version: 66.06
glider: 146
mission: 5
dive: 333
start: 10 4 110 21 42 55
data:
$ID,146
$MISSION,5
$DIVE,333
$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,-253948.77
$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,35
$R_STBD_OVSHOOT,62
$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
$GPS1,213207,2254.833,-15741.625,34,1.3,34,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-65.5
$GPS2,214201,2254.815,-15741.663,9,1.3,9,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.001,0.235
$KALMAN_X,-297352.6,-206.3,274.8,347094.9,-102.2
$KALMAN_Y,-469422.9,245.3,-20.5,606683.2,-1154.6
$MHEAD_RNG_PITCHd_Wd,349.6,5926,-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,-116.8,0.0,0.0,0,104,0.00,0.00,-85.75,0.000,6,0.000,0.000,479,1754,3478,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.5,-9.1,11,125,11.23,2.50,0.00,0.000,4,0.138,0.024,2689,3349,3481,0,0,0,0,0,0
$GC,222,-1.30,-116.8,33.2,-16.3,26,227,0.12,2.53,0.00,0.000,6,0.114,0.031,2715,1781,3481,0,0,0,0,0,0
$GC,488,-1.21,-116.8,77.8,-15.6,50,498,0.10,0.00,0.00,0.000,6,0.126,0.000,2734,1780,3482,0,0,0,0,0,0
$GC,755,-1.21,-116.8,110.5,-10.5,75,760,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1780,3482,0,0,0,0,0,0
$GC,1016,-1.21,-116.8,139.7,-11.0,100,1020,0.00,2.42,0.00,0.000,4,0.000,0.030,2735,3334,3483,0,0,0,0,0,0
$GC,1046,-1.27,-116.8,142.9,-11.1,102,1051,0.00,2.50,0.00,0.000,6,0.000,0.030,2735,1762,3483,0,0,0,0,0,0
$GC,1309,-1.32,-116.8,169.9,-10.1,126,1313,0.00,2.67,0.00,0.000,4,0.000,0.064,2734,198,3483,0,0,0,0,0,0
$GC,1342,-1.32,-116.8,173.5,-10.0,128,1349,0.10,2.38,0.00,0.000,6,0.087,0.023,2699,1797,3483,0,0,0,0,0,0
$GC,1624,-1.32,-116.8,204.9,-11.2,152,1629,0.00,2.35,0.00,0.000,4,0.000,0.026,2699,3310,3483,0,0,0,0,0,0
$GC,1674,-1.32,-116.8,210.8,-11.0,153,1678,0.00,2.45,0.00,0.000,6,0.000,0.035,2699,1772,3483,0,0,0,0,0,0
$GC,1948,-1.32,-116.8,240.8,-10.7,160,1949,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1772,3484,0,0,0,0,0,0
$GC,2191,-1.32,-116.8,263.3,-8.8,166,2195,0.00,2.45,0.00,0.000,4,0.000,0.028,2699,3317,3484,0,0,0,0,0,0
$GC,2247,-1.39,-116.8,268.3,-8.5,167,2251,0.00,2.47,0.00,0.000,6,0.000,0.041,2699,1782,3484,0,0,0,0,0,0
$GC,2514,-1.39,-116.8,294.2,-10.4,174,2515,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1782,3483,0,0,0,0,0,0
$GC,2756,-1.39,-116.8,320.3,-10.8,180,2757,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1782,3482,0,0,0,0,0,0
$GC,3000,-1.39,-116.8,345.2,-10.0,186,3004,0.00,2.45,0.00,0.000,4,0.000,0.038,2698,3314,3482,0,0,0,0,0,0
$GC,3044,-1.47,-116.8,348.8,-9.0,187,3048,0.00,2.53,0.00,0.000,6,0.000,0.048,2699,1785,3481,0,0,0,0,0,0
$GC,3327,-1.52,-116.8,375.1,-9.4,194,3333,0.12,2.88,0.00,0.000,4,0.076,0.096,2657,187,3479,0,0,0,0,0,0
$GC,3349,-1.52,-116.8,377.8,-11.5,194,3353,0.00,2.42,0.00,0.000,6,0.000,0.026,2657,1743,3479,0,0,0,0,0,0
$GC,3606,-1.52,-116.8,407.7,-11.7,201,3611,0.00,2.62,0.00,0.000,4,0.000,0.051,2658,3357,3477,0,0,0,0,0,0
$GC,3645,-1.52,-116.8,412.4,-11.6,202,3650,0.00,2.62,0.00,0.000,6,0.000,0.054,2658,1797,3477,0,0,0,0,0,0
$GC,3928,-1.52,-116.8,443.6,-10.8,209,3932,0.00,2.53,0.00,0.000,4,0.000,0.048,2657,3347,3475,0,0,0,0,0,0
$GC,3956,-1.52,-116.8,446.6,-11.3,209,3960,0.00,2.62,0.00,0.000,6,0.000,0.063,2658,1797,3475,0,0,0,0,0,0
$GC,4206,-1.52,-116.8,472.2,-10.2,215,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,2657,1796,3473,0,0,0,0,0,0
$GC,4450,-1.52,-116.8,495.8,-9.6,221,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2658,1796,3472,0,0,0,0,0,0
$STATE,4528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4528,begin apogee
$GC,4534,-0.31,0.0,503.6,9.4,223,4633,1.23,0.00,95.62,0.923,6,0.083,0.000,2929,1796,3001,0,0,0,0,0,0
$STATE,4634,end apogee,CONTROL_FINISHED_OK
$STATE,4634,begin climb
$GC,4638,1.38,116.8,505.0,0.0,225,4742,1.58,0.00,99.57,0.900,6,0.051,0.000,3305,1796,2524,0,0,0,0,0,0
$GC,4977,1.30,152.5,485.4,8.0,234,5013,0.10,2.75,30.38,0.873,4,0.308,0.053,3287,3396,2377,0,0,0,0,0,0
$GC,5034,1.26,179.6,480.7,8.5,234,5064,0.00,2.72,24.67,0.853,6,0.000,0.058,3286,1822,2267,0,0,0,0,0,0
$GC,5350,1.21,179.6,449.6,10.1,242,5355,0.12,2.62,0.00,0.000,4,0.136,0.041,3263,3402,2259,0,0,0,0,0,0
$GC,5430,1.21,179.6,441.1,10.9,243,5435,0.00,2.72,0.00,0.000,6,0.000,0.058,3263,1815,2257,0,0,0,0,0,0
$GC,5680,1.21,180.9,416.2,10.0,250,5684,0.00,2.60,0.00,0.000,4,0.000,0.038,3263,3400,2255,0,0,0,0,0,0
$GC,5753,1.23,193.3,409.3,9.3,251,5770,0.00,2.65,11.20,0.795,6,0.000,0.053,3263,1836,2212,0,0,0,0,0,0
$GC,6048,1.25,210.3,382.5,9.1,259,6069,0.00,2.60,16.10,0.817,4,0.000,0.033,3264,3402,2142,0,0,0,0,0,0
$GC,6091,1.27,226.3,378.3,9.1,260,6112,0.00,2.62,15.23,0.800,6,0.000,0.050,3263,1853,2078,0,0,0,0,0,0
$GC,6370,1.27,231.5,351.8,9.7,267,6381,0.00,2.90,5.57,0.649,4,0.000,0.081,3263,235,2056,0,0,0,0,0,0
$GC,6397,1.27,231.5,348.5,10.9,267,6401,0.00,2.58,0.00,0.000,6,0.000,0.025,3262,1867,2055,0,0,0,0,0,0
$GC,6649,1.28,238.7,324.4,9.6,273,6658,0.00,0.00,7.60,0.708,6,0.000,0.000,3263,1868,2027,0,0,0,0,0,0
$GC,6891,1.32,239.0,300.2,10.0,279,6893,0.10,0.00,0.00,0.000,6,0.097,0.000,3289,1868,2024,0,0,0,0,0,0
$GC,7134,1.32,239.0,274.9,10.1,285,7135,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1868,2023,0,0,0,0,0,0
$GC,7378,1.33,247.3,251.5,9.6,291,7392,0.00,2.53,8.55,0.686,4,0.000,0.039,3290,3391,1991,0,0,0,0,0,0
$GC,7446,1.38,247.3,244.6,10.9,292,7450,0.00,2.58,0.00,0.000,6,0.000,0.041,3289,1837,1990,0,0,0,0,0,0
$GC,7707,1.38,249.2,218.4,9.9,299,7709,0.00,0.00,0.00,0.000,6,0.000,0.000,3289,1837,1989,0,0,0,0,0,0
$GC,7953,1.39,259.4,195.7,9.4,308,7977,0.00,2.60,11.80,0.673,4,0.000,0.037,3289,3393,1942,0,0,0,0,0,0
$GC,7991,1.44,259.4,192.0,10.1,311,7996,0.10,2.53,0.00,0.000,6,0.093,0.034,3315,1857,1941,0,0,0,0,0,0
$GC,8252,1.44,259.4,162.9,11.1,335,8253,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1858,1940,0,0,0,0,0,0
$GC,8513,1.45,270.8,138.0,9.4,359,8532,0.00,0.00,11.05,0.614,6,0.000,0.000,3316,1857,1896,0,0,0,0,0,0
$GC,8789,1.46,275.5,112.9,9.8,385,8801,0.00,2.50,5.72,0.511,4,0.000,0.028,3315,3404,1876,0,0,0,0,0,0
$GC,8831,1.51,275.5,108.3,10.1,388,8841,0.00,2.55,0.00,0.000,6,0.000,0.033,3316,1855,1875,0,0,0,0,0,0
$GC,9098,1.58,287.1,84.2,9.4,413,9118,0.12,0.00,11.62,0.565,6,0.078,0.000,3351,1855,1828,0,0,0,0,0,0
$GC,9372,1.62,320.7,59.9,8.1,439,9411,0.00,0.00,29.65,0.572,6,0.000,0.000,3350,1855,1692,0,0,0,0,0,0
$GC,9670,1.62,320.7,31.2,10.3,467,9675,0.00,2.47,0.00,0.000,4,0.000,0.028,3350,3398,1688,0,0,0,0,0,0
$GC,9706,1.62,320.7,26.7,10.8,471,9716,0.00,2.58,0.00,0.000,6,0.000,0.034,3350,1838,1687,0,0,0,0,0,0
$STATE,9908,end climb,SURFACE_DEPTH_REACHED
$STATE,9908,begin surface coast
$FINISH,0.4,1.012852
$STATE,9952,end surface coast,CONTROL_FINISHED_OK
$STATE,9953,begin surface
$SM_CCo,9976,92.65,0.466,1,0,1288,420.20
$SM_GC,0.90,0.00,0.00,92.65,0.000,0.000,0.466,480,1723,1288,-11.59,-1.33,420.20
$IRIDIUM_FIX,2244.02,-15741.52,291299,212157
$TT8_MAMPS,0.025311
$HUMID,48.66
$INTERNAL_PRESSURE,9.34606
$TCM_TEMP,22.80
$XPDR_PINGS,37
$24V_AH,23.5,46.920
$10V_AH,10.1,45.970
$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,26.800,92.600,384.350,92.650,0.000,54.866,66.529,275.764,9.250,0.000,11.009,986.322,6630.070,540.240,1836.299,675.675,33.356,1212.866,0.000,1846.070,0.000,0.536,0.000
$DEVICE_MAMPS,308.334,95.875,923.468,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,341.615,290.523,391.725,741.329,1121.250,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,41406,506
$CAP_FILE_SIZE,100482,0
$CFSIZE,260165632,162443264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,051010,003207,2255.470,-15741.659,37,1.4,37,10.1