version: 66.06
glider: 146
mission: 5
dive: 177
start: 9 10 110 5 53 38
data:
$ID,146
$MISSION,5
$DIVE,177
$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,-250872.11
$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,11
$R_STBD_OVSHOOT,37
$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
$GPS1,054307,2254.196,-15741.751,40,1.2,40,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.84
$_SM_ANGLEo,-64.0
$GPS2,055243,2254.144,-15741.809,10,1.7,15,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.011,0.217
$KALMAN_X,-191539.4,47.2,-356.7,241408.4,-253.1
$KALMAN_Y,-42302.3,-224.1,-756.3,179532.5,-314.4
$MHEAD_RNG_PITCHd_Wd,352.9,7148,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.15,-116.1,0.0,0.0,0,128,0.00,0.00,-110.12,0.000,2,0.000,0.000,474,1832,3244,0,0,0,0,0,0
$GC,131,-1.15,-116.8,3.0,-3.6,14,157,11.57,2.45,-4.60,0.000,4,0.142,0.041,2740,3363,3479,0,0,0,0,0,0
$GC,236,-1.06,-116.8,24.6,-14.3,28,246,0.10,2.62,0.00,0.000,6,0.083,0.038,2766,1762,3479,0,0,0,0,0,0
$GC,512,-0.94,-116.8,62.3,-13.5,55,517,0.12,2.70,0.00,0.000,4,0.117,0.061,2793,185,3479,0,0,0,0,0,0
$GC,560,-0.87,-116.8,68.9,-13.9,58,564,0.00,2.42,0.00,0.000,6,0.000,0.015,2793,1803,3480,0,0,0,0,0,0
$GC,822,-0.87,-116.8,99.6,-10.6,82,827,0.00,2.75,0.00,0.000,4,0.000,0.065,2793,186,3479,0,0,0,0,0,0
$GC,843,-0.87,-116.8,101.7,-11.1,83,848,0.00,2.35,0.00,0.000,6,0.000,0.015,2793,1774,3479,0,0,0,0,0,0
$GC,1110,-0.87,-116.8,128.7,-8.6,107,1115,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1776,3479,0,0,0,0,0,0
$GC,1372,-0.87,-116.8,150.8,-7.7,132,1376,0.00,2.38,0.00,0.000,4,0.000,0.026,2793,3304,3480,0,0,0,0,0,0
$GC,1394,-0.92,-116.8,152.1,-7.2,133,1398,0.00,2.47,0.00,0.000,6,0.000,0.033,2793,1747,3480,0,0,0,0,0,0
$GC,1662,-0.96,-116.8,171.8,-7.8,157,1666,0.00,2.62,0.00,0.000,4,0.000,0.063,2793,193,3480,0,0,0,0,0,0
$GC,1714,-1.03,-116.8,177.3,-9.5,161,1718,0.00,2.30,0.00,0.000,6,0.000,0.017,2793,1748,3480,0,0,0,0,0,0
$GC,2007,-1.10,-116.8,203.6,-8.7,185,2008,0.15,0.00,0.00,0.000,6,0.066,0.000,2744,1749,3480,0,0,0,0,0,0
$GC,2250,-1.10,-116.8,228.5,-10.1,191,2254,0.00,2.45,0.00,0.000,4,0.000,0.029,2744,3318,3479,0,0,0,0,0,0
$GC,2288,-1.10,-116.8,232.3,-9.8,192,2293,0.00,2.53,0.00,0.000,6,0.000,0.036,2744,1743,3479,0,0,0,0,0,0
$GC,2571,-1.10,-116.8,259.0,-9.1,199,2572,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1741,3479,0,0,0,0,0,0
$GC,2816,-1.10,-116.8,280.0,-8.5,205,2821,0.00,2.70,0.00,0.000,4,0.000,0.077,2744,190,3478,0,0,0,0,0,0
$GC,2837,-1.10,-116.8,282.0,-8.3,205,2841,0.00,2.33,0.00,0.000,6,0.000,0.024,2744,1718,3478,0,0,0,0,0,0
$GC,3099,-1.10,-116.8,302.9,-7.8,212,3103,0.00,2.53,0.00,0.000,4,0.000,0.035,2744,3306,3478,0,0,0,0,0,0
$GC,3132,-1.10,-116.8,305.9,-8.3,212,3138,0.00,2.55,0.00,0.000,6,0.000,0.038,2744,1750,3477,0,0,0,0,0,0
$GC,3382,-1.10,-116.8,329.3,-9.6,219,3387,0.00,2.75,0.00,0.000,4,0.000,0.086,2744,190,3477,0,0,0,0,0,0
$GC,3414,-1.10,-116.8,332.7,-10.8,219,3420,0.00,2.35,0.00,0.000,6,0.000,0.021,2744,1708,3477,0,0,0,0,0,0
$GC,3664,-1.10,-116.8,355.8,-9.2,226,3665,0.00,0.00,0.00,0.000,6,0.000,0.000,2744,1708,3475,0,0,0,0,0,0
$GC,3909,-1.10,-116.8,376.1,-8.3,232,3914,0.00,2.60,0.00,0.000,4,0.000,0.050,2744,3299,3474,0,0,0,0,0,0
$GC,3937,-1.15,-116.8,378.4,-7.6,232,3942,0.00,2.60,0.00,0.000,6,0.000,0.055,2744,1743,3474,0,0,0,0,0,0
$GC,4188,-1.18,-116.8,395.6,-6.8,238,4192,0.00,2.85,0.00,0.000,4,0.000,0.097,2744,181,3472,0,0,0,0,0,0
$GC,4216,-1.18,-116.8,397.7,-7.8,238,4220,0.00,2.38,0.00,0.000,6,0.000,0.030,2744,1686,3472,0,0,0,0,0,0
$GC,4466,-1.18,-116.8,416.4,-7.5,244,4470,0.00,2.65,0.00,0.000,4,0.000,0.048,2744,3296,3470,0,0,0,0,0,0
$GC,4521,-1.24,-116.8,421.0,-8.4,245,4526,0.00,2.65,0.00,0.000,6,0.000,0.061,2743,1742,3470,0,0,0,0,0,0
$GC,4790,-1.29,-116.8,443.5,-8.6,252,4791,0.10,0.00,0.00,0.000,6,0.216,0.000,2713,1741,3468,0,0,0,0,0,0
$GC,5032,-1.29,-116.8,466.8,-9.5,258,5036,0.00,2.58,0.00,0.000,4,0.000,0.050,2713,3302,3466,0,0,0,0,0,0
$GC,5075,-1.29,-116.8,471.0,-9.4,259,5080,0.00,2.65,0.00,0.000,6,0.000,0.061,2713,1758,3466,0,0,0,0,0,0
$GC,5354,-1.29,-116.8,494.1,-8.1,266,5358,0.00,2.58,0.00,0.000,4,0.000,0.056,2712,3298,3464,0,0,0,0,0,0
$GC,5375,-1.29,-116.8,495.9,-8.0,266,5379,0.00,2.62,0.00,0.000,6,0.000,0.064,2713,1760,3463,0,0,0,0,0,0
$STATE,5431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5431,begin apogee
$GC,5436,-0.31,0.0,500.5,7.9,268,5534,0.98,0.00,94.80,0.910,6,0.081,0.000,2931,1760,3001,0,0,0,0,0,0
$STATE,5535,end apogee,CONTROL_FINISHED_OK
$STATE,5535,begin climb
$GC,5539,1.15,116.8,501.8,0.0,270,5644,1.38,0.00,101.10,0.887,6,0.051,0.000,3259,1760,2524,0,0,0,0,0,0
$GC,5878,1.01,120.4,481.8,7.8,279,5883,0.20,2.67,0.00,0.000,4,0.191,0.044,3219,3346,2513,0,0,0,0,0,0
$GC,5934,0.99,141.5,477.6,7.0,280,5960,0.00,2.60,20.62,0.838,6,0.000,0.056,3219,1828,2424,0,0,0,0,0,0
$GC,6206,0.96,159.4,458.0,7.2,287,6229,0.00,2.62,16.55,0.829,4,0.000,0.044,3219,3350,2351,0,0,0,0,0,0
$GC,6286,0.98,175.7,452.0,7.3,288,6306,0.00,2.60,15.65,0.822,6,0.000,0.059,3219,1837,2284,0,0,0,0,0,0
$GC,6575,0.98,205.1,432.4,6.6,296,6609,0.00,2.60,26.45,0.848,4,0.000,0.044,3219,3352,2163,0,0,0,0,0,0
$GC,6637,0.99,210.9,427.7,7.7,297,6649,0.00,2.60,6.25,0.680,6,0.000,0.055,3219,1837,2141,0,0,0,0,0,0
$GC,6900,0.99,210.9,406.9,8.2,304,6904,0.00,2.47,0.00,0.000,4,0.000,0.040,3219,3364,2135,0,0,0,0,0,0
$GC,6944,0.99,210.9,402.7,9.0,305,6949,0.00,2.60,0.00,0.000,6,0.000,0.052,3220,1828,2134,0,0,0,0,0,0
$GC,7222,0.99,210.9,379.3,8.2,312,7227,0.00,2.90,0.00,0.000,4,0.000,0.091,3219,229,2133,0,0,0,0,0,0
$GC,7245,0.92,210.9,377.4,8.9,312,7250,0.00,2.47,0.00,0.000,6,0.000,0.026,3219,1798,2131,0,0,0,0,0,0
$GC,7501,0.93,217.3,357.6,7.7,319,7512,0.00,2.60,5.57,0.653,4,0.000,0.035,3219,3398,2114,0,0,0,0,0,0
$GC,7575,0.93,222.2,351.4,7.8,320,7586,0.00,2.58,6.20,0.670,6,0.000,0.041,3219,1849,2094,0,0,0,0,0,0
$GC,7829,0.93,222.2,329.5,8.5,327,7834,0.00,2.85,0.00,0.000,4,0.000,0.081,3219,237,2091,0,0,0,0,0,0
$GC,7879,0.89,222.2,324.8,9.9,328,7884,0.12,2.55,0.00,0.000,6,0.123,0.025,3195,1851,2090,0,0,0,0,0,0
$GC,8153,0.99,263.7,307.4,6.1,335,8197,0.00,2.62,36.88,0.788,4,0.000,0.035,3195,3404,1925,0,0,0,0,0,0
$GC,8287,1.11,263.7,297.6,8.3,338,8293,0.20,2.53,0.00,0.000,6,0.064,0.038,3246,1861,1921,0,0,0,0,0,0
$GC,8566,1.11,263.7,268.0,11.0,345,8571,0.00,2.50,0.00,0.000,4,0.000,0.036,3246,3406,1918,0,0,0,0,0,0
$GC,8606,1.11,263.7,263.4,11.0,346,8610,0.00,2.53,0.00,0.000,6,0.000,0.040,3246,1867,1918,0,0,0,0,0,0
$GC,8889,1.11,263.7,234.9,9.7,353,8890,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1868,1917,0,0,0,0,0,0
$GC,9132,1.11,263.7,212.8,9.1,359,9137,0.00,2.45,0.00,0.000,4,0.000,0.028,3246,3398,1916,0,0,0,0,0,0
$GC,9182,1.11,263.7,207.8,9.7,360,9186,0.00,2.47,0.00,0.000,6,0.000,0.039,3246,1882,1916,0,0,0,0,0,0
$GC,9441,1.11,263.7,182.6,9.7,377,9445,0.00,2.83,0.00,0.000,4,0.000,0.064,3246,241,1916,0,0,0,0,0,0
$GC,9476,1.06,263.7,179.0,10.1,379,9482,0.00,2.58,0.00,0.000,6,0.000,0.023,3246,1897,1914,0,0,0,0,0,0
$GC,9738,1.06,263.7,155.5,8.7,404,9743,0.00,2.83,0.00,0.000,4,0.000,0.067,3246,238,1914,0,0,0,0,0,0
$GC,9761,1.06,263.7,153.2,9.6,405,9770,0.00,2.58,0.00,0.000,6,0.000,0.023,3246,1885,1914,0,0,0,0,0,0
$GC,10023,1.06,263.7,131.6,8.4,430,10027,0.00,2.38,0.00,0.000,4,0.000,0.031,3246,3401,1914,0,0,0,0,0,0
$GC,10072,1.12,263.7,127.1,9.0,434,10077,0.00,2.42,0.00,0.000,6,0.000,0.032,3246,1881,1914,0,0,0,0,0,0
$GC,10337,1.17,263.7,103.9,8.6,458,10345,0.00,0.00,0.00,0.000,6,0.000,0.000,3246,1881,1914,0,0,0,0,0,0
$GC,10604,1.25,279.3,83.2,7.3,483,10629,0.10,2.50,13.20,0.551,4,0.092,0.027,3278,3405,1861,0,0,0,0,0,0
$GC,10672,1.30,279.3,76.9,9.1,488,10681,0.00,2.50,0.00,0.000,6,0.000,0.033,3278,1888,1860,0,0,0,0,0,0
$GC,10938,1.33,301.9,57.9,7.0,513,10966,0.00,2.90,20.40,0.542,4,0.000,0.059,3278,237,1768,0,0,0,0,0,0
$GC,10996,1.33,301.9,53.3,8.4,517,11001,0.00,2.58,0.00,0.000,6,0.000,0.018,3278,1909,1767,0,0,0,0,0,0
$GC,11263,1.33,301.9,31.4,8.4,541,11271,0.00,0.00,0.00,0.000,6,0.000,0.000,3278,1911,1766,0,0,0,0,0,0
$STATE,11570,end climb,SURFACE_DEPTH_REACHED
$STATE,11570,begin surface coast
$FINISH,0.2,1.023132
$STATE,11648,end surface coast,CONTROL_FINISHED_OK
$STATE,11648,begin surface
$SM_CCo,11669,100.10,0.456,1,0,1288,420.20
$SM_GC,0.90,0.00,0.00,100.10,0.000,0.000,0.456,475,1744,1288,-11.62,-0.76,420.20
$IRIDIUM_FIX,2246.36,-15740.63,051299,050518
$TT8_MAMPS,0.025311
$HUMID,43.14
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.90
$XPDR_PINGS,54
$24V_AH,23.6,26.236
$10V_AH,10.3,26.518
$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,26.375,149.550,363.675,100.100,0.000,51.049,66.888,235.624,13.500,0.000,17.300,1185.706,7620.403,587.667,2267.681,684.071,33.380,1406.032,0.000,2273.209,0.000,0.536,0.000
$DEVICE_MAMPS,216.294,96.642,910.429,456.365,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,402.664,348.101,463.364,897.875,1358.076,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,47790,596
$CAP_FILE_SIZE,124296,0
$CFSIZE,260165632,172089344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100910,091107,2254.956,-15741.916,31,0.9,31,10.1