version: 66.06
glider: 146
mission: 5
dive: 343
start: 10 6 110 3 56 31
data:
$ID,146
$MISSION,5
$DIVE,343
$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,-254222.75
$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,47
$R_STBD_OVSHOOT,46
$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
$GPS1,033552,2251.450,-15748.091,57,3.3,76,10.1
$_CALLS,4
$_XMS_NAKs,22
$_XMS_TOUTs,1
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.4
$GPS2,035537,2251.435,-15748.014,8,1.1,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.235,-0.009
$KALMAN_X,-290531.3,-37.7,-408.3,329854.4,1168.8
$KALMAN_Y,-481528.8,-29.6,-292.1,613070.2,-261.9
$MHEAD_RNG_PITCHd_Wd,257.8,12452,-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,-78.57,0.000,2,0.000,0.000,474,1733,3256,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.2,-5.3,10,127,11.23,2.65,-4.30,0.000,4,0.137,0.072,2691,210,3480,0,0,0,0,0,0
$GC,280,-1.22,-116.8,44.2,-18.4,31,290,0.15,2.42,0.00,0.000,6,0.095,0.016,2726,1793,3482,0,0,0,0,0,0
$GC,544,-1.15,-116.8,82.9,-13.9,56,549,0.10,2.70,0.00,0.000,4,0.131,0.056,2747,214,3482,0,0,0,0,0,0
$GC,569,-1.10,-116.8,86.6,-13.2,57,574,0.00,2.35,0.00,0.000,6,0.000,0.015,2747,1776,3482,0,0,0,0,0,0
$GC,833,-1.15,-116.8,113.1,-9.3,82,837,0.00,2.40,0.00,0.000,4,0.000,0.025,2747,3309,3482,0,0,0,0,0,0
$GC,880,-1.28,-116.8,118.2,-9.6,85,886,0.12,2.45,0.00,0.000,6,0.071,0.035,2705,1780,3483,0,0,0,0,0,0
$GC,1144,-1.28,-116.8,147.5,-10.1,110,1153,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1778,3482,0,0,0,0,0,0
$GC,1405,-1.28,-116.8,178.4,-12.1,135,1409,0.00,2.42,0.00,0.000,4,0.000,0.027,2704,3316,3483,0,0,0,0,0,0
$GC,1427,-1.28,-116.8,181.1,-11.6,136,1433,0.00,2.47,0.00,0.000,6,0.000,0.028,2704,1768,3483,0,0,0,0,0,0
$GC,1714,-1.28,-116.8,213.7,-11.3,155,1719,0.00,2.42,0.00,0.000,4,0.000,0.031,2705,3308,3483,0,0,0,0,0,0
$GC,1747,-1.28,-116.8,217.4,-10.6,155,1753,0.00,2.42,0.00,0.000,6,0.000,0.028,2705,1791,3483,0,0,0,0,0,0
$GC,1997,-1.28,-116.8,244.1,-10.7,162,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1790,3482,0,0,0,0,0,0
$GC,2242,-1.28,-116.8,269.6,-10.6,168,2244,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1790,3482,0,0,0,0,0,0
$GC,2485,-1.28,-116.8,292.5,-9.2,174,2489,0.00,2.40,0.00,0.000,4,0.000,0.031,2704,3306,3481,0,0,0,0,0,0
$GC,2518,-1.34,-116.8,295.3,-8.5,174,2524,0.00,2.47,0.00,0.000,6,0.000,0.041,2705,1788,3481,0,0,0,0,0,0
$GC,2770,-1.38,-116.8,316.3,-8.5,181,2774,0.00,2.42,0.00,0.000,4,0.000,0.036,2705,3303,3480,0,0,0,0,0,0
$GC,2786,-1.43,-116.8,318.0,-8.9,181,2791,0.00,2.50,0.00,0.000,6,0.000,0.041,2705,1784,3480,0,0,0,0,0,0
$GC,3047,-1.47,-116.8,344.2,-10.3,188,3049,0.10,0.00,0.00,0.000,6,0.085,0.000,2670,1780,3479,0,0,0,0,0,0
$GC,3292,-1.47,-116.8,371.0,-11.2,194,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1780,3478,0,0,0,0,0,0
$GC,3534,-1.47,-116.8,396.9,-10.6,200,3535,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1781,3476,0,0,0,0,0,0
$GC,3778,-1.47,-116.8,423.5,-10.7,206,3782,0.00,2.47,0.00,0.000,4,0.000,0.043,2670,3296,3475,0,0,0,0,0,0
$GC,3822,-1.51,-116.8,428.1,-9.9,207,3826,0.00,2.53,0.00,0.000,6,0.000,0.051,2670,1799,3474,0,0,0,0,0,0
$GC,4101,-1.51,-116.8,454.5,-9.0,214,4105,0.00,2.47,0.00,0.000,4,0.000,0.043,2670,3303,3472,0,0,0,0,0,0
$GC,4145,-1.56,-116.8,458.9,-9.0,215,4150,0.00,2.58,0.00,0.000,6,0.000,0.060,2670,1799,3472,0,0,0,0,0,0
$GC,4424,-1.56,-116.8,483.8,-9.4,222,4429,0.00,2.47,0.00,0.000,4,0.000,0.052,2670,3295,3470,0,0,0,0,0,0
$GC,4446,-1.56,-116.8,486.2,-9.8,222,4451,0.00,2.55,0.00,0.000,6,0.000,0.065,2670,1811,3469,0,0,0,0,0,0
$STATE,4618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4618,begin apogee
$GC,4624,-0.31,0.0,502.2,9.2,227,4723,1.17,0.00,95.20,0.918,6,0.081,0.000,2931,1811,3001,0,0,0,0,0,0
$STATE,4723,end apogee,CONTROL_FINISHED_OK
$STATE,4723,begin climb
$GC,4727,1.38,116.8,504.0,0.0,229,4839,1.55,2.70,99.95,0.894,4,0.043,0.051,3306,3345,2522,0,0,0,0,0,0
$GC,4907,1.30,137.5,497.2,8.8,233,4932,0.12,2.65,18.40,0.836,6,0.137,0.061,3284,1820,2439,0,0,0,0,0,0
$GC,5186,1.25,156.4,472.8,8.9,240,5204,0.00,0.00,16.95,0.834,6,0.000,0.000,3284,1820,2362,0,0,0,0,0,0
$GC,5426,1.21,169.6,450.3,9.3,246,5445,0.00,2.62,12.40,0.805,4,0.000,0.040,3284,3354,2308,0,0,0,0,0,0
$GC,5459,1.19,190.2,447.2,8.8,246,5485,0.12,2.62,19.67,0.832,6,0.140,0.051,3262,1829,2225,0,0,0,0,0,0
$GC,5754,1.22,212.5,421.2,8.8,254,5779,0.00,2.55,20.25,0.832,4,0.000,0.034,3262,3356,2132,0,0,0,0,0,0
$GC,5861,1.26,212.5,410.7,10.4,256,5866,0.00,2.60,0.00,0.000,6,0.000,0.048,3262,1830,2129,0,0,0,0,0,0
$GC,6121,1.26,212.5,382.7,10.9,263,6122,0.00,0.00,0.00,0.000,6,0.000,0.000,3262,1830,2127,0,0,0,0,0,0
$GC,6365,1.27,223.7,358.9,9.4,269,6380,0.00,2.50,10.02,0.754,4,0.000,0.036,3261,3354,2089,0,0,0,0,0,0
$GC,6438,1.35,229.9,352.3,9.7,270,6453,0.12,2.53,6.88,0.687,6,0.091,0.048,3293,1846,2063,0,0,0,0,0,0
$GC,6738,1.35,229.9,321.2,10.3,278,6743,0.00,2.85,0.00,0.000,4,0.000,0.077,3293,235,2061,0,0,0,0,0,0
$GC,6772,1.26,229.9,317.5,10.9,278,6778,0.00,2.50,0.00,0.000,6,0.000,0.025,3293,1818,2059,0,0,0,0,0,0
$GC,7022,1.28,245.2,293.9,9.2,285,7042,0.00,2.60,14.40,0.755,4,0.000,0.037,3294,3396,2001,0,0,0,0,0,0
$GC,7195,1.28,245.2,275.3,11.3,289,7199,0.00,2.53,0.00,0.000,6,0.000,0.037,3293,1862,1998,0,0,0,0,0,0
$GC,7478,1.28,245.2,246.2,10.2,296,7479,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1862,1996,0,0,0,0,0,0
$GC,7721,1.31,268.0,224.1,8.7,302,7744,0.00,0.00,21.02,0.718,6,0.000,0.000,3293,1862,1907,0,0,0,0,0,0
$GC,7966,1.31,268.0,199.1,10.7,308,7971,0.00,2.47,0.00,0.000,4,0.000,0.030,3293,3399,1904,0,0,0,0,0,0
$GC,8070,1.37,268.0,187.1,11.4,316,8074,0.00,2.50,0.00,0.000,6,0.000,0.039,3293,1872,1903,0,0,0,0,0,0
$GC,8338,1.39,288.9,161.7,8.8,340,8359,0.00,0.00,18.73,0.655,6,0.000,0.000,3293,1873,1823,0,0,0,0,0,0
$GC,8611,1.44,288.9,131.5,11.4,366,8616,0.00,2.42,0.00,0.000,4,0.000,0.035,3293,3393,1819,0,0,0,0,0,0
$GC,8647,1.55,288.9,127.1,11.8,368,8657,0.15,2.53,0.00,0.000,6,0.051,0.036,3338,1869,1818,0,0,0,0,0,0
$GC,8913,1.56,302.9,98.3,9.2,393,8938,0.00,2.50,12.98,0.581,4,0.000,0.029,3338,3385,1765,0,0,0,0,0,0
$GC,8991,1.64,302.9,91.0,10.1,399,8995,0.00,2.45,0.00,0.000,6,0.000,0.035,3338,1875,1765,0,0,0,0,0,0
$GC,9257,1.64,307.3,64.5,9.8,423,9273,0.00,2.83,5.03,0.443,4,0.000,0.059,3338,247,1747,0,0,0,0,0,0
$GC,9290,1.64,307.3,60.8,10.8,425,9295,0.00,2.55,0.00,0.000,6,0.000,0.018,3338,1892,1747,0,0,0,0,0,0
$GC,9559,1.68,333.0,35.2,8.6,449,9588,0.12,0.00,23.75,0.542,6,0.217,0.000,3371,1894,1641,0,0,0,0,0,0
$STATE,9826,end climb,SURFACE_DEPTH_REACHED
$STATE,9826,begin surface coast
$FINISH,0.3,1.020543
$STATE,9875,end surface coast,CONTROL_FINISHED_OK
$STATE,9875,begin surface
$SM_CCo,9898,77.70,0.454,1,0,1288,420.20
$SM_GC,1.12,0.00,0.00,77.70,0.000,0.000,0.454,478,1742,1288,-11.61,-0.79,420.20
$IRIDIUM_FIX,2241.69,-15749.78,311299,030337
$TT8_MAMPS,0.025311
$HUMID,49.17
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,22.70
$XPDR_PINGS,36
$24V_AH,23.5,48.268
$10V_AH,10.1,47.119
$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,26.925,101.325,395.625,77.700,0.000,121.621,181.230,555.817,9.000,0.000,15.904,987.294,6646.873,532.919,1848.919,1151.152,33.369,1226.784,0.000,1850.541,0.000,0.537,0.000
$DEVICE_MAMPS,217.061,77.467,918.099,454.064,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.417,284.809,377.461,718.930,1087.563,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,38321,494
$CAP_FILE_SIZE,109756,0
$CFSIZE,260165632,161902592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061010,064425,2250.764,-15748.617,52,1.8,52,10.1