version: 66.06
glider: 146
mission: 5
dive: 216
start: 9 15 110 20 23 26
data:
$ID,146
$MISSION,5
$DIVE,216
$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,-251551.03
$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,34
$R_STBD_OVSHOOT,61
$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
$GPS1,200907,2253.144,-15744.142,39,1.2,39,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-63.3
$GPS2,202231,2253.044,-15744.209,12,1.2,12,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.069,0.207
$KALMAN_X,-232361.9,1.5,-166.9,277955.6,-631.1
$KALMAN_Y,-143421.7,338.4,-410.2,277694.8,-2040.6
$MHEAD_RNG_PITCHd_Wd,8.2,9921,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.15,-116.8,0.0,0.0,0,100,0.00,0.00,-79.07,0.000,2,0.000,0.000,472,1756,3259,0,0,0,0,0,0
$GC,103,-1.15,-116.8,3.1,-3.9,10,129,11.52,2.55,-4.30,0.000,4,0.139,0.038,2742,3335,3481,0,0,0,0,0,0
$GC,206,-1.05,-116.8,24.1,-12.7,24,216,0.08,2.55,0.00,0.000,6,0.081,0.031,2765,1775,3482,0,0,0,0,0,0
$GC,487,-0.94,-116.8,62.0,-12.6,52,492,0.12,2.70,0.00,0.000,4,0.110,0.061,2793,189,3482,0,0,0,0,0,0
$GC,521,-0.90,-116.8,66.0,-11.4,54,526,0.00,2.38,0.00,0.000,6,0.000,0.015,2792,1788,3482,0,0,0,0,0,0
$GC,785,-0.90,-116.8,92.8,-9.6,78,789,0.00,2.35,0.00,0.000,4,0.000,0.023,2792,3310,3482,0,0,0,0,0,0
$GC,863,-0.98,-116.8,100.7,-9.7,84,867,0.00,2.45,0.00,0.000,6,0.000,0.026,2792,1765,3483,0,0,0,0,0,0
$GC,1126,-0.98,-116.8,126.4,-9.3,108,1131,0.00,2.67,0.00,0.000,4,0.000,0.068,2792,189,3483,0,0,0,0,0,0
$GC,1160,-0.98,-116.8,129.9,-9.4,110,1169,0.00,2.40,0.00,0.000,6,0.000,0.020,2793,1779,3483,0,0,0,0,0,0
$GC,1428,-1.03,-116.8,150.3,-7.1,135,1433,0.00,2.67,0.00,0.000,4,0.000,0.061,2793,199,3483,0,0,0,0,0,0
$GC,1458,-1.07,-116.8,152.9,-7.4,137,1463,0.12,2.35,0.00,0.000,6,0.070,0.022,2750,1787,3483,0,0,0,0,0,0
$GC,1719,-1.03,-116.8,175.5,-8.6,161,1721,0.12,0.00,0.00,0.000,6,0.107,0.000,2777,1788,3483,0,0,0,0,0,0
$GC,1975,-1.03,-116.8,194.3,-6.8,185,1976,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1789,3483,0,0,0,0,0,0
$GC,2233,-1.03,-116.8,212.5,-7.1,198,2237,0.00,2.72,0.00,0.000,4,0.000,0.067,2777,197,3483,0,0,0,0,0,0
$GC,2267,-1.03,-116.8,215.4,-8.3,198,2272,0.00,2.33,0.00,0.000,6,0.000,0.021,2778,1763,3483,0,0,0,0,0,0
$GC,2517,-1.03,-116.8,234.2,-7.5,205,2521,0.00,2.40,0.00,0.000,4,0.000,0.032,2777,3313,3482,0,0,0,0,0,0
$GC,2550,-1.09,-116.8,236.9,-7.7,205,2555,0.00,2.47,0.00,0.000,6,0.000,0.029,2777,1767,3482,0,0,0,0,0,0
$GC,2802,-1.13,-116.8,254.8,-7.1,212,2807,0.10,2.70,0.00,0.000,4,0.225,0.070,2741,196,3481,0,0,0,0,0,0
$GC,2829,-1.13,-116.8,257.4,-9.9,212,2833,0.00,2.38,0.00,0.000,6,0.000,0.016,2741,1751,3481,0,0,0,0,0,0
$GC,3084,-1.13,-116.8,278.9,-8.3,219,3086,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1754,3482,0,0,0,0,0,0
$GC,3329,-1.13,-116.8,299.2,-8.3,225,3330,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1754,3481,0,0,0,0,0,0
$GC,3572,-1.13,-116.8,321.1,-8.9,231,3576,0.00,2.72,0.00,0.000,4,0.000,0.074,2741,196,3481,0,0,0,0,0,0
$GC,3615,-1.13,-116.8,325.2,-9.5,232,3619,0.00,2.40,0.00,0.000,6,0.000,0.022,2741,1755,3480,0,0,0,0,0,0
$GC,3895,-1.13,-116.8,348.9,-8.6,239,3899,0.00,2.60,0.00,0.000,4,0.000,0.044,2741,3356,3479,0,0,0,0,0,0
$GC,3967,-1.19,-116.8,355.7,-8.9,240,3971,0.00,2.58,0.00,0.000,6,0.000,0.044,2741,1783,3479,0,0,0,0,0,0
$GC,4216,-1.19,-116.8,378.5,-9.2,246,4221,0.00,2.85,0.00,0.000,4,0.000,0.091,2741,186,3478,0,0,0,0,0,0
$GC,4278,-1.19,-116.8,384.8,-10.9,247,4282,0.00,2.45,0.00,0.000,6,0.000,0.024,2741,1761,3477,0,0,0,0,0,0
$GC,4538,-1.19,-116.8,408.5,-9.0,254,4543,0.00,2.58,0.00,0.000,4,0.000,0.045,2741,3350,3476,0,0,0,0,0,0
$GC,4578,-1.25,-116.8,412.2,-9.6,255,4583,0.00,2.65,0.00,0.000,6,0.000,0.054,2740,1768,3476,0,0,0,0,0,0
$GC,4862,-1.25,-116.8,438.0,-9.2,262,4867,0.00,2.90,0.00,0.000,4,0.000,0.105,2740,185,3474,0,0,0,0,0,0
$GC,4911,-1.25,-116.8,443.2,-10.5,263,4916,0.00,2.53,0.00,0.000,6,0.000,0.030,2741,1769,3474,0,0,0,0,0,0
$GC,5184,-1.25,-116.8,465.5,-7.8,270,5185,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1769,3472,0,0,0,0,0,0
$GC,5430,-1.29,-116.8,482.0,-6.7,276,5434,0.00,2.65,0.00,0.000,4,0.000,0.060,2741,3354,3471,0,0,0,0,0,0
$GC,5451,-1.34,-116.8,483.6,-6.8,276,5457,0.15,2.70,0.00,0.000,6,0.064,0.064,2693,1776,3470,0,0,0,0,0,0
$STATE,5664,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5664,begin apogee
$GC,5671,-0.31,0.0,501.4,8.4,282,5771,1.05,0.00,95.82,0.911,6,0.076,0.000,2930,1839,3001,0,0,0,0,0,0
$STATE,5771,end apogee,CONTROL_FINISHED_OK
$STATE,5772,begin climb
$GC,5774,1.15,116.8,503.7,0.0,284,5884,1.35,2.65,100.25,0.889,4,0.046,0.054,3254,3382,2524,0,0,0,0,0,0
$GC,5902,1.11,198.1,502.8,4.2,287,5979,0.00,2.70,70.43,0.871,6,0.000,0.060,3254,1817,2193,0,0,0,0,0,0
$GC,6229,0.99,198.1,474.2,9.7,296,6234,0.17,2.62,0.00,0.000,4,0.196,0.044,3219,3389,2184,0,0,0,0,0,0
$GC,6292,0.99,198.1,468.4,9.1,297,6296,0.00,2.70,0.00,0.000,6,0.000,0.057,3219,1827,2182,0,0,0,0,0,0
$GC,6552,0.99,198.1,446.7,8.1,304,6556,0.00,2.55,0.00,0.000,4,0.000,0.046,3219,3387,2180,0,0,0,0,0,0
$GC,6567,1.00,199.9,445.4,7.9,304,6572,0.00,2.65,0.00,0.000,6,0.000,0.058,3219,1833,2179,0,0,0,0,0,0
$GC,6830,1.02,217.1,426.5,7.2,311,6848,0.00,0.00,15.95,0.813,6,0.000,0.000,3219,1833,2115,0,0,0,0,0,0
$GC,7072,1.02,217.1,405.6,8.9,317,7073,0.00,0.00,0.00,0.000,6,0.000,0.000,3219,1833,2110,0,0,0,0,0,0
$GC,7316,1.02,217.1,383.3,9.1,323,7320,0.00,2.53,0.00,0.000,4,0.000,0.038,3219,3402,2109,0,0,0,0,0,0
$GC,7411,1.02,217.1,374.9,8.5,325,7416,0.00,2.60,0.00,0.000,6,0.000,0.045,3219,1835,2107,0,0,0,0,0,0
$GC,7683,1.03,224.6,353.3,7.7,332,7697,0.00,2.92,6.72,0.686,4,0.000,0.086,3219,236,2085,0,0,0,0,0,0
$GC,7709,1.00,234.9,351.2,7.5,332,7725,0.00,2.55,11.00,0.748,6,0.000,0.023,3219,1850,2042,0,0,0,0,0,0
$GC,7970,1.01,240.1,331.3,7.8,339,7981,0.00,2.50,5.90,0.645,4,0.000,0.034,3219,3390,2021,0,0,0,0,0,0
$GC,8060,1.06,244.8,323.9,7.8,341,8071,0.00,2.55,5.57,0.625,6,0.000,0.036,3219,1843,2003,0,0,0,0,0,0
$GC,8339,1.06,248.2,302.1,7.9,348,8349,0.00,2.85,4.57,0.561,4,0.000,0.079,3219,235,1988,0,0,0,0,0,0
$GC,8382,1.06,248.2,297.7,9.6,349,8386,0.00,2.55,0.00,0.000,6,0.000,0.022,3219,1860,1988,0,0,0,0,0,0
$GC,8660,1.06,248.2,273.7,8.5,356,8664,0.00,2.45,0.00,0.000,4,0.000,0.038,3219,3391,1987,0,0,0,0,0,0
$GC,8695,1.12,248.2,270.8,8.4,356,8701,0.10,2.50,0.00,0.000,6,0.093,0.034,3248,1845,1987,0,0,0,0,0,0
$GC,8945,1.13,254.1,250.6,7.7,363,8958,0.00,2.55,6.68,0.621,4,0.000,0.036,3248,3387,1965,0,0,0,0,0,0
$GC,8992,1.14,260.1,246.9,7.7,364,9006,0.00,2.50,7.20,0.625,6,0.000,0.039,3248,1856,1940,0,0,0,0,0,0
$GC,9275,1.15,273.4,226.6,7.4,371,9294,0.00,2.55,12.93,0.674,4,0.000,0.029,3248,3393,1886,0,0,0,0,0,0
$GC,9319,1.15,273.4,222.5,9.0,372,9323,0.00,2.50,0.00,0.000,6,0.000,0.039,3248,1856,1885,0,0,0,0,0,0
$GC,9577,1.15,273.4,195.9,11.4,379,9581,0.00,2.42,0.00,0.000,4,0.000,0.032,3248,3390,1884,0,0,0,0,0,0
$GC,9621,1.15,273.4,190.7,11.5,382,9625,0.00,2.45,0.00,0.000,6,0.000,0.037,3248,1869,1884,0,0,0,0,0,0
$GC,9887,1.15,273.4,160.3,10.8,406,9892,0.00,2.78,0.00,0.000,4,0.000,0.066,3248,233,1883,0,0,0,0,0,0
$GC,9910,1.11,273.4,157.3,11.4,407,9916,0.00,2.55,0.00,0.000,6,0.000,0.019,3248,1883,1882,0,0,0,0,0,0
$GC,10173,1.11,274.1,134.2,8.0,432,10174,0.00,0.00,0.00,0.000,6,0.000,0.000,3247,1885,1882,0,0,0,0,0,0
$GC,10427,1.12,279.8,114.4,7.7,456,10441,0.00,2.40,7.05,0.525,4,0.000,0.031,3248,3398,1859,0,0,0,0,0,0
$GC,10468,1.15,279.8,111.1,8.9,459,10473,0.00,2.47,0.00,0.000,6,0.000,0.031,3248,1858,1858,0,0,0,0,0,0
$GC,10735,1.15,279.8,84.9,9.9,483,10740,0.00,2.75,0.00,0.000,4,0.000,0.064,3248,243,1858,0,0,0,0,0,0
$GC,10767,1.15,279.8,81.4,10.9,485,10771,0.00,2.53,0.00,0.000,6,0.000,0.025,3248,1893,1858,0,0,0,0,0,0
$GC,11035,1.28,323.5,62.4,6.0,509,11079,0.12,2.40,38.42,0.563,4,0.089,0.027,3286,3398,1682,0,0,0,0,0,0
$GC,11117,1.34,332.6,56.4,7.6,515,11132,0.00,2.50,8.90,0.493,6,0.000,0.032,3286,1867,1644,0,0,0,0,0,0
$GC,11388,1.34,332.6,34.1,8.5,540,11397,0.00,0.00,0.00,0.000,6,0.000,0.000,3286,1867,1642,0,0,0,0,0,0
$STATE,11712,end climb,SURFACE_DEPTH_REACHED
$STATE,11712,begin surface coast
$FINISH,0.3,0.999691
$STATE,11763,end surface coast,CONTROL_FINISHED_OK
$STATE,11763,begin surface
$SM_CCo,11786,76.95,0.445,1,0,1287,420.20
$SM_GC,0.92,0.00,0.00,76.95,0.000,0.000,0.445,479,1746,1287,-11.60,-0.68,420.20
$IRIDIUM_FIX,2246.36,-15745.85,101299,202050
$TT8_MAMPS,0.026078
$HUMID,45.47
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.30
$XPDR_PINGS,56
$24V_AH,23.6,30.815
$10V_AH,10.3,31.551
$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,26.400,149.125,397.400,76.950,0.000,85.686,99.082,342.110,14.000,0.000,14.050,1197.883,7816.845,546.612,2248.539,863.027,33.377,1369.863,0.000,2250.151,0.000,0.536,0.000
$DEVICE_MAMPS,224.731,318.305,911.196,444.860,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,400.626,343.924,455.119,876.693,1327.743,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,47906,592
$CAP_FILE_SIZE,129405,0
$CFSIZE,260165632,169693184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150910,234228,2253.292,-15743.952,11,99.0,30,10.1