version: 66.06
glider: 146
mission: 5
dive: 71
start: 8 25 110 20 26 24
data:
$ID,146
$MISSION,5
$DIVE,71
$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,-248625.56
$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,40
$R_STBD_OVSHOOT,67
$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
$GPS1,201836,2255.963,-15752.425,27,1.5,27,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,0.90
$_SM_ANGLEo,-66.9
$GPS2,202531,2256.014,-15752.501,14,1.5,14,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.237,-0.038
$KALMAN_X,-60520.8,-133.4,8.6,91803.6,-1028.4
$KALMAN_Y,11336.0,-409.0,385.0,128391.9,-913.3
$MHEAD_RNG_PITCHd_Wd,89.0,22138,-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,-146.0,0.0,0.0,0,105,0.00,0.00,-86.43,0.000,2,0.000,0.000,476,1753,3479,0,0,0,0,0,0
$GC,108,-1.06,-146.0,4.0,-5.3,11,134,12.00,2.65,-2.08,0.000,4,0.154,0.070,2760,212,3599,0,0,0,0,0,0
$GC,159,-0.19,-146.0,23.0,-37.3,17,167,0.85,2.40,0.00,0.000,6,0.079,0.016,2954,1776,3600,0,0,0,0,0,0
$GC,449,-0.45,-146.0,39.7,-5.2,49,458,0.22,0.00,0.00,0.000,6,0.050,0.000,2888,1777,3601,0,0,0,0,0,0
$GC,716,-0.55,-146.0,60.5,-7.8,74,720,0.00,2.67,0.00,0.000,4,0.000,0.058,2888,206,3602,0,0,0,0,0,0
$GC,750,-0.67,-146.0,63.3,-8.0,76,755,0.15,2.38,0.00,0.000,6,0.065,0.016,2835,1784,3601,0,0,0,0,0,0
$GC,1013,-0.67,-146.0,86.5,-8.0,100,1017,0.00,2.38,0.00,0.000,4,0.000,0.029,2835,3311,3602,0,0,0,0,0,0
$GC,1043,-0.67,-146.0,89.0,-8.4,102,1047,0.00,2.45,0.00,0.000,6,0.000,0.038,2835,1773,3602,0,0,0,0,0,0
$GC,1305,-0.71,-146.0,111.7,-8.6,126,1310,0.00,2.67,0.00,0.000,4,0.000,0.068,2835,190,3602,0,0,0,0,0,0
$GC,1334,-0.75,-146.0,114.2,-8.9,128,1339,0.00,2.35,0.00,0.000,6,0.000,0.015,2835,1773,3602,0,0,0,0,0,0
$GC,1599,-0.80,-146.0,132.2,-6.8,152,1607,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1775,3602,0,0,0,0,0,0
$GC,1863,-0.87,-146.0,151.0,-7.2,177,1869,0.10,2.70,0.00,0.000,4,0.088,0.071,2798,199,3603,0,0,0,0,0,0
$GC,1892,-0.87,-146.0,153.6,-8.8,179,1897,0.00,2.30,0.00,0.000,6,0.000,0.023,2798,1755,3603,0,0,0,0,0,0
$GC,2155,-0.87,-146.0,175.9,-8.5,203,2159,0.00,2.42,0.00,0.000,4,0.000,0.030,2798,3308,3603,0,0,0,0,0,0
$GC,2189,-0.87,-146.0,178.3,-8.0,205,2193,0.00,2.50,0.00,0.000,6,0.000,0.035,2798,1750,3603,0,0,0,0,0,0
$GC,2481,-0.87,-146.0,203.6,-8.3,229,2483,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1749,3603,0,0,0,0,0,0
$GC,2725,-0.87,-146.0,221.7,-7.2,235,2730,0.00,2.67,0.00,0.000,4,0.000,0.073,2798,190,3603,0,0,0,0,0,0
$GC,2743,-0.87,-146.0,223.1,-6.9,235,2747,0.00,2.33,0.00,0.000,6,0.000,0.016,2798,1760,3603,0,0,0,0,0,0
$GC,3003,-0.87,-146.0,241.7,-7.1,242,3008,0.00,2.42,0.00,0.000,4,0.000,0.033,2798,3311,3602,0,0,0,0,0,0
$GC,3037,-0.93,-146.0,244.3,-8.1,242,3042,0.00,2.47,0.00,0.000,6,0.000,0.031,2798,1757,3602,0,0,0,0,0,0
$GC,3288,-0.93,-146.0,262.7,-7.4,249,3292,0.00,2.70,0.00,0.000,4,0.000,0.079,2798,196,3602,0,0,0,0,0,0
$GC,3315,-0.98,-146.0,265.0,-7.7,249,3320,0.00,2.33,0.00,0.000,6,0.000,0.025,2798,1734,3602,0,0,0,0,0,0
$GC,3566,-1.02,-146.0,282.0,-6.5,255,3567,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1735,3602,0,0,0,0,0,0
$GC,3811,-1.08,-146.0,297.5,-6.3,261,3813,0.15,0.00,0.00,0.000,6,0.067,0.000,2752,1735,3601,0,0,0,0,0,0
$GC,4053,-1.03,-146.0,319.1,-8.9,267,4058,0.10,2.55,0.00,0.000,4,0.117,0.037,2773,3329,3601,0,0,0,0,0,0
$GC,4080,-1.03,-146.0,321.6,-8.3,267,4084,0.00,2.58,0.00,0.000,6,0.000,0.047,2773,1753,3601,0,0,0,0,0,0
$GC,4331,-1.03,-146.0,341.0,-7.9,273,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1751,3600,0,0,0,0,0,0
$GC,4574,-1.03,-146.0,360.5,-7.9,279,4575,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1751,3598,0,0,0,0,0,0
$GC,4817,-1.03,-146.0,377.9,-7.0,285,4822,0.00,2.55,0.00,0.000,4,0.000,0.048,2773,3327,3597,0,0,0,0,0,0
$GC,4848,-1.09,-146.0,379.8,-7.2,285,4852,0.00,2.65,0.00,0.000,6,0.000,0.059,2773,1747,3597,0,0,0,0,0,0
$GC,5098,-1.09,-146.0,395.2,-5.9,291,5099,0.00,0.00,0.00,0.000,6,0.000,0.000,2773,1747,3596,0,0,0,0,0,0
$GC,5342,-1.13,-146.0,407.6,-4.9,297,5346,0.00,2.60,0.00,0.000,4,0.000,0.044,2773,3324,3594,0,0,0,0,0,0
$GC,5364,-1.19,-146.0,408.9,-5.6,297,5370,0.15,2.67,0.00,0.000,6,0.067,0.058,2727,1746,3594,0,0,0,0,0,0
$GC,5620,-1.15,-146.0,429.3,-8.4,304,5622,0.10,0.00,0.00,0.000,6,0.121,0.000,2747,1746,3593,0,0,0,0,0,0
$GC,5864,-1.15,-146.0,449.1,-8.2,310,5865,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1746,3591,0,0,0,0,0,0
$GC,6107,-1.15,-146.0,469.8,-8.6,316,6112,0.00,2.65,0.00,0.000,4,0.000,0.058,2747,3325,3589,0,0,0,0,0,0
$GC,6136,-1.15,-146.0,472.3,-9.3,316,6140,0.00,2.70,0.00,0.000,6,0.000,0.067,2747,1747,3589,0,0,0,0,0,0
$GC,6385,-1.15,-146.0,492.5,-8.0,322,6390,0.00,3.03,0.00,0.000,4,0.000,0.130,2747,179,3587,0,0,0,0,0,0
$GC,6424,-1.15,-146.0,495.9,-8.6,323,6429,0.00,2.47,0.00,0.000,6,0.000,0.041,2747,1709,3587,0,0,0,0,0,0
$STATE,6502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6502,begin apogee
$GC,6509,-0.31,0.0,502.3,7.8,325,6632,0.80,0.00,118.72,0.923,6,0.083,0.000,2930,1791,3001,0,0,0,0,0,0
$STATE,6632,end apogee,CONTROL_FINISHED_OK
$STATE,6632,begin climb
$GC,6635,1.06,146.0,506.4,0.0,328,6770,1.25,2.88,123.70,0.896,4,0.058,0.074,3234,3396,2402,0,0,0,0,0,0
$GC,6810,0.94,170.1,502.7,7.1,332,6841,0.15,2.75,21.40,0.842,6,0.117,0.063,3205,1818,2305,0,0,0,0,0,0
$GC,7087,0.87,182.8,482.2,7.5,339,7106,0.00,3.12,11.57,0.800,4,0.000,0.115,3205,235,2254,0,0,0,0,0,0
$GC,7141,0.73,182.8,477.0,9.9,340,7147,0.22,2.58,0.00,0.000,6,0.110,0.036,3161,1806,2251,0,0,0,0,0,0
$GC,7414,0.77,214.3,458.2,6.8,347,7448,0.00,2.83,28.00,0.866,4,0.000,0.064,3160,3408,2127,0,0,0,0,0,0
$GC,7484,0.83,218.7,453.1,7.9,348,7494,0.00,2.72,5.15,0.637,6,0.000,0.059,3160,1816,2109,0,0,0,0,0,0
$GC,7738,0.88,261.1,436.1,6.4,354,7783,0.12,3.00,38.40,0.865,4,0.092,0.106,3193,233,1935,0,0,0,0,0,0
$GC,7798,0.83,271.3,431.9,7.6,355,7813,0.00,2.58,10.38,0.769,6,0.000,0.030,3193,1833,1894,0,0,0,0,0,0
$GC,8065,0.84,277.0,410.7,7.8,362,8073,0.00,0.00,5.82,0.670,6,0.000,0.000,3193,1833,1871,0,0,0,0,0,0
$GC,8309,0.84,278.5,391.8,8.0,368,8310,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1833,1868,0,0,0,0,0,0
$GC,8551,0.84,278.5,370.7,8.8,374,8552,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1834,1866,0,0,0,0,0,0
$GC,8794,0.84,278.5,348.5,9.2,380,8796,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1834,1864,0,0,0,0,0,0
$GC,9038,0.84,278.5,326.8,8.8,386,9039,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1834,1863,0,0,0,0,0,0
$GC,9282,0.84,278.5,304.4,9.3,392,9286,0.00,2.80,0.00,0.000,4,0.000,0.068,3193,228,1863,0,0,0,0,0,0
$GC,9304,0.84,278.5,302.3,10.0,392,9309,0.00,2.50,0.00,0.000,6,0.000,0.024,3193,1830,1862,0,0,0,0,0,0
$GC,9559,0.84,279.7,280.8,8.0,399,9563,0.00,2.50,0.00,0.000,4,0.000,0.038,3193,3400,1861,0,0,0,0,0,0
$GC,9574,0.85,283.3,279.4,7.9,399,9585,0.00,2.60,5.18,0.594,6,0.000,0.036,3193,1794,1846,0,0,0,0,0,0
$GC,9836,0.85,289.0,259.3,7.8,406,9850,0.00,2.80,6.65,0.634,4,0.000,0.074,3193,237,1823,0,0,0,0,0,0
$GC,9867,0.85,289.0,256.5,8.8,406,9871,0.00,2.45,0.00,0.000,6,0.000,0.024,3193,1820,1822,0,0,0,0,0,0
$GC,10117,0.86,296.1,237.1,7.7,412,10131,0.00,2.58,7.95,0.643,4,0.000,0.031,3193,3392,1793,0,0,0,0,0,0
$GC,10162,0.94,296.1,233.7,8.4,413,10166,0.00,2.60,0.00,0.000,6,0.000,0.039,3193,1806,1792,0,0,0,0,0,0
$GC,10445,0.94,296.1,210.0,8.5,420,10446,0.00,0.00,0.00,0.000,6,0.000,0.000,3193,1806,1791,0,0,0,0,0,0
$GC,10696,1.00,308.8,189.5,7.5,435,10715,0.10,2.75,12.60,0.641,4,0.262,0.074,3222,240,1740,0,0,0,0,0,0
$GC,10732,0.95,308.8,186.2,9.4,437,10737,0.00,2.45,0.00,0.000,6,0.000,0.024,3222,1821,1739,0,0,0,0,0,0
$GC,10995,0.95,308.8,164.4,8.5,462,11000,0.00,2.47,0.00,0.000,4,0.000,0.030,3222,3383,1739,0,0,0,0,0,0
$GC,11024,0.95,308.8,161.5,9.4,464,11029,0.00,2.55,0.00,0.000,6,0.000,0.038,3222,1807,1738,0,0,0,0,0,0
$GC,11287,0.95,308.8,135.9,10.1,488,11291,0.00,2.70,0.00,0.000,4,0.000,0.066,3222,239,1738,0,0,0,0,0,0
$GC,11317,0.95,308.8,132.7,10.6,490,11321,0.00,2.40,0.00,0.000,6,0.000,0.019,3222,1805,1737,0,0,0,0,0,0
$GC,11589,0.95,308.8,109.5,8.1,515,11593,0.00,2.50,0.00,0.000,4,0.000,0.034,3222,3390,1737,0,0,0,0,0,0
$GC,11654,1.04,308.8,104.0,8.1,520,11658,0.00,2.55,0.00,0.000,6,0.000,0.036,3222,1805,1737,0,0,0,0,0,0
$GC,11917,1.11,318.6,85.7,7.6,544,11932,0.00,2.53,9.93,0.529,4,0.000,0.026,3222,3386,1701,0,0,0,0,0,0
$GC,11946,1.19,331.9,83.5,7.5,546,11965,0.15,2.55,13.18,0.542,6,0.073,0.038,3264,1804,1646,0,0,0,0,0,0
$GC,12224,1.19,331.9,57.6,8.9,571,12228,0.00,2.50,0.00,0.000,4,0.000,0.027,3263,3382,1644,0,0,0,0,0,0
$GC,12296,1.23,331.9,51.2,8.7,576,12300,0.00,2.53,0.00,0.000,6,0.000,0.034,3263,1816,1643,0,0,0,0,0,0
$GC,12568,1.23,331.9,27.5,8.7,602,12577,0.00,0.00,0.00,0.000,6,0.000,0.000,3264,1816,1644,0,0,0,0,0,0
$STATE,12820,end climb,SURFACE_DEPTH_REACHED
$STATE,12820,begin surface coast
$FINISH,0.2,1.013455
$STATE,12876,end surface coast,CONTROL_FINISHED_OK
$STATE,12876,begin surface
$SM_CCo,12898,77.68,0.448,1,0,1288,420.20
$SM_GC,0.93,0.00,0.00,77.68,0.000,0.000,0.448,476,1744,1288,-11.61,-0.74,420.20
$IRIDIUM_FIX,2246.36,-15751.06,191199,171703
$TT8_MAMPS,0.026078
$HUMID,42.43
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,24.00
$XPDR_PINGS,54
$24V_AH,23.6,13.577
$10V_AH,10.4,12.683
$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,27.850,145.200,418.625,77.675,0.000,24.011,28.950,223.435,13.500,0.000,15.912,1274.628,8588.520,568.433,2347.219,612.962,33.363,1404.896,0.000,2361.277,0.000,0.536,0.000
$DEVICE_MAMPS,262.314,129.623,922.701,447.928,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,437.749,400.573,501.255,967.303,1463.174,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,51019,646
$CAP_FILE_SIZE,130938,0
$CFSIZE,260165632,178581504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260810,000406,2255.080,-15751.307,39,1.5,39,10.1