version: 66.06
glider: 147
mission: 5
dive: 105
start: 7 19 110 15 8 17
data:
$ID,147
$MISSION,5
$DIVE,105
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1020
$D_NO_BLEED,80
$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,300
$T_MISSION,620
$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,110
$COURSE_BIAS,0
$GLIDE_SLOPE,30
$SPEED_FACTOR,1
$RHO,1.023
$MASS,52418
$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,8
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,5
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-20847.398
$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,2680
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,15
$PITCH_TIMEOUT,15
$PITCH_AD_RATE,160
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,40
$C_ROLL_DIVE,2320
$C_ROLL_CLIMB,2400
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,20
$R_STBD_OVSHOOT,26
$ROLL_AD_RATE,350
$ROLL_MAXERRORS,1
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,477
$VBD_MAX,3951
$C_VBD,3519
$VBD_DBAND,2
$VBD_CNV,-0.245296
$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,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,92
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-27.612097
$PRESSURE_SLOPE,0.000116148
$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,3
$ALTIM_SENSITIVITY,2
$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,0.0042834701
$SEABIRD_T_H,0.00062685186
$SEABIRD_T_I,2.2120101e-05
$SEABIRD_T_J,2.1369924e-06
$SEABIRD_C_G,-9.8335438
$SEABIRD_C_H,1.0998563
$SEABIRD_C_I,-0.0012027813
$SEABIRD_C_J,0.00017447164
$GPS1,150037,2210.069,-15809.934,99,1.1,99,10.0
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.90
$_SM_ANGLEo,-67.9
$GPS2,150726,2210.058,-15809.927,11,1.7,11,10.0
$SPEED_LIMITS,0.173,0.226
$TGT_NAME,INT4
$TGT_LATLONG,2224.500,-15805.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.073,0.213
$KALMAN_X,30.6,30.6,30.6,245.8,-31.0
$KALMAN_Y,-199.6,-199.6,-199.6,3135.4,201.6
$MHEAD_RNG_PITCHd_Wd,8.8,28045,-20.6,-10.000
$D_GRID,900
$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,-1.51,-107.5,0.0,0.0,0,90,0.00,0.00,-72.07,0.000,2,0.000,0.000,479,2255,3543,0,0,0,0,0,0
$GC,95,-1.51,-107.5,5.1,-5.1,5,126,10.77,2.45,-6.85,0.000,4,0.182,0.052,2343,3725,3954,0,0,0,0,0,0
$GC,159,-1.51,-107.5,38.1,-39.5,9,176,0.00,2.30,0.00,0.000,6,0.000,0.029,2343,2306,3955,0,0,0,0,0,0
$GC,477,-1.51,-107.5,123.0,-24.5,34,481,0.00,2.30,0.00,0.000,4,0.000,0.050,2343,906,3956,0,0,0,0,0,0
$GC,548,-1.51,-107.5,139.0,-20.4,38,553,0.00,2.25,0.00,0.000,6,0.000,0.030,2342,2325,3957,0,0,0,0,0,0
$GC,846,-1.51,-107.5,199.8,-21.2,63,850,0.00,2.30,0.00,0.000,4,0.000,0.049,2343,3720,3958,0,0,0,0,0,0
$GC,872,-1.51,-107.5,207.5,-22.1,63,877,0.00,2.22,0.00,0.000,6,0.000,0.028,2343,2309,3958,0,0,0,0,0,0
$GC,1128,-1.51,-107.5,257.7,-19.5,70,1129,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2309,3958,0,0,0,0,0,0
$GC,1380,-1.51,-107.5,301.5,-18.0,76,1384,0.00,2.40,0.00,0.000,4,0.000,0.065,2343,3715,3958,0,0,0,0,0,0
$GC,1401,-1.51,-107.5,307.0,-18.2,76,1405,0.00,2.25,0.00,0.000,6,0.000,0.034,2343,2319,3958,0,0,0,0,0,0
$GC,1662,-1.51,-107.5,351.8,-17.0,83,1666,0.00,2.40,0.00,0.000,4,0.000,0.068,2343,3715,3958,0,0,0,0,0,0
$GC,1684,-1.51,-107.5,355.5,-16.7,83,1688,0.00,2.28,0.00,0.000,6,0.000,0.041,2343,2327,3958,0,0,0,0,0,0
$GC,1944,-1.51,-107.5,400.2,-17.1,90,1945,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2327,3958,0,0,0,0,0,0
$GC,2197,-1.51,-107.5,441.0,-16.7,96,2198,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2327,3958,0,0,0,0,0,0
$GC,2433,-1.51,-107.5,479.3,-15.7,102,2434,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2327,3956,0,0,0,0,0,0
$GC,2676,-1.51,-107.5,517.0,-15.3,108,2680,0.00,2.67,0.00,0.000,4,0.000,0.118,2343,914,3954,0,0,0,0,0,0
$GC,2702,-1.51,-107.5,521.0,-14.7,108,2706,0.00,2.38,0.00,0.000,6,0.000,0.063,2343,2302,3954,0,0,0,0,0,0
$GC,2958,-1.51,-107.5,558.3,-14.6,115,2960,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2302,3952,0,0,0,0,0,0
$GC,3210,-1.51,-107.5,594.3,-14.8,121,3215,0.00,2.83,0.00,0.000,4,0.000,0.140,2343,3729,3950,0,0,0,0,0,0
$GC,3249,-1.51,-107.5,601.5,-14.7,122,3254,0.00,2.53,0.00,0.000,6,0.000,0.089,2343,2328,3949,0,0,0,0,0,0
$GC,3533,-1.51,-107.5,641.2,-13.8,129,3534,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2328,3947,0,0,0,0,0,0
$GC,3776,-1.51,-107.5,675.4,-14.0,135,3781,0.00,2.92,0.00,0.000,4,0.000,0.160,2343,910,3945,0,0,0,0,0,0
$GC,3797,-1.51,-107.5,678.4,-13.8,135,3802,0.00,2.75,0.00,0.000,6,0.000,0.130,2343,2315,3944,0,0,0,0,0,0
$GC,4053,-1.51,-107.5,713.9,-13.9,142,4058,0.00,3.15,0.00,0.000,4,0.000,0.194,2343,3735,3942,0,0,0,0,0,0
$GC,4080,-1.51,-107.5,718.0,-15.0,142,4085,0.00,2.88,0.00,0.000,6,0.000,0.146,2343,2321,3942,0,0,0,0,0,0
$GC,4330,-1.51,-107.5,753.0,-14.0,148,4335,0.00,3.33,0.00,0.000,4,0.000,0.209,2344,3731,3940,0,0,1,0,0,0
$GC,4351,-1.51,-107.5,756.1,-14.1,148,4356,0.00,3.00,0.00,0.000,6,0.000,0.170,2343,2321,3940,0,0,1,0,0,0
$GC,4607,-1.51,-107.5,790.2,-13.3,155,4608,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2321,3939,0,0,0,0,0,0
$GC,4857,-1.51,-107.5,821.7,-12.8,161,4863,0.00,3.58,0.00,0.000,4,0.000,0.248,2343,906,3937,0,0,0,0,0,0
$GC,4879,-1.51,-107.5,825.6,-12.5,161,4885,0.00,3.45,0.00,0.000,6,0.000,0.227,2343,2317,3937,0,0,1,0,0,0
$GC,5135,-1.51,-107.5,856.9,-12.1,168,5143,0.00,4.15,0.00,0.000,4,0.000,0.297,2343,3732,3935,0,0,0,0,0,0
$GC,5172,-1.51,-107.5,861.9,-12.9,168,5179,0.00,3.67,0.00,0.000,6,0.000,0.250,2343,2326,3934,0,0,1,0,0,0
$GC,5422,-1.51,-107.5,893.2,-12.6,175,5423,0.00,0.00,0.00,0.000,6,0.000,0.000,2343,2326,3933,0,0,0,0,0,0
$STATE,5501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5501,begin apogee
$GC,5508,-0.33,0.0,903.5,12.5,177,5603,1.25,0.00,91.03,1.231,6,0.100,0.000,2602,2399,3519,0,0,0,0,0,0
$STATE,5603,end apogee,CONTROL_FINISHED_OK
$STATE,5603,begin climb
$GC,5606,1.51,107.5,906.9,0.0,179,5715,1.73,5.10,95.55,1.210,4,0.038,0.344,3011,3805,3079,0,0,15,0,0,0
$GC,5863,1.84,380.4,925.8,-7.1,184,6132,0.30,4.30,249.30,1.216,6,0.053,0.298,3086,2401,1966,0,0,1,0,0,0
$GC,6366,1.84,380.4,867.9,18.4,197,6373,0.00,3.90,0.00,0.000,4,0.000,0.270,3086,986,1958,0,0,0,0,0,0
$GC,6391,1.84,380.4,862.9,18.6,197,6397,0.00,3.80,0.00,0.000,6,0.000,0.255,3086,2401,1957,0,0,1,0,0,0
$GC,6647,1.84,380.4,816.9,18.1,204,6648,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,1956,0,0,0,0,0,0
$GC,6890,1.84,380.4,773.0,17.9,210,6892,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,1955,0,0,0,0,0,0
$GC,7144,1.84,380.4,729.3,17.7,216,7145,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2402,1954,0,0,0,0,0,0
$GC,7378,1.84,380.4,684.6,18.5,222,7379,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,1953,0,0,0,0,0,0
$GC,7622,1.84,380.4,639.2,18.8,228,7623,0.00,0.00,0.00,0.000,6,0.000,0.000,3086,2403,1953,0,0,0,0,0,0
$GC,7866,1.84,380.4,594.0,18.5,234,7870,0.00,2.62,0.00,0.000,4,0.000,0.103,3086,3823,1952,0,0,0,0,0,0
$GC,7887,1.84,380.4,589.8,18.7,234,7891,0.00,2.47,0.00,0.000,6,0.000,0.062,3086,2389,1952,0,0,0,0,0,0
$GC,8150,1.84,380.4,543.9,17.8,241,8154,0.00,2.55,0.00,0.000,4,0.000,0.096,3086,986,1951,0,0,0,0,0,0
$GC,8165,1.84,380.4,539.6,17.7,241,8169,0.00,2.42,0.00,0.000,6,0.000,0.057,3086,2412,1950,0,0,0,0,0,0
$GC,8433,1.84,380.4,492.9,17.6,248,8437,0.00,2.50,0.00,0.000,4,0.000,0.073,3086,987,1951,0,0,0,0,0,0
$GC,8465,1.84,380.4,486.7,18.7,248,8471,0.00,2.38,0.00,0.000,6,0.000,0.046,3086,2405,1951,0,0,0,0,0,0
$GC,8715,1.84,380.4,442.5,17.6,255,8719,0.00,2.45,0.00,0.000,4,0.000,0.065,3086,980,1950,0,0,0,0,0,0
$GC,8725,1.84,380.4,440.6,17.7,255,8729,0.00,2.33,0.00,0.000,6,0.000,0.036,3086,2409,1950,0,0,0,0,0,0
$GC,8991,1.84,380.4,396.9,15.9,262,8995,0.00,2.42,0.00,0.000,4,0.000,0.076,3086,3803,1950,0,0,0,0,0,0
$GC,9006,1.84,380.4,394.5,15.5,262,9010,0.00,2.28,0.00,0.000,6,0.000,0.033,3086,2390,1949,0,0,0,0,0,0
$GC,9274,1.84,380.4,354.3,15.1,269,9278,0.00,2.42,0.00,0.000,4,0.000,0.077,3086,994,1949,0,0,0,0,0,0
$GC,9284,1.84,380.4,352.5,15.3,269,9288,0.00,2.28,0.00,0.000,6,0.000,0.033,3086,2406,1949,0,0,0,0,0,0
$GC,9557,1.84,380.4,308.3,16.8,276,9561,0.00,2.40,0.00,0.000,4,0.000,0.058,3086,994,1949,0,0,0,0,0,0
$GC,9574,1.84,380.4,304.2,16.4,276,9578,0.00,2.28,0.00,0.000,6,0.000,0.034,3086,2406,1949,0,0,0,0,0,0
$GC,9834,1.84,380.4,265.2,14.7,283,9838,0.00,2.40,0.00,0.000,4,0.000,0.057,3086,991,1949,0,0,0,0,0,0
$GC,9866,1.84,380.4,260.7,13.5,283,9872,0.00,2.30,0.00,0.000,6,0.000,0.033,3086,2407,1948,0,0,0,0,0,0
$GC,10117,1.84,380.4,228.7,13.0,290,10121,0.00,2.38,0.00,0.000,4,0.000,0.057,3086,994,1949,0,0,0,0,0,0
$GC,10132,1.84,380.4,226.1,13.8,290,10137,0.00,2.25,0.00,0.000,6,0.000,0.031,3086,2405,1948,0,0,0,0,0,0
$GC,10401,1.84,380.4,189.0,14.8,301,10406,0.00,2.40,0.00,0.000,4,0.000,0.058,3086,987,1949,0,0,0,0,0,0
$GC,10428,1.84,380.4,182.9,15.8,302,10441,0.00,2.30,0.00,0.000,6,0.000,0.031,3086,2400,1949,0,0,0,0,0,0
$GC,10725,1.84,380.4,140.2,13.8,327,10729,0.00,2.35,0.00,0.000,4,0.000,0.054,3086,990,1949,0,0,0,0,0,0
$GC,10735,1.84,380.4,137.1,14.5,327,10749,0.00,2.28,0.00,0.000,6,0.000,0.029,3086,2400,1949,0,0,0,0,0,0
$GC,11039,1.87,402.9,105.2,8.6,352,11063,0.00,2.40,19.02,0.605,4,0.000,0.058,3086,3802,1876,0,0,0,0,0,0
$GC,11120,1.87,402.9,96.0,12.2,356,11125,0.00,2.25,0.00,0.000,6,0.000,0.030,3086,2393,1874,0,0,0,0,0,0
$GC,11436,1.87,402.9,56.2,12.5,380,11440,0.00,2.40,0.00,0.000,4,0.000,0.067,3086,991,1873,0,0,0,0,0,0
$GC,11617,1.89,414.7,36.1,9.3,389,11636,0.00,2.28,12.20,0.517,6,0.000,0.029,3086,2395,1827,0,0,0,0,0,0
$STATE,11912,end climb,SURFACE_DEPTH_REACHED
$STATE,11912,begin surface coast
$FINISH,1.3,1.023149
$STATE,12007,end surface coast,CONTROL_FINISHED_OK
$STATE,12007,begin surface
$SM_CCo,12028,4.12,0.363,0,0,1806,420.19
$SM_GC,3.15,0.00,0.00,4.12,0.000,0.000,0.363,478,2269,1806,-10.13,-1.44,420.19
$IRIDIUM_FIX,2159.71,-15808.46,131099,111125
$TT8_MAMPS,0.027612
$HUMID,39.32
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,24.30
$XPDR_PINGS,0
$24V_AH,23.6,12.913
$10V_AH,10.1,11.875
$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,24.850,145.700,467.100,4.125,0.000,30.368,30.453,205.130,0.000,0.000,13.131,910.591,7526.880,471.475,2935.277,586.608,30.190,1242.718,0.000,2982.921,0.000,0.538,0.000
$DEVICE_MAMPS,181.779,343.616,1231.035,362.791,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,288.375,169.561,2060.033,1082.744,1318.368,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355856
$DATA_FILE_SIZE,32119,418
$CAP_FILE_SIZE,156506,123
$CFSIZE,260165632,213495808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,22,0,0
$GPS,190710,183055,2211.663,-15808.855,84,1.1,84,10.0