version: 66.06
glider: 146
mission: 5
dive: 55
start: 8 23 110 12 38 21
data:
$ID,146
$MISSION,5
$DIVE,55
$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,-248285.11
$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,22
$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
$GPS1,123155,2255.092,-15745.868,26,1.8,42,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-67.0
$GPS2,123726,2255.047,-15745.922,12,1.8,12,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.195,-0.141
$KALMAN_X,-42247.3,334.6,61.4,84333.2,-1599.9
$KALMAN_Y,23999.1,-161.9,-477.4,114555.3,-895.9
$MHEAD_RNG_PITCHd_Wd,224.1,18592,-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,15,-1.06,-146.0,0.0,0.0,0,104,0.00,0.00,-85.88,0.000,2,0.000,0.000,482,1762,3479,0,0,0,0,0,0
$GC,107,-1.06,-146.0,4.2,-5.6,11,133,12.20,2.72,-2.03,0.000,4,0.163,0.068,2759,188,3600,0,0,0,0,0,0
$GC,272,-0.90,-146.0,45.3,-17.1,29,282,0.17,2.42,0.00,0.000,6,0.087,0.016,2800,1768,3601,0,0,0,0,0,0
$GC,539,-0.85,-146.0,78.0,-10.5,54,543,0.00,2.47,0.00,0.000,4,0.000,0.025,2800,3327,3601,0,0,0,0,0,0
$GC,573,-0.85,-146.0,82.3,-10.1,56,582,0.00,2.53,0.00,0.000,6,0.000,0.032,2800,1773,3601,0,0,0,0,0,0
$GC,838,-0.85,-146.0,108.2,-9.5,81,843,0.00,2.67,0.00,0.000,4,0.000,0.063,2800,192,3602,0,0,0,0,0,0
$GC,872,-0.85,-146.0,112.0,-10.0,83,878,0.00,2.40,0.00,0.000,6,0.000,0.021,2800,1797,3602,0,0,0,0,0,0
$GC,1133,-0.85,-146.0,136.2,-9.4,108,1134,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1799,3602,0,0,0,0,0,0
$GC,1390,-0.85,-146.0,156.9,-7.3,132,1394,0.00,2.75,0.00,0.000,4,0.000,0.062,2800,189,3603,0,0,0,0,0,0
$GC,1423,-0.85,-146.0,159.7,-8.0,134,1429,0.00,2.35,0.00,0.000,6,0.000,0.017,2800,1755,3603,0,0,0,0,0,0
$GC,1687,-0.85,-146.0,181.6,-9.3,159,1691,0.00,2.45,0.00,0.000,4,0.000,0.031,2800,3309,3603,0,0,0,0,0,0
$GC,1708,-0.85,-146.0,183.4,-9.6,160,1712,0.00,2.50,0.00,0.000,6,0.000,0.030,2800,1749,3603,0,0,0,0,0,0
$GC,1976,-0.85,-146.0,207.2,-8.2,179,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1749,3603,0,0,0,0,0,0
$GC,2221,-0.85,-146.0,224.8,-7.1,185,2222,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1749,3603,0,0,0,0,0,0
$GC,2464,-0.85,-146.0,243.5,-7.7,191,2465,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1749,3603,0,0,0,0,0,0
$GC,2707,-0.85,-146.0,262.3,-7.8,197,2708,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1748,3602,0,0,0,0,0,0
$GC,2951,-0.90,-146.0,279.1,-6.6,203,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1749,3602,0,0,0,0,0,0
$GC,3196,-0.96,-146.0,295.7,-7.1,209,3198,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1749,3601,0,0,0,0,0,0
$GC,3439,-1.03,-146.0,312.7,-6.8,215,3444,0.10,2.78,0.00,0.000,4,0.087,0.087,2765,190,3601,0,0,0,0,0,0
$GC,3455,-1.03,-146.0,314.1,-6.7,215,3459,0.00,2.40,0.00,0.000,6,0.000,0.031,2765,1718,3600,0,0,0,0,0,0
$GC,3717,-1.03,-146.0,336.0,-8.6,222,3718,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1718,3600,0,0,0,0,0,0
$GC,3960,-1.03,-146.0,357.3,-8.4,228,3961,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1717,3599,0,0,0,0,0,0
$GC,4204,-1.03,-146.0,377.1,-8.0,234,4208,0.00,2.65,0.00,0.000,4,0.000,0.054,2765,3307,3598,0,0,0,0,0,0
$GC,4237,-1.07,-146.0,379.9,-8.1,234,4242,0.00,2.58,0.00,0.000,6,0.000,0.053,2765,1784,3598,0,0,0,0,0,0
$GC,4488,-1.07,-146.0,398.6,-7.4,241,4492,0.00,2.47,0.00,0.000,4,0.000,0.045,2765,3299,3596,0,0,0,0,0,0
$GC,4509,-1.07,-146.0,400.5,-7.7,241,4514,0.00,2.58,0.00,0.000,6,0.000,0.059,2765,1780,3596,0,0,0,0,0,0
$GC,4764,-1.07,-146.0,420.9,-8.0,248,4765,0.00,0.00,0.00,0.000,6,0.000,0.000,2765,1780,3594,0,0,0,0,0,0
$GC,5009,-1.07,-146.0,441.0,-8.3,254,5014,0.00,2.97,0.00,0.000,4,0.000,0.119,2765,184,3594,0,0,0,0,0,0
$GC,5036,-1.11,-146.0,443.4,-9.3,254,5041,0.00,2.47,0.00,0.000,6,0.000,0.038,2765,1723,3593,0,0,0,0,0,0
$GC,5287,-1.11,-146.0,461.3,-6.8,260,5291,0.00,2.78,0.00,0.000,4,0.000,0.064,2765,3360,3591,0,0,0,0,0,0
$GC,5338,-1.19,-146.0,464.9,-7.5,261,5343,0.10,2.70,0.00,0.000,6,0.087,0.058,2731,1783,3591,0,0,0,0,0,0
$GC,5610,-1.19,-146.0,489.7,-9.4,268,5615,0.00,3.05,0.00,0.000,4,0.000,0.127,2731,181,3589,0,0,0,0,0,0
$GC,5649,-1.19,-146.0,493.6,-9.7,269,5654,0.00,2.62,0.00,0.000,6,0.000,0.038,2731,1785,3589,0,0,0,0,0,0
$STATE,5726,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5726,begin apogee
$GC,5734,-0.31,0.0,500.9,9.1,271,5856,0.90,0.00,119.10,0.917,6,0.086,0.000,2931,1824,3001,0,0,0,0,0,0
$STATE,5857,end apogee,CONTROL_FINISHED_OK
$STATE,5857,begin climb
$GC,5860,1.06,146.0,504.5,0.0,274,5994,1.25,2.85,123.22,0.894,4,0.049,0.077,3235,3405,2403,0,0,0,0,0,0
$GC,6017,0.91,146.0,500.2,8.1,277,6024,0.15,2.75,0.00,0.000,6,0.100,0.058,3201,1818,2400,0,0,0,0,0,0
$GC,6267,0.86,175.6,482.5,6.9,284,6295,0.00,0.00,25.77,0.854,6,0.000,0.000,3200,1818,2285,0,0,0,0,0,0
$GC,6512,0.84,211.8,466.2,6.7,290,6550,0.00,0.00,32.70,0.859,6,0.000,0.000,3201,1818,2136,0,0,0,0,0,0
$GC,6794,0.78,211.8,444.0,8.1,297,6796,0.15,0.00,0.00,0.000,6,0.130,0.000,3171,1818,2129,0,0,0,0,0,0
$GC,7038,0.85,268.7,429.1,5.9,303,7093,0.00,2.72,49.88,0.861,4,0.000,0.050,3171,3408,1905,0,0,0,0,0,0
$GC,7113,0.95,316.5,424.8,6.2,304,7163,0.15,2.78,42.90,0.842,6,0.077,0.064,3207,1821,1709,0,0,0,0,0,0
$GC,7448,0.95,316.5,393.5,9.8,313,7453,0.00,2.97,0.00,0.000,4,0.000,0.104,3207,232,1700,0,0,0,0,0,0
$GC,7470,0.88,316.5,390.7,12.2,313,7474,0.00,2.58,0.00,0.000,6,0.000,0.027,3207,1837,1700,0,0,0,0,0,0
$GC,7726,0.84,316.5,361.8,11.3,320,7728,0.12,0.00,0.00,0.000,6,0.119,0.000,3182,1838,1698,0,0,0,0,0,0
$GC,7969,0.84,316.5,339.0,9.1,326,7974,0.00,2.85,0.00,0.000,4,0.000,0.080,3182,229,1697,0,0,0,0,0,0
$GC,8014,0.84,316.5,334.5,10.4,327,8018,0.00,2.55,0.00,0.000,6,0.000,0.028,3182,1827,1696,0,0,0,0,0,0
$GC,8291,0.87,340.8,313.5,7.1,334,8316,0.00,2.60,20.02,0.769,4,0.000,0.038,3182,3400,1610,0,0,0,0,0,0
$GC,8340,1.00,379.2,310.2,6.6,335,8382,0.15,2.65,34.90,0.775,6,0.075,0.043,3222,1800,1455,0,0,0,0,0,0
$GC,8654,1.00,379.2,274.4,12.5,343,8659,0.00,2.78,0.00,0.000,4,0.000,0.077,3222,232,1449,0,0,0,0,0,0
$GC,8728,1.00,379.2,264.6,13.3,344,8733,0.00,2.50,0.00,0.000,6,0.000,0.025,3222,1816,1448,0,0,0,0,0,0
$GC,8978,1.00,379.2,235.9,11.1,350,8982,0.00,2.53,0.00,0.000,4,0.000,0.031,3222,3393,1447,0,0,0,0,0,0
$GC,9004,1.00,379.2,233.1,10.1,350,9009,0.00,2.62,0.00,0.000,6,0.000,0.039,3222,1796,1447,0,0,0,0,0,0
$GC,9256,1.00,379.2,205.4,11.5,356,9260,0.00,2.70,0.00,0.000,4,0.000,0.071,3222,240,1446,0,0,0,0,0,0
$GC,9283,0.94,379.2,201.9,12.3,356,9287,0.00,2.45,0.00,0.000,6,0.000,0.025,3222,1821,1445,0,0,0,0,0,0
$GC,9542,0.94,379.2,176.8,9.1,377,9543,0.00,0.00,0.00,0.000,6,0.000,0.000,3222,1822,1445,0,0,0,0,0,0
$GC,9798,0.94,379.2,151.6,10.4,401,9802,0.00,2.72,0.00,0.000,4,0.000,0.067,3221,240,1445,0,0,0,0,0,0
$GC,9842,0.94,379.2,146.2,11.7,404,9852,0.00,2.40,0.00,0.000,6,0.000,0.020,3222,1786,1445,0,0,0,0,0,0
$GC,10110,0.94,379.2,118.8,11.0,429,10114,0.00,2.55,0.00,0.000,4,0.000,0.028,3222,3391,1445,0,0,0,0,0,0
$GC,10154,1.03,379.2,113.2,10.2,432,10165,0.00,2.62,0.00,0.000,6,0.000,0.038,3222,1799,1445,0,0,0,0,0,0
$GC,10423,1.03,379.2,88.9,8.7,457,10427,0.00,2.67,0.00,0.000,4,0.000,0.064,3222,234,1445,0,0,0,0,0,0
$GC,10462,1.03,379.2,84.3,10.8,460,10466,0.00,2.38,0.00,0.000,6,0.000,0.025,3222,1785,1444,0,0,0,0,0,0
$GC,10729,1.10,385.0,64.1,7.8,484,10739,0.00,0.00,5.22,0.439,6,0.000,0.000,3222,1786,1431,0,0,0,0,0,0
$GC,10999,1.19,395.9,42.5,7.6,509,11016,0.15,2.67,11.43,0.510,4,0.072,0.060,3263,234,1386,0,0,0,0,0,0
$GC,11058,1.15,395.9,37.0,11.3,513,11062,0.00,2.38,0.00,0.000,6,0.000,0.018,3263,1788,1385,0,0,0,0,0,0
$STATE,11359,end climb,SURFACE_DEPTH_REACHED
$STATE,11359,begin surface coast
$FINISH,0.3,1.022784
$STATE,11402,end surface coast,CONTROL_FINISHED_OK
$STATE,11402,begin surface
$SM_CCo,11423,26.33,0.311,1,0,1288,420.20
$SM_GC,1.12,0.00,0.00,26.33,0.000,0.000,0.311,474,1789,1288,-11.62,0.54,420.20
$IRIDIUM_FIX,2246.36,-15743.68,171199,090930
$TT8_MAMPS,0.026078
$HUMID,42.95
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.50
$XPDR_PINGS,47
$24V_AH,23.5,11.520
$10V_AH,10.4,10.580
$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,26.800,120.650,465.150,26.325,0.000,22.391,30.623,144.551,11.750,0.000,14.387,1101.666,7631.507,550.663,2018.420,484.863,33.370,1307.229,0.000,2023.908,0.000,0.536,0.000
$DEVICE_MAMPS,163.371,173.342,917.332,311.402,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,377.876,341.561,425.301,789.260,1193.718,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,44763,559
$CAP_FILE_SIZE,111492,0
$CFSIZE,260165632,179589120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230810,155036,2253.551,-15748.150,35,1.0,39,10.1