version: 66.06
glider: 146
mission: 5
dive: 200
start: 9 13 110 13 4 9
data:
$ID,146
$MISSION,5
$DIVE,200
$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,-251240.88
$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,59
$R_STBD_OVSHOOT,25
$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
$GPS1,125307,2256.415,-15742.631,32,1.4,32,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-67.2
$GPS2,130314,2256.387,-15742.694,15,1.4,15,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.046,0.213
$KALMAN_X,-212608.2,-246.1,159.6,260734.1,-1006.7
$KALMAN_Y,-98209.4,8.0,568.0,238025.2,-3735.3
$MHEAD_RNG_PITCHd_Wd,2.1,3214,-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,15,-1.15,-116.8,0.0,0.0,0,105,0.00,0.00,-86.93,0.000,2,0.000,0.000,476,1725,3477,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.1,-5.3,11,126,11.50,2.62,0.00,0.000,4,0.139,0.026,2742,3384,3478,0,0,0,0,0,0
$GC,223,-1.04,-116.8,31.4,-13.0,27,232,0.10,2.58,0.00,0.000,6,0.078,0.030,2769,1803,3479,0,0,0,0,0,0
$GC,490,-0.92,-116.8,67.5,-14.5,52,495,0.12,2.78,0.00,0.000,4,0.111,0.063,2796,195,3479,0,0,0,0,0,0
$GC,525,-0.85,-116.8,73.0,-13.7,54,529,0.00,2.45,0.00,0.000,6,0.000,0.016,2796,1822,3479,0,0,0,0,0,0
$GC,787,-0.85,-116.8,101.9,-10.2,78,791,0.00,2.40,0.00,0.000,4,0.000,0.025,2797,3370,3480,0,0,0,0,0,0
$GC,820,-0.91,-116.8,105.4,-9.8,80,829,0.00,2.62,0.00,0.000,6,0.000,0.038,2797,1760,3480,0,0,0,0,0,0
$GC,1089,-0.97,-116.8,127.6,-7.3,105,1093,0.00,2.65,0.00,0.000,4,0.000,0.064,2796,191,3480,0,0,0,0,0,0
$GC,1123,-1.02,-116.8,130.9,-8.4,107,1128,0.00,2.45,0.00,0.000,6,0.000,0.015,2796,1831,3481,0,0,0,0,0,0
$GC,1386,-1.08,-116.8,151.8,-8.6,132,1391,0.15,2.80,0.00,0.000,4,0.082,0.060,2745,194,3481,0,0,0,0,0,0
$GC,1410,-1.08,-116.8,154.5,-10.4,133,1415,0.00,2.42,0.00,0.000,6,0.000,0.019,2745,1823,3480,0,0,0,0,0,0
$GC,1673,-1.03,-116.8,186.1,-12.4,158,1674,0.12,0.00,0.00,0.000,6,0.105,0.000,2774,1824,3481,0,0,0,0,0,0
$GC,1933,-1.03,-116.8,211.8,-9.2,174,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1824,3481,0,0,0,0,0,0
$GC,2174,-1.03,-116.8,229.4,-6.9,180,2178,0.00,2.80,0.00,0.000,4,0.000,0.066,2774,193,3480,0,0,0,0,0,0
$GC,2195,-1.03,-116.8,231.0,-7.1,180,2200,0.00,2.42,0.00,0.000,6,0.000,0.016,2774,1812,3480,0,0,0,0,0,0
$GC,2452,-1.03,-116.8,250.4,-7.8,187,2453,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,1813,3480,0,0,0,0,0,0
$GC,2695,-1.07,-116.8,273.0,-9.4,193,2699,0.00,2.78,0.00,0.000,4,0.000,0.066,2774,196,3480,0,0,0,0,0,0
$GC,2734,-1.12,-116.8,277.0,-9.9,194,2738,0.00,2.33,0.00,0.000,6,0.000,0.025,2774,1739,3479,0,0,0,0,0,0
$GC,3019,-1.18,-116.8,299.0,-7.2,201,3021,0.12,0.00,0.00,0.000,6,0.073,0.000,2732,1741,3479,0,0,0,0,0,0
$GC,3260,-1.18,-116.8,318.7,-8.1,207,3265,0.00,2.50,0.00,0.000,4,0.000,0.033,2732,3328,3478,0,0,0,0,0,0
$GC,3321,-1.18,-116.8,324.2,-9.0,208,3326,0.00,2.60,0.00,0.000,6,0.000,0.041,2732,1749,3478,0,0,0,0,0,0
$GC,3584,-1.18,-116.8,348.9,-10.0,215,3589,0.00,2.80,0.00,0.000,4,0.000,0.087,2732,182,3477,0,0,0,0,0,0
$GC,3610,-1.18,-116.8,352.2,-11.6,215,3615,0.00,2.40,0.00,0.000,6,0.000,0.022,2732,1731,3477,0,0,0,0,0,0
$GC,3861,-1.18,-116.8,377.3,-10.0,221,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1731,3476,0,0,0,0,0,0
$GC,4105,-1.18,-116.8,396.6,-7.3,227,4106,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1731,3475,0,0,0,0,0,0
$GC,4350,-1.18,-116.8,412.4,-6.6,233,4354,0.00,2.67,0.00,0.000,4,0.000,0.054,2732,3345,3473,0,0,0,0,0,0
$GC,4468,-1.22,-116.8,421.3,-7.7,235,4473,0.00,2.70,0.00,0.000,6,0.000,0.058,2732,1764,3473,0,0,0,0,0,0
$GC,4720,-1.22,-116.8,440.9,-7.8,241,4725,0.00,2.92,0.00,0.000,4,0.000,0.106,2732,181,3471,0,0,0,0,0,0
$GC,4764,-1.22,-116.8,444.7,-8.8,242,4768,0.00,2.50,0.00,0.000,6,0.000,0.033,2732,1745,3471,0,0,0,0,0,0
$GC,5041,-1.22,-116.8,463.5,-6.4,249,5046,0.00,2.72,0.00,0.000,4,0.000,0.061,2732,3363,3469,0,0,0,0,0,0
$GC,5064,-1.26,-116.8,464.9,-6.3,249,5069,0.00,2.75,0.00,0.000,6,0.000,0.060,2732,1754,3469,0,0,0,0,0,0
$GC,5320,-1.30,-116.8,483.1,-7.4,256,5324,0.00,2.67,0.00,0.000,4,0.000,0.049,2732,3360,3467,0,0,0,0,0,0
$GC,5369,-1.36,-116.8,487.4,-8.6,257,5375,0.12,2.75,0.00,0.000,6,0.072,0.062,2691,1763,3467,0,0,0,0,0,0
$STATE,5517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5517,begin apogee
$GC,5525,-0.31,0.0,502.3,10.1,261,5623,1.08,0.00,94.53,0.927,6,0.078,0.000,2932,1842,3001,0,0,0,0,0,0
$STATE,5624,end apogee,CONTROL_FINISHED_OK
$STATE,5624,begin climb
$GC,5626,1.15,116.8,505.6,0.0,263,5731,1.35,0.00,100.57,0.900,6,0.046,0.000,3260,1842,2524,0,0,0,0,0,0
$GC,5966,1.03,143.5,492.1,6.8,272,5996,0.17,2.67,22.60,0.858,4,0.181,0.055,3225,3382,2414,0,0,0,0,0,0
$GC,6070,0.98,154.6,484.8,7.5,274,6086,0.00,2.67,10.82,0.792,6,0.000,0.060,3225,1832,2370,0,0,0,0,0,0
$GC,6339,0.93,173.7,465.4,7.1,281,6363,0.10,2.67,17.75,0.845,4,0.206,0.048,3206,3382,2291,0,0,0,0,0,0
$GC,6433,0.95,186.0,458.7,7.4,283,6451,0.00,2.65,11.95,0.811,6,0.000,0.053,3205,1845,2242,0,0,0,0,0,0
$GC,6716,0.96,198.9,437.5,7.4,290,6735,0.00,3.10,12.27,0.813,4,0.000,0.106,3205,233,2188,0,0,0,0,0,0
$GC,6763,0.89,198.9,433.6,8.4,291,6768,0.00,2.58,0.00,0.000,6,0.000,0.031,3205,1817,2186,0,0,0,0,0,0
$GC,7041,0.94,233.1,415.4,6.4,298,7078,0.00,2.70,30.98,0.858,4,0.000,0.044,3205,3411,2049,0,0,0,0,0,0
$GC,7137,0.99,233.1,408.7,8.0,299,7141,0.00,2.65,0.00,0.000,6,0.000,0.051,3205,1837,2045,0,0,0,0,0,0
$GC,7410,0.99,239.9,387.5,7.7,306,7418,0.00,0.00,6.45,0.703,6,0.000,0.000,3205,1837,2022,0,0,0,0,0,0
$GC,7655,0.99,239.9,367.9,8.1,312,7659,0.00,2.55,0.00,0.000,4,0.000,0.038,3205,3418,2019,0,0,0,0,0,0
$GC,7694,1.06,239.9,364.4,8.7,313,7700,0.12,2.65,0.00,0.000,6,0.089,0.043,3239,1835,2018,0,0,0,0,0,0
$GC,7978,1.06,239.9,336.4,9.9,320,7982,0.00,2.58,0.00,0.000,4,0.000,0.038,3239,3418,2017,0,0,0,0,0,0
$GC,8039,1.06,239.9,329.4,10.8,321,8044,0.00,2.58,0.00,0.000,6,0.000,0.044,3239,1856,2016,0,0,0,0,0,0
$GC,8300,1.06,239.9,303.9,9.1,328,8304,0.00,2.53,0.00,0.000,4,0.000,0.037,3239,3417,2016,0,0,0,0,0,0
$GC,8354,1.06,239.9,299.0,8.6,329,8359,0.00,2.53,0.00,0.000,6,0.000,0.035,3239,1875,2015,0,0,0,0,0,0
$GC,8623,1.10,265.8,280.1,6.8,336,8648,0.00,0.00,23.20,0.762,6,0.000,0.000,3239,1875,1917,0,0,0,0,0,0
$GC,8865,1.10,266.0,260.9,8.0,342,8866,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1874,1913,0,0,0,0,0,0
$GC,9109,1.10,266.0,238.1,9.5,348,9113,0.00,2.47,0.00,0.000,4,0.000,0.032,3239,3412,1912,0,0,0,0,0,0
$GC,9154,1.15,266.0,233.6,10.2,349,9158,0.00,2.53,0.00,0.000,6,0.000,0.035,3239,1860,1911,0,0,0,0,0,0
$GC,9431,1.15,266.0,208.1,9.0,356,9432,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1859,1911,0,0,0,0,0,0
$GC,9680,1.15,266.0,184.5,9.5,371,9684,0.00,2.47,0.00,0.000,4,0.000,0.028,3239,3422,1911,0,0,0,0,0,0
$GC,9703,1.15,266.0,182.2,9.7,372,9712,0.00,2.53,0.00,0.000,6,0.000,0.032,3239,1878,1911,0,0,0,0,0,0
$GC,9967,1.15,266.0,157.7,9.2,397,9972,0.00,2.78,0.00,0.000,4,0.000,0.067,3239,240,1911,0,0,0,0,0,0
$GC,9983,1.15,266.0,155.6,9.5,398,9988,0.00,2.60,0.00,0.000,6,0.000,0.021,3239,1924,1910,0,0,0,0,0,0
$GC,10247,1.15,266.0,130.2,9.9,422,10256,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1925,1910,0,0,0,0,0,0
$GC,10513,1.20,266.0,104.6,8.2,447,10517,0.00,2.85,0.00,0.000,4,0.000,0.061,3239,237,1910,0,0,0,0,0,0
$GC,10554,1.20,266.0,100.8,9.3,450,10558,0.00,2.58,0.00,0.000,6,0.000,0.021,3239,1906,1910,0,0,0,0,0,0
$GC,10817,1.35,318.0,83.9,5.6,474,10868,0.22,2.95,44.80,0.585,4,0.059,0.063,3300,236,1703,0,0,0,0,0,0
$GC,10901,1.27,318.0,77.4,10.7,480,10906,0.12,2.58,0.00,0.000,6,0.115,0.018,3274,1895,1701,0,0,0,0,0,0
$GC,11166,1.27,318.0,56.2,8.1,504,11170,0.00,2.40,0.00,0.000,4,0.000,0.025,3274,3425,1700,0,0,0,0,0,0
$GC,11188,1.32,324.0,54.6,7.7,505,11203,0.00,2.53,6.07,0.453,6,0.000,0.031,3274,1858,1679,0,0,0,0,0,0
$GC,11459,1.32,324.0,30.3,9.3,530,11468,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1858,1678,0,0,0,0,0,0
$STATE,11750,end climb,SURFACE_DEPTH_REACHED
$STATE,11751,begin surface coast
$FINISH,0.3,1.022063
$STATE,11834,end surface coast,CONTROL_FINISHED_OK
$STATE,11834,begin surface
$SM_CCo,11855,90.03,0.454,1,0,1287,420.20
$SM_GC,1.02,0.00,0.00,90.03,0.000,0.000,0.454,476,1742,1287,-11.61,-0.79,420.20
$IRIDIUM_FIX,2248.70,-15737.57,081299,090910
$TT8_MAMPS,0.026078
$HUMID,45.03
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.80
$XPDR_PINGS,54
$24V_AH,23.6,28.899
$10V_AH,10.3,29.497
$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,26.675,136.700,382.000,90.025,0.000,93.091,91.938,157.977,13.500,0.000,16.649,1176.171,7963.675,575.156,2182.695,660.295,33.376,1353.292,0.000,2193.186,0.000,0.536,0.000
$DEVICE_MAMPS,206.323,105.846,927.303,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,395.559,335.630,443.755,849.862,1285.492,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,44823,584
$CAP_FILE_SIZE,119574,0
$CFSIZE,260165632,170688512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130910,162437,2255.974,-15743.069,35,1.0,35,10.1