version: 66.06
glider: 146
mission: 5
dive: 178
start: 9 10 110 9 18 3
data:
$ID,146
$MISSION,5
$DIVE,178
$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,-250884.92
$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,40
$R_STBD_OVSHOOT,40
$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
$GPS1,091107,2254.956,-15741.916,31,0.9,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.2
$GPS2,091708,2254.922,-15741.946,10,1.4,10,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.019,0.216
$KALMAN_X,-192118.2,-141.3,35.2,241549.5,-248.6
$KALMAN_Y,-44589.9,-432.9,484.6,182224.6,-2017.3
$MHEAD_RNG_PITCHd_Wd,354.9,5702,-16.2,-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,-115.8,0.0,0.0,0,105,0.00,0.00,-85.85,0.000,6,0.000,0.000,475,1743,3475,0,0,0,0,0,0
$GC,109,-1.15,-116.8,4.3,-5.5,11,126,11.48,2.55,0.00,0.000,4,0.138,0.022,2738,3365,3477,0,0,0,0,0,0
$GC,249,-1.06,-116.8,36.1,-14.3,29,259,0.10,2.60,0.00,0.000,6,0.081,0.032,2765,1782,3478,0,0,0,0,0,0
$GC,517,-0.94,-116.8,73.0,-13.7,54,522,0.12,2.78,0.00,0.000,4,0.113,0.063,2794,182,3477,0,0,0,0,0,0
$GC,563,-0.86,-116.8,79.7,-12.8,57,567,0.00,2.45,0.00,0.000,6,0.000,0.015,2794,1826,3478,0,0,0,0,0,0
$GC,828,-0.86,-116.8,104.0,-8.2,81,832,0.00,2.38,0.00,0.000,4,0.000,0.023,2794,3364,3478,0,0,0,0,0,0
$GC,860,-0.86,-116.8,106.7,-8.7,83,865,0.00,2.58,0.00,0.000,6,0.000,0.029,2794,1752,3478,0,0,0,0,0,0
$GC,1127,-0.86,-116.8,128.6,-8.6,107,1131,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1752,3478,0,0,0,0,0,0
$GC,1389,-0.90,-116.8,151.9,-8.5,132,1393,0.00,2.53,0.00,0.000,4,0.000,0.024,2794,3361,3479,0,0,0,0,0,0
$GC,1412,-0.96,-116.8,154.1,-8.6,133,1417,0.00,2.53,0.00,0.000,6,0.000,0.027,2794,1772,3479,0,0,0,0,0,0
$GC,1676,-1.02,-116.8,175.2,-7.7,158,1681,0.00,2.70,0.00,0.000,4,0.000,0.065,2794,189,3479,0,0,0,0,0,0
$GC,1722,-1.08,-116.8,179.0,-7.7,161,1728,0.12,2.42,0.00,0.000,6,0.070,0.021,2752,1809,3479,0,0,0,0,0,0
$GC,2016,-1.08,-116.8,203.5,-7.9,186,2020,0.00,2.78,0.00,0.000,4,0.000,0.064,2751,197,3479,0,0,0,0,0,0
$GC,2048,-1.04,-116.8,206.8,-9.6,186,2055,0.10,2.38,0.00,0.000,6,0.114,0.023,2773,1765,3479,0,0,0,0,0,0
$GC,2298,-1.04,-116.8,228.1,-8.7,193,2302,0.00,2.45,0.00,0.000,4,0.000,0.031,2773,3334,3479,0,0,0,0,0,0
$GC,2360,-1.11,-116.8,233.7,-8.8,194,2365,0.00,2.50,0.00,0.000,6,0.000,0.031,2773,1781,3479,0,0,0,0,0,0
$GC,2621,-1.15,-116.8,256.9,-8.9,201,2626,0.10,2.78,0.00,0.000,4,0.087,0.073,2737,187,3479,0,0,0,0,0,0
$GC,2661,-1.09,-116.8,261.2,-11.0,202,2666,0.10,2.40,0.00,0.000,6,0.118,0.022,2760,1767,3479,0,0,0,0,0,0
$GC,2946,-1.09,-116.8,284.4,-7.8,209,2947,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1769,3478,0,0,0,0,0,0
$GC,3189,-1.13,-116.8,303.0,-7.7,215,3193,0.00,2.47,0.00,0.000,4,0.000,0.038,2760,3338,3478,0,0,0,0,0,0
$GC,3233,-1.21,-116.8,306.4,-7.0,216,3238,0.10,2.50,0.00,0.000,6,0.084,0.035,2723,1786,3478,0,0,0,0,0,0
$GC,3512,-1.21,-116.8,332.0,-9.5,223,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1786,3477,0,0,0,0,0,0
$GC,3754,-1.21,-116.8,355.2,-9.7,229,3755,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1786,3476,0,0,0,0,0,0
$GC,4000,-1.21,-116.8,379.3,-9.8,235,4004,0.00,2.88,0.00,0.000,4,0.000,0.093,2723,192,3475,0,0,0,0,0,0
$GC,4044,-1.21,-116.8,384.4,-11.2,236,4049,0.00,2.50,0.00,0.000,6,0.000,0.029,2723,1760,3475,0,0,0,0,0,0
$GC,4322,-1.21,-116.8,411.0,-9.2,243,4326,0.00,2.65,0.00,0.000,4,0.000,0.058,2723,3360,3473,0,0,0,0,0,0
$GC,4343,-1.21,-116.8,413.0,-8.7,243,4347,0.00,2.62,0.00,0.000,6,0.000,0.052,2723,1792,3473,0,0,0,0,0,0
$GC,4600,-1.21,-116.8,433.1,-7.8,250,4605,0.00,2.55,0.00,0.000,4,0.000,0.044,2723,3354,3471,0,0,0,0,0,0
$GC,4633,-1.21,-116.8,435.8,-7.6,250,4639,0.00,2.65,0.00,0.000,6,0.000,0.058,2723,1790,3471,0,0,0,0,0,0
$GC,4884,-1.21,-116.8,454.8,-7.7,257,4885,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1790,3469,0,0,0,0,0,0
$GC,5128,-1.21,-116.8,473.4,-7.5,263,5133,0.00,2.60,0.00,0.000,4,0.000,0.053,2723,3353,3468,0,0,0,0,0,0
$GC,5151,-1.21,-116.8,475.2,-7.8,263,5156,0.00,2.65,0.00,0.000,6,0.000,0.064,2723,1808,3468,0,0,0,0,0,0
$GC,5406,-1.21,-116.8,494.8,-7.8,270,5411,0.00,3.10,0.00,0.000,4,0.000,0.123,2723,181,3465,0,0,0,0,0,0
$GC,5450,-1.21,-116.8,499.0,-9.3,271,5455,0.00,2.62,0.00,0.000,6,0.000,0.037,2723,1794,3465,0,0,0,0,0,0
$STATE,5464,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5464,begin apogee
$GC,5471,-0.31,0.0,500.5,9.2,271,5569,0.90,0.00,94.90,0.918,6,0.073,0.000,2930,1794,3001,0,0,0,0,0,0
$STATE,5570,end apogee,CONTROL_FINISHED_OK
$STATE,5570,begin climb
$GC,5573,1.15,116.8,503.2,0.0,274,5677,1.38,0.00,100.82,0.894,6,0.055,0.000,3259,1794,2524,0,0,0,0,0,0
$GC,5893,1.04,139.1,488.9,7.0,282,5918,0.15,2.85,19.05,0.843,4,0.225,0.065,3228,3407,2432,0,0,0,0,0,0
$GC,5946,0.99,148.8,484.8,7.6,283,5961,0.00,2.72,9.77,0.772,6,0.000,0.057,3228,1816,2394,0,0,0,0,0,0
$GC,6219,0.94,161.5,464.5,7.4,290,6239,0.12,2.75,11.80,0.805,4,0.253,0.048,3205,3410,2341,0,0,0,0,0,0
$GC,6256,0.96,178.7,461.7,7.2,290,6280,0.00,2.72,16.95,0.830,6,0.000,0.051,3205,1824,2272,0,0,0,0,0,0
$GC,6548,0.97,187.1,439.8,7.6,298,6562,0.00,2.70,7.78,0.746,4,0.000,0.040,3205,3412,2238,0,0,0,0,0,0
$GC,6608,0.97,187.1,434.9,8.4,299,6612,0.00,2.70,0.00,0.000,6,0.000,0.050,3205,1837,2237,0,0,0,0,0,0
$GC,6874,1.00,207.4,415.6,7.1,306,6898,0.00,2.65,19.05,0.833,4,0.000,0.039,3204,3415,2154,0,0,0,0,0,0
$GC,6940,1.00,207.4,410.7,8.1,307,6944,0.00,2.65,0.00,0.000,6,0.000,0.047,3205,1845,2152,0,0,0,0,0,0
$GC,7201,1.01,213.6,390.8,7.7,314,7209,0.00,0.00,6.25,0.689,6,0.000,0.000,3205,1845,2130,0,0,0,0,0,0
$GC,7444,1.01,213.6,369.6,8.8,320,7449,0.00,2.92,0.00,0.000,4,0.000,0.088,3205,232,2127,0,0,0,0,0,0
$GC,7500,1.01,213.6,364.3,9.5,321,7504,0.00,2.60,0.00,0.000,6,0.000,0.025,3205,1873,2126,0,0,0,0,0,0
$GC,7766,1.02,224.3,343.5,7.5,328,7782,0.00,2.53,10.75,0.762,4,0.000,0.035,3204,3414,2085,0,0,0,0,0,0
$GC,7810,1.07,226.3,340.3,7.9,329,7815,0.12,2.60,0.00,0.000,6,0.085,0.037,3237,1853,2083,0,0,0,0,0,0
$GC,8089,1.07,226.3,316.9,8.5,336,8094,0.00,2.83,0.00,0.000,4,0.000,0.080,3236,240,2081,0,0,0,0,0,0
$GC,8129,0.99,226.3,313.0,10.3,337,8134,0.10,2.58,0.00,0.000,6,0.136,0.023,3218,1872,2080,0,0,0,0,0,0
$GC,8413,0.99,226.3,289.7,8.2,344,8417,0.00,2.50,0.00,0.000,4,0.000,0.034,3217,3424,2080,0,0,0,0,0,0
$GC,8519,1.05,226.3,280.0,9.3,346,8523,0.00,2.55,0.00,0.000,6,0.000,0.033,3217,1862,2079,0,0,0,0,0,0
$GC,8779,1.06,239.7,260.0,7.4,353,8799,0.00,2.55,13.90,0.721,4,0.000,0.037,3217,3414,2023,0,0,0,0,0,0
$GC,8825,1.14,255.9,256.8,7.3,354,8848,0.12,2.55,16.08,0.717,6,0.077,0.038,3253,1862,1957,0,0,0,0,0,0
$GC,9110,1.14,255.9,232.8,8.3,361,9111,0.00,0.00,0.00,0.000,6,0.000,0.000,3253,1862,1952,0,0,0,0,0,0
$GC,9355,1.14,255.9,211.4,8.8,367,9356,0.00,0.00,0.00,0.000,6,0.000,0.000,3252,1862,1951,0,0,0,0,0,0
$GC,9605,1.14,255.9,188.4,10.2,379,9609,0.00,2.80,0.00,0.000,4,0.000,0.065,3253,241,1950,0,0,0,0,0,0
$GC,9621,1.10,255.9,186.4,9.6,380,9626,0.00,2.58,0.00,0.000,6,0.000,0.020,3253,1913,1949,0,0,0,0,0,0
$GC,9885,1.10,255.9,162.5,9.0,404,9890,0.00,2.90,0.00,0.000,4,0.000,0.062,3253,236,1949,0,0,0,0,0,0
$GC,9917,1.05,255.9,159.6,9.9,406,9922,0.12,2.58,0.00,0.000,6,0.116,0.025,3228,1904,1949,0,0,0,0,0,0
$GC,10180,1.12,272.3,140.3,7.2,430,10198,0.00,0.00,14.60,0.610,6,0.000,0.000,3228,1905,1890,0,0,0,0,0,0
$GC,10455,1.22,285.4,119.5,7.4,456,10473,0.15,2.47,12.38,0.580,4,0.070,0.032,3270,3425,1837,0,0,0,0,0,0
$GC,10503,1.22,285.4,114.7,9.7,459,10509,0.00,2.58,0.00,0.000,6,0.000,0.036,3270,1854,1835,0,0,0,0,0,0
$GC,10766,1.22,288.5,92.8,7.9,484,10781,0.00,2.55,4.15,0.409,4,0.000,0.028,3270,3416,1824,0,0,0,0,0,0
$GC,10833,1.30,288.5,88.1,8.2,489,10838,0.00,2.47,0.00,0.000,6,0.000,0.036,3270,1881,1823,0,0,0,0,0,0
$GC,11100,1.33,310.3,69.3,7.0,513,11127,0.00,2.88,20.02,0.552,4,0.000,0.059,3270,241,1735,0,0,0,0,0,0
$GC,11158,1.33,310.3,64.7,8.3,517,11162,0.00,2.62,0.00,0.000,6,0.000,0.018,3270,1930,1733,0,0,0,0,0,0
$GC,11424,1.37,310.3,42.2,9.1,541,11434,0.12,0.00,0.00,0.000,6,0.075,0.000,3308,1932,1732,0,0,0,0,0,0
$GC,11730,1.37,310.3,10.0,10.2,579,11739,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1932,1732,0,0,0,0,0,0
$STATE,11787,end climb,SURFACE_DEPTH_REACHED
$STATE,11788,begin surface coast
$FINISH,0.3,1.011792
$STATE,11845,end surface coast,CONTROL_FINISHED_OK
$STATE,11846,begin surface
$SM_CCo,11867,94.85,0.454,1,0,1287,420.20
$SM_GC,0.96,0.00,0.00,94.85,0.000,0.000,0.454,475,1735,1287,-11.62,-0.99,420.20
$IRIDIUM_FIX,2244.02,-15743.68,051299,060603
$TT8_MAMPS,0.025311
$HUMID,44.05
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.80
$XPDR_PINGS,57
$24V_AH,23.6,26.350
$10V_AH,10.4,26.646
$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,26.900,147.225,378.250,94.850,0.000,30.409,29.182,165.751,14.250,0.000,12.194,1200.504,7829.009,575.602,2188.223,536.209,33.367,1377.076,0.000,2192.456,0.000,0.537,0.000
$DEVICE_MAMPS,253.110,122.720,918.099,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,402.495,340.687,457.187,840.375,1271.031,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,47927,595
$CAP_FILE_SIZE,123728,0
$CFSIZE,260165632,172027904
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,100910,123854,2254.896,-15742.115,22,1.1,40,10.1