version: 66.06
glider: 146
mission: 5
dive: 391
start: 10 12 110 2 4 48
data:
$ID,146
$MISSION,5
$DIVE,391
$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,-255272.92
$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,23
$R_STBD_OVSHOOT,46
$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
$GPS1,013752,2254.867,-15752.177,8,99.0,27,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-68.2
$GPS2,020355,2254.812,-15752.043,57,1.1,57,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.220,0.083
$KALMAN_X,-263366.3,277.4,270.3,294764.3,-184.8
$KALMAN_Y,-561272.9,39.5,179.7,698536.2,-2072.5
$MHEAD_RNG_PITCHd_Wd,59.3,20243,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,107,0.00,0.00,-85.28,0.000,6,0.000,0.000,473,1757,3479,0,0,0,0,0,0
$GC,110,-1.38,-116.8,4.4,-9.1,11,128,11.30,2.55,0.00,0.000,4,0.140,0.028,2691,3358,3481,0,0,0,0,0,0
$GC,172,-1.31,-116.8,23.8,-17.9,19,182,0.05,2.60,0.00,0.000,6,0.102,0.031,2707,1773,3482,0,0,0,0,0,0
$GC,450,-1.21,-116.8,65.6,-14.3,46,459,0.12,0.00,0.00,0.000,6,0.118,0.000,2732,1773,3482,0,0,0,0,0,0
$GC,715,-1.21,-116.8,97.8,-12.1,71,720,0.00,2.67,0.00,0.000,4,0.000,0.060,2732,189,3482,0,0,0,0,0,0
$GC,748,-1.21,-116.8,101.5,-11.1,73,752,0.00,2.45,0.00,0.000,6,0.000,0.015,2732,1813,3482,0,0,0,0,0,0
$GC,1015,-1.27,-116.8,126.9,-8.5,97,1020,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1815,3483,0,0,0,0,0,0
$GC,1280,-1.33,-116.8,147.6,-8.4,122,1284,0.00,2.35,0.00,0.000,4,0.000,0.030,2732,3314,3483,0,0,0,0,0,0
$GC,1332,-1.44,-116.8,152.1,-7.9,126,1337,0.20,2.47,0.00,0.000,6,0.051,0.031,2669,1772,3483,0,0,0,0,0,0
$GC,1593,-1.38,-116.8,180.9,-11.4,150,1598,0.15,2.70,0.00,0.000,4,0.107,0.071,2701,189,3483,0,0,0,0,0,0
$GC,1650,-1.38,-116.8,187.4,-10.6,154,1656,0.00,2.38,0.00,0.000,6,0.000,0.021,2700,1765,3483,0,0,0,0,0,0
$GC,1918,-1.38,-116.8,212.9,-9.9,171,1923,0.00,2.42,0.00,0.000,4,0.000,0.026,2700,3322,3482,0,0,0,0,0,0
$GC,1940,-1.38,-116.8,215.3,-9.6,171,1945,0.00,2.47,0.00,0.000,6,0.000,0.032,2700,1781,3482,0,0,0,0,0,0
$GC,2196,-1.38,-116.8,243.4,-11.3,178,2197,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1780,3482,0,0,0,0,0,0
$GC,2439,-1.38,-116.8,270.1,-10.8,184,2440,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1776,3481,0,0,0,0,0,0
$GC,2685,-1.42,-116.8,289.9,-7.6,190,2689,0.00,2.42,0.00,0.000,4,0.000,0.035,2700,3314,3479,0,0,0,0,0,0
$GC,2726,-1.50,-116.8,293.0,-7.8,191,2731,0.12,2.47,0.00,0.000,6,0.074,0.039,2658,1783,3479,0,0,0,0,0,0
$GC,3011,-1.47,-116.8,321.8,-10.6,198,3016,0.10,2.83,0.00,0.000,4,0.126,0.087,2678,186,3478,0,0,0,0,0,0
$GC,3044,-1.47,-116.8,326.0,-12.2,198,3050,0.00,2.42,0.00,0.000,6,0.000,0.022,2678,1738,3479,0,0,0,0,0,0
$GC,3294,-1.47,-116.8,353.3,-11.0,205,3298,0.00,2.60,0.00,0.000,4,0.000,0.038,2678,3352,3476,0,0,0,0,0,0
$GC,3316,-1.47,-116.8,355.8,-11.1,205,3321,0.00,2.60,0.00,0.000,6,0.000,0.041,2678,1773,3476,0,0,0,0,0,0
$GC,3572,-1.47,-116.8,383.7,-10.8,212,3576,0.00,2.55,0.00,0.000,4,0.000,0.037,2678,3355,3475,0,0,0,0,0,0
$GC,3599,-1.50,-116.8,386.6,-10.2,212,3603,0.00,2.62,0.00,0.000,6,0.000,0.047,2678,1786,3474,0,0,0,0,0,0
$GC,3848,-1.50,-116.8,412.1,-10.1,218,3853,0.00,2.55,0.00,0.000,4,0.000,0.039,2678,3352,3473,0,0,0,0,0,0
$GC,3894,-1.56,-116.8,416.6,-10.1,219,3899,0.00,2.62,0.00,0.000,6,0.000,0.053,2678,1800,3472,0,0,0,0,0,0
$GC,4172,-1.56,-116.8,442.8,-9.7,226,4177,0.00,3.00,0.00,0.000,4,0.000,0.108,2678,182,3471,0,0,0,0,0,0
$GC,4198,-1.56,-116.8,445.9,-10.8,226,4203,0.00,2.55,0.00,0.000,6,0.000,0.028,2678,1783,3470,0,0,0,0,0,0
$GC,4451,-1.56,-116.8,469.5,-9.5,232,4455,0.00,2.60,0.00,0.000,4,0.000,0.059,2678,3356,3468,0,0,0,0,0,0
$GC,4495,-1.64,-116.8,474.1,-9.4,233,4500,0.15,2.60,0.00,0.000,6,0.064,0.058,2632,1807,3468,0,0,0,0,0,0
$STATE,4729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4729,begin apogee
$GC,4737,-0.31,0.0,501.5,11.7,239,4837,1.35,0.00,96.45,0.924,6,0.088,0.000,2928,1807,3001,0,0,0,0,0,0
$STATE,4838,end apogee,CONTROL_FINISHED_OK
$STATE,4838,begin climb
$GC,4840,1.38,116.8,504.6,0.0,241,4946,1.58,0.00,101.90,0.900,6,0.041,0.000,3308,1808,2524,0,0,0,0,0,0
$GC,5177,1.30,158.0,488.3,7.7,250,5219,0.12,2.72,35.78,0.879,4,0.134,0.045,3285,3402,2355,0,0,0,0,0,0
$GC,5261,1.32,170.0,481.3,9.3,251,5280,0.00,2.75,11.75,0.802,6,0.000,0.057,3285,1826,2306,0,0,0,0,0,0
$GC,5555,1.29,187.4,454.3,9.0,259,5579,0.00,2.65,16.15,0.836,4,0.000,0.043,3285,3407,2235,0,0,0,0,0,0
$GC,5637,1.30,196.2,446.2,9.5,260,5651,0.00,2.72,8.85,0.764,6,0.000,0.053,3285,1827,2201,0,0,0,0,0,0
$GC,5931,1.27,207.1,418.6,9.4,268,5945,0.00,0.00,10.88,0.794,6,0.000,0.000,3285,1827,2155,0,0,0,0,0,0
$GC,6221,1.28,216.9,390.8,9.5,275,6233,0.00,0.00,9.95,0.777,6,0.000,0.000,3285,1827,2116,0,0,0,0,0,0
$GC,6463,1.28,219.5,366.9,9.9,281,6467,0.00,2.58,0.00,0.000,4,0.000,0.035,3285,3416,2111,0,0,0,0,0,0
$GC,6507,1.29,224.1,362.6,9.8,282,6521,0.00,2.67,7.28,0.720,6,0.000,0.051,3284,1835,2087,0,0,0,0,0,0
$GC,6791,1.30,234.7,335.8,9.4,289,6804,0.00,0.00,11.02,0.766,6,0.000,0.000,3285,1835,2044,0,0,0,0,0,0
$GC,7079,1.32,248.1,309.0,9.3,296,7098,0.00,2.92,13.12,0.763,4,0.000,0.078,3285,243,1989,0,0,0,0,0,0
$GC,7139,1.27,248.1,303.1,11.3,297,7144,0.00,2.58,0.00,0.000,6,0.000,0.021,3284,1858,1987,0,0,0,0,0,0
$GC,7405,1.29,268.6,279.0,8.9,304,7427,0.00,0.00,19.73,0.765,6,0.000,0.000,3285,1860,1905,0,0,0,0,0,0
$GC,7649,1.29,268.6,255.0,10.1,310,7650,0.00,0.00,0.00,0.000,6,0.000,0.000,3285,1860,1901,0,0,0,0,0,0
$GC,7894,1.29,268.6,230.1,10.4,316,7899,0.00,2.85,0.00,0.000,4,0.000,0.067,3285,236,1899,0,0,0,0,0,0
$GC,7937,1.29,268.6,225.1,10.9,317,7941,0.00,2.53,0.00,0.000,6,0.000,0.023,3285,1839,1899,0,0,0,0,0,0
$GC,8216,1.37,297.2,200.6,8.4,324,8246,0.00,2.55,25.33,0.711,4,0.000,0.035,3285,3394,1788,0,0,0,0,0,0
$GC,8255,1.45,316.8,197.4,8.9,325,8280,0.12,2.60,18.70,0.686,6,0.090,0.041,3316,1826,1709,0,0,0,0,0,0
$GC,8545,1.45,316.8,163.2,13.0,352,8550,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1826,1703,0,0,0,0,0,0
$GC,8811,1.45,316.8,128.3,12.5,377,8816,0.00,2.75,0.00,0.000,4,0.000,0.064,3315,239,1703,0,0,0,0,0,0
$GC,8852,1.37,316.8,122.4,13.4,380,8856,0.00,2.55,0.00,0.000,6,0.000,0.021,3317,1862,1701,0,0,0,0,0,0
$GC,9116,1.38,326.2,97.0,9.5,404,9131,0.00,2.45,8.45,0.563,4,0.000,0.028,3316,3395,1671,0,0,0,0,0,0
$GC,9148,1.44,333.9,93.5,9.6,406,9161,0.00,2.58,8.48,0.554,6,0.000,0.042,3316,1856,1639,0,0,0,0,0,0
$GC,9421,1.50,333.9,65.9,11.7,431,9425,0.00,2.78,0.00,0.000,4,0.000,0.061,3316,242,1636,0,0,0,0,0,0
$GC,9453,1.50,333.9,62.1,12.1,433,9457,0.00,2.53,0.00,0.000,6,0.000,0.020,3316,1858,1635,0,0,0,0,0,0
$GC,9723,1.60,341.2,35.1,9.6,457,9738,0.12,2.47,7.03,0.489,4,0.077,0.025,3352,3389,1610,0,0,0,0,0,0
$GC,9780,1.69,357.3,29.3,9.1,461,9807,0.00,2.53,15.43,0.538,6,0.000,0.033,3352,1857,1544,0,0,0,0,0,0
$STATE,10003,end climb,SURFACE_DEPTH_REACHED
$STATE,10003,begin surface coast
$FINISH,0.4,1.023266
$STATE,10052,end surface coast,CONTROL_FINISHED_OK
$STATE,10052,begin surface
$SM_CCo,10074,58.53,0.443,1,0,1288,420.20
$SM_GC,0.95,0.00,0.00,58.53,0.000,0.000,0.443,475,1757,1288,-11.62,-0.37,420.20
$IRIDIUM_FIX,2244.02,-15751.94,060100,020222
$TT8_MAMPS,0.026078
$HUMID,53.07
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,21.30
$XPDR_PINGS,45
$24V_AH,23.5,54.704
$10V_AH,10.0,52.609
$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,27.250,114.425,426.250,58.525,0.000,153.817,251.694,635.039,11.250,0.000,59.355,1007.454,6817.134,555.504,1890.638,1429.959,33.363,1247.500,0.000,1847.162,0.000,0.536,0.000
$DEVICE_MAMPS,140.361,108.147,924.235,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,337.974,290.797,382.652,723.705,1089.832,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,38482,500
$CAP_FILE_SIZE,114241,0
$CFSIZE,260165632,159334400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,121010,045458,2254.278,-15750.947,11,99.0,30,10.1