version: 66.06
glider: 146
mission: 5
dive: 346
start: 10 6 110 13 9 57
data:
$ID,146
$MISSION,5
$DIVE,346
$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,-254350.08
$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,50
$R_STBD_OVSHOOT,54
$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
$GPS1,125834,2250.198,-15750.099,8,99.0,27,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-64.8
$GPS2,130902,2250.141,-15750.053,14,1.5,26,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.230,0.049
$KALMAN_X,-288773.5,86.0,-206.3,324266.9,123.5
$KALMAN_Y,-486591.1,-186.7,-548.3,616149.1,-784.6
$MHEAD_RNG_PITCHd_Wd,271.8,8528,-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,-116.8,0.0,0.0,0,128,0.00,0.00,-109.97,0.000,2,0.000,0.000,479,1735,3249,0,0,0,0,0,0
$GC,131,-1.38,-116.8,3.1,-5.0,14,157,11.18,2.60,-4.57,0.000,4,0.135,0.043,2692,3343,3481,0,0,0,0,0,0
$GC,263,-1.32,-116.8,30.5,-16.2,32,267,0.00,2.47,0.00,0.000,6,0.000,0.029,2692,1793,3481,0,0,0,0,0,0
$GC,530,-1.19,-116.8,75.0,-15.1,56,539,0.22,0.00,0.00,0.000,6,0.101,0.000,2739,1793,3482,0,0,0,0,0,0
$GC,796,-1.19,-116.8,104.7,-10.5,81,801,0.00,2.42,0.00,0.000,4,0.000,0.029,2740,3346,3482,0,0,0,0,0,0
$GC,854,-1.26,-116.8,110.7,-10.6,85,858,0.00,2.50,0.00,0.000,6,0.000,0.031,2740,1775,3482,0,0,0,0,0,0
$GC,1122,-1.32,-116.8,137.9,-9.5,109,1127,0.12,2.67,0.00,0.000,4,0.074,0.067,2699,196,3483,0,0,0,0,0,0
$GC,1143,-1.32,-116.8,141.4,-11.5,110,1153,0.00,2.45,0.00,0.000,6,0.000,0.022,2698,1812,3483,0,0,0,0,0,0
$GC,1407,-1.32,-116.8,172.6,-11.9,135,1412,0.00,2.75,0.00,0.000,4,0.000,0.067,2699,192,3482,0,0,0,0,0,0
$GC,1436,-1.28,-116.8,176.5,-13.1,137,1441,0.10,2.35,0.00,0.000,6,0.123,0.022,2719,1769,3482,0,0,0,0,0,0
$GC,1698,-1.28,-116.8,204.4,-10.8,158,1703,0.00,2.45,0.00,0.000,4,0.000,0.027,2719,3317,3482,0,0,0,0,0,0
$GC,1732,-1.34,-116.8,208.3,-10.3,158,1737,0.00,2.50,0.00,0.000,6,0.000,0.028,2719,1764,3482,0,0,0,0,0,0
$GC,1981,-1.34,-116.8,236.7,-11.6,165,1986,0.00,2.67,0.00,0.000,4,0.000,0.073,2719,197,3482,0,0,0,0,0,0
$GC,2009,-1.34,-116.8,240.3,-13.1,165,2013,0.00,2.38,0.00,0.000,6,0.000,0.020,2719,1754,3482,0,0,0,0,0,0
$GC,2266,-1.39,-116.8,268.1,-10.4,172,2271,0.00,2.50,0.00,0.000,4,0.000,0.031,2719,3334,3482,0,0,0,0,0,0
$GC,2306,-1.50,-116.8,272.5,-10.3,173,2311,0.20,2.53,0.00,0.000,6,0.054,0.034,2657,1775,3481,0,0,0,0,0,0
$GC,2592,-1.45,-116.8,303.9,-11.3,180,2597,0.12,2.50,0.00,0.000,4,0.116,0.029,2683,3329,3481,0,0,0,0,0,0
$GC,2613,-1.45,-116.8,306.3,-9.8,180,2618,0.00,2.50,0.00,0.000,6,0.000,0.034,2684,1781,3481,0,0,0,0,0,0
$GC,2869,-1.45,-116.8,331.3,-9.9,187,2873,0.00,2.50,0.00,0.000,4,0.000,0.037,2684,3336,3480,0,0,0,0,0,0
$GC,2892,-1.45,-116.8,333.6,-10.0,187,2896,0.00,2.55,0.00,0.000,6,0.000,0.040,2683,1787,3480,0,0,0,0,0,0
$GC,3147,-1.45,-116.8,358.9,-10.0,194,3152,0.00,2.47,0.00,0.000,4,0.000,0.041,2683,3332,3479,0,0,0,0,0,0
$GC,3192,-1.51,-116.8,363.6,-10.5,195,3196,0.00,2.58,0.00,0.000,6,0.000,0.051,2683,1789,3479,0,0,0,0,0,0
$GC,3471,-1.51,-116.8,391.5,-10.2,202,3475,0.00,2.90,0.00,0.000,4,0.000,0.097,2683,183,3477,0,0,0,0,0,0
$GC,3503,-1.51,-116.8,395.2,-10.5,202,3509,0.00,2.50,0.00,0.000,6,0.000,0.031,2683,1764,3477,0,0,0,0,0,0
$GC,3753,-1.51,-116.8,421.5,-10.7,209,3757,0.00,2.80,0.00,0.000,4,0.000,0.083,2683,182,3475,0,0,0,0,0,0
$GC,3775,-1.51,-116.8,424.1,-11.8,209,3780,0.00,2.58,0.00,0.000,6,0.000,0.025,2683,1793,3475,0,0,0,0,0,0
$GC,4031,-1.55,-116.8,450.5,-10.0,216,4036,0.00,2.90,0.00,0.000,4,0.000,0.085,2683,181,3473,0,0,0,0,0,0
$GC,4052,-1.55,-116.8,452.9,-10.4,216,4057,0.00,2.60,0.00,0.000,6,0.000,0.037,2683,1789,3473,0,0,0,0,0,0
$GC,4309,-1.55,-116.8,476.8,-9.4,223,4314,0.00,2.65,0.00,0.000,4,0.000,0.056,2683,3363,3471,0,0,0,0,0,0
$GC,4349,-1.61,-116.8,480.8,-9.5,224,4354,0.15,2.70,0.00,0.000,6,0.067,0.057,2639,1786,3470,0,0,0,0,0,0
$STATE,4508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4508,begin apogee
$GC,4515,-0.31,0.0,500.0,12.0,228,4614,1.30,0.00,96.05,0.914,6,0.081,0.000,2929,1844,3001,0,0,0,0,0,0
$STATE,4615,end apogee,CONTROL_FINISHED_OK
$STATE,4615,begin climb
$GC,4619,1.38,116.8,503.6,0.0,230,4731,1.58,2.67,100.25,0.894,4,0.042,0.053,3307,3378,2524,0,0,0,0,0,0
$GC,4737,1.38,213.1,504.5,4.5,233,4827,0.00,2.70,83.55,0.879,6,0.000,0.057,3307,1820,2130,0,0,0,0,0,0
$GC,5081,1.30,213.1,463.9,13.3,242,5086,0.12,2.62,0.00,0.000,4,0.150,0.039,3284,3390,2120,0,0,0,0,0,0
$GC,5120,1.30,213.1,458.7,12.7,243,5125,0.00,2.70,0.00,0.000,6,0.000,0.054,3284,1824,2119,0,0,0,0,0,0
$GC,5405,1.30,213.1,424.2,11.9,250,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,3284,1824,2116,0,0,0,0,0,0
$GC,5647,1.30,213.1,396.7,11.2,256,5651,0.00,2.92,0.00,0.000,4,0.000,0.099,3284,227,2115,0,0,0,0,0,0
$GC,5674,1.21,213.1,393.2,12.9,256,5678,0.00,2.50,0.00,0.000,6,0.000,0.027,3284,1811,2113,0,0,0,0,0,0
$GC,5925,1.21,213.1,364.8,11.3,262,5929,0.00,2.60,0.00,0.000,4,0.000,0.042,3283,3412,2112,0,0,0,0,0,0
$GC,5940,1.21,213.1,362.7,11.1,262,5945,0.00,2.67,0.00,0.000,6,0.000,0.044,3283,1812,2112,0,0,0,0,0,0
$GC,6201,1.21,213.1,334.9,10.5,269,6205,0.00,2.58,0.00,0.000,4,0.000,0.032,3284,3412,2112,0,0,0,0,0,0
$GC,6224,1.21,213.1,332.7,10.2,269,6228,0.00,2.62,0.00,0.000,6,0.000,0.039,3284,1830,2110,0,0,0,0,0,0
$GC,6480,1.23,230.3,309.0,9.0,276,6500,0.00,2.62,12.48,0.749,4,0.000,0.038,3284,3402,2061,0,0,0,0,0,0
$GC,6550,1.28,231.3,302.4,10.0,277,6554,0.00,2.58,0.00,0.000,6,0.000,0.041,3283,1848,2060,0,0,0,0,0,0
$GC,6806,1.31,259.2,280.8,8.4,284,6840,0.00,2.62,26.92,0.768,4,0.000,0.032,3284,3402,1942,0,0,0,0,0,0
$GC,6907,1.41,273.0,271.6,9.2,286,6927,0.10,2.55,13.15,0.718,6,0.103,0.042,3308,1857,1887,0,0,0,0,0,0
$GC,7184,1.41,273.0,241.7,11.2,293,7185,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1858,1882,0,0,0,0,0,0
$GC,7426,1.41,273.0,211.9,12.4,299,7430,0.00,2.50,0.00,0.000,4,0.000,0.031,3308,3407,1880,0,0,0,0,0,0
$GC,7441,1.41,273.0,209.8,12.5,299,7446,0.00,2.53,0.00,0.000,6,0.000,0.037,3308,1865,1879,0,0,0,0,0,0
$GC,7700,1.41,273.0,177.5,12.7,317,7704,0.00,2.47,0.00,0.000,4,0.000,0.030,3309,3405,1879,0,0,0,0,0,0
$GC,7722,1.41,273.0,174.7,12.4,318,7732,0.00,2.55,0.00,0.000,6,0.000,0.035,3308,1866,1878,0,0,0,0,0,0
$GC,7990,1.41,273.0,145.0,11.0,343,7995,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1866,1878,0,0,0,0,0,0
$GC,8251,1.41,273.7,117.6,10.0,368,8255,0.00,2.78,0.00,0.000,4,0.000,0.063,3309,241,1878,0,0,0,0,0,0
$GC,8273,1.41,273.7,115.2,10.6,369,8279,0.00,2.60,0.00,0.000,6,0.000,0.026,3308,1913,1877,0,0,0,0,0,0
$GC,8538,1.50,321.2,93.6,7.3,394,8585,0.00,2.42,40.35,0.611,4,0.000,0.029,3308,3406,1690,0,0,0,0,0,0
$GC,8635,1.65,321.2,84.2,10.2,402,8640,0.20,2.45,0.00,0.000,6,0.063,0.033,3360,1897,1687,0,0,0,0,0,0
$GC,8902,1.65,321.2,55.6,10.3,426,8906,0.00,2.42,0.00,0.000,4,0.000,0.027,3360,3412,1686,0,0,0,0,0,0
$GC,8949,1.71,321.2,50.3,11.2,429,8953,0.00,2.42,0.00,0.000,6,0.000,0.034,3361,1926,1685,0,0,0,0,0,0
$GC,9241,1.71,321.2,17.1,11.5,461,9250,0.00,2.90,0.00,0.000,4,0.000,0.062,3360,234,1685,0,0,0,0,0,0
$GC,9283,1.66,321.2,11.5,13.5,466,9292,0.00,2.70,0.00,0.000,6,0.000,0.021,3360,1947,1684,0,0,0,0,0,0
$STATE,9347,end climb,SURFACE_DEPTH_REACHED
$STATE,9347,begin surface coast
$FINISH,0.4,1.005232
$STATE,9390,end surface coast,CONTROL_FINISHED_OK
$STATE,9390,begin surface
$SM_CCo,9413,85.45,0.463,1,0,1288,420.20
$SM_GC,0.95,0.00,0.00,85.45,0.000,0.000,0.463,480,1747,1288,-11.59,-0.65,420.20
$IRIDIUM_FIX,2244.02,-15746.73,311299,101022
$TT8_MAMPS,0.026078
$HUMID,49.52
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.10
$XPDR_PINGS,59
$24V_AH,23.5,48.700
$10V_AH,10.2,47.466
$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,27.150,140.050,372.750,85.450,0.000,29.073,31.444,417.563,14.750,0.000,27.872,976.086,6007.608,543.391,1834.997,772.053,33.367,1267.089,0.000,1825.222,0.000,0.535,0.000
$DEVICE_MAMPS,149.565,151.866,914.264,463.268,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,324.422,272.877,373.273,709.371,1072.899,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,38474,481
$CAP_FILE_SIZE,109107,0
$CFSIZE,260165632,161742848
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,061010,154934,2250.049,-15750.810,12,4.9,31,10.1