version: 66.06
glider: 146
mission: 5
dive: 226
start: 9 17 110 7 9 32
data:
$ID,146
$MISSION,5
$DIVE,226
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,800
$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,-251760.95
$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,53
$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
$GPS1,070236,2250.659,-15744.448,59,1.0,59,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-67.9
$GPS2,070837,2250.545,-15744.491,9,1.2,14,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.089,0.199
$KALMAN_X,-240183.8,160.7,139.6,284828.2,-1413.8
$KALMAN_Y,-173983.3,-51.0,-251.0,303860.3,-3456.4
$MHEAD_RNG_PITCHd_Wd,14.0,14445,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.15,-116.8,0.0,0.0,0,105,0.00,0.00,-85.55,0.000,6,0.000,0.000,474,1728,3479,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.5,-6.6,11,126,11.55,2.58,0.00,0.000,4,0.140,0.029,2739,3346,3482,0,0,0,0,0,0
$GC,197,-1.03,-116.8,28.2,-14.8,23,205,0.12,2.55,0.00,0.000,6,0.075,0.032,2772,1798,3482,0,0,0,0,0,0
$GC,465,-0.94,-116.8,62.9,-12.2,48,470,0.10,2.75,0.00,0.000,4,0.120,0.064,2794,190,3482,0,0,0,0,0,0
$GC,488,-0.88,-116.8,66.0,-12.0,49,493,0.00,2.42,0.00,0.000,6,0.000,0.015,2794,1808,3482,0,0,0,0,0,0
$GC,755,-0.88,-116.8,92.7,-10.2,73,759,0.00,2.75,0.00,0.000,4,0.000,0.063,2794,187,3483,0,0,0,0,0,0
$GC,789,-0.88,-116.8,96.8,-10.7,75,795,0.00,2.38,0.00,0.000,6,0.000,0.020,2794,1790,3483,0,0,0,0,0,0
$GC,1053,-0.92,-116.8,120.6,-7.9,100,1057,0.00,2.38,0.00,0.000,4,0.000,0.028,2794,3307,3483,0,0,0,0,0,0
$GC,1088,-1.02,-116.8,123.3,-7.7,102,1097,0.00,2.47,0.00,0.000,6,0.000,0.035,2794,1780,3484,0,0,0,0,0,0
$GC,1355,-1.08,-116.8,141.0,-6.1,127,1360,0.12,2.70,0.00,0.000,4,0.070,0.067,2751,192,3484,0,0,0,0,0,0
$GC,1437,-1.04,-116.8,149.1,-10.6,133,1444,0.10,2.38,0.00,0.000,6,0.110,0.022,2773,1778,3484,0,0,0,0,0,0
$GC,1700,-1.04,-116.8,172.2,-9.5,158,1704,0.00,2.38,0.00,0.000,4,0.000,0.031,2773,3312,3483,0,0,0,0,0,0
$GC,1744,-1.10,-116.8,176.8,-9.5,161,1750,0.00,2.42,0.00,0.000,6,0.000,0.031,2773,1778,3484,0,0,0,0,0,0
$GC,2038,-1.10,-116.8,204.0,-9.1,186,2039,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1778,3484,0,0,0,0,0,0
$GC,2279,-1.10,-116.8,224.5,-8.2,192,2280,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1777,3484,0,0,0,0,0,0
$GC,2523,-1.10,-116.8,241.9,-7.1,198,2527,0.00,2.42,0.00,0.000,4,0.000,0.033,2774,3302,3483,0,0,0,0,0,0
$GC,2552,-1.15,-116.8,244.0,-7.1,198,2557,0.10,2.42,0.00,0.000,6,0.084,0.029,2734,1783,3483,0,0,0,0,0,0
$GC,2802,-1.10,-116.8,266.5,-9.2,204,2807,0.12,2.78,0.00,0.000,4,0.104,0.078,2762,188,3483,0,0,0,0,0,0
$GC,2853,-1.10,-116.8,271.2,-9.1,205,2857,0.00,2.38,0.00,0.000,6,0.000,0.018,2761,1748,3482,0,0,0,0,0,0
$GC,3125,-1.14,-116.8,293.5,-8.4,212,3129,0.00,2.50,0.00,0.000,4,0.000,0.031,2762,3336,3482,0,0,0,0,0,0
$GC,3146,-1.20,-116.8,295.4,-8.3,212,3152,0.10,2.50,0.00,0.000,6,0.084,0.038,2724,1776,3482,0,0,0,0,0,0
$GC,3403,-1.16,-116.8,320.9,-10.0,219,3409,0.10,2.80,0.00,0.000,4,0.114,0.085,2745,186,3482,0,0,0,0,0,0
$GC,3436,-1.16,-116.8,324.4,-10.4,219,3442,0.00,2.42,0.00,0.000,6,0.000,0.023,2745,1755,3482,0,0,0,0,0,0
$GC,3687,-1.16,-116.8,343.7,-7.3,226,3691,0.00,2.58,0.00,0.000,4,0.000,0.039,2745,3351,3481,0,0,0,0,0,0
$GC,3732,-1.23,-116.8,346.9,-7.2,227,3737,0.00,2.58,0.00,0.000,6,0.000,0.041,2745,1789,3481,0,0,0,0,0,0
$GC,4012,-1.23,-116.8,366.7,-7.2,234,4016,0.00,2.88,0.00,0.000,4,0.000,0.093,2745,183,3479,0,0,0,0,0,0
$GC,4089,-1.23,-116.8,373.7,-8.8,235,4095,0.00,2.47,0.00,0.000,6,0.000,0.028,2745,1775,3478,0,0,0,0,0,0
$GC,4340,-1.23,-116.8,396.0,-9.2,242,4345,0.00,2.58,0.00,0.000,4,0.000,0.042,2745,3357,3477,0,0,0,0,0,0
$GC,4362,-1.28,-116.8,398.1,-8.2,242,4368,0.10,2.62,0.00,0.000,6,0.087,0.054,2708,1775,3477,0,0,0,0,0,0
$GC,4619,-1.23,-116.8,421.0,-8.8,249,4621,0.10,0.00,0.00,0.000,6,0.118,0.000,2731,1775,3476,0,0,0,0,0,0
$GC,4862,-1.23,-116.8,439.5,-7.6,255,4863,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1775,3474,0,0,0,0,0,0
$GC,5105,-1.23,-116.8,459.1,-8.1,261,5109,0.00,2.62,0.00,0.000,4,0.000,0.046,2732,3354,3473,0,0,0,0,0,0
$GC,5138,-1.27,-116.8,461.8,-8.0,261,5143,0.00,2.70,0.00,0.000,6,0.000,0.061,2731,1779,3473,0,0,0,0,0,0
$GC,5389,-1.27,-116.8,481.4,-7.7,268,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,2731,1779,3471,0,0,0,0,0,0
$GC,5632,-1.27,-116.8,498.7,-7.0,274,5636,0.00,2.60,0.00,0.000,4,0.000,0.056,2731,3343,3470,0,0,0,0,0,0
$STATE,5650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5650,begin apogee
$GC,5659,-0.31,0.0,500.2,6.8,274,5758,0.85,0.00,95.93,0.916,6,0.071,0.000,2929,1816,3001,0,0,0,0,0,0
$STATE,5759,end apogee,CONTROL_FINISHED_OK
$STATE,5759,begin climb
$GC,5763,1.15,116.8,502.3,0.0,277,5877,1.35,3.17,100.93,0.893,4,0.051,0.117,3253,229,2522,0,0,0,0,0,0
$GC,5889,1.00,155.5,500.0,6.2,280,5929,0.17,2.62,34.03,0.861,6,0.120,0.037,3220,1813,2367,0,0,0,0,0,0
$GC,6202,0.94,155.5,474.6,8.3,288,6207,0.00,2.75,0.00,0.000,4,0.000,0.064,3220,3407,2357,0,0,0,0,0,0
$GC,6332,0.94,155.5,463.1,9.3,291,6337,0.00,2.67,0.00,0.000,6,0.000,0.049,3220,1830,2355,0,0,0,0,0,0
$GC,6615,0.89,155.5,439.5,8.2,298,6621,0.12,2.60,0.00,0.000,4,0.122,0.041,3195,3411,2353,0,0,0,0,0,0
$GC,6660,0.90,168.5,436.0,7.4,299,6675,0.00,2.65,10.52,0.784,6,0.000,0.053,3196,1838,2314,0,0,0,0,0,0
$GC,6938,0.94,201.1,417.3,6.5,306,6970,0.00,0.00,30.23,0.847,6,0.000,0.000,3195,1838,2181,0,0,0,0,0,0
$GC,7181,0.98,228.9,400.8,6.7,312,7212,0.00,2.62,25.55,0.827,4,0.000,0.034,3195,3412,2065,0,0,0,0,0,0
$GC,7271,1.09,263.8,395.2,6.4,314,7311,0.17,2.62,32.00,0.825,6,0.071,0.049,3241,1853,1924,0,0,0,0,0,0
$GC,7596,1.04,263.8,368.6,8.1,322,7600,0.00,2.90,0.00,0.000,4,0.000,0.084,3241,235,1916,0,0,0,0,0,0
$GC,7647,0.95,263.8,363.8,9.5,323,7652,0.17,2.60,0.00,0.000,6,0.111,0.023,3206,1866,1916,0,0,0,0,0,0
$GC,7919,0.96,275.8,343.3,7.5,330,7935,0.00,2.50,10.52,0.746,4,0.000,0.035,3206,3404,1875,0,0,0,0,0,0
$GC,7958,1.02,275.8,340.2,8.5,331,7963,0.00,2.60,0.00,0.000,6,0.000,0.043,3206,1845,1874,0,0,0,0,0,0
$GC,8244,1.06,275.8,316.6,8.5,338,8245,0.10,0.00,0.00,0.000,6,0.091,0.000,3234,1845,1872,0,0,0,0,0,0
$GC,8485,1.06,275.8,294.9,8.7,344,8490,0.00,2.83,0.00,0.000,4,0.000,0.079,3234,233,1871,0,0,0,0,0,0
$GC,8525,1.01,275.8,291.1,9.8,345,8529,0.00,2.55,0.00,0.000,6,0.000,0.025,3234,1860,1870,0,0,0,0,0,0
$GC,8809,1.01,275.8,264.5,9.7,352,8813,0.00,2.83,0.00,0.000,4,0.000,0.071,3234,233,1870,0,0,0,0,0,0
$GC,8824,1.01,275.8,262.5,10.2,352,8828,0.00,2.50,0.00,0.000,6,0.000,0.022,3233,1846,1869,0,0,0,0,0,0
$GC,9085,1.01,275.8,235.0,10.5,359,9086,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1848,1869,0,0,0,0,0,0
$GC,9330,1.01,275.8,212.1,9.1,365,9335,0.00,2.47,0.00,0.000,4,0.000,0.036,3234,3396,1869,0,0,0,0,0,0
$GC,9346,1.01,275.8,210.4,8.7,365,9351,0.00,2.55,0.00,0.000,6,0.000,0.038,3234,1827,1868,0,0,0,0,0,0
$GC,9608,1.01,279.9,189.3,7.8,380,9613,0.00,2.47,0.00,0.000,4,0.000,0.028,3234,3391,1867,0,0,0,0,0,0
$GC,9643,1.05,279.9,187.0,8.0,382,9648,0.00,2.50,0.00,0.000,6,0.000,0.039,3234,1843,1868,0,0,0,0,0,0
$GC,9910,1.05,279.9,165.3,8.7,406,9914,0.00,2.72,0.00,0.000,4,0.000,0.068,3234,243,1868,0,0,0,0,0,0
$GC,9926,1.05,279.9,163.4,8.7,407,9930,0.00,2.50,0.00,0.000,6,0.000,0.024,3234,1873,1867,0,0,0,0,0,0
$GC,10194,1.05,279.9,138.9,9.8,431,10198,0.00,2.80,0.00,0.000,4,0.000,0.066,3234,242,1867,0,0,0,0,0,0
$GC,10215,1.05,279.9,135.8,10.8,432,10224,0.00,2.53,0.00,0.000,6,0.000,0.019,3234,1862,1867,0,0,0,0,0,0
$GC,10483,1.12,301.0,113.5,7.0,457,10510,0.00,2.47,21.90,0.604,4,0.000,0.031,3234,3376,1773,0,0,0,0,0,0
$GC,10534,1.22,309.9,109.1,7.6,461,10554,0.12,2.47,9.27,0.545,6,0.075,0.036,3272,1854,1735,0,0,0,0,0,0
$GC,10809,1.22,309.9,84.7,9.7,487,10813,0.00,2.75,0.00,0.000,4,0.000,0.063,3272,242,1733,0,0,0,0,0,0
$GC,10840,1.18,309.9,81.1,11.6,489,10845,0.00,2.47,0.00,0.000,6,0.000,0.018,3272,1852,1732,0,0,0,0,0,0
$GC,11108,1.18,309.9,58.0,8.2,513,11112,0.00,2.42,0.00,0.000,4,0.000,0.026,3272,3389,1732,0,0,0,0,0,0
$GC,11201,1.28,325.1,50.5,7.3,520,11228,0.00,2.47,14.18,0.529,6,0.000,0.031,3272,1862,1674,0,0,0,0,0,0
$GC,11485,1.37,360.4,32.7,6.4,546,11524,0.10,0.00,30.75,0.529,6,0.103,0.000,3304,1862,1530,0,0,0,0,0,0
$STATE,11777,end climb,SURFACE_DEPTH_REACHED
$STATE,11777,begin surface coast
$FINISH,0.3,1.013449
$STATE,11827,end surface coast,CONTROL_FINISHED_OK
$STATE,11827,begin surface
$SM_CCo,11849,54.88,0.416,1,0,1287,420.20
$SM_GC,0.91,0.00,0.00,54.88,0.000,0.000,0.416,475,1737,1287,-11.62,-0.93,420.20
$IRIDIUM_FIX,2244.02,-15741.52,121299,030329
$TT8_MAMPS,0.025311
$HUMID,46.02
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,23.30
$XPDR_PINGS,58
$24V_AH,23.5,31.983
$10V_AH,10.3,32.862
$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,27.200,155.450,415.800,54.875,0.000,30.082,27.508,162.133,14.500,0.000,15.736,1204.544,7744.476,547.050,2228.448,546.140,33.383,1387.976,0.000,2232.593,0.000,0.536,0.000
$DEVICE_MAMPS,140.361,116.584,915.798,416.481,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,401.988,362.724,459.028,868.272,1313.249,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,47862,595
$CAP_FILE_SIZE,126150,0
$CFSIZE,260165632,169078784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,170910,102937,2250.118,-15744.523,53,1.3,53,10.1