version: 66.06
glider: 146
mission: 5
dive: 39
start: 8 21 110 4 9 17
data:
$ID,146
$MISSION,5
$DIVE,39
$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,150
$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,-247871.8
$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,10
$R_STBD_OVSHOOT,62
$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
$GPS1,035730,2250.996,-15749.036,38,1.2,38,10.1
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-67.4
$GPS2,040825,2251.062,-15748.994,13,1.5,30,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.240,0.001
$KALMAN_X,-28492.2,177.7,49.9,65459.5,-556.1
$KALMAN_Y,38679.3,76.5,-119.1,91909.6,-790.5
$MHEAD_RNG_PITCHd_Wd,79.7,12536,-14.1,-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,-1.06,-146.0,0.0,0.0,0,97,0.00,0.00,-78.90,0.000,2,0.000,0.000,477,1763,3254,0,0,0,0,0,0
$GC,100,-1.06,-146.0,3.2,-4.1,10,126,11.95,2.50,-6.45,0.000,4,0.152,0.043,2759,3335,3599,0,0,0,0,0,0
$GC,152,-0.25,-146.0,18.8,-30.8,16,162,0.80,2.60,0.00,0.000,6,0.077,0.032,2943,1746,3600,0,0,0,0,0,0
$GC,468,-0.50,-146.0,35.3,-3.9,55,473,0.22,2.62,0.00,0.000,4,0.050,0.056,2870,192,3600,0,0,0,0,0,0
$GC,491,-0.69,-146.0,36.5,-4.3,56,496,0.00,2.38,0.00,0.000,6,0.000,0.016,2870,1789,3600,0,0,0,0,0,0
$GC,759,-0.76,-146.0,57.5,-8.1,80,764,0.15,2.40,0.00,0.000,4,0.065,0.025,2823,3324,3600,0,0,0,0,0,0
$GC,794,-0.76,-146.0,61.0,-10.2,82,798,0.00,2.50,0.00,0.000,6,0.000,0.031,2822,1764,3601,0,0,0,0,0,0
$GC,1055,-0.76,-146.0,88.6,-9.9,106,1059,0.00,2.67,0.00,0.000,4,0.000,0.064,2822,194,3601,0,0,0,0,0,0
$GC,1130,-0.76,-146.0,95.9,-9.1,112,1135,0.00,2.35,0.00,0.000,6,0.000,0.023,2822,1761,3601,0,0,0,0,0,0
$GC,1394,-0.76,-146.0,113.2,-6.3,136,1402,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1763,3601,0,0,0,0,0,0
$GC,1661,-0.81,-146.0,131.6,-7.5,161,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1762,3602,0,0,0,0,0,0
$GC,1925,-0.87,-146.0,152.7,-8.0,186,1930,0.00,2.42,0.00,0.000,4,0.000,0.031,2822,3321,3602,0,0,0,0,0,0
$GC,1949,-0.95,-146.0,155.0,-8.1,187,1955,0.12,2.55,0.00,0.000,6,0.066,0.031,2778,1742,3602,0,0,0,0,0,0
$GC,2212,-0.95,-146.0,182.0,-10.1,212,2213,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1743,3602,0,0,0,0,0,0
$GC,2481,-0.95,-146.0,208.5,-9.5,232,2486,0.00,2.65,0.00,0.000,4,0.000,0.069,2777,195,3602,0,0,0,0,0,0
$GC,2504,-0.91,-146.0,210.7,-10.0,232,2509,0.10,2.35,0.00,0.000,6,0.116,0.017,2800,1770,3602,0,0,0,0,0,0
$GC,2759,-0.91,-146.0,232.7,-8.6,239,2763,0.00,2.40,0.00,0.000,4,0.000,0.027,2800,3311,3602,0,0,0,0,0,0
$GC,2775,-0.95,-146.0,234.0,-8.6,239,2779,0.00,2.50,0.00,0.000,6,0.000,0.031,2800,1753,3602,0,0,0,0,0,0
$GC,3035,-0.95,-146.0,256.3,-8.4,246,3040,0.00,2.70,0.00,0.000,4,0.000,0.074,2800,192,3601,0,0,0,0,0,0
$GC,3057,-0.95,-146.0,258.4,-9.4,246,3061,0.00,2.35,0.00,0.000,6,0.000,0.023,2800,1734,3601,0,0,0,0,0,0
$GC,3318,-0.99,-146.0,278.1,-7.0,253,3323,0.00,2.53,0.00,0.000,4,0.000,0.037,2800,3330,3601,0,0,0,0,0,0
$GC,3346,-1.05,-146.0,279.9,-5.8,253,3351,0.12,2.55,0.00,0.000,6,0.073,0.034,2759,1758,3601,0,0,0,0,0,0
$GC,3597,-1.00,-146.0,300.1,-8.3,259,3599,0.10,0.00,0.00,0.000,6,0.120,0.000,2780,1759,3600,0,0,0,0,0,0
$GC,3840,-1.00,-146.0,319.4,-7.9,265,3841,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1758,3600,0,0,0,0,0,0
$GC,4084,-1.00,-146.0,337.5,-7.3,271,4088,0.00,2.83,0.00,0.000,4,0.000,0.095,2781,190,3599,0,0,0,0,0,0
$GC,4106,-1.00,-146.0,339.2,-7.9,271,4111,0.00,2.42,0.00,0.000,6,0.000,0.024,2781,1730,3599,0,0,0,0,0,0
$GC,4362,-1.04,-146.0,357.9,-7.3,278,4363,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,1729,3598,0,0,0,0,0,0
$GC,4605,-1.09,-146.0,373.4,-6.1,284,4610,0.00,2.75,0.00,0.000,4,0.000,0.087,2781,189,3598,0,0,0,0,0,0
$GC,4629,-1.14,-146.0,374.9,-6.2,284,4634,0.12,2.47,0.00,0.000,6,0.078,0.037,2741,1741,3598,0,0,0,0,0,0
$GC,4885,-1.14,-146.0,394.0,-7.4,291,4889,0.00,2.72,0.00,0.000,4,0.000,0.058,2741,3364,3596,0,0,0,0,0,0
$GC,4945,-1.14,-146.0,398.9,-8.2,292,4949,0.00,2.72,0.00,0.000,6,0.000,0.061,2741,1765,3596,0,0,0,0,0,0
$GC,5213,-1.14,-146.0,419.9,-7.9,299,5214,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1765,3594,0,0,0,0,0,0
$GC,5456,-1.14,-146.0,439.5,-8.0,305,5460,0.00,2.97,0.00,0.000,4,0.000,0.118,2741,186,3593,0,0,0,0,0,0
$GC,5483,-1.14,-146.0,442.0,-9.3,305,5487,0.00,2.55,0.00,0.000,6,0.000,0.039,2741,1761,3593,0,0,0,0,0,0
$GC,5734,-1.14,-146.0,461.9,-7.8,311,5738,0.00,2.72,0.00,0.000,4,0.000,0.064,2741,3359,3591,0,0,0,0,0,0
$GC,5755,-1.14,-146.0,463.7,-7.5,311,5760,0.00,2.70,0.00,0.000,6,0.000,0.064,2741,1769,3591,0,0,0,0,0,0
$GC,6011,-1.14,-146.0,481.7,-7.0,318,6015,0.00,2.65,0.00,0.000,4,0.000,0.053,2741,3354,3589,0,0,0,0,0,0
$GC,6033,-1.14,-146.0,483.4,-7.3,318,6038,0.00,2.70,0.00,0.000,6,0.000,0.066,2741,1776,3588,0,0,0,0,0,0
$STATE,6286,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6286,begin apogee
$GC,6292,-0.31,0.0,501.8,7.4,325,6416,0.85,0.00,120.00,0.916,6,0.081,0.000,2932,1857,3001,0,0,0,0,0,0
$STATE,6416,end apogee,CONTROL_FINISHED_OK
$STATE,6416,begin climb
$GC,6419,1.06,146.0,505.4,0.0,328,6554,1.25,2.62,124.15,0.893,4,0.054,0.056,3233,3374,2403,0,0,0,0,0,0
$GC,6639,0.95,162.0,499.3,7.4,333,6659,0.12,2.72,14.23,0.814,6,0.124,0.061,3209,1820,2340,0,0,0,0,0,0
$GC,6913,0.89,194.2,481.0,6.8,340,6947,0.00,2.70,28.70,0.861,4,0.000,0.048,3209,3397,2209,0,0,0,0,0,0
$GC,6987,0.85,206.0,475.3,7.6,341,7006,0.12,2.75,11.55,0.792,6,0.133,0.062,3186,1826,2161,0,0,0,0,0,0
$GC,7289,0.86,218.7,453.0,7.5,349,7308,0.00,2.70,11.93,0.802,4,0.000,0.049,3186,3386,2109,0,0,0,0,0,0
$GC,7332,0.86,218.7,449.4,8.1,350,7336,0.00,2.72,0.00,0.000,6,0.000,0.063,3186,1827,2107,0,0,0,0,0,0
$GC,7616,0.86,218.7,424.8,8.9,357,7621,0.00,3.03,0.00,0.000,4,0.000,0.109,3186,229,2105,0,0,0,0,0,0
$GC,7665,0.80,218.7,419.4,10.6,358,7670,0.00,2.55,0.00,0.000,6,0.000,0.030,3186,1804,2103,0,0,0,0,0,0
$GC,7938,0.80,218.7,394.5,8.8,365,7942,0.00,2.67,0.00,0.000,4,0.000,0.049,3186,3407,2102,0,0,0,0,0,0
$GC,7982,0.80,218.7,390.5,9.3,366,7987,0.00,2.70,0.00,0.000,6,0.000,0.050,3186,1818,2101,0,0,0,0,0,0
$GC,8260,0.86,271.2,372.4,6.1,373,8314,0.00,2.72,46.78,0.841,4,0.000,0.042,3186,3409,1894,0,0,0,0,0,0
$GC,8327,0.92,316.4,368.3,6.3,374,8373,0.00,2.70,40.62,0.820,6,0.000,0.051,3186,1831,1711,0,0,0,0,0,0
$GC,8625,0.93,330.1,346.7,7.5,382,8645,0.00,2.95,12.25,0.757,4,0.000,0.084,3186,233,1654,0,0,0,0,0,0
$GC,8702,0.93,330.1,339.8,10.1,383,8706,0.00,2.60,0.00,0.000,6,0.000,0.028,3186,1854,1652,0,0,0,0,0,0
$GC,8951,0.93,330.1,315.4,10.0,389,8956,0.00,2.85,0.00,0.000,4,0.000,0.068,3186,234,1650,0,0,0,0,0,0
$GC,8973,0.93,330.1,312.8,11.7,389,8978,0.00,2.53,0.00,0.000,6,0.000,0.024,3186,1840,1649,0,0,0,0,0,0
$GC,9230,0.97,330.1,285.8,10.3,396,9235,0.10,2.85,0.00,0.000,4,0.268,0.070,3213,230,1648,0,0,0,0,0,0
$GC,9258,0.93,330.1,282.3,12.5,396,9262,0.00,2.53,0.00,0.000,6,0.000,0.025,3213,1829,1647,0,0,0,0,0,0
$GC,9507,0.93,330.1,256.1,10.0,402,9512,0.00,2.50,0.00,0.000,4,0.000,0.034,3213,3396,1646,0,0,0,0,0,0
$GC,9559,0.99,330.1,251.4,8.7,403,9563,0.00,2.58,0.00,0.000,6,0.000,0.041,3214,1821,1646,0,0,0,0,0,0
$GC,9830,0.99,330.1,228.2,8.4,410,9835,0.00,2.72,0.00,0.000,4,0.000,0.074,3214,240,1646,0,0,0,0,0,0
$GC,9863,0.94,330.1,225.2,9.8,410,9868,0.00,2.50,0.00,0.000,6,0.000,0.024,3214,1848,1645,0,0,0,0,0,0
$GC,10114,0.94,330.1,203.0,9.0,417,10115,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1849,1645,0,0,0,0,0,0
$GC,10365,0.94,330.1,176.9,11.1,438,10370,0.00,2.75,0.00,0.000,4,0.000,0.068,3213,240,1644,0,0,0,0,0,0
$GC,10387,0.94,330.1,174.1,12.2,439,10395,0.00,2.45,0.00,0.000,6,0.000,0.019,3214,1832,1645,0,0,0,0,0,0
$GC,10651,0.94,330.1,146.8,9.6,464,10656,0.00,2.72,0.00,0.000,4,0.000,0.068,3214,234,1644,0,0,0,0,0,0
$GC,10673,0.94,330.1,144.6,10.4,465,10678,0.00,2.45,0.00,0.000,6,0.000,0.019,3213,1828,1644,0,0,0,0,0,0
$GC,10941,0.94,330.1,119.6,9.1,489,10945,0.00,2.45,0.00,0.000,4,0.000,0.037,3214,3376,1645,0,0,0,0,0,0
$GC,10975,1.00,330.1,115.7,9.0,491,10980,0.00,2.55,0.00,0.000,6,0.000,0.039,3214,1811,1644,0,0,0,0,0,0
$GC,11237,1.05,330.1,91.8,9.7,516,11242,0.00,2.53,0.00,0.000,4,0.000,0.030,3214,3385,1645,0,0,0,0,0,0
$GC,11273,1.16,330.1,88.1,9.5,518,11282,0.10,2.58,0.00,0.000,6,0.051,0.034,3251,1816,1645,0,0,0,0,0,0
$GC,11538,1.16,330.1,64.2,8.5,543,11547,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1816,1645,0,0,0,0,0,0
$GC,11804,1.16,330.1,41.2,8.6,568,11813,0.00,0.00,0.00,0.000,6,0.000,0.000,3251,1816,1646,0,0,0,0,0,0
$GC,12105,1.16,330.1,15.0,9.8,604,12114,0.00,2.50,0.00,0.000,4,0.000,0.035,3251,3375,1647,0,0,0,0,0,0
$GC,12145,1.16,330.1,11.0,10.2,609,12155,0.00,2.53,0.00,0.000,6,0.000,0.035,3251,1829,1647,0,0,0,0,0,0
$STATE,12223,end climb,SURFACE_DEPTH_REACHED
$STATE,12224,begin surface coast
$FINISH,0.2,1.023390
$STATE,12281,end surface coast,CONTROL_FINISHED_OK
$STATE,12281,begin surface
$SM_CCo,12302,78.45,0.451,1,0,1287,420.20
$SM_GC,1.09,0.00,0.00,78.45,0.000,0.000,0.451,479,1751,1287,-11.60,-0.54,420.20
$IRIDIUM_FIX,2246.36,-15753.23,141199,212143
$TT8_MAMPS,0.026078
$HUMID,39.95
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,23.70
$XPDR_PINGS,58
$24V_AH,23.5,9.490
$10V_AH,10.4,8.523
$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,27.450,162.150,410.200,78.450,0.000,60.566,110.576,253.140,14.500,0.000,32.227,1250.866,8015.792,580.729,2426.338,754.122,33.362,1439.472,0.000,2416.177,0.000,0.536,0.000
$DEVICE_MAMPS,267.683,118.118,915.798,450.996,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,425.091,393.440,488.908,973.914,1474.085,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,47865,628
$CAP_FILE_SIZE,131920,0
$CFSIZE,260165632,180555776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,210810,073727,2250.607,-15747.350,41,2.4,60,10.1