version: 66.06
glider: 146
mission: 5
dive: 214
start: 9 15 110 13 17 38
data:
$ID,146
$MISSION,5
$DIVE,214
$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,-251521.05
$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,42
$R_STBD_OVSHOOT,68
$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
$GPS1,131024,2253.553,-15744.135,47,1.1,47,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,0.94
$_SM_ANGLEo,-65.4
$GPS2,131643,2253.505,-15744.178,11,1.1,28,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.082,0.202
$KALMAN_X,-230205.4,-301.5,190.0,275802.2,-1319.9
$KALMAN_Y,-137712.7,-387.2,456.7,272699.5,-3187.7
$MHEAD_RNG_PITCHd_Wd,11.9,9116,-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,-86.55,0.000,6,0.000,0.000,474,1747,3479,0,0,0,0,0,0
$GC,108,-1.15,-116.8,4.3,-5.5,11,125,11.57,2.50,0.00,0.000,4,0.141,0.025,2743,3331,3481,0,0,0,0,0,0
$GC,183,-1.02,-116.8,25.3,-16.1,21,191,0.12,2.53,0.00,0.000,6,0.074,0.031,2776,1780,3482,0,0,0,0,0,0
$GC,460,-0.92,-116.8,63.7,-13.1,48,465,0.10,2.70,0.00,0.000,4,0.126,0.061,2797,193,3482,0,0,0,0,0,0
$GC,530,-0.92,-116.8,71.9,-10.8,53,534,0.00,2.38,0.00,0.000,6,0.000,0.015,2798,1774,3482,0,0,0,0,0,0
$GC,798,-0.92,-116.8,95.9,-8.5,77,802,0.00,2.38,0.00,0.000,4,0.000,0.028,2798,3311,3483,0,0,0,0,0,0
$GC,838,-0.98,-116.8,99.6,-7.7,80,843,0.00,2.47,0.00,0.000,6,0.000,0.032,2797,1751,3483,0,0,0,0,0,0
$GC,1101,-0.98,-116.8,120.8,-8.5,104,1105,0.00,2.45,0.00,0.000,4,0.000,0.027,2798,3312,3484,0,0,0,0,0,0
$GC,1123,-1.03,-116.8,122.4,-8.6,105,1128,0.10,2.50,0.00,0.000,6,0.084,0.029,2759,1749,3484,0,0,0,0,0,0
$GC,1389,-1.03,-116.8,150.4,-10.7,129,1393,0.00,2.62,0.00,0.000,4,0.000,0.069,2758,192,3484,0,0,0,0,0,0
$GC,1419,-0.98,-116.8,153.9,-10.9,131,1424,0.12,2.33,0.00,0.000,6,0.107,0.023,2786,1765,3484,0,0,0,0,0,0
$GC,1681,-1.02,-116.8,178.3,-9.9,155,1685,0.00,2.40,0.00,0.000,4,0.000,0.030,2786,3312,3484,0,0,0,0,0,0
$GC,1704,-1.07,-116.8,180.5,-9.2,156,1713,0.00,2.50,0.00,0.000,6,0.000,0.035,2786,1765,3484,0,0,0,0,0,0
$GC,1996,-1.12,-116.8,208.7,-9.6,178,2001,0.12,2.67,0.00,0.000,4,0.069,0.067,2739,198,3484,0,0,0,0,0,0
$GC,2046,-1.04,-116.8,214.9,-12.6,179,2051,0.15,2.30,0.00,0.000,6,0.099,0.022,2772,1748,3484,0,0,0,0,0,0
$GC,2320,-1.04,-116.8,237.9,-7.8,186,2324,0.00,2.42,0.00,0.000,4,0.000,0.028,2772,3311,3484,0,0,0,0,0,0
$GC,2364,-1.13,-116.8,241.4,-7.2,187,2369,0.00,2.47,0.00,0.000,6,0.000,0.032,2772,1756,3484,0,0,0,0,0,0
$GC,2643,-1.13,-116.8,263.8,-8.2,194,2648,0.00,2.67,0.00,0.000,4,0.000,0.077,2772,195,3484,0,0,0,0,0,0
$GC,2676,-1.13,-116.8,266.7,-9.4,194,2681,0.00,2.35,0.00,0.000,6,0.000,0.017,2772,1744,3484,0,0,0,0,0,0
$GC,2926,-1.13,-116.8,287.2,-8.2,201,2930,0.00,2.47,0.00,0.000,4,0.000,0.034,2772,3326,3484,0,0,0,0,0,0
$GC,2975,-1.21,-116.8,291.2,-7.7,202,2981,0.15,2.50,0.00,0.000,6,0.064,0.038,2723,1760,3483,0,0,0,0,0,0
$GC,3249,-1.15,-116.8,315.0,-8.9,209,3255,0.12,2.75,0.00,0.000,4,0.104,0.084,2750,189,3483,0,0,0,0,0,0
$GC,3271,-1.15,-116.8,317.1,-8.6,209,3275,0.00,2.40,0.00,0.000,6,0.000,0.020,2750,1745,3483,0,0,0,0,0,0
$GC,3534,-1.15,-116.8,335.0,-6.7,216,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,1745,3482,0,0,0,0,0,0
$GC,3776,-1.15,-116.8,352.0,-7.2,222,3780,0.00,2.58,0.00,0.000,4,0.000,0.048,2750,3353,3482,0,0,0,0,0,0
$GC,3826,-1.23,-116.8,355.6,-6.9,223,3831,0.00,2.62,0.00,0.000,6,0.000,0.044,2750,1756,3482,0,0,0,0,0,0
$GC,4099,-1.23,-116.8,377.1,-8.2,230,4104,0.00,2.83,0.00,0.000,4,0.000,0.098,2750,179,3480,0,0,0,0,0,0
$GC,4148,-1.28,-116.8,382.1,-10.0,231,4153,0.12,2.42,0.00,0.000,6,0.068,0.023,2702,1736,3480,0,0,0,0,0,0
$GC,4421,-1.22,-116.8,411.0,-10.7,238,4423,0.15,0.00,0.00,0.000,6,0.100,0.000,2733,1736,3479,0,0,0,0,0,0
$GC,4666,-1.22,-116.8,427.6,-6.3,244,4670,0.00,2.67,0.00,0.000,4,0.000,0.054,2733,3348,3477,0,0,0,0,0,0
$GC,4733,-1.26,-116.8,431.4,-5.8,245,4737,0.00,2.67,0.00,0.000,6,0.000,0.054,2733,1763,3477,0,0,0,0,0,0
$GC,4988,-1.26,-116.8,446.6,-6.3,252,4992,0.00,2.90,0.00,0.000,4,0.000,0.104,2733,182,3476,0,0,0,0,0,0
$GC,5016,-1.26,-116.8,448.8,-7.5,252,5020,0.00,2.53,0.00,0.000,6,0.000,0.035,2733,1746,3475,0,0,0,0,0,0
$GC,5266,-1.26,-116.8,469.5,-8.6,258,5267,0.00,0.00,0.00,0.000,6,0.000,0.000,2733,1746,3474,0,0,0,0,0,0
$GC,5509,-1.26,-116.8,491.9,-9.1,264,5514,0.00,2.75,0.00,0.000,4,0.000,0.064,2733,3358,3472,0,0,0,0,0,0
$GC,5561,-1.31,-116.8,496.5,-9.2,265,5565,0.00,2.78,0.00,0.000,6,0.000,0.066,2733,1751,3472,0,0,0,0,0,0
$STATE,5627,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5627,begin apogee
$GC,5633,-0.31,0.0,502.4,8.6,267,5732,0.88,0.00,96.10,0.916,6,0.073,0.000,2933,1846,3001,0,0,0,0,0,0
$STATE,5733,end apogee,CONTROL_FINISHED_OK
$STATE,5733,begin climb
$GC,5736,1.15,116.8,504.9,0.0,269,5847,1.33,2.65,100.47,0.895,4,0.051,0.058,3257,3381,2523,0,0,0,0,0,0
$GC,5871,1.04,145.9,503.3,6.7,273,5903,0.15,2.70,25.75,0.851,6,0.117,0.058,3227,1815,2406,0,0,0,0,0,0
$GC,6157,0.96,145.9,480.0,8.3,280,6161,0.00,2.60,0.00,0.000,4,0.000,0.045,3227,3381,2397,0,0,0,0,0,0
$GC,6320,0.93,165.6,467.3,7.1,283,6345,0.12,2.65,17.00,0.834,6,0.128,0.053,3204,1838,2325,0,0,0,0,0,0
$GC,6621,0.98,208.6,449.0,6.0,291,6662,0.00,0.00,38.70,0.867,6,0.000,0.000,3204,1838,2149,0,0,0,0,0,0
$GC,6906,1.00,227.0,429.1,7.2,298,6924,0.00,0.00,16.77,0.821,6,0.000,0.000,3204,1838,2075,0,0,0,0,0,0
$GC,7151,1.00,227.0,409.9,8.1,304,7155,0.00,2.55,0.00,0.000,4,0.000,0.035,3204,3391,2070,0,0,0,0,0,0
$GC,7200,1.05,227.0,405.4,9.0,305,7205,0.10,2.62,0.00,0.000,6,0.097,0.048,3232,1827,2068,0,0,0,0,0,0
$GC,7473,1.01,227.0,380.9,9.2,312,7474,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1827,2067,0,0,0,0,0,0
$GC,7716,1.01,228.3,360.9,8.0,318,7721,0.00,2.88,0.00,0.000,4,0.000,0.085,3232,226,2066,0,0,0,0,0,0
$GC,7737,0.94,228.3,359.0,8.3,318,7743,0.12,2.53,0.00,0.000,6,0.121,0.026,3207,1828,2065,0,0,0,0,0,0
$GC,7993,0.95,238.1,339.9,7.6,325,8008,0.00,2.58,9.48,0.737,4,0.000,0.035,3207,3396,2030,0,0,0,0,0,0
$GC,8048,1.01,238.1,335.1,9.1,326,8053,0.00,2.58,0.00,0.000,6,0.000,0.041,3207,1843,2029,0,0,0,0,0,0
$GC,8315,1.01,238.1,312.6,8.3,333,8320,0.00,2.83,0.00,0.000,4,0.000,0.078,3206,237,2028,0,0,0,0,0,0
$GC,8347,1.01,238.1,309.8,8.6,333,8353,0.00,2.53,0.00,0.000,6,0.000,0.025,3207,1850,2027,0,0,0,0,0,0
$GC,8599,1.07,246.5,291.1,7.6,340,8614,0.10,2.55,8.65,0.696,4,0.088,0.041,3236,3390,1995,0,0,0,0,0,0
$GC,8643,1.07,246.5,286.8,9.9,341,8647,0.00,2.55,0.00,0.000,6,0.000,0.035,3235,1836,1994,0,0,0,0,0,0
$GC,8926,1.07,246.5,261.6,8.3,348,8927,0.00,0.00,0.00,0.000,6,0.000,0.000,3235,1837,1993,0,0,0,0,0,0
$GC,9171,1.07,252.4,242.6,7.7,354,9184,0.00,2.53,6.68,0.620,4,0.000,0.029,3235,3393,1971,0,0,0,0,0,0
$GC,9230,1.07,252.4,237.5,8.8,355,9234,0.00,2.53,0.00,0.000,6,0.000,0.034,3235,1851,1970,0,0,0,0,0,0
$GC,9497,1.07,252.4,213.3,9.4,362,9501,0.00,2.45,0.00,0.000,4,0.000,0.035,3235,3390,1969,0,0,0,0,0,0
$GC,9537,1.12,252.4,209.2,10.9,363,9542,0.00,2.45,0.00,0.000,6,0.000,0.040,3235,1867,1969,0,0,0,0,0,0
$GC,9800,1.13,262.3,186.9,7.6,379,9816,0.00,2.83,10.38,0.628,4,0.000,0.067,3235,244,1930,0,0,0,0,0,0
$GC,9845,1.13,262.3,183.6,8.4,382,9849,0.00,2.55,0.00,0.000,6,0.000,0.019,3235,1875,1929,0,0,0,0,0,0
$GC,10111,1.15,277.6,165.6,7.3,406,10128,0.00,0.00,14.68,0.630,6,0.000,0.000,3236,1877,1869,0,0,0,0,0,0
$GC,10385,1.15,277.6,141.3,9.2,432,10389,0.00,2.83,0.00,0.000,4,0.000,0.064,3235,234,1866,0,0,0,0,0,0
$GC,10409,1.15,277.6,138.4,10.3,433,10414,0.00,2.55,0.00,0.000,6,0.000,0.018,3236,1879,1865,0,0,0,0,0,0
$GC,10673,1.20,277.6,115.6,8.2,458,10678,0.10,2.40,0.00,0.000,4,0.087,0.034,3266,3404,1865,0,0,0,0,0,0
$GC,10706,1.20,277.6,112.5,8.9,460,10716,0.00,2.53,0.00,0.000,6,0.000,0.033,3267,1865,1865,0,0,0,0,0,0
$GC,10973,1.20,280.7,91.2,7.9,485,10984,0.00,2.47,3.83,0.388,4,0.000,0.027,3266,3392,1856,0,0,0,0,0,0
$GC,11025,1.28,280.7,87.0,8.0,489,11030,0.00,2.45,0.00,0.000,6,0.000,0.031,3266,1863,1855,0,0,0,0,0,0
$GC,11292,1.39,333.0,69.3,5.6,513,11347,0.15,0.00,45.83,0.568,6,0.070,0.000,3309,1863,1643,0,0,0,0,0,0
$GC,11603,1.35,333.0,39.7,12.2,542,11612,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,1863,1639,0,0,0,0,0,0
$STATE,11912,end climb,SURFACE_DEPTH_REACHED
$STATE,11912,begin surface coast
$FINISH,0.3,1.023381
$STATE,11970,end surface coast,CONTROL_FINISHED_OK
$STATE,11970,begin surface
$SM_CCo,11992,78.22,0.446,1,0,1287,420.20
$SM_GC,1.02,0.00,0.00,78.22,0.000,0.000,0.446,474,1738,1287,-11.62,-0.90,420.20
$IRIDIUM_FIX,2241.69,-15746.73,101299,090900
$TT8_MAMPS,0.026078
$HUMID,45.78
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.40
$XPDR_PINGS,58
$24V_AH,23.5,30.569
$10V_AH,10.3,31.287
$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,27.375,149.125,394.300,78.225,0.000,24.446,27.410,170.071,14.500,0.000,30.080,1203.051,7922.376,550.673,2230.673,546.581,33.376,1384.563,0.000,2218.973,0.000,0.536,0.000
$DEVICE_MAMPS,141.128,220.129,915.798,445.627,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,399.574,346.168,449.180,833.122,1260.121,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,47822,591
$CAP_FILE_SIZE,126799,0
$CFSIZE,260165632,169820160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,150910,164007,2253.320,-15744.256,32,1.0,32,10.1