version: 66.06
glider: 146
mission: 5
dive: 295
start: 9 30 110 3 57 24
data:
$ID,146
$MISSION,5
$DIVE,295
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$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,166
$T_MISSION,360
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-253110.11
$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,46
$R_STBD_OVSHOOT,35
$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
$GPS1,035206,2250.017,-15804.665,10,1.2,27,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.95
$_SM_ANGLEo,-65.7
$GPS2,035631,2249.981,-15804.681,10,1.3,16,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.149,0.182
$KALMAN_X,-301264.7,295.4,27.0,311136.2,-541.9
$KALMAN_Y,-418106.3,20.2,-422.7,547047.1,-972.4
$MHEAD_RNG_PITCHd_Wd,29.2,22205,-19.8,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,134,0.00,0.00,-115.85,0.000,6,0.000,0.000,472,1748,3479,0,0,0,0,0,0
$GC,139,-1.38,-116.8,4.4,-9.0,15,156,11.35,2.55,0.00,0.000,4,0.144,0.050,2688,211,3481,0,0,0,0,0,0
$GC,207,-1.17,-116.8,27.8,-22.1,24,217,0.22,2.45,0.00,0.000,6,0.105,0.016,2738,1798,3481,0,0,0,0,0,0
$GC,476,-1.12,-116.8,69.8,-15.6,49,481,0.00,2.40,0.00,0.000,4,0.000,0.026,2738,3340,3480,0,0,0,0,0,0
$GC,510,-1.12,-116.8,75.4,-13.9,51,514,0.00,2.45,0.00,0.000,6,0.000,0.027,2738,1792,3480,0,0,0,0,0,0
$GC,776,-1.12,-116.8,107.6,-12.1,75,781,0.00,2.67,0.00,0.000,4,0.000,0.064,2738,192,3480,0,0,0,0,0,0
$GC,793,-1.12,-116.8,110.2,-11.7,76,798,0.00,2.40,0.00,0.000,6,0.000,0.022,2738,1810,3480,0,0,0,0,0,0
$GC,1056,-1.12,-116.8,139.7,-10.8,100,1060,0.00,2.30,0.00,0.000,4,0.000,0.026,2738,3299,3480,0,0,0,0,0,0
$GC,1091,-1.16,-116.8,143.2,-10.6,102,1100,0.00,2.45,0.00,0.000,6,0.000,0.028,2738,1780,3480,0,0,0,0,0,0
$GC,1358,-1.21,-116.8,168.3,-9.2,127,1362,0.00,2.65,0.00,0.000,4,0.000,0.062,2738,197,3479,0,0,0,0,0,0
$GC,1403,-1.25,-116.8,172.8,-10.3,130,1407,0.00,2.33,0.00,0.000,6,0.000,0.024,2737,1756,3479,0,0,0,0,0,0
$GC,1670,-1.31,-116.8,198.6,-9.1,154,1675,0.10,0.00,0.00,0.000,6,0.085,0.000,2699,1758,3478,0,0,0,0,0,0
$GC,1931,-1.31,-116.8,228.2,-11.3,162,1935,0.00,2.42,0.00,0.000,4,0.000,0.030,2699,3303,3477,0,0,0,0,0,0
$GC,1981,-1.31,-116.8,234.0,-10.9,163,1985,0.00,2.47,0.00,0.000,6,0.000,0.033,2699,1763,3477,0,0,0,0,0,0
$GC,2265,-1.31,-116.8,263.2,-10.0,170,2269,0.00,2.70,0.00,0.000,4,0.000,0.077,2699,194,3476,0,0,0,0,0,0
$GC,2281,-1.31,-116.8,265.0,-10.0,170,2285,0.00,2.33,0.00,0.000,6,0.000,0.022,2699,1732,3476,0,0,0,0,0,0
$GC,2543,-1.31,-116.8,291.7,-10.2,177,2547,0.00,2.58,0.00,0.000,4,0.000,0.041,2699,3336,3476,0,0,0,0,0,0
$GC,2615,-1.37,-116.8,298.9,-8.8,178,2619,0.00,2.58,0.00,0.000,6,0.000,0.040,2699,1772,3476,0,0,0,0,0,0
$GC,2867,-1.41,-116.8,322.8,-9.5,184,2871,0.00,2.47,0.00,0.000,4,0.000,0.039,2699,3328,3474,0,0,0,0,0,0
$GC,2894,-1.46,-116.8,325.8,-9.5,184,2899,0.00,2.55,0.00,0.000,6,0.000,0.048,2699,1781,3474,0,0,0,0,0,0
$GC,3145,-1.50,-116.8,349.3,-9.5,190,3147,0.12,0.00,0.00,0.000,6,0.077,0.000,2654,1781,3472,0,0,0,0,0,0
$GC,3389,-1.47,-116.8,377.5,-11.8,196,3395,0.12,2.90,0.00,0.000,4,0.114,0.100,2680,186,3471,0,0,0,0,0,0
$GC,3439,-1.47,-116.8,383.9,-12.1,197,3444,0.00,2.50,0.00,0.000,6,0.000,0.027,2680,1762,3470,0,0,0,0,0,0
$GC,3712,-1.47,-116.8,414.2,-11.0,204,3716,0.00,2.62,0.00,0.000,4,0.000,0.052,2680,3360,3468,0,0,0,0,0,0
$GC,3746,-1.52,-116.8,417.8,-10.9,204,3752,0.00,2.62,0.00,0.000,6,0.000,0.058,2680,1795,3468,0,0,0,0,0,0
$GC,3995,-1.52,-116.8,444.5,-10.8,211,3997,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1795,3465,0,0,0,0,0,0
$GC,4239,-1.52,-116.8,470.2,-10.4,217,4244,0.00,2.97,0.00,0.000,4,0.000,0.104,2680,179,3464,0,0,0,0,0,0
$GC,4260,-1.52,-116.8,472.6,-10.3,217,4265,0.00,2.60,0.00,0.000,6,0.000,0.033,2680,1788,3463,0,0,0,0,0,0
$GC,4518,-1.55,-116.8,496.1,-9.0,224,4519,0.00,0.00,0.00,0.000,6,0.000,0.000,2680,1788,3461,0,0,0,0,0,0
$STATE,4595,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4595,begin apogee
$GC,4600,-0.31,0.0,503.2,8.8,226,4698,1.12,0.00,93.82,0.911,6,0.085,0.000,2929,1788,3001,0,0,0,0,0,0
$STATE,4698,end apogee,CONTROL_FINISHED_OK
$STATE,4699,begin climb
$GC,4701,1.38,116.8,504.8,0.0,228,4811,1.58,2.92,101.25,0.884,4,0.052,0.088,3306,233,2523,0,0,0,0,0,0
$GC,4819,1.29,165.9,501.2,7.2,231,4869,0.12,2.60,43.10,0.858,6,0.135,0.034,3283,1814,2323,0,0,0,0,0,0
$GC,5127,1.23,165.9,469.1,10.8,239,5131,0.00,2.75,0.00,0.000,4,0.000,0.066,3283,3415,2313,0,0,0,0,0,0
$GC,5210,1.23,165.9,459.9,10.9,241,5215,0.00,2.70,0.00,0.000,6,0.000,0.051,3283,1833,2311,0,0,0,0,0,0
$GC,5494,1.19,171.7,432.2,9.7,248,5499,0.12,2.62,0.00,0.000,4,0.133,0.044,3260,3425,2308,0,0,0,0,0,0
$GC,5535,1.19,175.1,428.3,9.8,249,5549,0.00,2.70,6.47,0.696,6,0.000,0.049,3259,1835,2287,0,0,0,0,0,0
$GC,5823,1.22,198.9,402.9,8.7,256,5852,0.00,2.70,22.23,0.830,4,0.000,0.037,3259,3417,2189,0,0,0,0,0,0
$GC,5905,1.28,210.0,395.6,9.4,257,5921,0.00,2.67,11.15,0.769,6,0.000,0.051,3259,1841,2144,0,0,0,0,0,0
$GC,6194,1.28,210.0,366.7,10.0,265,6198,0.00,2.88,0.00,0.000,4,0.000,0.087,3259,234,2138,0,0,0,0,0,0
$GC,6215,1.28,210.0,364.2,11.7,265,6219,0.00,2.60,0.00,0.000,6,0.000,0.025,3259,1871,2137,0,0,0,0,0,0
$GC,6473,1.32,210.1,338.1,10.0,272,6478,0.12,2.47,0.00,0.000,4,0.091,0.041,3291,3419,2136,0,0,0,0,0,0
$GC,6489,1.32,211.0,336.2,10.0,272,6493,0.00,2.60,0.00,0.000,6,0.000,0.037,3291,1845,2135,0,0,0,0,0,0
$GC,6749,1.32,212.3,309.6,10.0,279,6754,0.00,2.55,0.00,0.000,4,0.000,0.038,3291,3418,2133,0,0,0,0,0,0
$GC,6818,1.34,222.7,302.7,9.4,280,6835,0.00,2.55,10.70,0.731,6,0.000,0.036,3291,1864,2093,0,0,0,0,0,0
$GC,7078,1.34,229.6,277.5,9.6,287,7092,0.00,2.60,7.32,0.666,4,0.000,0.037,3291,3423,2063,0,0,0,0,0,0
$GC,7124,1.35,234.4,273.3,9.8,288,7135,0.00,2.55,5.97,0.617,6,0.000,0.040,3291,1870,2045,0,0,0,0,0,0
$GC,7408,1.35,234.4,244.5,10.3,295,7412,0.00,2.83,0.00,0.000,4,0.000,0.069,3291,243,2042,0,0,0,0,0,0
$GC,7423,1.35,234.4,242.7,10.7,295,7428,0.00,2.60,0.00,0.000,6,0.000,0.021,3291,1914,2041,0,0,0,0,0,0
$GC,7686,1.37,247.6,217.9,9.3,302,7705,0.00,2.50,12.60,0.683,4,0.000,0.031,3291,3432,1990,0,0,0,0,0,0
$GC,7739,1.42,247.6,212.4,10.8,303,7744,0.00,2.55,0.00,0.000,6,0.000,0.038,3291,1880,1988,0,0,0,0,0,0
$GC,7996,1.45,270.2,188.9,8.7,317,8024,0.10,2.55,20.73,0.679,4,0.215,0.033,3317,3419,1898,0,0,0,0,0,0
$GC,8043,1.45,270.2,184.2,11.0,321,8048,0.00,2.53,0.00,0.000,6,0.000,0.035,3317,1884,1897,0,0,0,0,0,0
$GC,8306,1.45,270.2,154.9,11.3,345,8310,0.00,2.80,0.00,0.000,4,0.000,0.061,3317,243,1894,0,0,0,0,0,0
$GC,8329,1.45,270.2,152.7,11.6,346,8333,0.00,2.62,0.00,0.000,6,0.000,0.025,3317,1922,1892,0,0,0,0,0,0
$GC,8591,1.45,270.2,124.3,10.8,370,8592,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1924,1892,0,0,0,0,0,0
$GC,8846,1.49,301.2,99.7,8.2,394,8884,0.00,2.45,26.50,0.601,4,0.000,0.028,3317,3419,1771,0,0,0,0,0,0
$GC,8920,1.58,301.5,92.8,10.0,400,8925,0.10,2.53,0.00,0.000,6,0.091,0.032,3344,1874,1771,0,0,0,0,0,0
$GC,9188,1.59,308.9,66.2,9.6,424,9202,0.00,2.80,7.47,0.497,4,0.000,0.064,3344,236,1741,0,0,0,0,0,0
$GC,9208,1.59,313.4,63.4,9.8,425,9220,0.00,2.65,5.65,0.449,6,0.000,0.019,3344,1916,1723,0,0,0,0,0,0
$GC,9479,1.59,313.4,35.1,11.2,450,9488,0.00,0.00,0.00,0.000,6,0.000,0.000,3344,1919,1721,0,0,0,0,0,0
$STATE,9753,end climb,SURFACE_DEPTH_REACHED
$STATE,9753,begin surface coast
$FINISH,0.4,1.022465
$STATE,9795,end surface coast,CONTROL_FINISHED_OK
$STATE,9796,begin surface
$SM_CCo,9817,97.80,0.469,1,0,1288,420.20
$SM_GC,1.06,0.00,0.00,97.80,0.000,0.000,0.469,473,1748,1288,-11.63,-0.62,420.20
$IRIDIUM_FIX,2244.02,-15806.70,251299,030326
$TT8_MAMPS,0.026078
$HUMID,47.36
$INTERNAL_PRESSURE,9.37536
$TCM_TEMP,23.20
$XPDR_PINGS,52
$24V_AH,23.6,42.093
$10V_AH,10.3,41.645
$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,26.875,135.100,374.975,97.800,0.000,0.000,0.000,0.000,13.000,0.000,17.321,1001.811,6349.853,569.549,1852.506,224.640,33.371,1292.219,0.000,1853.943,0.000,0.538,0.000
$DEVICE_MAMPS,214.760,104.312,911.196,468.637,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.123,288.037,381.430,720.487,1085.088,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,38387,494
$CAP_FILE_SIZE,185499,0
$CFSIZE,260165632,164417536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,300910,064406,2249.959,-15803.762,40,1.1,40,10.1