version: 66.06
glider: 146
mission: 5
dive: 287
start: 9 28 110 6 29 4
data:
$ID,146
$MISSION,5
$DIVE,287
$D_SURF,4
$D_FLARE,3
$D_TGT,950
$D_ABORT,1000
$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,316
$T_MISSION,660
$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,-252810.88
$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,40
$R_STBD_OVSHOOT,27
$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
$GPS1,062137,2244.385,-15758.310,35,1.2,35,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-69.3
$GPS2,062807,2244.326,-15758.354,8,1.2,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NEWT
$TGT_LATLONG,2253.000,-15807.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.012,0.234
$KALMAN_X,-297080.2,-83.5,102.5,318145.1,-1105.6
$KALMAN_Y,-394175.4,-202.1,9.0,512422.3,-3000.0
$MHEAD_RNG_PITCHd_Wd,346.9,21810,-19.8,-10.021
$D_GRID,950
$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,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.30,0.000,2,0.000,0.000,476,1747,3261,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.7,-7.5,10,125,11.25,2.62,-4.07,0.000,4,0.138,0.038,2686,3365,3481,0,0,0,0,0,0
$GC,163,-1.25,-116.8,21.7,-18.5,18,173,0.15,2.60,0.00,0.000,6,0.086,0.038,2723,1787,3482,0,0,0,0,0,0
$GC,442,-1.16,-116.8,66.7,-15.3,46,451,0.12,0.00,0.00,0.000,6,0.117,0.000,2748,1786,3483,0,0,0,0,0,0
$GC,707,-1.16,-116.8,97.2,-11.5,71,711,0.00,2.50,0.00,0.000,4,0.000,0.025,2748,3365,3484,0,0,0,0,0,0
$GC,738,-1.16,-116.8,100.8,-11.4,73,742,0.00,2.58,0.00,0.000,6,0.000,0.029,2748,1771,3484,0,0,0,0,0,0
$GC,1006,-1.20,-116.8,131.0,-11.3,97,1011,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1770,3484,0,0,0,0,0,0
$GC,1268,-1.27,-116.8,160.1,-10.7,122,1273,0.10,2.53,0.00,0.000,4,0.084,0.025,2713,3366,3485,0,0,0,0,0,0
$GC,1302,-1.27,-116.8,163.3,-12.1,124,1307,0.00,2.58,0.00,0.000,6,0.000,0.030,2713,1768,3485,0,0,0,0,0,0
$GC,1569,-1.27,-116.8,197.1,-12.5,148,1573,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1768,3485,0,0,0,0,0,0
$GC,1839,-1.27,-116.8,228.9,-11.2,157,1844,0.00,2.53,0.00,0.000,4,0.000,0.025,2713,3367,3485,0,0,0,0,0,0
$GC,1862,-1.27,-116.8,231.2,-10.3,157,1867,0.00,2.58,0.00,0.000,6,0.000,0.035,2713,1769,3485,0,0,0,0,0,0
$GC,2117,-1.27,-116.8,256.6,-9.7,164,2119,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1769,3485,0,0,0,0,0,0
$GC,2361,-1.27,-116.8,280.3,-9.7,170,2362,0.00,0.00,0.00,0.000,6,0.000,0.000,2713,1769,3485,0,0,0,0,0,0
$GC,2607,-1.30,-116.8,303.9,-9.5,176,2611,0.00,2.55,0.00,0.000,4,0.000,0.036,2713,3367,3485,0,0,0,0,0,0
$GC,2646,-1.38,-116.8,307.7,-8.9,177,2651,0.00,2.58,0.00,0.000,6,0.000,0.036,2713,1785,3485,0,0,0,0,0,0
$GC,2930,-1.43,-116.8,333.9,-9.4,184,2932,0.10,0.00,0.00,0.000,6,0.086,0.000,2680,1780,3484,0,0,0,0,0,0
$GC,3174,-1.43,-116.8,359.0,-10.6,190,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1780,3484,0,0,0,0,0,0
$GC,3417,-1.43,-116.8,385.6,-10.9,196,3421,0.00,2.60,0.00,0.000,4,0.000,0.049,2680,3365,3482,0,0,0,0,0,0
$GC,3466,-1.43,-116.8,391.3,-10.9,197,3470,0.00,2.70,0.00,0.000,6,0.000,0.054,2679,1781,3482,0,0,0,0,0,0
$GC,3739,-1.43,-116.8,421.5,-11.3,204,3743,0.00,2.60,0.00,0.000,4,0.000,0.045,2679,3359,3481,0,0,0,0,0,0
$GC,3754,-1.43,-116.8,423.6,-11.4,204,3759,0.00,2.65,0.00,0.000,6,0.000,0.057,2679,1787,3481,0,0,0,0,0,0
$GC,4016,-1.43,-116.8,451.6,-10.6,211,4017,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1787,3479,0,0,0,0,0,0
$GC,4259,-1.43,-116.8,476.4,-10.2,217,4264,0.00,3.03,0.00,0.000,4,0.000,0.118,2679,184,3478,0,0,0,0,0,0
$GC,4276,-1.43,-116.8,478.3,-10.3,217,4281,0.00,2.58,0.00,0.000,6,0.000,0.032,2679,1787,3477,0,0,0,0,0,0
$GC,4537,-1.43,-116.8,505.1,-10.2,224,4542,0.00,2.70,0.00,0.000,4,0.000,0.072,2679,3360,3476,0,0,0,0,0,0
$GC,4604,-1.49,-116.8,511.7,-9.5,225,4609,0.00,2.72,0.00,0.000,6,0.000,0.064,2679,1784,3476,0,0,0,0,0,0
$GC,4861,-1.49,-116.8,534.8,-8.9,232,4865,0.00,3.05,0.00,0.000,4,0.000,0.120,2679,185,3473,0,0,0,0,0,0
$GC,4893,-1.49,-116.8,538.1,-10.4,232,4899,0.00,2.62,0.00,0.000,6,0.000,0.043,2679,1784,3473,0,0,0,0,0,0
$GC,5144,-1.52,-116.8,559.4,-8.4,239,5148,0.00,2.72,0.00,0.000,4,0.000,0.081,2679,3354,3472,0,0,0,0,0,0
$GC,5178,-1.59,-116.8,562.3,-8.6,239,5184,0.12,2.75,0.00,0.000,6,0.074,0.070,2641,1781,3472,0,0,0,0,0,0
$GC,5428,-1.59,-116.8,586.0,-9.5,246,5429,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1781,3470,0,0,0,0,0,0
$GC,5672,-1.59,-116.8,606.4,-8.3,252,5673,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1781,3468,0,0,0,0,0,0
$GC,5917,-1.59,-116.8,627.2,-8.8,258,5922,0.00,2.78,0.00,0.000,4,0.000,0.080,2641,3354,3466,0,0,0,0,0,0
$GC,5950,-1.59,-116.8,630.5,-9.8,258,5955,0.00,2.78,0.00,0.000,6,0.000,0.081,2641,1787,3466,0,0,0,0,0,0
$GC,6199,-1.59,-116.8,657.2,-11.2,265,6204,0.00,2.78,0.00,0.000,4,0.000,0.084,2641,3361,3464,0,0,0,0,0,0
$GC,6261,-1.59,-116.8,664.4,-11.7,266,6266,0.00,2.80,0.00,0.000,6,0.000,0.077,2641,1794,3464,0,0,0,0,0,0
$GC,6521,-1.59,-116.8,695.0,-11.7,273,6526,0.00,2.75,0.00,0.000,4,0.000,0.079,2641,3354,3462,0,0,0,0,0,0
$GC,6554,-1.59,-116.8,698.8,-11.4,273,6560,0.00,2.78,0.00,0.000,6,0.000,0.077,2641,1797,3462,0,0,0,0,0,0
$GC,6804,-1.59,-116.8,725.7,-10.7,280,6808,0.00,2.72,0.00,0.000,4,0.000,0.074,2641,3355,3461,0,0,0,0,0,0
$GC,6830,-1.59,-116.8,728.8,-10.8,280,6835,0.00,2.75,0.00,0.000,6,0.000,0.080,2640,1809,3461,0,0,0,0,0,0
$GC,7081,-1.59,-116.8,752.3,-9.1,286,7082,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1808,3459,0,0,0,0,0,0
$GC,7324,-1.59,-116.8,771.6,-7.8,292,7329,0.00,2.67,0.00,0.000,4,0.000,0.074,2641,3354,3457,0,0,0,0,0,0
$GC,7375,-1.59,-116.8,775.3,-7.2,293,7380,0.00,2.72,0.00,0.000,6,0.000,0.074,2641,1806,3457,0,0,0,0,0,0
$GC,7649,-1.59,-116.8,794.8,-7.1,300,7653,0.00,2.67,0.00,0.000,4,0.000,0.072,2641,3355,3456,0,0,0,0,0,0
$GC,7670,-1.59,-116.8,796.4,-7.1,300,7674,0.00,2.72,0.00,0.000,6,0.000,0.074,2641,1807,3456,0,0,0,0,0,0
$GC,7927,-1.59,-116.8,815.9,-7.6,307,7928,0.00,0.00,0.00,0.000,6,0.000,0.000,2641,1806,3454,0,0,0,0,0,0
$GC,8169,-1.59,-116.8,836.1,-8.3,313,8173,0.00,2.67,0.00,0.000,4,0.000,0.074,2641,3355,3453,0,0,0,0,0,0
$GC,8196,-1.59,-116.8,838.4,-8.6,313,8200,0.00,2.72,0.00,0.000,6,0.000,0.073,2641,1811,3453,0,0,0,0,0,0
$GC,8447,-1.59,-116.8,858.6,-8.0,319,8452,0.00,2.67,0.00,0.000,4,0.000,0.074,2641,3357,3452,0,0,0,0,0,0
$GC,8469,-1.59,-116.8,860.6,-8.2,319,8473,0.00,2.70,0.00,0.000,6,0.000,0.072,2641,1818,3452,0,0,0,0,0,0
$GC,8724,-1.59,-116.8,879.5,-7.3,326,8728,0.00,2.67,0.00,0.000,4,0.000,0.072,2641,3358,3451,0,0,0,0,0,0
$GC,8758,-1.59,-116.8,881.9,-7.1,326,8763,0.00,2.72,0.00,0.000,6,0.000,0.078,2641,1820,3451,0,0,0,0,0,0
$GC,9008,-1.59,-116.8,900.4,-7.4,333,9012,0.00,2.67,0.00,0.000,4,0.000,0.067,2641,3359,3450,0,0,0,0,0,0
$GC,9035,-1.59,-116.8,902.7,-8.1,333,9039,0.00,2.70,0.00,0.000,6,0.000,0.074,2641,1826,3450,0,0,0,0,0,0
$GC,9286,-1.59,-116.8,922.0,-7.7,339,9291,0.00,2.65,0.00,0.000,4,0.000,0.071,2641,3355,3449,0,0,0,0,0,0
$GC,9314,-1.59,-116.8,924.3,-7.8,339,9318,0.00,2.70,0.00,0.000,6,0.000,0.072,2641,1829,3449,0,0,0,0,0,0
$GC,9564,-1.59,-116.8,944.4,-8.1,345,9565,0.00,0.00,0.00,0.000,6,0.000,0.000,2640,1829,3448,0,0,0,0,0,0
$STATE,9642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9643,begin apogee
$GC,9648,-0.31,0.0,951.1,8.2,347,9752,1.33,0.00,99.90,1.292,6,0.096,0.000,2928,1829,3001,0,0,0,0,0,0
$STATE,9752,end apogee,CONTROL_FINISHED_OK
$STATE,9753,begin climb
$GC,9757,1.38,116.8,952.9,0.0,349,9872,1.60,0.00,111.38,1.264,6,0.041,0.000,3308,1828,2524,0,0,0,0,0,0
$GC,10089,1.20,116.8,927.4,10.8,358,10095,0.22,2.72,0.00,0.000,4,0.132,0.056,3265,3411,2512,0,0,0,0,0,0
$GC,10164,1.13,124.6,920.2,9.6,359,10175,0.00,2.78,5.93,0.935,6,0.000,0.064,3265,1830,2493,0,0,0,0,0,0
$GC,10421,1.05,139.6,896.6,9.2,366,10445,0.17,2.75,16.05,1.150,4,0.130,0.051,3232,3414,2430,0,0,0,0,0,0
$GC,10511,1.08,158.3,888.6,8.9,368,10536,0.00,2.78,19.20,1.160,6,0.000,0.060,3231,1832,2355,0,0,0,0,0,0
$GC,10792,1.09,173.6,862.7,9.1,375,10813,0.00,2.75,15.25,1.129,4,0.000,0.055,3232,3411,2293,0,0,0,0,0,0
$GC,10859,1.09,173.6,856.5,10.6,376,10863,0.00,2.72,0.00,0.000,6,0.000,0.059,3232,1847,2290,0,0,0,0,0,0
$GC,11114,1.11,188.3,833.0,9.2,383,11134,0.00,2.70,15.05,1.122,4,0.000,0.050,3232,3407,2232,0,0,0,0,0,0
$GC,11167,1.11,188.3,827.7,10.6,384,11172,0.00,2.70,0.00,0.000,6,0.000,0.063,3232,1859,2231,0,0,0,0,0,0
$GC,11436,1.11,189.7,801.2,9.9,391,11440,0.00,2.62,0.00,0.000,4,0.000,0.055,3232,3407,2228,0,0,0,0,0,0
$GC,11457,1.11,189.7,798.8,10.3,391,11462,0.00,2.67,0.00,0.000,6,0.000,0.062,3231,1861,2227,0,0,0,0,0,0
$GC,11712,1.11,189.7,772.4,10.3,398,11714,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1861,2227,0,0,0,0,0,0
$GC,11958,1.11,189.7,746.7,10.7,404,11962,0.00,2.62,0.00,0.000,4,0.000,0.050,3231,3410,2226,0,0,0,0,0,0
$GC,12001,1.11,189.7,741.5,10.8,405,12006,0.00,2.67,0.00,0.000,6,0.000,0.061,3231,1872,2225,0,0,0,0,0,0
$GC,12285,1.11,189.7,710.8,10.7,412,12286,0.00,0.00,0.00,0.000,6,0.000,0.000,3231,1873,2225,0,0,0,0,0,0
$GC,12529,1.11,189.7,685.8,10.1,418,12530,0.00,0.00,0.00,0.000,6,0.000,0.000,3232,1872,2224,0,0,0,0,0,0
$GC,12774,1.13,205.6,662.9,9.1,424,12798,0.00,2.65,16.77,1.057,4,0.000,0.054,3231,3408,2161,0,0,0,0,0,0
$GC,12827,1.19,218.6,658.0,9.3,425,12847,0.12,2.72,13.95,1.024,6,0.091,0.066,3262,1870,2108,0,0,0,0,0,0
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$STATE,19177,end climb,SURFACE_DEPTH_REACHED
$STATE,19177,begin surface coast
$FINISH,0.4,1.015255
$STATE,19227,end surface coast,CONTROL_FINISHED_OK
$STATE,19227,begin surface
$SM_CCo,19249,86.22,0.466,1,0,1288,420.20
$SM_GC,0.98,0.00,0.00,86.22,0.000,0.000,0.466,477,1731,1288,-11.61,-1.10,420.20
$IRIDIUM_FIX,2234.68,-15800.20,231299,010142
$TT8_MAMPS,0.026078
$HUMID,45.94
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,22.80
$XPDR_PINGS,86
$24V_AH,23.2,40.557
$10V_AH,10.2,40.529
$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
$DEVICE_SECS,27.300,230.750,412.300,86.225,0.000,31.322,27.763,183.781,21.500,0.000,15.163,1523.520,14499.969,662.272,2365.677,675.371,33.407,1671.426,0.000,2373.887,0.000,0.534,0.000
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$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,493.919,329.231,431.545,738.118,1116.369,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355996
$DATA_FILE_SIZE,57208,726
$CAP_FILE_SIZE,171417,0
$CFSIZE,260165632,165003264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280910,115237,2245.027,-15758.960,30,1.2,30,10.1