version: 66.06
glider: 146
mission: 5
dive: 232
start: 9 18 110 4 16 26
data:
$ID,146
$MISSION,5
$DIVE,232
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,800
$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,-251846.94
$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,49
$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
$GPS1,040255,2248.494,-15744.064,39,1.6,39,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-67.7
$GPS2,041531,2248.439,-15743.998,11,2.0,11,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.028,0.216
$KALMAN_X,-243654.9,136.2,256.1,289052.3,-604.0
$KALMAN_Y,-194281.9,135.3,316.7,319503.8,-4029.7
$MHEAD_RNG_PITCHd_Wd,357.2,18032,-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,-85.93,0.000,6,0.000,0.000,472,1745,3478,0,0,0,0,0,0
$GC,109,-1.15,-116.8,4.2,-5.6,11,127,11.57,2.53,0.00,0.000,4,0.141,0.025,2741,3350,3480,0,0,0,0,0,0
$GC,210,-1.04,-116.8,29.1,-13.6,25,220,0.10,2.55,0.00,0.000,6,0.076,0.035,2769,1797,3481,0,0,0,0,0,0
$GC,478,-0.92,-116.8,62.3,-12.1,50,483,0.15,2.75,0.00,0.000,4,0.104,0.059,2801,193,3480,0,0,0,0,0,0
$GC,514,-0.87,-116.8,67.2,-10.3,52,523,0.00,2.45,0.00,0.000,6,0.000,0.015,2802,1803,3481,0,0,0,0,0,0
$GC,779,-0.87,-116.8,92.7,-10.2,77,784,0.00,2.75,0.00,0.000,4,0.000,0.058,2801,191,3481,0,0,0,0,0,0
$GC,821,-0.87,-116.8,97.6,-10.6,80,825,0.00,2.35,0.00,0.000,6,0.000,0.023,2802,1770,3481,0,0,0,0,0,0
$GC,1085,-0.90,-116.8,122.6,-8.7,104,1090,0.00,2.67,0.00,0.000,4,0.000,0.060,2802,192,3482,0,0,0,0,0,0
$GC,1130,-0.96,-116.8,126.4,-8.7,107,1134,0.00,2.33,0.00,0.000,6,0.000,0.016,2802,1758,3481,0,0,0,0,0,0
$GC,1396,-1.02,-116.8,143.2,-6.1,131,1401,0.10,2.42,0.00,0.000,4,0.084,0.033,2764,3310,3481,0,0,0,0,0,0
$GC,1430,-1.02,-116.8,145.5,-7.2,133,1434,0.00,2.47,0.00,0.000,6,0.000,0.028,2764,1747,3481,0,0,0,0,0,0
$GC,1696,-1.02,-116.8,166.5,-8.6,157,1700,0.00,2.65,0.00,0.000,4,0.000,0.067,2763,192,3482,0,0,0,0,0,0
$GC,1740,-1.02,-116.8,170.5,-8.7,160,1744,0.00,2.30,0.00,0.000,6,0.000,0.018,2763,1743,3482,0,0,0,0,0,0
$GC,2006,-1.02,-116.8,192.3,-8.3,184,2011,0.00,2.45,0.00,0.000,4,0.000,0.031,2763,3316,3482,0,0,0,0,0,0
$GC,2040,-1.02,-116.8,195.4,-7.7,186,2049,0.00,2.55,0.00,0.000,6,0.000,0.035,2763,1739,3481,0,0,0,0,0,0
$GC,2313,-1.02,-116.8,217.6,-8.2,198,2318,0.00,2.47,0.00,0.000,4,0.000,0.025,2763,3318,3481,0,0,0,0,0,0
$GC,2341,-1.02,-116.8,220.1,-7.8,198,2345,0.00,2.47,0.00,0.000,6,0.000,0.031,2763,1756,3482,0,0,0,0,0,0
$GC,2591,-1.02,-116.8,238.8,-7.6,204,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1755,3481,0,0,0,0,0,0
$GC,2836,-1.02,-116.8,256.3,-7.1,210,2837,0.00,0.00,0.00,0.000,6,0.000,0.000,2763,1755,3481,0,0,0,0,0,0
$GC,3078,-1.02,-116.8,274.6,-7.7,216,3083,0.00,2.45,0.00,0.000,4,0.000,0.032,2763,3309,3480,0,0,0,0,0,0
$GC,3106,-1.08,-116.8,276.7,-7.7,216,3111,0.00,2.50,0.00,0.000,6,0.000,0.031,2763,1765,3480,0,0,0,0,0,0
$GC,3358,-1.12,-116.8,294.7,-7.1,222,3363,0.00,2.75,0.00,0.000,4,0.000,0.075,2763,189,3479,0,0,0,0,0,0
$GC,3408,-1.19,-116.8,298.9,-8.1,223,3413,0.10,2.38,0.00,0.000,6,0.086,0.018,2726,1727,3479,0,0,0,0,0,0
$GC,3679,-1.19,-116.8,322.9,-8.9,230,3684,0.00,2.60,0.00,0.000,4,0.000,0.040,2726,3346,3479,0,0,0,0,0,0
$GC,3753,-1.19,-116.8,329.8,-9.5,231,3757,0.00,2.62,0.00,0.000,6,0.000,0.042,2726,1746,3478,0,0,0,0,0,0
$GC,4002,-1.19,-116.8,353.3,-9.5,237,4004,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1746,3477,0,0,0,0,0,0
$GC,4246,-1.19,-116.8,377.9,-10.3,243,4250,0.00,2.55,0.00,0.000,4,0.000,0.036,2726,3339,3475,0,0,0,0,0,0
$GC,4319,-1.19,-116.8,385.5,-10.4,244,4323,0.00,2.62,0.00,0.000,6,0.000,0.048,2726,1759,3475,0,0,0,0,0,0
$GC,4568,-1.19,-116.8,411.9,-10.6,250,4573,0.00,2.85,0.00,0.000,4,0.000,0.103,2725,178,3474,0,0,0,0,0,0
$GC,4612,-1.19,-116.8,416.8,-10.7,251,4616,0.00,2.45,0.00,0.000,6,0.000,0.025,2725,1741,3473,0,0,0,0,0,0
$GC,4892,-1.19,-116.8,443.8,-9.2,258,4896,0.00,2.78,0.00,0.000,4,0.000,0.090,2725,185,3471,0,0,0,0,0,0
$GC,4930,-1.19,-116.8,447.6,-10.0,259,4935,0.00,2.47,0.00,0.000,6,0.000,0.029,2725,1747,3471,0,0,0,0,0,0
$GC,5214,-1.19,-116.8,469.7,-7.5,266,5219,0.00,2.70,0.00,0.000,4,0.000,0.058,2725,3362,3469,0,0,0,0,0,0
$GC,5290,-1.19,-116.8,474.7,-6.3,267,5294,0.00,2.70,0.00,0.000,6,0.000,0.056,2725,1762,3469,0,0,0,0,0,0
$GC,5540,-1.19,-116.8,491.4,-6.8,273,5544,0.00,2.62,0.00,0.000,4,0.000,0.051,2726,3360,3468,0,0,0,0,0,0
$GC,5567,-1.19,-116.8,493.5,-7.5,273,5571,0.00,2.70,0.00,0.000,6,0.000,0.062,2725,1776,3468,0,0,0,0,0,0
$STATE,5692,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5692,begin apogee
$GC,5700,-0.31,0.0,503.0,7.5,276,5799,0.90,0.00,95.95,0.911,6,0.074,0.000,2930,1839,3001,0,0,0,0,0,0
$STATE,5800,end apogee,CONTROL_FINISHED_OK
$STATE,5800,begin climb
$GC,5802,1.15,116.8,505.7,0.0,278,5916,1.33,2.70,100.90,0.888,4,0.054,0.052,3252,3381,2523,0,0,0,0,0,0
$GC,5944,1.12,205.7,505.4,3.9,281,6029,0.00,2.67,77.20,0.875,6,0.000,0.059,3252,1821,2162,0,0,0,0,0,0
$GC,6299,1.00,205.7,473.3,10.4,290,6304,0.15,2.60,0.00,0.000,4,0.116,0.042,3221,3383,2153,0,0,0,0,0,0
$GC,6326,1.00,205.7,470.2,9.9,290,6330,0.00,2.65,0.00,0.000,6,0.000,0.056,3221,1829,2153,0,0,0,0,0,0
$GC,6576,1.00,205.7,445.8,10.0,296,6580,0.00,2.58,0.00,0.000,4,0.000,0.040,3222,3394,2151,0,0,0,0,0,0
$GC,6616,1.00,205.7,441.7,10.6,297,6621,0.00,2.62,0.00,0.000,6,0.000,0.050,3221,1838,2150,0,0,0,0,0,0
$GC,6900,1.00,205.7,414.0,9.6,304,6905,0.00,2.92,0.00,0.000,4,0.000,0.097,3221,233,2148,0,0,0,0,0,0
$GC,6933,0.91,205.7,410.6,10.2,304,6939,0.12,2.53,0.00,0.000,6,0.123,0.028,3197,1822,2146,0,0,0,0,0,0
$GC,7184,0.91,209.0,390.5,7.9,311,7185,0.00,0.00,0.00,0.000,6,0.000,0.000,3197,1823,2146,0,0,0,0,0,0
$GC,7428,0.94,227.2,372.7,7.2,317,7453,0.00,2.65,17.50,0.801,4,0.000,0.039,3197,3401,2073,0,0,0,0,0,0
$GC,7498,1.00,227.2,367.1,8.5,318,7502,0.00,2.58,0.00,0.000,6,0.000,0.040,3197,1842,2072,0,0,0,0,0,0
$GC,7754,1.00,227.2,346.9,8.1,325,7758,0.00,2.53,0.00,0.000,4,0.000,0.030,3197,3410,2069,0,0,0,0,0,0
$GC,7798,1.08,227.2,343.1,8.2,326,7803,0.15,2.58,0.00,0.000,6,0.071,0.043,3239,1854,2069,0,0,0,0,0,0
$GC,8075,1.08,227.2,318.2,8.6,333,8076,0.00,0.00,0.00,0.000,6,0.000,0.000,3239,1854,2068,0,0,0,0,0,0
$GC,8321,1.09,237.3,299.0,7.5,339,8335,0.00,2.55,9.50,0.707,4,0.000,0.032,3239,3410,2033,0,0,0,0,0,0
$GC,8369,1.09,237.3,294.7,8.8,340,8373,0.00,2.53,0.00,0.000,6,0.000,0.035,3239,1866,2031,0,0,0,0,0,0
$GC,8646,1.09,237.3,271.7,8.2,347,8651,0.00,2.83,0.00,0.000,4,0.000,0.076,3239,233,2030,0,0,0,0,0,0
$GC,8732,1.03,237.3,263.6,10.0,349,8736,0.00,2.58,0.00,0.000,6,0.000,0.020,3239,1872,2029,0,0,0,0,0,0
$GC,9015,1.05,250.1,241.5,7.4,356,9035,0.00,2.55,12.48,0.695,4,0.000,0.035,3239,3407,1981,0,0,0,0,0,0
$GC,9085,1.11,274.1,236.6,6.9,357,9114,0.00,2.55,22.80,0.713,6,0.000,0.038,3239,1855,1882,0,0,0,0,0,0
$GC,9389,1.13,287.7,214.5,7.4,365,9408,0.00,2.88,12.50,0.661,4,0.000,0.067,3239,246,1828,0,0,0,0,0,0
$GC,9421,1.13,287.7,211.6,8.8,365,9425,0.00,2.55,0.00,0.000,6,0.000,0.025,3239,1875,1826,0,0,0,0,0,0
$GC,9674,1.13,287.7,190.3,8.9,377,9678,0.00,2.45,0.00,0.000,4,0.000,0.031,3239,3408,1824,0,0,0,0,0,0
$GC,9719,1.20,287.7,186.1,9.2,380,9725,0.00,2.53,0.00,0.000,6,0.000,0.033,3239,1859,1823,0,0,0,0,0,0
$GC,9982,1.20,287.7,162.1,9.6,405,9987,0.10,2.80,0.00,0.000,4,0.257,0.063,3268,239,1823,0,0,0,0,0,0
$GC,10004,1.20,287.7,160.1,10.4,406,10008,0.00,2.55,0.00,0.000,6,0.000,0.022,3268,1885,1822,0,0,0,0,0,0
$GC,10268,1.20,287.7,131.7,9.6,430,10269,0.00,0.00,0.00,0.000,6,0.000,0.000,3268,1886,1822,0,0,0,0,0,0
$GC,10519,1.20,287.7,109.8,8.1,454,10524,0.00,2.40,0.00,0.000,4,0.000,0.031,3268,3406,1822,0,0,0,0,0,0
$GC,10548,1.20,287.7,107.3,8.7,456,10553,0.00,2.50,0.00,0.000,6,0.000,0.034,3268,1863,1822,0,0,0,0,0,0
$GC,10812,1.20,287.7,85.1,8.8,480,10817,0.00,2.75,0.00,0.000,4,0.000,0.059,3268,235,1821,0,0,0,0,0,0
$GC,10864,1.20,287.7,79.8,10.4,484,10869,0.00,2.55,0.00,0.000,6,0.000,0.018,3268,1894,1821,0,0,0,0,0,0
$GC,11133,1.29,323.3,59.3,6.4,508,11174,0.00,2.47,31.23,0.558,4,0.000,0.027,3268,3408,1682,0,0,0,0,0,0
$GC,11216,1.41,343.6,53.9,7.1,514,11244,0.17,2.50,18.50,0.535,6,0.065,0.031,3318,1862,1599,0,0,0,0,0,0
$GC,11510,1.35,343.6,23.5,13.0,544,11519,0.12,0.00,0.00,0.000,6,0.113,0.000,3292,1862,1596,0,0,0,0,0,0
$STATE,11683,end climb,SURFACE_DEPTH_REACHED
$STATE,11683,begin surface coast
$FINISH,0.3,1.010602
$STATE,11742,end surface coast,CONTROL_FINISHED_OK
$STATE,11742,begin surface
$SM_CCo,11764,71.12,0.440,1,0,1288,420.20
$SM_GC,0.95,0.00,0.00,71.12,0.000,0.000,0.440,474,1722,1288,-11.62,-1.36,420.20
$IRIDIUM_FIX,2239.35,-15744.57,131299,040454
$TT8_MAMPS,0.026078
$HUMID,46.65
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,23.10
$XPDR_PINGS,58
$24V_AH,23.5,32.712
$10V_AH,10.3,33.649
$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,26.525,160.250,398.550,71.125,0.000,48.468,69.745,425.719,14.500,0.000,12.987,1186.128,7774.350,537.456,2221.610,874.230,33.380,1390.686,0.000,2222.494,0.000,0.536,0.000
$DEVICE_MAMPS,256.945,269.217,911.196,440.258,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,390.526,334.999,445.962,840.425,1271.043,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,44701,577
$CAP_FILE_SIZE,130211,0
$CFSIZE,260165632,168706048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,180910,073458,2247.874,-15743.904,10,99.0,29,10.1