version: 66.06
glider: 146
mission: 5
dive: 405
start: 10 13 110 19 48 28
data:
$ID,146
$MISSION,5
$DIVE,405
$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,-255653.97
$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,58
$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
$GPS1,193936,2254.343,-15742.454,29,1.5,40,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-67.4
$GPS2,194732,2254.354,-15742.442,15,1.6,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.003,0.235
$KALMAN_X,-263267.3,-195.2,-329.4,312264.4,283.2
$KALMAN_Y,-571076.4,178.3,-391.6,707916.9,481.7
$MHEAD_RNG_PITCHd_Wd,350.7,6793,-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,-116.6,0.0,0.0,0,103,0.00,0.00,-85.62,0.000,6,0.000,0.000,475,1737,3477,0,0,0,0,0,0
$GC,108,-1.38,-116.6,4.7,-10.3,11,124,11.73,2.55,0.00,0.000,4,0.156,0.028,2690,3345,3479,0,0,0,0,0,0
$GC,232,-1.31,-116.6,34.4,-15.4,27,237,0.12,2.53,0.00,0.000,6,0.130,0.035,2714,1796,3481,0,0,0,0,0,0
$GC,500,-1.31,-116.6,72.5,-11.9,51,504,0.00,2.72,0.00,0.000,4,0.000,0.058,2714,193,3481,0,0,0,0,0,0
$GC,535,-1.31,-116.6,77.5,-11.4,53,544,0.00,2.45,0.00,0.000,6,0.000,0.015,2714,1785,3481,0,0,0,0,0,0
$GC,796,-1.31,-116.6,106.2,-10.9,78,800,0.00,2.40,0.00,0.000,4,0.000,0.030,2714,3320,3482,0,0,0,0,0,0
$GC,817,-1.31,-116.6,108.0,-10.5,79,822,0.00,2.50,0.00,0.000,6,0.000,0.029,2714,1757,3482,0,0,0,0,0,0
$GC,1083,-1.31,-116.6,134.7,-10.1,103,1088,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1757,3483,0,0,0,0,0,0
$GC,1346,-1.31,-116.8,160.2,-9.7,128,1350,0.00,2.45,0.00,0.000,4,0.000,0.025,2714,3318,3483,0,0,0,0,0,0
$GC,1380,-1.36,-116.8,163.0,-9.1,130,1384,0.00,2.53,0.00,0.000,6,0.000,0.034,2714,1750,3483,0,0,0,0,0,0
$GC,1648,-1.36,-116.8,188.0,-9.2,154,1653,0.00,0.00,0.00,0.000,6,0.000,0.000,2714,1750,3483,0,0,0,0,0,0
$GC,1934,-1.39,-116.8,214.6,-8.8,170,1938,0.00,2.47,0.00,0.000,4,0.000,0.025,2714,3323,3483,0,0,0,0,0,0
$GC,1950,-1.44,-116.8,216.0,-8.9,170,1955,0.12,2.53,0.00,0.000,6,0.068,0.030,2669,1758,3483,0,0,0,0,0,0
$GC,2213,-1.40,-116.8,242.6,-10.2,177,2215,0.12,0.00,0.00,0.000,6,0.117,0.000,2695,1755,3483,0,0,0,0,0,0
$GC,2455,-1.40,-116.8,266.7,-9.9,183,2459,0.00,2.70,0.00,0.000,4,0.000,0.071,2695,197,3482,0,0,0,0,0,0
$GC,2511,-1.44,-116.8,272.8,-10.2,184,2516,0.00,2.40,0.00,0.000,6,0.000,0.021,2695,1750,3482,0,0,0,0,0,0
$GC,2778,-1.44,-116.8,300.5,-10.4,191,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1751,3481,0,0,0,0,0,0
$GC,3022,-1.44,-116.8,325.0,-9.9,197,3023,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1751,3480,0,0,0,0,0,0
$GC,3266,-1.48,-116.8,346.4,-8.8,203,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1751,3479,0,0,0,0,0,0
$GC,3511,-1.53,-116.8,367.7,-8.7,209,3516,0.12,2.60,0.00,0.000,4,0.076,0.045,2655,3333,3478,0,0,0,0,0,0
$GC,3533,-1.53,-116.8,370.2,-10.2,209,3537,0.00,2.65,0.00,0.000,6,0.000,0.047,2656,1754,3478,0,0,0,0,0,0
$GC,3788,-1.53,-116.8,395.5,-9.8,216,3793,0.00,2.55,0.00,0.000,4,0.000,0.042,2656,3328,3476,0,0,0,0,0,0
$GC,3823,-1.53,-116.8,398.7,-9.1,216,3828,0.00,2.62,0.00,0.000,6,0.000,0.048,2656,1758,3476,0,0,0,0,0,0
$GC,4073,-1.53,-116.8,422.6,-9.7,223,4078,0.00,2.85,0.00,0.000,4,0.000,0.095,2655,185,3475,0,0,0,0,0,0
$GC,4100,-1.48,-116.8,425.7,-11.0,223,4105,0.10,2.42,0.00,0.000,6,0.130,0.025,2676,1728,3475,0,0,0,0,0,0
$GC,4352,-1.48,-116.8,449.6,-9.8,229,4356,0.00,2.67,0.00,0.000,4,0.000,0.051,2675,3351,3473,0,0,0,0,0,0
$GC,4395,-1.53,-116.8,454.3,-10.3,230,4400,0.00,2.70,0.00,0.000,6,0.000,0.057,2675,1761,3473,0,0,0,0,0,0
$GC,4673,-1.53,-116.8,482.8,-10.4,237,4677,0.00,2.95,0.00,0.000,4,0.000,0.114,2675,185,3471,0,0,0,0,0,0
$GC,4701,-1.53,-116.8,486.0,-11.9,237,4705,0.00,2.53,0.00,0.000,6,0.000,0.030,2675,1745,3471,0,0,0,0,0,0
$STATE,4867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4867,begin apogee
$GC,4873,-0.31,0.0,504.1,10.7,241,4974,1.15,0.00,97.47,0.924,6,0.081,0.000,2931,1830,3000,0,0,0,0,0,0
$STATE,4975,end apogee,CONTROL_FINISHED_OK
$STATE,4975,begin climb
$GC,4977,1.38,116.8,506.7,0.0,243,5086,1.52,0.00,102.15,0.903,6,0.052,0.000,3304,1830,2524,0,0,0,0,0,0
$GC,5343,1.33,165.5,489.4,7.2,252,5388,0.00,0.00,42.97,0.885,6,0.000,0.000,3305,1830,2326,0,0,0,0,0,0
$GC,5627,1.24,165.5,461.7,10.4,259,5632,0.17,2.92,0.00,0.000,4,0.137,0.082,3271,233,2319,0,0,0,0,0,0
$GC,5645,1.14,165.5,459.8,10.4,259,5650,0.10,2.55,0.00,0.000,6,0.145,0.031,3252,1802,2317,0,0,0,0,0,0
$GC,5906,1.18,194.6,437.4,8.4,266,5937,0.00,2.72,25.75,0.860,4,0.000,0.046,3252,3411,2207,0,0,0,0,0,0
$GC,5997,1.25,199.7,429.5,9.7,268,6010,0.00,2.72,6.18,0.690,6,0.000,0.049,3251,1812,2186,0,0,0,0,0,0
$GC,6278,1.31,218.5,404.1,8.9,275,6303,0.15,2.97,17.62,0.826,4,0.120,0.096,3289,237,2110,0,0,0,0,0,0
$GC,6316,1.23,218.5,400.3,10.5,275,6323,0.00,2.55,0.00,0.000,6,0.000,0.027,3289,1828,2108,0,0,0,0,0,0
$GC,6565,1.23,218.5,373.0,10.9,282,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,3288,1828,2105,0,0,0,0,0,0
$GC,6809,1.23,218.5,347.3,10.6,288,6813,0.00,2.55,0.00,0.000,4,0.000,0.039,3288,3404,2104,0,0,0,0,0,0
$GC,6830,1.23,218.5,345.1,10.1,288,6834,0.00,2.65,0.00,0.000,6,0.000,0.047,3288,1815,2102,0,0,0,0,0,0
$GC,7086,1.23,218.5,317.7,10.8,295,7091,0.00,2.58,0.00,0.000,4,0.000,0.032,3289,3402,2102,0,0,0,0,0,0
$GC,7119,1.23,218.5,313.9,11.0,295,7124,0.00,2.62,0.00,0.000,6,0.000,0.044,3289,1825,2101,0,0,0,0,0,0
$GC,7369,1.25,230.7,289.7,9.3,302,7387,0.00,2.80,11.05,0.732,4,0.000,0.072,3289,237,2058,0,0,0,0,0,0
$GC,7423,1.17,230.7,283.9,11.9,303,7428,0.15,2.55,0.00,0.000,6,0.124,0.025,3257,1838,2057,0,0,0,0,0,0
$GC,7696,1.25,246.6,258.3,9.1,310,7716,0.00,2.55,15.48,0.742,4,0.000,0.031,3258,3392,1993,0,0,0,0,0,0
$GC,7741,1.36,251.7,254.1,9.7,311,7754,0.17,2.60,6.15,0.622,6,0.078,0.036,3300,1829,1973,0,0,0,0,0,0
$GC,8021,1.36,251.7,223.8,11.0,318,8026,0.00,2.75,0.00,0.000,4,0.000,0.072,3300,240,1971,0,0,0,0,0,0
$GC,8089,1.31,251.7,215.2,12.8,319,8094,0.00,2.50,0.00,0.000,6,0.000,0.021,3300,1815,1969,0,0,0,0,0,0
$GC,8350,1.31,251.7,186.1,10.7,335,8355,0.00,2.55,0.00,0.000,4,0.000,0.037,3300,3394,1969,0,0,0,0,0,0
$GC,8402,1.36,251.7,180.4,10.6,339,8407,0.00,2.58,0.00,0.000,6,0.000,0.038,3300,1819,1968,0,0,0,0,0,0
$GC,8667,1.36,251.7,151.6,11.3,363,8675,0.00,0.00,0.00,0.000,6,0.000,0.000,3300,1819,1968,0,0,0,0,0,0
$GC,8928,1.37,260.2,124.6,9.5,388,8943,0.00,2.58,8.10,0.590,4,0.000,0.031,3300,3400,1939,0,0,0,0,0,0
$GC,8974,1.42,267.7,120.4,9.6,391,8994,0.00,2.58,8.40,0.585,6,0.000,0.040,3300,1837,1908,0,0,0,0,0,0
$GC,9248,1.48,310.7,98.1,7.6,417,9289,0.00,0.00,38.40,0.630,6,0.000,0.000,3300,1837,1734,0,0,0,0,0,0
$GC,9543,1.58,342.7,73.2,8.2,445,9585,0.20,2.62,28.08,0.595,4,0.104,0.028,3351,3400,1601,0,0,0,0,0,0
$GC,9629,1.65,342.7,64.3,11.3,451,9633,0.00,2.58,0.00,0.000,6,0.000,0.035,3351,1842,1600,0,0,0,0,0,0
$GC,9895,1.65,342.7,36.9,10.3,475,9899,0.00,2.72,0.00,0.000,4,0.000,0.058,3351,236,1599,0,0,0,0,0,0
$GC,9927,1.65,342.7,33.0,12.1,477,9931,0.00,2.53,0.00,0.000,6,0.000,0.020,3351,1865,1597,0,0,0,0,0,0
$STATE,10196,end climb,SURFACE_DEPTH_REACHED
$STATE,10196,begin surface coast
$FINISH,0.4,1.011326
$STATE,10245,end surface coast,CONTROL_FINISHED_OK
$STATE,10245,begin surface
$SM_CCo,10267,74.25,0.461,1,0,1287,420.20
$SM_GC,1.12,0.00,0.00,74.25,0.000,0.000,0.461,477,1747,1287,-11.61,-0.65,420.20
$IRIDIUM_FIX,2244.02,-15741.52,070100,161615
$TT8_MAMPS,0.026078
$HUMID,52.52
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,21.10
$XPDR_PINGS,69
$24V_AH,23.4,56.536
$10V_AH,10.1,54.214
$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,27.700,120.400,407.800,74.250,0.000,24.912,31.303,279.560,17.250,0.000,17.330,1039.192,6717.060,556.292,1887.609,625.482,33.366,1263.430,0.000,1890.705,0.000,0.533,0.000
$DEVICE_MAMPS,156.468,233.935,924.235,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,353.024,305.150,405.028,757.110,1144.192,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,41535,522
$CAP_FILE_SIZE,107334,0
$CFSIZE,260165632,158576640
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,131010,224207,2256.018,-15742.340,30,0.9,30,10.1