version: 66.06
glider: 146
mission: 5
dive: 366
start: 10 8 110 22 33 54
data:
$ID,146
$MISSION,5
$DIVE,366
$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,-254759.11
$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,67
$R_STBD_OVSHOOT,60
$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
$GPS1,222231,2250.353,-15753.518,36,1.5,36,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-68.5
$GPS2,223301,2250.327,-15753.452,10,1.2,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.028,0.233
$KALMAN_X,-272008.0,31.4,441.2,301058.0,268.4
$KALMAN_Y,-520761.0,119.9,40.6,649776.8,-2274.7
$MHEAD_RNG_PITCHd_Wd,343.1,14453,-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,15,-1.38,-116.8,0.0,0.0,0,103,0.00,0.00,-85.65,0.000,6,0.000,0.000,480,1725,3479,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.6,-9.6,11,126,11.25,2.58,0.00,0.000,4,0.139,0.024,2692,3346,3481,0,0,0,0,0,0
$GC,221,-1.31,-116.8,32.9,-15.9,26,226,0.10,2.50,0.00,0.000,6,0.125,0.031,2713,1804,3482,0,0,0,0,0,0
$GC,489,-1.21,-116.8,74.0,-14.9,50,494,0.10,2.75,0.00,0.000,4,0.127,0.057,2734,197,3482,0,0,0,0,0,0
$GC,536,-1.15,-116.8,81.5,-14.4,53,540,0.00,2.38,0.00,0.000,6,0.000,0.015,2734,1785,3482,0,0,0,0,0,0
$GC,804,-1.15,-116.8,110.2,-9.6,77,808,0.00,2.38,0.00,0.000,4,0.000,0.025,2734,3320,3482,0,0,0,0,0,0
$GC,839,-1.21,-116.8,114.0,-9.0,79,844,0.00,2.50,0.00,0.000,6,0.000,0.031,2734,1754,3483,0,0,0,0,0,0
$GC,1104,-1.26,-116.8,137.8,-9.7,104,1108,0.00,2.42,0.00,0.000,4,0.000,0.029,2734,3316,3484,0,0,0,0,0,0
$GC,1125,-1.31,-116.8,139.8,-9.6,105,1129,0.00,2.45,0.00,0.000,6,0.000,0.031,2734,1767,3484,0,0,0,0,0,0
$GC,1388,-1.37,-116.8,164.4,-9.8,129,1393,0.15,2.70,0.00,0.000,4,0.066,0.064,2687,190,3484,0,0,0,0,0,0
$GC,1430,-1.33,-116.8,169.6,-13.2,132,1435,0.10,2.35,0.00,0.000,6,0.124,0.023,2708,1765,3484,0,0,0,0,0,0
$GC,1691,-1.33,-116.8,198.8,-11.3,156,1692,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1766,3484,0,0,0,0,0,0
$GC,1947,-1.33,-116.8,226.3,-10.7,163,1951,0.00,2.42,0.00,0.000,4,0.000,0.033,2708,3321,3484,0,0,0,0,0,0
$GC,1979,-1.37,-116.8,230.1,-10.4,163,1985,0.00,2.53,0.00,0.000,6,0.000,0.035,2708,1762,3484,0,0,0,0,0,0
$GC,2229,-1.37,-116.8,255.9,-10.4,170,2233,0.00,2.45,0.00,0.000,4,0.000,0.033,2708,3315,3484,0,0,0,0,0,0
$GC,2252,-1.41,-116.8,258.1,-10.1,170,2257,0.00,2.50,0.00,0.000,6,0.000,0.039,2708,1762,3484,0,0,0,0,0,0
$GC,2507,-1.41,-116.8,279.8,-8.1,177,2508,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1762,3483,0,0,0,0,0,0
$GC,2751,-1.46,-116.8,299.9,-8.4,183,2753,0.12,0.00,0.00,0.000,6,0.079,0.000,2669,1762,3482,0,0,0,0,0,0
$GC,2996,-1.46,-116.8,325.7,-10.9,189,3000,0.00,2.47,0.00,0.000,4,0.000,0.038,2668,3309,3481,0,0,0,0,0,0
$GC,3034,-1.46,-116.8,329.9,-10.2,190,3039,0.00,2.53,0.00,0.000,6,0.000,0.042,2669,1774,3481,0,0,0,0,0,0
$GC,3318,-1.46,-116.8,357.4,-9.5,197,3322,0.00,2.47,0.00,0.000,4,0.000,0.037,2668,3313,3480,0,0,0,0,0,0
$GC,3339,-1.46,-116.8,359.5,-9.4,197,3343,0.00,2.58,0.00,0.000,6,0.000,0.044,2668,1767,3480,0,0,0,0,0,0
$GC,3595,-1.46,-116.8,385.0,-10.3,204,3600,0.00,2.47,0.00,0.000,4,0.000,0.039,2668,3306,3478,0,0,0,0,0,0
$GC,3652,-1.46,-116.8,391.0,-10.9,205,3657,0.00,2.58,0.00,0.000,6,0.000,0.054,2668,1775,3478,0,0,0,0,0,0
$GC,3921,-1.46,-116.8,417.7,-9.8,212,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1775,3476,0,0,0,0,0,0
$GC,4163,-1.46,-116.8,440.0,-9.1,218,4167,0.00,2.50,0.00,0.000,4,0.000,0.041,2668,3302,3475,0,0,0,0,0,0
$GC,4184,-1.46,-116.8,442.0,-9.1,218,4189,0.00,2.60,0.00,0.000,6,0.000,0.061,2668,1779,3475,0,0,0,0,0,0
$GC,4439,-1.46,-116.8,466.4,-10.0,225,4440,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1779,3473,0,0,0,0,0,0
$GC,4684,-1.46,-116.8,492.6,-11.0,231,4688,0.00,2.53,0.00,0.000,4,0.000,0.050,2669,3297,3471,0,0,0,0,0,0
$GC,4723,-1.50,-116.8,497.4,-11.6,232,4728,0.00,2.62,0.00,0.000,6,0.000,0.062,2668,1781,3471,0,0,0,0,0,0
$STATE,4743,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4743,begin apogee
$GC,4748,-0.31,0.0,500.0,11.3,232,4849,1.15,0.00,96.70,0.924,6,0.081,0.000,2928,1781,3000,0,0,0,0,0,0
$STATE,4850,end apogee,CONTROL_FINISHED_OK
$STATE,4850,begin climb
$GC,4854,1.38,116.8,504.1,0.0,235,4967,1.58,2.75,101.12,0.904,4,0.041,0.053,3308,3352,2523,0,0,0,0,0,0
$GC,4990,1.36,208.2,504.2,4.8,238,5075,0.00,2.67,79.53,0.891,6,0.000,0.057,3308,1817,2152,0,0,0,0,0,0
$GC,5335,1.28,208.2,469.1,10.8,247,5340,0.15,2.55,0.00,0.000,4,0.158,0.039,3280,3353,2142,0,0,0,0,0,0
$GC,5442,1.29,211.6,458.4,9.8,249,5447,0.00,2.60,0.00,0.000,6,0.000,0.059,3280,1839,2140,0,0,0,0,0,0
$GC,5703,1.29,212.1,432.6,10.0,256,5704,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1838,2138,0,0,0,0,0,0
$GC,5946,1.29,212.1,405.7,11.3,262,5947,0.00,0.00,0.00,0.000,6,0.000,0.000,3280,1838,2136,0,0,0,0,0,0
$GC,6190,1.29,212.1,378.1,11.2,268,6194,0.00,2.47,0.00,0.000,4,0.000,0.039,3280,3361,2135,0,0,0,0,0,0
$GC,6218,1.29,212.1,375.1,11.0,268,6222,0.00,2.55,0.00,0.000,6,0.000,0.046,3279,1832,2135,0,0,0,0,0,0
$GC,6468,1.29,217.7,350.2,9.7,274,6476,0.00,0.00,6.68,0.699,6,0.000,0.000,3280,1832,2113,0,0,0,0,0,0
$GC,6711,1.33,249.4,329.2,8.2,280,6743,0.00,0.00,29.95,0.817,6,0.000,0.000,3280,1832,1984,0,0,0,0,0,0
$GC,6957,1.36,269.0,308.0,8.9,286,6981,0.00,2.92,18.45,0.776,4,0.000,0.076,3279,234,1903,0,0,0,0,0,0
$GC,6992,1.36,269.0,303.9,10.9,286,6998,0.00,2.53,0.00,0.000,6,0.000,0.025,3279,1815,1902,0,0,0,0,0,0
$GC,7242,1.36,269.0,278.1,10.3,293,7247,0.00,2.78,0.00,0.000,4,0.000,0.067,3279,231,1899,0,0,0,0,0,0
$GC,7271,1.36,269.0,274.6,12.3,293,7276,0.00,2.55,0.00,0.000,6,0.000,0.022,3279,1834,1898,0,0,0,0,0,0
$GC,7521,1.36,269.0,246.7,11.2,299,7525,0.00,2.78,0.00,0.000,4,0.000,0.066,3279,232,1897,0,0,0,0,0,0
$GC,7536,1.36,269.0,244.6,12.0,299,7541,0.00,2.55,0.00,0.000,6,0.000,0.022,3279,1847,1896,0,0,0,0,0,0
$GC,7799,1.39,269.0,215.2,10.9,306,7801,0.10,0.00,0.00,0.000,6,0.095,0.000,3306,1848,1896,0,0,0,0,0,0
$GC,8045,1.39,269.0,188.2,10.9,318,8049,0.00,2.80,0.00,0.000,4,0.000,0.065,3306,229,1896,0,0,0,0,0,0
$GC,8067,1.36,269.0,186.3,11.2,319,8071,0.00,2.50,0.00,0.000,6,0.000,0.025,3306,1829,1895,0,0,0,0,0,0
$GC,8335,1.36,269.0,157.7,10.7,343,8339,0.00,2.47,0.00,0.000,4,0.000,0.035,3306,3387,1894,0,0,0,0,0,0
$GC,8363,1.39,269.0,154.0,10.3,345,8367,0.00,2.55,0.00,0.000,6,0.000,0.035,3306,1827,1894,0,0,0,0,0,0
$GC,8631,1.39,269.0,126.7,10.3,369,8635,0.00,2.70,0.00,0.000,4,0.000,0.061,3306,234,1894,0,0,0,0,0,0
$GC,8647,1.39,269.0,124.2,10.5,370,8652,0.00,2.50,0.00,0.000,6,0.000,0.026,3306,1851,1893,0,0,0,0,0,0
$GC,8910,1.44,269.0,96.7,10.3,394,8915,0.00,2.75,0.00,0.000,4,0.000,0.062,3306,241,1893,0,0,0,0,0,0
$GC,8957,1.44,272.2,92.5,9.9,397,8961,0.00,2.45,0.00,0.000,6,0.000,0.025,3306,1829,1893,0,0,0,0,0,0
$GC,9225,1.60,335.8,74.1,6.4,421,9293,0.17,2.55,56.67,0.597,4,0.067,0.028,3352,3379,1630,0,0,0,0,0,0
$GC,9362,1.68,335.8,60.9,10.2,431,9367,0.00,2.55,0.00,0.000,6,0.000,0.033,3351,1823,1627,0,0,0,0,0,0
$GC,9629,1.68,335.8,32.5,11.3,455,9633,0.00,2.67,0.00,0.000,4,0.000,0.057,3352,240,1626,0,0,0,0,0,0
$GC,9650,1.68,335.8,29.9,11.4,456,9659,0.00,2.47,0.00,0.000,6,0.000,0.025,3352,1822,1625,0,0,0,0,0,0
$STATE,9878,end climb,SURFACE_DEPTH_REACHED
$STATE,9878,begin surface coast
$FINISH,0.4,1.023227
$STATE,9919,end surface coast,CONTROL_FINISHED_OK
$STATE,9919,begin surface
$SM_CCo,9942,74.50,0.455,1,0,1288,420.20
$SM_GC,1.15,0.00,0.00,74.50,0.000,0.000,0.455,479,1749,1288,-11.60,-0.59,420.20
$IRIDIUM_FIX,2241.69,-15751.94,020100,191918
$TT8_MAMPS,0.025311
$HUMID,49.88
$INTERNAL_PRESSURE,9.3363
$TCM_TEMP,22.50
$XPDR_PINGS,50
$24V_AH,23.5,51.272
$10V_AH,10.2,49.713
$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,26.625,123.025,389.100,74.500,0.000,33.470,40.232,343.016,12.500,0.000,17.458,997.761,6538.372,520.254,1812.408,760.733,33.361,1199.875,0.000,1814.824,0.000,0.535,0.000
$DEVICE_MAMPS,158.002,96.642,924.235,454.831,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,335.596,279.243,381.343,722.073,1092.238,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,38228,496
$CAP_FILE_SIZE,108284,0
$CFSIZE,260165632,160690176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,091010,012149,2250.212,-15753.505,7,1.4,12,10.1