version: 66.06
glider: 146
mission: 5
dive: 173
start: 9 9 110 14 46 8
data:
$ID,146
$MISSION,5
$DIVE,173
$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,-250792.98
$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,54
$R_STBD_OVSHOOT,56
$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
$GPS1,143936,2253.065,-15742.526,37,1.1,42,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-66.4
$GPS2,144513,2253.018,-15742.582,9,1.1,14,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.076,0.204
$KALMAN_X,-188464.4,1.5,-250.4,236944.2,-829.0
$KALMAN_Y,-33594.7,71.0,-586.6,168260.3,-1391.4
$MHEAD_RNG_PITCHd_Wd,10.4,9281,-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,-116.7,0.0,0.0,0,105,0.00,0.00,-85.53,0.000,6,0.000,0.000,470,1737,3478,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.6,-6.7,11,126,11.62,2.55,0.00,0.000,4,0.143,0.028,2743,3345,3480,0,0,0,0,0,0
$GC,222,-1.07,-116.8,30.4,-12.2,27,228,0.10,2.50,0.00,0.000,6,0.116,0.035,2764,1799,3481,0,0,0,0,0,0
$GC,490,-0.96,-116.8,65.4,-13.6,51,496,0.12,2.80,0.00,0.000,4,0.114,0.064,2791,191,3481,0,0,0,0,0,0
$GC,549,-0.90,-116.8,74.3,-13.9,55,554,0.00,2.40,0.00,0.000,6,0.000,0.015,2791,1779,3481,0,0,0,0,0,0
$GC,817,-0.90,-116.8,104.4,-10.7,79,821,0.00,2.42,0.00,0.000,4,0.000,0.024,2791,3332,3482,0,0,0,0,0,0
$GC,875,-0.98,-116.8,111.2,-9.7,83,881,0.00,2.50,0.00,0.000,6,0.000,0.036,2790,1774,3482,0,0,0,0,0,0
$GC,1138,-0.98,-116.8,136.1,-9.1,108,1142,0.00,2.70,0.00,0.000,4,0.000,0.071,2791,194,3483,0,0,0,0,0,0
$GC,1183,-0.98,-116.8,139.9,-8.8,111,1188,0.00,2.38,0.00,0.000,6,0.000,0.020,2790,1803,3483,0,0,0,0,0,0
$GC,1446,-0.98,-116.8,161.6,-7.9,135,1450,0.00,2.33,0.00,0.000,4,0.000,0.032,2791,3306,3483,0,0,0,0,0,0
$GC,1477,-1.03,-116.8,164.0,-8.0,137,1481,0.00,2.42,0.00,0.000,6,0.000,0.028,2791,1775,3483,0,0,0,0,0,0
$GC,1740,-1.08,-116.8,184.6,-7.7,161,1745,0.12,2.72,0.00,0.000,4,0.189,0.067,2749,190,3483,0,0,0,0,0,0
$GC,1792,-1.04,-116.8,190.2,-11.2,165,1797,0.10,2.35,0.00,0.000,6,0.116,0.015,2772,1776,3483,0,0,0,0,0,0
$GC,2080,-1.04,-116.8,214.3,-8.3,180,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1777,3483,0,0,0,0,0,0
$GC,2321,-1.04,-116.8,232.8,-7.5,186,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1779,3484,0,0,0,0,0,0
$GC,2565,-1.04,-116.8,250.5,-7.3,192,2566,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,1779,3483,0,0,0,0,0,0
$GC,2810,-1.08,-116.8,269.6,-8.1,198,2815,0.00,2.72,0.00,0.000,4,0.000,0.070,2772,194,3483,0,0,0,0,0,0
$GC,2877,-1.14,-116.8,275.5,-9.1,199,2882,0.00,2.38,0.00,0.000,6,0.000,0.018,2772,1756,3483,0,0,0,0,0,0
$GC,3133,-1.21,-116.8,295.6,-7.9,206,3135,0.15,0.00,0.00,0.000,6,0.066,0.000,2725,1756,3483,0,0,0,0,0,0
$GC,3378,-1.17,-116.8,319.7,-9.8,212,3383,0.10,2.58,0.00,0.000,4,0.112,0.040,2746,3345,3482,0,0,0,0,0,0
$GC,3413,-1.21,-116.8,323.1,-9.4,212,3418,0.00,2.53,0.00,0.000,6,0.000,0.041,2746,1795,3482,0,0,0,0,0,0
$GC,3662,-1.21,-116.8,344.5,-8.5,219,3667,0.00,2.88,0.00,0.000,4,0.000,0.090,2746,188,3480,0,0,0,0,0,0
$GC,3703,-1.21,-116.8,348.0,-9.1,220,3707,0.00,2.45,0.00,0.000,6,0.000,0.025,2746,1770,3481,0,0,0,0,0,0
$GC,3985,-1.21,-116.8,372.1,-8.5,227,3990,0.00,2.58,0.00,0.000,4,0.000,0.049,2746,3351,3480,0,0,0,0,0,0
$GC,4027,-1.28,-116.8,375.6,-8.7,228,4032,0.12,2.60,0.00,0.000,6,0.072,0.048,2706,1783,3480,0,0,0,0,0,0
$GC,4310,-1.23,-116.8,402.0,-9.0,235,4312,0.12,0.00,0.00,0.000,6,0.104,0.000,2733,1783,3478,0,0,0,0,0,0
$GC,4554,-1.23,-116.8,421.3,-7.8,241,4559,0.00,2.92,0.00,0.000,4,0.000,0.107,2733,186,3476,0,0,0,0,0,0
$GC,4594,-1.23,-116.8,424.7,-8.7,242,4599,0.00,2.53,0.00,0.000,6,0.000,0.030,2733,1767,3476,0,0,0,0,0,0
$GC,4878,-1.23,-116.8,446.9,-7.6,249,4882,0.00,2.65,0.00,0.000,4,0.000,0.057,2732,3354,3474,0,0,0,0,0,0
$GC,4927,-1.28,-116.8,450.8,-8.1,250,4932,0.00,2.65,0.00,0.000,6,0.000,0.062,2733,1790,3474,0,0,0,0,0,0
$GC,5201,-1.28,-116.8,471.9,-7.8,257,5205,0.00,2.97,0.00,0.000,4,0.000,0.111,2733,184,3473,0,0,0,0,0,0
$GC,5233,-1.28,-116.8,475.0,-9.0,257,5239,0.00,2.60,0.00,0.000,6,0.000,0.038,2733,1787,3472,0,0,0,0,0,0
$GC,5483,-1.28,-116.8,495.9,-8.4,264,5487,0.00,2.70,0.00,0.000,4,0.000,0.073,2733,3360,3470,0,0,0,0,0,0
$GC,5511,-1.32,-116.8,498.3,-8.8,264,5516,0.00,2.67,0.00,0.000,6,0.000,0.060,2733,1787,3471,0,0,0,0,0,0
$STATE,5555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5555,begin apogee
$GC,5562,-0.31,0.0,502.4,8.7,265,5661,0.88,0.00,96.03,0.918,6,0.074,0.000,2932,1858,3001,0,0,0,0,0,0
$STATE,5662,end apogee,CONTROL_FINISHED_OK
$STATE,5662,begin climb
$GC,5664,1.15,116.8,505.0,0.0,267,5775,1.35,2.62,100.00,0.894,4,0.045,0.055,3259,3390,2523,0,0,0,0,0,0
$GC,5787,1.13,221.0,505.6,3.2,270,5883,0.00,2.72,89.38,0.882,6,0.000,0.055,3259,1819,2098,0,0,0,0,0,0
$GC,6127,1.02,221.0,474.8,9.9,279,6132,0.17,2.60,0.00,0.000,4,0.110,0.048,3224,3380,2091,0,0,0,0,0,0
$GC,6188,1.02,221.3,469.3,8.0,280,6193,0.00,2.65,0.00,0.000,6,0.000,0.053,3224,1822,2089,0,0,0,0,0,0
$GC,6449,1.02,221.3,448.4,8.0,287,6453,0.00,2.58,0.00,0.000,4,0.000,0.045,3224,3380,2087,0,0,0,0,0,0
$GC,6489,1.02,221.3,445.2,8.7,288,6494,0.00,2.62,0.00,0.000,6,0.000,0.054,3224,1838,2086,0,0,0,0,0,0
$GC,6772,1.02,221.3,420.4,9.0,295,6777,0.00,2.95,0.00,0.000,4,0.000,0.100,3224,231,2084,0,0,0,0,0,0
$GC,6789,0.96,221.3,418.8,9.2,295,6794,0.00,2.55,0.00,0.000,6,0.000,0.022,3224,1827,2084,0,0,0,0,0,0
$GC,7052,0.96,221.3,394.5,9.2,302,7057,0.00,2.58,0.00,0.000,4,0.000,0.040,3223,3404,2083,0,0,0,0,0,0
$GC,7113,0.96,221.3,388.6,9.0,303,7118,0.00,2.60,0.00,0.000,6,0.000,0.048,3224,1850,2082,0,0,0,0,0,0
$GC,7374,0.98,235.9,368.7,7.3,310,7390,0.00,2.55,11.10,0.773,4,0.000,0.033,3224,3409,2039,0,0,0,0,0,0
$GC,7431,0.99,246.7,364.5,7.5,311,7449,0.00,2.58,11.45,0.768,6,0.000,0.043,3224,1859,1995,0,0,0,0,0,0
$GC,7702,0.99,248.7,343.1,7.9,318,7706,0.00,2.53,0.00,0.000,4,0.000,0.035,3224,3414,1992,0,0,0,0,0,0
$GC,7735,0.99,248.7,340.1,8.6,318,7741,0.00,2.55,0.00,0.000,6,0.000,0.044,3224,1866,1990,0,0,0,0,0,0
$GC,7985,0.99,248.7,319.5,8.2,325,7986,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1866,1990,0,0,0,0,0,0
$GC,8228,0.99,248.7,298.8,8.6,331,8233,0.00,2.47,0.00,0.000,4,0.000,0.032,3223,3405,1989,0,0,0,0,0,0
$GC,8308,1.04,248.7,292.0,8.3,332,8314,0.00,2.50,0.00,0.000,6,0.000,0.041,3224,1869,1988,0,0,0,0,0,0
$GC,8558,1.04,248.7,269.9,8.9,339,8562,0.00,2.85,0.00,0.000,4,0.000,0.073,3224,236,1988,0,0,0,0,0,0
$GC,8597,0.99,248.7,266.1,10.4,340,8601,0.00,2.58,0.00,0.000,6,0.000,0.020,3224,1879,1987,0,0,0,0,0,0
$GC,8881,1.00,253.6,243.0,7.8,347,8895,0.00,2.53,6.53,0.613,4,0.000,0.034,3224,3407,1966,0,0,0,0,0,0
$GC,8952,1.07,253.6,237.3,8.1,348,8956,0.00,2.53,0.00,0.000,6,0.000,0.038,3224,1863,1966,0,0,0,0,0,0
$GC,9206,1.07,253.6,216.7,8.4,355,9208,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1862,1965,0,0,0,0,0,0
$GC,9458,1.10,253.6,194.4,8.9,364,9463,0.00,2.78,0.00,0.000,4,0.000,0.065,3224,243,1965,0,0,0,0,0,0
$GC,9474,1.10,253.6,192.2,9.5,365,9479,0.00,2.55,0.00,0.000,6,0.000,0.025,3224,1890,1965,0,0,0,0,0,0
$GC,9737,1.15,253.6,169.8,8.3,389,9742,0.10,2.40,0.00,0.000,4,0.214,0.030,3253,3408,1964,0,0,0,0,0,0
$GC,9772,1.15,253.6,167.1,9.3,391,9776,0.00,2.47,0.00,0.000,6,0.000,0.034,3253,1868,1964,0,0,0,0,0,0
$GC,10038,1.15,256.7,144.4,7.9,415,10049,0.00,2.45,4.03,0.434,4,0.000,0.028,3253,3409,1954,0,0,0,0,0,0
$GC,10075,1.15,256.7,141.1,8.2,418,10079,0.00,2.45,0.00,0.000,6,0.000,0.038,3253,1881,1954,0,0,0,0,0,0
$GC,10337,1.15,256.7,118.7,8.9,442,10341,0.00,2.42,0.00,0.000,4,0.000,0.031,3253,3411,1954,0,0,0,0,0,0
$GC,10377,1.19,256.7,115.3,9.5,445,10382,0.00,2.45,0.00,0.000,6,0.000,0.031,3253,1879,1953,0,0,0,0,0,0
$GC,10644,1.23,256.7,91.4,8.9,469,10648,0.00,2.78,0.00,0.000,4,0.000,0.067,3253,235,1954,0,0,0,0,0,0
$GC,10684,1.23,256.7,87.2,9.2,472,10688,0.00,2.58,0.00,0.000,6,0.000,0.018,3253,1904,1954,0,0,0,0,0,0
$GC,10952,1.37,321.3,70.7,5.0,496,11020,0.17,2.47,56.83,0.568,4,0.078,0.028,3305,3412,1689,0,0,0,0,0,0
$GC,11075,1.37,321.3,60.0,10.3,505,11080,0.00,2.47,0.00,0.000,6,0.000,0.034,3305,1885,1687,0,0,0,0,0,0
$GC,11342,1.33,321.3,32.9,10.0,529,11351,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1885,1685,0,0,0,0,0,0
$STATE,11632,end climb,SURFACE_DEPTH_REACHED
$STATE,11632,begin surface coast
$FINISH,0.4,1.023355
$STATE,11688,end surface coast,CONTROL_FINISHED_OK
$STATE,11689,begin surface
$SM_CCo,11710,86.22,0.449,1,0,1287,420.20
$SM_GC,0.93,0.00,0.00,86.22,0.000,0.000,0.449,476,1750,1287,-11.61,-0.59,420.20
$IRIDIUM_FIX,2244.02,-15739.35,041299,111107
$TT8_MAMPS,0.026078
$HUMID,44.52
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.60
$XPDR_PINGS,61
$24V_AH,23.5,25.716
$10V_AH,10.4,25.960
$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,26.700,155.125,375.325,86.225,0.000,23.570,28.682,147.697,15.250,0.000,15.834,1175.548,7737.016,532.524,2171.583,522.880,33.376,1348.505,0.000,2178.487,0.000,0.536,0.000
$DEVICE_MAMPS,213.993,115.050,918.099,448.695,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,391.013,328.504,439.911,824.416,1246.866,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,44746,578
$CAP_FILE_SIZE,122754,0
$CFSIZE,260165632,172359680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,090910,180406,2253.732,-15742.632,34,1.2,34,10.1