version: 66.06
glider: 146
mission: 5
dive: 132
start: 9 3 110 16 38 20
data:
$ID,146
$MISSION,5
$DIVE,132
$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,-249965.69
$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,59
$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
$GPS1,163137,2249.769,-15754.988,34,1.2,34,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.91
$_SM_ANGLEo,-66.6
$GPS2,163725,2249.787,-15755.029,11,1.4,11,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.014,0.218
$KALMAN_X,-125068.6,-199.2,-12.1,152089.4,-1005.9
$KALMAN_Y,-3307.7,-94.2,372.0,131196.2,-705.3
$MHEAD_RNG_PITCHd_Wd,353.7,15210,-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,-86.07,0.000,2,0.000,0.000,481,1755,3465,0,0,0,0,0,0
$GC,109,-1.15,-116.8,4.0,-5.3,11,127,11.50,2.50,-0.20,0.000,4,0.140,0.041,2743,3339,3478,0,0,0,0,0,0
$GC,237,-1.06,-116.8,32.3,-13.5,28,242,0.10,2.53,0.00,0.000,6,0.173,0.031,2766,1774,3479,0,0,0,0,0,0
$GC,505,-0.97,-116.8,67.8,-12.2,52,510,0.10,2.70,0.00,0.000,4,0.123,0.067,2787,193,3479,0,0,0,0,0,0
$GC,527,-0.87,-116.8,71.0,-12.1,53,532,0.10,2.40,0.00,0.000,6,0.117,0.023,2809,1808,3480,0,0,0,0,0,0
$GC,794,-0.87,-116.8,93.7,-8.0,77,798,0.00,2.33,0.00,0.000,4,0.000,0.025,2808,3308,3480,0,0,0,0,0,0
$GC,827,-0.94,-116.8,96.6,-8.6,79,831,0.00,2.45,0.00,0.000,6,0.000,0.029,2808,1768,3480,0,0,0,0,0,0
$GC,1093,-0.98,-116.8,119.9,-9.3,103,1098,0.10,2.42,0.00,0.000,4,0.087,0.029,2770,3309,3480,0,0,0,0,0,0
$GC,1111,-0.98,-116.8,122.1,-9.4,104,1116,0.00,2.42,0.00,0.000,6,0.000,0.032,2770,1781,3480,0,0,0,0,0,0
$GC,1374,-0.98,-116.8,148.4,-9.0,128,1378,0.00,2.72,0.00,0.000,4,0.000,0.063,2769,189,3480,0,0,0,0,0,0
$GC,1419,-0.98,-116.8,152.9,-8.8,131,1425,0.00,2.40,0.00,0.000,6,0.000,0.022,2770,1789,3481,0,0,0,0,0,0
$GC,1684,-0.98,-116.8,172.6,-7.2,156,1688,0.00,2.70,0.00,0.000,4,0.000,0.067,2769,197,3481,0,0,0,0,0,0
$GC,1717,-0.98,-116.8,175.7,-9.1,158,1723,0.00,2.38,0.00,0.000,6,0.000,0.019,2770,1788,3481,0,0,0,0,0,0
$GC,1981,-0.98,-116.8,197.5,-8.5,183,1982,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1789,3481,0,0,0,0,0,0
$GC,2253,-0.98,-116.8,220.2,-8.1,192,2257,0.00,2.38,0.00,0.000,4,0.000,0.025,2770,3317,3481,0,0,0,0,0,0
$GC,2274,-0.98,-116.8,221.9,-8.0,192,2278,0.00,2.42,0.00,0.000,6,0.000,0.032,2770,1785,3481,0,0,0,0,0,0
$GC,2531,-0.98,-116.8,243.1,-8.4,199,2535,0.00,2.72,0.00,0.000,4,0.000,0.071,2770,197,3480,0,0,0,0,0,0
$GC,2557,-0.98,-116.8,245.7,-9.2,199,2562,0.00,2.40,0.00,0.000,6,0.000,0.017,2770,1774,3480,0,0,0,0,0,0
$GC,2808,-1.02,-116.8,265.8,-7.8,205,2809,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1777,3480,0,0,0,0,0,0
$GC,3053,-1.06,-116.8,288.0,-9.2,211,3057,0.00,2.45,0.00,0.000,4,0.000,0.031,2770,3331,3480,0,0,0,0,0,0
$GC,3074,-1.12,-116.8,290.2,-9.6,211,3078,0.00,2.47,0.00,0.000,6,0.000,0.037,2770,1781,3480,0,0,0,0,0,0
$GC,3329,-1.18,-116.8,310.8,-7.8,218,3335,0.12,2.80,0.00,0.000,4,0.074,0.084,2723,189,3479,0,0,0,0,0,0
$GC,3358,-1.13,-116.8,313.5,-9.6,218,3364,0.12,2.42,0.00,0.000,6,0.104,0.022,2750,1753,3479,0,0,0,0,0,0
$GC,3608,-1.13,-116.8,335.7,-8.9,224,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1753,3478,0,0,0,0,0,0
$GC,3852,-1.13,-116.8,356.5,-8.4,230,3856,0.00,2.62,0.00,0.000,4,0.000,0.046,2751,3353,3477,0,0,0,0,0,0
$GC,3880,-1.18,-116.8,358.7,-7.9,230,3885,0.00,2.60,0.00,0.000,6,0.000,0.049,2751,1779,3477,0,0,0,0,0,0
$GC,4132,-1.22,-116.8,378.4,-8.0,236,4136,0.00,2.53,0.00,0.000,4,0.000,0.045,2750,3345,3475,0,0,0,0,0,0
$GC,4159,-1.27,-116.8,380.9,-8.4,236,4164,0.12,2.65,0.00,0.000,6,0.069,0.053,2706,1770,3476,0,0,0,0,0,0
$GC,4410,-1.23,-116.8,404.0,-9.0,242,4416,0.10,2.92,0.00,0.000,4,0.115,0.102,2728,186,3474,0,0,0,0,0,0
$GC,4427,-1.20,-116.8,405.5,-8.3,242,4431,0.00,2.50,0.00,0.000,6,0.000,0.028,2729,1770,3474,0,0,0,0,0,0
$GC,4687,-1.20,-116.8,424.7,-7.3,249,4689,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1770,3472,0,0,0,0,0,0
$GC,4932,-1.20,-116.8,446.6,-9.5,255,4933,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1770,3471,0,0,0,0,0,0
$GC,5175,-1.20,-116.8,470.6,-9.9,261,5179,0.00,2.70,0.00,0.000,4,0.000,0.067,2728,3350,3469,0,0,0,0,0,0
$GC,5214,-1.24,-116.8,474.4,-9.7,262,5219,0.00,2.67,0.00,0.000,6,0.000,0.064,2728,1791,3469,0,0,0,0,0,0
$GC,5497,-1.24,-116.8,499.0,-8.3,269,5501,0.00,2.62,0.00,0.000,4,0.000,0.051,2728,3359,3467,0,0,0,0,0,0
$STATE,5510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5510,begin apogee
$GC,5519,-0.31,0.0,500.3,8.2,269,5620,0.88,0.00,95.38,0.921,6,0.076,0.000,2931,1819,3000,0,0,0,0,0,0
$STATE,5621,end apogee,CONTROL_FINISHED_OK
$STATE,5621,begin climb
$GC,5624,1.15,116.8,503.9,0.0,272,5734,1.35,2.72,101.20,0.897,4,0.054,0.052,3254,3404,2522,0,0,0,0,0,0
$GC,5748,1.11,196.4,502.8,4.3,275,5825,0.00,2.75,68.57,0.881,6,0.000,0.057,3254,1815,2199,0,0,0,0,0,0
$GC,6069,1.00,196.4,472.6,10.0,283,6074,0.17,2.67,0.00,0.000,4,0.144,0.044,3219,3410,2191,0,0,0,0,0,0
$GC,6131,1.00,196.4,466.8,9.3,284,6136,0.00,2.70,0.00,0.000,6,0.000,0.053,3219,1844,2189,0,0,0,0,0,0
$GC,6391,1.00,196.4,444.1,8.6,291,6396,0.00,2.60,0.00,0.000,4,0.000,0.041,3219,3414,2187,0,0,0,0,0,0
$GC,6419,1.00,196.4,441.6,9.2,291,6423,0.00,2.62,0.00,0.000,6,0.000,0.051,3219,1855,2186,0,0,0,0,0,0
$GC,6670,1.00,196.4,419.8,8.8,297,6671,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1855,2184,0,0,0,0,0,0
$GC,6912,1.00,196.4,399.0,8.5,303,6913,0.00,0.00,0.00,0.000,6,0.000,0.000,3220,1855,2183,0,0,0,0,0,0
$GC,7156,1.02,213.5,380.7,7.2,309,7172,0.00,0.00,13.43,0.799,6,0.000,0.000,3219,1855,2129,0,0,0,0,0,0
$GC,7440,1.02,214.6,359.1,8.0,316,7444,0.00,2.53,0.00,0.000,4,0.000,0.039,3219,3410,2127,0,0,0,0,0,0
$GC,7484,1.03,225.7,355.5,7.5,317,7503,0.00,2.60,11.95,0.775,6,0.000,0.040,3219,1846,2079,0,0,0,0,0,0
$GC,7765,1.05,242.2,335.0,7.2,324,7783,0.00,0.00,16.02,0.787,6,0.000,0.000,3219,1846,2013,0,0,0,0,0,0
$GC,8010,1.05,242.2,314.6,8.4,330,8015,0.00,2.83,0.00,0.000,4,0.000,0.081,3219,235,2008,0,0,0,0,0,0
$GC,8025,1.05,242.2,313.0,8.2,330,8030,0.00,2.60,0.00,0.000,6,0.000,0.025,3219,1886,2007,0,0,0,0,0,0
$GC,8287,1.05,242.2,290.9,8.4,337,8291,0.00,2.45,0.00,0.000,4,0.000,0.038,3219,3412,2007,0,0,0,0,0,0
$GC,8321,1.10,242.2,288.1,8.5,337,8326,0.00,2.53,0.00,0.000,6,0.000,0.035,3219,1868,2005,0,0,0,0,0,0
$GC,8570,1.10,242.2,267.1,8.6,344,8575,0.00,2.83,0.00,0.000,4,0.000,0.075,3219,243,2005,0,0,0,0,0,0
$GC,8619,1.10,242.2,262.1,10.3,345,8624,0.00,2.55,0.00,0.000,6,0.000,0.020,3219,1889,2004,0,0,0,0,0,0
$GC,8893,1.12,257.1,241.9,7.3,352,8909,0.10,0.00,13.30,0.698,6,0.109,0.000,3246,1890,1952,0,0,0,0,0,0
$GC,9137,1.12,257.1,218.0,10.3,358,9138,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1890,1951,0,0,0,0,0,0
$GC,9385,1.12,257.1,195.2,8.3,367,9390,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1890,1950,0,0,0,0,0,0
$GC,9647,1.12,257.1,175.4,8.5,392,9648,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1890,1950,0,0,0,0,0,0
$GC,9901,1.12,257.1,153.5,8.9,416,9905,0.00,2.42,0.00,0.000,4,0.000,0.032,3246,3418,1950,0,0,0,0,0,0
$GC,9967,1.17,257.1,148.0,8.9,421,9972,0.00,2.53,0.00,0.000,6,0.000,0.036,3246,1858,1950,0,0,0,0,0,0
$GC,10235,1.17,261.8,125.5,7.8,445,10246,0.00,2.47,5.85,0.503,4,0.000,0.032,3246,3420,1932,0,0,0,0,0,0
$GC,10263,1.17,261.8,123.0,8.3,447,10267,0.00,2.53,0.00,0.000,6,0.000,0.036,3246,1859,1932,0,0,0,0,0,0
$GC,10531,1.23,277.9,103.2,7.3,471,10557,0.10,2.53,15.50,0.578,4,0.262,0.027,3276,3409,1867,0,0,0,0,0,0
$GC,10562,1.23,277.9,99.9,9.3,473,10568,0.00,2.53,0.00,0.000,6,0.000,0.030,3276,1857,1866,0,0,0,0,0,0
$GC,10830,1.23,277.9,74.6,9.5,498,10834,0.00,2.47,0.00,0.000,4,0.000,0.027,3276,3415,1866,0,0,0,0,0,0
$GC,10864,1.23,277.9,70.5,9.7,500,10873,0.00,2.53,0.00,0.000,6,0.000,0.032,3276,1872,1865,0,0,0,0,0,0
$GC,11132,1.23,277.9,47.1,8.5,525,11136,0.00,2.75,0.00,0.000,4,0.000,0.058,3276,242,1865,0,0,0,0,0,0
$GC,11154,1.23,277.9,44.4,9.0,526,11163,0.00,2.60,0.00,0.000,6,0.000,0.018,3276,1916,1865,0,0,0,0,0,0
$GC,11446,1.23,278.0,20.8,8.0,559,11455,0.00,2.85,0.00,0.000,4,0.000,0.061,3276,248,1865,0,0,0,0,0,0
$GC,11465,1.23,278.0,18.9,8.2,561,11474,0.00,2.58,0.00,0.000,6,0.000,0.018,3276,1909,1864,0,0,0,0,0,0
$STATE,11647,end climb,SURFACE_DEPTH_REACHED
$STATE,11647,begin surface coast
$FINISH,0.3,1.010113
$STATE,11725,end surface coast,CONTROL_FINISHED_OK
$STATE,11725,begin surface
$SM_CCo,11748,122.15,0.471,1,0,1288,420.20
$SM_GC,0.77,0.00,0.00,122.15,0.000,0.000,0.471,473,1745,1288,-11.62,-0.71,420.20
$IRIDIUM_FIX,2241.69,-15754.11,281199,131352
$TT8_MAMPS,0.026078
$HUMID,42.75
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.60
$XPDR_PINGS,54
$24V_AH,23.6,20.973
$10V_AH,10.4,20.586
$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,26.325,144.525,341.200,122.150,0.000,30.987,27.755,154.487,13.500,0.000,12.972,1174.115,7805.519,581.050,2125.978,535.958,33.368,1323.799,0.000,2146.277,0.000,0.536,0.000
$DEVICE_MAMPS,262.314,102.011,921.167,470.938,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,404.857,357.024,466.804,878.780,1329.052,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,47973,598
$CAP_FILE_SIZE,116980,0
$CFSIZE,260165632,174858240
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,030910,195731,2251.364,-15755.763,34,1.3,34,10.1