version: 66.06
glider: 146
mission: 5
dive: 412
start: 10 14 110 16 57 34
data:
$ID,146
$MISSION,5
$DIVE,412
$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,-255812.98
$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,53
$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
$GPS1,164830,2254.413,-15746.896,38,1.0,38,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-67.6
$GPS2,165638,2254.429,-15746.889,9,1.8,9,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.188,-0.140
$KALMAN_X,-263871.3,-243.4,295.0,304636.2,-456.3
$KALMAN_Y,-572797.3,-217.9,-265.2,710051.1,-127.4
$MHEAD_RNG_PITCHd_Wd,223.2,16585,-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,16,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-78.97,0.000,2,0.000,0.000,474,1747,3232,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.1,-5.5,10,127,11.45,2.67,-4.72,0.000,4,0.146,0.072,2689,204,3479,0,0,0,0,0,0
$GC,165,-1.21,-116.8,20.3,-19.2,18,175,0.17,2.45,0.00,0.000,6,0.106,0.016,2729,1784,3480,0,0,0,0,0,0
$GC,449,-1.14,-116.8,60.7,-13.4,47,454,0.10,2.45,0.00,0.000,4,0.137,0.023,2747,3332,3481,0,0,0,0,0,0
$GC,461,-1.09,-116.8,63.2,-13.9,47,470,0.00,2.53,0.00,0.000,6,0.000,0.028,2748,1779,3481,0,0,0,0,0,0
$GC,725,-1.16,-116.8,92.3,-8.5,72,733,0.00,0.00,0.00,0.000,6,0.000,0.000,2747,1779,3482,0,0,0,0,0,0
$GC,991,-1.24,-116.8,115.0,-9.9,97,995,0.00,0.00,0.00,0.000,6,0.000,0.000,2748,1779,3483,0,0,0,0,0,0
$GC,1256,-1.34,-116.8,137.8,-7.5,122,1265,0.17,0.00,0.00,0.000,6,0.058,0.000,2693,1778,3483,0,0,0,0,0,0
$GC,1516,-1.34,-116.8,168.1,-12.0,147,1520,0.00,2.45,0.00,0.000,4,0.000,0.031,2693,3329,3483,0,0,0,0,0,0
$GC,1536,-1.34,-116.8,170.1,-11.9,148,1540,0.00,2.47,0.00,0.000,6,0.000,0.028,2692,1784,3483,0,0,0,0,0,0
$GC,1830,-1.34,-116.8,204.8,-11.4,172,1834,0.00,2.70,0.00,0.000,4,0.000,0.067,2692,197,3483,0,0,0,0,0,0
$GC,1856,-1.34,-116.8,208.3,-11.8,172,1861,0.00,2.42,0.00,0.000,6,0.000,0.022,2692,1789,3483,0,0,0,0,0,0
$GC,2108,-1.34,-116.8,233.6,-9.9,178,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1792,3484,0,0,0,0,0,0
$GC,2351,-1.34,-116.8,257.5,-9.6,184,2355,0.00,2.42,0.00,0.000,4,0.000,0.034,2692,3328,3484,0,0,0,0,0,0
$GC,2405,-1.34,-116.8,263.2,-11.8,185,2410,0.00,2.45,0.00,0.000,6,0.000,0.035,2692,1802,3484,0,0,0,0,0,0
$GC,2674,-1.34,-116.8,290.2,-10.8,192,2675,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1802,3483,0,0,0,0,0,0
$GC,2916,-1.34,-116.8,311.8,-8.2,198,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2692,1802,3483,0,0,0,0,0,0
$GC,3160,-1.34,-116.8,333.6,-9.3,204,3164,0.00,2.45,0.00,0.000,4,0.000,0.035,2692,3325,3482,0,0,0,0,0,0
$GC,3187,-1.39,-116.8,336.8,-11.7,204,3191,0.00,2.53,0.00,0.000,6,0.000,0.040,2692,1797,3482,0,0,0,0,0,0
$GC,3439,-1.44,-116.8,366.6,-12.0,210,3443,0.00,2.45,0.00,0.000,4,0.000,0.040,2692,3317,3480,0,0,0,0,0,0
$GC,3460,-1.49,-116.8,369.2,-10.8,210,3465,0.00,2.53,0.00,0.000,6,0.000,0.043,2692,1799,3481,0,0,0,0,0,0
$GC,3716,-1.54,-116.8,390.7,-7.8,217,3717,0.12,0.00,0.00,0.000,6,0.074,0.000,2651,1799,3479,0,0,0,0,0,0
$GC,3960,-1.54,-116.8,417.1,-11.5,223,3964,0.00,2.50,0.00,0.000,4,0.000,0.038,2651,3320,3476,0,0,0,0,0,0
$GC,3975,-1.54,-116.8,419.3,-12.3,223,3980,0.00,2.58,0.00,0.000,6,0.000,0.053,2651,1796,3477,0,0,0,0,0,0
$GC,4237,-1.54,-116.8,452.0,-12.5,230,4241,0.00,2.50,0.00,0.000,4,0.000,0.043,2651,3315,3476,0,0,0,0,0,0
$GC,4277,-1.54,-116.8,456.6,-11.8,231,4282,0.00,2.58,0.00,0.000,6,0.000,0.060,2651,1806,3475,0,0,0,0,0,0
$GC,4561,-1.54,-116.8,484.6,-9.5,238,4565,0.00,2.50,0.00,0.000,4,0.000,0.051,2651,3310,3473,0,0,0,0,0,0
$GC,4600,-1.54,-116.8,488.4,-9.5,239,4605,0.00,2.60,0.00,0.000,6,0.000,0.063,2651,1796,3473,0,0,0,0,0,0
$STATE,4719,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4719,begin apogee
$GC,4726,-0.31,0.0,500.2,9.9,242,4828,1.27,0.00,98.30,0.920,6,0.099,0.000,2931,1796,3001,0,0,0,0,0,0
$STATE,4829,end apogee,CONTROL_FINISHED_OK
$STATE,4829,begin climb
$GC,4831,1.38,116.8,502.9,0.0,244,4945,1.52,2.72,101.38,0.897,4,0.042,0.052,3304,3354,2523,0,0,0,0,0,0
$GC,4990,1.35,181.4,501.2,6.3,247,5055,0.00,2.67,57.12,0.882,6,0.000,0.061,3304,1817,2261,0,0,0,0,0,0
$GC,5330,1.26,181.4,468.1,10.8,256,5335,0.15,3.03,0.00,0.000,4,0.127,0.112,3275,233,2251,0,0,0,0,0,0
$GC,5352,1.17,181.4,465.1,11.9,256,5356,0.00,2.50,0.00,0.000,6,0.000,0.034,3274,1776,2249,0,0,0,0,0,0
$GC,5607,1.17,181.4,438.0,10.8,263,5611,0.00,2.72,0.00,0.000,4,0.000,0.048,3275,3405,2248,0,0,0,0,0,0
$GC,5719,1.17,181.4,425.6,10.7,265,5724,0.00,2.67,0.00,0.000,6,0.000,0.053,3275,1831,2247,0,0,0,0,0,0
$GC,5975,1.19,193.9,400.8,9.3,272,5990,0.00,2.62,9.95,0.772,4,0.000,0.040,3274,3411,2209,0,0,0,0,0,0
$GC,6024,1.20,207.1,396.4,9.3,273,6043,0.00,2.65,13.60,0.795,6,0.000,0.047,3274,1841,2155,0,0,0,0,0,0
$GC,6301,1.23,228.5,372.0,8.8,280,6323,0.00,0.00,20.12,0.813,6,0.000,0.000,3275,1841,2069,0,0,0,0,0,0
$GC,6543,1.23,230.4,348.4,9.9,286,6548,0.00,2.90,0.00,0.000,4,0.000,0.082,3275,227,2064,0,0,0,0,0,0
$GC,6576,1.17,230.4,344.3,12.7,286,6582,0.00,2.60,0.00,0.000,6,0.000,0.021,3275,1854,2062,0,0,0,0,0,0
$GC,6827,1.17,230.4,316.0,11.5,293,6832,0.00,2.50,0.00,0.000,4,0.000,0.035,3275,3398,2062,0,0,0,0,0,0
$GC,6854,1.17,230.4,312.8,11.1,293,6859,0.00,2.60,0.00,0.000,6,0.000,0.041,3274,1830,2061,0,0,0,0,0,0
$GC,7104,1.19,246.9,289.3,9.1,299,7128,0.00,2.90,16.67,0.760,4,0.000,0.072,3274,239,1993,0,0,0,0,0,0
$GC,7165,1.19,246.9,283.5,11.3,300,7169,0.00,2.55,0.00,0.000,6,0.000,0.026,3275,1837,1992,0,0,0,0,0,0
$GC,7431,1.23,246.9,255.2,10.7,307,7435,0.00,2.53,0.00,0.000,4,0.000,0.038,3274,3397,1990,0,0,0,0,0,0
$GC,7477,1.31,246.9,250.2,11.3,308,7482,0.00,2.58,0.00,0.000,6,0.000,0.040,3274,1839,1988,0,0,0,0,0,0
$GC,7756,1.39,271.0,224.6,8.6,315,7786,0.12,2.90,22.30,0.724,4,0.089,0.070,3307,243,1895,0,0,0,0,0,0
$GC,7798,1.34,271.0,220.2,11.3,316,7803,0.00,2.55,0.00,0.000,6,0.000,0.023,3307,1840,1893,0,0,0,0,0,0
$GC,8054,1.34,271.0,190.9,10.7,326,8056,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1842,1892,0,0,0,0,0,0
$GC,8308,1.35,278.1,166.0,9.6,350,8322,0.00,2.88,7.07,0.589,4,0.000,0.064,3307,236,1867,0,0,0,0,0,0
$GC,8336,1.35,278.1,163.7,10.1,352,8340,0.00,2.55,0.00,0.000,6,0.000,0.022,3307,1842,1866,0,0,0,0,0,0
$GC,8598,1.35,278.1,134.1,10.7,376,8602,0.00,2.47,0.00,0.000,4,0.000,0.037,3307,3389,1864,0,0,0,0,0,0
$GC,8632,1.38,278.1,130.3,11.1,378,8641,0.00,2.60,0.00,0.000,6,0.000,0.039,3307,1822,1863,0,0,0,0,0,0
$GC,8899,1.38,278.1,104.0,10.7,403,8904,0.00,2.53,0.00,0.000,4,0.000,0.028,3307,3397,1863,0,0,0,0,0,0
$GC,8933,1.44,278.1,100.0,12.1,405,8938,0.00,2.58,0.00,0.000,6,0.000,0.036,3307,1825,1863,0,0,0,0,0,0
$GC,9202,1.48,278.1,70.4,10.5,429,9206,0.00,2.70,0.00,0.000,4,0.000,0.060,3307,242,1863,0,0,0,0,0,0
$GC,9260,1.49,283.2,64.3,9.7,433,9275,0.00,2.45,5.72,0.486,6,0.000,0.019,3307,1818,1845,0,0,0,0,0,0
$GC,9531,1.66,333.5,42.8,7.1,458,9586,0.22,2.58,44.70,0.568,4,0.058,0.028,3367,3378,1639,0,0,0,0,0,0
$GC,9662,1.72,333.5,28.7,11.8,468,9672,0.00,2.65,0.00,0.000,6,0.000,0.035,3368,1794,1637,0,0,0,0,0,0
$STATE,9873,end climb,SURFACE_DEPTH_REACHED
$STATE,9873,begin surface coast
$FINISH,0.3,1.010366
$STATE,9909,end surface coast,CONTROL_FINISHED_OK
$STATE,9909,begin surface
$SM_CCo,9930,77.30,0.461,1,0,1287,420.20
$SM_GC,1.07,0.00,0.00,77.30,0.000,0.000,0.461,477,1790,1287,-11.61,0.57,420.20
$IRIDIUM_FIX,2246.36,-15745.85,080100,141406
$TT8_MAMPS,0.026078
$HUMID,52.48
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.90
$XPDR_PINGS,57
$24V_AH,23.4,57.440
$10V_AH,10.0,55.032
$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,27.125,124.400,396.950,77.300,0.000,31.130,32.729,290.805,14.250,0.000,11.480,1017.873,6397.150,533.398,1900.600,656.850,33.378,1269.198,0.000,1909.370,0.000,0.534,0.000
$DEVICE_MAMPS,145.730,111.982,920.400,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,340.075,290.038,393.018,747.716,1130.821,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,38514,503
$CAP_FILE_SIZE,107018,0
$CFSIZE,260165632,158195712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,141010,194536,2253.150,-15748.160,11,2.0,27,10.1