version: 66.06
glider: 146
mission: 5
dive: 85
start: 8 27 110 22 24 36
data:
$ID,146
$MISSION,5
$DIVE,85
$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,-248930.06
$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,71
$R_STBD_OVSHOOT,61
$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
$GPS1,221431,2255.344,-15742.139,66,1.3,66,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-65.5
$GPS2,222343,2255.354,-15742.194,12,1.4,12,10.1
$SPEED_LIMITS,0.114,0.240
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.090,0.224
$KALMAN_X,-74811.6,121.2,155.5,123432.2,-944.6
$KALMAN_Y,5901.6,154.2,478.2,131941.9,-223.9
$MHEAD_RNG_PITCHd_Wd,11.8,4911,-14.0,-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,-1.05,-146.0,0.0,0.0,0,105,0.00,0.00,-86.62,0.000,2,0.000,0.000,474,1716,3525,0,0,0,0,0,0
$GC,108,-1.05,-146.0,4.6,-6.6,11,134,12.10,2.62,-1.23,0.000,4,0.157,0.038,2761,3336,3601,0,0,0,0,0,0
$GC,186,-0.93,-146.0,27.4,-15.7,21,196,0.12,2.50,0.00,0.000,6,0.094,0.033,2792,1816,3602,0,0,0,0,0,0
$GC,463,-0.81,-146.0,63.0,-12.1,47,468,0.15,2.80,0.00,0.000,4,0.114,0.067,2823,193,3602,0,0,0,0,0,0
$GC,523,-0.81,-146.0,69.7,-9.7,51,527,0.00,2.40,0.00,0.000,6,0.000,0.017,2823,1786,3602,0,0,0,0,0,0
$GC,789,-0.81,-146.0,96.0,-10.3,75,794,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1788,3603,0,0,0,0,0,0
$GC,1051,-0.81,-146.0,118.6,-7.2,100,1056,0.00,2.72,0.00,0.000,4,0.000,0.066,2823,186,3603,0,0,0,0,0,0
$GC,1084,-0.81,-146.0,121.6,-8.2,102,1094,0.00,2.38,0.00,0.000,6,0.000,0.023,2823,1758,3603,0,0,0,0,0,0
$GC,1353,-0.85,-146.0,141.6,-7.6,127,1357,0.00,2.42,0.00,0.000,4,0.000,0.033,2823,3313,3603,0,0,0,0,0,0
$GC,1387,-0.92,-146.0,144.0,-7.3,129,1392,0.10,2.47,0.00,0.000,6,0.084,0.035,2782,1752,3603,0,0,0,0,0,0
$GC,1647,-0.92,-146.0,170.1,-9.1,153,1652,0.00,2.65,0.00,0.000,4,0.000,0.066,2782,193,3604,0,0,0,0,0,0
$GC,1714,-0.92,-146.0,176.5,-9.9,158,1718,0.00,2.30,0.00,0.000,6,0.000,0.021,2782,1741,3603,0,0,0,0,0,0
$GC,1977,-0.92,-146.0,198.5,-7.9,182,1978,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1742,3603,0,0,0,0,0,0
$GC,2241,-0.92,-146.0,220.2,-8.0,190,2242,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1742,3603,0,0,0,0,0,0
$GC,2484,-0.92,-146.0,238.6,-7.6,196,2488,0.00,2.45,0.00,0.000,4,0.000,0.032,2782,3316,3603,0,0,0,0,0,0
$GC,2510,-0.92,-146.0,241.0,-8.3,196,2514,0.00,2.53,0.00,0.000,6,0.000,0.038,2782,1747,3602,0,0,0,0,0,0
$GC,2761,-0.92,-146.0,261.7,-8.5,202,2766,0.00,2.70,0.00,0.000,4,0.000,0.074,2782,187,3602,0,0,0,0,0,0
$GC,2800,-0.92,-146.0,265.3,-9.2,203,2805,0.00,2.33,0.00,0.000,6,0.000,0.019,2782,1725,3602,0,0,0,0,0,0
$GC,3084,-0.92,-146.0,286.2,-6.9,210,3085,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1726,3602,0,0,0,0,0,0
$GC,3328,-0.92,-146.0,304.0,-7.4,216,3332,0.00,2.55,0.00,0.000,4,0.000,0.038,2782,3331,3601,0,0,0,0,0,0
$GC,3378,-0.98,-146.0,308.1,-8.3,217,3383,0.00,2.60,0.00,0.000,6,0.000,0.048,2782,1744,3601,0,0,0,0,0,0
$GC,3650,-0.98,-146.0,329.5,-8.0,224,3655,0.00,2.78,0.00,0.000,4,0.000,0.095,2782,186,3600,0,0,0,0,0,0
$GC,3712,-1.04,-146.0,334.9,-8.8,225,3716,0.00,2.40,0.00,0.000,6,0.000,0.028,2782,1712,3600,0,0,0,0,0,0
$GC,3979,-1.04,-146.0,355.4,-7.5,232,3984,0.00,2.65,0.00,0.000,4,0.000,0.048,2782,3335,3598,0,0,0,0,0,0
$GC,4029,-1.12,-146.0,359.2,-7.5,233,4034,0.12,2.65,0.00,0.000,6,0.074,0.050,2741,1744,3598,0,0,0,0,0,0
$GC,4303,-1.08,-146.0,381.9,-8.4,240,4308,0.10,2.85,0.00,0.000,4,0.123,0.099,2762,185,3597,0,0,0,0,0,0
$GC,4330,-1.08,-146.0,384.2,-8.1,240,4334,0.00,2.42,0.00,0.000,6,0.000,0.032,2762,1716,3596,0,0,0,0,0,0
$GC,4586,-1.08,-146.0,402.0,-6.9,247,4591,0.00,2.67,0.00,0.000,4,0.000,0.053,2762,3324,3595,0,0,0,0,0,0
$GC,4620,-1.08,-146.0,404.3,-6.8,247,4625,0.00,2.70,0.00,0.000,6,0.000,0.054,2762,1736,3596,0,0,0,0,0,0
$GC,4870,-1.08,-146.0,420.1,-6.2,254,4874,0.00,2.62,0.00,0.000,4,0.000,0.048,2762,3327,3593,0,0,0,0,0,0
$GC,4911,-1.13,-146.0,422.6,-6.3,255,4916,0.00,2.70,0.00,0.000,6,0.000,0.060,2762,1742,3593,0,0,0,0,0,0
$GC,5196,-1.13,-146.0,442.2,-7.3,262,5200,0.00,2.92,0.00,0.000,4,0.000,0.115,2761,184,3592,0,0,0,0,0,0
$GC,5240,-1.18,-146.0,446.2,-9.0,263,5244,0.00,2.47,0.00,0.000,6,0.000,0.038,2762,1712,3592,0,0,0,0,0,0
$GC,5519,-1.18,-146.0,469.2,-8.3,270,5523,0.00,2.75,0.00,0.000,4,0.000,0.070,2762,3318,3590,0,0,0,0,0,0
$GC,5579,-1.24,-146.0,474.2,-8.1,271,5585,0.15,2.70,0.00,0.000,6,0.071,0.067,2717,1745,3590,0,0,0,0,0,0
$GC,5842,-1.19,-146.0,496.7,-8.3,278,5844,0.10,0.00,0.00,0.000,6,0.123,0.000,2738,1745,3587,0,0,0,0,0,0
$STATE,5919,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5919,begin apogee
$GC,5927,-0.31,0.0,502.5,7.5,280,6049,0.85,0.00,119.07,0.927,6,0.077,0.000,2931,1802,3001,0,0,0,0,0,0
$STATE,6050,end apogee,CONTROL_FINISHED_OK
$STATE,6050,begin climb
$GC,6052,1.05,146.0,504.7,0.0,283,6187,1.23,2.72,123.65,0.897,4,0.048,0.054,3232,3385,2402,0,0,0,0,0,0
$GC,6227,0.92,146.0,498.2,8.7,287,6232,0.15,2.75,0.00,0.000,6,0.117,0.060,3203,1816,2398,0,0,0,0,0,0
$GC,6499,0.84,160.0,476.7,7.5,294,6518,0.00,2.75,11.93,0.803,4,0.000,0.049,3202,3396,2347,0,0,0,0,0,0
$GC,6538,0.80,184.4,473.9,7.1,294,6568,0.15,2.72,22.90,0.847,6,0.121,0.062,3173,1821,2248,0,0,0,0,0,0
$GC,6831,0.83,213.7,453.6,6.9,302,6864,0.00,2.65,26.17,0.854,4,0.000,0.043,3173,3393,2127,0,0,0,0,0,0
$GC,6888,0.86,238.0,449.6,7.1,303,6917,0.00,2.72,22.65,0.839,6,0.000,0.057,3173,1826,2029,0,0,0,0,0,0
$GC,7204,0.91,273.5,428.1,6.7,311,7246,0.10,3.12,31.70,0.853,4,0.131,0.109,3198,233,1885,0,0,0,0,0,0
$GC,7277,0.82,273.5,422.1,9.6,312,7281,0.00,2.58,0.00,0.000,6,0.000,0.029,3198,1820,1882,0,0,0,0,0,0
$GC,7532,0.82,273.5,398.6,9.4,319,7536,0.00,2.65,0.00,0.000,4,0.000,0.048,3198,3408,1880,0,0,0,0,0,0
$GC,7581,0.82,273.5,393.5,11.4,320,7585,0.00,2.65,0.00,0.000,6,0.000,0.054,3198,1841,1878,0,0,0,0,0,0
$GC,7854,0.82,273.5,366.8,9.4,327,7855,0.00,0.00,0.00,0.000,6,0.000,0.000,3198,1841,1877,0,0,0,0,0,0
$GC,8096,0.82,273.5,346.8,8.3,333,8101,0.00,2.88,0.00,0.000,4,0.000,0.084,3198,235,1875,0,0,0,0,0,0
$GC,8129,0.76,273.5,343.5,10.6,333,8135,0.15,2.60,0.00,0.000,6,0.111,0.027,3168,1876,1874,0,0,0,0,0,0
$GC,8380,0.83,288.7,324.4,7.5,340,8400,0.00,2.55,12.57,0.762,4,0.000,0.038,3168,3408,1824,0,0,0,0,0,0
$GC,8407,0.90,303.1,322.3,7.5,340,8427,0.12,2.58,14.48,0.755,6,0.083,0.035,3201,1840,1765,0,0,0,0,0,0
$GC,8708,0.91,306.5,297.5,7.9,348,8714,0.00,0.00,3.92,0.510,6,0.000,0.000,3201,1840,1751,0,0,0,0,0,0
$GC,8949,0.91,306.5,276.0,9.2,354,8954,0.00,2.83,0.00,0.000,4,0.000,0.079,3201,235,1750,0,0,0,0,0,0
$GC,8970,0.91,306.5,273.5,11.2,354,8974,0.00,2.58,0.00,0.000,6,0.000,0.022,3201,1880,1748,0,0,0,0,0,0
$GC,9227,0.91,306.5,250.0,8.8,361,9231,0.00,2.88,0.00,0.000,4,0.000,0.069,3201,235,1749,0,0,0,0,0,0
$GC,9270,0.91,306.5,245.9,9.2,362,9275,0.00,2.55,0.00,0.000,6,0.000,0.025,3201,1866,1748,0,0,0,0,0,0
$GC,9549,0.91,313.6,225.0,7.7,369,9563,0.00,2.50,7.60,0.623,4,0.000,0.032,3201,3389,1721,0,0,0,0,0,0
$GC,9576,0.95,313.6,222.7,8.3,369,9580,0.00,2.55,0.00,0.000,6,0.000,0.033,3201,1832,1720,0,0,0,0,0,0
$GC,9830,0.95,313.6,201.5,8.2,376,9835,0.00,2.72,0.00,0.000,4,0.000,0.067,3201,243,1720,0,0,0,0,0,0
$GC,9874,0.95,313.6,197.7,9.1,377,9880,0.00,2.47,0.00,0.000,6,0.000,0.019,3201,1855,1719,0,0,0,0,0,0
$GC,10138,1.01,330.8,178.2,7.4,402,10157,0.00,0.00,16.35,0.642,6,0.000,0.000,3201,1857,1652,0,0,0,0,0,0
$GC,10412,1.07,336.6,156.9,7.8,428,10427,0.12,2.85,6.45,0.534,4,0.089,0.066,3236,243,1627,0,0,0,0,0,0
$GC,10475,1.03,336.6,150.4,11.1,433,10480,0.00,2.45,0.00,0.000,6,0.000,0.025,3236,1834,1627,0,0,0,0,0,0
$GC,10737,1.03,336.6,124.4,10.2,458,10741,0.00,2.45,0.00,0.000,4,0.000,0.032,3236,3389,1627,0,0,0,0,0,0
$GC,10760,1.03,336.6,121.8,11.0,459,10766,0.00,2.53,0.00,0.000,6,0.000,0.038,3236,1825,1626,0,0,0,0,0,0
$GC,11023,1.03,336.6,96.6,9.1,484,11027,0.00,2.70,0.00,0.000,4,0.000,0.063,3236,240,1626,0,0,0,0,0,0
$GC,11051,1.03,336.6,93.5,10.0,486,11056,0.00,2.45,0.00,0.000,6,0.000,0.018,3236,1841,1626,0,0,0,0,0,0
$GC,11319,1.07,336.6,72.9,8.2,510,11324,0.00,2.70,0.00,0.000,4,0.000,0.060,3236,242,1626,0,0,0,0,0,0
$GC,11353,1.07,336.6,69.9,8.7,512,11357,0.00,2.40,0.00,0.000,6,0.000,0.018,3236,1819,1626,0,0,0,0,0,0
$GC,11621,1.12,342.8,48.9,7.8,536,11635,0.00,2.45,6.90,0.469,4,0.000,0.026,3236,3375,1603,0,0,0,0,0,0
$GC,11652,1.19,348.4,46.3,7.8,538,11668,0.10,2.53,7.05,0.465,6,0.088,0.033,3268,1808,1578,0,0,0,0,0,0
$GC,11946,1.19,348.4,19.1,9.6,571,11954,0.00,0.00,0.00,0.000,6,0.000,0.000,3269,1808,1577,0,0,0,0,0,0
$STATE,12106,end climb,SURFACE_DEPTH_REACHED
$STATE,12106,begin surface coast
$FINISH,0.4,1.023312
$STATE,12172,end surface coast,CONTROL_FINISHED_OK
$STATE,12172,begin surface
$SM_CCo,12193,67.12,0.437,1,0,1287,420.20
$SM_GC,0.91,0.00,0.00,67.12,0.000,0.000,0.437,474,1746,1287,-11.62,-0.68,420.20
$IRIDIUM_FIX,2246.36,-15743.68,211199,222220
$TT8_MAMPS,0.025311
$HUMID,42.40
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.00
$XPDR_PINGS,62
$24V_AH,23.6,15.356
$10V_AH,10.4,14.527
$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,27.200,162.350,433.400,67.125,0.000,44.746,57.336,245.321,15.500,0.000,13.982,1226.308,8053.857,586.362,2269.287,679.242,33.369,1447.963,0.000,2271.172,0.000,0.536,0.000
$DEVICE_MAMPS,157.235,167.973,926.536,437.190,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,407.485,363.899,459.395,858.419,1299.135,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,47956,603
$CAP_FILE_SIZE,133635,0
$CFSIZE,260165632,177713152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280810,015024,2256.470,-15741.954,24,1.8,41,10.1