version: 66.06
glider: 146
mission: 5
dive: 90
start: 8 28 110 15 57 25
data:
$ID,146
$MISSION,5
$DIVE,90
$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,-249050.3
$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,37
$R_STBD_OVSHOOT,64
$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
$GPS1,155024,2254.461,-15746.651,41,99.0,60,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-66.0
$GPS2,155630,2254.445,-15746.715,16,2.1,35,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.141,-0.167
$KALMAN_X,-79339.6,-128.0,-2.2,120589.2,-1102.1
$KALMAN_Y,5698.4,-39.2,-456.0,131593.5,242.6
$MHEAD_RNG_PITCHd_Wd,210.1,16849,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.15,-116.8,0.0,0.0,0,97,0.00,0.00,-78.75,0.000,2,0.000,0.000,480,1751,3259,0,0,0,0,0,0
$GC,100,-1.15,-116.8,3.1,-4.2,10,126,12.12,2.67,-4.12,0.000,4,0.163,0.070,2738,203,3479,0,0,0,0,0,0
$GC,254,-0.99,-116.8,37.6,-17.1,29,264,0.17,2.40,0.00,0.000,6,0.097,0.016,2779,1764,3480,0,0,0,0,0,0
$GC,522,-0.90,-116.8,74.8,-13.5,54,531,0.12,0.00,0.00,0.000,6,0.123,0.000,2804,1766,3480,0,0,0,0,0,0
$GC,788,-0.90,-116.8,104.1,-10.6,79,793,0.00,2.65,0.00,0.000,4,0.000,0.064,2804,204,3481,0,0,0,0,0,0
$GC,809,-0.90,-116.8,106.8,-9.7,80,818,0.00,2.40,0.00,0.000,6,0.000,0.023,2804,1802,3481,0,0,0,0,0,0
$GC,1077,-0.94,-116.8,128.8,-8.2,105,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1802,3482,0,0,0,0,0,0
$GC,1340,-1.00,-116.8,150.7,-7.5,130,1345,0.00,2.72,0.00,0.000,4,0.000,0.061,2804,205,3482,0,0,0,0,0,0
$GC,1363,-1.05,-116.8,152.8,-8.7,131,1369,0.15,2.33,0.00,0.000,6,0.061,0.022,2752,1761,3482,0,0,0,0,0,0
$GC,1626,-1.01,-116.8,179.2,-9.9,156,1628,0.12,0.00,0.00,0.000,6,0.107,0.000,2779,1762,3482,0,0,0,0,0,0
$GC,1880,-1.01,-116.8,200.5,-8.0,180,1881,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,1762,3482,0,0,0,0,0,0
$GC,2122,-1.01,-116.8,220.2,-8.1,186,2126,0.00,2.42,0.00,0.000,4,0.000,0.033,2779,3313,3482,0,0,0,0,0,0
$GC,2143,-1.05,-116.8,222.0,-8.1,186,2148,0.00,2.45,0.00,0.000,6,0.000,0.029,2779,1765,3482,0,0,0,0,0,0
$GC,2400,-1.09,-116.8,245.0,-9.2,193,2405,0.00,2.42,0.00,0.000,4,0.000,0.027,2779,3314,3482,0,0,0,0,0,0
$GC,2422,-1.14,-116.8,247.3,-9.7,193,2427,0.12,2.50,0.00,0.000,6,0.074,0.035,2733,1758,3482,0,0,0,0,0,0
$GC,2679,-1.09,-116.8,273.1,-10.0,200,2684,0.12,2.72,0.00,0.000,4,0.107,0.076,2760,197,3481,0,0,0,0,0,0
$GC,2712,-1.09,-116.8,276.4,-9.6,200,2718,0.00,2.35,0.00,0.000,6,0.000,0.020,2760,1726,3481,0,0,0,0,0,0
$GC,2962,-1.09,-116.8,298.5,-9.2,207,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1727,3481,0,0,0,0,0,0
$GC,3206,-1.09,-116.8,318.0,-7.5,213,3207,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1727,3481,0,0,0,0,0,0
$GC,3451,-1.13,-116.8,336.0,-7.3,219,3456,0.00,2.62,0.00,0.000,4,0.000,0.051,2760,3346,3480,0,0,0,0,0,0
$GC,3486,-1.20,-116.8,338.6,-7.3,219,3492,0.00,2.65,0.00,0.000,6,0.000,0.054,2760,1764,3480,0,0,0,0,0,0
$GC,3737,-1.25,-116.8,355.9,-6.8,226,3742,0.15,2.88,0.00,0.000,4,0.070,0.100,2714,183,3479,0,0,0,0,0,0
$GC,3794,-1.21,-116.8,361.1,-9.7,227,3799,0.10,2.47,0.00,0.000,6,0.117,0.033,2735,1742,3479,0,0,0,0,0,0
$GC,4060,-1.21,-116.8,383.4,-8.4,234,4065,0.00,2.67,0.00,0.000,4,0.000,0.050,2735,3364,3477,0,0,0,0,0,0
$GC,4101,-1.21,-116.8,386.7,-8.4,235,4106,0.00,2.70,0.00,0.000,6,0.000,0.052,2735,1751,3477,0,0,0,0,0,0
$GC,4384,-1.21,-116.8,409.9,-8.3,242,4388,0.00,2.62,0.00,0.000,4,0.000,0.044,2735,3353,3476,0,0,0,0,0,0
$GC,4405,-1.21,-116.8,411.8,-8.5,242,4409,0.00,2.70,0.00,0.000,6,0.000,0.059,2735,1754,3475,0,0,0,0,0,0
$GC,4660,-1.21,-116.8,433.1,-8.2,249,4661,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1754,3474,0,0,0,0,0,0
$GC,4906,-1.21,-116.8,451.1,-7.2,255,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1754,3472,0,0,0,0,0,0
$GC,5148,-1.21,-116.8,469.0,-7.4,261,5149,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1754,3470,0,0,0,0,0,0
$GC,5391,-1.21,-116.8,489.0,-8.3,267,5396,0.00,2.70,0.00,0.000,4,0.000,0.062,2735,3351,3469,0,0,0,0,0,0
$GC,5453,-1.27,-116.8,494.6,-8.6,268,5458,0.00,2.75,0.00,0.000,6,0.000,0.064,2735,1762,3468,0,0,0,0,0,0
$STATE,5549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5549,begin apogee
$GC,5555,-0.31,0.0,502.6,8.1,271,5654,0.88,0.00,95.28,0.922,6,0.083,0.000,2931,1837,3001,0,0,0,0,0,0
$STATE,5654,end apogee,CONTROL_FINISHED_OK
$STATE,5654,begin climb
$GC,5657,1.15,116.8,504.9,0.0,273,5769,1.33,2.72,99.93,0.897,4,0.057,0.053,3251,3391,2522,0,0,0,0,0,0
$GC,5786,1.07,163.9,503.1,5.8,276,5835,0.00,2.75,41.00,0.871,6,0.000,0.063,3251,1819,2332,0,0,0,0,0,0
$GC,6111,0.95,163.9,474.0,9.5,284,6116,0.20,2.62,0.00,0.000,4,0.109,0.041,3210,3386,2322,0,0,0,0,0,0
$GC,6166,0.95,163.9,469.0,8.4,285,6171,0.00,2.67,0.00,0.000,6,0.000,0.056,3210,1832,2321,0,0,0,0,0,0
$GC,6433,0.95,163.9,447.9,8.0,292,6438,0.00,3.03,0.00,0.000,4,0.000,0.110,3210,230,2319,0,0,0,0,0,0
$GC,6467,0.85,163.9,445.0,8.5,292,6473,0.12,2.55,0.00,0.000,6,0.127,0.031,3187,1812,2317,0,0,0,0,0,0
$GC,6717,0.92,219.7,430.2,5.4,299,6771,0.00,2.72,47.42,0.867,4,0.000,0.046,3187,3398,2104,0,0,0,0,0,0
$GC,6825,1.01,232.9,423.4,7.4,301,6847,0.15,2.65,12.93,0.792,6,0.078,0.049,3224,1837,2050,0,0,0,0,0,0
$GC,7090,1.01,232.9,399.6,9.6,308,7094,0.00,2.55,0.00,0.000,4,0.000,0.039,3223,3408,2044,0,0,0,0,0,0
$GC,7105,1.01,232.9,397.9,9.8,308,7109,0.00,2.62,0.00,0.000,6,0.000,0.045,3224,1852,2043,0,0,0,0,0,0
$GC,7368,1.01,232.9,372.2,9.7,315,7372,0.00,2.90,0.00,0.000,4,0.000,0.084,3224,235,2042,0,0,0,0,0,0
$GC,7385,0.95,232.9,370.2,9.8,315,7389,0.00,2.60,0.00,0.000,6,0.000,0.020,3223,1871,2041,0,0,0,0,0,0
$GC,7645,0.95,232.9,346.7,8.8,322,7646,0.00,0.00,0.00,0.000,6,0.000,0.000,3224,1871,2040,0,0,0,0,0,0
$GC,7890,0.96,237.0,327.2,7.8,328,7895,0.00,2.88,0.00,0.000,4,0.000,0.071,3224,234,2039,0,0,0,0,0,0
$GC,7923,0.89,237.0,324.2,8.7,328,7929,0.15,2.58,0.00,0.000,6,0.114,0.026,3194,1864,2038,0,0,0,0,0,0
$GC,8173,0.95,239.7,305.1,7.9,335,8180,0.00,0.00,5.03,0.601,6,0.000,0.000,3194,1865,2024,0,0,0,0,0,0
$GC,8418,1.06,271.9,288.3,6.5,341,8454,0.15,2.50,30.00,0.771,4,0.075,0.033,3233,3396,1892,0,0,0,0,0,0
$GC,8471,1.06,271.9,284.0,8.2,341,8475,0.00,2.58,0.00,0.000,6,0.000,0.040,3233,1829,1891,0,0,0,0,0,0
$GC,8738,1.06,271.9,261.7,8.2,348,8743,0.00,2.75,0.00,0.000,4,0.000,0.075,3233,242,1887,0,0,0,0,0,0
$GC,8771,1.01,271.9,258.7,9.3,348,8777,0.00,2.50,0.00,0.000,6,0.000,0.021,3233,1853,1885,0,0,0,0,0,0
$GC,9021,1.01,271.9,236.6,9.2,355,9025,0.00,2.42,0.00,0.000,4,0.000,0.029,3233,3389,1885,0,0,0,0,0,0
$GC,9042,1.01,271.9,234.4,10.3,355,9047,0.00,2.53,0.00,0.000,6,0.000,0.032,3233,1838,1885,0,0,0,0,0,0
$GC,9298,1.01,271.9,208.4,9.9,362,9302,0.00,2.53,0.00,0.000,4,0.000,0.029,3233,3397,1885,0,0,0,0,0,0
$GC,9371,1.06,271.9,201.2,10.0,363,9375,0.00,2.50,0.00,0.000,6,0.000,0.038,3233,1861,1885,0,0,0,0,0,0
$GC,9631,1.06,271.9,179.2,8.4,384,9636,0.00,2.78,0.00,0.000,4,0.000,0.064,3233,243,1885,0,0,0,0,0,0
$GC,9660,1.06,271.9,176.4,9.6,386,9665,0.00,2.53,0.00,0.000,6,0.000,0.019,3233,1883,1884,0,0,0,0,0,0
$GC,9923,1.07,279.0,155.7,7.7,410,9937,0.00,2.90,6.57,0.543,4,0.000,0.065,3233,243,1862,0,0,0,0,0,0
$GC,9951,1.07,279.0,153.2,8.5,412,9956,0.00,2.53,0.00,0.000,6,0.000,0.024,3233,1876,1861,0,0,0,0,0,0
$GC,10217,1.11,279.0,130.0,8.4,437,10222,0.00,2.78,0.00,0.000,4,0.000,0.061,3233,243,1861,0,0,0,0,0,0
$GC,10258,1.11,279.0,125.9,9.2,440,10263,0.00,2.45,0.00,0.000,6,0.000,0.018,3233,1857,1861,0,0,0,0,0,0
$GC,10521,1.24,329.7,109.4,5.7,464,10572,0.15,2.45,44.72,0.604,4,0.070,0.031,3276,3382,1655,0,0,0,0,0,0
$GC,10609,1.29,329.7,102.6,9.3,471,10614,0.00,2.53,0.00,0.000,6,0.000,0.033,3276,1845,1653,0,0,0,0,0,0
$GC,10875,1.29,329.7,75.6,10.3,495,10880,0.00,2.75,0.00,0.000,4,0.000,0.067,3276,239,1651,0,0,0,0,0,0
$GC,10922,1.29,329.7,70.4,12.0,498,10927,0.00,2.45,0.00,0.000,6,0.000,0.017,3276,1848,1650,0,0,0,0,0,0
$GC,11189,1.29,329.7,46.6,9.2,522,11193,0.00,2.40,0.00,0.000,4,0.000,0.026,3276,3378,1650,0,0,0,0,0,0
$GC,11222,1.34,329.7,43.2,10.0,524,11227,0.00,2.50,0.00,0.000,6,0.000,0.032,3277,1838,1649,0,0,0,0,0,0
$GC,11517,1.34,329.7,14.0,11.0,559,11526,0.00,2.72,0.00,0.000,4,0.000,0.064,3277,244,1649,0,0,0,0,0,0
$GC,11550,1.34,329.7,9.9,11.9,563,11559,0.00,2.45,0.00,0.000,6,0.000,0.018,3277,1835,1649,0,0,0,0,0,0
$STATE,11600,end climb,SURFACE_DEPTH_REACHED
$STATE,11601,begin surface coast
$FINISH,0.3,1.023141
$STATE,11650,end surface coast,CONTROL_FINISHED_OK
$STATE,11650,begin surface
$SM_CCo,11672,79.38,0.448,1,0,1288,420.20
$SM_GC,0.94,0.00,0.00,79.38,0.000,0.000,0.448,476,1741,1288,-11.61,-0.82,420.20
$IRIDIUM_FIX,2246.36,-15743.68,221199,121250
$TT8_MAMPS,0.026078
$HUMID,41.77
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.70
$XPDR_PINGS,57
$24V_AH,23.6,15.946
$10V_AH,10.4,15.171
$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,27.600,151.400,382.875,79.375,0.000,28.237,30.367,149.772,14.250,0.000,37.978,1158.310,7800.675,548.945,2101.159,514.595,33.369,1344.502,0.000,2077.999,0.000,0.536,0.000
$DEVICE_MAMPS,163.371,273.052,921.934,447.928,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,389.697,349.684,440.433,800.461,1205.846,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,44695,577
$CAP_FILE_SIZE,122566,0
$CFSIZE,260165632,177414144
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280810,191437,2253.459,-15748.305,33,0.9,33,10.1