version: 66.06
glider: 146
mission: 5
dive: 344
start: 10 6 110 6 57 0
data:
$ID,146
$MISSION,5
$DIVE,344
$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,-254254.44
$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,40
$R_STBD_OVSHOOT,48
$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
$GPS1,064425,2250.764,-15748.617,52,1.8,52,10.1
$_CALLS,1
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-68.7
$GPS2,065607,2250.727,-15748.510,13,1.4,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.199,0.124
$KALMAN_X,-289668.4,-16.8,186.1,327524.5,1081.9
$KALMAN_Y,-483370.2,-59.7,388.9,612960.8,-1422.4
$MHEAD_RNG_PITCHd_Wd,291.9,11309,-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,-78.88,0.000,2,0.000,0.000,477,1742,3257,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.4,-6.3,10,127,11.27,2.58,-4.20,0.000,4,0.139,0.036,2691,3341,3480,0,0,0,0,0,0
$GC,244,-1.31,-116.8,33.5,-14.4,29,249,0.10,2.53,0.00,0.000,6,0.129,0.030,2712,1780,3482,0,0,0,0,0,0
$GC,512,-1.20,-116.8,74.0,-15.6,53,517,0.12,2.72,0.00,0.000,4,0.122,0.061,2737,196,3482,0,0,0,0,0,0
$GC,559,-1.15,-116.8,81.2,-13.5,56,563,0.00,2.42,0.00,0.000,6,0.000,0.015,2737,1813,3482,0,0,0,0,0,0
$GC,823,-1.15,-116.8,112.6,-10.8,80,827,0.00,2.35,0.00,0.000,4,0.000,0.024,2737,3316,3483,0,0,0,0,0,0
$GC,856,-1.20,-116.8,116.7,-10.8,82,865,0.00,2.53,0.00,0.000,6,0.000,0.034,2737,1752,3483,0,0,0,0,0,0
$GC,1124,-1.24,-116.8,143.9,-9.8,107,1128,0.00,0.00,0.00,0.000,6,0.000,0.000,2737,1751,3483,0,0,0,0,0,0
$GC,1388,-1.29,-116.8,168.6,-9.8,132,1397,0.00,0.00,0.00,0.000,6,0.000,0.000,2736,1751,3484,0,0,0,0,0,0
$GC,1655,-1.36,-116.8,195.4,-9.4,157,1660,0.15,2.47,0.00,0.000,4,0.067,0.026,2690,3309,3484,0,0,0,0,0,0
$GC,1674,-1.36,-116.8,197.7,-10.0,158,1678,0.00,2.47,0.00,0.000,6,0.000,0.029,2690,1764,3484,0,0,0,0,0,0
$GC,1945,-1.36,-116.8,227.9,-11.0,166,1949,0.00,2.45,0.00,0.000,4,0.000,0.027,2690,3314,3484,0,0,0,0,0,0
$GC,1977,-1.36,-116.8,231.6,-10.8,166,1983,0.00,2.45,0.00,0.000,6,0.000,0.029,2690,1776,3484,0,0,0,0,0,0
$GC,2229,-1.36,-116.8,256.7,-10.0,173,2230,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1776,3484,0,0,0,0,0,0
$GC,2471,-1.36,-116.8,278.0,-8.5,179,2476,0.00,2.42,0.00,0.000,4,0.000,0.028,2690,3303,3483,0,0,0,0,0,0
$GC,2516,-1.40,-116.8,282.1,-9.1,180,2520,0.00,2.45,0.00,0.000,6,0.000,0.041,2690,1804,3483,0,0,0,0,0,0
$GC,2795,-1.40,-116.8,308.5,-9.9,187,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1803,3482,0,0,0,0,0,0
$GC,3038,-1.40,-116.8,333.1,-9.9,193,3042,0.00,2.88,0.00,0.000,4,0.000,0.083,2690,183,3481,0,0,0,0,0,0
$GC,3076,-1.40,-116.8,337.0,-10.5,194,3081,0.00,2.45,0.00,0.000,6,0.000,0.028,2690,1752,3481,0,0,0,0,0,0
$GC,3361,-1.40,-116.8,362.9,-9.0,201,3366,0.00,2.60,0.00,0.000,4,0.000,0.044,2689,3357,3480,0,0,0,0,0,0
$GC,3406,-1.47,-116.8,366.9,-8.4,202,3411,0.00,2.58,0.00,0.000,6,0.000,0.051,2690,1805,3480,0,0,0,0,0,0
$GC,3685,-1.51,-116.8,392.8,-9.5,209,3690,0.00,2.92,0.00,0.000,4,0.000,0.097,2689,187,3478,0,0,0,0,0,0
$GC,3706,-1.51,-116.8,395.4,-10.9,209,3711,0.00,2.58,0.00,0.000,6,0.000,0.025,2690,1809,3478,0,0,0,0,0,0
$GC,3962,-1.56,-116.8,419.2,-9.1,216,3967,0.12,2.53,0.00,0.000,4,0.077,0.047,2650,3356,3476,0,0,0,0,0,0
$GC,3996,-1.56,-116.8,422.6,-10.1,216,4002,0.00,2.60,0.00,0.000,6,0.000,0.049,2651,1810,3476,0,0,0,0,0,0
$GC,4246,-1.56,-116.8,447.2,-9.8,223,4251,0.00,3.00,0.00,0.000,4,0.000,0.104,2650,184,3474,0,0,0,0,0,0
$GC,4262,-1.51,-116.8,449.0,-10.2,223,4267,0.10,2.60,0.00,0.000,6,0.129,0.028,2670,1805,3474,0,0,0,0,0,0
$GC,4525,-1.51,-116.8,471.1,-8.3,230,4530,0.00,2.92,0.00,0.000,4,0.000,0.092,2670,184,3472,0,0,0,0,0,0
$GC,4558,-1.51,-116.8,474.5,-10.0,230,4563,0.00,2.62,0.00,0.000,6,0.000,0.037,2670,1806,3471,0,0,0,0,0,0
$GC,4808,-1.51,-116.8,497.5,-9.2,237,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1806,3470,0,0,0,0,0,0
$STATE,4845,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4845,begin apogee
$GC,4851,-0.31,0.0,501.1,9.1,238,4950,1.17,0.00,95.85,0.927,6,0.080,0.000,2933,1806,3001,0,0,0,0,0,0
$STATE,4951,end apogee,CONTROL_FINISHED_OK
$STATE,4951,begin climb
$GC,4955,1.38,116.8,502.7,0.0,240,5060,1.55,0.00,101.10,0.902,6,0.041,0.000,3307,1806,2524,0,0,0,0,0,0
$GC,5292,1.28,145.0,482.4,8.4,249,5322,0.12,2.78,23.98,0.864,4,0.209,0.055,3283,3407,2410,0,0,0,0,0,0
$GC,5429,1.24,156.2,469.9,9.4,252,5445,0.00,2.72,10.95,0.796,6,0.000,0.055,3283,1818,2364,0,0,0,0,0,0
$GC,5702,1.20,164.6,443.7,9.6,259,5717,0.12,2.70,8.07,0.757,4,0.278,0.040,3261,3413,2330,0,0,0,0,0,0
$GC,5747,1.22,182.1,439.8,9.0,260,5771,0.00,2.75,17.50,0.836,6,0.000,0.049,3260,1807,2257,0,0,0,0,0,0
$GC,6034,1.24,199.1,414.1,9.1,267,6055,0.00,2.70,15.50,0.825,4,0.000,0.037,3261,3423,2187,0,0,0,0,0,0
$GC,6113,1.28,199.1,406.4,10.6,268,6118,0.00,2.75,0.00,0.000,6,0.000,0.053,3261,1811,2184,0,0,0,0,0,0
$GC,6364,1.28,200.8,381.4,9.9,275,6369,0.00,2.62,0.00,0.000,4,0.000,0.038,3260,3420,2182,0,0,0,0,0,0
$GC,6391,1.28,200.8,378.2,10.7,275,6396,0.00,2.70,0.00,0.000,6,0.000,0.050,3260,1822,2182,0,0,0,0,0,0
$GC,6643,1.29,204.3,353.5,9.8,281,6650,0.00,0.00,4.88,0.618,6,0.000,0.000,3260,1822,2168,0,0,0,0,0,0
$GC,6885,1.32,233.3,332.1,8.4,287,6920,0.12,2.70,26.90,0.818,4,0.084,0.034,3295,3417,2048,0,0,0,0,0,0
$GC,6959,1.32,233.3,324.7,10.6,288,6964,0.00,2.67,0.00,0.000,6,0.000,0.047,3294,1827,2045,0,0,0,0,0,0
$GC,7211,1.33,242.3,301.0,9.5,294,7225,0.00,2.88,8.57,0.714,4,0.000,0.076,3294,242,2012,0,0,0,0,0,0
$GC,7260,1.25,242.3,295.1,12.4,295,7264,0.00,2.58,0.00,0.000,6,0.000,0.024,3294,1861,2011,0,0,0,0,0,0
$GC,7539,1.27,252.8,268.1,9.4,302,7555,0.00,2.50,10.57,0.722,4,0.000,0.033,3294,3393,1969,0,0,0,0,0,0
$GC,7605,1.33,252.8,261.1,10.4,303,7610,0.00,2.60,0.00,0.000,6,0.000,0.042,3294,1829,1968,0,0,0,0,0,0
$GC,7860,1.33,252.8,234.6,10.7,310,7861,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1829,1965,0,0,0,0,0,0
$GC,8104,1.34,258.8,210.8,9.7,316,8117,0.00,2.55,6.40,0.611,4,0.000,0.031,3294,3399,1944,0,0,0,0,0,0
$GC,8151,1.41,271.3,206.2,9.3,317,8171,0.00,2.58,12.70,0.682,6,0.000,0.035,3294,1838,1893,0,0,0,0,0,0
$GC,8431,1.41,271.3,177.5,10.0,338,8432,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1838,1890,0,0,0,0,0,0
$GC,8686,1.41,271.3,151.0,10.9,362,8690,0.00,2.75,0.00,0.000,4,0.000,0.064,3294,241,1889,0,0,0,0,0,0
$GC,8713,1.41,271.3,147.7,12.9,364,8718,0.00,2.50,0.00,0.000,6,0.000,0.025,3294,1841,1887,0,0,0,0,0,0
$GC,8978,1.49,290.9,121.6,8.9,388,9003,0.12,2.53,17.38,0.623,4,0.086,0.032,3328,3396,1814,0,0,0,0,0,0
$GC,9139,1.54,290.9,104.1,11.4,401,9143,0.00,2.53,0.00,0.000,6,0.000,0.034,3327,1851,1812,0,0,0,0,0,0
$GC,9405,1.59,296.5,77.2,9.7,425,9420,0.00,2.50,5.88,0.483,4,0.000,0.026,3327,3392,1793,0,0,0,0,0,0
$GC,9427,1.66,302.9,74.5,9.7,426,9441,0.10,2.53,7.35,0.509,6,0.054,0.033,3360,1860,1766,0,0,0,0,0,0
$GC,9707,1.66,302.9,46.1,10.4,452,9716,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,1860,1764,0,0,0,0,0,0
$GC,10008,1.66,302.9,12.6,11.0,488,10017,0.00,0.00,0.00,0.000,6,0.000,0.000,3360,1860,1764,0,0,0,0,0,0
$STATE,10079,end climb,SURFACE_DEPTH_REACHED
$STATE,10079,begin surface coast
$FINISH,0.3,1.010048
$STATE,10130,end surface coast,CONTROL_FINISHED_OK
$STATE,10130,begin surface
$SM_CCo,10152,101.60,0.474,1,0,1287,420.20
$SM_GC,1.13,0.00,0.00,101.60,0.000,0.000,0.474,476,1748,1287,-11.61,-0.62,420.20
$IRIDIUM_FIX,2241.69,-15746.73,311299,030354
$TT8_MAMPS,0.026078
$HUMID,49.56
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.60
$XPDR_PINGS,52
$24V_AH,23.5,48.404
$10V_AH,10.1,47.236
$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,26.975,120.350,373.575,101.600,0.000,25.319,36.673,487.391,13.000,0.000,31.070,1028.320,6630.399,566.328,1887.846,849.867,33.368,1267.020,0.000,1883.030,0.000,0.538,0.000
$DEVICE_MAMPS,277.654,104.312,927.303,474.006,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,341.686,291.124,388.112,725.367,1097.136,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355728
$DATA_FILE_SIZE,41427,505
$CAP_FILE_SIZE,111614,0
$CFSIZE,260165632,161841152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061010,094910,2250.236,-15749.394,9,99.0,28,10.1