version: 66.06
glider: 146
mission: 5
dive: 237
start: 9 18 110 22 0 9
data:
$ID,146
$MISSION,5
$DIVE,237
$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,-251939.11
$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,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
$GPS1,215034,2245.034,-15744.533,13,99.0,32,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-69.6
$GPS2,215914,2244.912,-15744.602,11,1.3,11,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.042,0.214
$KALMAN_X,-245975.5,-234.6,17.9,290947.8,-609.0
$KALMAN_Y,-213618.4,2.0,-148.9,332906.0,-3149.0
$MHEAD_RNG_PITCHd_Wd,0.9,24642,-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,-116.8,0.0,0.0,0,97,0.00,0.00,-78.97,0.000,2,0.000,0.000,473,1737,3245,0,0,0,0,0,0
$GC,100,-1.15,-116.8,3.1,-3.6,10,126,11.57,2.65,-4.55,0.000,4,0.141,0.041,2740,3371,3479,0,0,0,0,0,0
$GC,172,-1.00,-116.8,19.3,-16.4,19,182,0.15,2.60,0.00,0.000,6,0.076,0.031,2778,1794,3479,0,0,0,0,0,0
$GC,462,-0.90,-116.8,56.5,-13.1,50,467,0.12,2.78,0.00,0.000,4,0.113,0.065,2805,186,3480,0,0,0,0,0,0
$GC,498,-0.86,-116.8,61.2,-13.0,52,502,0.00,2.47,0.00,0.000,6,0.000,0.015,2805,1829,3480,0,0,0,0,0,0
$GC,761,-0.90,-116.8,88.0,-9.5,76,765,0.00,2.40,0.00,0.000,4,0.000,0.024,2805,3368,3481,0,0,0,0,0,0
$GC,790,-0.99,-116.8,90.8,-8.8,78,794,0.00,2.60,0.00,0.000,6,0.000,0.027,2805,1743,3481,0,0,0,0,0,0
$GC,1055,-1.05,-116.8,110.9,-6.7,102,1064,0.15,0.00,0.00,0.000,6,0.061,0.000,2752,1743,3482,0,0,0,0,0,0
$GC,1321,-1.00,-116.8,133.9,-9.6,127,1326,0.12,0.00,0.00,0.000,6,0.102,0.000,2779,1743,3482,0,0,0,0,0,0
$GC,1583,-1.00,-116.8,156.6,-9.0,152,1587,0.00,2.55,0.00,0.000,4,0.000,0.028,2779,3367,3482,0,0,0,0,0,0
$GC,1605,-1.00,-116.8,158.7,-8.8,153,1617,0.00,2.60,0.00,0.000,6,0.000,0.031,2779,1760,3481,0,0,0,0,0,0
$GC,1874,-1.00,-116.8,184.1,-9.6,178,1879,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1759,3481,0,0,0,0,0,0
$GC,2131,-1.00,-116.8,207.3,-8.8,197,2135,0.00,2.55,0.00,0.000,4,0.000,0.031,2779,3376,3481,0,0,0,0,0,0
$GC,2147,-1.04,-116.8,208.8,-8.8,197,2151,0.00,2.58,0.00,0.000,6,0.000,0.027,2779,1755,3482,0,0,0,0,0,0
$GC,2409,-1.08,-116.8,230.7,-8.4,204,2413,0.00,2.65,0.00,0.000,4,0.000,0.071,2779,197,3481,0,0,0,0,0,0
$GC,2448,-1.13,-116.8,234.3,-9.1,205,2453,0.12,2.42,0.00,0.000,6,0.071,0.016,2732,1805,3481,0,0,0,0,0,0
$GC,2733,-1.08,-116.8,263.6,-10.2,212,2738,0.15,2.40,0.00,0.000,4,0.100,0.029,2763,3327,3481,0,0,0,0,0,0
$GC,2749,-1.08,-116.8,265.5,-10.2,212,2753,0.00,2.53,0.00,0.000,6,0.000,0.031,2763,1755,3481,0,0,0,0,0,0
$GC,3015,-1.08,-116.8,286.0,-7.8,219,3016,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1755,3480,0,0,0,0,0,0
$GC,3261,-1.12,-116.8,307.1,-8.8,225,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1753,3480,0,0,0,0,0,0
$GC,3503,-1.17,-116.8,329.3,-9.0,231,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1753,3480,0,0,0,0,0,0
$GC,3747,-1.22,-116.8,349.2,-7.9,237,3749,0.12,0.00,0.00,0.000,6,0.074,0.000,2722,1753,3479,0,0,0,0,0,0
$GC,3990,-1.22,-116.8,370.3,-8.8,243,3994,0.00,2.55,0.00,0.000,4,0.000,0.041,2722,3322,3478,0,0,0,0,0,0
$GC,4023,-1.22,-116.8,373.3,-8.9,243,4029,0.00,2.58,0.00,0.000,6,0.000,0.044,2723,1760,3478,0,0,0,0,0,0
$GC,4273,-1.22,-116.8,393.5,-8.1,250,4274,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1760,3476,0,0,0,0,0,0
$GC,4517,-1.22,-116.8,414.5,-8.6,256,4521,0.00,2.55,0.00,0.000,4,0.000,0.040,2723,3321,3475,0,0,0,0,0,0
$GC,4549,-1.22,-116.8,417.5,-8.7,256,4555,0.00,2.65,0.00,0.000,6,0.000,0.056,2722,1760,3475,0,0,0,0,0,0
$GC,4800,-1.22,-116.8,439.1,-8.7,263,4801,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1760,3474,0,0,0,0,0,0
$GC,5042,-1.22,-116.8,460.0,-8.6,269,5047,0.00,2.55,0.00,0.000,4,0.000,0.046,2722,3316,3472,0,0,0,0,0,0
$GC,5092,-1.22,-116.8,464.4,-8.4,270,5096,0.00,2.67,0.00,0.000,6,0.000,0.060,2722,1761,3472,0,0,0,0,0,0
$GC,5366,-1.22,-116.8,486.2,-7.9,277,5367,0.00,0.00,0.00,0.000,6,0.000,0.000,2722,1761,3470,0,0,0,0,0,0
$STATE,5565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5565,begin apogee
$GC,5571,-0.31,0.0,502.6,8.0,282,5670,0.93,0.00,95.75,0.918,6,0.094,0.000,2932,1761,3001,0,0,0,0,0,0
$STATE,5671,end apogee,CONTROL_FINISHED_OK
$STATE,5671,begin climb
$GC,5673,1.15,116.8,504.9,0.0,284,5783,1.33,3.05,100.53,0.896,4,0.044,0.116,3254,228,2522,0,0,0,0,0,0
$GC,5792,1.07,191.9,505.3,4.5,286,5864,0.10,2.55,65.18,0.878,6,0.140,0.039,3236,1775,2218,0,0,0,0,0,0
$GC,6123,0.98,191.9,478.5,8.5,295,6128,0.00,2.80,0.00,0.000,4,0.000,0.064,3236,3404,2209,0,0,0,0,0,0
$GC,6202,0.95,191.9,471.3,9.0,296,6209,0.15,2.70,0.00,0.000,6,0.119,0.054,3206,1823,2207,0,0,0,0,0,0
$GC,6452,0.97,211.2,453.1,7.1,303,6476,0.00,2.67,16.27,0.826,4,0.000,0.045,3206,3415,2138,0,0,0,0,0,0
$GC,6495,0.97,212.2,449.9,8.0,304,6500,0.00,2.72,0.00,0.000,6,0.000,0.053,3206,1833,2137,0,0,0,0,0,0
$GC,6779,0.98,218.4,427.7,7.7,311,6793,0.00,2.67,7.28,0.726,4,0.000,0.041,3206,3411,2110,0,0,0,0,0,0
$GC,6834,0.98,220.6,423.4,7.9,312,6838,0.00,2.67,0.00,0.000,6,0.000,0.052,3206,1842,2108,0,0,0,0,0,0
$GC,7105,1.00,237.7,403.8,7.2,319,7126,0.00,0.00,18.42,0.823,6,0.000,0.000,3206,1842,2031,0,0,0,0,0,0
$GC,7349,1.00,237.7,384.5,8.1,325,7353,0.00,2.55,0.00,0.000,4,0.000,0.032,3206,3423,2027,0,0,0,0,0,0
$GC,7383,1.05,237.7,381.7,8.8,325,7388,0.00,2.62,0.00,0.000,6,0.000,0.044,3206,1848,2026,0,0,0,0,0,0
$GC,7632,1.05,237.7,360.1,8.2,332,7637,0.00,2.88,0.00,0.000,4,0.000,0.087,3206,233,2026,0,0,0,0,0,0
$GC,7647,1.05,237.7,358.7,8.1,332,7652,0.00,2.58,0.00,0.000,6,0.000,0.021,3206,1876,2024,0,0,0,0,0,0
$GC,7909,1.08,263.0,339.9,6.8,339,7934,0.12,0.00,23.17,0.800,6,0.081,0.000,3241,1878,1928,0,0,0,0,0,0
$GC,8154,1.09,269.6,321.5,7.7,345,8162,0.00,0.00,6.93,0.673,6,0.000,0.000,3241,1878,1901,0,0,0,0,0,0
$GC,8396,1.09,269.6,299.1,9.8,351,8397,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1878,1898,0,0,0,0,0,0
$GC,8639,1.09,269.6,272.1,11.1,357,8644,0.00,2.85,0.00,0.000,4,0.000,0.068,3241,235,1897,0,0,0,0,0,0
$GC,8662,1.04,269.6,269.6,12.1,357,8667,0.00,2.58,0.00,0.000,6,0.000,0.022,3241,1880,1896,0,0,0,0,0,0
$GC,8917,1.04,269.6,245.3,8.7,364,8918,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1882,1896,0,0,0,0,0,0
$GC,9161,1.06,285.2,227.3,7.3,370,9181,0.00,2.92,14.52,0.688,4,0.000,0.069,3241,233,1837,0,0,0,0,0,0
$GC,9200,1.06,285.2,224.3,8.3,371,9204,0.00,2.60,0.00,0.000,6,0.000,0.024,3241,1880,1835,0,0,0,0,0,0
$GC,9483,1.06,285.2,201.0,8.3,378,9484,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1881,1834,0,0,0,0,0,0
$GC,9736,1.06,285.2,176.8,10.1,399,9737,0.00,0.00,0.00,0.000,6,0.000,0.000,3241,1881,1834,0,0,0,0,0,0
$GC,9992,1.06,285.2,151.6,8.9,423,9996,0.00,2.42,0.00,0.000,4,0.000,0.030,3241,3419,1834,0,0,0,0,0,0
$GC,10048,1.14,299.0,147.5,7.4,427,10072,0.00,2.58,12.73,0.607,6,0.000,0.034,3241,1826,1782,0,0,0,0,0,0
$GC,10327,1.20,347.6,129.2,5.8,453,10377,0.00,2.85,43.08,0.623,4,0.000,0.069,3241,243,1582,0,0,0,0,0,0
$GC,10412,1.20,347.6,122.5,8.5,460,10422,0.00,2.55,0.00,0.000,6,0.000,0.020,3241,1870,1580,0,0,0,0,0,0
$GC,10681,1.26,347.6,99.3,10.4,485,10686,0.15,0.00,0.00,0.000,6,0.071,0.000,3284,1872,1579,0,0,0,0,0,0
$GC,10946,1.26,347.6,67.2,10.9,510,10955,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1872,1579,0,0,0,0,0,0
$GC,11212,1.26,347.6,42.8,9.1,535,11220,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1872,1578,0,0,0,0,0,0
$GC,11505,1.26,347.6,16.5,9.4,571,11513,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1873,1578,0,0,0,0,0,0
$STATE,11646,end climb,SURFACE_DEPTH_REACHED
$STATE,11646,begin surface coast
$FINISH,0.4,1.023293
$STATE,11709,end surface coast,CONTROL_FINISHED_OK
$STATE,11709,begin surface
$SM_CCo,11730,65.28,0.436,1,0,1287,420.20
$SM_GC,0.89,0.00,0.00,65.28,0.000,0.000,0.436,475,1753,1287,-11.62,-0.48,420.20
$IRIDIUM_FIX,2237.01,-15745.45,131299,181804
$TT8_MAMPS,0.025311
$HUMID,46.69
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.10
$XPDR_PINGS,43
$24V_AH,23.5,33.344
$10V_AH,10.3,34.326
$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,26.650,105.325,403.850,65.275,0.000,31.034,28.923,319.839,10.750,0.000,13.285,1141.312,7837.584,555.565,2105.155,680.137,33.377,1305.901,0.000,2117.478,0.000,0.536,0.000
$DEVICE_MAMPS,141.128,115.817,918.099,436.423,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,406.111,345.028,464.651,881.156,1333.924,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,47898,601
$CAP_FILE_SIZE,110909,0
$CFSIZE,260165632,168411136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190910,011806,2244.546,-15744.616,33,1.3,33,10.1