version: 66.06
glider: 146
mission: 5
dive: 432
start: 10 17 110 7 22 28
data:
$ID,146
$MISSION,5
$DIVE,432
$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,-257843.88
$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,42
$R_STBD_OVSHOOT,56
$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
$GPS1,071400,2255.823,-15754.879,33,1.5,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-67.1
$GPS2,072132,2255.796,-15754.841,12,1.2,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.042,0.231
$KALMAN_X,-258009.2,143.3,-182.5,285183.3,362.4
$KALMAN_Y,-598317.1,-308.4,179.2,737749.8,-1509.7
$MHEAD_RNG_PITCHd_Wd,339.6,4091,-19.9,-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,-116.5,0.0,0.0,0,104,0.00,0.00,-85.93,0.000,2,0.000,0.000,476,1749,3473,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.4,-8.7,11,126,11.40,2.53,0.00,0.000,4,0.143,0.029,2690,3349,3475,0,0,0,0,0,0
$GC,221,-1.38,-116.8,33.3,-14.4,26,231,0.00,2.58,0.00,0.000,6,0.000,0.040,2690,1792,3477,0,0,0,0,0,0
$GC,490,-1.31,-116.8,73.2,-13.3,51,495,0.10,2.45,0.00,0.000,4,0.142,0.023,2709,3347,3478,0,0,0,0,0,0
$GC,502,-1.27,-116.8,75.9,-13.2,51,511,0.00,2.53,0.00,0.000,6,0.000,0.027,2709,1789,3478,0,0,0,0,0,0
$GC,764,-1.27,-116.8,106.0,-11.2,76,769,0.00,2.72,0.00,0.000,4,0.000,0.058,2709,184,3479,0,0,0,0,0,0
$GC,823,-1.27,-116.8,112.6,-11.0,80,832,0.00,2.50,0.00,0.000,6,0.000,0.018,2709,1816,3479,0,0,0,0,0,0
$GC,1089,-1.27,-116.8,138.4,-9.9,105,1094,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1817,3479,0,0,0,0,0,0
$GC,1356,-1.27,-116.8,165.4,-9.9,130,1360,0.00,2.33,0.00,0.000,4,0.000,0.031,2709,3313,3480,0,0,0,0,0,0
$GC,1401,-1.34,-116.8,169.5,-9.5,133,1405,0.00,2.47,0.00,0.000,6,0.000,0.034,2709,1775,3480,0,0,0,0,0,0
$GC,1669,-1.34,-116.8,194.1,-9.9,157,1673,0.00,2.67,0.00,0.000,4,0.000,0.064,2709,197,3480,0,0,0,0,0,0
$GC,1697,-1.34,-116.8,197.6,-10.2,159,1701,0.00,2.40,0.00,0.000,6,0.000,0.018,2709,1769,3480,0,0,0,0,0,0
$GC,1968,-1.38,-116.8,222.8,-9.2,167,1972,0.00,2.42,0.00,0.000,4,0.000,0.031,2710,3324,3480,0,0,0,0,0,0
$GC,1992,-1.44,-116.8,224.8,-8.3,167,1997,0.10,2.47,0.00,0.000,6,0.085,0.035,2672,1782,3480,0,0,0,0,0,0
$GC,2248,-1.44,-116.8,249.7,-9.7,174,2249,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1782,3480,0,0,0,0,0,0
$GC,2491,-1.44,-116.8,272.7,-9.4,180,2492,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1782,3479,0,0,0,0,0,0
$GC,2736,-1.44,-116.8,298.1,-10.6,186,2737,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1781,3479,0,0,0,0,0,0
$GC,2978,-1.44,-116.8,324.4,-10.9,192,2983,0.00,2.80,0.00,0.000,4,0.000,0.083,2672,193,3477,0,0,0,0,0,0
$GC,2999,-1.44,-116.8,326.8,-10.8,192,3004,0.00,2.45,0.00,0.000,6,0.000,0.026,2671,1765,3477,0,0,0,0,0,0
$GC,3255,-1.44,-116.8,352.9,-10.0,199,3259,0.00,2.58,0.00,0.000,4,0.000,0.044,2672,3353,3475,0,0,0,0,0,0
$GC,3312,-1.48,-116.8,358.3,-9.5,200,3316,0.00,2.55,0.00,0.000,6,0.000,0.045,2672,1810,3475,0,0,0,0,0,0
$GC,3578,-1.48,-116.8,381.7,-8.5,207,3579,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1810,3474,0,0,0,0,0,0
$GC,3822,-1.48,-116.8,404.9,-9.9,213,3827,0.00,2.92,0.00,0.000,4,0.000,0.091,2672,182,3472,0,0,0,0,0,0
$GC,3856,-1.48,-116.8,408.6,-11.1,213,3861,0.00,2.55,0.00,0.000,6,0.000,0.031,2671,1783,3472,0,0,0,0,0,0
$GC,4106,-1.48,-116.8,434.5,-10.4,220,4110,0.00,2.58,0.00,0.000,4,0.000,0.048,2672,3356,3471,0,0,0,0,0,0
$GC,4157,-1.54,-116.8,439.5,-10.0,221,4162,0.00,2.65,0.00,0.000,6,0.000,0.057,2672,1798,3471,0,0,0,0,0,0
$GC,4431,-1.54,-116.8,465.0,-9.3,228,4432,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1798,3469,0,0,0,0,0,0
$GC,4673,-1.54,-116.8,486.4,-8.6,234,4677,0.00,2.60,0.00,0.000,4,0.000,0.047,2672,3356,3468,0,0,0,0,0,0
$GC,4694,-1.54,-116.8,488.4,-9.1,234,4698,0.00,2.67,0.00,0.000,6,0.000,0.058,2672,1800,3468,0,0,0,0,0,0
$STATE,4824,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4824,begin apogee
$GC,4832,-0.31,0.0,500.0,9.0,238,4932,1.17,0.00,96.72,0.921,6,0.090,0.000,2928,1800,3001,0,0,0,0,0,0
$STATE,4933,end apogee,CONTROL_FINISHED_OK
$STATE,4933,begin climb
$GC,4935,1.38,116.8,502.0,0.0,240,5041,1.55,0.00,101.55,0.897,6,0.051,0.000,3307,1800,2524,0,0,0,0,0,0
$GC,5264,1.32,161.6,485.8,7.4,248,5309,0.00,2.78,38.55,0.876,4,0.000,0.050,3307,3387,2342,0,0,0,0,0,0
$GC,5395,1.24,161.6,474.0,10.3,251,5401,0.17,2.67,0.00,0.000,6,0.126,0.060,3273,1837,2337,0,0,0,0,0,0
$GC,5681,1.28,194.2,450.5,8.2,258,5715,0.00,2.65,29.20,0.861,4,0.000,0.046,3274,3400,2209,0,0,0,0,0,0
$GC,5767,1.28,194.2,442.3,10.5,260,5771,0.00,2.67,0.00,0.000,6,0.000,0.052,3273,1835,2205,0,0,0,0,0,0
$GC,6051,1.29,199.7,414.8,9.7,267,6062,0.00,2.60,5.68,0.671,4,0.000,0.040,3273,3403,2185,0,0,0,0,0,0
$GC,6091,1.30,207.3,410.6,9.6,268,6105,0.00,2.67,8.82,0.754,6,0.000,0.054,3273,1839,2154,0,0,0,0,0,0
$GC,6379,1.30,208.7,381.9,10.0,275,6383,0.00,2.92,0.00,0.000,4,0.000,0.090,3273,233,2149,0,0,0,0,0,0
$GC,6424,1.23,208.7,376.9,11.9,276,6429,0.00,2.55,0.00,0.000,6,0.000,0.021,3273,1847,2148,0,0,0,0,0,0
$GC,6701,1.23,208.7,346.4,11.0,283,6706,0.00,2.53,0.00,0.000,4,0.000,0.036,3273,3403,2147,0,0,0,0,0,0
$GC,6751,1.23,208.7,340.7,11.1,284,6756,0.00,2.58,0.00,0.000,6,0.000,0.041,3273,1844,2146,0,0,0,0,0,0
$GC,7026,1.25,218.7,314.0,9.5,291,7041,0.00,2.88,10.23,0.739,4,0.000,0.075,3273,237,2108,0,0,0,0,0,0
$GC,7052,1.25,219.8,311.2,10.0,291,7057,0.00,2.58,0.00,0.000,6,0.000,0.021,3273,1848,2106,0,0,0,0,0,0
$GC,7302,1.26,231.8,287.8,9.3,297,7321,0.00,2.92,12.77,0.746,4,0.000,0.072,3273,234,2055,0,0,0,0,0,0
$GC,7335,1.26,231.8,284.6,10.1,297,7339,0.00,2.60,0.00,0.000,6,0.000,0.026,3273,1857,2054,0,0,0,0,0,0
$GC,7585,1.29,258.1,263.0,8.5,303,7615,0.00,2.55,24.88,0.759,4,0.000,0.035,3273,3393,1948,0,0,0,0,0,0
$GC,7645,1.40,270.4,257.8,9.3,304,7666,0.12,2.60,12.23,0.706,6,0.089,0.039,3305,1838,1898,0,0,0,0,0,0
$GC,7910,1.40,270.4,230.9,10.2,311,7914,0.00,2.83,0.00,0.000,4,0.000,0.076,3305,236,1892,0,0,0,0,0,0
$GC,7925,1.36,270.4,229.0,10.6,311,7930,0.00,2.58,0.00,0.000,6,0.000,0.025,3305,1853,1892,0,0,0,0,0,0
$GC,8188,1.36,270.4,200.6,10.9,318,8189,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1855,1891,0,0,0,0,0,0
$GC,8439,1.36,270.4,173.1,11.2,339,8441,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1855,1891,0,0,0,0,0,0
$GC,8700,1.37,278.8,147.0,9.6,363,8714,0.00,2.53,7.60,0.593,4,0.000,0.035,3306,3388,1863,0,0,0,0,0,0
$GC,8727,1.38,288.9,143.9,9.5,365,8747,0.00,2.58,10.55,0.619,6,0.000,0.041,3305,1831,1822,0,0,0,0,0,0
$GC,9003,1.38,288.9,116.0,10.4,391,9008,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1832,1819,0,0,0,0,0,0
$GC,9266,1.44,303.2,89.0,9.2,416,9285,0.00,2.80,13.48,0.596,4,0.000,0.063,3305,241,1763,0,0,0,0,0,0
$GC,9312,1.44,303.2,84.6,11.0,419,9316,0.00,2.55,0.00,0.000,6,0.000,0.021,3305,1860,1762,0,0,0,0,0,0
$GC,9580,1.61,355.6,63.1,7.0,443,9634,0.17,2.47,45.70,0.594,4,0.068,0.027,3352,3382,1549,0,0,0,0,0,0
$GC,9679,1.70,357.5,54.4,9.9,450,9684,0.00,2.50,0.00,0.000,6,0.000,0.035,3352,1874,1547,0,0,0,0,0,0
$GC,9955,1.70,357.5,25.4,11.0,477,9964,0.00,2.85,0.00,0.000,4,0.000,0.059,3352,238,1544,0,0,0,0,0,0
$GC,9988,1.70,357.5,21.4,11.5,481,9997,0.00,2.60,0.00,0.000,6,0.000,0.022,3352,1875,1544,0,0,0,0,0,0
$STATE,10149,end climb,SURFACE_DEPTH_REACHED
$STATE,10149,begin surface coast
$FINISH,0.5,1.010502
$STATE,10202,end surface coast,CONTROL_FINISHED_OK
$STATE,10202,begin surface
$SM_CCo,10223,60.12,0.443,1,0,1288,420.20
$SM_GC,1.01,0.00,0.00,60.12,0.000,0.000,0.443,476,1750,1288,-11.61,-0.57,420.20
$IRIDIUM_FIX,2246.36,-15751.06,110100,040407
$TT8_MAMPS,0.026078
$HUMID,53.93
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.80
$XPDR_PINGS,72
$24V_AH,23.4,60.142
$10V_AH,10.0,57.473
$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,26.450,125.625,417.950,60.125,0.000,28.488,33.892,252.961,18.000,0.000,14.094,1022.712,6674.734,539.181,1896.471,611.527,33.361,1263.870,0.000,1900.025,0.000,0.534,0.000
$DEVICE_MAMPS,143.429,91.273,921.167,442.559,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,345.558,283.717,392.857,743.026,1124.780,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,41516,511
$CAP_FILE_SIZE,106681,0
$CFSIZE,260165632,157057024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,171010,101507,2256.346,-15755.311,28,1.4,28,10.1