version: 66.06
glider: 146
mission: 5
dive: 238
start: 9 19 110 1 31 51
data:
$ID,146
$MISSION,5
$DIVE,238
$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,-251953.22
$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,36
$R_STBD_OVSHOOT,58
$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
$GPS1,011806,2244.546,-15744.616,33,1.3,33,10.1
$_CALLS,2
$_XMS_NAKs,16
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.9
$GPS2,013056,2244.424,-15744.667,11,1.6,11,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.015,0.218
$KALMAN_X,-246493.4,-73.8,-258.0,291468.5,73.3
$KALMAN_Y,-217497.3,264.0,-101.1,335574.5,-3371.8
$MHEAD_RNG_PITCHd_Wd,345.8,25552,-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,15,begin dive
$GC,17,-1.15,-116.8,0.0,0.0,0,105,0.00,0.00,-85.20,0.000,2,0.000,0.000,475,1754,3428,0,0,0,0,0,0
$GC,108,-1.15,-116.8,3.8,-5.1,11,126,11.48,2.53,-0.90,0.000,4,0.137,0.046,2740,3334,3479,0,0,0,0,0,0
$GC,144,0.11,-116.8,18.4,-33.0,15,153,1.20,2.55,0.00,0.000,6,0.068,0.038,3017,1782,3480,0,0,0,0,0,0
$GC,446,-0.46,-116.8,44.2,-10.3,52,451,0.47,2.70,0.00,0.000,4,0.054,0.064,2896,184,3481,0,0,0,0,0,0
$GC,531,-0.91,-116.8,51.4,-7.5,58,536,0.40,2.42,0.00,0.000,6,0.045,0.016,2789,1827,3481,0,0,0,0,0,0
$GC,793,-0.91,-116.8,81.3,-10.9,82,797,0.00,2.38,0.00,0.000,4,0.000,0.031,2789,3345,3480,0,0,0,0,0,0
$GC,827,-0.95,-116.8,84.8,-9.8,84,836,0.00,2.58,0.00,0.000,6,0.000,0.028,2789,1760,3480,0,0,0,0,0,0
$GC,1093,-0.95,-116.8,108.5,-8.9,109,1097,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1759,3481,0,0,0,0,0,0
$GC,1353,-0.95,-116.8,132.6,-9.4,134,1355,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,1760,3481,0,0,0,0,0,0
$GC,1612,-1.00,-116.8,152.3,-6.6,158,1616,0.00,2.65,0.00,0.000,4,0.000,0.067,2789,193,3482,0,0,0,0,0,0
$GC,1664,-1.06,-116.8,156.4,-7.3,162,1669,0.00,2.40,0.00,0.000,6,0.000,0.017,2789,1792,3482,0,0,0,0,0,0
$GC,1929,-1.10,-116.8,174.2,-7.2,186,1934,0.12,2.38,0.00,0.000,4,0.077,0.025,2744,3312,3482,0,0,0,0,0,0
$GC,1969,-1.10,-116.8,178.0,-8.8,189,1973,0.00,2.45,0.00,0.000,6,0.000,0.031,2743,1762,3482,0,0,0,0,0,0
$GC,2231,-1.06,-116.8,204.6,-10.6,210,2233,0.10,0.00,0.00,0.000,6,0.176,0.000,2767,1762,3481,0,0,0,0,0,0
$GC,2471,-1.06,-116.8,227.9,-9.5,216,2473,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1762,3481,0,0,0,0,0,0
$GC,2715,-1.06,-116.8,249.5,-8.6,222,2716,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1763,3481,0,0,0,0,0,0
$GC,2961,-1.06,-116.8,267.8,-7.5,228,2962,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1762,3481,0,0,0,0,0,0
$GC,3203,-1.10,-116.8,287.2,-8.3,234,3204,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1763,3479,0,0,0,0,0,0
$GC,3447,-1.16,-116.8,304.6,-6.9,240,3452,0.00,2.70,0.00,0.000,4,0.000,0.074,2767,199,3480,0,0,0,0,0,0
$GC,3470,-1.20,-116.8,306.3,-7.1,240,3475,0.12,2.35,0.00,0.000,6,0.071,0.017,2724,1743,3480,0,0,0,0,0,0
$GC,3726,-1.20,-116.8,324.8,-7.2,247,3731,0.00,2.53,0.00,0.000,4,0.000,0.041,2724,3340,3479,0,0,0,0,0,0
$GC,3754,-1.20,-116.8,326.9,-7.9,247,3758,0.00,2.55,0.00,0.000,6,0.000,0.040,2724,1771,3479,0,0,0,0,0,0
$GC,4004,-0.88,-116.8,372.4,-24.8,253,4009,0.32,2.47,0.00,0.000,4,0.069,0.031,2805,3351,3477,0,0,0,0,0,0
$GC,4061,-1.08,-116.8,376.7,-5.5,254,4067,0.17,2.58,0.00,0.000,6,0.059,0.050,2750,1812,3477,0,0,0,0,0,0
$GC,4329,-1.12,-116.8,396.2,-7.7,261,4333,0.00,2.45,0.00,0.000,4,0.000,0.038,2751,3338,3475,0,0,0,0,0,0
$GC,4374,-1.20,-116.8,399.6,-7.3,262,4379,0.00,2.53,0.00,0.000,6,0.000,0.051,2750,1823,3475,0,0,0,0,0,0
$GC,4653,-1.24,-116.8,420.7,-7.8,269,4658,0.00,3.03,0.00,0.000,4,0.000,0.106,2750,182,3473,0,0,0,0,0,0
$GC,4715,-1.30,-116.8,426.3,-9.3,270,4720,0.15,2.58,0.00,0.000,6,0.061,0.028,2700,1799,3473,0,0,0,0,0,0
$GC,4976,-1.24,-116.8,451.8,-9.7,277,4978,0.12,0.00,0.00,0.000,6,0.109,0.000,2726,1799,3471,0,0,0,0,0,0
$GC,5220,-1.24,-116.8,470.4,-7.4,283,5224,0.00,2.60,0.00,0.000,4,0.000,0.061,2726,3356,3470,0,0,0,0,0,0
$GC,5277,-1.28,-116.8,474.8,-7.6,284,5282,0.00,2.60,0.00,0.000,6,0.000,0.060,2726,1826,3469,0,0,0,0,0,0
$GC,5544,-1.28,-116.8,494.0,-7.2,291,5545,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1826,3468,0,0,0,0,0,0
$STATE,5663,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5663,begin apogee
$GC,5669,-0.31,0.0,502.6,7.1,294,5768,0.90,0.00,95.53,0.917,6,0.077,0.000,2930,1826,3001,0,0,0,0,0,0
$STATE,5768,end apogee,CONTROL_FINISHED_OK
$STATE,5769,begin climb
$GC,5772,1.15,116.8,503.8,0.0,296,5881,1.35,2.72,101.28,0.892,4,0.043,0.056,3254,3404,2522,0,0,0,0,0,0
$GC,5894,1.08,167.2,501.3,5.7,299,5946,0.00,2.72,44.00,0.867,6,0.000,0.057,3254,1818,2318,0,0,0,0,0,0
$GC,6193,0.96,167.2,475.3,8.9,307,6198,0.20,2.67,0.00,0.000,4,0.117,0.041,3213,3409,2309,0,0,0,0,0,0
$GC,6237,1.00,195.1,471.7,6.7,308,6267,0.00,2.70,24.20,0.843,6,0.000,0.054,3213,1827,2205,0,0,0,0,0,0
$GC,6519,1.03,218.5,452.4,6.9,315,6546,0.00,2.65,21.02,0.838,4,0.000,0.040,3213,3405,2109,0,0,0,0,0,0
$GC,6567,1.03,224.4,448.6,7.7,316,6581,0.00,2.67,6.68,0.691,6,0.000,0.054,3213,1841,2085,0,0,0,0,0,0
$GC,6843,1.03,224.4,424.0,9.3,323,6844,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1841,2081,0,0,0,0,0,0
$GC,7088,1.03,224.4,402.7,8.5,329,7089,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1841,2079,0,0,0,0,0,0
$GC,7331,1.04,227.5,383.2,7.9,335,7335,0.00,2.58,0.00,0.000,4,0.000,0.035,3213,3418,2078,0,0,0,0,0,0
$GC,7386,1.07,227.5,378.4,9.0,336,7390,0.00,2.65,0.00,0.000,6,0.000,0.041,3213,1838,2076,0,0,0,0,0,0
$GC,7654,1.07,227.5,354.3,9.1,343,7655,0.00,0.00,0.00,0.000,6,0.000,0.000,3213,1838,2075,0,0,0,0,0,0
$GC,7897,1.08,231.5,334.6,7.8,349,7908,0.00,2.55,5.93,0.653,4,0.000,0.034,3213,3410,2056,0,0,0,0,0,0
$GC,7930,1.13,244.1,332.1,7.4,349,7951,0.15,2.62,13.07,0.757,6,0.075,0.038,3251,1832,2005,0,0,0,0,0,0
$GC,8227,1.11,261.0,311.5,7.2,357,8248,0.00,2.60,16.05,0.759,4,0.000,0.031,3251,3407,1936,0,0,0,0,0,0
$GC,8287,1.11,261.0,305.7,9.8,358,8292,0.00,2.58,0.00,0.000,6,0.000,0.039,3251,1857,1934,0,0,0,0,0,0
$GC,8550,1.11,261.0,274.9,12.4,365,8555,0.00,2.83,0.00,0.000,4,0.000,0.075,3251,236,1932,0,0,0,0,0,0
$GC,8572,1.05,261.0,271.6,13.8,365,8577,0.10,2.58,0.00,0.000,6,0.126,0.021,3231,1876,1932,0,0,0,0,0,0
$GC,8827,1.05,261.0,244.2,10.0,372,8831,0.00,2.85,0.00,0.000,4,0.000,0.071,3230,239,1931,0,0,0,0,0,0
$GC,8843,1.05,261.0,242.5,9.3,372,8848,0.00,2.53,0.00,0.000,6,0.000,0.022,3230,1865,1930,0,0,0,0,0,0
$GC,9104,1.08,279.6,223.2,7.2,379,9123,0.00,0.00,17.02,0.696,6,0.000,0.000,3230,1867,1861,0,0,0,0,0,0
$GC,9347,1.08,279.6,201.7,9.1,385,9352,0.00,2.45,0.00,0.000,4,0.000,0.036,3230,3398,1857,0,0,0,0,0,0
$GC,9389,1.15,279.6,197.6,10.4,386,9393,0.00,2.53,0.00,0.000,6,0.000,0.039,3230,1835,1856,0,0,0,0,0,0
$GC,9653,1.15,279.6,170.9,9.8,410,9657,0.00,2.47,0.00,0.000,4,0.000,0.034,3230,3389,1856,0,0,0,0,0,0
$GC,9671,1.19,279.6,169.0,9.6,411,9676,0.12,2.50,0.00,0.000,6,0.081,0.038,3265,1849,1856,0,0,0,0,0,0
$GC,9936,1.19,279.6,142.7,10.0,435,9941,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1849,1856,0,0,0,0,0,0
$GC,10197,1.19,279.6,117.8,9.1,460,10198,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1849,1856,0,0,0,0,0,0
$GC,10453,1.21,298.3,98.2,7.1,484,10472,0.00,0.00,16.83,0.584,6,0.000,0.000,3265,1849,1785,0,0,0,0,0,0
$GC,10732,1.21,298.3,75.2,9.2,510,10741,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1849,1783,0,0,0,0,0,0
$GC,10999,1.27,298.3,50.7,8.5,535,11003,0.00,2.72,0.00,0.000,4,0.000,0.059,3265,241,1783,0,0,0,0,0,0
$GC,11031,1.27,298.3,47.6,9.2,537,11035,0.00,2.47,0.00,0.000,6,0.000,0.018,3265,1861,1782,0,0,0,0,0,0
$GC,11308,1.33,305.5,26.0,7.7,564,11318,0.10,0.00,7.80,0.470,6,0.091,0.000,3297,1864,1755,0,0,0,0,0,0
$STATE,11552,end climb,SURFACE_DEPTH_REACHED
$STATE,11552,begin surface coast
$FINISH,0.4,1.021635
$STATE,11607,end surface coast,CONTROL_FINISHED_OK
$STATE,11607,begin surface
$SM_CCo,11630,100.45,0.464,1,0,1287,420.20
$SM_GC,0.88,0.00,0.00,100.45,0.000,0.000,0.464,472,1744,1287,-11.63,-0.71,420.20
$IRIDIUM_FIX,2237.01,-15742.40,141299,010104
$TT8_MAMPS,0.025311
$HUMID,45.90
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.00
$XPDR_PINGS,46
$24V_AH,23.5,33.478
$10V_AH,10.3,34.465
$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,28.950,113.775,369.400,100.450,0.000,52.332,56.986,440.781,11.500,0.000,13.482,1195.535,7682.682,547.658,2201.486,879.505,33.375,1289.307,0.000,2214.102,0.000,0.536,0.000
$DEVICE_MAMPS,175.643,105.846,916.565,464.035,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,412.106,379.560,477.914,929.078,1404.645,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,47729,608
$CAP_FILE_SIZE,121593,0
$CFSIZE,260165632,168345600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190910,044836,2244.055,-15744.743,28,1.6,28,10.1