version: 66.06
glider: 146
mission: 5
dive: 364
start: 10 8 110 16 41 52
data:
$ID,146
$MISSION,5
$DIVE,364
$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,-254703.58
$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,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
$GPS1,162601,2250.266,-15753.475,35,1.4,35,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-68.7
$GPS2,164056,2250.146,-15753.417,14,0.9,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.165,0.167
$KALMAN_X,-273697.0,-221.0,-315.6,303813.4,1477.5
$KALMAN_Y,-517326.5,174.6,-97.0,646082.4,-746.2
$MHEAD_RNG_PITCHd_Wd,305.1,14795,-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,-116.8,0.0,0.0,0,104,0.00,0.00,-86.07,0.000,2,0.000,0.000,477,1746,3472,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.2,-8.2,11,126,11.20,2.58,0.00,0.000,4,0.137,0.046,2689,204,3475,0,0,0,0,0,0
$GC,283,-1.23,-116.8,46.7,-19.1,30,288,0.20,2.40,0.00,0.000,6,0.107,0.015,2731,1785,3476,0,0,0,0,0,0
$GC,547,-1.23,-116.8,83.6,-11.4,54,551,0.00,2.40,0.00,0.000,4,0.000,0.023,2731,3331,3476,0,0,0,0,0,0
$GC,604,-1.28,-116.8,90.1,-10.5,58,614,0.00,2.47,0.00,0.000,6,0.000,0.028,2731,1801,3476,0,0,0,0,0,0
$GC,873,-1.32,-116.8,118.0,-9.9,83,877,0.00,2.70,0.00,0.000,4,0.000,0.056,2731,190,3477,0,0,0,0,0,0
$GC,896,-1.32,-116.8,120.9,-10.0,84,905,0.00,2.45,0.00,0.000,6,0.000,0.016,2731,1797,3477,0,0,0,0,0,0
$GC,1162,-1.37,-116.8,144.9,-8.6,109,1167,0.12,2.38,0.00,0.000,4,0.071,0.028,2689,3317,3477,0,0,0,0,0,0
$GC,1196,-1.37,-116.8,148.3,-9.8,111,1200,0.00,2.42,0.00,0.000,6,0.000,0.032,2689,1783,3477,0,0,0,0,0,0
$GC,1458,-1.33,-116.8,177.8,-11.7,135,1464,0.10,2.70,0.00,0.000,4,0.117,0.061,2710,190,3477,0,0,0,0,0,0
$GC,1489,-1.33,-116.8,181.2,-11.9,137,1493,0.00,2.40,0.00,0.000,6,0.000,0.017,2710,1785,3477,0,0,0,0,0,0
$GC,1757,-1.33,-116.8,209.2,-10.1,156,1758,0.00,0.00,0.00,0.000,6,0.000,0.000,2710,1787,3477,0,0,0,0,0,0
$GC,2001,-1.33,-116.8,233.2,-9.9,162,2005,0.00,2.40,0.00,0.000,4,0.000,0.034,2710,3320,3477,0,0,0,0,0,0
$GC,2042,-1.39,-116.8,236.8,-9.1,163,2047,0.00,2.47,0.00,0.000,6,0.000,0.037,2710,1786,3477,0,0,0,0,0,0
$GC,2325,-1.39,-116.8,262.9,-9.0,170,2330,0.00,2.75,0.00,0.000,4,0.000,0.074,2710,196,3477,0,0,0,0,0,0
$GC,2347,-1.39,-116.8,265.0,-9.1,170,2352,0.00,2.40,0.00,0.000,6,0.000,0.022,2710,1765,3476,0,0,0,0,0,0
$GC,2605,-1.43,-116.8,289.1,-9.6,177,2609,0.00,2.50,0.00,0.000,4,0.000,0.035,2710,3346,3476,0,0,0,0,0,0
$GC,2638,-1.51,-116.8,292.6,-10.1,177,2644,0.17,2.53,0.00,0.000,6,0.059,0.035,2653,1797,3476,0,0,0,0,0,0
$GC,2889,-1.45,-116.8,323.6,-12.5,184,2891,0.15,0.00,0.00,0.000,6,0.104,0.000,2685,1796,3475,0,0,0,0,0,0
$GC,3131,-1.45,-116.8,351.0,-11.0,190,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1794,3474,0,0,0,0,0,0
$GC,3375,-1.45,-116.8,377.7,-10.9,196,3376,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1794,3473,0,0,0,0,0,0
$GC,3618,-1.45,-116.8,403.2,-10.4,202,3623,0.00,2.53,0.00,0.000,4,0.000,0.043,2686,3339,3471,0,0,0,0,0,0
$GC,3670,-1.51,-116.8,408.5,-10.1,203,3674,0.00,2.60,0.00,0.000,6,0.000,0.052,2686,1799,3471,0,0,0,0,0,0
$GC,3941,-1.51,-116.8,435.8,-10.1,210,3946,0.00,2.50,0.00,0.000,4,0.000,0.047,2685,3339,3469,0,0,0,0,0,0
$GC,3997,-1.57,-116.8,441.4,-9.3,211,4003,0.12,2.62,0.00,0.000,6,0.073,0.061,2644,1808,3469,0,0,0,0,0,0
$GC,4266,-1.53,-116.8,471.5,-11.6,218,4272,0.10,3.05,0.00,0.000,4,0.125,0.110,2665,179,3467,0,0,0,0,0,0
$GC,4306,-1.49,-116.8,476.6,-11.6,219,4311,0.00,2.58,0.00,0.000,6,0.000,0.038,2665,1777,3466,0,0,0,0,0,0
$STATE,4546,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4546,begin apogee
$GC,4554,-0.31,0.0,503.6,11.0,225,4653,1.17,0.00,95.20,0.914,6,0.078,0.000,2930,1836,3001,0,0,0,0,0,0
$STATE,4654,end apogee,CONTROL_FINISHED_OK
$STATE,4654,begin climb
$GC,4656,1.38,116.8,506.5,0.0,227,4768,1.58,2.72,100.53,0.892,4,0.051,0.060,3309,3393,2523,0,0,0,0,0,0
$GC,4785,1.35,186.3,505.0,6.0,230,4851,0.00,2.72,60.38,0.878,6,0.000,0.055,3309,1813,2240,0,0,0,0,0,0
$GC,5113,1.25,186.3,464.8,13.1,239,5118,0.17,2.95,0.00,0.000,4,0.149,0.101,3274,232,2231,0,0,0,0,0,0
$GC,5142,1.14,186.3,460.9,14.0,239,5147,0.12,2.58,0.00,0.000,6,0.137,0.029,3252,1809,2230,0,0,0,0,0,0
$GC,5392,1.14,186.3,432.6,10.9,245,5396,0.00,2.80,0.00,0.000,4,0.000,0.082,3251,230,2228,0,0,0,0,0,0
$GC,5407,1.14,186.3,430.9,10.8,245,5412,0.00,2.55,0.00,0.000,6,0.000,0.031,3251,1815,2227,0,0,0,0,0,0
$GC,5670,1.16,202.1,406.0,9.1,252,5690,0.00,2.70,12.77,0.795,4,0.000,0.049,3251,3400,2176,0,0,0,0,0,0
$GC,5746,1.25,229.1,399.0,8.5,253,5777,0.00,2.65,25.42,0.829,6,0.000,0.051,3251,1827,2066,0,0,0,0,0,0
$GC,6042,1.32,248.6,373.2,8.9,261,6067,0.15,2.65,18.10,0.802,4,0.075,0.037,3290,3406,1986,0,0,0,0,0,0
$GC,6085,1.32,248.6,368.3,10.5,262,6089,0.00,2.67,0.00,0.000,6,0.000,0.045,3290,1836,1985,0,0,0,0,0,0
$GC,6369,1.32,248.6,333.7,12.6,269,6374,0.00,2.85,0.00,0.000,4,0.000,0.080,3290,234,1981,0,0,0,0,0,0
$GC,6391,1.27,248.6,330.3,14.4,269,6395,0.00,2.58,0.00,0.000,6,0.000,0.025,3290,1853,1980,0,0,0,0,0,0
$GC,6647,1.27,248.6,299.7,11.7,276,6651,0.00,2.50,0.00,0.000,4,0.000,0.033,3290,3401,1980,0,0,0,0,0,0
$GC,6704,1.31,248.6,293.5,10.5,277,6709,0.00,2.60,0.00,0.000,6,0.000,0.039,3290,1830,1978,0,0,0,0,0,0
$GC,6971,1.33,269.0,269.2,8.9,284,6995,0.00,2.60,18.05,0.747,4,0.000,0.034,3290,3387,1904,0,0,0,0,0,0
$GC,7030,1.41,280.3,263.5,9.4,285,7049,0.00,2.55,11.48,0.703,6,0.000,0.037,3290,1847,1857,0,0,0,0,0,0
$GC,7301,1.41,280.3,236.9,10.2,292,7302,0.00,0.00,0.00,0.000,6,0.000,0.000,3290,1847,1853,0,0,0,0,0,0
$GC,7543,1.41,280.3,209.7,11.3,298,7548,0.00,2.47,0.00,0.000,4,0.000,0.030,3290,3400,1853,0,0,0,0,0,0
$GC,7577,1.49,280.3,205.9,11.4,298,7583,0.15,2.55,0.00,0.000,6,0.077,0.041,3329,1850,1852,0,0,0,0,0,0
$GC,7835,1.49,280.3,173.7,12.6,317,7840,0.00,2.80,0.00,0.000,4,0.000,0.070,3329,237,1852,0,0,0,0,0,0
$GC,7852,1.42,280.3,171.4,12.6,318,7857,0.00,2.55,0.00,0.000,6,0.000,0.021,3329,1875,1850,0,0,0,0,0,0
$GC,8116,1.42,280.3,138.6,12.0,342,8121,0.00,2.42,0.00,0.000,4,0.000,0.030,3329,3400,1850,0,0,0,0,0,0
$GC,8146,1.42,280.3,134.9,12.4,344,8150,0.00,2.50,0.00,0.000,6,0.000,0.038,3329,1859,1849,0,0,0,0,0,0
$GC,8410,1.42,280.3,105.9,10.3,368,8414,0.00,2.78,0.00,0.000,4,0.000,0.066,3329,236,1850,0,0,0,0,0,0
$GC,8431,1.42,280.3,103.7,10.7,369,8435,0.00,2.55,0.00,0.000,6,0.000,0.021,3329,1874,1849,0,0,0,0,0,0
$GC,8698,1.44,296.1,78.5,9.1,393,8717,0.00,2.47,13.95,0.574,4,0.000,0.027,3329,3407,1793,0,0,0,0,0,0
$GC,8772,1.55,309.6,71.9,9.3,398,8790,0.00,2.47,13.15,0.560,6,0.000,0.034,3329,1882,1738,0,0,0,0,0,0
$GC,9052,1.63,328.9,47.8,8.9,423,9083,0.10,2.90,17.67,0.548,4,0.094,0.059,3358,238,1658,0,0,0,0,0,0
$GC,9101,1.63,328.9,42.7,10.7,426,9106,0.00,2.60,0.00,0.000,6,0.000,0.019,3358,1893,1658,0,0,0,0,0,0
$GC,9408,1.63,328.9,9.4,11.1,463,9417,0.00,0.00,0.00,0.000,6,0.000,0.000,3357,1895,1657,0,0,0,0,0,0
$STATE,9460,end climb,SURFACE_DEPTH_REACHED
$STATE,9460,begin surface coast
$FINISH,0.4,1.001321
$STATE,9516,end surface coast,CONTROL_FINISHED_OK
$STATE,9516,begin surface
$SM_CCo,9538,80.82,0.459,1,0,1287,420.20
$SM_GC,1.03,0.00,0.00,80.82,0.000,0.000,0.459,479,1749,1287,-11.60,-0.59,420.20
$IRIDIUM_FIX,2244.02,-15754.11,020100,161609
$TT8_MAMPS,0.026078
$HUMID,49.37
$INTERNAL_PRESSURE,9.35583
$TCM_TEMP,22.50
$XPDR_PINGS,49
$24V_AH,23.5,51.009
$10V_AH,10.1,49.487
$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,27.375,129.850,386.700,80.825,0.000,58.408,79.049,477.032,12.250,0.000,15.823,987.851,6190.402,521.800,1839.080,959.250,33.398,1228.539,0.000,1833.935,0.000,0.535,0.000
$DEVICE_MAMPS,148.798,122.720,914.264,458.666,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,323.193,273.382,369.036,706.096,1068.051,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,38484,478
$CAP_FILE_SIZE,114339,0
$CFSIZE,260165632,160792576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,081010,192328,2250.577,-15753.513,11,3.9,30,10.1