version: 66.06
glider: 146
mission: 5
dive: 78
start: 8 26 110 21 45 31
data:
$ID,146
$MISSION,5
$DIVE,78
$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,-248781.55
$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,29
$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
$GPS1,213137,2251.881,-15744.961,30,1.4,30,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.89
$_SM_ANGLEo,-66.6
$GPS2,214438,2251.923,-15745.031,10,1.9,10,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.217,-0.102
$KALMAN_X,-67860.9,73.9,132.7,111666.9,-730.2
$KALMAN_Y,6656.2,-177.7,513.7,125132.2,-779.2
$MHEAD_RNG_PITCHd_Wd,105.1,7489,-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,-146.0,0.0,0.0,0,97,0.00,0.00,-78.70,0.000,2,0.000,0.000,473,1756,3244,0,0,0,0,0,0
$GC,100,-1.06,-146.0,3.1,-4.0,10,126,12.12,2.67,-6.78,0.000,4,0.158,0.067,2760,192,3597,0,0,0,0,0,0
$GC,152,-0.25,-146.0,17.5,-28.0,16,162,0.80,2.45,0.00,0.000,6,0.086,0.022,2941,1792,3598,0,0,0,0,0,0
$GC,471,-0.48,-146.0,34.6,-4.3,56,480,0.20,0.00,0.00,0.000,6,0.052,0.000,2881,1794,3599,0,0,0,0,0,0
$GC,739,-0.56,-146.0,53.4,-7.4,81,744,0.00,2.72,0.00,0.000,4,0.000,0.056,2880,193,3598,0,0,0,0,0,0
$GC,786,-0.68,-146.0,57.1,-7.9,84,791,0.12,2.38,0.00,0.000,6,0.074,0.015,2833,1776,3598,0,0,0,0,0,0
$GC,1049,-0.68,-146.0,82.9,-10.0,108,1053,0.00,2.42,0.00,0.000,4,0.000,0.026,2833,3312,3599,0,0,0,0,0,0
$GC,1078,-0.68,-146.0,85.7,-8.6,110,1083,0.00,2.50,0.00,0.000,6,0.000,0.031,2833,1763,3599,0,0,0,0,0,0
$GC,1342,-0.68,-146.0,106.3,-7.6,134,1347,0.00,2.65,0.00,0.000,4,0.000,0.062,2833,193,3599,0,0,0,0,0,0
$GC,1371,-0.72,-146.0,108.7,-8.1,136,1376,0.00,2.35,0.00,0.000,6,0.000,0.016,2833,1779,3599,0,0,0,0,0,0
$GC,1637,-0.77,-146.0,127.2,-7.3,160,1646,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1780,3600,0,0,0,0,0,0
$GC,1904,-0.84,-146.0,147.6,-7.4,185,1909,0.00,2.70,0.00,0.000,4,0.000,0.065,2833,187,3600,0,0,0,0,0,0
$GC,1938,-0.92,-146.0,150.3,-7.8,187,1943,0.15,2.33,0.00,0.000,6,0.064,0.023,2779,1750,3599,0,0,0,0,0,0
$GC,2202,-0.92,-146.0,173.0,-8.8,211,2207,0.10,2.42,0.00,0.000,4,0.114,0.032,2802,3306,3600,0,0,0,0,0,0
$GC,2246,-0.98,-146.0,176.3,-7.2,214,2251,0.00,2.45,0.00,0.000,6,0.000,0.034,2802,1766,3599,0,0,0,0,0,0
$GC,2514,-0.98,-146.0,195.8,-7.3,238,2519,0.00,2.67,0.00,0.000,4,0.000,0.067,2802,195,3599,0,0,0,0,0,0
$GC,2559,-1.02,-146.0,199.4,-7.8,241,2564,0.10,2.33,0.00,0.000,6,0.084,0.021,2763,1761,3599,0,0,0,0,0,0
$GC,2810,-0.97,-146.0,222.7,-9.3,247,2812,0.12,0.00,0.00,0.000,6,0.136,0.000,2790,1762,3599,0,0,0,0,0,0
$GC,3052,-0.97,-146.0,242.8,-8.3,253,3056,0.00,2.70,0.00,0.000,4,0.000,0.074,2790,194,3599,0,0,0,0,0,0
$GC,3073,-0.97,-146.0,244.8,-9.2,253,3077,0.00,2.35,0.00,0.000,6,0.000,0.018,2790,1756,3598,0,0,0,0,0,0
$GC,3335,-0.97,-146.0,266.0,-7.8,260,3336,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1756,3598,0,0,0,0,0,0
$GC,3577,-0.97,-146.0,284.1,-7.4,266,3582,0.00,2.70,0.00,0.000,4,0.000,0.077,2790,194,3597,0,0,0,0,0,0
$GC,3599,-0.97,-146.0,285.7,-6.8,266,3603,0.00,2.38,0.00,0.000,6,0.000,0.027,2790,1734,3597,0,0,0,0,0,0
$GC,3855,-0.97,-146.0,302.2,-6.5,273,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1734,3596,0,0,0,0,0,0
$GC,4099,-1.01,-146.0,319.4,-7.2,279,4101,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,1734,3596,0,0,0,0,0,0
$GC,4342,-1.06,-146.0,336.7,-7.0,285,4346,0.00,2.62,0.00,0.000,4,0.000,0.043,2790,3351,3595,0,0,0,0,0,0
$GC,4363,-1.12,-146.0,338.5,-7.7,285,4369,0.15,2.62,0.00,0.000,6,0.067,0.051,2743,1765,3595,0,0,0,0,0,0
$GC,4620,-1.08,-146.0,361.1,-8.9,292,4626,0.10,2.90,0.00,0.000,4,0.117,0.102,2763,183,3593,0,0,0,0,0,0
$GC,4642,-1.08,-146.0,363.3,-8.8,292,4646,0.00,2.42,0.00,0.000,6,0.000,0.029,2764,1741,3593,0,0,0,0,0,0
$GC,4898,-1.08,-146.0,381.5,-7.0,299,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1741,3592,0,0,0,0,0,0
$GC,5143,-1.08,-146.0,398.7,-7.1,305,5147,0.00,2.65,0.00,0.000,4,0.000,0.054,2764,3349,3591,0,0,0,0,0,0
$GC,5176,-1.12,-146.0,401.1,-7.1,305,5182,0.00,2.70,0.00,0.000,6,0.000,0.061,2764,1755,3591,0,0,0,0,0,0
$GC,5426,-1.12,-146.0,418.3,-6.9,312,5427,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1756,3589,0,0,0,0,0,0
$GC,5671,-1.12,-146.0,435.0,-6.6,318,5675,0.00,2.62,0.00,0.000,4,0.000,0.047,2764,3347,3587,0,0,0,0,0,0
$GC,5692,-1.16,-146.0,436.5,-6.3,318,5697,0.00,2.70,0.00,0.000,6,0.000,0.065,2764,1761,3587,0,0,0,0,0,0
$GC,5948,-1.19,-146.0,453.1,-6.6,325,5950,0.10,0.00,0.00,0.000,6,0.092,0.000,2732,1761,3585,0,0,0,0,0,0
$GC,6192,-1.19,-146.0,471.5,-7.5,331,6193,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1761,3583,0,0,0,0,0,0
$GC,6435,-1.19,-146.0,489.4,-7.3,337,6436,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1761,3582,0,0,0,0,0,0
$STATE,6596,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6596,begin apogee
$GC,6602,-0.31,0.0,502.1,7.9,341,6724,0.88,0.00,118.22,0.923,6,0.079,0.000,2929,1834,3001,0,0,0,0,0,0
$STATE,6725,end apogee,CONTROL_FINISHED_OK
$STATE,6725,begin climb
$GC,6729,1.06,146.0,506.2,0.0,344,6862,1.25,2.72,123.88,0.900,4,0.057,0.062,3234,3390,2403,0,0,0,0,0,0
$GC,6914,0.92,146.0,501.1,8.1,348,6920,0.17,2.78,0.00,0.000,6,0.114,0.064,3199,1813,2398,0,0,0,0,0,0
$GC,7176,0.87,169.2,482.1,7.2,355,7199,0.00,0.00,19.75,0.848,6,0.000,0.000,3199,1814,2311,0,0,0,0,0,0
$GC,7463,0.83,197.2,461.8,7.0,362,7494,0.00,2.67,25.50,0.859,4,0.000,0.044,3200,3397,2195,0,0,0,0,0,0
$GC,7525,0.80,207.9,457.3,7.6,363,7541,0.12,2.78,10.55,0.784,6,0.123,0.058,3175,1807,2153,0,0,0,0,0,0
$GC,7785,0.83,234.6,438.9,7.0,369,7815,0.00,3.08,24.33,0.849,4,0.000,0.120,3175,232,2043,0,0,0,0,0,0
$GC,7827,0.84,242.3,435.7,7.7,370,7841,0.00,2.55,8.45,0.736,6,0.000,0.030,3175,1803,2012,0,0,0,0,0,0
$GC,8109,0.84,244.2,413.1,7.9,377,8113,0.00,2.67,0.00,0.000,4,0.000,0.051,3175,3412,2007,0,0,0,0,0,0
$GC,8143,0.88,244.2,410.4,8.3,377,8148,0.00,2.72,0.00,0.000,6,0.000,0.051,3175,1814,2005,0,0,0,0,0,0
$GC,8393,0.91,267.0,392.1,7.2,384,8422,0.10,2.70,22.17,0.830,4,0.183,0.042,3200,3407,1911,0,0,0,0,0,0
$GC,8439,0.92,273.8,388.4,7.8,385,8453,0.00,2.70,7.65,0.713,6,0.000,0.053,3200,1825,1884,0,0,0,0,0,0
$GC,8723,0.92,273.8,363.8,8.9,392,8727,0.00,2.58,0.00,0.000,4,0.000,0.040,3201,3413,1879,0,0,0,0,0,0
$GC,8743,0.92,273.8,361.7,9.0,392,8748,0.00,2.65,0.00,0.000,6,0.000,0.044,3201,1832,1878,0,0,0,0,0,0
$GC,8999,0.92,273.8,339.2,8.7,399,9003,0.00,2.85,0.00,0.000,4,0.000,0.087,3200,236,1878,0,0,0,0,0,0
$GC,9044,0.88,273.8,334.6,10.7,400,9048,0.00,2.55,0.00,0.000,6,0.000,0.023,3201,1841,1877,0,0,0,0,0,0
$GC,9321,0.88,273.8,308.8,9.4,407,9325,0.00,2.53,0.00,0.000,4,0.000,0.041,3201,3400,1876,0,0,0,0,0,0
$GC,9342,0.88,273.8,306.7,9.8,407,9346,0.00,2.60,0.00,0.000,6,0.000,0.042,3200,1820,1875,0,0,0,0,0,0
$GC,9598,0.88,273.8,282.2,9.5,414,9599,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1820,1875,0,0,0,0,0,0
$GC,9840,0.88,273.8,260.9,8.6,420,9841,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1819,1874,0,0,0,0,0,0
$GC,10084,0.88,273.8,240.7,8.3,426,10089,0.00,2.75,0.00,0.000,4,0.000,0.076,3200,235,1874,0,0,0,0,0,0
$GC,10099,0.88,273.8,239.3,8.0,426,10104,0.00,2.50,0.00,0.000,6,0.000,0.020,3201,1851,1873,0,0,0,0,0,0
$GC,10368,0.88,275.2,218.2,8.0,433,10372,0.00,2.75,0.00,0.000,4,0.000,0.068,3200,239,1873,0,0,0,0,0,0
$GC,10394,0.88,275.2,215.6,9.2,433,10399,0.00,2.45,0.00,0.000,6,0.000,0.022,3200,1828,1873,0,0,0,0,0,0
$GC,10651,0.90,294.3,196.4,7.3,442,10674,0.00,2.50,17.27,0.671,4,0.000,0.029,3200,3387,1800,0,0,0,0,0,0
$GC,10704,0.96,294.3,192.0,8.1,446,10709,0.00,2.55,0.00,0.000,6,0.000,0.034,3201,1828,1799,0,0,0,0,0,0
$GC,10966,0.97,295.6,171.2,8.0,471,10968,0.00,0.00,0.00,0.000,6,0.000,0.000,3200,1828,1797,0,0,0,0,0,0
$GC,11221,1.01,295.6,149.1,8.7,495,11222,0.00,0.00,0.00,0.000,6,0.000,0.000,3201,1828,1797,0,0,0,0,0,0
$GC,11482,1.08,308.1,129.0,7.5,519,11507,0.15,2.80,13.20,0.591,4,0.179,0.069,3242,241,1743,0,0,0,0,0,0
$GC,11521,1.02,308.1,125.2,9.9,522,11525,0.00,2.47,0.00,0.000,6,0.000,0.021,3242,1848,1743,0,0,0,0,0,0
$GC,11783,1.02,308.1,102.1,8.5,546,11787,0.00,2.42,0.00,0.000,4,0.000,0.035,3242,3385,1743,0,0,0,0,0,0
$GC,11843,1.08,308.1,96.5,9.5,550,11852,0.00,2.53,0.00,0.000,6,0.000,0.033,3242,1845,1741,0,0,0,0,0,0
$GC,12109,1.10,317.9,75.7,7.6,575,12128,0.00,0.00,9.75,0.525,6,0.000,0.000,3242,1845,1704,0,0,0,0,0,0
$GC,12387,1.11,328.1,53.9,7.6,601,12407,0.00,0.00,10.40,0.512,6,0.000,0.000,3242,1845,1662,0,0,0,0,0,0
$GC,12665,1.11,328.1,32.0,8.2,627,12674,0.00,0.00,0.00,0.000,6,0.000,0.000,3242,1845,1661,0,0,0,0,0,0
$GC,13000,1.19,359.5,5.0,6.8,674,13020,0.00,0.00,17.75,0.498,2,0.000,0.000,3242,1845,1583,0,0,0,0,0,0
$STATE,13020,end climb,SURFACE_DEPTH_REACHED
$STATE,13021,begin surface coast
$FINISH,0.3,1.023279
$STATE,13102,end surface coast,CONTROL_FINISHED_OK
$STATE,13102,begin surface
$SM_CCo,13125,64.97,0.433,1,0,1287,420.20
$SM_GC,0.84,0.00,0.00,64.97,0.000,0.000,0.433,474,1757,1287,-11.62,-0.37,420.20
$IRIDIUM_FIX,2246.36,-15743.68,201199,212141
$TT8_MAMPS,0.025311
$HUMID,42.59
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.10
$XPDR_PINGS,55
$24V_AH,23.6,14.468
$10V_AH,10.4,13.637
$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,27.900,135.500,428.875,64.975,0.000,77.127,92.895,334.586,13.750,0.000,11.607,1327.913,8715.079,555.169,2506.993,867.864,33.367,1424.570,0.000,2527.371,0.000,0.538,0.000
$DEVICE_MAMPS,182.546,119.652,923.468,432.588,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,465.828,437.427,542.363,1083.324,1638.546,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,54157,688
$CAP_FILE_SIZE,137547,0
$CFSIZE,260165632,178130944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270810,012654,2250.737,-15743.862,29,1.2,46,10.1