version: 66.06
glider: 146
mission: 5
dive: 309
start: 10 1 110 21 33 43
data:
$ID,146
$MISSION,5
$DIVE,309
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-253363.16
$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,33
$R_STBD_OVSHOOT,26
$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
$GPS1,212534,2254.308,-15757.784,11,99.0,30,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-66.1
$GPS2,213249,2254.298,-15757.781,12,1.1,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.082,0.220
$KALMAN_X,-301846.1,63.9,-129.4,323979.6,210.4
$KALMAN_Y,-440018.2,155.5,-115.3,576504.0,-730.0
$MHEAD_RNG_PITCHd_Wd,10.2,8337,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.38,-116.8,0.0,0.0,0,99,0.00,0.00,-78.88,0.000,2,0.000,0.000,476,1750,3235,0,0,0,0,0,0
$GC,102,-1.38,-116.8,3.2,-5.5,10,128,11.23,2.60,-4.78,0.000,4,0.137,0.041,2691,3362,3479,0,0,0,0,0,0
$GC,159,-1.21,-116.8,18.6,-21.0,17,169,0.15,2.60,0.00,0.000,6,0.081,0.031,2727,1782,3480,0,0,0,0,0,0
$GC,446,-1.14,-116.8,62.9,-15.5,47,451,0.12,2.72,0.00,0.000,4,0.117,0.057,2753,191,3481,0,0,0,0,0,0
$GC,480,-1.07,-116.8,68.4,-15.6,49,485,0.00,2.45,0.00,0.000,6,0.000,0.015,2753,1812,3481,0,0,0,0,0,0
$GC,748,-1.07,-116.8,103.9,-12.5,73,752,0.00,2.38,0.00,0.000,4,0.000,0.023,2753,3332,3481,0,0,0,0,0,0
$GC,806,-1.15,-116.8,110.8,-11.4,77,811,0.00,2.50,0.00,0.000,6,0.000,0.034,2753,1767,3482,0,0,0,0,0,0
$GC,1073,-1.22,-116.8,138.1,-9.7,101,1078,0.00,2.65,0.00,0.000,4,0.000,0.064,2753,190,3482,0,0,0,0,0,0
$GC,1107,-1.27,-116.8,141.7,-10.3,103,1112,0.12,2.38,0.00,0.000,6,0.074,0.015,2708,1785,3482,0,0,0,0,0,0
$GC,1372,-1.27,-116.8,172.8,-11.6,127,1376,0.00,2.72,0.00,0.000,4,0.000,0.064,2708,192,3483,0,0,0,0,0,0
$GC,1403,-1.23,-116.8,176.6,-12.4,129,1408,0.10,2.38,0.00,0.000,6,0.120,0.021,2728,1785,3483,0,0,0,0,0,0
$GC,1677,-1.28,-116.8,205.3,-10.7,151,1678,0.00,0.00,0.00,0.000,6,0.000,0.000,2728,1787,3483,0,0,0,0,0,0
$GC,1918,-1.32,-116.8,231.2,-10.6,157,1922,0.00,2.38,0.00,0.000,4,0.000,0.033,2728,3313,3484,0,0,0,0,0,0
$GC,1952,-1.41,-116.8,234.7,-9.8,157,1958,0.15,2.45,0.00,0.000,6,0.062,0.035,2678,1775,3483,0,0,0,0,0,0
$GC,2202,-1.37,-116.8,263.1,-11.5,164,2204,0.10,0.00,0.00,0.000,6,0.121,0.000,2699,1775,3483,0,0,0,0,0,0
$GC,2447,-1.37,-116.8,289.9,-11.0,170,2448,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1775,3483,0,0,0,0,0,0
$GC,2689,-1.37,-116.8,314.6,-10.0,176,2690,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1775,3483,0,0,0,0,0,0
$GC,2933,-1.41,-116.8,338.8,-9.7,182,2938,0.00,2.50,0.00,0.000,4,0.000,0.041,2700,3307,3482,0,0,0,0,0,0
$GC,2974,-1.50,-116.8,342.7,-9.5,183,2979,0.12,2.53,0.00,0.000,6,0.074,0.046,2654,1783,3482,0,0,0,0,0,0
$GC,3259,-1.50,-116.8,373.8,-11.1,190,3263,0.00,2.90,0.00,0.000,4,0.000,0.097,2654,184,3481,0,0,0,0,0,0
$GC,3285,-1.42,-116.8,377.2,-11.6,190,3291,0.15,2.42,0.00,0.000,6,0.111,0.030,2686,1731,3481,0,0,0,0,0,0
$GC,3537,-1.42,-116.8,401.7,-9.7,196,3542,0.00,2.67,0.00,0.000,4,0.000,0.054,2686,3356,3479,0,0,0,0,0,0
$GC,3559,-1.47,-116.8,404.1,-9.4,196,3563,0.00,2.67,0.00,0.000,6,0.000,0.058,2686,1776,3479,0,0,0,0,0,0
$GC,3814,-1.51,-116.8,429.1,-9.9,203,3815,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1776,3477,0,0,0,0,0,0
$GC,4059,-1.55,-116.8,452.3,-9.4,209,4064,0.10,2.60,0.00,0.000,4,0.088,0.048,2653,3358,3476,0,0,0,0,0,0
$GC,4099,-1.55,-116.8,456.4,-10.3,210,4103,0.00,2.70,0.00,0.000,6,0.000,0.059,2653,1782,3476,0,0,0,0,0,0
$GC,4381,-1.55,-116.8,485.3,-10.1,217,4386,0.00,2.97,0.00,0.000,4,0.000,0.114,2652,185,3474,0,0,0,0,0,0
$GC,4404,-1.51,-116.8,487.6,-10.5,217,4409,0.00,2.55,0.00,0.000,6,0.000,0.034,2652,1777,3474,0,0,0,0,0,0
$STATE,4535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4535,begin apogee
$GC,4541,-0.31,0.0,501.3,10.3,221,4642,1.25,0.00,96.70,0.917,6,0.080,0.000,2931,1839,3000,0,0,0,0,0,0
$STATE,4642,end apogee,CONTROL_FINISHED_OK
$STATE,4642,begin climb
$GC,4645,1.38,116.8,503.3,0.0,223,4750,1.55,0.00,101.47,0.891,6,0.048,0.000,3306,1839,2524,0,0,0,0,0,0
$GC,4983,1.30,152.9,485.1,8.0,232,5024,0.10,2.67,31.12,0.864,4,0.205,0.057,3287,3396,2375,0,0,0,0,0,0
$GC,5109,1.29,175.3,474.1,8.7,234,5135,0.00,2.65,20.60,0.838,6,0.000,0.054,3287,1828,2286,0,0,0,0,0,0
$GC,5400,1.25,192.6,448.1,9.0,242,5417,0.00,0.00,15.73,0.818,6,0.000,0.000,3287,1829,2215,0,0,0,0,0,0
$GC,5640,1.23,215.6,426.7,8.7,248,5669,0.00,2.62,21.40,0.834,4,0.000,0.042,3287,3399,2120,0,0,0,0,0,0
$GC,5732,1.23,215.6,417.9,10.3,250,5737,0.00,2.67,0.00,0.000,6,0.000,0.054,3288,1827,2118,0,0,0,0,0,0
$GC,6009,1.23,215.6,389.6,10.2,257,6014,0.00,2.58,0.00,0.000,4,0.000,0.035,3287,3404,2114,0,0,0,0,0,0
$GC,6059,1.23,215.6,384.1,11.0,258,6063,0.00,2.62,0.00,0.000,6,0.000,0.045,3287,1841,2113,0,0,0,0,0,0
$GC,6338,1.23,215.6,355.2,10.5,265,6340,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,1841,2112,0,0,0,0,0,0
$GC,6581,1.24,220.2,330.8,9.8,271,6585,0.00,2.53,0.00,0.000,4,0.000,0.037,3287,3400,2110,0,0,0,0,0,0
$GC,6608,1.24,220.2,327.9,10.4,271,6612,0.00,2.58,0.00,0.000,6,0.000,0.039,3287,1841,2110,0,0,0,0,0,0
$GC,6865,1.26,235.6,304.6,9.2,278,6889,0.00,2.62,17.17,0.769,4,0.000,0.038,3287,3399,2039,0,0,0,0,0,0
$GC,6934,1.31,236.7,297.6,10.0,279,6939,0.00,2.58,0.00,0.000,6,0.000,0.038,3287,1846,2037,0,0,0,0,0,0
$GC,7189,1.33,254.1,273.9,9.0,286,7213,0.00,2.92,17.08,0.745,4,0.000,0.070,3287,237,1964,0,0,0,0,0,0
$GC,7222,1.35,269.3,271.1,9.2,286,7242,0.00,2.58,14.98,0.721,6,0.000,0.025,3287,1865,1903,0,0,0,0,0,0
$GC,7517,1.39,269.3,240.9,10.3,294,7521,0.00,2.47,0.00,0.000,4,0.000,0.032,3287,3397,1897,0,0,0,0,0,0
$GC,7545,1.44,269.3,237.5,11.4,294,7551,0.10,2.55,0.00,0.000,6,0.099,0.038,3313,1847,1896,0,0,0,0,0,0
$GC,7795,1.44,269.3,208.7,11.6,300,7799,0.00,2.47,0.00,0.000,4,0.000,0.031,3313,3390,1895,0,0,0,0,0,0
$GC,7851,1.44,269.3,202.2,11.8,301,7856,0.00,2.50,0.00,0.000,6,0.000,0.039,3313,1865,1894,0,0,0,0,0,0
$GC,8125,1.44,269.3,173.8,10.5,325,8130,0.00,2.80,0.00,0.000,4,0.000,0.067,3313,233,1894,0,0,0,0,0,0
$GC,8153,1.39,269.3,169.9,11.9,327,8158,0.00,2.55,0.00,0.000,6,0.000,0.020,3313,1883,1893,0,0,0,0,0,0
$GC,8422,1.39,269.3,143.3,10.6,351,8426,0.00,2.80,0.00,0.000,4,0.000,0.059,3313,232,1893,0,0,0,0,0,0
$GC,8454,1.39,269.3,139.4,11.4,353,8459,0.00,2.58,0.00,0.000,6,0.000,0.025,3313,1881,1892,0,0,0,0,0,0
$GC,8723,1.45,286.8,113.8,9.0,377,8748,0.00,2.88,15.35,0.600,4,0.000,0.061,3313,243,1829,0,0,0,0,0,0
$GC,8753,1.47,303.1,110.4,9.1,379,8773,0.00,2.55,15.12,0.586,6,0.000,0.020,3313,1882,1765,0,0,0,0,0,0
$GC,9030,1.56,321.8,84.5,9.0,405,9054,0.12,2.42,17.15,0.572,4,0.084,0.028,3347,3397,1688,0,0,0,0,0,0
$GC,9121,1.63,321.8,75.3,10.7,412,9125,0.00,2.47,0.00,0.000,6,0.000,0.032,3347,1870,1686,0,0,0,0,0,0
$GC,9389,1.63,321.8,45.3,11.9,436,9393,0.00,2.80,0.00,0.000,4,0.000,0.058,3347,236,1685,0,0,0,0,0,0
$GC,9408,1.63,321.8,42.4,12.3,437,9413,0.00,2.58,0.00,0.000,6,0.000,0.019,3347,1892,1684,0,0,0,0,0,0
$GC,9715,1.63,321.8,7.8,10.6,476,9724,0.00,2.40,0.00,0.000,4,0.000,0.028,3347,3389,1684,0,0,0,0,0,0
$STATE,9745,end climb,SURFACE_DEPTH_REACHED
$STATE,9746,begin surface coast
$FINISH,0.5,1.022381
$STATE,9788,end surface coast,CONTROL_FINISHED_OK
$STATE,9788,begin surface
$SM_CCo,9812,85.97,0.462,1,0,1288,420.20
$SM_GC,1.03,0.00,0.00,85.97,0.000,0.000,0.462,478,1768,1288,-11.61,-0.06,420.20
$IRIDIUM_FIX,2246.36,-15756.28,261299,181814
$TT8_MAMPS,0.026078
$HUMID,48.14
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,23.10
$XPDR_PINGS,49
$24V_AH,23.5,43.863
$10V_AH,10.2,43.233
$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,27.100,129.900,383.875,85.975,0.000,29.468,37.217,237.635,12.250,0.000,13.966,1000.507,6395.845,559.505,1794.115,589.670,33.366,1228.407,0.000,1801.818,0.000,0.536,0.000
$DEVICE_MAMPS,204.789,121.953,916.565,461.734,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.538,284.755,373.548,701.229,1062.165,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355848
$DATA_FILE_SIZE,38250,486
$CAP_FILE_SIZE,106045,0
$CFSIZE,260165632,163741696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,021010,002024,2255.109,-15757.143,57,1.3,57,10.1