version: 66.06
glider: 146
mission: 7
dive: 39
start: 5 28 112 14 59 13
data:
$ID,146
$MISSION,7
$DIVE,39
$D_SURF,4
$D_FLARE,3
$D_TGT,700
$D_ABORT,800
$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,233
$T_MISSION,500
$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,-288560.84
$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,2900
$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,2150
$C_ROLL_CLIMB,2100
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,14
$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,2950
$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
$GPS1,144055,2244.052,-15800.119,36,1.9,36,10.1
$_CALLS,5
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,-0.10
$_SM_ANGLEo,-64.9
$GPS2,145819,2244.026,-15800.184,12,1.8,29,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,900.000
$KALMAN_CONTROL,0.110,0.108
$KALMAN_X,-69220.2,53.3,258.7,74953.3,-1222.9
$KALMAN_Y,-21096.4,52.8,-28.4,27449.1,292.5
$MHEAD_RNG_PITCHd_Wd,35.5,1831,-30.5,-10.014
$D_GRID,700
$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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,20,-1.97,-50.5,0.0,0.0,0,114,0.00,0.00,-88.53,0.000,6,0.000,0.000,473,2136,3156,0,0,0,0,0,0
$GC,117,-2.04,-109.6,0.8,-2.2,12,143,10.90,0.00,-6.75,0.000,6,0.173,0.000,2447,2136,3397,0,0,0,0,0,0
$GC,423,-1.62,-109.6,74.2,-24.5,47,429,0.47,2.60,0.00,0.000,4,0.146,0.028,2539,3762,3397,0,0,0,0,0,0
$GC,470,-1.33,-109.6,86.8,-21.8,50,479,0.32,2.58,0.00,0.000,6,0.146,0.021,2603,2139,3397,0,0,0,0,0,0
$GC,739,-1.14,-109.6,135.8,-18.6,75,744,0.22,2.60,0.00,0.000,4,0.148,0.035,2645,3754,3398,0,0,0,0,0,0
$GC,775,-1.01,-109.6,142.3,-17.6,77,780,0.15,2.50,0.00,0.000,6,0.144,0.025,2674,2140,3398,0,0,0,0,0,0
$GC,1039,-0.96,-109.6,179.9,-12.5,101,1044,0.00,2.55,0.00,0.000,4,0.000,0.054,2674,587,3398,0,0,0,0,0,0
$GC,1056,-0.89,-109.6,182.5,-12.8,102,1062,0.15,2.45,0.00,0.000,6,0.146,0.018,2700,2184,3398,0,0,0,0,0,0
$GC,1346,-0.89,-109.6,212.6,-10.1,120,1351,0.00,2.45,0.00,0.000,4,0.000,0.039,2700,3716,3398,0,0,0,0,0,0
$GC,1454,-0.89,-109.6,225.6,-12.2,122,1458,0.00,2.45,0.00,0.000,6,0.000,0.022,2700,2144,3399,0,0,0,0,0,0
$GC,1714,-0.89,-109.6,255.2,-11.4,129,1719,0.00,2.53,0.00,0.000,4,0.000,0.035,2701,3710,3399,0,0,0,0,0,0
$GC,1863,-0.89,-109.6,272.8,-11.3,132,1867,0.00,2.47,0.00,0.000,6,0.000,0.026,2701,2159,3399,0,0,0,0,0,0
$GC,2129,-0.90,-113.9,299.2,-9.4,139,2133,0.00,2.70,0.00,0.000,4,0.000,0.071,2701,575,3398,0,0,0,0,0,0
$GC,2144,-0.90,-120.5,300.8,-9.1,139,2149,0.00,2.47,0.00,0.000,6,0.000,0.032,2701,2138,3398,0,0,0,0,0,0
$GC,2407,-0.92,-129.7,324.3,-8.8,146,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,2138,3397,0,0,0,0,0,0
$GC,2650,-0.97,-136.3,346.0,-8.9,152,2654,0.00,2.67,0.00,0.000,4,0.000,0.070,2701,576,3396,0,0,0,0,0,0
$GC,2700,-0.97,-136.3,351.3,-10.7,153,2705,0.00,2.58,0.00,0.000,6,0.000,0.033,2701,2164,3396,0,0,0,0,0,0
$GC,2973,-1.02,-136.3,377.2,-9.5,160,2978,0.10,2.62,0.00,0.000,4,0.091,0.051,2668,3736,3394,0,0,0,0,0,0
$GC,3034,-1.02,-136.3,383.9,-10.9,161,3039,0.00,2.53,0.00,0.000,6,0.000,0.038,2668,2188,3394,0,0,0,0,0,0
$GC,3296,-1.02,-136.3,409.3,-9.6,168,3300,0.00,2.92,0.00,0.000,4,0.000,0.091,2667,562,3393,0,0,0,0,0,0
$GC,3398,-0.96,-136.3,418.9,-9.3,170,3403,0.10,2.60,0.00,0.000,6,0.146,0.040,2686,2154,3392,0,0,0,0,0,0
$GC,3665,-0.96,-136.3,441.8,-8.5,177,3669,0.00,2.67,0.00,0.000,4,0.000,0.064,2686,3742,3390,0,0,0,0,0,0
$GC,3877,-0.96,-136.3,461.0,-8.3,181,3882,0.00,2.62,0.00,0.000,6,0.000,0.054,2686,2178,3390,0,0,0,0,0,0
$GC,4127,-1.00,-136.3,480.8,-7.8,188,4128,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,2178,3388,0,0,0,0,0,0
$GC,4373,-1.04,-136.3,501.4,-8.5,194,4377,0.00,2.67,0.00,0.000,4,0.000,0.068,2686,3732,3386,0,0,0,0,0,0
$GC,4531,-1.04,-136.3,517.4,-10.1,197,4536,0.00,2.67,0.00,0.000,6,0.000,0.061,2687,2164,3385,0,0,0,0,0,0
$GC,4789,-1.09,-136.3,542.2,-9.6,204,4794,0.10,2.75,0.00,0.000,4,0.094,0.073,2655,3735,3384,0,0,0,0,0,0
$GC,4957,-1.05,-136.3,560.5,-10.6,207,4962,0.00,2.67,0.00,0.000,6,0.000,0.066,2655,2184,3383,0,0,0,0,0,0
$GC,5208,-1.05,-136.3,586.0,-10.4,214,5213,0.00,2.70,0.00,0.000,4,0.000,0.080,2655,3730,3381,0,0,0,0,0,0
$GC,5343,-1.01,-136.3,600.3,-10.3,217,5349,0.10,2.70,0.00,0.000,6,0.146,0.071,2675,2196,3380,0,0,0,0,0,0
$GC,5622,-1.01,-136.3,625.1,-8.4,224,5626,0.00,2.78,0.00,0.000,4,0.000,0.087,2674,3736,3378,0,0,0,0,0,0
$GC,5639,-1.01,-136.3,626.5,-8.0,224,5643,0.00,2.78,0.00,0.000,6,0.000,0.084,2674,2186,3379,0,0,0,0,0,0
$GC,5900,-1.01,-136.3,644.6,-6.7,231,5905,0.00,3.20,0.00,0.000,4,0.000,0.136,2674,564,3377,0,0,0,0,0,0
$GC,5917,-1.01,-136.3,645.6,-6.3,231,5922,0.00,2.83,0.00,0.000,6,0.000,0.074,2674,2169,3377,0,0,0,0,0,0
$GC,6179,-1.01,-136.3,660.9,-5.9,238,6184,0.00,2.95,0.00,0.000,4,0.000,0.117,2675,3744,3375,0,0,0,0,0,0
$GC,6348,-1.01,-136.3,672.0,-7.2,241,6354,0.00,2.75,0.00,0.000,6,0.000,0.076,2674,2197,3375,0,0,0,0,0,0
$GC,6600,-1.05,-136.3,688.2,-6.6,248,6605,0.00,2.80,0.00,0.000,4,0.000,0.088,2674,3746,3373,0,0,0,0,0,0
$GC,6655,-1.05,-136.3,692.6,-7.5,249,6660,0.00,2.72,0.00,0.000,6,0.000,0.072,2674,2203,3373,0,0,0,0,0,0
$STATE,6756,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6757,begin apogee
$GC,6763,-0.31,0.0,700.1,7.2,252,6854,0.77,0.00,87.70,1.109,6,0.123,0.000,2830,2098,2950,0,0,0,0,0,0
$STATE,6854,end apogee,CONTROL_FINISHED_OK
$STATE,6854,begin climb
$GC,6859,2.08,136.3,703.0,0.0,254,6991,2.35,3.22,120.88,1.072,4,0.086,0.134,3348,516,2394,0,0,0,0,0,0
$GC,7004,2.44,136.7,692.8,10.0,257,7009,0.38,2.78,0.00,0.000,6,0.064,0.060,3435,2102,2390,0,0,0,0,0,0
$GC,7266,2.67,136.7,657.8,13.5,264,7271,0.20,2.88,0.00,0.000,4,0.110,0.082,3482,3694,2384,0,0,0,0,0,0
$GC,7333,2.81,136.7,647.2,15.9,265,7338,0.12,2.78,0.00,0.000,6,0.104,0.063,3510,2107,2382,0,0,0,0,0,0
$GC,7592,2.90,136.7,602.5,17.5,272,7597,0.00,2.70,0.00,0.000,4,0.000,0.054,3510,3699,2381,0,0,0,0,0,0
$GC,7620,2.99,136.7,597.0,18.2,272,7625,0.17,2.75,0.00,0.000,6,0.094,0.054,3547,2111,2380,0,0,0,0,0,0
$GC,7871,2.99,136.7,548.8,19.5,278,7876,0.00,2.70,0.00,0.000,4,0.000,0.051,3547,3696,2379,0,0,0,0,0,0
$GC,8017,2.99,136.7,519.7,20.0,281,8022,0.00,2.65,0.00,0.000,6,0.000,0.053,3548,2137,2378,0,0,0,0,0,0
$GC,8283,2.99,136.7,471.3,17.8,288,8288,0.00,2.62,0.00,0.000,4,0.000,0.050,3547,3704,2376,0,0,0,0,0,0
$GC,8363,3.04,136.7,457.1,17.5,289,8368,0.00,2.60,0.00,0.000,6,0.000,0.043,3547,2161,2376,0,0,0,0,0,0
$GC,8613,3.09,136.7,414.6,16.9,296,8618,0.10,2.58,0.00,0.000,4,0.114,0.048,3570,3707,2375,0,0,0,0,0,0
$GC,8797,3.09,136.7,378.1,20.5,300,8801,0.00,2.50,0.00,0.000,6,0.000,0.043,3570,2185,2374,0,0,0,0,0,0
$GC,9069,3.09,136.7,326.5,19.4,307,9074,0.00,2.53,0.00,0.000,4,0.000,0.043,3570,3703,2374,0,0,0,0,0,0
$GC,9235,3.09,136.7,293.4,20.1,310,9239,0.00,2.45,0.00,0.000,6,0.000,0.033,3570,2207,2374,0,0,0,0,0,0
$GC,9485,3.13,136.7,248.0,17.4,316,9489,0.00,2.45,0.00,0.000,4,0.000,0.044,3570,3703,2373,0,0,0,0,0,0
$GC,9574,3.17,136.7,233.4,16.9,318,9578,0.00,2.40,0.00,0.000,6,0.000,0.033,3570,2224,2373,0,0,0,0,0,0
$GC,9834,3.23,136.7,197.2,13.2,326,9839,0.15,2.40,0.00,0.000,4,0.080,0.046,3607,3702,2373,0,0,0,0,0,0
$GC,9901,3.23,136.7,187.5,16.4,331,9905,0.00,2.38,0.00,0.000,6,0.000,0.031,3607,2239,2372,0,0,0,0,0,0
$GC,10169,3.23,136.7,145.9,17.4,355,10173,0.00,2.38,0.00,0.000,4,0.000,0.042,3607,3709,2373,0,0,0,0,0,0
$GC,10322,3.23,136.7,116.8,18.5,367,10326,0.00,2.33,0.00,0.000,6,0.000,0.030,3607,2270,2372,0,0,0,0,0,0
$GC,10590,3.23,136.7,69.2,18.3,391,10594,0.00,2.33,0.00,0.000,4,0.000,0.038,3607,3703,2372,0,0,0,0,0,0
$GC,10709,3.23,136.7,47.8,17.0,400,10713,0.00,2.28,0.00,0.000,6,0.000,0.031,3606,2292,2373,0,0,0,0,0,0
$STATE,10991,end climb,SURFACE_DEPTH_REACHED
$STATE,10991,begin surface coast
$FINISH,-0.5,1.023819
$STATE,11020,end surface coast,CONTROL_FINISHED_OK
$STATE,11020,begin surface
$SM_CCo,11043,250.55,0.530,0,0,1115,450.13
$SM_GC,0.04,0.00,0.00,250.55,0.000,0.000,0.530,472,2096,1115,-11.17,-1.53,450.13
$IRIDIUM_FIX,2237.01,-15802.37,220801,141452
$TT8_MAMPS,0.026078
$HUMID,58.23
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,20.20
$XPDR_PINGS,52
$24V_AH,23.3,6.326
$10V_AH,10.4,5.739
$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,29.600,147.650,208.575,250.550,0.000,149.387,214.966,277.245,13.000,0.000,30.707,1028.429,7880.155,577.267,1892.477,962.093,33.348,1370.535,0.000,1863.155,0.000,0.534,0.000
$DEVICE_MAMPS,172.575,135.759,1109.082,529.997,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,298.121,209.937,278.450,495.215,748.995,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356048
$DATA_FILE_SIZE,35199,438
$CAP_FILE_SIZE,123809,0
$CFSIZE,260165632,144777216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280512,180836,2244.627,-15800.321,27,1.2,27,10.1