version: 66.06
glider: 146
mission: 5
dive: 81
start: 8 27 110 8 35 25
data:
$ID,146
$MISSION,5
$DIVE,81
$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,-248830.33
$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,35
$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
$GPS1,082755,2248.936,-15742.052,38,1.3,38,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-69.2
$GPS2,083431,2248.969,-15742.104,13,1.5,13,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.023,0.206
$KALMAN_X,-70288.4,-154.5,-120.7,119619.7,-259.9
$KALMAN_Y,5228.5,102.5,221.9,121102.7,-193.8
$MHEAD_RNG_PITCHd_Wd,356.2,16726,-17.1,-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,-1.20,-104.6,0.0,0.0,0,103,0.00,0.00,-84.25,0.000,6,0.000,0.000,473,1748,3429,0,0,0,0,0,0
$GC,106,-1.24,-141.1,4.3,-6.1,11,132,11.95,2.55,-2.58,0.000,4,0.160,0.037,2719,3335,3581,0,0,0,0,0,0
$GC,258,-1.16,-141.1,43.2,-18.3,28,264,0.12,2.53,0.00,0.000,6,0.222,0.031,2744,1772,3582,0,0,0,0,0,0
$GC,522,-1.03,-141.1,88.7,-17.3,52,527,0.15,2.70,0.00,0.000,4,0.123,0.062,2773,196,3582,0,0,0,0,0,0
$GC,546,-0.92,-141.1,92.0,-15.5,53,551,0.12,2.38,0.00,0.000,6,0.119,0.016,2799,1803,3582,0,0,0,0,0,0
$GC,814,-0.96,-141.1,122.7,-10.0,77,820,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1805,3583,0,0,0,0,0,0
$GC,1075,-1.04,-141.1,147.6,-8.8,102,1080,0.12,2.75,0.00,0.000,4,0.075,0.066,2756,197,3583,0,0,0,0,0,0
$GC,1132,-1.04,-141.1,153.4,-11.4,106,1136,0.00,2.33,0.00,0.000,6,0.000,0.021,2756,1776,3583,0,0,0,0,0,0
$GC,1398,-1.04,-141.1,182.3,-11.0,130,1402,0.00,2.35,0.00,0.000,4,0.000,0.031,2756,3305,3584,0,0,0,0,0,0
$GC,1431,-1.09,-141.1,186.6,-10.9,132,1440,0.00,2.47,0.00,0.000,6,0.000,0.031,2757,1776,3583,0,0,0,0,0,0
$GC,1717,-1.09,-141.1,216.5,-10.1,148,1721,0.00,2.72,0.00,0.000,4,0.000,0.071,2756,189,3584,0,0,0,0,0,0
$GC,1743,-1.09,-141.1,219.5,-10.8,148,1747,0.00,2.33,0.00,0.000,6,0.000,0.015,2757,1761,3584,0,0,0,0,0,0
$GC,1999,-1.09,-141.1,243.9,-9.4,155,2000,0.00,0.00,0.00,0.000,6,0.000,0.000,2756,1763,3584,0,0,0,0,0,0
$GC,2244,-1.09,-141.1,266.6,-9.6,161,2248,0.00,2.70,0.00,0.000,4,0.000,0.071,2756,193,3584,0,0,0,0,0,0
$GC,2276,-1.09,-141.1,270.4,-11.7,161,2282,0.00,2.38,0.00,0.000,6,0.000,0.026,2756,1757,3584,0,0,0,0,0,0
$GC,2526,-1.13,-141.1,294.8,-9.5,168,2531,0.00,2.50,0.00,0.000,4,0.000,0.038,2756,3347,3584,0,0,0,0,0,0
$GC,2567,-1.22,-141.1,298.3,-8.9,169,2572,0.10,2.53,0.00,0.000,6,0.084,0.044,2717,1783,3584,0,0,0,0,0,0
$GC,2850,-1.22,-141.1,323.7,-8.7,176,2855,0.00,2.85,0.00,0.000,4,0.000,0.095,2717,190,3584,0,0,0,0,0,0
$GC,2911,-1.22,-141.1,330.1,-11.1,177,2915,0.00,2.47,0.00,0.000,6,0.000,0.024,2717,1768,3583,0,0,0,0,0,0
$GC,3178,-1.22,-141.1,357.1,-10.4,184,3183,0.00,2.60,0.00,0.000,4,0.000,0.051,2717,3349,3583,0,0,0,0,0,0
$GC,3218,-1.22,-141.1,361.1,-9.9,185,3222,0.00,2.62,0.00,0.000,6,0.000,0.059,2717,1785,3583,0,0,0,0,0,0
$GC,3501,-1.22,-141.1,389.6,-10.2,192,3502,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1784,3581,0,0,0,0,0,0
$GC,3745,-1.22,-141.1,414.8,-10.5,198,3750,0.00,2.97,0.00,0.000,4,0.000,0.114,2717,185,3579,0,0,0,0,0,0
$GC,3801,-1.26,-141.1,421.3,-11.7,199,3805,0.00,2.55,0.00,0.000,6,0.000,0.037,2717,1781,3579,0,0,0,0,0,0
$GC,4066,-1.26,-141.1,447.2,-9.4,206,4071,0.00,2.65,0.00,0.000,4,0.000,0.069,2718,3359,3577,0,0,0,0,0,0
$GC,4095,-1.32,-141.1,449.8,-9.7,206,4099,0.00,2.65,0.00,0.000,6,0.000,0.064,2717,1785,3577,0,0,0,0,0,0
$GC,4344,-1.32,-141.1,472.5,-9.0,212,4345,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1785,3575,0,0,0,0,0,0
$GC,4588,-1.35,-141.1,495.5,-9.4,218,4589,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1785,3573,0,0,0,0,0,0
$STATE,4667,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4667,begin apogee
$GC,4674,-0.31,0.0,502.9,9.3,220,4794,0.95,0.00,116.30,0.914,6,0.084,0.000,2929,1845,3001,0,0,0,0,0,0
$STATE,4795,end apogee,CONTROL_FINISHED_OK
$STATE,4795,begin climb
$GC,4797,1.24,141.1,507.2,0.0,223,4928,1.42,2.67,119.53,0.890,4,0.047,0.062,3276,3382,2423,0,0,0,0,0,0
$GC,4991,1.11,141.1,500.2,9.8,227,4997,0.17,2.70,0.00,0.000,6,0.127,0.058,3243,1822,2418,0,0,0,0,0,0
$GC,5247,1.03,141.1,477.8,8.6,234,5252,0.00,2.62,0.00,0.000,4,0.000,0.051,3243,3389,2413,0,0,0,0,0,0
$GC,5304,0.97,141.1,472.8,8.6,235,5309,0.15,2.70,0.00,0.000,6,0.120,0.058,3214,1825,2412,0,0,0,0,0,0
$GC,5571,1.00,170.4,454.4,6.5,242,5597,0.00,0.00,24.52,0.857,6,0.000,0.000,3214,1825,2306,0,0,0,0,0,0
$GC,5814,1.04,200.2,438.7,6.5,248,5848,0.00,2.70,27.20,0.855,4,0.000,0.042,3214,3390,2183,0,0,0,0,0,0
$GC,5873,1.06,218.0,434.6,7.1,249,5899,0.00,2.65,16.67,0.817,6,0.000,0.052,3214,1839,2111,0,0,0,0,0,0
$GC,6143,1.07,220.7,413.7,7.9,256,6147,0.00,2.97,0.00,0.000,4,0.000,0.100,3213,234,2105,0,0,0,0,0,0
$GC,6165,1.07,220.7,411.7,8.8,256,6169,0.00,2.55,0.00,0.000,6,0.000,0.027,3213,1832,2104,0,0,0,0,0,0
$GC,6419,1.07,220.7,389.8,8.8,263,6421,0.00,0.00,0.00,0.000,6,0.000,0.000,3214,1832,2103,0,0,0,0,0,0
$GC,6663,1.07,220.7,367.6,9.1,269,6668,0.00,2.55,0.00,0.000,4,0.000,0.042,3213,3401,2101,0,0,0,0,0,0
$GC,6679,1.07,220.7,366.0,9.5,269,6684,0.00,2.60,0.00,0.000,6,0.000,0.045,3214,1835,2100,0,0,0,0,0,0
$GC,6942,1.08,228.7,344.9,7.6,276,6956,0.00,2.60,8.68,0.731,4,0.000,0.038,3214,3395,2068,0,0,0,0,0,0
$GC,6996,1.17,242.3,341.1,7.3,277,7016,0.17,2.58,13.85,0.778,6,0.074,0.044,3259,1845,2013,0,0,0,0,0,0
$GC,7274,1.17,242.3,315.1,9.8,284,7275,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1845,2008,0,0,0,0,0,0
$GC,7517,1.17,242.3,289.2,10.9,290,7521,0.00,2.53,0.00,0.000,4,0.000,0.033,3259,3410,2007,0,0,0,0,0,0
$GC,7537,1.17,242.3,286.8,10.9,290,7542,0.00,2.58,0.00,0.000,6,0.000,0.036,3259,1836,2006,0,0,0,0,0,0
$GC,7793,1.17,242.3,262.2,9.1,297,7797,0.00,2.53,0.00,0.000,4,0.000,0.038,3259,3407,2005,0,0,0,0,0,0
$GC,7843,1.17,242.3,257.9,8.6,298,7847,0.00,2.53,0.00,0.000,6,0.000,0.037,3259,1861,2005,0,0,0,0,0,0
$GC,8114,1.17,242.3,233.0,9.6,305,8116,0.00,0.00,0.00,0.000,6,0.000,0.000,3259,1861,2005,0,0,0,0,0,0
$GC,8358,1.17,242.3,209.0,9.6,311,8362,0.00,2.78,0.00,0.000,4,0.000,0.071,3259,242,2005,0,0,0,0,0,0
$GC,8375,1.13,242.3,207.2,10.0,311,8379,0.00,2.55,0.00,0.000,6,0.000,0.025,3259,1897,2004,0,0,0,0,0,0
$GC,8632,1.13,242.3,181.1,9.5,329,8636,0.00,2.38,0.00,0.000,4,0.000,0.033,3259,3407,2004,0,0,0,0,0,0
$GC,8700,1.17,242.3,174.3,9.8,334,8706,0.00,2.47,0.00,0.000,6,0.000,0.031,3259,1869,2003,0,0,0,0,0,0
$GC,8964,1.17,242.3,150.9,9.2,359,8969,0.00,2.78,0.00,0.000,4,0.000,0.063,3259,243,2003,0,0,0,0,0,0
$GC,8980,1.17,242.3,148.9,9.2,360,8985,0.00,2.53,0.00,0.000,6,0.000,0.023,3259,1897,2003,0,0,0,0,0,0
$GC,9244,1.17,242.3,126.4,8.7,384,9248,0.00,2.38,0.00,0.000,4,0.000,0.029,3259,3410,2003,0,0,0,0,0,0
$GC,9297,1.26,257.5,121.9,7.2,388,9316,0.00,2.45,13.35,0.588,6,0.000,0.033,3258,1885,1951,0,0,0,0,0,0
$GC,9576,1.34,279.1,101.8,6.9,413,9604,0.12,2.92,19.92,0.584,4,0.084,0.062,3296,236,1862,0,0,0,0,0,0
$GC,9626,1.27,279.1,97.7,9.0,417,9630,0.00,2.60,0.00,0.000,6,0.000,0.023,3296,1917,1861,0,0,0,0,0,0
$GC,9893,1.27,279.1,73.9,10.1,441,9897,0.00,2.35,0.00,0.000,4,0.000,0.035,3296,3417,1860,0,0,0,0,0,0
$GC,9951,1.31,279.1,67.5,10.6,445,9955,0.00,2.50,0.00,0.000,6,0.000,0.032,3296,1876,1859,0,0,0,0,0,0
$GC,10219,1.31,279.1,40.6,9.4,469,10223,0.00,2.40,0.00,0.000,4,0.000,0.032,3296,3405,1859,0,0,0,0,0,0
$GC,10263,1.35,279.1,35.0,13.6,472,10268,0.00,2.40,0.00,0.000,6,0.000,0.031,3296,1897,1859,0,0,0,0,0,0
$STATE,10554,end climb,SURFACE_DEPTH_REACHED
$STATE,10554,begin surface coast
$FINISH,0.3,1.003027
$STATE,10603,end surface coast,CONTROL_FINISHED_OK
$STATE,10604,begin surface
$SM_CCo,10626,126.15,0.474,1,0,1288,420.20
$SM_GC,0.95,0.00,0.00,126.15,0.000,0.000,0.474,473,1749,1288,-11.62,-0.57,420.20
$IRIDIUM_FIX,2241.69,-15741.52,211199,050504
$TT8_MAMPS,0.026078
$HUMID,41.53
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.70
$XPDR_PINGS,53
$24V_AH,23.6,14.843
$10V_AH,10.5,14.009
$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,26.900,134.375,360.025,126.150,0.000,31.695,32.534,194.402,13.250,0.000,14.974,1056.912,7077.150,566.206,1904.324,548.617,33.356,1290.433,0.000,1909.871,0.000,0.536,0.000
$DEVICE_MAMPS,222.430,119.652,914.264,474.006,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,351.848,317.823,393.837,725.429,1097.198,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,41620,520
$CAP_FILE_SIZE,110276,0
$CFSIZE,260165632,177987584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,270810,113554,2250.481,-15742.499,11,99.0,30,10.1