version: 66.06
glider: 146
mission: 7
dive: 16
start: 5 24 112 20 46 3
data:
$ID,146
$MISSION,7
$DIVE,16
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,630
$D_NO_BLEED,200
$D_BOOST,0
$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,166
$T_MISSION,350
$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,140
$COURSE_BIAS,0
$GLIDE_SLOPE,35
$SPEED_FACTOR,1
$RHO,1.0275
$MASS,52355
$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,450
$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,-288073.97
$T_RSLEEP,2
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,485
$PITCH_MAX,3757
$C_PITCH,2850
$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,2100
$C_ROLL_CLIMB,2050
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,21
$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,2880
$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,94
$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,10
$ALTIM_PULSE,8
$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,0.0043256786
$SEABIRD_T_H,0.0006194216
$SEABIRD_T_I,2.1253354e-05
$SEABIRD_T_J,2.0307182e-06
$SEABIRD_C_G,-9.7992477
$SEABIRD_C_H,1.0845563
$SEABIRD_C_I,-0.0017217569
$SEABIRD_C_J,0.00021252052
$GPS1,203536,2238.667,-15809.372,35,1.1,40,10.0
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.18
$_SM_ANGLEo,-68.2
$GPS2,204508,2238.590,-15809.488,11,1.1,11,10.0
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.230,0.104
$KALMAN_X,-26808.2,-564.0,-202.9,17728.5,-799.0
$KALMAN_Y,-16768.3,-599.6,-99.3,13780.5,54.4
$MHEAD_RNG_PITCHd_Wd,55.7,20088,-18.2,-10.040
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.31,-136.3,0.0,0.0,0,123,0.00,0.00,-101.38,0.000,6,0.000,0.000,472,2022,3436,0,0,0,0,0,0
$GC,126,-1.31,-136.3,1.2,-3.3,13,143,11.65,2.70,0.00,0.000,4,0.176,0.031,2557,3697,3437,0,0,0,0,0,0
$GC,252,-0.63,-136.3,34.0,-26.1,30,258,0.77,2.53,0.00,0.000,6,0.143,0.023,2705,2091,3438,0,0,0,0,0,0
$GC,515,-0.22,-136.3,91.7,-20.6,54,520,0.43,2.60,0.00,0.000,4,0.125,0.032,2792,3703,3437,0,0,0,0,0,0
$GC,528,0.16,-136.3,94.7,-20.4,54,537,0.40,2.55,0.00,0.000,6,0.108,0.021,2878,2099,3438,0,0,0,0,0,0
$GC,794,0.22,-136.3,122.9,-8.9,79,798,0.00,2.55,0.00,0.000,4,0.000,0.037,2879,3693,3438,0,0,0,0,0,0
$GC,836,0.28,-136.3,127.4,-9.1,82,841,0.15,2.50,0.00,0.000,6,0.117,0.029,2910,2104,3438,0,0,0,0,0,0
$GC,1099,0.28,-136.3,145.2,-6.1,106,1103,0.00,2.55,0.00,0.000,4,0.000,0.031,2910,3707,3438,0,0,0,0,0,0
$GC,1158,0.28,-136.3,148.9,-6.0,110,1167,0.00,2.55,0.00,0.000,6,0.000,0.023,2910,2111,3438,0,0,0,0,0,0
$GC,1420,0.28,-136.3,167.4,-7.7,135,1424,0.00,2.65,0.00,0.000,4,0.000,0.058,2910,521,3439,0,0,0,0,0,0
$GC,1462,0.28,-136.3,171.4,-9.7,138,1466,0.00,2.47,0.00,0.000,6,0.000,0.018,2909,2128,3439,0,0,0,0,0,0
$GC,1724,0.28,-136.3,195.2,-7.5,162,1728,0.00,2.45,0.00,0.000,4,0.000,0.041,2910,3671,3439,0,0,0,0,0,0
$GC,1753,0.24,-136.3,197.4,-6.9,164,1758,0.00,2.50,0.00,0.000,6,0.000,0.030,2910,2087,3438,0,0,0,0,0,0
$GC,2007,0.19,-136.3,211.2,-5.1,173,2009,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2087,3439,0,0,0,0,0,0
$GC,2249,0.14,-136.3,224.5,-5.6,179,2254,0.12,2.62,0.00,0.000,4,0.073,0.057,2867,518,3439,0,0,0,0,0,0
$GC,2307,0.20,-136.3,228.9,-8.3,180,2312,0.12,2.45,0.00,0.000,6,0.121,0.021,2892,2096,3439,0,0,0,0,0,0
$GC,2574,0.20,-136.3,248.6,-7.4,187,2578,0.00,2.53,0.00,0.000,4,0.000,0.038,2892,3670,3438,0,0,0,0,0,0
$GC,2601,0.20,-136.3,250.6,-7.2,187,2605,0.00,2.47,0.00,0.000,6,0.000,0.024,2892,2098,3438,0,0,0,0,0,0
$GC,2853,0.16,-136.3,264.9,-5.2,193,2857,0.00,2.55,0.00,0.000,4,0.000,0.045,2892,3666,3437,0,0,0,0,0,0
$GC,2915,0.11,-136.3,267.8,-4.3,194,2919,0.00,2.47,0.00,0.000,6,0.000,0.025,2892,2110,3438,0,0,0,0,0,0
$GC,3176,0.06,-136.3,281.3,-5.7,201,3181,0.12,2.53,0.00,0.000,4,0.074,0.046,2851,3659,3437,0,0,0,0,0,0
$GC,3291,0.10,-136.3,291.2,-9.8,203,3296,0.00,2.45,0.00,0.000,6,0.000,0.033,2851,2133,3436,0,0,0,0,0,0
$GC,3546,0.10,-136.3,314.6,-8.8,210,3551,0.00,2.80,0.00,0.000,4,0.000,0.077,2851,516,3435,0,0,0,0,0,0
$GC,3576,0.16,-136.3,317.2,-9.3,210,3582,0.15,2.55,0.00,0.000,6,0.117,0.031,2882,2113,3435,0,0,0,0,0,0
$GC,3827,0.12,-136.3,334.9,-6.8,216,3831,0.00,2.58,0.00,0.000,4,0.000,0.051,2882,3679,3433,0,0,0,0,0,0
$GC,3902,0.08,-136.3,340.1,-7.4,217,3907,0.00,2.50,0.00,0.000,6,0.000,0.035,2882,2139,3433,0,0,0,0,0,0
$GC,4153,0.03,-136.3,353.5,-5.0,223,4158,0.12,2.55,0.00,0.000,4,0.077,0.044,2843,3684,3432,0,0,0,0,0,0
$GC,4197,0.03,-136.3,356.0,-6.2,224,4201,0.00,2.50,0.00,0.000,6,0.000,0.041,2843,2151,3432,0,0,0,0,0,0
$GC,4476,0.03,-136.3,369.6,-4.7,231,4480,0.00,2.53,0.00,0.000,4,0.000,0.053,2843,3681,3431,0,0,0,0,0,0
$GC,4543,0.07,-136.3,373.1,-5.1,232,4547,0.00,2.50,0.00,0.000,6,0.000,0.038,2843,2147,3430,0,0,0,0,0,0
$GC,4798,0.07,-136.3,386.4,-5.3,239,4799,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,2147,3428,0,0,0,0,0,0
$GC,5043,0.07,-136.3,400.6,-5.9,245,5048,0.00,2.95,0.00,0.000,4,0.000,0.091,2843,514,3427,0,0,0,0,0,0
$GC,5076,0.12,-136.3,403.0,-7.1,245,5082,0.15,2.65,0.00,0.000,6,0.121,0.037,2874,2129,3427,0,0,0,0,0,0
$GC,5327,0.08,-136.3,419.2,-6.5,252,5331,0.00,2.62,0.00,0.000,4,0.000,0.063,2874,3690,3425,0,0,0,0,0,0
$GC,5384,0.03,-136.3,423.6,-8.3,253,5388,0.00,2.53,0.00,0.000,6,0.000,0.044,2873,2150,3425,0,0,0,0,0,0
$GC,5650,-0.02,-136.3,443.5,-7.3,260,5655,0.12,2.58,0.00,0.000,4,0.080,0.053,2838,3681,3424,0,0,0,0,0,0
$GC,5692,0.02,-136.3,446.7,-8.0,261,5697,0.00,2.53,0.00,0.000,6,0.000,0.048,2838,2156,3424,0,0,0,0,0,0
$GC,5976,0.02,-136.3,465.7,-6.1,268,5980,0.00,2.60,0.00,0.000,4,0.000,0.056,2838,3688,3422,0,0,0,0,0,0
$GC,6055,0.02,-136.3,470.2,-5.6,269,6060,0.00,2.55,0.00,0.000,6,0.000,0.050,2838,2160,3422,0,0,0,0,0,0
$GC,6307,0.02,-136.3,480.9,-4.1,276,6308,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,2160,3420,0,0,0,0,0,0
$GC,6548,0.02,-136.3,491.3,-4.4,282,6553,0.00,3.08,0.00,0.000,4,0.000,0.109,2838,514,3419,0,0,0,0,0,0
$GC,6621,0.07,-136.3,495.4,-6.3,283,6626,0.12,2.75,0.00,0.000,6,0.127,0.051,2862,2160,3418,0,0,0,0,0,0
$STATE,6746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6746,begin apogee
$GC,6754,-0.31,0.0,502.1,5.3,286,6868,0.35,0.00,107.68,0.955,6,0.056,0.000,2770,2039,2880,0,0,0,0,0,0
$STATE,6869,end apogee,CONTROL_FINISHED_OK
$STATE,6869,begin climb
$GC,6871,1.31,136.3,507.1,0.0,289,7001,1.65,3.00,116.35,0.917,4,0.092,0.095,3126,477,2322,0,0,0,0,0,0
$GC,7071,1.99,215.3,497.4,6.1,293,7147,0.68,2.65,68.25,0.899,6,0.051,0.045,3286,2045,2002,0,0,0,0,0,0
$GC,7412,2.41,270.6,475.2,7.3,302,7464,0.32,0.00,48.38,0.892,6,0.075,0.000,3379,2045,1776,0,0,0,0,0,0
$GC,7697,2.41,270.6,432.7,15.8,309,7701,0.00,2.67,0.00,0.000,4,0.000,0.055,3379,3640,1769,0,0,0,0,0,0
$GC,7726,2.46,270.6,428.5,16.2,309,7730,0.00,2.58,0.00,0.000,6,0.000,0.044,3379,2114,1768,0,0,0,0,0,0
$GC,7975,2.46,270.6,388.3,16.1,315,7980,0.00,3.00,0.00,0.000,4,0.000,0.091,3379,476,1767,0,0,0,0,0,0
$GC,8014,2.46,270.6,381.8,16.6,316,8019,0.00,2.62,0.00,0.000,6,0.000,0.028,3379,2102,1766,0,0,0,0,0,0
$GC,8299,2.49,270.6,341.2,13.9,323,8303,0.00,2.55,0.00,0.000,4,0.000,0.041,3379,3649,1766,0,0,0,0,0,0
$GC,8315,2.53,270.6,338.8,13.4,323,8320,0.10,2.58,0.00,0.000,6,0.092,0.034,3404,2085,1765,0,0,0,0,0,0
$GC,8576,2.53,270.6,302.0,14.1,330,8577,0.00,0.00,0.00,0.000,6,0.000,0.000,3403,2085,1765,0,0,0,0,0,0
$GC,8821,2.53,270.6,268.1,13.8,336,8825,0.00,2.55,0.00,0.000,4,0.000,0.036,3404,3652,1764,0,0,0,0,0,0
$GC,8870,2.58,270.6,261.0,12.8,337,8875,0.00,2.55,0.00,0.000,6,0.000,0.031,3403,2085,1763,0,0,0,0,0,0
$GC,9142,2.58,270.6,226.1,12.9,344,9147,0.00,2.75,0.00,0.000,4,0.000,0.069,3403,471,1763,0,0,0,0,0,0
$GC,9165,2.58,270.6,222.9,14.6,344,9170,0.00,2.60,0.00,0.000,6,0.000,0.022,3404,2113,1762,0,0,0,0,0,0
$GC,9423,2.58,270.6,186.1,15.5,357,9428,0.00,2.50,0.00,0.000,4,0.000,0.037,3404,3654,1762,0,0,0,0,0,0
$GC,9448,2.63,270.6,182.2,15.6,358,9454,0.00,2.53,0.00,0.000,6,0.000,0.037,3403,2091,1762,0,0,0,0,0,0
$GC,9716,2.67,270.6,145.3,13.5,383,9721,0.12,2.72,0.00,0.000,4,0.092,0.057,3436,464,1762,0,0,0,0,0,0
$GC,9738,2.67,270.6,140.8,14.5,384,9747,0.00,2.62,0.00,0.000,6,0.000,0.023,3436,2114,1761,0,0,0,0,0,0
$GC,10005,2.67,270.6,104.9,12.8,409,10010,0.00,2.47,0.00,0.000,4,0.000,0.038,3436,3652,1761,0,0,0,0,0,0
$GC,10108,2.72,270.6,91.3,12.6,417,10112,0.00,2.47,0.00,0.000,6,0.000,0.033,3436,2119,1761,0,0,0,0,0,0
$GC,10376,2.72,270.6,59.7,10.6,441,10380,0.00,2.75,0.00,0.000,4,0.000,0.054,3436,465,1762,0,0,0,0,0,0
$GC,10421,2.72,270.6,54.3,12.1,444,10426,0.00,2.62,0.00,0.000,6,0.000,0.020,3436,2143,1762,0,0,0,0,0,0
$GC,10709,2.72,270.6,18.0,14.1,474,10718,0.00,2.40,0.00,0.000,4,0.000,0.036,3436,3642,1762,0,0,0,0,0,0
$GC,10749,2.77,270.6,12.6,13.0,479,10758,0.00,2.45,0.00,0.000,6,0.000,0.028,3436,2124,1763,0,0,0,0,0,0
$STATE,10813,end climb,SURFACE_DEPTH_REACHED
$STATE,10813,begin surface coast
$FINISH,-0.8,1.016904
$STATE,10849,end surface coast,CONTROL_FINISHED_OK
$STATE,10849,begin surface
$SM_CCo,10870,142.68,0.525,0,0,1044,450.13
$SM_GC,-0.16,0.00,0.00,142.68,0.000,0.000,0.525,476,2119,1044,-10.92,0.57,450.13
$IRIDIUM_FIX,2230.01,-15811.48,180801,202039
$TT8_MAMPS,0.026078
$HUMID,59.96
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,21.30
$XPDR_PINGS,56
$24V_AH,23.3,3.134
$10V_AH,10.4,3.108
$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,29.625,155.850,340.650,142.675,0.000,65.501,63.724,236.223,14.000,0.000,12.912,1062.551,7395.589,583.359,1859.616,685.932,33.343,1351.884,0.000,1860.708,0.000,0.536,0.000
$DEVICE_MAMPS,176.410,108.914,954.915,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.188,257.863,356.122,635.097,960.407,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356024
$DATA_FILE_SIZE,38430,493
$CAP_FILE_SIZE,124179,0
$CFSIZE,260165632,146186240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240512,235100,2238.258,-15809.291,31,1.2,41,10.0