version: 66.06
glider: 146
mission: 5
dive: 155
start: 9 6 110 23 43 53
data:
$ID,146
$MISSION,5
$DIVE,155
$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,-250437.19
$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,50
$R_STBD_OVSHOOT,27
$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
$GPS1,233655,2252.193,-15747.820,39,1.4,39,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-68.9
$GPS2,234256,2252.178,-15747.904,11,1.1,11,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.218,-0.008
$KALMAN_X,-165837.7,-219.0,-58.4,205190.5,-1950.6
$KALMAN_Y,-9047.5,71.4,-315.9,141892.6,-349.2
$MHEAD_RNG_PITCHd_Wd,81.9,11672,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.15,-116.8,0.0,0.0,0,103,0.00,0.00,-85.50,0.000,6,0.000,0.000,474,1737,3479,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.6,-6.6,11,123,11.48,2.55,0.00,0.000,4,0.138,0.052,2740,207,3480,0,0,0,0,0,0
$GC,148,-0.08,-116.8,21.2,-39.0,16,156,1.05,2.47,0.00,0.000,6,0.077,0.016,2980,1811,3481,0,0,0,0,0,0
$GC,451,-0.65,-116.8,40.5,-8.1,53,456,0.50,2.70,0.00,0.000,4,0.057,0.055,2852,212,3481,0,0,0,0,0,0
$GC,510,-0.90,-116.8,45.5,-7.1,57,515,0.20,2.33,0.00,0.000,6,0.054,0.016,2787,1782,3481,0,0,0,0,0,0
$GC,780,-0.82,-116.8,74.4,-11.1,81,784,0.15,2.38,0.00,0.000,4,0.094,0.024,2822,3292,3481,0,0,0,0,0,0
$GC,825,-0.91,-116.8,78.9,-8.2,84,830,0.00,2.45,0.00,0.000,6,0.000,0.035,2822,1756,3481,0,0,0,0,0,0
$GC,1089,-0.97,-116.8,100.5,-8.3,108,1095,0.15,2.67,0.00,0.000,4,0.061,0.064,2768,188,3482,0,0,0,0,0,0
$GC,1147,-0.97,-116.8,107.4,-11.6,112,1156,0.00,2.30,0.00,0.000,6,0.000,0.022,2768,1714,3482,0,0,0,0,0,0
$GC,1414,-0.97,-116.8,136.1,-10.9,137,1418,0.00,2.45,0.00,0.000,4,0.000,0.031,2768,3288,3483,0,0,0,0,0,0
$GC,1483,-1.01,-116.8,144.2,-10.2,142,1492,0.00,2.50,0.00,0.000,6,0.000,0.029,2768,1750,3482,0,0,0,0,0,0
$GC,1745,-1.01,-116.8,168.0,-9.0,167,1746,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,1750,3483,0,0,0,0,0,0
$GC,1999,-1.01,-116.8,188.9,-8.3,191,2004,0.00,2.65,0.00,0.000,4,0.000,0.070,2768,190,3483,0,0,0,0,0,0
$GC,2032,-1.01,-116.8,191.5,-8.7,193,2037,0.00,2.30,0.00,0.000,6,0.000,0.018,2769,1742,3483,0,0,0,0,0,0
$GC,2286,-1.01,-116.8,216.3,-9.7,205,2290,0.00,2.45,0.00,0.000,4,0.000,0.033,2768,3307,3482,0,0,0,0,0,0
$GC,2314,-1.01,-116.8,219.0,-9.7,205,2318,0.00,2.47,0.00,0.000,6,0.000,0.034,2768,1760,3482,0,0,0,0,0,0
$GC,2564,-1.01,-116.8,242.3,-9.2,211,2568,0.00,2.70,0.00,0.000,4,0.000,0.072,2768,193,3483,0,0,0,0,0,0
$GC,2597,-1.01,-116.8,245.5,-10.2,211,2603,0.00,2.33,0.00,0.000,6,0.000,0.023,2768,1740,3483,0,0,0,0,0,0
$GC,2849,-1.01,-116.8,265.6,-7.7,218,2853,0.00,2.47,0.00,0.000,4,0.000,0.028,2768,3325,3482,0,0,0,0,0,0
$GC,2888,-1.08,-116.8,268.4,-6.8,219,2893,0.00,2.50,0.00,0.000,6,0.000,0.036,2768,1756,3482,0,0,0,0,0,0
$GC,3173,-1.12,-116.8,289.4,-7.7,226,3177,0.00,2.70,0.00,0.000,4,0.000,0.073,2768,190,3482,0,0,0,0,0,0
$GC,3229,-1.18,-116.8,294.5,-9.1,227,3234,0.12,2.35,0.00,0.000,6,0.068,0.019,2717,1725,3482,0,0,0,0,0,0
$GC,3496,-1.13,-116.8,321.7,-10.2,234,3501,0.17,2.60,0.00,0.000,4,0.095,0.043,2755,3347,3481,0,0,0,0,0,0
$GC,3537,-1.19,-116.8,325.3,-8.9,235,3541,0.00,2.60,0.00,0.000,6,0.000,0.044,2755,1748,3481,0,0,0,0,0,0
$GC,3820,-1.23,-116.8,348.4,-8.0,242,3822,0.10,0.00,0.00,0.000,6,0.087,0.000,2721,1747,3480,0,0,0,0,0,0
$GC,4063,-1.23,-116.8,370.0,-9.0,248,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2721,1747,3479,0,0,0,0,0,0
$GC,4309,-1.23,-116.8,389.6,-7.9,254,4310,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1747,3478,0,0,0,0,0,0
$GC,4551,-1.23,-116.8,408.9,-8.0,260,4552,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1747,3477,0,0,0,0,0,0
$GC,4794,-1.23,-116.8,431.7,-9.5,266,4799,0.00,2.65,0.00,0.000,4,0.000,0.054,2721,3339,3475,0,0,0,0,0,0
$GC,4827,-1.23,-116.8,435.1,-10.3,266,4833,0.00,2.70,0.00,0.000,6,0.000,0.057,2720,1749,3475,0,0,0,0,0,0
$GC,5078,-1.23,-116.8,460.6,-10.2,273,5079,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1750,3474,0,0,0,0,0,0
$GC,5320,-1.23,-116.8,482.9,-9.0,279,5322,0.00,0.00,0.00,0.000,6,0.000,0.000,2720,1749,3472,0,0,0,0,0,0
$STATE,5562,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5562,begin apogee
$GC,5568,-0.31,0.0,503.0,8.2,285,5668,0.93,0.00,96.10,0.912,6,0.075,0.000,2931,1828,3001,0,0,0,0,0,0
$STATE,5668,end apogee,CONTROL_FINISHED_OK
$STATE,5669,begin climb
$GC,5672,1.15,116.8,505.0,0.0,287,5784,1.33,3.15,100.22,0.890,4,0.052,0.107,3252,232,2522,0,0,0,0,0,0
$GC,5824,0.93,124.4,501.8,7.7,290,5840,0.25,2.58,7.35,0.718,6,0.111,0.037,3203,1796,2493,0,0,0,0,0,0
$GC,6085,1.00,183.9,487.6,5.3,297,6144,0.00,2.88,52.12,0.874,4,0.000,0.065,3203,3404,2250,0,0,0,0,0,0
$GC,6218,1.00,183.9,478.0,8.1,300,6222,0.00,2.70,0.00,0.000,6,0.000,0.058,3203,1837,2245,0,0,0,0,0,0
$GC,6498,1.00,183.9,454.4,8.9,307,6502,0.00,2.95,0.00,0.000,4,0.000,0.105,3202,234,2241,0,0,0,0,0,0
$GC,6525,0.95,183.9,451.5,10.3,307,6529,0.00,2.60,0.00,0.000,6,0.000,0.030,3202,1836,2239,0,0,0,0,0,0
$GC,6774,0.95,183.9,430.1,8.3,313,6779,0.00,2.60,0.00,0.000,4,0.000,0.047,3202,3416,2239,0,0,0,0,0,0
$GC,6791,0.95,183.9,428.7,8.2,313,6796,0.00,2.67,0.00,0.000,6,0.000,0.047,3202,1832,2237,0,0,0,0,0,0
$GC,7052,0.97,196.8,408.9,7.4,320,7068,0.00,2.60,10.45,0.779,4,0.000,0.034,3202,3417,2197,0,0,0,0,0,0
$GC,7095,0.97,200.8,405.6,7.8,321,7106,0.00,2.65,5.20,0.637,6,0.000,0.044,3203,1831,2182,0,0,0,0,0,0
$GC,7376,1.00,224.7,385.8,6.9,328,7400,0.00,0.00,22.30,0.823,6,0.000,0.000,3202,1831,2084,0,0,0,0,0,0
$GC,7618,1.04,252.0,369.2,6.7,334,7646,0.10,0.00,25.50,0.811,6,0.146,0.000,3229,1831,1973,0,0,0,0,0,0
$GC,7861,1.04,252.0,348.8,8.6,340,7866,0.00,2.58,0.00,0.000,4,0.000,0.037,3229,3418,1967,0,0,0,0,0,0
$GC,7903,1.04,252.0,345.2,9.4,341,7908,0.00,2.65,0.00,0.000,6,0.000,0.044,3229,1826,1965,0,0,0,0,0,0
$GC,8186,1.04,252.0,319.4,9.1,348,8190,0.00,2.58,0.00,0.000,4,0.000,0.033,3229,3414,1965,0,0,0,0,0,0
$GC,8207,1.04,252.0,317.3,9.8,348,8211,0.00,2.60,0.00,0.000,6,0.000,0.041,3229,1834,1964,0,0,0,0,0,0
$GC,8464,1.04,252.0,294.9,8.4,355,8468,0.00,2.55,0.00,0.000,4,0.000,0.035,3228,3414,1963,0,0,0,0,0,0
$GC,8503,1.04,252.0,291.6,8.1,356,8507,0.00,2.53,0.00,0.000,6,0.000,0.040,3229,1853,1963,0,0,0,0,0,0
$GC,8786,1.05,263.1,270.7,7.5,363,8801,0.00,2.83,9.48,0.686,4,0.000,0.072,3229,244,1927,0,0,0,0,0,0
$GC,8836,1.01,263.1,266.6,9.0,364,8840,0.00,2.58,0.00,0.000,6,0.000,0.025,3229,1879,1926,0,0,0,0,0,0
$GC,9107,1.01,263.1,243.2,9.0,371,9108,0.00,0.00,0.00,0.000,6,0.000,0.000,3229,1881,1925,0,0,0,0,0,0
$GC,9351,1.01,263.1,221.2,8.8,377,9355,0.00,2.45,0.00,0.000,4,0.000,0.036,3229,3417,1925,0,0,0,0,0,0
$GC,9379,1.06,263.1,218.6,8.5,377,9384,0.00,2.55,0.00,0.000,6,0.000,0.033,3229,1851,1924,0,0,0,0,0,0
$GC,9629,1.07,270.1,199.0,7.7,383,9643,0.00,2.85,7.12,0.588,4,0.000,0.071,3229,244,1900,0,0,0,0,0,0
$GC,9656,1.07,270.1,196.7,8.0,385,9662,0.00,2.58,0.00,0.000,6,0.000,0.018,3229,1900,1899,0,0,0,0,0,0
$GC,9920,1.10,297.3,178.5,6.8,410,9951,0.00,0.00,24.95,0.656,6,0.000,0.000,3229,1902,1788,0,0,0,0,0,0
$GC,10208,1.14,297.3,154.3,9.2,437,10213,0.00,2.88,0.00,0.000,4,0.000,0.065,3229,243,1786,0,0,0,0,0,0
$GC,10248,1.14,297.3,150.2,11.0,440,10252,0.00,2.53,0.00,0.000,6,0.000,0.024,3229,1885,1785,0,0,0,0,0,0
$GC,10511,1.21,304.2,127.9,7.7,464,10523,0.15,0.00,7.22,0.529,6,0.097,0.000,3269,1886,1759,0,0,0,0,0,0
$GC,10780,1.21,304.2,102.3,10.1,489,10785,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1886,1759,0,0,0,0,0,0
$GC,11046,1.21,308.8,79.0,7.8,514,11061,0.00,2.88,5.57,0.460,4,0.000,0.059,3270,243,1741,0,0,0,0,0,0
$GC,11102,1.21,308.8,74.4,9.1,518,11106,0.00,2.53,0.00,0.000,6,0.000,0.018,3269,1889,1740,0,0,0,0,0,0
$GC,11368,1.21,308.8,53.9,8.0,542,11377,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1891,1741,0,0,0,0,0,0
$GC,11634,1.21,308.8,30.2,9.0,567,11639,0.00,2.80,0.00,0.000,4,0.000,0.058,3269,240,1740,0,0,0,0,0,0
$GC,11661,1.21,308.8,27.3,9.5,570,11670,0.00,2.55,0.00,0.000,6,0.000,0.018,3270,1883,1740,0,0,0,0,0,0
$STATE,11917,end climb,SURFACE_DEPTH_REACHED
$STATE,11917,begin surface coast
$FINISH,0.2,1.023313
$STATE,11971,end surface coast,CONTROL_FINISHED_OK
$STATE,11971,begin surface
$SM_CCo,11992,97.07,0.456,1,0,1287,420.20
$SM_GC,0.81,0.00,0.00,97.07,0.000,0.000,0.456,476,1732,1287,-11.61,-1.07,420.20
$IRIDIUM_FIX,2241.69,-15746.73,011299,202055
$TT8_MAMPS,0.025311
$HUMID,43.38
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.70
$XPDR_PINGS,51
$24V_AH,23.6,23.653
$10V_AH,10.4,23.556
$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,27.900,135.400,373.600,97.075,0.000,28.200,37.486,159.594,12.750,0.000,12.836,1211.359,7874.580,564.520,2269.508,536.262,33.367,1360.186,0.000,2281.668,0.000,0.536,0.000
$DEVICE_MAMPS,145.730,268.450,911.963,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,416.921,373.341,481.027,935.456,1413.680,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,47663,616
$CAP_FILE_SIZE,118772,0
$CFSIZE,260165632,173469696
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070910,030638,2251.900,-15747.358,28,1.1,28,10.1