version: 66.06
glider: 146
mission: 5
dive: 189
start: 9 11 110 23 41 11
data:
$ID,146
$MISSION,5
$DIVE,189
$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,-251062.5
$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,42
$R_STBD_OVSHOOT,42
$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
$GPS1,233406,2256.549,-15742.084,13,1.0,29,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-68.6
$GPS2,234014,2256.528,-15742.099,11,1.0,11,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.072,0.205
$KALMAN_X,-202619.0,8.7,346.2,251325.1,-946.2
$KALMAN_Y,-70168.8,74.6,683.3,210066.7,-3368.5
$MHEAD_RNG_PITCHd_Wd,9.2,2731,-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,-115.9,0.0,0.0,0,103,0.00,0.00,-85.70,0.000,6,0.000,0.000,476,1745,3475,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.7,-6.6,11,123,11.48,2.55,0.00,0.000,4,0.138,0.030,2740,3358,3477,0,0,0,0,0,0
$GC,231,-1.06,-116.8,32.5,-13.1,28,237,0.12,2.55,0.00,0.000,6,0.109,0.031,2767,1779,3478,0,0,0,0,0,0
$GC,499,-0.95,-116.8,67.9,-14.2,52,505,0.12,2.70,0.00,0.000,4,0.113,0.064,2795,192,3479,0,0,0,0,0,0
$GC,534,-0.86,-116.8,73.1,-13.3,54,538,0.00,2.45,0.00,0.000,6,0.000,0.015,2795,1821,3478,0,0,0,0,0,0
$GC,795,-0.86,-116.8,99.9,-8.7,78,799,0.00,2.40,0.00,0.000,4,0.000,0.025,2795,3363,3479,0,0,0,0,0,0
$GC,825,-0.86,-116.8,102.6,-8.5,80,829,0.00,2.55,0.00,0.000,6,0.000,0.028,2795,1764,3479,0,0,0,0,0,0
$GC,1087,-0.86,-116.8,122.1,-7.2,104,1092,0.00,2.67,0.00,0.000,4,0.000,0.068,2795,189,3479,0,0,0,0,0,0
$GC,1135,-0.86,-116.8,125.8,-7.7,107,1140,0.00,2.42,0.00,0.000,6,0.000,0.015,2794,1819,3479,0,0,0,0,0,0
$GC,1397,-0.91,-116.8,145.2,-8.4,132,1402,0.00,2.75,0.00,0.000,4,0.000,0.064,2795,197,3480,0,0,0,0,0,0
$GC,1462,-0.97,-116.8,151.0,-8.5,137,1467,0.00,2.30,0.00,0.000,6,0.000,0.016,2795,1756,3480,0,0,0,0,0,0
$GC,1725,-1.03,-116.8,174.0,-9.1,161,1729,0.00,2.40,0.00,0.000,4,0.000,0.028,2795,3301,3480,0,0,0,0,0,0
$GC,1765,-1.14,-116.8,177.7,-9.3,164,1770,0.20,2.47,0.00,0.000,6,0.051,0.030,2728,1747,3480,0,0,0,0,0,0
$GC,2047,-1.07,-116.8,209.0,-10.8,184,2052,0.17,2.45,0.00,0.000,4,0.160,0.024,2766,3301,3480,0,0,0,0,0,0
$GC,2074,-1.07,-116.8,212.1,-9.4,184,2078,0.00,2.45,0.00,0.000,6,0.000,0.035,2766,1760,3480,0,0,0,0,0,0
$GC,2325,-1.07,-116.8,234.0,-8.8,190,2327,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1760,3480,0,0,0,0,0,0
$GC,2568,-1.07,-116.8,255.4,-8.6,196,2569,0.00,0.00,0.00,0.000,6,0.000,0.000,2766,1758,3479,0,0,0,0,0,0
$GC,2812,-1.07,-116.8,274.5,-7.8,202,2816,0.00,2.70,0.00,0.000,4,0.000,0.072,2766,195,3479,0,0,0,0,0,0
$GC,2844,-1.07,-116.8,277.3,-8.9,202,2850,0.00,2.33,0.00,0.000,6,0.000,0.018,2766,1738,3479,0,0,0,0,0,0
$GC,3096,-1.11,-116.8,297.6,-8.3,209,3100,0.00,2.50,0.00,0.000,4,0.000,0.035,2766,3331,3479,0,0,0,0,0,0
$GC,3128,-1.18,-116.8,300.8,-9.1,209,3135,0.10,2.53,0.00,0.000,6,0.083,0.034,2727,1772,3479,0,0,0,0,0,0
$GC,3378,-1.18,-116.8,328.1,-10.9,216,3383,0.00,2.80,0.00,0.000,4,0.000,0.081,2727,185,3478,0,0,0,0,0,0
$GC,3418,-1.18,-116.8,332.2,-10.8,217,3423,0.00,2.42,0.00,0.000,6,0.000,0.024,2727,1752,3478,0,0,0,0,0,0
$GC,3702,-1.22,-116.8,357.0,-8.1,224,3707,0.00,2.60,0.00,0.000,4,0.000,0.049,2727,3349,3477,0,0,0,0,0,0
$GC,3768,-1.22,-116.8,361.8,-7.2,225,3773,0.00,2.60,0.00,0.000,6,0.000,0.053,2727,1779,3477,0,0,0,0,0,0
$GC,4025,-1.22,-116.8,379.6,-7.1,232,4030,0.00,2.90,0.00,0.000,4,0.000,0.100,2727,178,3475,0,0,0,0,0,0
$GC,4051,-1.22,-116.8,381.9,-8.3,232,4056,0.00,2.50,0.00,0.000,6,0.000,0.031,2727,1765,3475,0,0,0,0,0,0
$GC,4302,-1.22,-116.8,401.8,-8.1,238,4306,0.00,2.60,0.00,0.000,4,0.000,0.049,2727,3357,3474,0,0,0,0,0,0
$GC,4374,-1.22,-116.8,408.4,-9.2,239,4379,0.00,2.67,0.00,0.000,6,0.000,0.053,2727,1774,3474,0,0,0,0,0,0
$GC,4624,-1.22,-116.8,431.0,-9.2,245,4625,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1774,3472,0,0,0,0,0,0
$GC,4868,-1.22,-116.8,452.9,-8.8,251,4872,0.00,2.58,0.00,0.000,4,0.000,0.047,2727,3350,3470,0,0,0,0,0,0
$GC,4890,-1.22,-116.8,454.8,-8.6,251,4895,0.00,2.67,0.00,0.000,6,0.000,0.058,2727,1781,3470,0,0,0,0,0,0
$GC,5145,-1.22,-116.8,475.9,-8.2,258,5149,0.00,2.60,0.00,0.000,4,0.000,0.054,2727,3349,3468,0,0,0,0,0,0
$GC,5184,-1.27,-116.8,479.2,-8.8,259,5188,0.00,2.70,0.00,0.000,6,0.000,0.067,2727,1780,3468,0,0,0,0,0,0
$STATE,5465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5465,begin apogee
$GC,5472,-0.31,0.0,500.5,7.1,266,5570,0.90,0.00,94.95,0.920,6,0.074,0.000,2931,1842,3001,0,0,0,0,0,0
$STATE,5571,end apogee,CONTROL_FINISHED_OK
$STATE,5571,begin climb
$GC,5574,1.15,116.8,502.4,0.0,268,5685,1.35,2.65,99.80,0.897,4,0.044,0.056,3257,3383,2523,0,0,0,0,0,0
$GC,5702,1.08,178.0,501.8,5.2,271,5761,0.00,2.70,53.12,0.878,6,0.000,0.060,3257,1820,2274,0,0,0,0,0,0
$GC,6034,0.97,178.0,474.4,8.1,280,6036,0.22,0.00,0.00,0.000,6,0.107,0.000,3212,1820,2265,0,0,0,0,0,0
$GC,6279,1.00,201.2,457.5,6.9,286,6304,0.00,2.67,19.55,0.842,4,0.000,0.051,3211,3388,2179,0,0,0,0,0,0
$GC,6395,1.00,201.2,447.8,8.9,288,6400,0.00,2.65,0.00,0.000,6,0.000,0.058,3211,1834,2177,0,0,0,0,0,0
$GC,6646,1.00,201.2,426.8,8.5,294,6647,0.00,0.00,0.00,0.000,6,0.000,0.000,3211,1834,2174,0,0,0,0,0,0
$GC,6889,1.00,201.2,405.6,8.8,300,6893,0.00,2.55,0.00,0.000,4,0.000,0.037,3211,3394,2171,0,0,0,0,0,0
$GC,6927,1.00,201.2,402.1,9.3,301,6932,0.00,2.62,0.00,0.000,6,0.000,0.054,3211,1841,2171,0,0,0,0,0,0
$GC,7213,1.00,201.2,377.3,8.5,308,7217,0.00,2.53,0.00,0.000,4,0.000,0.035,3211,3396,2171,0,0,0,0,0,0
$GC,7285,1.04,202.3,371.1,8.0,309,7289,0.00,2.58,0.00,0.000,6,0.000,0.048,3211,1842,2170,0,0,0,0,0,0
$GC,7535,1.08,238.2,354.6,6.3,315,7570,0.10,0.00,32.17,0.821,6,0.098,0.000,3238,1842,2030,0,0,0,0,0,0
$GC,7780,1.09,246.9,336.3,7.6,321,7795,0.00,2.58,8.65,0.719,4,0.000,0.033,3238,3386,1994,0,0,0,0,0,0
$GC,7824,1.09,246.9,332.8,8.1,322,7829,0.00,2.55,0.00,0.000,6,0.000,0.038,3238,1853,1992,0,0,0,0,0,0
$GC,8108,1.09,249.4,311.0,7.9,329,8112,0.00,2.50,0.00,0.000,4,0.000,0.031,3238,3400,1990,0,0,0,0,0,0
$GC,8148,1.09,249.4,307.6,8.7,330,8153,0.00,2.53,0.00,0.000,6,0.000,0.040,3238,1850,1989,0,0,0,0,0,0
$GC,8432,1.09,249.4,282.2,9.2,337,8436,0.00,2.47,0.00,0.000,4,0.000,0.034,3238,3400,1989,0,0,0,0,0,0
$GC,8464,1.09,249.4,278.8,10.1,337,8470,0.00,2.53,0.00,0.000,6,0.000,0.035,3238,1856,1988,0,0,0,0,0,0
$GC,8715,1.09,249.4,255.0,9.4,344,8720,0.00,2.80,0.00,0.000,4,0.000,0.071,3238,235,1988,0,0,0,0,0,0
$GC,8730,1.09,249.4,253.2,9.4,344,8735,0.00,2.53,0.00,0.000,6,0.000,0.021,3238,1859,1987,0,0,0,0,0,0
$GC,8991,1.09,249.4,231.1,8.2,351,8995,0.00,2.45,0.00,0.000,4,0.000,0.037,3238,3397,1987,0,0,0,0,0,0
$GC,9077,1.14,249.4,224.4,8.2,353,9082,0.00,2.47,0.00,0.000,6,0.000,0.033,3238,1862,1986,0,0,0,0,0,0
$GC,9360,1.14,252.5,202.2,7.9,360,9368,0.00,0.00,5.38,0.545,6,0.000,0.000,3238,1862,1970,0,0,0,0,0,0
$GC,9614,1.14,252.5,179.6,8.9,381,9619,0.00,2.45,0.00,0.000,4,0.000,0.033,3238,3398,1969,0,0,0,0,0,0
$GC,9637,1.14,252.5,177.8,9.5,382,9641,0.00,2.47,0.00,0.000,6,0.000,0.031,3238,1866,1969,0,0,0,0,0,0
$GC,9903,1.15,253.6,154.9,8.0,406,9908,0.00,2.75,0.00,0.000,4,0.000,0.063,3238,245,1969,0,0,0,0,0,0
$GC,9947,1.15,253.6,151.1,9.8,409,9951,0.00,2.53,0.00,0.000,6,0.000,0.024,3238,1891,1969,0,0,0,0,0,0
$GC,10215,1.24,301.5,133.0,5.8,433,10266,0.12,2.90,43.80,0.625,4,0.097,0.059,3274,240,1770,0,0,0,0,0,0
$GC,10285,1.19,301.5,127.7,8.9,439,10289,0.00,2.55,0.00,0.000,6,0.000,0.018,3274,1883,1768,0,0,0,0,0,0
$GC,10551,1.19,301.5,104.1,8.3,463,10555,0.00,2.38,0.00,0.000,4,0.000,0.033,3274,3400,1766,0,0,0,0,0,0
$GC,10586,1.24,301.5,100.7,8.7,465,10592,0.00,2.45,0.00,0.000,6,0.000,0.033,3275,1875,1765,0,0,0,0,0,0
$GC,10853,1.28,303.6,79.0,7.9,490,10857,0.00,2.80,0.00,0.000,4,0.000,0.063,3274,239,1764,0,0,0,0,0,0
$GC,10874,1.28,303.6,77.0,8.4,491,10879,0.00,2.55,0.00,0.000,6,0.000,0.018,3275,1881,1764,0,0,0,0,0,0
$GC,11142,1.28,303.6,54.1,8.6,515,11150,0.00,0.00,0.00,0.000,6,0.000,0.000,3275,1883,1764,0,0,0,0,0,0
$GC,11406,1.28,303.6,32.4,8.1,540,11415,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1883,1764,0,0,0,0,0,0
$GC,11739,1.28,303.6,5.4,8.5,587,11749,0.00,2.40,0.00,0.000,4,0.000,0.035,3275,3393,1764,0,0,0,0,0,0
$STATE,11763,end climb,SURFACE_DEPTH_REACHED
$STATE,11763,begin surface coast
$FINISH,2.0,1.023258
$STATE,11780,end surface coast,CONTROL_FINISHED_OK
$STATE,11780,begin surface
$SM_CCo,11805,101.88,0.457,1,0,1287,420.20
$SM_GC,0.90,0.00,0.00,101.88,0.000,0.000,0.457,477,1761,1287,-11.61,-0.25,420.20
$IRIDIUM_FIX,2246.36,-15740.63,061299,202005
$TT8_MAMPS,0.025311
$HUMID,44.01
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.90
$XPDR_PINGS,63
$24V_AH,23.6,27.637
$10V_AH,10.4,28.100
$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,26.175,154.150,357.425,101.875,0.000,26.385,33.448,169.240,15.750,0.000,12.882,1187.508,7765.074,558.277,2228.187,543.304,33.376,1354.213,0.000,2230.952,0.000,0.537,0.000
$DEVICE_MAMPS,160.303,120.419,920.400,457.132,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,400.566,343.665,459.229,865.862,1308.398,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,47993,592
$CAP_FILE_SIZE,120816,0
$CFSIZE,260165632,171352064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,120910,030101,2256.087,-15741.994,36,2.0,36,10.1