version: 66.06
glider: 146
mission: 5
dive: 157
start: 9 7 110 6 38 5
data:
$ID,146
$MISSION,5
$DIVE,157
$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,-250467.55
$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,35
$R_STBD_OVSHOOT,63
$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
$GPS1,063054,2251.600,-15746.305,23,1.3,40,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-65.9
$GPS2,063708,2251.615,-15746.354,14,1.5,14,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.213,0.045
$KALMAN_X,-169209.8,173.1,243.5,210529.9,-1545.9
$KALMAN_Y,-10391.3,428.5,450.7,141065.0,-1286.3
$MHEAD_RNG_PITCHd_Wd,67.9,8872,-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,-85.18,0.000,6,0.000,0.000,478,1758,3478,0,0,0,0,0,0
$GC,106,-1.15,-116.8,4.7,-6.9,11,124,11.48,2.62,0.00,0.000,4,0.139,0.051,2742,196,3480,0,0,0,0,0,0
$GC,136,0.32,-116.8,18.2,-31.8,14,146,1.42,2.42,0.00,0.000,6,0.079,0.015,3065,1786,3481,0,0,0,0,0,0
$GC,435,-0.27,-116.8,42.1,-8.0,49,441,0.50,2.40,0.00,0.000,4,0.054,0.025,2934,3316,3482,0,0,0,0,0,0
$GC,519,-0.80,-116.8,48.9,-7.5,55,524,0.45,2.60,0.00,0.000,6,0.050,0.028,2818,1692,3482,0,0,0,0,0,0
$GC,788,-0.80,-116.8,73.2,-8.9,79,792,0.00,2.58,0.00,0.000,4,0.000,0.023,2818,3310,3481,0,0,0,0,0,0
$GC,920,-0.90,-116.8,83.4,-6.6,89,924,0.00,2.58,0.00,0.000,6,0.000,0.028,2818,1693,3481,0,0,0,0,0,0
$GC,1188,-0.98,-116.8,104.0,-7.7,113,1193,0.12,0.00,0.00,0.000,6,0.073,0.000,2773,1693,3482,0,0,0,0,0,0
$GC,1449,-0.98,-116.8,132.5,-11.7,138,1453,0.00,2.55,0.00,0.000,4,0.000,0.030,2773,3313,3483,0,0,0,0,0,0
$GC,1469,-0.98,-116.8,134.3,-11.5,139,1473,0.00,2.60,0.00,0.000,6,0.000,0.032,2773,1693,3483,0,0,0,0,0,0
$GC,1736,-0.98,-116.8,163.7,-10.6,163,1741,0.00,2.55,0.00,0.000,4,0.000,0.031,2773,3311,3483,0,0,0,0,0,0
$GC,1780,-1.02,-116.8,168.2,-9.3,166,1784,0.00,2.55,0.00,0.000,6,0.000,0.031,2773,1711,3484,0,0,0,0,0,0
$GC,2048,-1.02,-116.8,190.7,-8.2,190,2052,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1711,3483,0,0,0,0,0,0
$GC,2322,-1.02,-116.8,214.3,-8.6,205,2326,0.00,2.50,0.00,0.000,4,0.000,0.031,2773,3310,3483,0,0,0,0,0,0
$GC,2363,-1.09,-116.8,217.5,-8.8,206,2367,0.00,2.55,0.00,0.000,6,0.000,0.031,2773,1712,3483,0,0,0,0,0,0
$GC,2647,-1.09,-116.8,243.1,-9.1,213,2651,0.00,2.58,0.00,0.000,4,0.000,0.074,2773,204,3482,0,0,0,0,0,0
$GC,2662,-1.09,-116.8,244.8,-9.1,213,2666,0.00,2.22,0.00,0.000,6,0.000,0.024,2773,1709,3482,0,0,0,0,0,0
$GC,2930,-1.12,-116.8,266.9,-8.1,220,2934,0.00,2.53,0.00,0.000,4,0.000,0.035,2773,3314,3482,0,0,0,0,0,0
$GC,2970,-1.20,-116.8,270.2,-8.1,221,2975,0.15,2.55,0.00,0.000,6,0.063,0.031,2723,1717,3482,0,0,0,0,0,0
$GC,3254,-1.15,-116.8,299.3,-10.4,228,3256,0.12,0.00,0.00,0.000,6,0.107,0.000,2750,1717,3482,0,0,0,0,0,0
$GC,3497,-1.15,-116.8,319.8,-8.1,234,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1717,3481,0,0,0,0,0,0
$GC,3743,-1.15,-116.8,338.9,-7.9,240,3744,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1717,3481,0,0,0,0,0,0
$GC,3985,-1.15,-116.8,359.5,-8.5,246,3989,0.00,2.58,0.00,0.000,4,0.000,0.039,2751,3306,3480,0,0,0,0,0,0
$GC,4006,-1.19,-116.8,361.5,-8.8,246,4010,0.00,2.62,0.00,0.000,6,0.000,0.050,2751,1729,3480,0,0,0,0,0,0
$GC,4263,-1.23,-116.8,382.4,-7.9,253,4267,0.00,2.55,0.00,0.000,4,0.000,0.043,2750,3302,3478,0,0,0,0,0,0
$GC,4296,-1.30,-116.8,385.2,-7.8,253,4302,0.15,2.65,0.00,0.000,6,0.064,0.056,2702,1726,3479,0,0,0,0,0,0
$GC,4546,-1.25,-116.8,407.2,-8.8,260,4551,0.12,2.58,0.00,0.000,4,0.110,0.042,2728,3300,3477,0,0,0,0,0,0
$GC,4569,-1.25,-116.8,409.2,-8.2,260,4573,0.00,2.65,0.00,0.000,6,0.000,0.059,2728,1739,3477,0,0,0,0,0,0
$GC,4823,-1.25,-116.8,429.3,-8.0,267,4824,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1739,3475,0,0,0,0,0,0
$GC,5067,-1.25,-116.8,450.1,-8.5,273,5068,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1739,3474,0,0,0,0,0,0
$GC,5313,-1.25,-116.8,469.2,-7.7,279,5317,0.00,2.58,0.00,0.000,4,0.000,0.050,2729,3296,3472,0,0,0,0,0,0
$GC,5364,-1.30,-116.8,473.0,-6.8,280,5368,0.00,2.67,0.00,0.000,6,0.000,0.067,2728,1748,3472,0,0,0,0,0,0
$GC,5636,-1.30,-116.8,491.4,-6.5,287,5637,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1748,3470,0,0,0,0,0,0
$STATE,5795,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5795,begin apogee
$GC,5802,-0.31,0.0,502.2,6.7,291,5901,0.88,0.00,95.45,0.915,6,0.072,0.000,2930,1748,3001,0,0,0,0,0,0
$STATE,5902,end apogee,CONTROL_FINISHED_OK
$STATE,5902,begin climb
$GC,5904,1.15,116.8,503.9,0.0,293,6016,1.33,2.92,99.78,0.891,4,0.052,0.115,3253,232,2522,0,0,0,0,0,0
$GC,6045,0.94,148.1,502.0,6.6,296,6080,0.22,2.53,27.38,0.851,6,0.114,0.038,3209,1759,2396,0,0,0,0,0,0
$GC,6361,0.93,169.2,480.4,7.0,304,6385,0.00,2.80,18.52,0.839,4,0.000,0.061,3208,3338,2310,0,0,0,0,0,0
$GC,6478,0.95,181.4,471.3,7.4,306,6497,0.00,2.60,11.95,0.795,6,0.000,0.058,3208,1827,2261,0,0,0,0,0,0
$GC,6781,0.95,181.4,446.8,8.1,314,6785,0.00,2.53,0.00,0.000,4,0.000,0.044,3209,3358,2255,0,0,0,0,0,0
$GC,6843,0.95,181.4,441.5,8.2,315,6847,0.00,2.58,0.00,0.000,6,0.000,0.048,3208,1834,2254,0,0,0,0,0,0
$GC,7103,0.95,181.4,420.0,8.4,322,7108,0.00,2.92,0.00,0.000,4,0.000,0.092,3208,233,2252,0,0,0,0,0,0
$GC,7119,0.90,181.4,418.5,8.4,322,7123,0.00,2.45,0.00,0.000,6,0.000,0.025,3208,1779,2251,0,0,0,0,0,0
$GC,7381,0.90,181.4,396.8,8.3,329,7385,0.00,2.65,0.00,0.000,4,0.000,0.041,3208,3403,2251,0,0,0,0,0,0
$GC,7476,0.90,181.4,388.4,8.4,331,7480,0.00,2.60,0.00,0.000,6,0.000,0.043,3208,1834,2249,0,0,0,0,0,0
$GC,7748,0.94,207.7,369.3,6.8,338,7772,0.00,0.00,22.30,0.820,6,0.000,0.000,3208,1834,2154,0,0,0,0,0,0
$GC,8030,0.96,229.4,350.2,7.0,345,8055,0.00,2.58,20.25,0.798,4,0.000,0.036,3208,3401,2064,0,0,0,0,0,0
$GC,8106,1.02,229.4,343.6,9.0,346,8111,0.00,2.58,0.00,0.000,6,0.000,0.044,3208,1846,2061,0,0,0,0,0,0
$GC,8357,1.02,229.4,323.0,8.3,353,8358,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1845,2059,0,0,0,0,0,0
$GC,8599,1.02,229.4,302.6,8.3,359,8600,0.00,0.00,0.00,0.000,6,0.000,0.000,3208,1845,2058,0,0,0,0,0,0
$GC,8844,1.09,250.3,284.9,7.0,365,8865,0.12,0.00,18.75,0.747,6,0.079,0.000,3242,1845,1980,0,0,0,0,0,0
$GC,9087,1.10,262.8,266.9,7.4,371,9106,0.00,2.60,12.23,0.704,4,0.000,0.036,3242,3401,1928,0,0,0,0,0,0
$GC,9125,1.11,273.8,264.0,7.5,371,9141,0.00,2.58,11.20,0.685,6,0.000,0.037,3242,1841,1884,0,0,0,0,0,0
$GC,9413,1.11,273.8,238.3,9.3,379,9418,0.00,2.50,0.00,0.000,4,0.000,0.031,3242,3407,1881,0,0,0,0,0,0
$GC,9435,1.11,273.8,236.0,10.2,379,9439,0.00,2.55,0.00,0.000,6,0.000,0.038,3242,1849,1880,0,0,0,0,0,0
$GC,9692,1.11,273.8,210.3,10.2,386,9696,0.00,2.78,0.00,0.000,4,0.000,0.071,3242,242,1880,0,0,0,0,0,0
$GC,9719,1.06,273.8,207.1,10.9,386,9723,0.00,2.53,0.00,0.000,6,0.000,0.019,3242,1868,1878,0,0,0,0,0,0
$GC,9977,1.06,273.8,181.7,9.8,404,9982,0.00,2.40,0.00,0.000,4,0.000,0.035,3242,3385,1878,0,0,0,0,0,0
$GC,10018,1.11,273.8,177.3,10.6,407,10023,0.00,2.47,0.00,0.000,6,0.000,0.035,3242,1847,1878,0,0,0,0,0,0
$GC,10281,1.14,295.5,154.5,7.0,431,10302,0.00,0.00,19.38,0.629,6,0.000,0.000,3242,1847,1796,0,0,0,0,0,0
$GC,10560,1.14,295.5,133.9,8.6,457,10565,0.00,2.75,0.00,0.000,4,0.000,0.067,3242,240,1793,0,0,0,0,0,0
$GC,10583,1.14,295.5,131.2,9.4,458,10592,0.00,2.53,0.00,0.000,6,0.000,0.021,3242,1861,1792,0,0,0,0,0,0
$GC,10850,1.14,295.5,107.4,8.7,483,10854,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1862,1791,0,0,0,0,0,0
$GC,11111,1.20,295.5,84.0,8.5,508,11112,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1863,1791,0,0,0,0,0,0
$GC,11371,1.32,315.5,64.2,7.1,532,11393,0.17,0.00,18.45,0.545,6,0.063,0.000,3292,1863,1713,0,0,0,0,0,0
$GC,11648,1.32,315.5,39.0,9.7,558,11652,0.00,2.38,0.00,0.000,4,0.000,0.025,3292,3379,1711,0,0,0,0,0,0
$GC,11683,1.32,315.5,35.3,10.1,560,11687,0.00,2.50,0.00,0.000,6,0.000,0.037,3292,1839,1710,0,0,0,0,0,0
$STATE,11978,end climb,SURFACE_DEPTH_REACHED
$STATE,11978,begin surface coast
$FINISH,0.2,1.021623
$STATE,12021,end surface coast,CONTROL_FINISHED_OK
$STATE,12021,begin surface
$SM_CCo,12044,97.00,0.457,1,0,1287,420.20
$SM_GC,1.02,0.00,0.00,97.00,0.000,0.000,0.457,472,1730,1287,-11.63,-1.13,420.20
$IRIDIUM_FIX,2241.69,-15748.90,021299,030336
$TT8_MAMPS,0.024544
$HUMID,43.73
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.40
$XPDR_PINGS,44
$24V_AH,23.6,23.879
$10V_AH,10.3,23.816
$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,28.600,123.625,375.625,97.000,0.000,31.219,27.962,175.802,11.000,0.000,16.256,1194.943,7990.759,541.955,2250.161,544.421,33.372,1330.515,0.000,2260.246,0.000,0.536,0.000
$DEVICE_MAMPS,138.827,115.050,915.031,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,409.835,361.738,466.381,894.758,1353.502,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,47935,605
$CAP_FILE_SIZE,117118,0
$CFSIZE,260165632,173346816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,070910,100137,2251.254,-15745.647,25,1.6,25,10.1