version: 66.06
glider: 146
mission: 5
dive: 87
start: 8 28 110 5 40 52
data:
$ID,146
$MISSION,5
$DIVE,87
$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,120
$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,-248983.86
$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,28
$R_STBD_OVSHOOT,66
$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
$GPS1,053331,2257.760,-15741.988,38,1.9,38,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-65.9
$GPS2,053956,2257.736,-15742.061,12,1.9,12,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.104,-0.192
$KALMAN_X,-76731.1,85.0,-227.3,126003.2,-944.6
$KALMAN_Y,5993.1,-80.6,-509.3,137485.5,856.1
$MHEAD_RNG_PITCHd_Wd,198.4,26843,-16.1,-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,-1.15,-116.8,0.0,0.0,0,96,0.00,0.00,-78.57,0.000,2,0.000,0.000,468,1771,3235,0,0,0,0,0,0
$GC,99,-1.15,-116.8,3.1,-3.7,10,125,12.07,2.72,-4.60,0.000,4,0.160,0.069,2739,197,3478,0,0,0,0,0,0
$GC,208,-1.00,-116.8,27.8,-16.6,25,217,0.15,2.40,0.00,0.000,6,0.101,0.015,2775,1779,3479,0,0,0,0,0,0
$GC,486,-0.90,-116.8,65.7,-14.9,51,492,0.12,2.70,0.00,0.000,4,0.131,0.059,2800,197,3479,0,0,0,0,0,0
$GC,523,-0.84,-116.8,72.4,-14.0,53,532,0.00,2.38,0.00,0.000,6,0.000,0.015,2800,1763,3479,0,0,0,0,0,0
$GC,785,-0.84,-116.8,101.3,-10.1,78,789,0.00,2.45,0.00,0.000,4,0.000,0.032,2800,3319,3480,0,0,0,0,0,0
$GC,854,-0.90,-116.8,107.2,-8.8,83,859,0.00,2.45,0.00,0.000,6,0.000,0.031,2800,1774,3480,0,0,0,0,0,0
$GC,1123,-0.94,-116.8,127.3,-7.4,107,1127,0.00,2.67,0.00,0.000,4,0.000,0.067,2800,197,3481,0,0,0,0,0,0
$GC,1144,-0.94,-116.8,129.5,-7.2,108,1153,0.00,2.38,0.00,0.000,6,0.000,0.018,2800,1780,3481,0,0,0,0,0,0
$GC,1410,-1.00,-116.8,149.9,-8.5,133,1415,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1780,3481,0,0,0,0,0,0
$GC,1672,-1.07,-116.8,173.0,-8.1,158,1674,0.15,0.00,0.00,0.000,6,0.064,0.000,2751,1781,3481,0,0,0,0,0,0
$GC,1925,-1.07,-116.8,197.0,-9.5,182,1930,0.00,2.70,0.00,0.000,4,0.000,0.069,2751,199,3481,0,0,0,0,0,0
$GC,1960,-1.02,-116.8,200.5,-10.5,184,1966,0.12,2.35,0.00,0.000,6,0.105,0.022,2778,1761,3481,0,0,0,0,0,0
$GC,2210,-1.06,-116.8,221.5,-8.3,191,2211,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1762,3481,0,0,0,0,0,0
$GC,2454,-1.10,-116.8,243.7,-9.2,197,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,1762,3481,0,0,0,0,0,0
$GC,2699,-1.15,-116.8,264.5,-8.5,203,2704,0.12,2.72,0.00,0.000,4,0.074,0.079,2734,192,3481,0,0,0,0,0,0
$GC,2732,-1.09,-116.8,268.1,-10.5,203,2739,0.12,2.38,0.00,0.000,6,0.106,0.024,2760,1736,3480,0,0,0,0,0,0
$GC,2982,-1.09,-116.8,288.2,-7.7,210,2987,0.00,2.55,0.00,0.000,4,0.000,0.041,2760,3346,3480,0,0,0,0,0,0
$GC,3011,-1.14,-116.8,290.5,-8.0,210,3016,0.00,2.53,0.00,0.000,6,0.000,0.035,2760,1772,3480,0,0,0,0,0,0
$GC,3261,-1.14,-116.8,310.9,-8.5,216,3262,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1772,3480,0,0,0,0,0,0
$GC,3505,-1.18,-116.8,331.4,-8.4,222,3509,0.00,2.50,0.00,0.000,4,0.000,0.039,2760,3344,3480,0,0,0,0,0,0
$GC,3556,-1.25,-116.8,335.7,-8.3,223,3561,0.15,2.55,0.00,0.000,6,0.067,0.046,2713,1789,3479,0,0,0,0,0,0
$GC,3828,-1.20,-116.8,359.8,-8.8,230,3830,0.10,0.00,0.00,0.000,6,0.123,0.000,2735,1789,3478,0,0,0,0,0,0
$GC,4073,-1.20,-116.8,378.0,-7.6,236,4078,0.00,2.53,0.00,0.000,4,0.000,0.049,2735,3336,3477,0,0,0,0,0,0
$GC,4114,-1.20,-116.8,381.9,-9.0,237,4118,0.00,2.60,0.00,0.000,6,0.000,0.055,2735,1783,3477,0,0,0,0,0,0
$GC,4397,-1.20,-116.8,408.7,-9.4,244,4401,0.00,2.95,0.00,0.000,4,0.000,0.107,2735,179,3476,0,0,0,0,0,0
$GC,4412,-1.20,-116.8,410.4,-9.5,244,4416,0.00,2.53,0.00,0.000,6,0.000,0.031,2734,1758,3475,0,0,0,0,0,0
$GC,4674,-1.20,-116.8,434.1,-9.0,251,4676,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1759,3474,0,0,0,0,0,0
$GC,4917,-1.20,-116.8,454.7,-8.2,257,4921,0.00,2.67,0.00,0.000,4,0.000,0.068,2735,3353,3472,0,0,0,0,0,0
$GC,4949,-1.25,-116.8,457.4,-8.3,257,4955,0.00,2.65,0.00,0.000,6,0.000,0.059,2735,1785,3472,0,0,0,0,0,0
$GC,5201,-1.25,-116.8,475.8,-7.4,264,5202,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1785,3470,0,0,0,0,0,0
$GC,5443,-1.25,-116.8,494.6,-7.8,270,5448,0.00,2.62,0.00,0.000,4,0.000,0.058,2735,3350,3469,0,0,0,0,0,0
$GC,5482,-1.31,-116.8,497.9,-8.4,271,5487,0.00,2.67,0.00,0.000,6,0.000,0.065,2735,1788,3468,0,0,0,0,0,0
$STATE,5507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5507,begin apogee
$GC,5512,-0.31,0.0,500.1,7.9,271,5611,0.85,0.00,95.65,0.918,6,0.086,0.000,2927,1787,3001,0,0,0,0,0,0
$STATE,5612,end apogee,CONTROL_FINISHED_OK
$STATE,5612,begin climb
$GC,5616,1.15,116.8,502.7,0.0,274,5724,1.38,2.78,100.88,0.895,4,0.048,0.050,3254,3401,2522,0,0,0,0,0,0
$GC,5754,1.05,156.4,499.8,6.2,277,5796,0.12,2.78,34.50,0.864,6,0.130,0.058,3231,1814,2362,0,0,0,0,0,0
$GC,6060,0.97,156.4,474.5,8.6,285,6065,0.00,2.65,0.00,0.000,4,0.000,0.051,3231,3408,2353,0,0,0,0,0,0
$GC,6160,0.92,156.4,465.5,8.8,287,6166,0.15,2.70,0.00,0.000,6,0.118,0.056,3201,1837,2351,0,0,0,0,0,0
$GC,6428,0.96,182.4,446.9,6.8,294,6458,0.00,2.70,22.12,0.849,4,0.000,0.041,3201,3407,2256,0,0,0,0,0,0
$GC,6487,0.96,184.6,442.6,7.9,295,6491,0.00,2.67,0.00,0.000,6,0.000,0.050,3201,1842,2254,0,0,0,0,0,0
$GC,6754,0.99,212.1,424.1,6.7,302,6788,0.00,2.70,26.67,0.849,4,0.000,0.040,3201,3418,2135,0,0,0,0,0,0
$GC,6799,1.01,223.9,420.6,7.5,303,6818,0.00,2.67,12.05,0.783,6,0.000,0.048,3201,1847,2087,0,0,0,0,0,0
$GC,7082,1.01,229.2,398.7,7.8,310,7093,0.00,3.00,5.35,0.645,4,0.000,0.095,3201,231,2065,0,0,0,0,0,0
$GC,7128,1.01,229.2,394.7,8.9,311,7132,0.00,2.60,0.00,0.000,6,0.000,0.023,3201,1860,2063,0,0,0,0,0,0
$GC,7407,1.05,257.2,374.9,6.7,318,7436,0.12,0.00,26.30,0.828,6,0.084,0.000,3233,1860,1952,0,0,0,0,0,0
$GC,7650,1.05,257.2,353.1,9.1,324,7654,0.00,2.47,0.00,0.000,4,0.000,0.037,3233,3400,1947,0,0,0,0,0,0
$GC,7683,1.05,257.2,349.7,9.7,324,7689,0.00,2.60,0.00,0.000,6,0.000,0.039,3233,1832,1945,0,0,0,0,0,0
$GC,7933,1.05,257.2,324.0,10.6,331,7937,0.00,2.55,0.00,0.000,4,0.000,0.033,3233,3407,1944,0,0,0,0,0,0
$GC,7960,1.05,257.2,321.1,10.3,331,7964,0.00,2.55,0.00,0.000,6,0.000,0.042,3233,1859,1943,0,0,0,0,0,0
$GC,8211,1.05,257.2,299.0,8.8,337,8215,0.00,2.50,0.00,0.000,4,0.000,0.037,3233,3408,1943,0,0,0,0,0,0
$GC,8232,1.05,257.2,296.9,8.9,337,8236,0.00,2.53,0.00,0.000,6,0.000,0.038,3233,1866,1942,0,0,0,0,0,0
$GC,8487,1.05,257.2,275.9,8.2,344,8489,0.00,0.00,0.00,0.000,6,0.000,0.000,3234,1866,1942,0,0,0,0,0,0
$GC,8733,1.05,257.2,254.6,8.8,350,8737,0.00,2.80,0.00,0.000,4,0.000,0.070,3233,244,1942,0,0,0,0,0,0
$GC,8754,1.01,257.2,252.2,10.4,350,8758,0.00,2.55,0.00,0.000,6,0.000,0.025,3233,1886,1940,0,0,0,0,0,0
$GC,9008,1.01,257.2,227.2,9.9,357,9010,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1888,1940,0,0,0,0,0,0
$GC,9252,1.01,257.2,204.4,9.2,363,9257,0.00,2.83,0.00,0.000,4,0.000,0.065,3233,242,1940,0,0,0,0,0,0
$GC,9280,1.01,257.2,201.6,10.1,363,9284,0.00,2.53,0.00,0.000,6,0.000,0.020,3234,1875,1940,0,0,0,0,0,0
$GC,9539,1.01,257.2,179.4,8.5,384,9544,0.00,2.80,0.00,0.000,4,0.000,0.062,3233,242,1939,0,0,0,0,0,0
$GC,9563,1.01,257.2,177.4,9.1,385,9568,0.00,2.47,0.00,0.000,6,0.000,0.018,3233,1863,1940,0,0,0,0,0,0
$GC,9825,1.01,258.5,157.2,7.9,410,9826,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1865,1939,0,0,0,0,0,0
$GC,10080,1.06,258.5,136.2,8.2,434,10084,0.00,2.40,0.00,0.000,4,0.000,0.031,3233,3387,1939,0,0,0,0,0,0
$GC,10138,1.16,258.5,131.1,8.8,438,10148,0.00,2.55,0.00,0.000,6,0.000,0.040,3233,1829,1940,0,0,0,0,0,0
$GC,10405,1.26,289.4,110.9,6.6,463,10435,0.17,0.00,27.20,0.600,6,0.061,0.000,3283,1829,1821,0,0,0,0,0,0
$GC,10685,1.26,289.4,85.1,9.4,490,10686,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1829,1817,0,0,0,0,0,0
$GC,10945,1.26,289.4,61.3,8.8,514,10950,0.00,2.45,0.00,0.000,4,0.000,0.028,3283,3385,1817,0,0,0,0,0,0
$GC,10979,1.30,289.4,58.0,9.5,516,10983,0.00,2.53,0.00,0.000,6,0.000,0.035,3283,1822,1816,0,0,0,0,0,0
$GC,11246,1.30,289.4,34.4,9.4,540,11255,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1823,1817,0,0,0,0,0,0
$GC,11571,1.30,289.4,7.9,8.9,584,11580,0.00,2.50,0.00,0.000,4,0.000,0.031,3283,3383,1817,0,0,0,0,0,0
$GC,11604,1.30,289.4,5.2,8.8,588,11613,0.00,2.55,0.00,0.000,6,0.000,0.030,3283,1812,1817,0,0,0,0,0,0
$STATE,11621,end climb,SURFACE_DEPTH_REACHED
$STATE,11621,begin surface coast
$FINISH,0.3,1.010301
$STATE,11686,end surface coast,CONTROL_FINISHED_OK
$STATE,11686,begin surface
$SM_CCo,11708,118.45,0.466,1,0,1288,420.20
$SM_GC,1.04,0.00,0.00,118.45,0.000,0.000,0.466,473,1756,1288,-11.62,-0.40,420.20
$IRIDIUM_FIX,2248.70,-15742.79,221199,020219
$TT8_MAMPS,0.026078
$HUMID,41.69
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,24.00
$XPDR_PINGS,48
$24V_AH,23.6,15.604
$10V_AH,10.4,14.796
$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,27.275,135.100,350.725,118.450,0.000,29.172,34.351,186.196,12.000,0.000,15.941,1177.193,7756.304,580.153,2148.110,555.852,33.369,1342.210,0.000,2162.730,0.000,0.537,0.000
$DEVICE_MAMPS,160.303,168.740,918.099,466.336,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,404.938,373.749,467.595,874.664,1323.161,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,47959,599
$CAP_FILE_SIZE,118294,0
$CFSIZE,260165632,177602560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280810,085936,2256.817,-15743.268,39,1.0,50,10.1