version: 66.06
glider: 146
mission: 5
dive: 302
start: 10 1 110 0 48 2
data:
$ID,146
$MISSION,5
$DIVE,302
$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,-253237.59
$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,38
$R_STBD_OVSHOOT,38
$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
$GPS1,003407,2251.597,-15800.486,37,1.3,37,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-66.2
$GPS2,004708,2251.498,-15800.460,13,1.4,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.014,0.234
$KALMAN_X,-300862.7,39.2,102.4,318183.1,-57.2
$KALMAN_Y,-430852.4,483.8,279.5,561428.4,-2228.5
$MHEAD_RNG_PITCHd_Wd,353.3,15220,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-78.82,0.000,2,0.000,0.000,474,1745,3242,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.2,-5.4,10,126,11.18,2.60,-4.62,0.000,4,0.135,0.038,2691,3356,3481,0,0,0,0,0,0
$GC,165,-1.26,-116.8,20.5,-19.1,18,175,0.12,2.58,0.00,0.000,6,0.082,0.035,2723,1782,3481,0,0,0,0,0,0
$GC,450,-1.17,-116.8,65.9,-16.0,47,455,0.10,2.72,0.00,0.000,4,0.124,0.058,2743,193,3482,0,0,0,0,0,0
$GC,473,-1.07,-116.8,69.5,-16.1,48,479,0.10,2.42,0.00,0.000,6,0.124,0.015,2764,1813,3482,0,0,0,0,0,0
$GC,736,-1.11,-116.8,102.5,-11.7,72,741,0.00,2.72,0.00,0.000,4,0.000,0.054,2764,192,3482,0,0,0,0,0,0
$GC,783,-1.11,-116.8,107.2,-11.0,75,787,0.00,2.38,0.00,0.000,6,0.000,0.016,2764,1772,3482,0,0,0,0,0,0
$GC,1049,-1.19,-116.8,130.4,-7.4,99,1054,0.10,2.40,0.00,0.000,4,0.085,0.028,2727,3310,3483,0,0,0,0,0,0
$GC,1096,-1.25,-116.8,135.0,-9.0,102,1106,0.00,2.50,0.00,0.000,6,0.000,0.033,2726,1769,3483,0,0,0,0,0,0
$GC,1363,-1.25,-116.8,160.4,-9.7,127,1368,0.00,0.00,0.00,0.000,6,0.000,0.000,2727,1769,3483,0,0,0,0,0,0
$GC,1626,-1.25,-116.8,186.6,-9.7,152,1630,0.00,2.67,0.00,0.000,4,0.000,0.064,2726,196,3483,0,0,0,0,0,0
$GC,1659,-1.25,-116.8,190.1,-10.4,154,1665,0.00,2.38,0.00,0.000,6,0.000,0.022,2726,1769,3483,0,0,0,0,0,0
$GC,1934,-1.25,-116.8,216.7,-9.7,169,1938,0.00,2.40,0.00,0.000,4,0.000,0.032,2726,3318,3483,0,0,0,0,0,0
$GC,1997,-1.34,-116.8,222.3,-8.9,170,2001,0.00,2.45,0.00,0.000,6,0.000,0.035,2726,1775,3483,0,0,0,0,0,0
$GC,2258,-1.38,-116.8,246.6,-9.4,177,2260,0.12,0.00,0.00,0.000,6,0.074,0.000,2684,1774,3483,0,0,0,0,0,0
$GC,2501,-1.38,-116.8,275.9,-12.4,183,2505,0.00,2.72,0.00,0.000,4,0.000,0.076,2684,194,3482,0,0,0,0,0,0
$GC,2535,-1.35,-116.8,280.5,-14.0,183,2541,0.10,2.42,0.00,0.000,6,0.123,0.017,2705,1765,3482,0,0,0,0,0,0
$GC,2784,-1.35,-116.8,308.8,-11.0,190,2789,0.00,2.53,0.00,0.000,4,0.000,0.041,2705,3340,3482,0,0,0,0,0,0
$GC,2829,-1.44,-116.8,313.8,-10.5,191,2833,0.00,2.55,0.00,0.000,6,0.000,0.041,2705,1796,3482,0,0,0,0,0,0
$GC,3108,-1.48,-116.8,340.1,-9.3,198,3110,0.12,0.00,0.00,0.000,6,0.071,0.000,2661,1796,3481,0,0,0,0,0,0
$GC,3350,-1.48,-116.8,366.0,-10.8,204,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1796,3480,0,0,0,0,0,0
$GC,3593,-1.48,-116.8,392.9,-11.1,210,3598,0.00,2.95,0.00,0.000,4,0.000,0.096,2661,183,3479,0,0,0,0,0,0
$GC,3616,-1.43,-116.8,395.6,-12.4,210,3622,0.12,2.50,0.00,0.000,6,0.116,0.027,2687,1770,3478,0,0,0,0,0,0
$GC,3872,-1.43,-116.8,422.6,-10.3,217,3873,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1770,3477,0,0,0,0,0,0
$GC,4116,-1.47,-116.8,447.4,-9.9,223,4117,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1774,3475,0,0,0,0,0,0
$GC,4361,-1.51,-116.8,471.6,-10.1,229,4362,0.00,0.00,0.00,0.000,6,0.000,0.000,2687,1774,3473,0,0,0,0,0,0
$GC,4604,-1.57,-116.8,494.5,-9.4,235,4605,0.12,0.00,0.00,0.000,6,0.074,0.000,2647,1774,3471,0,0,0,0,0,0
$STATE,4683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4684,begin apogee
$GC,4690,-0.31,0.0,503.4,10.2,237,4790,1.27,0.00,96.15,0.911,6,0.086,0.000,2931,1837,3001,0,0,0,0,0,0
$STATE,4790,end apogee,CONTROL_FINISHED_OK
$STATE,4790,begin climb
$GC,4793,1.38,116.8,506.1,0.0,239,4903,1.58,2.72,100.38,0.888,4,0.051,0.066,3310,3389,2522,0,0,0,0,0,0
$GC,4923,1.33,179.8,503.6,6.4,242,4984,0.00,2.70,54.78,0.871,6,0.000,0.057,3310,1822,2267,0,0,0,0,0,0
$GC,5251,1.23,179.8,467.5,11.6,251,5256,0.20,2.62,0.00,0.000,4,0.121,0.041,3270,3395,2257,0,0,0,0,0,0
$GC,5306,1.23,179.8,461.7,10.2,252,5311,0.00,2.65,0.00,0.000,6,0.000,0.051,3271,1830,2256,0,0,0,0,0,0
$GC,5574,1.25,197.7,437.7,9.0,259,5591,0.00,0.00,15.02,0.810,6,0.000,0.000,3271,1829,2194,0,0,0,0,0,0
$GC,5817,1.26,206.0,414.3,9.6,265,5831,0.00,2.62,8.15,0.733,4,0.000,0.039,3271,3392,2160,0,0,0,0,0,0
$GC,5871,1.30,206.0,408.5,10.8,266,5875,0.00,2.67,0.00,0.000,6,0.000,0.054,3271,1818,2159,0,0,0,0,0,0
$GC,6144,1.30,206.0,380.4,10.3,273,6148,0.00,2.83,0.00,0.000,4,0.000,0.084,3271,233,2156,0,0,0,0,0,0
$GC,6159,1.30,206.0,378.5,10.3,273,6163,0.00,2.53,0.00,0.000,6,0.000,0.026,3270,1827,2155,0,0,0,0,0,0
$GC,6420,1.31,214.6,353.3,9.5,280,6431,0.00,0.00,8.40,0.724,6,0.000,0.000,3271,1828,2126,0,0,0,0,0,0
$GC,6666,1.34,235.9,331.6,8.8,286,6691,0.00,2.58,20.35,0.788,4,0.000,0.038,3270,3402,2037,0,0,0,0,0,0
$GC,6725,1.42,255.9,326.4,8.9,287,6750,0.17,2.65,19.23,0.772,6,0.074,0.038,3314,1810,1957,0,0,0,0,0,0
$GC,7032,1.39,255.9,291.4,11.8,295,7036,0.00,2.58,0.00,0.000,4,0.000,0.033,3314,3397,1950,0,0,0,0,0,0
$GC,7071,1.39,255.9,286.1,12.6,296,7076,0.00,2.60,0.00,0.000,6,0.000,0.037,3314,1826,1949,0,0,0,0,0,0
$GC,7354,1.39,255.9,251.9,12.1,303,7358,0.00,2.75,0.00,0.000,4,0.000,0.071,3314,235,1948,0,0,0,0,0,0
$GC,7367,1.35,255.9,250.5,11.6,303,7371,0.00,2.50,0.00,0.000,6,0.000,0.023,3314,1836,1948,0,0,0,0,0,0
$GC,7633,1.35,255.9,221.7,10.4,310,7637,0.00,2.47,0.00,0.000,4,0.000,0.035,3314,3390,1947,0,0,0,0,0,0
$GC,7704,1.35,255.9,214.4,10.1,311,7709,0.00,2.58,0.00,0.000,6,0.000,0.040,3314,1821,1946,0,0,0,0,0,0
$GC,7960,1.35,255.9,190.1,10.1,323,7964,0.00,2.53,0.00,0.000,4,0.000,0.033,3314,3396,1945,0,0,0,0,0,0
$GC,8034,1.35,255.9,181.8,11.1,329,8039,0.00,2.55,0.00,0.000,6,0.000,0.035,3314,1832,1945,0,0,0,0,0,0
$GC,8298,1.35,255.9,153.4,11.0,353,8303,0.00,2.72,0.00,0.000,4,0.000,0.065,3314,235,1945,0,0,0,0,0,0
$GC,8330,1.29,255.9,149.8,12.6,355,8335,0.15,2.50,0.00,0.000,6,0.118,0.026,3284,1849,1944,0,0,0,0,0,0
$GC,8596,1.42,295.2,126.9,7.8,379,8635,0.10,2.47,32.97,0.632,4,0.092,0.027,3313,3387,1796,0,0,0,0,0,0
$GC,8699,1.48,301.5,117.5,9.7,387,8712,0.00,2.55,6.78,0.521,6,0.000,0.032,3313,1830,1770,0,0,0,0,0,0
$GC,8979,1.54,305.4,89.7,9.8,413,8990,0.10,2.50,4.32,0.422,4,0.094,0.028,3342,3385,1756,0,0,0,0,0,0
$GC,9038,1.61,305.4,83.2,10.5,418,9043,0.00,2.50,0.00,0.000,6,0.000,0.035,3342,1846,1755,0,0,0,0,0,0
$GC,9306,1.61,305.4,56.7,10.0,442,9314,0.00,0.00,0.00,0.000,6,0.000,0.000,3342,1847,1755,0,0,0,0,0,0
$GC,9573,1.61,305.4,28.2,10.3,468,9582,0.00,2.47,0.00,0.000,4,0.000,0.027,3342,3387,1755,0,0,0,0,0,0
$GC,9605,1.65,305.4,24.9,10.5,472,9614,0.00,2.53,0.00,0.000,6,0.000,0.033,3342,1849,1755,0,0,0,0,0,0
$STATE,9813,end climb,SURFACE_DEPTH_REACHED
$STATE,9813,begin surface coast
$FINISH,0.5,1.011473
$STATE,9868,end surface coast,CONTROL_FINISHED_OK
$STATE,9868,begin surface
$SM_CCo,9890,106.00,0.472,1,0,1287,420.20
$SM_GC,1.03,0.00,0.00,106.00,0.000,0.000,0.472,480,1745,1287,-11.60,-0.68,420.20
$IRIDIUM_FIX,2244.02,-15759.32,251299,212133
$TT8_MAMPS,0.025311
$HUMID,46.77
$INTERNAL_PRESSURE,9.36559
$TCM_TEMP,23.20
$XPDR_PINGS,41
$24V_AH,23.6,42.981
$10V_AH,10.3,42.449
$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,27.425,113.475,366.525,106.000,0.000,33.928,30.978,510.191,10.250,0.000,15.180,1018.275,6417.607,554.171,1869.132,903.623,33.364,1233.765,0.000,1872.716,0.000,0.535,0.000
$DEVICE_MAMPS,134.992,113.516,911.196,472.472,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,345.207,293.537,399.667,759.789,1150.438,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355888
$DATA_FILE_SIZE,41634,511
$CAP_FILE_SIZE,111782,0
$CFSIZE,260165632,164098048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,011010,033606,2251.911,-15800.370,30,1.0,40,10.1