version: 66.06
glider: 146
mission: 5
dive: 217
start: 9 15 110 23 52 30
data:
$ID,146
$MISSION,5
$DIVE,217
$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,-251579.89
$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,47
$R_STBD_OVSHOOT,49
$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
$GPS1,234228,2253.292,-15743.952,11,99.0,30,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-66.8
$GPS2,235136,2253.252,-15744.003,9,1.7,25,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.053,0.211
$KALMAN_X,-233354.3,317.5,9.8,278811.3,-779.6
$KALMAN_Y,-146320.3,458.3,171.5,280278.2,-2925.0
$MHEAD_RNG_PITCHd_Wd,4.1,9434,-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,-116.8,0.0,0.0,0,103,0.00,0.00,-85.50,0.000,6,0.000,0.000,479,1746,3479,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.6,-6.3,11,124,11.40,2.53,0.00,0.000,4,0.137,0.025,2734,3360,3481,0,0,0,0,0,0
$GC,233,-1.03,-116.8,33.3,-14.5,28,238,0.17,2.55,0.00,0.000,6,0.094,0.031,2773,1788,3482,0,0,0,0,0,0
$GC,501,-0.94,-116.8,67.8,-11.4,52,506,0.10,2.72,0.00,0.000,4,0.123,0.062,2794,196,3482,0,0,0,0,0,0
$GC,535,-0.88,-116.8,72.0,-11.0,54,539,0.00,2.40,0.00,0.000,6,0.000,0.015,2794,1810,3482,0,0,0,0,0,0
$GC,799,-0.88,-116.8,95.7,-7.9,78,803,0.00,2.35,0.00,0.000,4,0.000,0.028,2794,3313,3482,0,0,0,0,0,0
$GC,846,-0.95,-116.8,99.0,-7.0,81,850,0.00,2.45,0.00,0.000,6,0.000,0.026,2794,1766,3482,0,0,0,0,0,0
$GC,1112,-0.95,-116.8,121.6,-9.6,105,1116,0.00,2.67,0.00,0.000,4,0.000,0.068,2794,195,3483,0,0,0,0,0,0
$GC,1170,-1.03,-116.8,127.7,-9.0,109,1176,0.00,2.33,0.00,0.000,6,0.000,0.022,2794,1767,3483,0,0,0,0,0,0
$GC,1434,-1.08,-116.8,150.0,-7.6,134,1439,0.12,2.40,0.00,0.000,4,0.070,0.028,2751,3309,3483,0,0,0,0,0,0
$GC,1456,-1.08,-116.8,152.0,-8.2,135,1465,0.00,2.50,0.00,0.000,6,0.000,0.028,2750,1760,3483,0,0,0,0,0,0
$GC,1722,-1.03,-116.8,176.6,-9.2,160,1727,0.12,0.00,0.00,0.000,6,0.103,0.000,2779,1757,3483,0,0,0,0,0,0
$GC,1986,-1.03,-116.8,198.4,-8.0,185,1991,0.00,2.67,0.00,0.000,4,0.000,0.072,2778,192,3483,0,0,0,0,0,0
$GC,2007,-1.03,-116.8,200.7,-9.0,186,2011,0.00,2.33,0.00,0.000,6,0.000,0.021,2779,1754,3483,0,0,0,0,0,0
$GC,2269,-1.03,-116.8,222.9,-8.6,193,2273,0.00,2.42,0.00,0.000,4,0.000,0.029,2779,3321,3483,0,0,0,0,0,0
$GC,2297,-1.08,-116.8,225.1,-8.3,193,2301,0.00,2.53,0.00,0.000,6,0.000,0.035,2779,1746,3483,0,0,0,0,0,0
$GC,2547,-1.08,-116.8,244.7,-7.7,199,2551,0.00,2.65,0.00,0.000,4,0.000,0.073,2778,197,3482,0,0,0,0,0,0
$GC,2573,-1.08,-116.8,247.0,-8.7,199,2578,0.00,2.35,0.00,0.000,6,0.000,0.019,2779,1736,3482,0,0,0,0,0,0
$GC,2831,-1.12,-116.8,265.8,-7.4,206,2836,0.10,2.50,0.00,0.000,4,0.083,0.027,2740,3325,3482,0,0,0,0,0,0
$GC,2852,-1.12,-116.8,267.8,-8.5,206,2857,0.00,2.53,0.00,0.000,6,0.000,0.038,2740,1758,3482,0,0,0,0,0,0
$GC,3108,-1.08,-116.8,289.0,-8.2,213,3113,0.10,2.47,0.00,0.000,4,0.117,0.027,2763,3325,3481,0,0,0,0,0,0
$GC,3126,-1.08,-116.8,290.3,-7.3,213,3130,0.00,2.50,0.00,0.000,6,0.000,0.037,2763,1760,3481,0,0,0,0,0,0
$GC,3386,-1.08,-116.8,306.0,-6.2,220,3388,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1760,3481,0,0,0,0,0,0
$GC,3631,-1.12,-116.8,322.8,-7.1,226,3635,0.00,2.78,0.00,0.000,4,0.000,0.084,2762,186,3481,0,0,0,0,0,0
$GC,3671,-1.12,-116.8,326.2,-9.3,227,3675,0.00,2.40,0.00,0.000,6,0.000,0.019,2763,1751,3480,0,0,0,0,0,0
$GC,3956,-1.17,-116.8,353.5,-9.8,234,3960,0.00,2.58,0.00,0.000,4,0.000,0.045,2763,3354,3480,0,0,0,0,0,0
$GC,4016,-1.27,-116.8,359.4,-9.1,235,4022,0.17,2.60,0.00,0.000,6,0.059,0.044,2707,1786,3480,0,0,0,0,0,0
$GC,4280,-1.21,-116.8,382.0,-8.0,242,4285,0.12,2.92,0.00,0.000,4,0.107,0.100,2735,183,3478,0,0,0,0,0,0
$GC,4330,-1.21,-116.8,385.5,-6.2,243,4334,0.00,2.50,0.00,0.000,6,0.000,0.027,2734,1778,3478,0,0,0,0,0,0
$GC,4603,-1.21,-116.8,402.1,-6.5,250,4607,0.00,2.55,0.00,0.000,4,0.000,0.045,2734,3351,3476,0,0,0,0,0,0
$GC,4653,-1.25,-116.8,406.1,-7.7,251,4657,0.00,2.62,0.00,0.000,6,0.000,0.055,2734,1785,3476,0,0,0,0,0,0
$GC,4924,-1.25,-116.8,429.3,-9.0,258,4926,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1785,3475,0,0,0,0,0,0
$GC,5169,-1.25,-116.8,452.2,-9.5,264,5171,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1785,3473,0,0,0,0,0,0
$GC,5412,-1.25,-116.8,471.9,-7.8,270,5417,0.00,2.58,0.00,0.000,4,0.000,0.052,2734,3352,3472,0,0,0,0,0,0
$GC,5462,-1.31,-116.8,475.6,-7.4,271,5467,0.00,2.67,0.00,0.000,6,0.000,0.067,2734,1788,3472,0,0,0,0,0,0
$GC,5735,-1.31,-116.8,492.3,-5.9,278,5736,0.00,0.00,0.00,0.000,6,0.000,0.000,2734,1788,3470,0,0,0,0,0,0
$STATE,5853,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5853,begin apogee
$GC,5858,-0.31,0.0,500.0,6.3,281,5958,0.88,0.00,96.40,0.915,6,0.074,0.000,2933,1787,3000,0,0,0,0,0,0
$STATE,5959,end apogee,CONTROL_FINISHED_OK
$STATE,5959,begin climb
$GC,5962,1.15,116.8,501.4,0.0,283,6071,1.35,3.05,101.43,0.890,4,0.051,0.117,3260,228,2522,0,0,0,0,0,0
$GC,6083,1.02,178.5,500.1,5.2,286,6143,0.17,2.62,53.75,0.870,6,0.117,0.039,3226,1810,2273,0,0,0,0,0,0
$GC,6422,0.96,178.5,470.7,9.1,295,6427,0.00,2.75,0.00,0.000,4,0.000,0.060,3226,3414,2263,0,0,0,0,0,0
$GC,6491,0.96,178.5,464.5,9.2,296,6496,0.00,2.70,0.00,0.000,6,0.000,0.055,3226,1824,2262,0,0,0,0,0,0
$GC,6746,0.90,178.5,441.5,8.9,303,6751,0.15,2.60,0.00,0.000,4,0.130,0.038,3196,3415,2260,0,0,0,0,0,0
$GC,6842,0.95,178.5,433.5,8.3,305,6847,0.00,2.67,0.00,0.000,6,0.000,0.049,3196,1842,2258,0,0,0,0,0,0
$GC,7115,0.97,193.4,413.1,7.3,312,7129,0.00,0.00,11.90,0.795,6,0.000,0.000,3196,1842,2212,0,0,0,0,0,0
$GC,7359,1.01,230.4,397.2,6.3,318,7401,0.10,2.65,33.60,0.839,4,0.097,0.040,3223,3426,2059,0,0,0,0,0,0
$GC,7437,1.04,249.9,392.0,7.1,319,7461,0.00,2.65,18.58,0.802,6,0.000,0.048,3223,1850,1981,0,0,0,0,0,0
$GC,7735,1.05,264.9,369.9,7.3,327,7755,0.00,2.60,13.95,0.782,4,0.000,0.037,3223,3415,1919,0,0,0,0,0,0
$GC,7796,1.12,277.9,365.4,7.4,328,7816,0.00,2.62,12.98,0.766,6,0.000,0.048,3223,1857,1867,0,0,0,0,0,0
$GC,8067,1.12,277.9,342.3,8.8,335,8068,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1857,1862,0,0,0,0,0,0
$GC,8310,1.12,277.9,319.2,9.6,341,8315,0.00,2.85,0.00,0.000,4,0.000,0.081,3223,233,1860,0,0,0,0,0,0
$GC,8327,1.12,277.9,317.6,9.6,341,8331,0.00,2.65,0.00,0.000,6,0.000,0.023,3223,1917,1859,0,0,0,0,0,0
$GC,8587,1.12,277.9,295.1,8.1,348,8588,0.00,0.00,0.00,0.000,6,0.000,0.000,3223,1919,1859,0,0,0,0,0,0
$GC,8831,1.12,277.9,275.3,8.1,354,8836,0.00,2.92,0.00,0.000,4,0.000,0.072,3223,229,1858,0,0,0,0,0,0
$GC,8846,1.12,277.9,273.8,8.3,354,8851,0.00,2.62,0.00,0.000,6,0.000,0.025,3223,1911,1857,0,0,0,0,0,0
$GC,9109,1.16,277.9,250.2,9.4,361,9115,0.12,2.92,0.00,0.000,4,0.215,0.065,3259,232,1857,0,0,0,0,0,0
$GC,9126,1.16,277.9,248.0,9.8,361,9130,0.00,2.62,0.00,0.000,6,0.000,0.024,3259,1909,1857,0,0,0,0,0,0
$GC,9386,1.16,277.9,219.2,11.3,368,9390,0.00,2.38,0.00,0.000,4,0.000,0.037,3260,3419,1857,0,0,0,0,0,0
$GC,9432,1.16,277.9,214.1,11.2,369,9436,0.00,2.53,0.00,0.000,6,0.000,0.033,3260,1854,1856,0,0,0,0,0,0
$GC,9693,1.16,277.9,187.6,9.2,383,9698,0.00,2.78,0.00,0.000,4,0.000,0.065,3259,239,1856,0,0,0,0,0,0
$GC,9715,1.08,277.9,185.2,11.1,384,9725,0.08,2.62,0.00,0.000,6,0.099,0.025,3239,1912,1855,0,0,0,0,0,0
$GC,9982,1.10,290.6,165.0,7.4,409,9998,0.00,2.40,10.62,0.610,4,0.000,0.035,3239,3423,1814,0,0,0,0,0,0
$GC,10014,1.10,290.6,161.8,8.3,411,10024,0.00,2.55,0.00,0.000,6,0.000,0.031,3239,1870,1814,0,0,0,0,0,0
$GC,10278,1.10,290.6,139.9,8.4,436,10280,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1870,1813,0,0,0,0,0,0
$GC,10530,1.14,290.6,117.9,8.1,460,10532,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1870,1813,0,0,0,0,0,0
$GC,10789,1.26,344.8,101.2,5.5,484,10849,0.15,2.85,46.97,0.597,4,0.073,0.065,3281,237,1594,0,0,0,0,0,0
$GC,10886,1.22,344.8,92.9,9.5,492,10891,0.00,2.58,0.00,0.000,6,0.000,0.023,3281,1906,1592,0,0,0,0,0,0
$GC,11152,1.22,344.8,70.5,8.4,516,11157,0.00,2.40,0.00,0.000,4,0.000,0.027,3281,3422,1592,0,0,0,0,0,0
$GC,11187,1.27,344.8,67.7,8.5,518,11191,0.00,2.53,0.00,0.000,6,0.000,0.033,3281,1871,1590,0,0,0,0,0,0
$GC,11455,1.27,344.8,44.5,9.7,542,11459,0.00,2.78,0.00,0.000,4,0.000,0.058,3281,239,1589,0,0,0,0,0,0
$GC,11475,1.27,344.8,42.1,10.0,543,11479,0.00,2.58,0.00,0.000,6,0.000,0.018,3281,1923,1589,0,0,0,0,0,0
$GC,11775,1.27,344.8,13.5,9.5,580,11783,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1925,1589,0,0,0,0,0,0
$STATE,11867,end climb,SURFACE_DEPTH_REACHED
$STATE,11868,begin surface coast
$FINISH,0.4,1.021628
$STATE,11924,end surface coast,CONTROL_FINISHED_OK
$STATE,11926,begin surface
$SM_CCo,11948,67.15,0.434,1,0,1287,420.20
$SM_GC,0.90,0.00,0.00,67.15,0.000,0.000,0.434,476,1754,1287,-11.61,-0.45,420.20
$IRIDIUM_FIX,2244.02,-15746.73,101299,202051
$TT8_MAMPS,0.026078
$HUMID,45.11
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.60
$XPDR_PINGS,54
$24V_AH,23.6,30.936
$10V_AH,10.3,31.682
$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,26.700,150.775,400.175,67.150,0.000,57.115,110.674,164.398,13.500,0.000,28.228,1207.806,7937.705,564.634,2204.657,652.159,33.369,1367.867,0.000,2191.573,0.000,0.536,0.000
$DEVICE_MAMPS,214.760,116.584,915.031,434.122,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,406.603,350.526,461.318,851.502,1283.161,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355500
$DATA_FILE_SIZE,47755,601
$CAP_FILE_SIZE,124240,0
$CFSIZE,260165632,169631744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,160910,031406,2253.233,-15743.729,33,1.4,33,10.1