version: 66.06
glider: 146
mission: 5
dive: 362
start: 10 8 110 10 41 7
data:
$ID,146
$MISSION,5
$DIVE,362
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-254655.53
$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,51
$R_STBD_OVSHOOT,59
$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
$GPS1,102925,2249.363,-15753.376,38,1.0,38,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-69.4
$GPS2,104013,2249.233,-15753.272,9,1.5,9,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.031,0.233
$KALMAN_X,-275384.1,13.1,271.0,304930.9,229.2
$KALMAN_Y,-514154.4,-239.3,-26.0,641567.5,-1877.4
$MHEAD_RNG_PITCHd_Wd,342.3,16502,-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,-78.80,0.000,2,0.000,0.000,480,1737,3233,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.1,-5.2,10,127,11.20,2.58,-4.70,0.000,4,0.137,0.040,2691,3336,3480,0,0,0,0,0,0
$GC,211,-1.30,-116.8,27.6,-14.3,25,221,0.08,2.53,0.00,0.000,6,0.091,0.029,2712,1792,3481,0,0,0,0,0,0
$GC,489,-1.22,-116.8,67.4,-13.9,51,498,0.10,0.00,0.00,0.000,6,0.132,0.000,2732,1792,3482,0,0,0,0,0,0
$GC,750,-1.22,-116.8,100.6,-11.4,76,755,0.00,2.42,0.00,0.000,4,0.000,0.029,2732,3343,3482,0,0,0,0,0,0
$GC,775,-1.27,-116.8,103.4,-11.2,77,781,0.00,2.50,0.00,0.000,6,0.000,0.029,2731,1772,3483,0,0,0,0,0,0
$GC,1037,-1.27,-116.8,131.1,-10.1,102,1042,0.00,2.65,0.00,0.000,4,0.000,0.063,2731,193,3483,0,0,0,0,0,0
$GC,1090,-1.31,-116.8,137.1,-10.7,106,1094,0.00,2.40,0.00,0.000,6,0.000,0.018,2732,1802,3483,0,0,0,0,0,0
$GC,1358,-1.36,-116.8,163.1,-9.7,130,1364,0.12,0.00,0.00,0.000,6,0.071,0.000,2689,1804,3483,0,0,0,0,0,0
$GC,1621,-1.36,-116.8,191.9,-10.8,155,1625,0.00,2.35,0.00,0.000,4,0.000,0.031,2689,3318,3484,0,0,0,0,0,0
$GC,1654,-1.36,-116.8,195.0,-10.9,157,1658,0.00,2.47,0.00,0.000,6,0.000,0.035,2689,1775,3484,0,0,0,0,0,0
$GC,1905,-1.36,-116.8,223.2,-11.3,166,1909,0.00,2.42,0.00,0.000,4,0.000,0.028,2689,3313,3484,0,0,0,0,0,0
$GC,1920,-1.36,-116.8,225.1,-11.4,166,1925,0.00,2.45,0.00,0.000,6,0.000,0.028,2689,1781,3484,0,0,0,0,0,0
$GC,2183,-1.36,-116.8,255.4,-11.6,173,2188,0.00,2.42,0.00,0.000,4,0.000,0.034,2689,3317,3484,0,0,0,0,0,0
$GC,2199,-1.36,-116.8,257.4,-11.0,173,2204,0.00,2.45,0.00,0.000,6,0.000,0.033,2688,1796,3484,0,0,0,0,0,0
$GC,2461,-1.36,-116.8,283.7,-9.5,180,2465,0.00,2.78,0.00,0.000,4,0.000,0.074,2688,191,3483,0,0,0,0,0,0
$GC,2511,-1.36,-116.8,289.0,-10.9,181,2516,0.00,2.42,0.00,0.000,6,0.000,0.025,2689,1751,3482,0,0,0,0,0,0
$GC,2783,-1.36,-116.8,312.0,-8.2,188,2788,0.00,2.55,0.00,0.000,4,0.000,0.038,2689,3350,3482,0,0,0,0,0,0
$GC,2813,-1.39,-116.8,314.6,-9.1,188,2817,0.00,2.58,0.00,0.000,6,0.000,0.045,2689,1788,3482,0,0,0,0,0,0
$GC,3064,-1.39,-116.8,338.4,-9.5,194,3066,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1788,3481,0,0,0,0,0,0
$GC,3307,-1.39,-116.8,361.7,-9.6,200,3308,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1785,3480,0,0,0,0,0,0
$GC,3550,-1.39,-116.8,385.2,-9.7,206,3555,0.00,2.53,0.00,0.000,4,0.000,0.038,2689,3343,3479,0,0,0,0,0,0
$GC,3580,-1.45,-116.8,388.0,-9.5,206,3585,0.00,2.60,0.00,0.000,6,0.000,0.055,2689,1795,3479,0,0,0,0,0,0
$GC,3830,-1.45,-116.8,412.1,-9.7,212,3834,0.00,2.50,0.00,0.000,4,0.000,0.041,2688,3342,3477,0,0,0,0,0,0
$GC,3870,-1.53,-116.8,415.7,-9.3,213,3874,0.00,2.60,0.00,0.000,6,0.000,0.056,2688,1804,3477,0,0,0,0,0,0
$GC,4155,-1.56,-116.8,441.3,-9.4,220,4160,0.12,2.53,0.00,0.000,4,0.077,0.048,2649,3345,3474,0,0,0,0,0,0
$GC,4223,-1.56,-116.8,449.2,-11.4,221,4228,0.00,2.62,0.00,0.000,6,0.000,0.056,2648,1811,3474,0,0,0,0,0,0
$GC,4479,-1.56,-116.8,478.6,-11.8,228,4484,0.00,2.50,0.00,0.000,4,0.000,0.049,2648,3338,3472,0,0,0,0,0,0
$GC,4506,-1.56,-116.8,482.0,-11.2,228,4511,0.00,2.60,0.00,0.000,6,0.000,0.060,2648,1820,3472,0,0,0,0,0,0
$STATE,4673,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4673,begin apogee
$GC,4678,-0.31,0.0,500.7,11.2,232,4778,1.27,0.00,96.05,0.918,6,0.084,0.000,2931,1820,3001,0,0,0,0,0,0
$STATE,4779,end apogee,CONTROL_FINISHED_OK
$STATE,4779,begin climb
$GC,4781,1.38,116.8,503.2,0.0,234,4894,1.58,2.72,100.15,0.895,4,0.041,0.049,3309,3378,2523,0,0,0,0,0,0
$GC,4905,1.35,199.4,501.7,5.3,237,4985,0.00,2.67,72.28,0.881,6,0.000,0.054,3309,1820,2185,0,0,0,0,0,0
$GC,5247,1.26,199.4,466.8,10.7,246,5252,0.17,2.65,0.00,0.000,4,0.123,0.047,3275,3394,2176,0,0,0,0,0,0
$GC,5263,1.19,199.4,465.0,10.4,246,5268,0.00,2.70,0.00,0.000,6,0.000,0.054,3275,1823,2175,0,0,0,0,0,0
$GC,5525,1.21,211.9,440.5,9.3,253,5541,0.00,3.05,9.88,0.774,4,0.000,0.110,3275,232,2136,0,0,0,0,0,0
$GC,5552,1.15,212.1,437.7,10.0,253,5557,0.12,2.58,0.00,0.000,6,0.137,0.026,3252,1813,2135,0,0,0,0,0,0
$GC,5802,1.17,229.6,414.9,9.0,259,5826,0.00,2.75,16.85,0.824,4,0.000,0.044,3252,3414,2063,0,0,0,0,0,0
$GC,5851,1.24,231.5,410.3,9.9,260,5855,0.00,2.70,0.00,0.000,6,0.000,0.054,3252,1826,2062,0,0,0,0,0,0
$GC,6129,1.29,243.1,384.2,9.4,267,6144,0.12,0.00,13.15,0.793,6,0.085,0.000,3285,1826,2009,0,0,0,0,0,0
$GC,6373,1.29,243.1,357.7,11.0,273,6377,0.00,2.60,0.00,0.000,4,0.000,0.037,3285,3416,2005,0,0,0,0,0,0
$GC,6400,1.29,243.1,354.8,10.5,273,6404,0.00,2.67,0.00,0.000,6,0.000,0.050,3285,1830,2004,0,0,0,0,0,0
$GC,6655,1.29,243.1,328.2,10.5,280,6656,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1829,2003,0,0,0,0,0,0
$GC,6898,1.29,243.1,302.1,10.7,286,6903,0.00,2.83,0.00,0.000,4,0.000,0.076,3285,233,2002,0,0,0,0,0,0
$GC,6917,1.29,243.1,300.0,10.8,286,6921,0.00,2.58,0.00,0.000,6,0.000,0.027,3285,1864,2001,0,0,0,0,0,0
$GC,7177,1.30,252.0,274.9,9.5,293,7191,0.00,2.92,8.07,0.693,4,0.000,0.070,3285,232,1973,0,0,0,0,0,0
$GC,7209,1.30,252.0,271.4,10.9,293,7213,0.00,2.55,0.00,0.000,6,0.000,0.026,3285,1829,1972,0,0,0,0,0,0
$GC,7461,1.31,259.7,247.7,9.6,299,7471,0.00,0.00,8.18,0.673,6,0.000,0.000,3285,1831,1942,0,0,0,0,0,0
$GC,7743,1.33,279.1,222.4,8.9,306,7768,0.00,2.60,18.48,0.717,4,0.000,0.035,3285,3395,1863,0,0,0,0,0,0
$GC,7786,1.41,300.6,218.6,8.8,307,7812,0.00,2.60,20.12,0.706,6,0.000,0.036,3285,1829,1775,0,0,0,0,0,0
$GC,8068,1.45,300.6,190.7,10.9,319,8074,0.12,2.78,0.00,0.000,4,0.088,0.072,3316,239,1770,0,0,0,0,0,0
$GC,8101,1.36,300.6,185.2,14.2,321,8111,0.00,2.55,0.00,0.000,6,0.000,0.025,3316,1837,1768,0,0,0,0,0,0
$GC,8369,1.36,300.6,151.2,13.5,346,8374,0.00,0.00,0.00,0.000,6,0.000,0.000,3317,1839,1768,0,0,0,0,0,0
$GC,8633,1.36,300.6,118.1,12.2,371,8638,0.00,2.75,0.00,0.000,4,0.000,0.062,3317,240,1768,0,0,0,0,0,0
$GC,8691,1.31,300.6,110.9,13.2,375,8696,0.15,2.50,0.00,0.000,6,0.118,0.025,3287,1835,1767,0,0,0,0,0,0
$GC,8956,1.45,342.3,87.9,7.6,399,9005,0.12,2.83,35.60,0.608,4,0.085,0.060,3322,246,1603,0,0,0,0,0,0
$GC,9023,1.45,342.3,80.9,11.1,404,9032,0.00,2.50,0.00,0.000,6,0.000,0.020,3322,1823,1602,0,0,0,0,0,0
$GC,9289,1.55,373.4,57.2,8.2,429,9322,0.00,2.55,27.42,0.569,4,0.000,0.028,3322,3389,1476,0,0,0,0,0,0
$GC,9403,1.71,373.4,46.6,10.5,437,9408,0.20,2.55,0.00,0.000,6,0.067,0.033,3376,1825,1475,0,0,0,0,0,0
$GC,9704,1.66,373.4,7.7,12.8,474,9713,0.00,2.72,0.00,0.000,4,0.000,0.058,3376,236,1473,0,0,0,0,0,0
$GC,9723,1.60,373.4,4.6,14.3,476,9732,0.10,2.53,0.00,0.000,6,0.102,0.019,3353,1842,1472,0,0,0,0,0,0
$STATE,9740,end climb,SURFACE_DEPTH_REACHED
$STATE,9740,begin surface coast
$FINISH,0.4,1.011185
$STATE,9774,end surface coast,CONTROL_FINISHED_OK
$STATE,9774,begin surface
$SM_CCo,9798,44.00,0.406,1,0,1287,420.20
$SM_GC,1.05,0.00,0.00,44.00,0.000,0.000,0.406,481,1737,1287,-11.59,-0.93,420.20
$IRIDIUM_FIX,2241.69,-15751.94,020100,070733
$TT8_MAMPS,0.025311
$HUMID,52.24
$INTERNAL_PRESSURE,9.31676
$TCM_TEMP,21.90
$XPDR_PINGS,50
$24V_AH,23.5,50.741
$10V_AH,10.1,49.256
$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,27.350,130.000,426.225,44.000,0.000,23.421,35.047,379.267,12.500,0.000,11.006,985.222,6391.238,524.766,1793.654,777.757,33.368,1242.536,0.000,1798.285,0.000,0.536,0.000
$DEVICE_MAMPS,137.293,109.681,918.099,405.743,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.188,267.760,370.124,706.132,1068.032,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,38418,483
$CAP_FILE_SIZE,111897,0
$CFSIZE,260165632,160903168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081010,132622,2249.637,-15753.501,7,99.0,26,10.1