version: 66.06
glider: 146
mission: 5
dive: 235
start: 9 18 110 14 43 8
data:
$ID,146
$MISSION,5
$DIVE,235
$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,-251911.25
$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,48
$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
$GPS1,143336,2246.242,-15744.146,25,1.2,25,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-67.1
$GPS2,144213,2246.166,-15744.194,10,1.6,15,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.001,0.218
$KALMAN_X,-244737.9,-66.6,-182.8,290446.0,-79.1
$KALMAN_Y,-205553.2,-472.9,-17.5,327515.2,-3289.0
$MHEAD_RNG_PITCHd_Wd,349.5,22234,-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,16,-1.15,-116.8,0.0,0.0,0,104,0.00,0.00,-86.62,0.000,6,0.000,0.000,475,1743,3478,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.1,-5.4,11,124,11.40,0.00,0.00,0.000,6,0.134,0.000,2743,1743,3481,0,0,0,0,0,0
$GC,405,-0.98,-116.8,58.7,-15.3,44,411,0.20,2.60,0.00,0.000,4,0.099,0.056,2786,211,3482,0,0,0,0,0,0
$GC,438,-0.88,-116.8,63.8,-14.0,46,443,0.10,2.38,0.00,0.000,6,0.112,0.015,2809,1800,3482,0,0,0,0,0,0
$GC,703,-0.92,-116.8,92.1,-10.0,70,707,0.00,2.35,0.00,0.000,4,0.000,0.025,2809,3313,3482,0,0,0,0,0,0
$GC,732,-1.01,-116.8,95.2,-9.7,72,737,0.12,2.45,0.00,0.000,6,0.070,0.034,2762,1780,3482,0,0,0,0,0,0
$GC,996,-0.97,-116.8,124.4,-11.3,96,1005,0.12,0.00,0.00,0.000,6,0.102,0.000,2790,1780,3483,0,0,0,0,0,0
$GC,1262,-1.01,-116.8,145.9,-7.0,121,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1780,3483,0,0,0,0,0,0
$GC,1527,-1.06,-116.8,161.2,-5.5,146,1531,0.00,2.67,0.00,0.000,4,0.000,0.068,2790,197,3483,0,0,0,0,0,0
$GC,1549,-1.10,-116.8,162.9,-6.4,147,1559,0.10,2.40,0.00,0.000,6,0.040,0.016,2747,1781,3483,0,0,0,0,0,0
$GC,1816,-1.06,-116.8,185.8,-9.3,172,1822,0.10,0.00,0.00,0.000,6,0.117,0.000,2770,1782,3483,0,0,0,0,0,0
$GC,2093,-1.06,-116.8,212.1,-9.4,190,2097,0.00,2.72,0.00,0.000,4,0.000,0.071,2769,193,3483,0,0,0,0,0,0
$GC,2114,-1.06,-116.8,214.2,-9.3,190,2118,0.00,2.35,0.00,0.000,6,0.000,0.015,2769,1768,3483,0,0,0,0,0,0
$GC,2376,-1.06,-116.8,237.8,-9.1,197,2377,0.00,0.00,0.00,0.000,6,0.000,0.000,2769,1773,3483,0,0,0,0,0,0
$GC,2619,-1.06,-116.8,258.5,-8.4,203,2623,0.00,2.42,0.00,0.000,4,0.000,0.035,2769,3320,3482,0,0,0,0,0,0
$GC,2658,-1.13,-116.8,261.7,-8.0,204,2663,0.00,2.47,0.00,0.000,6,0.000,0.035,2769,1776,3483,0,0,0,0,0,0
$GC,2943,-1.13,-116.8,283.2,-7.7,211,2948,0.00,2.75,0.00,0.000,4,0.000,0.074,2769,189,3482,0,0,0,0,0,0
$GC,2970,-1.13,-116.8,285.7,-8.7,211,2974,0.00,2.38,0.00,0.000,6,0.000,0.024,2769,1759,3482,0,0,0,0,0,0
$GC,3226,-1.18,-116.8,306.3,-8.1,218,3231,0.12,2.50,0.00,0.000,4,0.072,0.035,2724,3338,3481,0,0,0,0,0,0
$GC,3256,-1.18,-116.8,308.9,-9.5,218,3260,0.00,2.53,0.00,0.000,6,0.000,0.034,2724,1769,3481,0,0,0,0,0,0
$GC,3506,-1.14,-116.8,331.1,-8.6,224,3508,0.12,0.00,0.00,0.000,6,0.103,0.000,2752,1770,3481,0,0,0,0,0,0
$GC,3750,-1.14,-116.8,345.3,-5.7,230,3754,0.00,2.80,0.00,0.000,4,0.000,0.084,2752,189,3480,0,0,0,0,0,0
$GC,3765,-1.14,-116.8,346.4,-5.8,230,3770,0.00,2.42,0.00,0.000,6,0.000,0.021,2752,1759,3480,0,0,0,0,0,0
$GC,4027,-1.14,-116.8,364.3,-7.1,237,4031,0.00,2.55,0.00,0.000,4,0.000,0.041,2752,3348,3479,0,0,0,0,0,0
$GC,4088,-1.23,-116.8,369.4,-8.1,238,4092,0.00,2.58,0.00,0.000,6,0.000,0.042,2752,1779,3479,0,0,0,0,0,0
$GC,4350,-1.28,-116.8,392.0,-8.9,245,4355,0.12,2.88,0.00,0.000,4,0.076,0.097,2709,183,3477,0,0,0,0,0,0
$GC,4390,-1.22,-116.8,396.2,-10.5,246,4395,0.12,2.47,0.00,0.000,6,0.108,0.031,2735,1769,3477,0,0,0,0,0,0
$GC,4673,-1.22,-116.8,417.8,-7.1,253,4678,0.00,2.60,0.00,0.000,4,0.000,0.051,2735,3359,3476,0,0,0,0,0,0
$GC,4719,-1.27,-116.8,420.8,-6.2,254,4724,0.00,2.65,0.00,0.000,6,0.000,0.056,2735,1776,3475,0,0,0,0,0,0
$GC,4996,-1.27,-116.8,440.2,-7.1,261,4998,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1776,3473,0,0,0,0,0,0
$GC,5240,-1.27,-116.8,459.7,-8.2,267,5244,0.00,2.60,0.00,0.000,4,0.000,0.046,2735,3354,3472,0,0,0,0,0,0
$GC,5274,-1.32,-116.8,462.3,-8.0,267,5281,0.10,2.65,0.00,0.000,6,0.090,0.060,2699,1793,3472,0,0,0,0,0,0
$GC,5524,-1.28,-116.8,484.6,-8.9,274,5526,0.10,0.00,0.00,0.000,6,0.120,0.000,2721,1793,3470,0,0,0,0,0,0
$STATE,5765,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5765,begin apogee
$GC,5772,-0.31,0.0,501.0,6.5,280,5871,0.93,0.00,95.68,0.917,6,0.075,0.000,2931,1793,3001,0,0,0,0,0,0
$STATE,5872,end apogee,CONTROL_FINISHED_OK
$STATE,5872,begin climb
$GC,5875,1.15,116.8,501.6,0.0,282,5980,1.35,0.00,101.45,0.894,6,0.056,0.000,3253,1793,2523,0,0,0,0,0,0
$GC,6212,1.01,116.8,480.6,8.3,291,6217,0.17,2.72,0.00,0.000,4,0.155,0.048,3218,3403,2514,0,0,0,0,0,0
$GC,6292,0.99,148.3,475.1,6.6,292,6326,0.00,2.75,26.60,0.861,6,0.000,0.061,3218,1816,2396,0,0,0,0,0,0
$GC,6585,0.97,176.6,455.4,6.7,300,6616,0.00,2.70,25.52,0.855,4,0.000,0.046,3219,3405,2280,0,0,0,0,0,0
$GC,6662,0.97,176.6,449.6,8.1,301,6667,0.00,2.72,0.00,0.000,6,0.000,0.058,3219,1825,2277,0,0,0,0,0,0
$GC,6912,0.93,176.6,429.8,8.1,308,6916,0.00,2.60,0.00,0.000,4,0.000,0.039,3219,3404,2274,0,0,0,0,0,0
$GC,6983,0.93,176.6,423.4,8.2,309,6988,0.00,2.67,0.00,0.000,6,0.000,0.051,3218,1832,2273,0,0,0,0,0,0
$GC,7235,0.89,176.6,402.1,8.4,315,7240,0.12,2.55,0.00,0.000,4,0.125,0.036,3194,3401,2272,0,0,0,0,0,0
$GC,7291,0.96,196.4,397.9,7.1,316,7317,0.00,2.60,17.05,0.819,6,0.000,0.044,3194,1857,2200,0,0,0,0,0,0
$GC,7562,1.00,234.1,380.6,6.3,323,7604,0.10,2.58,34.38,0.834,4,0.100,0.038,3221,3401,2045,0,0,0,0,0,0
$GC,7637,1.00,234.1,374.5,9.3,324,7642,0.00,2.60,0.00,0.000,6,0.000,0.045,3221,1868,2043,0,0,0,0,0,0
$GC,7888,1.00,234.1,352.3,9.0,330,7892,0.00,2.92,0.00,0.000,4,0.000,0.081,3222,236,2040,0,0,0,0,0,0
$GC,7928,0.93,234.1,348.3,10.6,331,7933,0.00,2.60,0.00,0.000,6,0.000,0.020,3222,1874,2037,0,0,0,0,0,0
$GC,8212,0.93,234.1,319.9,10.1,338,8216,0.00,2.47,0.00,0.000,4,0.000,0.033,3222,3411,2037,0,0,0,0,0,0
$GC,8270,0.97,234.1,314.3,10.4,339,8274,0.00,2.55,0.00,0.000,6,0.000,0.043,3221,1859,2035,0,0,0,0,0,0
$GC,8536,1.00,255.1,293.8,7.0,346,8556,0.00,0.00,18.23,0.759,6,0.000,0.000,3221,1859,1961,0,0,0,0,0,0
$GC,8818,1.03,279.5,274.6,6.9,353,8842,0.00,0.00,22.88,0.750,6,0.000,0.000,3221,1859,1860,0,0,0,0,0,0
$GC,9063,1.06,279.5,254.3,8.6,359,9064,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1859,1856,0,0,0,0,0,0
$GC,9305,1.10,279.5,231.7,9.3,365,9306,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1859,1854,0,0,0,0,0,0
$GC,9549,1.14,279.5,210.1,8.7,371,9554,0.12,2.83,0.00,0.000,4,0.084,0.070,3256,232,1853,0,0,0,0,0,0
$GC,9565,1.14,279.5,208.5,8.4,371,9569,0.00,2.58,0.00,0.000,6,0.000,0.025,3256,1881,1853,0,0,0,0,0,0
$GC,9825,1.14,279.5,184.8,9.1,389,9829,0.00,2.83,0.00,0.000,4,0.000,0.067,3256,239,1853,0,0,0,0,0,0
$GC,9843,1.09,279.5,182.9,10.3,390,9847,0.00,2.58,0.00,0.000,6,0.000,0.020,3256,1889,1853,0,0,0,0,0,0
$GC,10107,1.09,279.5,155.5,10.5,414,10111,0.00,2.40,0.00,0.000,4,0.000,0.034,3255,3405,1853,0,0,0,0,0,0
$GC,10136,1.09,279.5,152.2,9.9,416,10140,0.00,2.53,0.00,0.000,6,0.000,0.032,3256,1848,1852,0,0,0,0,0,0
$GC,10399,1.09,279.5,127.6,8.6,440,10404,0.00,2.75,0.00,0.000,4,0.000,0.062,3256,242,1852,0,0,0,0,0,0
$GC,10409,1.09,279.5,126.5,8.6,440,10419,0.00,2.58,0.00,0.000,6,0.000,0.019,3256,1892,1852,0,0,0,0,0,0
$GC,10676,1.09,279.5,103.6,8.6,465,10680,0.00,2.40,0.00,0.000,4,0.000,0.028,3256,3417,1852,0,0,0,0,0,0
$GC,10698,1.13,279.5,100.9,10.0,466,10707,0.00,2.58,0.00,0.000,6,0.000,0.036,3256,1854,1852,0,0,0,0,0,0
$GC,10965,1.19,282.5,78.9,7.9,491,10974,0.00,0.00,0.00,0.000,6,0.000,0.000,3255,1854,1852,0,0,0,0,0,0
$GC,11234,1.29,308.5,59.4,6.8,516,11265,0.10,2.80,24.98,0.558,4,0.091,0.058,3287,237,1742,0,0,0,0,0,0
$GC,11278,1.29,310.6,55.6,7.9,519,11287,0.00,2.60,0.00,0.000,6,0.000,0.018,3287,1878,1741,0,0,0,0,0,0
$GC,11545,1.29,310.6,32.7,9.0,544,11554,0.00,0.00,0.00,0.000,6,0.000,0.000,3287,1880,1740,0,0,0,0,0,0
$GC,11879,1.29,310.6,4.4,8.5,591,11887,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,1880,1740,0,0,0,0,0,0
$STATE,11895,end climb,SURFACE_DEPTH_REACHED
$STATE,11895,begin surface coast
$FINISH,0.4,1.022854
$STATE,11958,end surface coast,CONTROL_FINISHED_OK
$STATE,11958,begin surface
$SM_CCo,11981,103.28,0.463,1,0,1287,420.20
$SM_GC,1.07,0.00,0.00,103.28,0.000,0.000,0.463,474,1753,1287,-11.62,-0.48,420.20
$IRIDIUM_FIX,2239.35,-15744.57,131299,111133
$TT8_MAMPS,0.025311
$HUMID,45.66
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.40
$XPDR_PINGS,48
$24V_AH,23.5,33.090
$10V_AH,10.3,34.044
$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,27.100,129.825,366.750,103.275,0.000,28.417,30.203,316.509,12.000,0.000,17.303,1194.001,7934.430,582.293,2201.420,693.445,33.374,1364.216,0.000,2211.874,0.000,0.536,0.000
$DEVICE_MAMPS,154.934,96.642,916.565,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,407.326,348.128,462.547,885.056,1338.620,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,47839,602
$CAP_FILE_SIZE,122017,0
$CFSIZE,260165632,168525824
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180910,180606,2245.623,-15744.429,41,1.3,46,10.1