version: 66.06
glider: 146
mission: 5
dive: 202
start: 9 13 110 19 57 57
data:
$ID,146
$MISSION,5
$DIVE,202
$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,-251266.69
$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,53
$R_STBD_OVSHOOT,46
$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
$GPS1,195101,2255.899,-15742.946,62,1.0,62,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-66.7
$GPS2,195702,2255.869,-15742.977,8,1.8,8,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.087,0.200
$KALMAN_X,-214967.0,86.3,-224.9,262654.5,-847.2
$KALMAN_Y,-103520.1,233.2,-331.5,243049.5,-1947.9
$MHEAD_RNG_PITCHd_Wd,13.3,4284,-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,-116.8,0.0,0.0,0,104,0.00,0.00,-86.35,0.000,6,0.000,0.000,476,1729,3479,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.2,-5.7,11,124,11.57,2.58,0.00,0.000,4,0.141,0.029,2742,3361,3481,0,0,0,0,0,0
$GC,181,-1.03,-116.8,25.8,-17.6,21,191,0.10,2.55,0.00,0.000,6,0.077,0.031,2770,1793,3482,0,0,0,0,0,0
$GC,463,-0.95,-116.8,67.4,-14.2,48,468,0.10,2.72,0.00,0.000,4,0.117,0.061,2792,188,3482,0,0,0,0,0,0
$GC,521,-0.95,-116.8,75.5,-13.0,52,525,0.00,2.38,0.00,0.000,6,0.000,0.015,2793,1788,3482,0,0,0,0,0,0
$GC,783,-0.95,-116.8,107.7,-11.4,76,788,0.00,2.70,0.00,0.000,4,0.000,0.061,2792,183,3482,0,0,0,0,0,0
$GC,805,-0.95,-116.8,109.8,-11.3,77,809,0.00,2.33,0.00,0.000,6,0.000,0.018,2792,1758,3483,0,0,0,0,0,0
$GC,1072,-0.99,-116.8,131.8,-7.4,101,1076,0.00,2.40,0.00,0.000,4,0.000,0.031,2792,3306,3483,0,0,0,0,0,0
$GC,1107,-1.06,-116.8,134.9,-7.8,103,1113,0.10,2.47,0.00,0.000,6,0.081,0.029,2752,1739,3483,0,0,0,0,0,0
$GC,1370,-1.02,-116.8,159.8,-10.1,128,1375,0.12,2.45,0.00,0.000,4,0.104,0.024,2780,3313,3483,0,0,0,0,0,0
$GC,1405,-1.02,-116.8,162.5,-9.0,130,1409,0.00,2.47,0.00,0.000,6,0.000,0.028,2780,1756,3483,0,0,0,0,0,0
$GC,1671,-1.02,-116.8,188.5,-10.3,154,1675,0.00,2.65,0.00,0.000,4,0.000,0.066,2780,194,3483,0,0,0,0,0,0
$GC,1738,-1.08,-116.8,196.4,-10.8,159,1747,0.00,2.33,0.00,0.000,6,0.000,0.021,2780,1743,3483,0,0,0,0,0,0
$GC,2021,-1.08,-116.8,223.9,-9.7,169,2025,0.00,2.42,0.00,0.000,4,0.000,0.026,2780,3317,3483,0,0,0,0,0,0
$GC,2042,-1.14,-116.8,226.0,-8.8,169,2048,0.12,2.53,0.00,0.000,6,0.073,0.036,2733,1736,3484,0,0,0,0,0,0
$GC,2299,-1.08,-116.8,251.7,-9.8,176,2304,0.12,2.45,0.00,0.000,4,0.131,0.025,2762,3307,3483,0,0,0,0,0,0
$GC,2332,-1.12,-116.8,254.7,-8.3,176,2338,0.00,2.45,0.00,0.000,6,0.000,0.029,2762,1757,3483,0,0,0,0,0,0
$GC,2582,-1.12,-116.8,275.2,-8.2,183,2586,0.00,2.70,0.00,0.000,4,0.000,0.077,2762,190,3483,0,0,0,0,0,0
$GC,2603,-1.12,-116.8,277.1,-8.7,183,2607,0.00,2.33,0.00,0.000,6,0.000,0.018,2762,1740,3483,0,0,0,0,0,0
$GC,2866,-1.12,-116.8,296.8,-7.3,190,2867,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,1741,3482,0,0,0,0,0,0
$GC,3109,-1.16,-116.8,311.6,-5.8,196,3113,0.00,2.50,0.00,0.000,4,0.000,0.040,2762,3330,3482,0,0,0,0,0,0
$GC,3142,-1.22,-116.8,313.7,-6.6,196,3148,0.12,2.53,0.00,0.000,6,0.074,0.039,2718,1757,3481,0,0,0,0,0,0
$GC,3393,-1.17,-116.8,333.2,-8.2,203,3398,0.12,2.53,0.00,0.000,4,0.105,0.039,2745,3329,3481,0,0,0,0,0,0
$GC,3414,-1.17,-116.8,335.3,-8.6,203,3419,0.00,2.55,0.00,0.000,6,0.000,0.041,2745,1760,3481,0,0,0,0,0,0
$GC,3670,-1.17,-116.8,356.1,-8.3,210,3671,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1760,3480,0,0,0,0,0,0
$GC,3915,-1.17,-116.8,377.8,-9.1,216,3916,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1760,3479,0,0,0,0,0,0
$GC,4158,-1.21,-116.8,399.4,-8.8,222,4159,0.00,0.00,0.00,0.000,6,0.000,0.000,2745,1760,3477,0,0,0,0,0,0
$GC,4402,-1.24,-116.8,421.1,-8.9,228,4406,0.00,2.55,0.00,0.000,4,0.000,0.050,2745,3322,3477,0,0,0,0,0,0
$GC,4436,-1.31,-116.8,424.1,-8.9,228,4442,0.12,2.62,0.00,0.000,6,0.074,0.059,2705,1766,3476,0,0,0,0,0,0
$GC,4687,-1.27,-116.8,449.7,-10.2,235,4692,0.00,2.92,0.00,0.000,4,0.000,0.110,2705,186,3474,0,0,0,0,0,0
$GC,4773,-1.23,-116.8,458.1,-9.4,237,4778,0.12,2.42,0.00,0.000,6,0.109,0.037,2732,1711,3474,0,0,0,0,0,0
$GC,5058,-1.23,-116.8,476.0,-5.6,244,5059,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1711,3472,0,0,0,0,0,0
$GC,5301,-1.23,-116.8,490.3,-6.1,250,5305,0.00,2.72,0.00,0.000,4,0.000,0.066,2732,3317,3471,0,0,0,0,0,0
$GC,5333,-1.27,-116.8,492.7,-7.3,250,5339,0.00,2.65,0.00,0.000,6,0.000,0.061,2732,1753,3471,0,0,0,0,0,0
$STATE,5459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5459,begin apogee
$GC,5466,-0.31,0.0,502.1,7.4,254,5565,0.88,0.00,96.00,0.915,6,0.071,0.000,2933,1753,3001,0,0,0,0,0,0
$STATE,5566,end apogee,CONTROL_FINISHED_OK
$STATE,5566,begin climb
$GC,5568,1.15,116.8,504.4,0.0,256,5682,1.30,2.97,100.30,0.894,4,0.045,0.107,3252,229,2522,0,0,0,0,0,0
$GC,5694,1.05,192.2,504.9,4.5,259,5766,0.12,2.55,65.32,0.880,6,0.130,0.038,3229,1775,2217,0,0,0,0,0,0
$GC,6018,0.98,192.2,478.0,9.2,267,6023,0.00,2.80,0.00,0.000,4,0.000,0.063,3229,3409,2208,0,0,0,0,0,0
$GC,6183,0.98,192.2,459.7,11.5,270,6187,0.00,2.62,0.00,0.000,6,0.000,0.055,3229,1851,2205,0,0,0,0,0,0
$GC,6434,0.94,192.2,434.2,10.0,276,6440,0.12,2.97,0.00,0.000,4,0.223,0.098,3205,232,2203,0,0,0,0,0,0
$GC,6476,0.87,192.2,430.0,10.1,277,6481,0.00,2.60,0.00,0.000,6,0.000,0.026,3205,1856,2201,0,0,0,0,0,0
$GC,6759,0.90,210.2,408.2,7.2,284,6779,0.00,2.60,14.57,0.808,4,0.000,0.051,3205,3407,2143,0,0,0,0,0,0
$GC,6877,0.99,246.0,400.2,6.4,286,6917,0.00,2.60,32.83,0.836,6,0.000,0.045,3205,1846,1998,0,0,0,0,0,0
$GC,7182,1.02,277.5,380.2,6.6,294,7213,0.00,0.00,29.30,0.818,6,0.000,0.000,3205,1846,1868,0,0,0,0,0,0
$GC,7425,1.07,277.5,360.4,8.4,300,7427,0.12,0.00,0.00,0.000,6,0.087,0.000,3238,1846,1863,0,0,0,0,0,0
$GC,7667,1.07,277.5,334.9,10.7,306,7671,0.00,2.50,0.00,0.000,4,0.000,0.030,3238,3410,1861,0,0,0,0,0,0
$GC,7699,1.07,277.5,331.2,11.5,306,7705,0.00,2.58,0.00,0.000,6,0.000,0.044,3238,1850,1860,0,0,0,0,0,0
$GC,7949,1.07,277.5,306.5,9.5,313,7953,0.00,2.50,0.00,0.000,4,0.000,0.035,3238,3412,1859,0,0,0,0,0,0
$GC,7966,1.07,277.5,305.0,9.1,313,7970,0.00,2.55,0.00,0.000,6,0.000,0.039,3238,1856,1859,0,0,0,0,0,0
$GC,8226,1.07,277.5,282.5,8.5,320,8230,0.00,2.50,0.00,0.000,4,0.000,0.035,3238,3410,1858,0,0,0,0,0,0
$GC,8258,1.07,277.5,279.6,9.1,320,8264,0.00,2.50,0.00,0.000,6,0.000,0.041,3238,1878,1858,0,0,0,0,0,0
$GC,8509,1.07,277.5,258.4,8.6,327,8511,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1878,1857,0,0,0,0,0,0
$GC,8752,1.07,277.5,237.6,8.4,333,8756,0.00,2.47,0.00,0.000,4,0.000,0.035,3238,3422,1857,0,0,0,0,0,0
$GC,8784,1.11,277.5,234.7,8.5,333,8790,0.00,2.50,0.00,0.000,6,0.000,0.041,3238,1885,1856,0,0,0,0,0,0
$GC,9034,1.11,277.5,212.9,9.0,340,9035,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1885,1856,0,0,0,0,0,0
$GC,9287,1.11,277.5,188.7,9.9,352,9291,0.00,2.80,0.00,0.000,4,0.000,0.066,3238,242,1857,0,0,0,0,0,0
$GC,9307,1.11,277.5,185.6,11.6,353,9313,0.00,2.62,0.00,0.000,6,0.000,0.019,3238,1935,1856,0,0,0,0,0,0
$GC,9572,1.11,277.5,160.4,9.3,378,9576,0.00,2.88,0.00,0.000,4,0.000,0.066,3238,240,1856,0,0,0,0,0,0
$GC,9612,1.11,277.5,156.1,11.0,381,9616,0.00,2.60,0.00,0.000,6,0.000,0.025,3238,1929,1855,0,0,0,0,0,0
$GC,9878,1.15,306.8,136.2,6.7,405,9911,0.00,2.45,24.62,0.619,4,0.000,0.029,3238,3423,1748,0,0,0,0,0,0
$GC,9938,1.25,335.4,132.0,6.7,410,9976,0.15,2.47,25.80,0.608,6,0.071,0.036,3280,1886,1632,0,0,0,0,0,0
$GC,10232,1.25,335.4,103.8,11.3,437,10237,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1886,1629,0,0,0,0,0,0
$GC,10497,1.25,335.4,69.9,13.0,462,10501,0.00,2.83,0.00,0.000,4,0.000,0.065,3280,240,1629,0,0,0,0,0,0
$GC,10531,1.20,335.4,64.9,12.8,464,10542,0.00,2.62,0.00,0.000,6,0.000,0.018,3280,1916,1627,0,0,0,0,0,0
$GC,10799,1.20,335.4,36.9,9.8,489,10803,0.00,2.85,0.00,0.000,4,0.000,0.063,3280,234,1627,0,0,0,0,0,0
$GC,10820,1.20,335.4,34.6,9.8,490,10825,0.00,2.58,0.00,0.000,6,0.000,0.018,3280,1916,1627,0,0,0,0,0,0
$STATE,11140,end climb,SURFACE_DEPTH_REACHED
$STATE,11141,begin surface coast
$FINISH,0.3,1.023436
$STATE,11197,end surface coast,CONTROL_FINISHED_OK
$STATE,11197,begin surface
$SM_CCo,11218,75.47,0.446,1,0,1288,420.20
$SM_GC,1.13,0.00,0.00,75.47,0.000,0.000,0.446,472,1744,1288,-11.63,-0.74,420.20
$IRIDIUM_FIX,2246.36,-15745.85,081299,161636
$TT8_MAMPS,0.025311
$HUMID,45.94
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.10
$XPDR_PINGS,52
$24V_AH,23.5,29.133
$10V_AH,10.4,29.741
$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,26.725,139.675,388.750,75.475,0.000,31.282,27.601,169.706,13.000,0.000,9.841,1087.917,7504.824,548.589,1982.538,538.639,33.375,1303.568,0.000,1996.224,0.000,0.537,0.000
$DEVICE_MAMPS,223.197,110.448,915.031,445.627,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,365.184,299.718,405.331,754.105,1139.131,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,41472,541
$CAP_FILE_SIZE,114777,0
$CFSIZE,260165632,170569728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,130910,230737,2256.258,-15742.864,39,1.3,39,10.1