version: 66.06
glider: 146
mission: 5
dive: 363
start: 10 8 110 13 38 15
data:
$ID,146
$MISSION,5
$DIVE,363
$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,-254687.12
$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,55
$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
$GPS1,132622,2249.637,-15753.501,7,99.0,26,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-68.7
$GPS2,133722,2249.469,-15753.525,9,99.0,28,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.081,0.221
$KALMAN_X,-274745.8,-153.9,-317.2,304616.9,608.2
$KALMAN_Y,-515806.5,-31.7,-467.7,643885.8,-980.5
$MHEAD_RNG_PITCHd_Wd,329.8,15999,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.35,0.000,2,0.000,0.000,480,1737,3220,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.1,-5.5,10,127,11.20,2.55,-4.93,0.000,4,0.137,0.041,2689,3325,3479,0,0,0,0,0,0
$GC,256,-1.30,-116.8,36.9,-17.1,30,264,0.08,2.50,0.00,0.000,6,0.093,0.031,2709,1795,3481,0,0,0,0,0,0
$GC,525,-1.23,-116.8,76.0,-13.8,55,530,0.10,2.42,0.00,0.000,4,0.133,0.026,2729,3332,3481,0,0,0,0,0,0
$GC,568,-1.23,-116.8,83.2,-12.8,58,573,0.00,2.55,0.00,0.000,6,0.000,0.030,2729,1751,3482,0,0,0,0,0,0
$GC,832,-1.23,-116.8,114.5,-11.3,82,837,0.00,2.62,0.00,0.000,4,0.000,0.058,2729,196,3482,0,0,0,0,0,0
$GC,852,-1.23,-116.8,116.8,-11.9,83,857,0.00,2.35,0.00,0.000,6,0.000,0.020,2729,1776,3482,0,0,0,0,0,0
$GC,1121,-1.28,-116.8,145.5,-9.9,107,1125,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1778,3482,0,0,0,0,0,0
$GC,1384,-1.32,-116.8,171.3,-9.6,132,1385,0.00,0.00,0.00,0.000,6,0.000,0.000,2729,1779,3483,0,0,0,0,0,0
$GC,1640,-1.38,-116.8,193.6,-8.2,156,1649,0.12,0.00,0.00,0.000,6,0.072,0.000,2689,1778,3483,0,0,0,0,0,0
$GC,1912,-1.38,-116.8,218.9,-9.3,168,1917,0.00,2.40,0.00,0.000,4,0.000,0.029,2689,3314,3483,0,0,0,0,0,0
$GC,1940,-1.38,-116.8,221.8,-9.8,168,1944,0.00,2.53,0.00,0.000,6,0.000,0.031,2688,1751,3483,0,0,0,0,0,0
$GC,2191,-1.38,-116.8,250.4,-12.1,174,2196,0.00,2.45,0.00,0.000,4,0.000,0.031,2689,3311,3483,0,0,0,0,0,0
$GC,2236,-1.38,-116.8,255.9,-12.0,175,2240,0.00,2.50,0.00,0.000,6,0.000,0.031,2689,1765,3483,0,0,0,0,0,0
$GC,2513,-1.38,-116.8,289.0,-11.9,182,2518,0.00,2.75,0.00,0.000,4,0.000,0.081,2688,192,3482,0,0,0,0,0,0
$GC,2541,-1.38,-116.8,292.4,-12.4,182,2545,0.00,2.38,0.00,0.000,6,0.000,0.026,2688,1720,3482,0,0,0,0,0,0
$GC,2796,-1.38,-116.8,320.5,-10.9,189,2800,0.00,2.60,0.00,0.000,4,0.000,0.039,2688,3350,3482,0,0,0,0,0,0
$GC,2846,-1.43,-116.8,325.4,-9.5,190,2850,0.00,2.58,0.00,0.000,6,0.000,0.044,2688,1771,3482,0,0,0,0,0,0
$GC,3119,-1.43,-116.8,351.8,-9.7,197,3120,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1771,3481,0,0,0,0,0,0
$GC,3361,-1.43,-116.8,374.3,-9.1,203,3366,0.00,2.83,0.00,0.000,4,0.000,0.091,2688,186,3480,0,0,0,0,0,0
$GC,3377,-1.43,-116.8,375.9,-9.5,203,3381,0.00,2.47,0.00,0.000,6,0.000,0.028,2688,1768,3480,0,0,0,0,0,0
$GC,3639,-1.43,-116.8,400.3,-9.2,210,3644,0.00,2.58,0.00,0.000,4,0.000,0.049,2688,3350,3478,0,0,0,0,0,0
$GC,3706,-1.49,-116.8,406.5,-8.9,211,3710,0.00,2.65,0.00,0.000,6,0.000,0.052,2688,1785,3478,0,0,0,0,0,0
$GC,3961,-1.49,-116.8,429.7,-9.3,218,3965,0.00,2.55,0.00,0.000,4,0.000,0.045,2688,3354,3476,0,0,0,0,0,0
$GC,4002,-1.57,-116.8,433.3,-8.8,219,4008,0.12,2.62,0.00,0.000,6,0.075,0.060,2646,1797,3476,0,0,0,0,0,0
$GC,4286,-1.53,-116.8,464.9,-11.4,226,4292,0.10,3.03,0.00,0.000,4,0.128,0.107,2666,179,3473,0,0,0,0,0,0
$GC,4303,-1.49,-116.8,466.9,-11.4,226,4307,0.00,2.58,0.00,0.000,6,0.000,0.030,2666,1781,3474,0,0,0,0,0,0
$GC,4565,-1.49,-116.8,494.4,-10.7,233,4566,0.00,0.00,0.00,0.000,6,0.000,0.000,2666,1781,3472,0,0,0,0,0,0
$STATE,4642,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4642,begin apogee
$GC,4648,-0.31,0.0,502.6,10.3,235,4748,1.17,0.00,96.53,0.918,6,0.081,0.000,2929,1830,3001,0,0,0,0,0,0
$STATE,4749,end apogee,CONTROL_FINISHED_OK
$STATE,4749,begin climb
$GC,4752,1.38,116.8,505.1,0.0,237,4861,1.58,2.72,100.88,0.894,4,0.051,0.058,3307,3392,2522,0,0,0,0,0,0
$GC,4881,1.36,202.4,503.7,5.1,240,4961,0.00,2.72,74.35,0.884,6,0.000,0.057,3307,1813,2175,0,0,0,0,0,0
$GC,5206,1.28,202.4,469.3,11.1,248,5208,0.12,0.00,0.00,0.000,6,0.129,0.000,3281,1812,2166,0,0,0,0,0,0
$GC,5450,1.28,202.4,444.0,10.4,254,5454,0.00,2.90,0.00,0.000,4,0.000,0.097,3281,233,2163,0,0,0,0,0,0
$GC,5471,1.19,202.4,441.4,11.5,254,5476,0.10,2.55,0.00,0.000,6,0.146,0.026,3263,1813,2162,0,0,0,0,0,0
$GC,5728,1.20,211.9,416.3,9.5,261,5742,0.00,2.72,7.05,0.715,4,0.000,0.048,3263,3408,2137,0,0,0,0,0,0
$GC,5799,1.25,211.9,409.1,10.2,262,5803,0.00,2.67,0.00,0.000,6,0.000,0.047,3263,1829,2135,0,0,0,0,0,0
$GC,6054,1.28,230.5,385.9,9.0,269,6078,0.00,2.65,18.05,0.815,4,0.000,0.037,3263,3404,2060,0,0,0,0,0,0
$GC,6131,1.35,235.6,378.6,9.7,270,6143,0.12,2.65,6.03,0.663,6,0.093,0.051,3295,1844,2040,0,0,0,0,0,0
$GC,6385,1.35,235.6,350.8,10.8,277,6390,0.00,2.85,0.00,0.000,4,0.000,0.083,3296,232,2036,0,0,0,0,0,0
$GC,6414,1.25,235.6,347.3,12.8,277,6419,0.12,2.60,0.00,0.000,6,0.133,0.027,3273,1865,2035,0,0,0,0,0,0
$GC,6664,1.25,237.5,322.4,9.9,283,6669,0.00,2.88,0.00,0.000,4,0.000,0.068,3272,229,2034,0,0,0,0,0,0
$GC,6679,1.25,237.5,320.6,10.2,283,6684,0.00,2.55,0.00,0.000,6,0.000,0.028,3272,1841,2033,0,0,0,0,0,0
$GC,6948,1.27,247.6,295.5,9.5,290,6967,0.00,2.85,11.43,0.737,4,0.000,0.070,3272,231,1990,0,0,0,0,0,0
$GC,6996,1.27,247.6,290.2,11.3,291,7000,0.00,2.58,0.00,0.000,6,0.000,0.027,3272,1843,1988,0,0,0,0,0,0
$GC,7275,1.31,254.3,263.0,9.7,298,7284,0.00,0.00,7.12,0.657,6,0.000,0.000,3271,1845,1964,0,0,0,0,0,0
$GC,7520,1.38,271.7,240.7,9.0,304,7545,0.12,2.92,16.83,0.723,4,0.085,0.064,3305,230,1892,0,0,0,0,0,0
$GC,7563,1.31,271.7,236.2,11.3,305,7567,0.00,2.58,0.00,0.000,6,0.000,0.026,3306,1847,1891,0,0,0,0,0,0
$GC,7848,1.32,276.0,207.5,9.8,312,7858,0.00,2.50,5.05,0.547,4,0.000,0.036,3305,3392,1875,0,0,0,0,0,0
$GC,7886,1.32,276.0,203.4,10.3,313,7891,0.00,2.58,0.00,0.000,6,0.000,0.040,3305,1827,1874,0,0,0,0,0,0
$GC,8148,1.32,276.0,176.5,10.2,335,8153,0.00,2.50,0.00,0.000,4,0.000,0.031,3306,3392,1873,0,0,0,0,0,0
$GC,8165,1.32,276.0,174.7,10.4,336,8170,0.00,2.53,0.00,0.000,6,0.000,0.038,3305,1833,1872,0,0,0,0,0,0
$GC,8428,1.32,276.0,146.5,11.1,360,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1834,1872,0,0,0,0,0,0
$GC,8683,1.32,276.0,116.8,11.6,384,8687,0.00,2.50,0.00,0.000,4,0.000,0.028,3305,3397,1872,0,0,0,0,0,0
$GC,8703,1.32,276.0,114.7,11.6,385,8707,0.00,2.55,0.00,0.000,6,0.000,0.041,3306,1838,1872,0,0,0,0,0,0
$GC,8971,1.38,295.6,90.2,8.9,409,8996,0.00,2.75,18.30,0.598,4,0.000,0.061,3306,241,1793,0,0,0,0,0,0
$GC,9013,1.40,308.6,85.6,9.3,412,9032,0.00,2.53,12.30,0.566,6,0.000,0.019,3305,1843,1742,0,0,0,0,0,0
$GC,9291,1.49,313.3,59.5,9.8,438,9306,0.00,2.50,5.47,0.463,4,0.000,0.027,3305,3386,1722,0,0,0,0,0,0
$GC,9348,1.66,327.6,54.0,9.2,442,9372,0.20,2.53,14.12,0.548,6,0.044,0.034,3362,1861,1664,0,0,0,0,0,0
$GC,9634,1.66,327.6,25.5,11.0,471,9644,0.00,2.78,0.00,0.000,4,0.000,0.061,3362,245,1660,0,0,0,0,0,0
$GC,9654,1.66,327.6,23.1,11.1,473,9663,0.00,2.53,0.00,0.000,6,0.000,0.021,3362,1851,1660,0,0,0,0,0,0
$STATE,9835,end climb,SURFACE_DEPTH_REACHED
$STATE,9835,begin surface coast
$FINISH,0.3,1.023087
$STATE,9880,end surface coast,CONTROL_FINISHED_OK
$STATE,9880,begin surface
$SM_CCo,9901,83.60,0.466,1,0,1287,420.20
$SM_GC,1.12,0.00,0.00,83.60,0.000,0.000,0.466,478,1746,1287,-11.60,-0.68,420.20
$IRIDIUM_FIX,2239.35,-15749.78,020100,101028
$TT8_MAMPS,0.026078
$HUMID,50.11
$INTERNAL_PRESSURE,9.32653
$TCM_TEMP,22.20
$XPDR_PINGS,58
$24V_AH,23.5,50.871
$10V_AH,10.1,49.373
$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,27.050,130.825,393.500,83.600,0.000,36.069,32.975,363.001,14.500,0.000,30.969,1023.660,6380.688,546.772,1897.639,778.844,33.361,1265.128,0.000,1884.526,0.000,0.535,0.000
$DEVICE_MAMPS,146.497,164.138,918.099,465.569,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,341.346,298.807,392.583,743.599,1124.817,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,41644,505
$CAP_FILE_SIZE,113384,0
$CFSIZE,260165632,160845824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081010,162601,2250.266,-15753.475,35,1.4,35,10.1