version: 66.06
glider: 146
mission: 5
dive: 152
start: 9 6 110 13 22 39
data:
$ID,146
$MISSION,5
$DIVE,152
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,1040
$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,208
$T_MISSION,400
$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,-250379.72
$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,50
$R_STBD_OVSHOOT,68
$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
$GPS1,131534,2253.562,-15749.254,11,99.0,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.92
$_SM_ANGLEo,-65.7
$GPS2,132144,2253.521,-15749.352,15,1.2,15,10.1
$SPEED_LIMITS,0.114,0.218
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.215,-0.037
$KALMAN_X,-160568.0,178.1,-179.6,197149.2,-2066.7
$KALMAN_Y,-6544.1,-430.1,-452.7,142514.4,54.9
$MHEAD_RNG_PITCHd_Wd,89.7,15087,-16.1,-8.013
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.15,-116.8,0.0,0.0,0,106,0.00,0.00,-86.05,0.000,2,0.000,0.000,473,1739,3466,0,0,0,0,0,0
$GC,109,-1.15,-116.8,4.4,-6.1,11,126,11.40,0.00,-0.17,0.000,6,0.135,0.000,2740,1739,3478,0,0,0,0,0,0
$GC,401,-0.98,-116.8,59.7,-14.4,43,410,0.20,0.00,0.00,0.000,6,0.097,0.000,2783,1739,3480,0,0,0,0,0,0
$GC,662,-0.98,-116.8,86.7,-8.7,68,667,0.00,2.58,0.00,0.000,4,0.000,0.064,2783,211,3480,0,0,0,0,0,0
$GC,683,-0.98,-116.8,88.6,-9.3,69,687,0.00,2.35,0.00,0.000,6,0.000,0.015,2783,1800,3480,0,0,0,0,0,0
$GC,949,-0.98,-116.8,114.3,-11.1,93,954,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1802,3480,0,0,0,0,0,0
$GC,1211,-0.98,-116.8,140.1,-8.7,118,1216,0.00,2.72,0.00,0.000,4,0.000,0.066,2783,210,3481,0,0,0,0,0,0
$GC,1256,-0.98,-116.8,144.0,-10.3,121,1261,0.00,2.30,0.00,0.000,6,0.000,0.021,2783,1759,3481,0,0,0,0,0,0
$GC,1525,-1.02,-116.8,164.9,-6.6,145,1529,0.00,2.42,0.00,0.000,4,0.000,0.025,2783,3311,3482,0,0,0,0,0,0
$GC,1546,-1.07,-116.8,166.9,-6.8,146,1552,0.00,2.42,0.00,0.000,6,0.000,0.032,2783,1780,3482,0,0,0,0,0,0
$GC,1811,-1.12,-116.8,186.1,-8.0,171,1820,0.12,0.00,0.00,0.000,6,0.216,0.000,2742,1780,3482,0,0,0,0,0,0
$GC,2077,-1.08,-116.8,213.5,-10.4,188,2082,0.10,2.72,0.00,0.000,4,0.114,0.070,2764,197,3481,0,0,0,0,0,0
$GC,2110,-1.08,-116.8,217.0,-10.5,188,2115,0.00,2.33,0.00,0.000,6,0.000,0.019,2764,1746,3481,0,0,0,0,0,0
$GC,2361,-1.08,-116.8,239.7,-9.0,195,2365,0.00,2.45,0.00,0.000,4,0.000,0.030,2764,3325,3481,0,0,0,0,0,0
$GC,2387,-1.08,-116.8,242.1,-8.2,195,2392,0.00,2.47,0.00,0.000,6,0.000,0.035,2764,1764,3481,0,0,0,0,0,0
$GC,2638,-1.08,-116.8,260.7,-7.4,201,2642,0.00,2.67,0.00,0.000,4,0.000,0.070,2764,195,3481,0,0,0,0,0,0
$GC,2688,-1.08,-116.8,264.9,-8.1,202,2693,0.00,2.35,0.00,0.000,6,0.000,0.017,2764,1754,3481,0,0,0,0,0,0
$GC,2961,-1.08,-116.8,284.5,-7.1,209,2965,0.00,2.50,0.00,0.000,4,0.000,0.031,2764,3335,3481,0,0,0,0,0,0
$GC,3005,-1.16,-116.8,287.9,-7.6,210,3010,0.00,2.53,0.00,0.000,6,0.000,0.038,2764,1756,3481,0,0,0,0,0,0
$GC,3285,-1.20,-116.8,309.1,-7.9,217,3290,0.12,2.72,0.00,0.000,4,0.074,0.077,2723,193,3480,0,0,0,0,0,0
$GC,3307,-1.20,-116.8,311.6,-10.5,217,3311,0.00,2.40,0.00,0.000,6,0.000,0.025,2723,1744,3480,0,0,0,0,0,0
$GC,3567,-1.20,-116.8,338.5,-10.3,224,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1744,3480,0,0,0,0,0,0
$GC,3812,-1.20,-116.8,361.3,-9.0,230,3813,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1744,3478,0,0,0,0,0,0
$GC,4057,-1.20,-116.8,380.9,-7.8,236,4061,0.00,2.62,0.00,0.000,4,0.000,0.051,2723,3340,3477,0,0,0,0,0,0
$GC,4096,-1.20,-116.8,384.1,-7.8,237,4101,0.00,2.65,0.00,0.000,6,0.000,0.054,2723,1764,3477,0,0,0,0,0,0
$GC,4380,-1.20,-116.8,406.9,-8.2,244,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2723,1763,3476,0,0,0,0,0,0
$GC,4623,-1.20,-116.8,428.4,-9.1,250,4627,0.00,2.60,0.00,0.000,4,0.000,0.044,2723,3340,3474,0,0,0,0,0,0
$GC,4666,-1.20,-116.8,432.9,-9.5,251,4670,0.00,2.67,0.00,0.000,6,0.000,0.058,2723,1762,3474,0,0,0,0,0,0
$GC,4945,-1.20,-116.8,460.3,-9.8,258,4950,0.00,2.92,0.00,0.000,4,0.000,0.112,2723,186,3472,0,0,0,0,0,0
$GC,4989,-1.20,-116.8,465.1,-10.5,259,4993,0.00,2.50,0.00,0.000,6,0.000,0.039,2723,1733,3472,0,0,0,0,0,0
$GC,5267,-1.20,-116.8,490.4,-8.8,266,5272,0.00,2.75,0.00,0.000,4,0.000,0.067,2723,3356,3470,0,0,0,0,0,0
$GC,5294,-1.20,-116.8,492.9,-9.4,266,5298,0.00,2.72,0.00,0.000,6,0.000,0.061,2723,1761,3470,0,0,0,0,0,0
$STATE,5379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5379,begin apogee
$GC,5386,-0.31,0.0,500.5,8.8,268,5486,0.90,0.00,95.80,0.916,6,0.073,0.000,2930,1865,3001,0,0,0,0,0,0
$STATE,5486,end apogee,CONTROL_FINISHED_OK
$STATE,5486,begin climb
$GC,5489,1.15,116.8,502.9,0.0,270,5593,1.35,0.00,100.47,0.890,6,0.045,0.000,3254,1865,2524,0,0,0,0,0,0
$GC,5827,1.04,145.1,488.8,6.7,279,5858,0.12,2.58,24.27,0.853,4,0.126,0.050,3230,3377,2409,0,0,0,0,0,0
$GC,5931,0.99,157.7,481.2,7.4,281,5952,0.00,2.65,11.98,0.796,6,0.000,0.053,3229,1825,2357,0,0,0,0,0,0
$GC,6197,0.94,168.7,461.4,7.5,288,6214,0.12,2.60,10.57,0.788,4,0.253,0.042,3206,3378,2313,0,0,0,0,0,0
$GC,6225,0.97,193.0,459.2,6.9,288,6254,0.00,2.65,22.98,0.843,6,0.000,0.052,3206,1829,2214,0,0,0,0,0,0
$GC,6524,0.99,211.4,437.5,7.2,296,6543,0.00,0.00,16.80,0.824,6,0.000,0.000,3206,1828,2138,0,0,0,0,0,0
$GC,6766,1.00,217.3,418.6,7.7,302,6774,0.00,0.00,5.97,0.678,6,0.000,0.000,3205,1828,2115,0,0,0,0,0,0
$GC,7010,1.02,234.6,400.8,7.2,308,7034,0.00,2.65,16.75,0.813,4,0.000,0.036,3206,3388,2043,0,0,0,0,0,0
$GC,7064,1.06,238.8,396.8,7.8,309,7075,0.10,2.65,5.25,0.628,6,0.096,0.048,3233,1826,2027,0,0,0,0,0,0
$GC,7336,1.06,238.8,370.0,10.1,316,7341,0.00,2.53,0.00,0.000,4,0.000,0.039,3233,3379,2024,0,0,0,0,0,0
$GC,7386,1.06,238.8,364.8,10.0,317,7391,0.00,2.58,0.00,0.000,6,0.000,0.045,3233,1827,2022,0,0,0,0,0,0
$GC,7660,1.06,238.8,339.3,9.1,324,7661,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1828,2021,0,0,0,0,0,0
$GC,7902,1.06,238.8,318.2,8.6,330,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1828,2020,0,0,0,0,0,0
$GC,8146,1.06,238.8,297.0,8.7,336,8150,0.00,2.50,0.00,0.000,4,0.000,0.036,3233,3382,2020,0,0,0,0,0,0
$GC,8174,1.06,238.8,294.6,8.8,336,8178,0.00,2.53,0.00,0.000,6,0.000,0.035,3233,1836,2019,0,0,0,0,0,0
$GC,8423,1.06,238.8,273.1,8.6,342,8428,0.00,2.47,0.00,0.000,4,0.000,0.036,3233,3380,2018,0,0,0,0,0,0
$GC,8468,1.10,238.8,269.0,9.4,343,8472,0.00,2.47,0.00,0.000,6,0.000,0.035,3233,1864,2018,0,0,0,0,0,0
$GC,8746,1.10,238.8,243.3,9.5,350,8751,0.00,2.80,0.00,0.000,4,0.000,0.073,3233,233,2018,0,0,0,0,0,0
$GC,8779,1.05,238.8,239.7,11.5,350,8784,0.00,2.55,0.00,0.000,6,0.000,0.025,3233,1867,2017,0,0,0,0,0,0
$GC,9028,1.05,238.8,217.9,8.6,357,9032,0.00,2.42,0.00,0.000,4,0.000,0.037,3233,3393,2017,0,0,0,0,0,0
$GC,9050,1.05,238.8,216.1,8.3,357,9054,0.00,2.47,0.00,0.000,6,0.000,0.037,3233,1860,2017,0,0,0,0,0,0
$GC,9314,1.05,241.6,195.0,7.9,367,9319,0.00,2.78,0.00,0.000,4,0.000,0.069,3233,240,2017,0,0,0,0,0,0
$GC,9335,1.05,241.6,192.6,8.5,368,9341,0.00,2.50,0.00,0.000,6,0.000,0.025,3233,1875,2017,0,0,0,0,0,0
$GC,9600,1.05,244.1,171.7,7.9,393,9614,0.00,2.42,4.30,0.466,4,0.000,0.037,3233,3385,2006,0,0,0,0,0,0
$GC,9619,1.05,244.1,169.6,8.6,394,9625,0.00,2.45,0.00,0.000,6,0.000,0.031,3234,1866,2006,0,0,0,0,0,0
$GC,9886,1.05,245.2,147.4,8.0,419,9891,0.00,0.00,0.00,0.000,6,0.000,0.000,3233,1866,2006,0,0,0,0,0,0
$GC,10149,1.12,299.5,130.2,5.5,444,10209,0.00,2.88,49.30,0.623,4,0.000,0.062,3233,243,1779,0,0,0,0,0,0
$GC,10251,1.12,299.5,122.8,8.1,452,10260,0.00,2.55,0.00,0.000,6,0.000,0.017,3233,1869,1777,0,0,0,0,0,0
$GC,10519,1.19,301.4,102.0,7.9,477,10524,0.12,0.00,0.00,0.000,6,0.076,0.000,3271,1871,1776,0,0,0,0,0,0
$GC,10785,1.19,301.4,78.5,8.8,502,10793,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1871,1776,0,0,0,0,0,0
$GC,11051,1.19,301.4,55.8,8.2,527,11055,0.00,2.78,0.00,0.000,4,0.000,0.059,3271,238,1775,0,0,0,0,0,0
$GC,11073,1.19,301.4,53.0,9.8,528,11082,0.00,2.55,0.00,0.000,6,0.000,0.018,3271,1880,1775,0,0,0,0,0,0
$GC,11346,1.19,301.4,27.4,8.6,555,11355,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1882,1775,0,0,0,0,0,0
$STATE,11588,end climb,SURFACE_DEPTH_REACHED
$STATE,11588,begin surface coast
$FINISH,0.4,1.023364
$STATE,11653,end surface coast,CONTROL_FINISHED_OK
$STATE,11653,begin surface
$SM_CCo,11676,104.25,0.460,1,0,1287,420.20
$SM_GC,0.93,0.00,0.00,104.25,0.000,0.000,0.460,471,1741,1287,-11.63,-0.79,420.20
$IRIDIUM_FIX,2246.36,-15751.06,011299,101017
$TT8_MAMPS,0.026078
$HUMID,43.06
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.70
$XPDR_PINGS,54
$24V_AH,23.6,23.306
$10V_AH,10.3,23.157
$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,25.850,123.700,364.450,104.250,0.000,29.510,46.205,156.027,13.500,0.000,17.184,1159.333,7715.992,586.573,2152.186,541.758,33.371,1350.455,0.000,2165.994,0.000,0.536,0.000
$DEVICE_MAMPS,253.110,115.050,915.798,460.200,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,404.589,354.089,468.139,869.164,1314.600,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,48037,599
$CAP_FILE_SIZE,112932,0
$CFSIZE,260165632,173654016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,060910,164030,2253.127,-15748.733,40,1.9,45,10.1