version: 66.06
glider: 146
mission: 5
dive: 54
start: 8 23 110 9 1 37
data:
$ID,146
$MISSION,5
$DIVE,54
$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,-248270.09
$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,36
$R_STBD_OVSHOOT,78
$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
$GPS1,085336,2256.900,-15743.535,34,0.9,34,10.1
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,0.93
$_SM_ANGLEo,-65.6
$GPS2,090044,2256.866,-15743.557,11,1.8,11,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.227,-0.079
$KALMAN_X,-41406.7,384.9,405.6,87166.1,-1361.2
$KALMAN_Y,25173.3,210.0,356.5,115540.2,-1917.4
$MHEAD_RNG_PITCHd_Wd,240.7,23827,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.06,-146.0,0.0,0.0,0,107,0.00,0.00,-86.82,0.000,2,0.000,0.000,473,1749,3495,0,0,0,0,0,0
$GC,110,-1.06,-146.0,4.0,-5.4,11,136,12.27,2.65,-1.77,0.000,4,0.163,0.070,2761,208,3601,0,0,0,0,0,0
$GC,275,-0.90,-146.0,41.4,-14.6,29,280,0.20,2.38,0.00,0.000,6,0.110,0.016,2802,1768,3601,0,0,0,0,0,0
$GC,542,-0.84,-146.0,72.5,-9.9,53,546,0.00,2.67,0.00,0.000,4,0.000,0.062,2802,197,3602,0,0,0,0,0,0
$GC,563,-0.76,-146.0,75.1,-11.0,54,568,0.15,2.38,0.00,0.000,6,0.106,0.016,2834,1786,3602,0,0,0,0,0,0
$GC,827,-0.76,-146.0,98.5,-7.9,78,831,0.00,2.35,0.00,0.000,4,0.000,0.032,2834,3306,3602,0,0,0,0,0,0
$GC,849,-0.76,-146.0,100.2,-8.4,79,854,0.00,2.47,0.00,0.000,6,0.000,0.037,2834,1765,3602,0,0,0,0,0,0
$GC,1117,-0.81,-146.0,121.8,-7.9,103,1122,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1766,3602,0,0,0,0,0,0
$GC,1381,-0.88,-146.0,139.9,-6.4,128,1386,0.10,2.70,0.00,0.000,4,0.090,0.067,2795,196,3602,0,0,0,0,0,0
$GC,1426,-0.88,-146.0,143.1,-8.4,131,1431,0.00,2.33,0.00,0.000,6,0.000,0.023,2795,1752,3603,0,0,0,0,0,0
$GC,1689,-0.88,-146.0,163.7,-8.2,155,1693,0.00,2.40,0.00,0.000,4,0.000,0.025,2795,3309,3603,0,0,0,0,0,0
$GC,1723,-0.88,-146.0,166.2,-8.4,157,1727,0.00,2.50,0.00,0.000,6,0.000,0.038,2795,1752,3603,0,0,0,0,0,0
$GC,1989,-0.88,-146.0,187.8,-7.5,181,1994,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1752,3603,0,0,0,0,0,0
$GC,2247,-0.88,-146.0,206.3,-7.2,200,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1751,3602,0,0,0,0,0,0
$GC,2491,-0.88,-146.0,226.3,-8.3,206,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1752,3603,0,0,0,0,0,0
$GC,2734,-0.88,-146.0,243.6,-6.8,212,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1751,3603,0,0,0,0,0,0
$GC,2977,-0.88,-146.0,263.6,-8.6,218,2982,0.00,2.70,0.00,0.000,4,0.000,0.077,2795,199,3602,0,0,0,0,0,0
$GC,3004,-0.88,-146.0,266.3,-9.8,218,3008,0.00,2.33,0.00,0.000,6,0.000,0.024,2795,1730,3602,0,0,0,0,0,0
$GC,3261,-0.88,-146.0,285.7,-7.1,225,3265,0.00,2.55,0.00,0.000,4,0.000,0.036,2795,3342,3602,0,0,0,0,0,0
$GC,3288,-0.94,-146.0,287.7,-6.6,225,3293,0.00,2.55,0.00,0.000,6,0.000,0.035,2795,1769,3602,0,0,0,0,0,0
$GC,3540,-0.98,-146.0,303.3,-6.4,231,3545,0.00,2.80,0.00,0.000,4,0.000,0.085,2795,192,3601,0,0,0,0,0,0
$GC,3569,-1.03,-146.0,305.3,-6.8,231,3573,0.00,2.42,0.00,0.000,6,0.000,0.030,2795,1741,3601,0,0,0,0,0,0
$GC,3819,-1.09,-146.0,318.5,-5.1,237,3821,0.15,0.00,0.00,0.000,6,0.065,0.000,2745,1741,3600,0,0,0,0,0,0
$GC,4064,-1.05,-146.0,340.3,-9.4,243,4069,0.12,2.65,0.00,0.000,4,0.108,0.051,2771,3348,3599,0,0,0,0,0,0
$GC,4079,-1.05,-146.0,342.2,-9.8,243,4084,0.00,2.65,0.00,0.000,6,0.000,0.050,2770,1754,3599,0,0,0,0,0,0
$GC,4340,-1.05,-146.0,363.4,-8.2,250,4341,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1754,3598,0,0,0,0,0,0
$GC,4584,-1.05,-146.0,381.2,-7.0,256,4589,0.00,2.62,0.00,0.000,4,0.000,0.046,2771,3346,3597,0,0,0,0,0,0
$GC,4619,-1.10,-146.0,383.5,-6.7,256,4625,0.00,2.70,0.00,0.000,6,0.000,0.057,2771,1763,3597,0,0,0,0,0,0
$GC,4869,-1.10,-146.0,400.8,-7.0,263,4870,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1762,3596,0,0,0,0,0,0
$GC,5113,-1.14,-146.0,420.2,-8.1,269,5114,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,1763,3594,0,0,0,0,0,0
$GC,5358,-1.18,-146.0,439.9,-8.1,275,5363,0.12,3.00,0.00,0.000,4,0.084,0.115,2732,179,3593,0,0,0,0,0,0
$GC,5385,-1.18,-146.0,442.8,-9.9,275,5390,0.00,2.53,0.00,0.000,6,0.000,0.038,2732,1758,3593,0,0,0,0,0,0
$GC,5636,-1.15,-146.0,463.1,-7.4,281,5641,0.00,2.70,0.00,0.000,4,0.000,0.071,2732,3354,3591,0,0,0,0,0,0
$GC,5677,-1.15,-146.0,465.9,-7.3,282,5681,0.00,2.70,0.00,0.000,6,0.000,0.066,2732,1780,3591,0,0,0,0,0,0
$GC,5960,-1.15,-146.0,485.8,-7.1,289,5965,0.00,3.05,0.00,0.000,4,0.000,0.121,2732,180,3588,0,0,0,0,0,0
$GC,5976,-1.11,-146.0,487.1,-7.2,289,5981,0.12,2.60,0.00,0.000,6,0.108,0.039,2759,1787,3588,0,0,0,0,0,0
$STATE,6194,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6194,begin apogee
$GC,6201,-0.31,0.0,502.7,7.1,295,6323,0.75,0.00,118.50,0.920,6,0.078,0.000,2930,1826,3001,0,0,0,0,0,0
$STATE,6324,end apogee,CONTROL_FINISHED_OK
$STATE,6324,begin climb
$GC,6326,1.06,146.0,506.6,0.0,298,6461,1.25,2.83,122.97,0.894,4,0.048,0.074,3233,3398,2403,0,0,0,0,0,0
$GC,6511,0.92,146.0,500.5,8.7,302,6517,0.15,2.75,0.00,0.000,6,0.117,0.063,3202,1820,2399,0,0,0,0,0,0
$GC,6774,0.85,162.2,481.0,7.4,309,6790,0.00,0.00,14.07,0.818,6,0.000,0.000,3202,1820,2339,0,0,0,0,0,0
$GC,7017,0.81,194.5,463.9,6.8,315,7052,0.12,2.72,28.85,0.863,4,0.124,0.046,3179,3408,2207,0,0,0,0,0,0
$GC,7085,0.84,216.1,459.2,7.2,316,7111,0.00,2.78,20.15,0.832,6,0.000,0.063,3178,1817,2120,0,0,0,0,0,0
$GC,7386,0.84,218.5,436.0,7.9,324,7391,0.00,2.65,0.00,0.000,4,0.000,0.048,3179,3407,2112,0,0,0,0,0,0
$GC,7430,0.84,218.5,431.9,8.9,325,7435,0.00,2.72,0.00,0.000,6,0.000,0.059,3179,1828,2111,0,0,0,0,0,0
$GC,7710,0.85,224.3,409.6,7.8,332,7724,0.00,3.08,7.07,0.719,4,0.000,0.112,3178,235,2086,0,0,0,0,0,0
$GC,7753,0.79,224.3,405.6,9.3,333,7758,0.00,2.58,0.00,0.000,6,0.000,0.031,3178,1832,2085,0,0,0,0,0,0
$GC,8036,0.82,244.2,384.2,7.3,340,8061,0.00,2.65,18.95,0.820,4,0.000,0.045,3178,3405,2004,0,0,0,0,0,0
$GC,8091,0.86,247.9,380.2,7.9,341,8101,0.00,2.67,4.62,0.589,6,0.000,0.052,3178,1835,1990,0,0,0,0,0,0
$GC,8362,0.88,260.8,359.8,7.5,348,8377,0.00,0.00,12.85,0.776,6,0.000,0.000,3178,1835,1937,0,0,0,0,0,0
$GC,8607,0.91,283.5,342.1,7.2,354,8635,0.00,2.62,21.23,0.794,4,0.000,0.039,3178,3412,1843,0,0,0,0,0,0
$GC,8648,0.95,316.7,339.3,6.8,355,8684,0.12,2.65,30.15,0.792,6,0.088,0.044,3210,1840,1709,0,0,0,0,0,0
$GC,8930,0.95,316.7,315.1,9.0,361,8935,0.00,2.88,0.00,0.000,4,0.000,0.087,3210,237,1702,0,0,0,0,0,0
$GC,8991,0.91,316.7,307.8,11.7,362,8996,0.00,2.55,0.00,0.000,6,0.000,0.023,3210,1840,1701,0,0,0,0,0,0
$GC,9251,0.91,316.7,281.6,9.8,369,9256,0.00,2.83,0.00,0.000,4,0.000,0.077,3210,236,1700,0,0,0,0,0,0
$GC,9276,0.86,316.7,279.3,10.8,369,9281,0.10,2.53,0.00,0.000,6,0.133,0.021,3190,1838,1699,0,0,0,0,0,0
$GC,9531,0.86,317.1,258.0,8.0,376,9532,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1840,1698,0,0,0,0,0,0
$GC,9775,0.90,317.1,238.2,8.1,382,9779,0.00,2.78,0.00,0.000,4,0.000,0.068,3189,236,1698,0,0,0,0,0,0
$GC,9808,0.90,317.1,235.4,8.9,382,9814,0.00,2.47,0.00,0.000,6,0.000,0.021,3189,1825,1697,0,0,0,0,0,0
$GC,10058,0.95,317.1,214.7,8.3,389,10059,0.00,0.00,0.00,0.000,6,0.000,0.000,3190,1827,1697,0,0,0,0,0,0
$GC,10304,1.00,317.1,194.0,8.3,398,10306,0.12,0.00,0.00,0.000,6,0.142,0.000,3224,1827,1697,0,0,0,0,0,0
$GC,10561,1.00,317.1,170.0,9.4,422,10562,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1827,1697,0,0,0,0,0,0
$GC,10813,1.00,317.1,144.8,9.5,446,10817,0.00,2.72,0.00,0.000,4,0.000,0.062,3224,235,1697,0,0,0,0,0,0
$GC,10834,1.00,317.1,143.0,10.3,447,10839,0.00,2.45,0.00,0.000,6,0.000,0.021,3224,1822,1697,0,0,0,0,0,0
$GC,11102,1.00,317.1,115.7,10.0,471,11106,0.00,2.47,0.00,0.000,4,0.000,0.029,3224,3393,1697,0,0,0,0,0,0
$GC,11146,1.07,317.1,110.8,8.8,474,11156,0.00,2.60,0.00,0.000,6,0.000,0.037,3224,1810,1697,0,0,0,0,0,0
$GC,11414,1.07,317.1,88.9,8.8,499,11418,0.00,2.65,0.00,0.000,4,0.000,0.069,3224,240,1697,0,0,0,0,0,0
$GC,11436,1.07,317.1,86.2,9.5,500,11446,0.00,2.45,0.00,0.000,6,0.000,0.025,3224,1820,1697,0,0,0,0,0,0
$GC,11704,1.13,325.7,66.6,7.7,525,11719,0.00,2.50,7.50,0.490,4,0.000,0.028,3224,3377,1673,0,0,0,0,0,0
$GC,11761,1.25,332.0,61.9,7.8,529,11776,0.20,2.53,7.28,0.483,6,0.058,0.040,3279,1823,1646,0,0,0,0,0,0
$GC,12033,1.20,332.0,37.2,8.7,554,12037,0.00,2.70,0.00,0.000,4,0.000,0.061,3280,240,1645,0,0,0,0,0,0
$GC,12066,1.09,332.0,33.9,10.6,556,12071,0.20,2.42,0.00,0.000,6,0.112,0.018,3237,1823,1644,0,0,0,0,0,0
$GC,12395,1.14,332.0,5.5,8.5,600,12405,0.00,2.47,0.00,0.000,4,0.000,0.028,3237,3383,1644,0,0,0,0,0,0
$STATE,12412,end climb,SURFACE_DEPTH_REACHED
$STATE,12413,begin surface coast
$FINISH,2.8,1.023342
$STATE,12421,end surface coast,CONTROL_FINISHED_OK
$STATE,12421,begin surface
$SM_CCo,12445,83.40,0.456,1,0,1288,420.20
$SM_GC,0.94,0.00,0.00,83.40,0.000,0.000,0.456,482,1763,1288,-11.58,-0.20,420.20
$IRIDIUM_FIX,2251.04,-15740.63,171199,050527
$TT8_MAMPS,0.025311
$HUMID,41.80
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.50
$XPDR_PINGS,58
$24V_AH,23.6,11.392
$10V_AH,10.4,10.460
$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,27.675,146.800,414.200,83.400,0.000,23.048,33.892,235.683,14.500,0.000,12.893,1218.474,8391.218,581.820,2151.012,617.497,33.380,1386.191,0.000,2163.422,0.000,0.535,0.000
$DEVICE_MAMPS,163.371,173.342,919.633,455.598,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,408.421,369.372,457.153,834.036,1261.375,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,47951,603
$CAP_FILE_SIZE,128258,0
$CFSIZE,260165632,179625984
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230810,123155,2255.092,-15745.868,26,1.8,42,10.1