version: 66.06
glider: 146
mission: 5
dive: 75
start: 8 26 110 10 49 19
data:
$ID,146
$MISSION,5
$DIVE,75
$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,-248716.81
$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,32
$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
$GPS1,104157,2253.134,-15748.396,29,2.3,48,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.0
$GPS2,104825,2253.141,-15748.417,12,1.9,30,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.226,0.081
$KALMAN_X,-65566.6,120.3,266.4,103370.2,-1371.9
$KALMAN_Y,7559.1,371.6,569.2,125881.5,-2017.8
$MHEAD_RNG_PITCHd_Wd,60.2,13372,-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,12,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,-86.15,0.000,2,0.000,0.000,471,1751,3502,0,0,0,0,0,0
$GC,107,-1.06,-146.0,4.5,-6.5,11,133,12.05,2.58,-1.60,0.000,4,0.156,0.039,2760,3355,3601,0,0,0,0,0,0
$GC,145,0.28,-146.0,21.7,-38.5,15,155,1.30,2.60,0.00,0.000,6,0.093,0.034,3054,1776,3602,0,0,0,0,0,0
$GC,445,-0.29,-146.0,43.0,-7.1,49,451,0.50,2.70,0.00,0.000,4,0.078,0.058,2934,186,3603,0,0,0,0,0,0
$GC,603,-0.81,-146.0,54.1,-6.8,61,608,0.47,2.25,0.00,0.000,6,0.059,0.017,2814,1709,3602,0,0,0,0,0,0
$GC,872,-0.81,-146.0,79.9,-9.8,85,876,0.00,2.55,0.00,0.000,4,0.000,0.026,2813,3347,3602,0,0,0,0,0,0
$GC,935,-0.86,-146.0,86.3,-8.5,90,940,0.00,2.75,0.00,0.000,6,0.000,0.031,2813,1648,3602,0,0,0,0,0,0
$GC,1199,-0.86,-146.0,110.2,-8.5,114,1200,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1648,3603,0,0,0,0,0,0
$GC,1450,-0.86,-146.0,131.2,-8.3,138,1455,0.00,2.65,0.00,0.000,4,0.000,0.028,2813,3342,3603,0,0,0,0,0,0
$GC,1496,-0.93,-146.0,134.2,-7.3,141,1501,0.00,2.70,0.00,0.000,6,0.000,0.035,2814,1657,3603,0,0,0,0,0,0
$GC,1761,-0.97,-146.0,155.7,-7.9,165,1766,0.12,2.65,0.00,0.000,4,0.220,0.025,2768,3344,3604,0,0,0,0,0,0
$GC,1790,-0.97,-146.0,158.6,-9.0,167,1794,0.00,2.70,0.00,0.000,6,0.000,0.031,2768,1668,3604,0,0,0,0,0,0
$GC,2054,-0.92,-146.0,183.1,-9.3,191,2059,0.12,0.00,0.00,0.000,6,0.253,0.000,2798,1669,3604,0,0,0,0,0,0
$GC,2313,-0.92,-146.0,203.4,-8.0,213,2318,0.00,2.62,0.00,0.000,4,0.000,0.028,2798,3345,3603,0,0,0,0,0,0
$GC,2355,-0.99,-146.0,206.7,-7.9,214,2359,0.00,2.67,0.00,0.000,6,0.000,0.036,2798,1675,3604,0,0,0,0,0,0
$GC,2638,-0.99,-146.0,228.9,-7.7,221,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1676,3603,0,0,0,0,0,0
$GC,2882,-0.99,-146.0,246.9,-7.2,227,2886,0.00,2.62,0.00,0.000,4,0.000,0.028,2798,3341,3603,0,0,0,0,0,0
$GC,2910,-1.04,-146.0,248.9,-7.5,227,2915,0.12,2.70,0.00,0.000,6,0.074,0.033,2753,1671,3603,0,0,0,0,0,0
$GC,3160,-0.99,-146.0,274.2,-10.4,233,3165,0.12,2.65,0.00,0.000,4,0.107,0.035,2782,3335,3602,0,0,0,0,0,0
$GC,3187,-0.99,-146.0,276.9,-9.2,233,3192,0.00,2.67,0.00,0.000,6,0.000,0.038,2782,1689,3603,0,0,0,0,0,0
$GC,3439,-0.99,-146.0,298.8,-8.8,239,3443,0.00,2.62,0.00,0.000,4,0.000,0.082,2782,193,3602,0,0,0,0,0,0
$GC,3460,-0.99,-146.0,300.9,-8.9,239,3464,0.00,2.30,0.00,0.000,6,0.000,0.028,2782,1663,3602,0,0,0,0,0,0
$GC,3720,-0.99,-146.0,322.8,-8.1,246,3725,0.00,2.70,0.00,0.000,4,0.000,0.042,2782,3332,3601,0,0,0,0,0,0
$GC,3772,-1.07,-146.0,326.3,-6.8,247,3776,0.00,2.72,0.00,0.000,6,0.000,0.045,2782,1695,3601,0,0,0,0,0,0
$GC,4043,-1.07,-146.0,340.6,-4.9,254,4048,0.00,2.67,0.00,0.000,4,0.000,0.095,2782,191,3600,0,0,0,0,0,0
$GC,4071,-1.11,-146.0,342.1,-5.7,254,4075,0.10,2.30,0.00,0.000,6,0.088,0.026,2748,1679,3600,0,0,0,0,0,0
$GC,4322,-1.11,-146.0,357.8,-6.3,260,4326,0.00,2.70,0.00,0.000,4,0.000,0.047,2748,3336,3599,0,0,0,0,0,0
$GC,4383,-1.11,-146.0,362.3,-7.0,261,4387,0.00,2.75,0.00,0.000,6,0.000,0.053,2747,1709,3599,0,0,0,0,0,0
$GC,4645,-1.11,-146.0,382.0,-7.9,268,4646,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1709,3597,0,0,0,0,0,0
$GC,4887,-1.11,-146.0,402.6,-8.5,274,4891,0.00,2.65,0.00,0.000,4,0.000,0.048,2748,3323,3596,0,0,0,0,0,0
$GC,4919,-1.11,-146.0,405.4,-8.5,274,4925,0.00,2.78,0.00,0.000,6,0.000,0.064,2747,1702,3595,0,0,0,0,0,0
$GC,5169,-1.11,-146.0,425.5,-7.9,281,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1702,3594,0,0,0,0,0,0
$GC,5414,-1.11,-146.0,445.0,-8.1,287,5418,0.00,2.83,0.00,0.000,4,0.000,0.117,2747,190,3592,0,0,0,0,0,0
$GC,5446,-1.11,-146.0,448.0,-9.0,287,5452,0.00,2.35,0.00,0.000,6,0.000,0.035,2747,1663,3592,0,0,0,0,0,0
$GC,5696,-1.11,-146.0,468.4,-8.2,294,5700,0.00,2.80,0.00,0.000,4,0.000,0.064,2747,3318,3591,0,0,0,0,0,0
$GC,5769,-1.15,-146.0,474.4,-8.1,295,5774,0.00,2.72,0.00,0.000,6,0.000,0.064,2747,1725,3590,0,0,0,0,0,0
$GC,6019,-1.15,-146.0,492.8,-7.3,301,6020,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1725,3588,0,0,0,0,0,0
$STATE,6138,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6138,begin apogee
$GC,6144,-0.31,0.0,502.1,7.7,304,6267,0.80,0.00,119.43,0.927,6,0.078,0.000,2930,1816,3001,0,0,0,0,0,0
$STATE,6268,end apogee,CONTROL_FINISHED_OK
$STATE,6268,begin climb
$GC,6272,1.06,146.0,506.2,0.0,307,6405,1.25,2.70,123.95,0.900,4,0.055,0.057,3233,3379,2403,0,0,0,0,0,0
$GC,6486,0.93,151.3,499.7,7.8,312,6496,0.15,2.70,4.60,0.597,6,0.118,0.061,3205,1816,2384,0,0,0,0,0,0
$GC,6765,0.87,178.7,480.5,7.0,319,6796,0.00,2.65,25.27,0.861,4,0.000,0.044,3205,3382,2271,0,0,0,0,0,0
$GC,6831,0.82,178.7,475.3,8.5,320,6836,0.12,2.70,0.00,0.000,6,0.124,0.058,3181,1820,2269,0,0,0,0,0,0
$GC,7086,0.86,215.1,457.7,6.7,327,7121,0.00,0.00,32.58,0.869,6,0.000,0.000,3181,1820,2124,0,0,0,0,0,0
$GC,7332,0.89,234.7,439.8,7.3,333,7351,0.00,0.00,17.95,0.834,6,0.000,0.000,3181,1820,2044,0,0,0,0,0,0
$GC,7577,0.93,267.4,423.1,6.8,339,7612,0.00,2.97,29.98,0.851,4,0.000,0.097,3180,232,1910,0,0,0,0,0,0
$GC,7635,0.88,267.4,418.7,8.0,339,7639,0.00,2.58,0.00,0.000,6,0.000,0.027,3180,1823,1908,0,0,0,0,0,0
$GC,7895,0.91,290.3,400.2,7.2,346,7921,0.00,2.65,20.90,0.826,4,0.000,0.048,3180,3411,1816,0,0,0,0,0,0
$GC,7945,0.96,302.5,396.5,7.6,347,7965,0.12,2.70,12.40,0.779,6,0.081,0.047,3214,1827,1765,0,0,0,0,0,0
$GC,8223,0.92,302.5,367.9,10.7,354,8224,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1827,1760,0,0,0,0,0,0
$GC,8465,0.88,302.5,342.2,10.4,360,8467,0.12,0.00,0.00,0.000,6,0.117,0.000,3189,1827,1758,0,0,0,0,0,0
$GC,8709,0.88,302.5,320.2,9.1,366,8713,0.00,2.83,0.00,0.000,4,0.000,0.084,3189,234,1758,0,0,0,0,0,0
$GC,8774,0.88,302.5,313.0,11.0,367,8779,0.00,2.55,0.00,0.000,6,0.000,0.025,3189,1853,1756,0,0,0,0,0,0
$GC,9031,0.88,302.5,289.3,9.4,374,9032,0.00,0.00,0.00,0.000,6,0.000,0.000,3189,1855,1756,0,0,0,0,0,0
$GC,9274,0.92,302.5,268.0,8.7,380,9278,0.00,2.83,0.00,0.000,4,0.000,0.067,3188,233,1755,0,0,0,0,0,0
$GC,9317,0.92,302.5,263.7,9.6,381,9321,0.00,2.50,0.00,0.000,6,0.000,0.025,3189,1829,1754,0,0,0,0,0,0
$GC,9597,0.98,319.7,242.6,7.4,388,9614,0.10,0.00,14.55,0.705,6,0.090,0.000,3217,1831,1697,0,0,0,0,0,0
$GC,9839,0.98,319.7,221.5,8.7,394,9843,0.00,2.78,0.00,0.000,4,0.000,0.066,3217,229,1694,0,0,0,0,0,0
$GC,9866,0.92,319.7,218.7,11.1,394,9870,0.00,2.50,0.00,0.000,6,0.000,0.025,3217,1833,1692,0,0,0,0,0,0
$GC,10122,0.92,319.7,196.0,8.6,403,10127,0.00,2.47,0.00,0.000,4,0.000,0.036,3217,3390,1693,0,0,0,0,0,0
$GC,10155,0.92,319.7,192.6,8.8,405,10165,0.00,2.58,0.00,0.000,6,0.000,0.034,3217,1822,1692,0,0,0,0,0,0
$GC,10421,0.92,319.7,170.5,8.8,430,10426,0.00,2.72,0.00,0.000,4,0.000,0.067,3217,233,1692,0,0,0,0,0,0
$GC,10444,0.88,319.7,168.0,9.4,431,10450,0.12,2.47,0.00,0.000,6,0.116,0.020,3191,1839,1692,0,0,0,0,0,0
$GC,10705,0.96,333.5,148.5,7.5,456,10723,0.00,2.47,12.90,0.608,4,0.000,0.028,3191,3382,1641,0,0,0,0,0,0
$GC,10741,1.04,333.5,145.7,8.1,458,10751,0.10,2.58,0.00,0.000,6,0.048,0.036,3228,1827,1640,0,0,0,0,0,0
$GC,11006,1.04,333.5,120.4,9.8,483,11010,0.00,2.70,0.00,0.000,4,0.000,0.064,3228,243,1639,0,0,0,0,0,0
$GC,11038,1.04,333.5,116.9,11.2,485,11043,0.00,2.45,0.00,0.000,6,0.000,0.025,3228,1830,1639,0,0,0,0,0,0
$GC,11304,1.04,333.5,91.5,8.6,509,11308,0.00,2.42,0.00,0.000,4,0.000,0.028,3228,3383,1638,0,0,0,0,0,0
$GC,11326,1.09,333.5,89.0,9.0,510,11337,0.00,2.53,0.00,0.000,6,0.000,0.032,3228,1837,1638,0,0,0,0,0,0
$GC,11595,1.16,349.7,69.4,7.4,535,11620,0.10,0.00,15.18,0.549,6,0.091,0.000,3260,1837,1574,0,0,0,0,0,0
$GC,11876,1.16,349.7,44.7,10.2,561,11885,0.00,0.00,0.00,0.000,6,0.000,0.000,3260,1837,1572,0,0,0,0,0,0
$GC,12172,1.18,368.4,19.5,7.3,595,12197,0.00,0.00,17.25,0.511,6,0.000,0.000,3260,1837,1499,0,0,0,0,0,0
$STATE,12323,end climb,SURFACE_DEPTH_REACHED
$STATE,12324,begin surface coast
$FINISH,0.2,1.008795
$STATE,12375,end surface coast,CONTROL_FINISHED_OK
$STATE,12375,begin surface
$SM_CCo,12396,48.35,0.408,1,0,1288,420.20
$SM_GC,0.86,0.00,0.00,48.35,0.000,0.000,0.408,475,1747,1288,-11.62,-0.62,420.20
$IRIDIUM_FIX,2246.36,-15748.90,201199,070732
$TT8_MAMPS,0.026078
$HUMID,42.51
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.70
$XPDR_PINGS,57
$24V_AH,23.6,14.080
$10V_AH,10.4,13.220
$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,29.250,142.225,446.925,48.350,0.000,28.351,31.088,174.423,14.250,0.000,31.951,1239.651,8121.151,576.092,2340.320,558.280,33.366,1419.781,0.000,2335.601,0.000,0.535,0.000
$DEVICE_MAMPS,253.110,117.351,927.303,408.044,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,422.317,393.509,485.539,938.871,1420.914,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,48048,624
$CAP_FILE_SIZE,125961,0
$CFSIZE,260165632,178335744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260810,141807,2252.920,-15747.356,36,1.8,36,10.1