version: 66.06
glider: 146
mission: 5
dive: 208
start: 9 14 110 16 38 11
data:
$ID,146
$MISSION,5
$DIVE,208
$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,619.13721
$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,-251396.06
$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,46
$R_STBD_OVSHOOT,60
$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
$GPS1,162231,2254.637,-15743.998,38,1.5,38,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-67.9
$GPS2,163714,2254.453,-15744.060,14,1.1,14,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.090,0.198
$KALMAN_X,-223041.2,-193.7,55.1,268871.5,-1466.5
$KALMAN_Y,-121055.5,1.7,-93.3,257955.8,-3101.7
$MHEAD_RNG_PITCHd_Wd,14.4,7450,-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,13,begin dive
$GC,15,-1.15,-116.8,0.0,0.0,0,103,0.00,0.00,-85.97,0.000,6,0.000,0.000,474,1747,3479,0,0,0,0,0,0
$GC,107,-1.15,-116.8,4.1,-5.7,11,124,11.50,2.50,0.00,0.000,4,0.140,0.024,2742,3343,3481,0,0,0,0,0,0
$GC,214,-1.05,-116.8,30.6,-15.1,26,224,0.10,2.55,0.00,0.000,6,0.075,0.031,2769,1787,3482,0,0,0,0,0,0
$GC,482,-0.95,-116.8,69.3,-15.3,51,491,0.10,0.00,0.00,0.000,6,0.117,0.000,2791,1786,3481,0,0,0,0,0,0
$GC,743,-0.95,-116.8,98.5,-8.9,76,747,0.00,2.70,0.00,0.000,4,0.000,0.067,2791,195,3482,0,0,0,0,0,0
$GC,773,-0.95,-116.8,101.1,-9.5,78,777,0.00,2.42,0.00,0.000,6,0.000,0.015,2791,1818,3482,0,0,0,0,0,0
$GC,1037,-0.95,-116.8,122.2,-7.1,102,1042,0.00,2.75,0.00,0.000,4,0.000,0.064,2791,195,3482,0,0,0,0,0,0
$GC,1059,-0.95,-116.8,124.3,-7.8,103,1065,0.00,2.33,0.00,0.000,6,0.000,0.019,2791,1770,3482,0,0,0,0,0,0
$GC,1324,-0.95,-116.8,143.5,-7.6,128,1332,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,1772,3483,0,0,0,0,0,0
$GC,1585,-0.99,-116.8,164.3,-8.2,153,1589,0.00,2.67,0.00,0.000,4,0.000,0.064,2791,196,3483,0,0,0,0,0,0
$GC,1625,-1.03,-116.8,167.8,-9.2,156,1629,0.00,2.35,0.00,0.000,6,0.000,0.016,2791,1769,3483,0,0,0,0,0,0
$GC,1889,-1.08,-116.8,189.9,-8.3,180,1894,0.12,2.40,0.00,0.000,4,0.073,0.025,2749,3306,3482,0,0,0,0,0,0
$GC,1929,-1.08,-116.8,194.0,-9.5,183,1934,0.00,2.45,0.00,0.000,6,0.000,0.031,2750,1763,3482,0,0,0,0,0,0
$GC,2204,-1.08,-116.8,220.6,-9.6,194,2208,0.00,2.67,0.00,0.000,4,0.000,0.073,2749,196,3482,0,0,0,0,0,0
$GC,2275,-1.08,-116.8,227.8,-9.6,195,2279,0.00,2.38,0.00,0.000,6,0.000,0.021,2749,1750,3482,0,0,0,0,0,0
$GC,2531,-1.08,-116.8,249.3,-8.3,202,2535,0.00,2.45,0.00,0.000,4,0.000,0.030,2749,3323,3481,0,0,0,0,0,0
$GC,2559,-1.08,-116.8,251.8,-9.0,202,2563,0.00,2.47,0.00,0.000,6,0.000,0.031,2749,1767,3481,0,0,0,0,0,0
$GC,2808,-1.08,-116.8,273.9,-8.9,208,2813,0.00,2.45,0.00,0.000,4,0.000,0.034,2750,3328,3481,0,0,0,0,0,0
$GC,2824,-1.08,-116.8,275.4,-8.6,208,2828,0.00,2.47,0.00,0.000,6,0.000,0.036,2749,1768,3481,0,0,0,0,0,0
$GC,3087,-1.08,-116.8,295.6,-7.3,215,3092,0.00,2.75,0.00,0.000,4,0.000,0.075,2749,186,3480,0,0,0,0,0,0
$GC,3120,-1.08,-116.8,298.2,-7.2,215,3126,0.00,2.40,0.00,0.000,6,0.000,0.020,2749,1761,3480,0,0,0,0,0,0
$GC,3371,-1.08,-116.8,313.9,-6.1,222,3375,0.00,2.72,0.00,0.000,4,0.000,0.073,2749,189,3480,0,0,0,0,0,0
$GC,3393,-1.08,-116.8,315.3,-6.5,222,3398,0.00,2.42,0.00,0.000,6,0.000,0.021,2749,1762,3479,0,0,0,0,0,0
$GC,3649,-1.08,-116.8,331.5,-6.3,229,3653,0.00,2.55,0.00,0.000,4,0.000,0.041,2749,3354,3479,0,0,0,0,0,0
$GC,3710,-1.15,-116.8,335.4,-6.4,230,3714,0.00,2.58,0.00,0.000,6,0.000,0.045,2749,1783,3479,0,0,0,0,0,0
$GC,3972,-1.15,-116.8,354.6,-7.8,237,3977,0.00,2.85,0.00,0.000,4,0.000,0.092,2749,185,3477,0,0,0,0,0,0
$GC,4015,-1.15,-116.8,358.7,-9.2,238,4020,0.00,2.47,0.00,0.000,6,0.000,0.029,2749,1763,3477,0,0,0,0,0,0
$GC,4293,-1.15,-116.8,381.3,-8.2,245,4297,0.00,2.60,0.00,0.000,4,0.000,0.046,2749,3358,3475,0,0,0,0,0,0
$GC,4334,-1.22,-116.8,384.4,-8.4,246,4338,0.00,2.62,0.00,0.000,6,0.000,0.046,2749,1775,3475,0,0,0,0,0,0
$GC,4617,-1.26,-116.8,405.5,-7.3,253,4623,0.10,2.90,0.00,0.000,4,0.087,0.097,2716,184,3474,0,0,0,0,0,0
$GC,4646,-1.22,-116.8,408.0,-9.2,253,4651,0.00,2.53,0.00,0.000,6,0.000,0.026,2716,1776,3473,0,0,0,0,0,0
$GC,4896,-1.22,-116.8,428.1,-7.8,259,4901,0.00,2.60,0.00,0.000,4,0.000,0.056,2716,3353,3472,0,0,0,0,0,0
$GC,4957,-1.22,-116.8,433.0,-7.7,260,4962,0.00,2.67,0.00,0.000,6,0.000,0.061,2716,1779,3471,0,0,0,0,0,0
$GC,5219,-1.22,-116.8,454.0,-8.3,267,5224,0.00,2.95,0.00,0.000,4,0.000,0.113,2716,183,3470,0,0,0,0,0,0
$GC,5251,-1.22,-116.8,457.4,-9.8,267,5257,0.00,2.58,0.00,0.000,6,0.000,0.033,2716,1774,3470,0,0,0,0,0,0
$GC,5501,-1.22,-116.8,480.0,-9.0,274,5506,0.00,2.67,0.00,0.000,4,0.000,0.066,2716,3357,3468,0,0,0,0,0,0
$GC,5544,-1.22,-116.8,484.2,-9.8,275,5549,0.00,2.67,0.00,0.000,6,0.000,0.060,2716,1780,3468,0,0,0,0,0,0
$STATE,5738,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5738,begin apogee
$GC,5746,-0.31,0.0,502.4,9.4,280,5845,0.95,0.00,95.72,0.913,6,0.072,0.000,2933,1850,3001,0,0,0,0,0,0
$STATE,5846,end apogee,CONTROL_FINISHED_OK
$STATE,5846,begin climb
$GC,5848,1.15,116.8,505.2,0.0,282,5962,1.30,3.20,99.88,0.895,4,0.051,0.113,3252,229,2521,0,0,0,0,0,0
$GC,6001,0.98,171.6,504.0,5.5,285,6058,0.17,2.58,47.42,0.869,6,0.117,0.034,3217,1795,2300,0,0,0,0,0,0
$GC,6302,0.97,197.9,484.6,6.8,293,6331,0.00,2.88,22.83,0.847,4,0.000,0.062,3217,3407,2193,0,0,0,0,0,0
$GC,6388,0.97,197.9,477.6,8.9,295,6393,0.00,2.72,0.00,0.000,6,0.000,0.058,3217,1820,2190,0,0,0,0,0,0
$GC,6673,0.97,197.9,451.8,9.3,302,6677,0.00,2.67,0.00,0.000,4,0.000,0.045,3217,3419,2186,0,0,0,0,0,0
$GC,6701,0.97,197.9,448.9,10.0,302,6705,0.00,2.70,0.00,0.000,6,0.000,0.052,3217,1832,2186,0,0,0,0,0,0
$GC,6951,0.97,197.9,427.7,8.1,308,6952,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1832,2185,0,0,0,0,0,0
$GC,7195,1.01,228.2,411.1,6.6,314,7229,0.00,2.70,26.45,0.842,4,0.000,0.040,3217,3415,2068,0,0,0,0,0,0
$GC,7264,1.01,228.2,406.1,8.1,315,7269,0.00,2.70,0.00,0.000,6,0.000,0.048,3217,1837,2066,0,0,0,0,0,0
$GC,7519,1.01,228.2,385.9,8.1,322,7520,0.00,0.00,0.00,0.000,6,0.000,0.000,3217,1836,2063,0,0,0,0,0,0
$GC,7762,1.01,228.2,364.0,9.0,328,7767,0.00,2.55,0.00,0.000,4,0.000,0.031,3217,3422,2062,0,0,0,0,0,0
$GC,7803,1.01,228.2,360.3,9.7,329,7808,0.00,2.65,0.00,0.000,6,0.000,0.046,3216,1836,2061,0,0,0,0,0,0
$GC,8086,1.01,228.2,332.6,9.8,336,8091,0.00,2.83,0.00,0.000,4,0.000,0.084,3216,233,2061,0,0,0,0,0,0
$GC,8107,1.01,228.2,330.2,10.6,336,8111,0.00,2.58,0.00,0.000,6,0.000,0.022,3217,1870,2060,0,0,0,0,0,0
$GC,8364,1.01,228.2,307.5,8.5,343,8365,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1871,2059,0,0,0,0,0,0
$GC,8606,1.01,228.2,287.9,8.1,349,8607,0.00,0.00,0.00,0.000,6,0.000,0.000,3216,1871,2060,0,0,0,0,0,0
$GC,8850,1.02,241.9,269.3,7.4,355,8869,0.00,2.55,11.70,0.709,4,0.000,0.038,3216,3400,2013,0,0,0,0,0,0
$GC,8888,1.08,252.1,266.6,7.5,355,8904,0.00,2.53,10.45,0.688,6,0.000,0.033,3216,1854,1973,0,0,0,0,0,0
$GC,9179,1.15,279.6,247.0,6.7,363,9207,0.15,0.00,25.50,0.722,6,0.074,0.000,3257,1854,1861,0,0,0,0,0,0
$GC,9420,1.15,279.6,224.8,9.3,369,9424,0.00,2.47,0.00,0.000,4,0.000,0.034,3257,3401,1856,0,0,0,0,0,0
$GC,9442,1.15,279.6,222.6,9.9,369,9447,0.00,2.50,0.00,0.000,6,0.000,0.033,3257,1861,1855,0,0,0,0,0,0
$GC,9698,1.15,279.6,199.2,9.1,376,9699,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1861,1854,0,0,0,0,0,0
$GC,9956,1.15,279.6,173.4,10.4,400,9961,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1861,1854,0,0,0,0,0,0
$GC,10222,1.15,279.6,147.4,9.8,425,10227,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1861,1854,0,0,0,0,0,0
$GC,10483,1.15,279.6,121.4,10.0,450,10484,0.00,0.00,0.00,0.000,6,0.000,0.000,3257,1861,1854,0,0,0,0,0,0
$GC,10739,1.15,279.6,95.8,9.7,474,10743,0.00,2.42,0.00,0.000,4,0.000,0.028,3257,3398,1854,0,0,0,0,0,0
$GC,10768,1.15,279.6,92.8,10.2,476,10772,0.00,2.47,0.00,0.000,6,0.000,0.033,3257,1858,1854,0,0,0,0,0,0
$GC,11035,1.15,279.6,68.7,9.3,500,11039,0.00,2.42,0.00,0.000,4,0.000,0.027,3257,3399,1854,0,0,0,0,0,0
$GC,11068,1.22,279.6,65.5,9.0,502,11072,0.00,2.47,0.00,0.000,6,0.000,0.031,3257,1854,1854,0,0,0,0,0,0
$GC,11336,1.33,320.9,47.1,6.1,526,11378,0.12,2.78,35.70,0.549,4,0.079,0.058,3297,245,1691,0,0,0,0,0,0
$GC,11397,1.33,320.9,42.3,8.6,530,11401,0.00,2.53,0.00,0.000,6,0.000,0.018,3296,1878,1689,0,0,0,0,0,0
$GC,11700,1.33,320.9,13.4,9.2,566,11710,0.00,2.45,0.00,0.000,4,0.000,0.031,3296,3400,1688,0,0,0,0,0,0
$GC,11733,1.33,320.9,10.0,9.5,570,11743,0.00,2.53,0.00,0.000,6,0.000,0.031,3296,1860,1687,0,0,0,0,0,0
$STATE,11798,end climb,SURFACE_DEPTH_REACHED
$STATE,11798,begin surface coast
$FINISH,0.2,1.023506
$STATE,11857,end surface coast,CONTROL_FINISHED_OK
$STATE,11857,begin surface
$SM_CCo,11880,242.82,0.485,1,0,477,619.14
$SM_GC,0.85,0.00,0.00,242.82,0.000,0.000,0.485,474,1734,477,-11.62,-1.02,619.14
$IRIDIUM_FIX,2248.70,-15742.79,091299,161632
$TT8_MAMPS,0.025311
$HUMID,44.29
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,22.90
$XPDR_PINGS,57
$24V_AH,23.6,29.857
$10V_AH,10.3,30.519
$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,26.075,150.675,375.650,242.825,0.000,166.319,161.489,119.964,14.250,0.000,15.619,1171.930,8142.121,705.033,2175.407,819.246,33.400,1518.814,0.000,2178.725,0.000,0.536,0.000
$DEVICE_MAMPS,139.594,114.283,912.730,484.744,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,397.160,337.660,447.989,833.909,1261.362,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,47714,587
$CAP_FILE_SIZE,121009,0
$CFSIZE,260165632,170168320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,140910,200136,2254.636,-15744.053,34,1.0,34,10.1