PITCHd_Wd,215.3,26773,-16.1,-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,17,-1.15,-116.8,0.0,0.0,0,106,0.00,0.00,-85.93,0.000,2,0.000,0.000,472,1756,3449,0,0,0,0,0,0
$GC,109,-1.15,-116.8,3.9,-5.0,11,127,11.65,2.65,-0.50,0.000,4,0.145,0.061,2739,193,3479,0,0,0,0,0,0
$GC,295,-0.98,-116.8,45.7,-16.7,32,300,0.22,2.42,0.00,0.000,6,0.097,0.015,2787,1786,3479,0,0,0,0,0,0
$GC,562,-0.98,-116.8,78.3,-9.5,56,571,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,1788,3480,0,0,0,0,0,0
$GC,826,-0.98,-116.8,103.6,-10.1,81,831,0.00,2.70,0.00,0.000,4,0.000,0.061,2787,197,3481,0,0,0,0,0,0
$GC,905,-0.98,-116.8,112.1,-10.3,87,909,0.00,2.35,0.00,0.000,6,0.000,0.020,2787,1774,3480,0,0,0,0,0,0
$GC,1173,-0.98,-116.8,133.9,-7.5,111,1177,0.00,2.42,0.00,0.000,4,0.000,0.032,2787,3321,3481,0,0,0,0,0,0
$GC,1230,-1.07,-116.8,138.5,-8.5,115,1234,0.00,2.50,0.00,0.000,6,0.000,0.031,2787,1769,3481,0,0,0,0,0,0
$GC,1498,-1.07,-116.8,159.1,-6.9,139,1502,0.00,2.67,0.00,0.000,4,0.000,0.066,2786,196,3481,0,0,0,0,0,0
$GC,1550,-1.12,-116.8,163.2,-7.2,143,1555,0.12,2.35,0.00,0.000,6,0.074,0.023,2744,1767,3481,0,0,0,0,0,0
$GC,1811,-1.07,-116.8,186.9,-10.3,167,1816,0.10,2.42,0.00,0.000,4,0.199,0.024,2764,3309,3481,0,0,0,0,0,0
$GC,1828,-1.07,-116.8,188.6,-10.4,168,1832,0.00,2.45,0.00,0.000,6,0.000,0.028,2764,1762,3482,0,0,0,0,0,0
$GC,2104,-1.07,-116.8,216.3,-10.0,182,2105,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1762,3481,0,0,0,0,0,0
$GC,2347,-1.07,-116.8,234.9,-7.2,188,2348,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1762,3481,0,0,0,0,0,0
$GC,2590,-1.07,-116.8,258.3,-9.9,194,2591,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1762,3481,0,0,0,0,0,0
$GC,2834,-1.07,-116.8,277.9,-7.6,200,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1762,3480,0,0,0,0,0,0
$GC,3079,-1.07,-116.8,294.9,-6.8,206,3084,0.00,2.75,0.00,0.000,4,0.000,0.086,2764,194,3480,0,0,0,0,0,0
$GC,3101,-1.07,-116.8,296.9,-8.3,206,3105,0.00,2.38,0.00,0.000,6,0.000,0.027,2764,1734,3480,0,0,0,0,0,0
$GC,3363,-1.11,-116.8,317.9,-8.1,213,3367,0.00,2.62,0.00,0.000,4,0.000,0.047,2764,3357,3480,0,0,0,0,0,0
$GC,3397,-1.18,-116.8,320.5,-8.1,213,3402,0.00,2.58,0.00,0.000,6,0.000,0.041,2764,1789,3479,0,0,0,0,0,0
$GC,3647,-1.23,-116.8,338.0,-6.8,220,3652,0.15,2.88,0.00,0.000,4,0.068,0.091,2719,188,3479,0,0,0,0,0,0
$GC,3676,-1.19,-116.8,340.7,-9.5,220,3681,0.10,2.50,0.00,0.000,6,0.119,0.030,2740,1778,3479,0,0,0,0,0,0
$GC,3928,-1.19,-116.8,360.4,-7.7,226,3929,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1778,3478,0,0,0,0,0,0
$GC,4170,-1.19,-116.8,382.5,-9.5,232,4174,0.00,2.58,0.00,0.000,4,0.000,0.054,2740,3349,3476,0,0,0,0,0,0
$GC,4219,-1.24,-116.8,387.3,-9.4,233,4224,0.00,2.62,0.00,0.000,6,0.000,0.054,2740,1792,3476,0,0,0,0,0,0
$GC,4492,-1.24,-116.8,410.1,-7.9,240,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1792,3475,0,0,0,0,0,0
$GC,4735,-1.24,-116.8,426.1,-6.4,246,4739,0.00,2.55,0.00,0.000,4,0.000,0.048,2741,3343,3474,0,0,0,0,0,0
$GC,4761,-1.24,-116.8,428.0,-6.9,246,4766,0.00,2.65,0.00,0.000,6,0.000,0.057,2740,1789,3473,0,0,0,0,0,0
$GC,5013,-1.24,-116.8,446.5,-7.7,252,5018,0.00,3.00,0.00,0.000,4,0.000,0.109,2740,182,3471,0,0,0,0,0,0
$GC,5034,-1.24,-116.8,448.5,-8.2,252,5038,0.00,2.55,0.00,0.000,6,0.000,0.031,2740,1768,3471,0,0,0,0,0,0
$GC,5290,-1.28,-116.8,466.0,-6.5,259,5292,0.00,0.00,0.00,0.000,6,0.000,0.000,2740,1769,3470,0,0,0,0,0,0
$GC,5535,-1.32,-116.8,481.1,-6.3,265,5537,0.12,0.00,0.00,0.000,6,0.077,0.000,2705,1769,3468,0,0,0,0,0,0
$STATE,5775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5775,begin apogee
$GC,5781,-0.31,0.0,501.1,8.5,271,5880,1.00,0.00,95.80,0.921,6,0.078,0.000,2930,1835,3000,0,0,0,0,0,0
$STATE,5881,end apogee,CONTROL_FINISHED_OK
$STATE,5881,begin climb
$GC,5884,1.15,116.8,502.9,0.0,273,5992,1.35,2.78,101.03,0.899,4,0.051,0.068,3254,3398,2523,0,0,0,0,0,0
$GC,6021,1.07,163.9,500.1,5.8,277,6070,0.00,2.75,41.30,0.873,6,0.000,0.059,3254,1819,2332,0,0,0,0,0,0
$GC,6350,0.95,163.9,473.1,8.4,285,6355,0.22,2.67,0.00,0.000,4,0.121,0.042,3209,3411,2322,0,0,0,0,0,0
$GC,6372,0.89,166.0,471.1,7.9,285,6377,0.00,2.72,0.00,0.000,6,0.000,0.058,3209,1826,2321,0,0,0,0,0,0
$GC,6627,0.89,166.0,451.2,8.1,292,6631,0.00,3.00,0.00,0.000,4,0.000,0.107,3208,231,2319,0,0,0,0,0,0
$GC,6660,0.80,166.0,448.0,10.4,292,6667,0.17,2.60,0.00,0.000,6,0.113,0.028,3173,1828,2318,0,0,0,0,0,0
$GC,6911,0.92,222.7,432.7,5.4,299,6968,0.12,2.70,50.60,0.869,4,0.081,0.053,3206,3406,2092,0,0,0,0,0,0
$GC,6980,0.96,254.0,428.6,6.6,300,7014,0.00,2.72,28.88,0.838,6,0.000,0.054,3206,1820,1965,0,0,0,0,0,0
$GC,7278,0.96,254.0,403.9,8.9,308,7283,0.00,2.65,0.00,0.000,4,0.000,0.037,3206,3421,1958,0,0,0,0,0,0
$GC,7323,1.02,254.0,399.5,9.7,309,7327,0.00,2.72,0.00,0.000,6,0.000,0.057,3206,1828,1956,0,0,0,0,0,0
$GC,7602,1.02,254.0,375.3,8.4,316,7607,0.00,2.60,0.00,0.000,4,0.000,0.039,3206,3420,1954,0,0,0,0,0,0
$GC,7624,1.06,254.0,373.4,8.2,316,7630,0.10,2.67,0.00,0.000,6,0.090,0.051,3234,1836,1954,0,0,0,0,0,0
$GC,7880,1.06,254.0,349.1,10.0,323,7884,0.00,2.55,0.00,0.000,4,0.000,0.037,3234,3410,1953,0,0,0,0,0,0
$GC,7920,1.06,254.0,345.0,10.8,324,7924,0.00,2.62,0.00,0.000,6,0.000,0.046,3234,1844,1952,0,0,0,0,0,0
$GC,8203,1.06,254.0,317.0,9.5,331,8207,0.00,2.55,0.00,0.000,4,0.000,0.031,3234,3415,1952,0,0,0,0,0,0
$GC,8223,1.06,254.0,314.9,9.8,331,8228,0.00,2.58,0.00,0.000,6,0.000,0.038,3234,1859,1950,0,0,0,0,0,0
$GC,8480,1.06,254.0,294.0,8.2,338,8484,0.00,2.50,0.00,0.000,4,0.000,0.031,3234,3418,1950,0,0,0,0,0,0
$GC,8523,1.06,254.0,289.5,9.6,339,8528,0.00,2.55,0.00,0.000,6,0.000,0.038,3235,1869,1949,0,0,0,0,0,0
$GC,8801,1.06,254.0,261.7,10.0,346,8806,0.00,2.85,0.00,0.000,4,0.000,0.075,3234,240,1949,0,0,0,0,0,0
$GC,8830,1.01,254.0,258.9,10.8,346,8834,0.00,2.60,0.00,0.000,6,0.000,0.022,3234,1891,1948,0,0,0,0,0,0
$GC,9079,1.01,254.0,236.7,8.8,352,9080,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1893,1948,0,0,0,0,0,0
$GC,9324,1.01,254.0,215.5,8.7,358,9325,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1893,1948,0,0,0,0,0,0
$GC,9572,1.01,254.0,193.5,8.8,367,9577,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1893,1948,0,0,0,0,0,0
$GC,9834,1.01,254.0,170.6,8.2,392,9839,0.00,2.85,0.00,0.000,4,0.000,0.067,3234,232,1948,0,0,0,0,0,0
$GC,9856,1.01,254.0,168.4,9.3,393,9865,0.00,2.60,0.00,0.000,6,0.000,0.019,3234,1890,1948,0,0,0,0,0,0
$GC,10119,1.01,254.0,147.4,8.6,418,10120,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1892,1948,0,0,0,0,0,0
$GC,10371,1.05,254.0,123.8,8.6,442,10375,0.00,2.40,0.00,0.000,4,0.000,0.030,3234,3423,1948,0,0,0,0,0,0
$GC,10392,1.10,254.8,122.4,8.0,443,10396,0.00,2.53,0.00,0.000,6,0.000,0.032,3234,1848,1948,0,0,0,0,0,0
$GC,10660,1.19,290.1,103.7,6.4,467,10696,0.10,2.83,29.67,0.593,4,0.088,0.061,3265,237,1816,0,0,0,0,0,0
$GC,10752,1.19,290.1,95.2,10.2,474,10761,0.00,2.58,0.00,0.000,6,0.000,0.019,3265,1867,1814,0,0,0,0,0,0
$GC,11018,1.19,290.1,72.5,8.5,499,11022,0.00,2.40,0.00,0.000,4,0.000,0.029,3265,3400,1813,0,0,0,0,0,0
$GC,11075,1.26,290.1,67.6,8.3,503,11079,0.00,2.55,0.00,0.000,6,0.000,0.032,3265,1827,1812,0,0,0,0,0,0
$GC,11344,1.27,297.2,48.9,7.7,527,11356,0.00,2.53,7.07,0.468,4,0.000,0.027,3265,3389,1789,0,0,0,0,0,0
$GC,11370,1.32,297.2,46.0,8.3,529,11379,0.00,2.55,0.00,0.000,6,0.000,0.031,3265,1835,1788,0,0,0,0,0,0
$GC,11655,1.32,299.3,22.9,7.9,560,11665,0.10,2.75,0.00,0.000,4,0.091,0.067,3296,243,1788,0,0,0,0,0,0
$GC,11675,1.32,299.3,21.1,8.3,562,11684,0.00,2.47,0.00,0.000,6,0.000,0.018,3297,1842,1787,0,0,0,0,0,0
$STATE,11851,end climb,SURFACE_DEPTH_REACHED
$STATE,11851,begin surface coast
$FINISH,0.3,1.001206
$STATE,11909,end surface coast,CONTROL_FINISHED_OK
$STATE,11909,begin surface
$SM_CCo,11930,108.20,0.463,1,0,1287,420.20
$SM_GC,0.90,0.00,0.00,108.20,0.000,0.000,0.463,472,1751,1287,-11.63,-0.57,420.20
$IRIDIUM_FIX,2248.70,-15745.85,271199,131333
$TT8_MAMPS,0.026078
$HUMID,43.10
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.70
$XPDR_PINGS,51
$24V_AH,23.5,20.156
$10V_AH,10.4,19.696
$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,26.975,141.250,354.350,108.200,0.000,27.061,25.054,157.883,12.750,0.000,15.693,1175.880,7989.473,551.234,2151.761,518.299,33.379,1327.969,0.000,2158.968,0.000,0.536,0.000
$DEVICE_MAMPS,199.420,110.448,921.167,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,402.596,354.244,457.045,862.863,1304.972,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,47667,595
$CAP_FILE_SIZE,118862,0
$CFSIZE,260165632,175280128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,020910,200437,2256.259,-15743.992,31,2.0,31,10.1