version: 66.06
glider: 146
mission: 5
dive: 288
start: 9 28 110 11 59 45
data:
$ID,146
$MISSION,5
$DIVE,288
$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,-252827.09
$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,45
$R_STBD_OVSHOOT,20
$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
$GPS1,115237,2245.027,-15758.960,30,1.2,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-68.0
$GPS2,115850,2244.965,-15758.967,14,1.2,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NEWT
$TGT_LATLONG,2253.000,-15807.000
$TGT_RADIUS,2000.000
$KALMAN_CONTROL,-0.055,0.228
$KALMAN_X,-297695.7,-231.3,43.9,317914.1,-555.7
$KALMAN_Y,-397368.7,-239.5,-15.9,516865.8,-2614.2
$MHEAD_RNG_PITCHd_Wd,336.4,20232,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,105,0.00,0.00,-85.32,0.000,6,0.000,0.000,477,1731,3479,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.7,-9.7,11,126,11.32,2.60,0.00,0.000,4,0.140,0.025,2690,3376,3481,0,0,0,0,0,0
$GC,233,-1.28,-116.8,36.2,-16.6,26,238,0.15,2.60,0.00,0.000,6,0.109,0.031,2722,1780,3482,0,0,0,0,0,0
$GC,501,-1.18,-116.8,80.7,-15.9,50,506,0.10,2.72,0.00,0.000,4,0.137,0.060,2741,193,3482,0,0,0,0,0,0
$GC,536,-1.13,-116.8,87.1,-15.1,52,545,0.00,2.50,0.00,0.000,6,0.000,0.019,2741,1821,3482,0,0,0,0,0,0
$GC,803,-1.13,-116.8,117.2,-11.4,77,807,0.00,0.00,0.00,0.000,6,0.000,0.000,2741,1822,3483,0,0,0,0,0,0
$GC,1065,-1.13,-116.8,143.9,-9.5,102,1066,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1821,3484,0,0,0,0,0,0
$GC,1319,-1.18,-116.8,170.0,-10.4,126,1323,0.00,2.80,0.00,0.000,4,0.000,0.061,2741,194,3484,0,0,0,0,0,0
$GC,1342,-1.22,-116.8,171.8,-10.4,127,1347,0.00,2.47,0.00,0.000,6,0.000,0.016,2741,1826,3484,0,0,0,0,0,0
$GC,1609,-1.27,-116.8,200.3,-10.1,151,1614,0.00,2.80,0.00,0.000,4,0.000,0.067,2741,188,3484,0,0,0,0,0,0
$GC,1632,-1.31,-116.8,203.3,-10.2,151,1637,0.12,2.45,0.00,0.000,6,0.068,0.021,2698,1809,3484,0,0,0,0,0,0
$GC,1887,-1.31,-116.8,232.6,-11.6,158,1891,0.00,2.35,0.00,0.000,4,0.000,0.033,2697,3322,3484,0,0,0,0,0,0
$GC,1926,-1.31,-116.8,237.2,-11.5,159,1930,0.00,2.53,0.00,0.000,6,0.000,0.035,2697,1758,3484,0,0,0,0,0,0
$GC,2210,-1.31,-116.8,270.6,-11.7,166,2215,0.00,2.47,0.00,0.000,4,0.000,0.029,2697,3324,3484,0,0,0,0,0,0
$GC,2260,-1.31,-116.8,276.8,-11.9,167,2264,0.00,2.53,0.00,0.000,6,0.000,0.038,2697,1772,3484,0,0,0,0,0,0
$GC,2532,-1.31,-116.8,308.2,-11.2,174,2537,0.00,2.78,0.00,0.000,4,0.000,0.084,2697,190,3484,0,0,0,0,0,0
$GC,2566,-1.31,-116.8,312.2,-12.7,174,2572,0.00,2.40,0.00,0.000,6,0.000,0.025,2697,1738,3484,0,0,0,0,0,0
$GC,2816,-1.31,-116.8,337.6,-9.8,181,2820,0.00,2.62,0.00,0.000,4,0.000,0.043,2697,3352,3484,0,0,0,0,0,0
$GC,2857,-1.38,-116.8,341.4,-9.6,182,2862,0.00,2.62,0.00,0.000,6,0.000,0.046,2697,1776,3484,0,0,0,0,0,0
$GC,3142,-1.38,-116.8,367.2,-9.0,189,3147,0.00,2.88,0.00,0.000,4,0.000,0.094,2697,181,3482,0,0,0,0,0,0
$GC,3174,-1.38,-116.8,370.7,-10.6,189,3180,0.00,2.53,0.00,0.000,6,0.000,0.031,2697,1774,3482,0,0,0,0,0,0
$GC,3425,-1.42,-116.8,391.9,-8.3,196,3426,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1774,3481,0,0,0,0,0,0
$GC,3670,-1.47,-116.8,411.9,-8.3,202,3674,0.00,2.62,0.00,0.000,4,0.000,0.051,2697,3351,3480,0,0,0,0,0,0
$GC,3714,-1.55,-116.8,415.6,-8.4,203,3720,0.15,2.72,0.00,0.000,6,0.065,0.058,2650,1759,3480,0,0,0,0,0,0
$GC,3992,-1.51,-116.8,443.7,-10.2,210,3994,0.00,0.00,0.00,0.000,6,0.000,0.000,2650,1759,3478,0,0,0,0,0,0
$GC,4237,-1.51,-116.8,470.2,-11.0,216,4243,0.10,2.67,0.00,0.000,4,0.127,0.047,2670,3352,3476,0,0,0,0,0,0
$GC,4282,-1.55,-116.8,474.9,-9.3,217,4287,0.00,2.75,0.00,0.000,6,0.000,0.064,2670,1760,3476,0,0,0,0,0,0
$GC,4561,-1.55,-116.8,501.4,-9.5,224,4566,0.00,2.65,0.00,0.000,4,0.000,0.052,2670,3346,3474,0,0,0,0,0,0
$GC,4594,-1.55,-116.8,505.0,-10.0,224,4600,0.00,2.75,0.00,0.000,6,0.000,0.064,2670,1764,3474,0,0,0,0,0,0
$GC,4844,-1.55,-116.8,530.7,-10.5,231,4845,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1764,3472,0,0,0,0,0,0
$GC,5088,-1.55,-116.8,555.2,-10.0,237,5093,0.00,2.70,0.00,0.000,4,0.000,0.062,2670,3342,3470,0,0,0,0,0,0
$GC,5117,-1.55,-116.8,558.1,-10.0,237,5121,0.00,2.75,0.00,0.000,6,0.000,0.073,2670,1773,3470,0,0,0,0,0,0
$GC,5367,-1.55,-116.8,581.8,-9.4,243,5368,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1774,3469,0,0,0,0,0,0
$GC,5611,-1.55,-116.8,604.2,-9.0,249,5615,0.00,2.75,0.00,0.000,4,0.000,0.072,2670,3342,3467,0,0,0,0,0,0
$GC,5634,-1.60,-116.8,606.4,-9.7,249,5639,0.00,2.80,0.00,0.000,6,0.000,0.080,2670,1781,3466,0,0,0,0,0,0
$GC,5889,-1.60,-116.8,629.8,-9.3,256,5894,0.00,2.75,0.00,0.000,4,0.000,0.082,2670,3346,3465,0,0,0,0,0,0
$GC,5922,-1.65,-116.8,633.0,-9.8,256,5928,0.12,2.85,0.00,0.000,6,0.076,0.088,2632,1781,3465,0,0,0,0,0,0
$GC,6174,-1.61,-116.8,661.6,-11.9,263,6175,0.00,0.00,0.00,0.000,6,0.000,0.000,2632,1781,3463,0,0,0,0,0,0
$GC,6415,-1.61,-116.8,691.5,-12.4,269,6420,0.00,3.25,0.00,0.000,4,0.000,0.150,2632,182,3462,0,0,0,0,0,0
$GC,6437,-1.55,-116.8,694.6,-13.8,269,6443,0.12,2.72,0.00,0.000,6,0.125,0.059,2658,1773,3461,0,0,0,0,0,0
$GC,6694,-1.55,-116.8,725.4,-12.0,276,6695,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1773,3460,0,0,0,0,0,0
$GC,6936,-1.55,-116.8,753.7,-11.4,282,6941,0.00,2.83,0.00,0.000,4,0.000,0.092,2658,3363,3458,0,0,0,0,0,0
$GC,6963,-1.55,-116.8,756.9,-11.8,282,6968,0.00,2.78,0.00,0.000,6,0.000,0.077,2658,1790,3458,0,0,0,0,0,0
$GC,7213,-1.55,-116.8,783.6,-10.5,288,7218,0.00,2.75,0.00,0.000,4,0.000,0.075,2658,3363,3457,0,0,0,0,0,0
$GC,7236,-1.55,-116.8,785.9,-10.0,288,7240,0.00,2.78,0.00,0.000,6,0.000,0.073,2658,1796,3457,0,0,0,0,0,0
$GC,7491,-1.55,-116.8,810.0,-9.3,295,7495,0.00,2.75,0.00,0.000,4,0.000,0.071,2658,3368,3455,0,0,0,0,0,0
$GC,7541,-1.61,-116.8,814.8,-9.6,296,7545,0.00,2.75,0.00,0.000,6,0.000,0.077,2658,1813,3455,0,0,0,0,0,0
$GC,7814,-1.61,-116.8,839.4,-9.1,303,7819,0.00,2.67,0.00,0.000,4,0.000,0.069,2658,3360,3453,0,0,0,0,0,0
$GC,7847,-1.65,-116.8,842.7,-9.6,303,7853,0.00,2.72,0.00,0.000,6,0.000,0.075,2658,1820,3453,0,0,0,0,0,0
$GC,8097,-1.69,-116.8,866.1,-9.5,310,8099,0.12,0.00,0.00,0.000,6,0.081,0.000,2624,1819,3452,0,0,0,0,0,0
$GC,8342,-1.69,-116.8,892.6,-11.0,316,8347,0.00,2.67,0.00,0.000,4,0.000,0.070,2624,3367,3451,0,0,0,0,0,0
$GC,8391,-1.69,-116.8,898.3,-11.1,317,8396,0.00,2.72,0.00,0.000,6,0.000,0.074,2624,1824,3451,0,0,0,0,0,0
$GC,8664,-1.69,-116.8,928.0,-10.8,324,8665,0.00,0.00,0.00,0.000,6,0.000,0.000,2623,1824,3450,0,0,0,0,0,0
$STATE,8905,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8905,begin apogee
$GC,8912,-0.31,0.0,953.8,10.5,330,9017,1.42,0.00,100.40,1.292,6,0.098,0.000,2929,1819,3001,0,0,0,0,0,0
$STATE,9017,end apogee,CONTROL_FINISHED_OK
$STATE,9017,begin climb
$GC,9020,1.38,116.8,956.2,0.0,332,9135,1.60,0.00,111.45,1.259,6,0.040,0.000,3310,1820,2524,0,0,0,0,0,0
$GC,9353,1.20,116.8,931.2,10.8,341,9359,0.25,2.72,0.00,0.000,4,0.123,0.057,3258,3416,2512,0,0,0,0,0,0
$GC,9375,1.09,116.8,928.5,10.4,341,9380,0.00,2.83,0.00,0.000,6,0.000,0.065,3257,1819,2511,0,0,0,0,0,0
$GC,9631,1.02,126.1,904.4,9.5,348,9646,0.17,2.80,7.15,0.996,4,0.199,0.053,3224,3415,2486,0,0,0,0,0,0
$GC,9670,1.05,151.5,900.9,8.6,348,9703,0.00,2.80,26.02,1.183,6,0.000,0.066,3224,1829,2383,0,0,0,0,0,0
$GC,9960,1.06,158.2,873.5,9.6,356,9973,0.00,2.80,6.75,0.975,4,0.000,0.051,3224,3418,2355,0,0,0,0,0,0
$GC,10032,1.06,158.2,866.0,10.2,357,10036,0.00,2.78,0.00,0.000,6,0.000,0.062,3224,1841,2354,0,0,0,0,0,0
$GC,10287,1.07,168.0,841.4,9.5,364,10299,0.00,0.00,10.85,1.081,6,0.000,0.000,3224,1841,2316,0,0,0,0,0,0
$GC,10530,1.09,183.7,818.9,9.1,370,10554,0.00,2.72,16.15,1.121,4,0.000,0.049,3224,3415,2252,0,0,0,0,0,0
$GC,10595,1.15,195.2,813.0,9.4,371,10617,0.12,2.78,12.70,1.079,6,0.087,0.064,3254,1847,2204,0,0,0,0,0,0
$GC,10860,1.11,195.2,784.5,10.7,378,10865,0.00,2.67,0.00,0.000,4,0.000,0.055,3254,3416,2199,0,0,0,0,0,0
$GC,10909,1.11,195.2,779.0,10.8,379,10914,0.00,2.75,0.00,0.000,6,0.000,0.064,3254,1853,2198,0,0,0,0,0,0
$GC,11183,1.07,195.2,750.4,10.5,386,11185,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1853,2197,0,0,0,0,0,0
$GC,11425,1.07,195.2,725.2,10.1,392,11430,0.00,2.65,0.00,0.000,4,0.000,0.050,3254,3411,2196,0,0,0,0,0,0
$GC,11446,1.07,195.2,722.8,11.0,392,11451,0.00,2.72,0.00,0.000,6,0.000,0.067,3254,1849,2196,0,0,0,0,0,0
$GC,11703,1.07,195.2,695.6,10.8,399,11704,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1849,2196,0,0,0,0,0,0
$GC,11945,1.07,195.2,668.9,10.9,405,11946,0.00,0.00,0.00,0.000,6,0.000,0.000,3254,1849,2196,0,0,0,0,0,0
$GC,12189,1.07,195.2,644.1,10.1,411,12194,0.00,3.15,0.00,0.000,4,0.000,0.126,3255,231,2195,0,0,0,0,0,0
$GC,12218,0.99,195.2,640.9,10.7,411,12223,0.20,2.67,0.00,0.000,6,0.117,0.038,3215,1860,2193,0,0,0,0,0,0
$GC,12468,1.08,226.1,620.0,8.2,417,12503,0.00,3.10,28.58,1.055,4,0.000,0.091,3214,232,2078,0,0,0,0,0,0
$GC,12525,1.09,232.8,614.7,9.6,418,12540,0.10,2.67,8.15,0.904,6,0.094,0.034,3240,1843,2050,0,0,0,0,0,0
$GC,12798,1.09,232.8,587.6,10.1,425,12799,0.00,0.00,0.00,0.000,6,0.000,0.000,3240,1844,2046,0,0,0,0,0,0
$GC,13040,1.10,240.7,564.2,9.6,431,13054,0.00,3.00,7.88,0.891,4,0.000,0.091,3240,238,2019,0,0,0,0,0,0
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$STATE,18379,end climb,SURFACE_DEPTH_REACHED
$STATE,18379,begin surface coast
$FINISH,0.4,1.005946
$STATE,18431,end surface coast,CONTROL_FINISHED_OK
$STATE,18431,begin surface
$SM_CCo,18453,100.53,0.476,1,0,1288,420.20
$SM_GC,1.36,0.00,0.00,100.53,0.000,0.000,0.476,476,1742,1288,-11.61,-0.79,420.20
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$TT8_MAMPS,0.026078
$HUMID,45.70
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,22.90
$XPDR_PINGS,86
$24V_AH,23.2,40.715
$10V_AH,10.1,40.657
$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
$DEVICE_SECS,28.200,231.600,405.500,100.525,0.000,27.914,30.476,166.668,21.500,0.000,15.592,1501.423,13770.251,686.225,2328.248,638.417,33.385,1678.926,0.000,2327.369,0.000,0.534,0.000
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$SENSOR_SECS,477.707,321.971,420.723,715.780,1081.563,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355920
$DATA_FILE_SIZE,54330,702
$CAP_FILE_SIZE,171981,0
$CFSIZE,260165632,164929536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,280910,171025,2246.165,-15759.751,39,1.5,39,10.1