version: 66.06
glider: 146
mission: 5
dive: 77
start: 8 26 110 17 58 58
data:
$ID,146
$MISSION,5
$DIVE,77
$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,-248769.31
$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,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
$GPS1,175152,2252.673,-15746.194,8,99.0,27,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-65.6
$GPS2,175804,2252.683,-15746.253,13,99.0,32,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.197,-0.138
$KALMAN_X,-67241.4,126.7,-180.4,109203.7,-762.0
$KALMAN_Y,6979.1,-79.3,-220.5,126847.6,138.1
$MHEAD_RNG_PITCHd_Wd,114.8,9962,-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,12,begin dive
$GC,15,-1.06,-146.0,0.0,0.0,0,104,0.00,0.00,-86.30,0.000,2,0.000,0.000,474,1744,3504,0,0,0,0,0,0
$GC,107,-1.06,-146.0,4.4,-6.1,11,133,12.00,2.65,-1.58,0.000,4,0.155,0.067,2758,211,3601,0,0,0,0,0,0
$GC,235,-0.89,-146.0,36.7,-16.0,26,240,0.22,2.38,0.00,0.000,6,0.107,0.015,2804,1788,3601,0,0,0,0,0,0
$GC,502,-0.79,-146.0,72.1,-11.8,50,512,0.10,0.00,0.00,0.000,6,0.130,0.000,2825,1790,3602,0,0,0,0,0,0
$GC,767,-0.79,-146.0,97.6,-8.7,75,772,0.00,2.72,0.00,0.000,4,0.000,0.060,2825,200,3602,0,0,0,0,0,0
$GC,799,-0.79,-146.0,100.8,-10.0,77,803,0.00,2.38,0.00,0.000,6,0.000,0.018,2824,1787,3602,0,0,0,0,0,0
$GC,1067,-0.79,-146.0,123.3,-8.2,101,1071,0.00,2.67,0.00,0.000,4,0.000,0.064,2825,207,3603,0,0,0,0,0,0
$GC,1107,-0.84,-146.0,126.9,-7.6,104,1111,0.00,2.33,0.00,0.000,6,0.000,0.024,2825,1764,3603,0,0,0,0,0,0
$GC,1372,-0.90,-146.0,147.2,-7.1,128,1376,0.00,2.42,0.00,0.000,4,0.000,0.026,2825,3304,3603,0,0,0,0,0,0
$GC,1392,-0.97,-146.0,148.5,-6.4,129,1398,0.15,2.45,0.00,0.000,6,0.064,0.035,2771,1758,3603,0,0,0,0,0,0
$GC,1655,-0.92,-146.0,171.0,-8.8,153,1660,0.12,2.42,0.00,0.000,4,0.107,0.025,2798,3308,3603,0,0,0,0,0,0
$GC,1677,-0.92,-146.0,172.6,-9.1,154,1682,0.00,2.50,0.00,0.000,6,0.000,0.029,2798,1748,3603,0,0,0,0,0,0
$GC,1944,-0.92,-146.0,194.6,-8.5,178,1949,0.00,2.65,0.00,0.000,4,0.000,0.073,2798,193,3603,0,0,0,0,0,0
$GC,1972,-0.92,-146.0,197.6,-8.9,180,1976,0.00,2.30,0.00,0.000,6,0.000,0.017,2798,1752,3603,0,0,0,0,0,0
$GC,2254,-0.92,-146.0,220.1,-7.8,189,2255,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1753,3603,0,0,0,0,0,0
$GC,2499,-0.92,-146.0,238.5,-7.4,195,2500,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1753,3603,0,0,0,0,0,0
$GC,2741,-0.92,-146.0,258.1,-8.3,201,2745,0.00,2.70,0.00,0.000,4,0.000,0.076,2798,197,3603,0,0,0,0,0,0
$GC,2767,-0.92,-146.0,260.4,-8.2,201,2772,0.00,2.35,0.00,0.000,6,0.000,0.021,2798,1734,3603,0,0,0,0,0,0
$GC,3024,-0.96,-146.0,280.4,-7.8,208,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1735,3602,0,0,0,0,0,0
$GC,3269,-1.00,-146.0,296.6,-6.4,214,3270,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,1735,3602,0,0,0,0,0,0
$GC,3511,-1.06,-146.0,310.4,-5.7,220,3513,0.12,0.00,0.00,0.000,6,0.076,0.000,2757,1735,3601,0,0,0,0,0,0
$GC,3754,-1.06,-146.0,331.2,-8.8,226,3759,0.00,2.58,0.00,0.000,4,0.000,0.044,2757,3325,3601,0,0,0,0,0,0
$GC,3777,-1.06,-146.0,333.0,-8.4,226,3781,0.00,2.58,0.00,0.000,6,0.000,0.048,2757,1764,3601,0,0,0,0,0,0
$GC,4032,-1.06,-146.0,353.3,-7.9,233,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1764,3600,0,0,0,0,0,0
$GC,4275,-1.06,-146.0,372.7,-8.2,239,4276,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1763,3599,0,0,0,0,0,0
$GC,4519,-1.06,-146.0,393.5,-8.4,245,4520,0.00,0.00,0.00,0.000,6,0.000,0.000,2757,1763,3597,0,0,0,0,0,0
$GC,4764,-1.06,-146.0,412.4,-7.6,251,4769,0.00,2.58,0.00,0.000,4,0.000,0.048,2756,3317,3597,0,0,0,0,0,0
$GC,4786,-1.06,-146.0,414.2,-7.4,251,4791,0.00,2.62,0.00,0.000,6,0.000,0.058,2757,1764,3597,0,0,0,0,0,0
$GC,5042,-1.06,-146.0,432.4,-7.1,258,5043,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1764,3594,0,0,0,0,0,0
$GC,5287,-1.06,-146.0,450.3,-7.3,264,5292,0.00,2.97,0.00,0.000,4,0.000,0.118,2756,184,3593,0,0,0,0,0,0
$GC,5303,-1.06,-146.0,451.6,-7.4,264,5307,0.00,2.42,0.00,0.000,6,0.000,0.036,2756,1715,3593,0,0,0,0,0,0
$GC,5563,-1.06,-146.0,467.7,-5.8,271,5568,0.00,2.70,0.00,0.000,4,0.000,0.066,2756,3313,3592,0,0,0,0,0,0
$GC,5593,-1.10,-146.0,469.4,-6.0,271,5597,0.00,2.65,0.00,0.000,6,0.000,0.063,2757,1748,3592,0,0,0,0,0,0
$GC,5843,-1.10,-146.0,483.9,-5.8,277,5844,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1747,3589,0,0,0,0,0,0
$GC,6086,-1.10,-146.0,497.9,-5.6,283,6087,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1748,3588,0,0,0,0,0,0
$STATE,6124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6124,begin apogee
$GC,6130,-0.31,0.0,500.4,5.7,284,6252,0.77,0.00,119.00,0.920,6,0.077,0.000,2933,1748,3001,0,0,0,0,0,0
$STATE,6253,end apogee,CONTROL_FINISHED_OK
$STATE,6253,begin climb
$GC,6256,1.06,146.0,502.0,0.0,287,6391,1.23,2.90,124.12,0.893,4,0.042,0.111,3233,233,2403,0,0,0,0,0,0
$GC,6421,0.81,146.0,497.0,8.4,291,6426,0.28,2.53,0.00,0.000,6,0.108,0.034,3179,1783,2399,0,0,0,0,0,0
$GC,6705,0.83,195.4,478.9,6.2,298,6755,0.00,2.88,42.50,0.873,4,0.000,0.064,3179,3398,2203,0,0,0,0,0,0
$GC,6784,0.85,206.0,473.6,7.6,299,6800,0.00,2.72,10.43,0.775,6,0.000,0.057,3180,1824,2161,0,0,0,0,0,0
$GC,7073,0.87,225.0,452.7,7.3,307,7092,0.00,0.00,17.52,0.834,6,0.000,0.000,3179,1824,2083,0,0,0,0,0,0
$GC,7316,0.87,225.0,432.5,8.5,313,7317,0.00,0.00,0.00,0.000,6,0.000,0.000,3179,1824,2078,0,0,0,0,0,0
$GC,7562,0.87,225.0,410.9,8.7,319,7566,0.00,2.88,0.00,0.000,4,0.000,0.091,3179,233,2076,0,0,0,0,0,0
$GC,7612,0.87,225.0,406.2,9.4,320,7616,0.00,2.55,0.00,0.000,6,0.000,0.024,3179,1838,2074,0,0,0,0,0,0
$GC,7885,0.89,244.7,386.2,7.3,327,7909,0.00,2.65,17.52,0.822,4,0.000,0.041,3179,3406,2002,0,0,0,0,0,0
$GC,7950,0.95,244.7,380.9,8.4,328,7955,0.12,2.67,0.00,0.000,6,0.087,0.048,3211,1824,2000,0,0,0,0,0,0
$GC,8211,0.90,244.7,356.5,9.6,335,8212,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1825,1998,0,0,0,0,0,0
$GC,8455,0.90,244.7,334.4,8.9,341,8459,0.00,2.60,0.00,0.000,4,0.000,0.040,3212,3406,1997,0,0,0,0,0,0
$GC,8495,0.90,244.7,331.0,8.2,342,8499,0.00,2.58,0.00,0.000,6,0.000,0.038,3212,1846,1996,0,0,0,0,0,0
$GC,8778,0.91,249.8,309.2,7.8,349,8788,0.00,2.53,4.90,0.596,4,0.000,0.037,3211,3405,1982,0,0,0,0,0,0
$GC,8818,0.92,256.3,306.3,7.8,350,8833,0.00,2.55,7.47,0.682,6,0.000,0.037,3212,1854,1956,0,0,0,0,0,0
$GC,9105,0.94,276.8,285.2,7.3,357,9127,0.00,0.00,19.90,0.752,6,0.000,0.000,3212,1854,1872,0,0,0,0,0,0
$GC,9349,0.94,276.8,263.7,9.0,363,9353,0.00,2.80,0.00,0.000,4,0.000,0.072,3211,243,1867,0,0,0,0,0,0
$GC,9371,0.90,276.8,261.5,10.3,363,9376,0.00,2.58,0.00,0.000,6,0.000,0.020,3211,1883,1866,0,0,0,0,0,0
$GC,9626,0.90,276.8,237.9,9.1,370,9628,0.00,0.00,0.00,0.000,6,0.000,0.000,3212,1885,1866,0,0,0,0,0,0
$GC,9870,0.90,276.8,217.7,8.1,376,9875,0.00,2.85,0.00,0.000,4,0.000,0.068,3212,239,1866,0,0,0,0,0,0
$GC,9919,0.90,276.8,213.5,8.3,377,9924,0.00,2.53,0.00,0.000,6,0.000,0.025,3211,1877,1865,0,0,0,0,0,0
$GC,10180,0.92,293.4,195.1,7.4,388,10197,0.00,0.00,15.07,0.650,6,0.000,0.000,3212,1879,1803,0,0,0,0,0,0
$GC,10452,0.92,293.4,172.3,9.0,414,10456,0.00,2.45,0.00,0.000,4,0.000,0.035,3212,3422,1802,0,0,0,0,0,0
$GC,10475,0.92,293.4,170.7,8.7,415,10479,0.00,2.58,0.00,0.000,6,0.000,0.033,3211,1836,1800,0,0,0,0,0,0
$GC,10741,0.92,293.4,147.5,8.1,439,10746,0.00,2.72,0.00,0.000,4,0.000,0.068,3212,236,1800,0,0,0,0,0,0
$GC,10776,0.92,293.4,143.9,9.4,441,10781,0.00,2.53,0.00,0.000,6,0.000,0.023,3212,1872,1801,0,0,0,0,0,0
$GC,11039,1.01,334.3,124.6,6.5,466,11081,0.00,2.88,36.25,0.612,4,0.000,0.060,3211,244,1636,0,0,0,0,0,0
$GC,11099,1.02,344.5,120.1,7.6,470,11117,0.00,2.55,9.93,0.542,6,0.000,0.021,3211,1865,1595,0,0,0,0,0,0
$GC,11372,1.09,344.5,99.2,8.6,496,11374,0.10,0.00,0.00,0.000,6,0.093,0.000,3242,1865,1593,0,0,0,0,0,0
$GC,11634,1.09,344.5,76.6,8.0,520,11638,0.00,2.38,0.00,0.000,4,0.000,0.028,3242,3383,1593,0,0,0,0,0,0
$GC,11668,1.18,344.5,73.1,8.4,522,11677,0.00,2.53,0.00,0.000,6,0.000,0.035,3242,1847,1592,0,0,0,0,0,0
$GC,11936,1.18,348.6,52.6,7.9,547,11950,0.00,2.80,4.55,0.399,4,0.000,0.061,3242,242,1579,0,0,0,0,0,0
$GC,11980,1.18,348.6,48.7,8.4,550,11984,0.00,2.47,0.00,0.000,6,0.000,0.017,3242,1851,1579,0,0,0,0,0,0
$GC,12253,1.18,348.6,27.2,8.3,576,12262,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1853,1579,0,0,0,0,0,0
$STATE,12524,end climb,SURFACE_DEPTH_REACHED
$STATE,12525,begin surface coast
$FINISH,0.3,1.011123
$STATE,12587,end surface coast,CONTROL_FINISHED_OK
$STATE,12588,begin surface
$SM_CCo,12610,71.38,0.438,1,0,1287,420.20
$SM_GC,1.08,0.00,0.00,71.38,0.000,0.000,0.438,474,1756,1287,-11.62,-0.40,420.20
$IRIDIUM_FIX,2246.36,-15748.90,201199,141406
$TT8_MAMPS,0.026078
$HUMID,41.61
$INTERNAL_PRESSURE,9.38513
$TCM_TEMP,24.10
$XPDR_PINGS,45
$24V_AH,23.5,14.330
$10V_AH,10.4,13.480
$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,26.375,124.825,429.175,71.375,0.000,23.353,29.568,165.790,11.250,0.000,35.071,1209.642,8527.886,567.620,2225.186,529.038,33.360,1359.621,0.000,2213.148,0.000,0.537,0.000
$DEVICE_MAMPS,154.934,118.118,920.400,437.957,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,422.166,371.229,475.585,882.007,1333.910,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,47798,624
$CAP_FILE_SIZE,120170,0
$CFSIZE,260165632,178216960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,260810,213137,2251.881,-15744.961,30,1.4,30,10.1