version: 66.06
glider: 146
mission: 5
dive: 129
start: 9 3 110 6 20 45
data:
$ID,146
$MISSION,5
$DIVE,129
$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,-249927.45
$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,39
$R_STBD_OVSHOOT,41
$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
$GPS1,061407,2252.839,-15749.219,31,1.2,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-66.7
$GPS2,061950,2252.827,-15749.235,11,1.6,11,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.200,-0.086
$KALMAN_X,-122051.6,300.5,116.5,158412.2,-1396.5
$KALMAN_Y,-2784.6,280.0,142.5,136159.9,-1340.7
$MHEAD_RNG_PITCHd_Wd,236.6,11610,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.15,-116.8,0.0,0.0,0,105,0.00,0.00,-85.80,0.000,6,0.000,0.000,474,1748,3479,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.4,-6.1,11,126,11.55,2.55,0.00,0.000,4,0.140,0.028,2741,3362,3481,0,0,0,0,0,0
$GC,294,-1.05,-116.8,41.3,-13.6,33,299,0.12,2.58,0.00,0.000,6,0.107,0.032,2768,1780,3483,0,0,0,0,0,0
$GC,562,-0.97,-116.8,77.0,-12.1,57,567,0.10,2.72,0.00,0.000,4,0.118,0.063,2790,189,3482,0,0,0,0,0,0
$GC,586,-0.90,-116.8,81.1,-12.5,58,595,0.00,2.45,0.00,0.000,6,0.000,0.015,2790,1794,3482,0,0,0,0,0,0
$GC,853,-0.90,-116.8,103.7,-7.7,83,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1795,3483,0,0,0,0,0,0
$GC,1114,-0.90,-116.8,127.9,-9.5,108,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1795,3484,0,0,0,0,0,0
$GC,1369,-0.90,-116.8,150.4,-8.9,132,1370,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1795,3483,0,0,0,0,0,0
$GC,1626,-0.94,-116.8,173.1,-8.5,156,1630,0.00,2.75,0.00,0.000,4,0.000,0.067,2789,193,3483,0,0,0,0,0,0
$GC,1648,-0.98,-116.8,174.7,-8.4,157,1652,0.00,2.38,0.00,0.000,6,0.000,0.022,2790,1779,3484,0,0,0,0,0,0
$GC,1916,-1.03,-116.8,196.6,-8.1,181,1921,0.00,2.72,0.00,0.000,4,0.000,0.067,2789,194,3484,0,0,0,0,0,0
$GC,1959,-1.09,-116.8,200.7,-8.6,184,1964,0.12,2.30,0.00,0.000,6,0.074,0.016,2747,1752,3484,0,0,0,0,0,0
$GC,2244,-1.09,-116.8,228.6,-9.8,191,2248,0.00,2.45,0.00,0.000,4,0.000,0.033,2748,3314,3483,0,0,0,0,0,0
$GC,2310,-1.09,-116.8,234.6,-8.1,192,2314,0.00,2.50,0.00,0.000,6,0.000,0.037,2747,1761,3483,0,0,0,0,0,0
$GC,2565,-1.09,-116.8,256.7,-8.7,199,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1761,3483,0,0,0,0,0,0
$GC,2808,-1.09,-116.8,279.8,-9.6,205,2813,0.00,2.42,0.00,0.000,4,0.000,0.033,2747,3312,3483,0,0,0,0,0,0
$GC,2831,-1.09,-116.8,281.9,-9.1,205,2836,0.00,2.47,0.00,0.000,6,0.000,0.031,2747,1767,3483,0,0,0,0,0,0
$GC,3086,-1.09,-116.8,304.7,-8.5,212,3090,0.00,2.42,0.00,0.000,4,0.000,0.031,2747,3306,3482,0,0,0,0,0,0
$GC,3125,-1.09,-116.8,308.0,-8.3,213,3129,0.00,2.47,0.00,0.000,6,0.000,0.041,2747,1775,3483,0,0,0,0,0,0
$GC,3409,-1.09,-116.8,331.8,-9.0,220,3413,0.00,2.80,0.00,0.000,4,0.000,0.083,2747,188,3482,0,0,0,0,0,0
$GC,3448,-1.09,-116.8,336.2,-11.5,221,3452,0.00,2.38,0.00,0.000,6,0.000,0.021,2747,1713,3481,0,0,0,0,0,0
$GC,3731,-1.09,-116.8,361.2,-7.7,228,3735,0.00,2.58,0.00,0.000,4,0.000,0.048,2747,3299,3481,0,0,0,0,0,0
$GC,3754,-1.09,-116.8,362.5,-5.9,228,3758,0.00,2.55,0.00,0.000,6,0.000,0.048,2747,1765,3481,0,0,0,0,0,0
$GC,4009,-1.09,-116.8,380.6,-7.4,235,4013,0.00,2.47,0.00,0.000,4,0.000,0.041,2747,3298,3479,0,0,0,0,0,0
$GC,4052,-1.16,-116.8,384.5,-8.9,236,4057,0.00,2.58,0.00,0.000,6,0.000,0.051,2747,1769,3479,0,0,0,0,0,0
$GC,4331,-1.20,-116.8,407.8,-8.2,243,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1768,3477,0,0,0,0,0,0
$GC,4574,-1.24,-116.8,426.7,-7.7,249,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1768,3476,0,0,0,0,0,0
$GC,4818,-1.29,-116.8,444.2,-7.1,255,4823,0.12,2.55,0.00,0.000,4,0.074,0.046,2708,3296,3474,0,0,0,0,0,0
$GC,4846,-1.29,-116.8,446.6,-8.7,255,4851,0.00,2.60,0.00,0.000,6,0.000,0.059,2709,1780,3474,0,0,0,0,0,0
$GC,5096,-1.29,-116.8,468.3,-8.7,261,5097,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1780,3473,0,0,0,0,0,0
$GC,5339,-1.29,-116.8,490.4,-9.1,267,5344,0.00,2.55,0.00,0.000,4,0.000,0.053,2708,3296,3470,0,0,0,0,0,0
$GC,5356,-1.29,-116.8,492.0,-9.4,267,5361,0.00,2.60,0.00,0.000,6,0.000,0.061,2708,1782,3471,0,0,0,0,0,0
$STATE,5452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5452,begin apogee
$GC,5457,-0.31,0.0,501.0,9.3,270,5557,1.00,0.00,96.40,0.922,6,0.081,0.000,2932,1782,3001,0,0,0,0,0,0
$STATE,5558,end apogee,CONTROL_FINISHED_OK
$STATE,5558,begin climb
$GC,5560,1.15,116.8,503.5,0.0,272,5674,1.33,3.08,100.53,0.897,4,0.049,0.120,3253,232,2522,0,0,0,0,0,0
$GC,5691,1.01,175.2,502.0,5.3,275,5748,0.15,2.50,51.12,0.876,6,0.125,0.037,3223,1755,2286,0,0,0,0,0,0
$GC,6010,0.95,175.2,477.3,8.4,283,6014,0.00,2.72,0.00,0.000,4,0.000,0.060,3224,3346,2276,0,0,0,0,0,0
$GC,6132,0.95,175.2,466.3,8.7,285,6138,0.00,2.60,0.00,0.000,6,0.000,0.052,3223,1829,2274,0,0,0,0,0,0
$GC,6382,0.90,175.2,445.3,8.3,292,6387,0.12,2.50,0.00,0.000,4,0.257,0.038,3199,3349,2272,0,0,0,0,0,0
$GC,6400,0.91,179.7,444.1,7.8,292,6404,0.00,2.58,0.00,0.000,6,0.000,0.054,3199,1835,2271,0,0,0,0,0,0
$GC,6660,0.96,223.7,428.2,6.0,299,6709,0.00,2.60,41.38,0.862,4,0.000,0.042,3198,3354,2087,0,0,0,0,0,0
$GC,6747,1.02,232.5,422.4,7.6,301,6762,0.10,2.58,8.80,0.743,6,0.092,0.051,3225,1850,2053,0,0,0,0,0,0
$GC,7035,1.02,232.5,395.0,10.2,308,7039,0.00,2.92,0.00,0.000,4,0.000,0.087,3225,234,2047,0,0,0,0,0,0
$GC,7050,0.96,232.5,393.2,10.7,308,7055,0.00,2.50,0.00,0.000,6,0.000,0.020,3225,1804,2046,0,0,0,0,0,0
$GC,7313,0.96,232.5,368.3,9.1,315,7317,0.00,2.58,0.00,0.000,4,0.000,0.038,3224,3400,2045,0,0,0,0,0,0
$GC,7368,0.96,232.5,363.1,8.7,316,7373,0.00,2.58,0.00,0.000,6,0.000,0.046,3225,1858,2044,0,0,0,0,0,0
$GC,7635,0.96,232.5,339.3,8.9,323,7640,0.00,2.88,0.00,0.000,4,0.000,0.084,3225,236,2043,0,0,0,0,0,0
$GC,7668,0.89,232.5,336.2,9.6,323,7674,0.15,2.60,0.00,0.000,6,0.115,0.025,3195,1874,2042,0,0,0,0,0,0
$GC,7918,0.99,269.6,320.3,6.3,330,7959,0.00,2.97,32.70,0.795,4,0.000,0.074,3194,243,1900,0,0,0,0,0,0
$GC,7988,0.99,269.6,314.9,9.0,331,7993,0.00,2.58,0.00,0.000,6,0.000,0.021,3195,1856,1897,0,0,0,0,0,0
$GC,8244,1.06,269.6,293.3,8.7,338,8249,0.15,2.47,0.00,0.000,4,0.156,0.033,3234,3398,1895,0,0,0,0,0,0
$GC,8285,1.06,269.6,289.4,9.7,339,8289,0.00,2.55,0.00,0.000,6,0.000,0.040,3234,1833,1894,0,0,0,0,0,0
$GC,8569,1.06,269.6,261.9,9.6,346,8570,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1833,1893,0,0,0,0,0,0
$GC,8811,1.06,269.6,237.9,9.8,352,8815,0.00,2.53,0.00,0.000,4,0.000,0.036,3234,3400,1892,0,0,0,0,0,0
$GC,8851,1.11,269.6,233.9,9.9,353,8856,0.00,2.53,0.00,0.000,6,0.000,0.034,3233,1853,1892,0,0,0,0,0,0
$GC,9135,1.11,269.6,208.4,8.8,360,9139,0.00,2.47,0.00,0.000,4,0.000,0.029,3233,3401,1892,0,0,0,0,0,0
$GC,9175,1.16,269.6,204.8,8.8,361,9179,0.00,2.50,0.00,0.000,6,0.000,0.033,3234,1858,1892,0,0,0,0,0,0
$GC,9438,1.16,269.6,180.2,10.1,380,9443,0.00,2.78,0.00,0.000,4,0.000,0.069,3234,240,1892,0,0,0,0,0,0
$GC,9472,1.12,269.6,176.0,11.7,382,9478,0.00,2.55,0.00,0.000,6,0.000,0.019,3233,1886,1891,0,0,0,0,0,0
$GC,9734,1.12,269.6,150.6,9.5,407,9739,0.00,2.40,0.00,0.000,4,0.000,0.035,3234,3411,1891,0,0,0,0,0,0
$GC,9792,1.20,269.6,145.9,8.5,411,9797,0.12,2.50,0.00,0.000,6,0.077,0.039,3271,1864,1891,0,0,0,0,0,0
$GC,10056,1.20,269.6,120.9,9.1,435,10061,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1864,1891,0,0,0,0,0,0
$GC,10318,1.20,269.6,95.6,9.0,460,10319,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1864,1891,0,0,0,0,0,0
$GC,10576,1.20,269.6,73.2,8.3,484,10580,0.00,2.45,0.00,0.000,4,0.000,0.027,3271,3409,1891,0,0,0,0,0,0
$GC,10635,1.20,269.6,68.2,9.1,488,10639,0.00,2.45,0.00,0.000,6,0.000,0.032,3271,1876,1892,0,0,0,0,0,0
$GC,10901,1.22,285.0,46.6,7.3,512,10920,0.00,2.78,13.80,0.525,4,0.000,0.060,3270,243,1836,0,0,0,0,0,0
$GC,10963,1.22,285.0,41.4,9.3,516,10967,0.00,2.58,0.00,0.000,6,0.000,0.018,3271,1902,1835,0,0,0,0,0,0
$GC,11266,1.27,324.0,16.3,6.2,552,11309,0.00,2.90,33.95,0.519,4,0.000,0.059,3271,243,1678,0,0,0,0,0,0
$GC,11328,1.27,324.0,10.9,9.5,559,11337,0.00,2.60,0.00,0.000,6,0.000,0.025,3271,1896,1678,0,0,0,0,0,0
$STATE,11392,end climb,SURFACE_DEPTH_REACHED
$STATE,11392,begin surface coast
$FINISH,0.3,1.020418
$STATE,11449,end surface coast,CONTROL_FINISHED_OK
$STATE,11450,begin surface
$SM_CCo,11472,83.70,0.449,1,0,1288,420.20
$SM_GC,1.03,0.00,0.00,83.70,0.000,0.000,0.449,481,1738,1288,-11.59,-0.90,420.20
$IRIDIUM_FIX,2246.36,-15748.90,281199,030332
$TT8_MAMPS,0.025311
$HUMID,42.83
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.50
$XPDR_PINGS,53
$24V_AH,23.6,20.615
$10V_AH,10.4,20.202
$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,26.500,144.850,378.675,83.700,0.000,30.836,26.314,151.229,13.250,0.000,13.162,1161.199,7509.968,523.194,2189.689,520.137,33.371,1337.189,0.000,2198.432,0.000,0.536,0.000
$DEVICE_MAMPS,256.945,119.652,921.934,449.462,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,389.682,339.200,443.046,837.244,1266.298,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,44587,576
$CAP_FILE_SIZE,119360,0
$CFSIZE,260165632,175046656
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030910,093436,2251.827,-15751.338,11,1.0,27,10.1