version: 66.06
glider: 146
mission: 5
dive: 57
start: 8 23 110 19 27 20
data:
$ID,146
$MISSION,5
$DIVE,57
$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,-248314.25
$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,36
$R_STBD_OVSHOOT,58
$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
$GPS1,191931,2252.340,-15749.885,67,1.2,67,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-68.0
$GPS2,192626,2252.388,-15749.903,10,1.7,10,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.229,-0.074
$KALMAN_X,-43766.9,-237.8,126.1,79507.1,-641.8
$KALMAN_Y,21885.6,-414.2,525.0,110992.2,-1205.6
$MHEAD_RNG_PITCHd_Wd,241.9,10213,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.06,-146.0,0.0,0.0,0,106,0.00,0.00,-86.70,0.000,2,0.000,0.000,481,1749,3513,0,0,0,0,0,0
$GC,109,-1.06,-146.0,4.4,-6.3,11,135,12.15,2.67,-1.40,0.000,4,0.160,0.071,2760,198,3599,0,0,0,0,0,0
$GC,297,-0.91,-146.0,46.9,-15.5,31,302,0.20,2.40,0.00,0.000,6,0.110,0.015,2801,1781,3600,0,0,0,0,0,0
$GC,565,-0.82,-146.0,79.9,-11.6,55,570,0.00,2.67,0.00,0.000,4,0.000,0.062,2801,203,3601,0,0,0,0,0,0
$GC,583,-0.72,-146.0,82.9,-11.9,56,588,0.17,2.38,0.00,0.000,6,0.104,0.016,2839,1797,3601,0,0,0,0,0,0
$GC,847,-0.76,-146.0,103.4,-6.5,80,852,0.00,2.70,0.00,0.000,4,0.000,0.064,2839,203,3601,0,0,0,0,0,0
$GC,892,-0.83,-146.0,106.4,-7.3,83,896,0.00,2.28,0.00,0.000,6,0.000,0.015,2840,1741,3601,0,0,0,0,0,0
$GC,1160,-0.90,-146.0,121.9,-5.9,107,1165,0.15,2.62,0.00,0.000,4,0.063,0.067,2786,196,3601,0,0,0,0,0,0
$GC,1192,-0.90,-146.0,124.8,-9.1,109,1196,0.00,2.30,0.00,0.000,6,0.000,0.018,2786,1742,3601,0,0,0,0,0,0
$GC,1459,-0.90,-146.0,148.5,-8.5,133,1464,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1744,3601,0,0,0,0,0,0
$GC,1720,-0.90,-146.0,171.7,-8.7,158,1724,0.00,2.42,0.00,0.000,4,0.000,0.029,2786,3309,3601,0,0,0,0,0,0
$GC,1736,-0.90,-146.0,173.2,-9.1,159,1740,0.00,2.50,0.00,0.000,6,0.000,0.032,2786,1743,3601,0,0,0,0,0,0
$GC,2000,-0.90,-146.0,195.7,-8.8,183,2004,0.00,2.65,0.00,0.000,4,0.000,0.074,2786,196,3602,0,0,0,0,0,0
$GC,2022,-0.90,-146.0,198.0,-8.8,184,2027,0.00,2.28,0.00,0.000,6,0.000,0.023,2786,1730,3602,0,0,0,0,0,0
$GC,2295,-0.90,-146.0,220.7,-8.0,193,2299,0.00,2.45,0.00,0.000,4,0.000,0.033,2785,3309,3602,0,0,0,0,0,0
$GC,2321,-0.90,-146.0,223.2,-8.2,193,2325,0.00,2.53,0.00,0.000,6,0.000,0.035,2786,1740,3602,0,0,0,0,0,0
$GC,2571,-0.90,-146.0,243.2,-8.3,199,2576,0.00,2.67,0.00,0.000,4,0.000,0.078,2786,196,3601,0,0,0,0,0,0
$GC,2587,-0.90,-146.0,244.7,-8.4,199,2591,0.00,2.30,0.00,0.000,6,0.000,0.022,2786,1733,3601,0,0,0,0,0,0
$GC,2856,-0.90,-146.0,264.6,-7.2,206,2860,0.00,2.47,0.00,0.000,4,0.000,0.031,2786,3306,3601,0,0,0,0,0,0
$GC,2877,-0.90,-146.0,266.3,-6.9,206,2881,0.00,2.53,0.00,0.000,6,0.000,0.033,2786,1742,3601,0,0,0,0,0,0
$GC,3132,-0.90,-146.0,283.4,-7.0,213,3136,0.00,2.47,0.00,0.000,4,0.000,0.029,2786,3306,3601,0,0,0,0,0,0
$GC,3166,-0.96,-146.0,286.2,-8.1,213,3172,0.00,2.55,0.00,0.000,6,0.000,0.037,2786,1740,3600,0,0,0,0,0,0
$GC,3416,-0.96,-146.0,305.5,-7.5,220,3420,0.00,2.78,0.00,0.000,4,0.000,0.092,2785,182,3600,0,0,0,0,0,0
$GC,3443,-0.96,-146.0,307.5,-6.9,220,3447,0.00,2.38,0.00,0.000,6,0.000,0.028,2786,1710,3600,0,0,0,0,0,0
$GC,3694,-1.00,-146.0,324.9,-7.1,226,3699,0.00,2.60,0.00,0.000,4,0.000,0.048,2786,3310,3599,0,0,0,0,0,0
$GC,3739,-1.08,-146.0,328.6,-7.8,227,3744,0.10,2.58,0.00,0.000,6,0.082,0.046,2751,1756,3599,0,0,0,0,0,0
$GC,4017,-1.08,-146.0,350.3,-7.5,234,4022,0.00,2.85,0.00,0.000,4,0.000,0.101,2751,187,3598,0,0,0,0,0,0
$GC,4060,-1.08,-146.0,353.6,-8.8,235,4065,0.00,2.40,0.00,0.000,6,0.000,0.031,2750,1704,3598,0,0,0,0,0,0
$GC,4344,-1.08,-146.0,376.9,-8.0,242,4349,0.00,2.62,0.00,0.000,4,0.000,0.058,2751,3296,3596,0,0,0,0,0,0
$GC,4418,-1.08,-146.0,383.2,-8.2,243,4422,0.00,2.62,0.00,0.000,6,0.000,0.063,2751,1757,3596,0,0,0,0,0,0
$GC,4667,-1.08,-146.0,404.8,-8.6,249,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,2751,1757,3594,0,0,0,0,0,0
$GC,4911,-1.08,-146.0,424.9,-8.1,255,4915,0.00,2.55,0.00,0.000,4,0.000,0.051,2750,3295,3592,0,0,0,0,0,0
$GC,4932,-1.08,-146.0,426.7,-8.0,255,4936,0.00,2.60,0.00,0.000,6,0.000,0.059,2750,1770,3592,0,0,0,0,0,0
$GC,5194,-1.08,-146.0,445.9,-7.4,262,5199,0.00,2.97,0.00,0.000,4,0.000,0.115,2750,181,3592,0,0,0,0,0,0
$GC,5210,-1.08,-146.0,447.6,-7.7,262,5214,0.00,2.47,0.00,0.000,6,0.000,0.033,2751,1719,3591,0,0,0,0,0,0
$GC,5470,-1.08,-146.0,467.0,-7.4,269,5475,0.00,2.67,0.00,0.000,4,0.000,0.064,2750,3293,3589,0,0,0,0,0,0
$GC,5488,-1.08,-146.0,468.5,-7.7,269,5492,0.00,2.60,0.00,0.000,6,0.000,0.058,2751,1769,3589,0,0,0,0,0,0
$GC,5748,-1.08,-146.0,489.2,-8.0,276,5753,0.00,3.05,0.00,0.000,4,0.000,0.126,2750,186,3586,0,0,0,0,0,0
$GC,5775,-1.08,-146.0,491.7,-9.2,276,5779,0.00,2.47,0.00,0.000,6,0.000,0.036,2750,1711,3586,0,0,0,0,0,0
$STATE,5900,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5901,begin apogee
$GC,5908,-0.31,0.0,502.2,8.3,279,6030,0.80,0.00,118.55,0.923,6,0.074,0.000,2933,1764,3001,0,0,0,0,0,0
$STATE,6030,end apogee,CONTROL_FINISHED_OK
$STATE,6030,begin climb
$GC,6033,1.06,146.0,506.2,0.0,282,6166,1.25,2.85,123.15,0.897,4,0.051,0.073,3235,3349,2404,0,0,0,0,0,0
$GC,6206,0.92,156.4,502.4,7.6,286,6222,0.17,2.67,9.88,0.771,6,0.118,0.062,3201,1813,2363,0,0,0,0,0,0
$GC,6467,0.85,167.5,482.6,7.6,292,6482,0.00,2.60,10.25,0.785,4,0.000,0.047,3201,3347,2317,0,0,0,0,0,0
$GC,6502,0.80,179.4,479.8,7.6,292,6522,0.12,2.62,12.15,0.799,6,0.130,0.058,3178,1839,2268,0,0,0,0,0,0
$GC,6796,0.82,189.9,458.0,7.6,300,6812,0.00,3.12,9.80,0.781,4,0.000,0.123,3178,234,2226,0,0,0,0,0,0
$GC,6869,0.74,189.9,451.5,8.9,301,6873,0.00,2.50,0.00,0.000,6,0.000,0.036,3178,1771,2223,0,0,0,0,0,0
$GC,7119,0.78,216.8,433.6,7.0,307,7149,0.00,2.83,24.48,0.852,4,0.000,0.054,3178,3408,2116,0,0,0,0,0,0
$GC,7182,0.78,221.4,428.7,7.8,308,7193,0.00,2.70,5.47,0.652,6,0.000,0.051,3178,1824,2098,0,0,0,0,0,0
$GC,7439,0.80,236.2,409.6,7.5,314,7458,0.00,3.00,14.30,0.808,4,0.000,0.102,3178,233,2036,0,0,0,0,0,0
$GC,7469,0.80,236.2,406.8,8.5,314,7475,0.00,2.62,0.00,0.000,6,0.000,0.030,3178,1851,2035,0,0,0,0,0,0
$GC,7719,0.82,249.6,387.7,7.5,321,7739,0.00,2.62,12.75,0.792,4,0.000,0.048,3178,3402,1983,0,0,0,0,0,0
$GC,7745,0.85,277.6,385.7,7.0,321,7779,0.00,2.67,26.35,0.822,6,0.000,0.049,3178,1824,1868,0,0,0,0,0,0
$GC,8048,0.89,311.0,364.8,6.8,329,8080,0.00,0.00,29.67,0.815,6,0.000,0.000,3178,1824,1733,0,0,0,0,0,0
$GC,8291,0.89,311.0,345.0,8.6,335,8296,0.00,2.88,0.00,0.000,4,0.000,0.091,3178,235,1727,0,0,0,0,0,0
$GC,8334,0.89,311.0,340.5,9.9,336,8339,0.00,2.58,0.00,0.000,6,0.000,0.023,3179,1850,1726,0,0,0,0,0,0
$GC,8612,0.89,312.8,317.6,7.9,343,8617,0.00,2.88,0.00,0.000,4,0.000,0.081,3178,230,1725,0,0,0,0,0,0
$GC,8653,0.89,312.8,314.0,9.3,344,8657,0.00,2.53,0.00,0.000,6,0.000,0.025,3178,1823,1724,0,0,0,0,0,0
$GC,8936,0.94,312.8,290.5,8.1,351,8941,0.10,2.55,0.00,0.000,4,0.099,0.037,3206,3396,1724,0,0,0,0,0,0
$GC,8975,0.99,312.8,286.9,9.8,352,8980,0.00,2.62,0.00,0.000,6,0.000,0.042,3206,1806,1722,0,0,0,0,0,0
$GC,9258,0.99,312.8,261.1,9.1,359,9263,0.00,2.72,0.00,0.000,4,0.000,0.074,3206,237,1722,0,0,0,0,0,0
$GC,9291,0.95,312.8,257.8,10.1,359,9296,0.00,2.50,0.00,0.000,6,0.000,0.026,3206,1834,1721,0,0,0,0,0,0
$GC,9540,0.95,312.8,236.1,8.6,366,9542,0.00,0.00,0.00,0.000,6,0.000,0.000,3206,1835,1721,0,0,0,0,0,0
$GC,9785,0.95,312.8,215.4,8.4,372,9790,0.00,2.75,0.00,0.000,4,0.000,0.071,3206,240,1721,0,0,0,0,0,0
$GC,9800,0.95,312.8,213.9,8.2,372,9805,0.00,2.45,0.00,0.000,6,0.000,0.025,3206,1831,1720,0,0,0,0,0,0
$GC,10061,0.97,329.9,194.4,7.4,384,10085,0.00,2.53,15.85,0.660,4,0.000,0.036,3206,3376,1655,0,0,0,0,0,0
$GC,10114,1.04,339.8,190.6,7.6,388,10129,0.00,2.58,10.05,0.617,6,0.000,0.038,3206,1805,1614,0,0,0,0,0,0
$GC,10385,1.04,339.8,164.9,9.9,413,10389,0.00,2.72,0.00,0.000,4,0.000,0.072,3206,236,1612,0,0,0,0,0,0
$GC,10452,1.04,339.8,158.1,10.9,418,10456,0.00,2.42,0.00,0.000,6,0.000,0.025,3206,1806,1610,0,0,0,0,0,0
$GC,10715,1.05,344.8,134.4,7.8,442,10729,0.00,2.53,5.40,0.490,4,0.000,0.032,3206,3377,1595,0,0,0,0,0,0
$GC,10743,1.10,344.8,132.1,8.3,444,10748,0.15,2.55,0.00,0.000,6,0.068,0.037,3250,1801,1594,0,0,0,0,0,0
$GC,11004,1.07,344.8,104.7,10.5,468,11005,0.00,0.00,0.00,0.000,6,0.000,0.000,3249,1801,1594,0,0,0,0,0,0
$GC,11260,1.07,344.8,79.5,9.0,492,11264,0.00,2.65,0.00,0.000,4,0.000,0.065,3250,239,1594,0,0,0,0,0,0
$GC,11328,1.07,344.8,72.9,9.7,497,11333,0.00,2.38,0.00,0.000,6,0.000,0.018,3250,1791,1594,0,0,0,0,0,0
$GC,11597,1.07,344.8,49.2,9.2,521,11601,0.00,2.47,0.00,0.000,4,0.000,0.027,3250,3383,1594,0,0,0,0,0,0
$GC,11657,1.14,344.8,43.4,8.0,525,11666,0.00,2.62,0.00,0.000,6,0.000,0.035,3250,1787,1593,0,0,0,0,0,0
$GC,11954,1.14,344.8,17.5,9.1,560,11963,0.00,2.65,0.00,0.000,4,0.000,0.061,3249,241,1593,0,0,0,0,0,0
$GC,11980,1.14,344.8,15.0,9.2,563,11989,0.00,2.38,0.00,0.000,6,0.000,0.021,3250,1791,1593,0,0,0,0,0,0
$STATE,12106,end climb,SURFACE_DEPTH_REACHED
$STATE,12106,begin surface coast
$FINISH,0.3,1.003231
$STATE,12186,end surface coast,CONTROL_FINISHED_OK
$STATE,12186,begin surface
$SM_CCo,12207,68.12,0.439,1,0,1288,420.20
$SM_GC,1.02,0.00,0.00,68.12,0.000,0.000,0.439,476,1792,1288,-11.61,0.65,420.20
$IRIDIUM_FIX,2246.36,-15745.85,171199,161630
$TT8_MAMPS,0.026078
$HUMID,42.47
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.70
$XPDR_PINGS,69
$24V_AH,23.6,11.777
$10V_AH,10.4,10.836
$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,26.600,181.900,428.100,68.125,0.000,30.259,28.475,223.573,17.250,0.000,12.124,1220.097,8048.731,602.662,2222.357,600.210,33.371,1448.281,0.000,2223.480,0.000,0.536,0.000
$DEVICE_MAMPS,160.303,313.703,922.701,438.724,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,400.503,357.585,449.927,837.170,1266.224,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,47923,592
$CAP_FILE_SIZE,133440,0
$CFSIZE,260165632,179441664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,230810,225306,2251.315,-15752.041,23,1.5,23,10.1