version: 66.06
glider: 146
mission: 5
dive: 437
start: 10 17 110 22 24 3
data:
$ID,146
$MISSION,5
$DIVE,437
$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,-257940.33
$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,47
$R_STBD_OVSHOOT,57
$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
$GPS1,221506,2256.407,-15752.129,38,0.9,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-66.9
$GPS2,222307,2256.434,-15752.144,9,0.9,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.214,-0.097
$KALMAN_X,-258248.8,-60.5,-1.9,290086.2,223.4
$KALMAN_Y,-603184.0,66.5,-126.8,743718.4,-892.6
$MHEAD_RNG_PITCHd_Wd,104.2,22123,-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,-116.8,0.0,0.0,0,104,0.00,0.00,-85.80,0.000,2,0.000,0.000,470,1740,3472,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.5,-9.1,11,125,11.60,0.00,0.00,0.000,6,0.150,0.000,2690,1740,3474,0,0,0,0,0,0
$GC,401,-1.25,-116.8,61.4,-14.0,43,406,0.17,2.58,0.00,0.000,4,0.124,0.055,2724,214,3476,0,0,0,0,0,0
$GC,424,-1.14,-116.8,64.6,-13.4,44,429,0.12,2.40,0.00,0.000,6,0.119,0.016,2750,1797,3476,0,0,0,0,0,0
$GC,687,-1.22,-116.8,91.4,-9.7,68,691,0.00,2.35,0.00,0.000,4,0.000,0.025,2750,3317,3477,0,0,0,0,0,0
$GC,741,-1.36,-116.8,96.1,-8.2,72,746,0.20,2.42,0.00,0.000,6,0.049,0.028,2685,1798,3477,0,0,0,0,0,0
$GC,1004,-1.36,-116.8,120.5,-9.7,96,1009,0.00,2.70,0.00,0.000,4,0.000,0.064,2685,191,3478,0,0,0,0,0,0
$GC,1027,-1.31,-116.8,123.3,-11.0,97,1033,0.12,2.40,0.00,0.000,6,0.110,0.020,2712,1783,3478,0,0,0,0,0,0
$GC,1291,-1.31,-116.8,151.0,-10.6,122,1294,0.00,2.40,0.00,0.000,4,0.000,0.028,2712,3322,3478,0,0,0,0,0,0
$GC,1318,-1.35,-116.8,153.6,-10.2,124,1322,0.00,2.47,0.00,0.000,6,0.000,0.028,2712,1778,3478,0,0,0,0,0,0
$GC,1586,-1.39,-116.8,177.8,-8.3,148,1591,0.00,2.42,0.00,0.000,4,0.000,0.027,2712,3317,3479,0,0,0,0,0,0
$GC,1609,-1.44,-116.8,180.2,-8.0,149,1617,0.08,2.42,0.00,0.000,6,0.045,0.031,2674,1793,3479,0,0,0,0,0,0
$GC,1893,-1.40,-116.8,210.1,-11.7,170,1897,0.00,2.72,0.00,0.000,4,0.000,0.069,2673,187,3479,0,0,0,0,0,0
$GC,1914,-1.34,-116.8,213.5,-12.4,170,1919,0.15,2.40,0.00,0.000,6,0.108,0.023,2705,1769,3479,0,0,0,0,0,0
$GC,2170,-1.34,-116.8,237.3,-8.9,177,2171,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1772,3479,0,0,0,0,0,0
$GC,2415,-1.38,-116.8,258.9,-8.7,183,2419,0.00,2.45,0.00,0.000,4,0.000,0.027,2705,3327,3478,0,0,0,0,0,0
$GC,2459,-1.49,-116.8,263.2,-9.3,184,2465,0.12,2.50,0.00,0.000,6,0.068,0.031,2656,1766,3479,0,0,0,0,0,0
$GC,2739,-1.44,-116.8,294.5,-11.5,191,2744,0.12,2.47,0.00,0.000,4,0.114,0.037,2683,3320,3478,0,0,0,0,0,0
$GC,2772,-1.44,-116.8,298.0,-9.2,191,2778,0.00,2.50,0.00,0.000,6,0.000,0.038,2683,1783,3478,0,0,0,0,0,0
$GC,3022,-1.44,-116.8,318.9,-8.3,198,3027,0.00,2.80,0.00,0.000,4,0.000,0.086,2683,187,3477,0,0,0,0,0,0
$GC,3051,-1.44,-116.8,321.4,-9.0,198,3055,0.00,2.45,0.00,0.000,6,0.000,0.023,2683,1743,3477,0,0,0,0,0,0
$GC,3301,-1.44,-116.8,345.1,-9.5,204,3305,0.00,2.60,0.00,0.000,4,0.000,0.043,2683,3357,3475,0,0,0,0,0,0
$GC,3342,-1.51,-116.8,348.7,-9.2,205,3347,0.00,2.55,0.00,0.000,6,0.000,0.044,2683,1789,3476,0,0,0,0,0,0
$GC,3628,-1.51,-116.8,373.6,-8.5,212,3632,0.00,2.50,0.00,0.000,4,0.000,0.034,2683,3351,3474,0,0,0,0,0,0
$GC,3649,-1.51,-116.8,375.5,-7.8,212,3654,0.00,2.58,0.00,0.000,6,0.000,0.045,2682,1796,3474,0,0,0,0,0,0
$GC,3904,-1.51,-116.8,396.7,-8.4,219,3909,0.00,2.88,0.00,0.000,4,0.000,0.094,2683,186,3472,0,0,0,0,0,0
$GC,3938,-1.51,-116.8,399.9,-9.7,219,3944,0.00,2.55,0.00,0.000,6,0.000,0.027,2683,1795,3471,0,0,0,0,0,0
$GC,4188,-1.51,-116.8,422.4,-9.0,226,4189,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1795,3470,0,0,0,0,0,0
$GC,4434,-1.51,-116.8,444.8,-9.0,232,4438,0.00,2.55,0.00,0.000,4,0.000,0.049,2683,3355,3469,0,0,0,0,0,0
$GC,4502,-1.58,-116.8,450.6,-7.8,233,4508,0.12,2.62,0.00,0.000,6,0.075,0.054,2643,1800,3468,0,0,0,0,0,0
$GC,4758,-1.54,-116.8,476.2,-10.6,240,4763,0.10,2.58,0.00,0.000,4,0.126,0.048,2663,3354,3467,0,0,0,0,0,0
$GC,4780,-1.54,-116.8,478.7,-10.7,240,4784,0.00,2.60,0.00,0.000,6,0.000,0.057,2663,1815,3467,0,0,0,0,0,0
$STATE,4998,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4998,begin apogee
$GC,5005,-0.31,0.0,501.6,10.6,246,5105,1.20,0.00,96.45,0.927,6,0.083,0.000,2929,1814,3000,0,0,0,0,0,0
$STATE,5106,end apogee,CONTROL_FINISHED_OK
$STATE,5106,begin climb
$GC,5108,1.38,116.8,504.5,0.0,248,5222,1.55,2.75,101.28,0.904,4,0.051,0.054,3306,3387,2522,0,0,0,0,0,0
$GC,5295,1.31,143.0,500.2,8.5,252,5325,0.10,2.72,23.15,0.861,6,0.142,0.057,3288,1818,2417,0,0,0,0,0,0
$GC,5611,1.26,165.9,473.3,8.7,260,5637,0.00,2.65,20.70,0.855,4,0.000,0.043,3288,3394,2323,0,0,0,0,0,0
$GC,5660,1.21,182.5,468.6,9.1,261,5684,0.12,2.70,16.40,0.832,6,0.136,0.059,3265,1816,2256,0,0,0,0,0,0
$GC,5935,1.24,207.1,444.5,8.6,268,5964,0.00,2.72,22.17,0.851,4,0.000,0.038,3265,3407,2156,0,0,0,0,0,0
$GC,6000,1.27,229.6,439.0,8.7,269,6028,0.00,2.72,21.40,0.839,6,0.000,0.055,3265,1821,2064,0,0,0,0,0,0
$GC,6309,1.30,248.2,411.0,9.0,277,6328,0.00,0.00,17.17,0.822,6,0.000,0.000,3265,1820,1989,0,0,0,0,0,0
$GC,6552,1.30,248.5,387.2,10.0,283,6553,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1821,1984,0,0,0,0,0,0
$GC,6794,1.30,248.5,360.8,11.0,289,6795,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1821,1982,0,0,0,0,0,0
$GC,7038,1.30,248.5,335.3,10.3,295,7039,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1820,1981,0,0,0,0,0,0
$GC,7282,1.30,248.5,310.7,10.0,301,7283,0.00,0.00,0.00,0.000,6,0.000,0.000,3265,1821,1980,0,0,0,0,0,0
$GC,7527,1.31,261.4,287.8,9.3,307,7547,0.00,2.90,11.88,0.742,4,0.000,0.077,3265,233,1934,0,0,0,0,0,0
$GC,7581,1.31,261.4,281.6,11.2,308,7585,0.00,2.55,0.00,0.000,6,0.000,0.021,3265,1836,1932,0,0,0,0,0,0
$GC,7854,1.37,269.4,254.9,9.6,315,7865,0.15,0.00,8.50,0.685,6,0.080,0.000,3303,1838,1902,0,0,0,0,0,0
$GC,8096,1.37,269.4,229.1,10.7,321,8098,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,1838,1900,0,0,0,0,0,0
$GC,8340,1.37,269.4,201.5,11.2,327,8345,0.00,2.80,0.00,0.000,4,0.000,0.067,3304,229,1898,0,0,0,0,0,0
$GC,8362,1.32,269.4,199.1,11.1,327,8366,0.00,2.53,0.00,0.000,6,0.000,0.021,3304,1832,1898,0,0,0,0,0,0
$GC,8635,1.32,269.4,172.7,10.3,352,8639,0.00,2.47,0.00,0.000,4,0.000,0.029,3304,3386,1898,0,0,0,0,0,0
$GC,8698,1.37,269.4,165.1,11.5,357,8703,0.00,2.58,0.00,0.000,6,0.000,0.036,3304,1818,1896,0,0,0,0,0,0
$GC,8966,1.40,293.2,138.3,8.7,381,8992,0.00,0.00,21.77,0.660,6,0.000,0.000,3304,1818,1804,0,0,0,0,0,0
$GC,9249,1.40,293.2,110.7,10.6,408,9253,0.00,2.72,0.00,0.000,4,0.000,0.066,3304,237,1801,0,0,0,0,0,0
$GC,9272,1.40,293.2,107.9,11.5,409,9278,0.00,2.50,0.00,0.000,6,0.000,0.027,3304,1838,1800,0,0,0,0,0,0
$GC,9535,1.47,309.0,84.2,9.1,434,9553,0.00,0.00,14.52,0.593,6,0.000,0.000,3304,1839,1741,0,0,0,0,0,0
$GC,9816,1.63,362.6,62.0,6.9,460,9873,0.22,2.53,47.03,0.591,4,0.112,0.028,3361,3376,1520,0,0,0,0,0,0
$GC,9891,1.67,362.6,53.6,11.0,465,9900,0.00,2.58,0.00,0.000,6,0.000,0.037,3361,1840,1518,0,0,0,0,0,0
$GC,10173,1.67,362.6,21.2,11.5,495,10181,0.00,0.00,0.00,0.000,6,0.000,0.000,3361,1841,1516,0,0,0,0,0,0
$STATE,10313,end climb,SURFACE_DEPTH_REACHED
$STATE,10313,begin surface coast
$FINISH,0.3,1.017914
$STATE,10351,end surface coast,CONTROL_FINISHED_OK
$STATE,10351,begin surface
$SM_CCo,10374,53.28,0.434,1,0,1287,420.20
$SM_GC,0.91,0.00,0.00,53.28,0.000,0.000,0.434,475,1743,1287,-11.62,-0.76,420.20
$IRIDIUM_FIX,2246.36,-15753.23,110100,191925
$TT8_MAMPS,0.026078
$HUMID,54.84
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.40
$XPDR_PINGS,75
$24V_AH,23.4,60.780
$10V_AH,10.0,58.053
$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,28.075,113.425,422.425,53.275,0.000,29.057,36.603,273.737,18.750,0.000,16.030,1038.691,6814.733,520.548,1901.552,639.352,33.376,1243.302,0.000,1906.179,0.000,0.534,0.000
$DEVICE_MAMPS,150.332,94.341,927.303,434.122,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,351.662,299.399,401.062,747.645,1130.840,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,41463,520
$CAP_FILE_SIZE,108195,0
$CFSIZE,260165632,156778496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181010,011849,2255.523,-15750.960,7,1.7,12,10.1