version: 66.06
glider: 146
mission: 5
dive: 239
start: 9 19 110 4 57 56
data:
$ID,146
$MISSION,5
$DIVE,239
$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,-251970.89
$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,48
$R_STBD_OVSHOOT,65
$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
$GPS1,044836,2244.055,-15744.743,28,1.6,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-67.4
$GPS2,045701,2243.930,-15744.759,10,1.8,15,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.003,0.218
$KALMAN_X,-247018.1,137.8,89.7,291274.8,-282.5
$KALMAN_Y,-221304.1,265.7,75.3,338287.1,-4053.5
$MHEAD_RNG_PITCHd_Wd,350.7,26480,-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,-116.8,0.0,0.0,0,97,0.00,0.00,-78.97,0.000,2,0.000,0.000,470,1745,3245,0,0,0,0,0,0
$GC,100,-1.15,-116.8,3.1,-3.5,10,126,11.52,2.55,-4.55,0.000,4,0.138,0.032,2743,3337,3478,0,0,0,0,0,0
$GC,219,-1.05,-116.8,25.7,-14.2,26,229,0.10,2.53,0.00,0.000,6,0.078,0.031,2769,1794,3478,0,0,0,0,0,0
$GC,499,-0.93,-116.8,59.9,-11.9,53,504,0.12,2.78,0.00,0.000,4,0.109,0.060,2796,186,3479,0,0,0,0,0,0
$GC,557,-0.93,-116.8,66.7,-10.2,57,562,0.00,2.40,0.00,0.000,6,0.000,0.015,2796,1796,3479,0,0,0,0,0,0
$GC,825,-0.93,-116.8,93.9,-10.8,81,830,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1798,3479,0,0,0,0,0,0
$GC,1086,-0.99,-116.8,119.3,-7.5,106,1091,0.00,2.75,0.00,0.000,4,0.000,0.059,2796,186,3480,0,0,0,0,0,0
$GC,1117,-1.04,-116.8,121.5,-7.7,108,1122,0.10,2.33,0.00,0.000,6,0.082,0.015,2759,1762,3480,0,0,0,0,0,0
$GC,1378,-1.04,-116.8,143.7,-8.9,132,1379,0.00,0.00,0.00,0.000,6,0.000,0.000,2759,1763,3480,0,0,0,0,0,0
$GC,1633,-1.04,-116.8,170.6,-11.3,156,1637,0.00,2.67,0.00,0.000,4,0.000,0.062,2758,192,3480,0,0,0,0,0,0
$GC,1666,-1.00,-116.8,174.6,-11.7,158,1673,0.10,2.35,0.00,0.000,6,0.118,0.019,2782,1759,3480,0,0,0,0,0,0
$GC,1931,-1.00,-116.8,196.2,-6.6,183,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,1761,3480,0,0,0,0,0,0
$GC,2204,-1.04,-116.8,212.0,-5.7,195,2208,0.00,2.42,0.00,0.000,4,0.000,0.033,2782,3317,3480,0,0,0,0,0,0
$GC,2232,-1.11,-116.8,213.9,-5.8,195,2237,0.10,2.47,0.00,0.000,6,0.084,0.031,2742,1757,3480,0,0,0,0,0,0
$GC,2483,-1.11,-116.8,234.9,-8.9,201,2488,0.00,2.65,0.00,0.000,4,0.000,0.066,2742,197,3480,0,0,0,0,0,0
$GC,2505,-1.06,-116.8,237.3,-9.5,201,2510,0.12,2.33,0.00,0.000,6,0.102,0.023,2770,1748,3480,0,0,0,0,0,0
$GC,2762,-1.06,-116.8,257.6,-7.5,208,2763,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1748,3480,0,0,0,0,0,0
$GC,3005,-1.10,-116.8,273.7,-6.4,214,3006,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1748,3479,0,0,0,0,0,0
$GC,3249,-1.15,-116.8,289.2,-6.5,220,3253,0.00,2.67,0.00,0.000,4,0.000,0.067,2770,192,3479,0,0,0,0,0,0
$GC,3270,-1.20,-116.8,290.8,-7.1,220,3275,0.15,2.35,0.00,0.000,6,0.063,0.019,2721,1736,3479,0,0,0,0,0,0
$GC,3527,-1.16,-116.8,313.8,-9.0,227,3532,0.12,2.58,0.00,0.000,4,0.106,0.039,2748,3347,3478,0,0,0,0,0,0
$GC,3572,-1.24,-116.8,317.7,-7.4,228,3576,0.00,2.58,0.00,0.000,6,0.000,0.041,2748,1760,3478,0,0,0,0,0,0
$GC,3851,-1.24,-116.8,340.6,-8.5,235,3852,0.00,0.00,0.00,0.000,6,0.000,0.000,2749,1760,3477,0,0,0,0,0,0
$GC,4093,-1.24,-116.8,359.6,-7.6,241,4098,0.00,2.83,0.00,0.000,4,0.000,0.088,2749,183,3475,0,0,0,0,0,0
$GC,4126,-1.24,-116.8,362.1,-7.4,241,4131,0.00,2.45,0.00,0.000,6,0.000,0.023,2748,1754,3476,0,0,0,0,0,0
$GC,4377,-1.24,-116.8,376.4,-5.5,248,4381,0.00,2.58,0.00,0.000,4,0.000,0.043,2748,3346,3475,0,0,0,0,0,0
$GC,4433,-1.31,-116.8,379.8,-5.5,249,4438,0.15,2.60,0.00,0.000,6,0.065,0.046,2700,1778,3475,0,0,0,0,0,0
$GC,4700,-1.25,-116.8,401.9,-8.6,256,4705,0.12,2.88,0.00,0.000,4,0.108,0.098,2726,185,3472,0,0,0,0,0,0
$GC,4723,-1.22,-116.8,404.1,-9.4,256,4728,0.00,2.47,0.00,0.000,6,0.000,0.023,2726,1769,3472,0,0,0,0,0,0
$GC,4978,-1.22,-116.8,426.8,-9.0,263,4980,0.00,0.00,0.00,0.000,6,0.000,0.000,2726,1769,3471,0,0,0,0,0,0
$GC,5222,-1.22,-116.8,449.7,-9.4,269,5227,0.00,2.60,0.00,0.000,4,0.000,0.054,2726,3349,3469,0,0,0,0,0,0
$GC,5274,-1.27,-116.8,454.7,-9.5,270,5278,0.00,2.65,0.00,0.000,6,0.000,0.056,2726,1782,3470,0,0,0,0,0,0
$GC,5547,-1.27,-116.8,478.8,-8.7,277,5552,0.00,2.97,0.00,0.000,4,0.000,0.107,2726,179,3467,0,0,0,0,0,0
$GC,5574,-1.27,-116.8,481.3,-8.3,277,5578,0.00,2.55,0.00,0.000,6,0.000,0.038,2726,1767,3467,0,0,0,0,0,0
$GC,5825,-1.27,-116.8,497.7,-6.3,283,5830,0.00,2.67,0.00,0.000,4,0.000,0.063,2726,3357,3465,0,0,0,0,0,0
$GC,5847,-1.27,-116.8,499.0,-5.3,283,5851,0.00,2.67,0.00,0.000,6,0.000,0.056,2726,1772,3465,0,0,0,0,0,0
$STATE,5896,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5896,begin apogee
$GC,5902,-0.31,0.0,501.4,4.8,285,6001,0.90,0.00,95.38,0.920,6,0.072,0.000,2932,1860,3001,0,0,0,0,0,0
$STATE,6002,end apogee,CONTROL_FINISHED_OK
$STATE,6002,begin climb
$GC,6006,1.15,116.8,501.2,0.0,287,6118,1.33,2.62,100.90,0.892,4,0.053,0.054,3253,3372,2522,0,0,0,0,0,0
$GC,6152,1.04,138.9,495.3,7.0,290,6177,0.12,2.67,19.65,0.834,6,0.127,0.052,3229,1819,2434,0,0,0,0,0,0
$GC,6459,1.00,180.7,475.4,6.1,298,6498,0.00,0.00,37.12,0.864,6,0.000,0.000,3229,1819,2264,0,0,0,0,0,0
$GC,6740,0.98,208.2,456.7,6.7,305,6769,0.00,2.65,24.33,0.845,4,0.000,0.047,3229,3375,2151,0,0,0,0,0,0
$GC,6804,0.98,214.7,451.9,7.7,306,6820,0.00,2.67,7.47,0.720,6,0.000,0.058,3229,1818,2124,0,0,0,0,0,0
$GC,7065,0.94,214.7,431.0,8.1,313,7070,0.12,2.60,0.00,0.000,4,0.221,0.039,3205,3382,2120,0,0,0,0,0,0
$GC,7117,0.99,214.7,426.7,8.5,314,7122,0.00,2.62,0.00,0.000,6,0.000,0.056,3205,1837,2118,0,0,0,0,0,0
$GC,7389,0.99,214.7,404.2,8.3,321,7390,0.00,0.00,0.00,0.000,6,0.000,0.000,3205,1837,2116,0,0,0,0,0,0
$GC,7633,0.99,218.0,385.0,7.9,327,7638,0.00,2.53,0.00,0.000,4,0.000,0.038,3205,3390,2115,0,0,0,0,0,0
$GC,7668,1.00,226.4,382.4,7.6,327,7683,0.00,2.58,10.07,0.765,6,0.000,0.049,3205,1839,2078,0,0,0,0,0,0
$GC,7956,1.01,230.4,359.6,7.8,335,7966,0.00,2.53,4.88,0.611,4,0.000,0.032,3205,3383,2061,0,0,0,0,0,0
$GC,8016,1.08,230.4,354.6,8.5,336,8022,0.12,2.55,0.00,0.000,6,0.085,0.044,3238,1846,2060,0,0,0,0,0,0
$GC,8279,1.04,230.4,332.5,8.5,343,8280,0.00,0.00,0.00,0.000,6,0.000,0.000,3238,1846,2059,0,0,0,0,0,0
$GC,8521,1.04,230.4,311.2,8.9,349,8525,0.00,2.47,0.00,0.000,4,0.000,0.032,3238,3382,2059,0,0,0,0,0,0
$GC,8560,1.04,230.4,307.4,10.3,350,8564,0.00,2.53,0.00,0.000,6,0.000,0.037,3238,1849,2057,0,0,0,0,0,0
$GC,8844,1.04,230.4,281.5,9.0,357,8848,0.00,2.47,0.00,0.000,4,0.000,0.037,3238,3382,2057,0,0,0,0,0,0
$GC,8885,1.04,230.4,278.0,8.5,358,8889,0.00,2.50,0.00,0.000,6,0.000,0.037,3238,1846,2057,0,0,0,0,0,0
$GC,9169,1.07,258.4,257.2,6.7,365,9200,0.00,2.53,26.00,0.745,4,0.000,0.036,3238,3390,1946,0,0,0,0,0,0
$GC,9258,1.14,272.9,251.3,7.3,367,9277,0.00,2.50,14.00,0.703,6,0.000,0.041,3238,1864,1887,0,0,0,0,0,0
$GC,9540,1.14,272.9,229.2,8.3,374,9544,0.00,2.83,0.00,0.000,4,0.000,0.070,3238,234,1883,0,0,0,0,0,0
$GC,9574,1.10,272.9,226.1,9.9,374,9580,0.00,2.55,0.00,0.000,6,0.000,0.020,3238,1857,1882,0,0,0,0,0,0
$GC,9824,1.10,272.9,204.9,8.6,381,9828,0.00,2.45,0.00,0.000,4,0.000,0.037,3238,3396,1882,0,0,0,0,0,0
$GC,9891,1.15,272.9,199.0,9.2,382,9896,0.00,2.50,0.00,0.000,6,0.000,0.038,3238,1865,1881,0,0,0,0,0,0
$GC,10159,1.15,272.9,174.8,9.0,407,10164,0.00,2.45,0.00,0.000,4,0.000,0.033,3238,3398,1881,0,0,0,0,0,0
$GC,10182,1.15,272.9,172.7,8.9,408,10192,0.00,2.50,0.00,0.000,6,0.000,0.038,3238,1878,1881,0,0,0,0,0,0
$GC,10450,1.18,290.3,151.9,7.2,433,10471,0.00,2.85,15.32,0.629,4,0.000,0.067,3238,239,1816,0,0,0,0,0,0
$GC,10483,1.20,306.8,149.4,7.2,436,10508,0.10,2.60,16.00,0.619,6,0.094,0.024,3267,1905,1749,0,0,0,0,0,0
$GC,10761,1.20,306.8,122.4,9.9,462,10765,0.00,2.35,0.00,0.000,4,0.000,0.035,3267,3398,1745,0,0,0,0,0,0
$GC,10782,1.20,306.8,120.8,10.0,463,10786,0.00,2.45,0.00,0.000,6,0.000,0.035,3267,1888,1744,0,0,0,0,0,0
$GC,11050,1.20,306.8,93.1,10.8,487,11054,0.00,2.80,0.00,0.000,4,0.000,0.061,3267,237,1744,0,0,0,0,0,0
$GC,11066,1.20,306.8,90.4,11.5,488,11070,0.00,2.58,0.00,0.000,6,0.000,0.020,3267,1912,1744,0,0,0,0,0,0
$GC,11334,1.23,306.8,64.4,8.5,512,11338,0.00,2.35,0.00,0.000,4,0.000,0.028,3267,3400,1744,0,0,0,0,0,0
$GC,11355,1.30,316.5,62.7,7.6,513,11370,0.00,2.40,9.18,0.518,6,0.000,0.031,3267,1899,1710,0,0,0,0,0,0
$GC,11627,1.38,343.9,45.0,6.7,538,11658,0.15,2.90,24.58,0.544,4,0.071,0.059,3309,244,1598,0,0,0,0,0,0
$GC,11707,1.33,343.9,37.6,10.3,544,11712,0.00,2.60,0.00,0.000,6,0.000,0.018,3309,1913,1597,0,0,0,0,0,0
$GC,12026,1.29,343.9,5.6,10.2,585,12036,0.12,2.38,0.00,0.000,4,0.113,0.028,3281,3393,1596,0,0,0,0,0,0
$STATE,12046,end climb,SURFACE_DEPTH_REACHED
$STATE,12046,begin surface coast
$FINISH,1.4,1.023288
$STATE,12068,end surface coast,CONTROL_FINISHED_OK
$STATE,12068,begin surface
$SM_CCo,12092,68.97,0.442,1,0,1287,420.20
$SM_GC,0.88,0.00,0.00,68.97,0.000,0.000,0.442,473,1755,1287,-11.62,-0.42,420.20
$IRIDIUM_FIX,2234.68,-15743.29,141299,010125
$TT8_MAMPS,0.026078
$HUMID,47.04
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.80
$XPDR_PINGS,59
$24V_AH,23.5,33.603
$10V_AH,10.3,34.594
$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,27.025,159.625,404.875,68.975,0.000,25.771,30.373,303.835,14.750,0.000,17.044,1208.127,8028.915,553.370,2190.740,689.833,33.369,1381.245,0.000,2193.235,0.000,0.536,0.000
$DEVICE_MAMPS,220.896,107.380,919.633,441.792,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,399.058,337.687,446.128,840.326,1270.995,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,47799,590
$CAP_FILE_SIZE,131586,0
$CFSIZE,260165632,168267776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,190910,082206,2243.206,-15744.993,40,1.5,40,10.1