version: 66.06
glider: 146
mission: 5
dive: 441
start: 10 18 110 10 34 58
data:
$ID,146
$MISSION,5
$DIVE,441
$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,-258021.52
$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,24
$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
$GPS1,102625,2252.629,-15747.271,40,1.0,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-68.2
$GPS2,103402,2252.642,-15747.268,15,1.3,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.214,-0.096
$KALMAN_X,-258425.2,52.9,115.7,298422.0,-195.7
$KALMAN_Y,-605739.1,-118.6,-211.4,739527.9,-486.9
$MHEAD_RNG_PITCHd_Wd,104.0,11241,-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,-85.85,0.000,2,0.000,0.000,472,1762,3470,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.5,-9.5,11,126,11.45,2.65,0.00,0.000,4,0.145,0.050,2689,182,3473,0,0,0,0,0,0
$GC,151,-0.71,-116.8,22.2,-38.7,16,161,0.68,2.47,0.00,0.000,6,0.111,0.016,2837,1772,3474,0,0,0,0,0,0
$GC,432,-0.87,-116.8,50.1,-7.7,44,437,0.12,2.47,0.00,0.000,4,0.070,0.026,2794,3339,3474,0,0,0,0,0,0
$GC,479,-1.01,-116.8,54.1,-8.5,47,483,0.00,2.53,0.00,0.000,6,0.000,0.028,2794,1758,3475,0,0,0,0,0,0
$GC,749,-1.16,-116.8,74.5,-7.0,71,754,0.20,2.62,0.00,0.000,4,0.051,0.054,2731,189,3476,0,0,0,0,0,0
$GC,782,-1.23,-116.8,78.2,-10.3,73,786,0.00,2.42,0.00,0.000,6,0.000,0.015,2731,1792,3476,0,0,0,0,0,0
$GC,1049,-1.28,-116.8,103.4,-10.0,97,1053,0.00,2.38,0.00,0.000,4,0.000,0.024,2731,3312,3477,0,0,0,0,0,0
$GC,1082,-1.35,-116.8,106.6,-9.4,99,1087,0.10,2.47,0.00,0.000,6,0.080,0.027,2690,1765,3477,0,0,0,0,0,0
$GC,1349,-1.35,-116.8,135.7,-10.5,123,1353,0.00,2.65,0.00,0.000,4,0.000,0.058,2690,195,3477,0,0,0,0,0,0
$GC,1367,-1.35,-116.8,138.0,-10.6,124,1371,0.00,2.35,0.00,0.000,6,0.000,0.022,2690,1761,3477,0,0,0,0,0,0
$GC,1635,-1.35,-116.8,163.9,-9.4,149,1639,0.00,2.45,0.00,0.000,4,0.000,0.024,2690,3327,3478,0,0,0,0,0,0
$GC,1652,-1.35,-116.8,165.9,-10.1,150,1656,0.00,2.50,0.00,0.000,6,0.000,0.034,2690,1760,3478,0,0,0,0,0,0
$GC,1917,-1.35,-116.8,192.3,-9.5,174,1921,0.00,2.47,0.00,0.000,4,0.000,0.025,2690,3326,3478,0,0,0,0,0,0
$GC,1950,-1.35,-116.8,195.9,-9.2,176,1956,0.00,2.47,0.00,0.000,6,0.000,0.035,2690,1780,3478,0,0,0,0,0,0
$GC,2203,-1.35,-116.8,221.1,-10.4,186,2208,0.00,2.70,0.00,0.000,4,0.000,0.067,2690,196,3478,0,0,0,0,0,0
$GC,2219,-1.35,-116.8,223.0,-10.4,186,2224,0.00,2.40,0.00,0.000,6,0.000,0.016,2690,1788,3478,0,0,0,0,0,0
$GC,2481,-1.35,-116.8,249.9,-10.3,193,2485,0.00,2.75,0.00,0.000,4,0.000,0.066,2690,188,3478,0,0,0,0,0,0
$GC,2537,-1.35,-116.8,256.0,-10.4,194,2541,0.00,2.40,0.00,0.000,6,0.000,0.018,2690,1747,3478,0,0,0,0,0,0
$GC,2803,-1.35,-116.8,281.4,-9.6,201,2804,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1749,3478,0,0,0,0,0,0
$GC,3047,-1.35,-116.8,302.6,-8.7,207,3051,0.00,2.50,0.00,0.000,4,0.000,0.032,2689,3332,3476,0,0,0,0,0,0
$GC,3088,-1.40,-116.8,306.3,-9.0,208,3093,0.00,2.55,0.00,0.000,6,0.000,0.035,2690,1770,3476,0,0,0,0,0,0
$GC,3372,-1.40,-116.8,331.8,-9.2,215,3376,0.00,2.53,0.00,0.000,4,0.000,0.039,2690,3329,3474,0,0,0,0,0,0
$GC,3389,-1.44,-116.8,333.4,-9.0,215,3393,0.00,2.58,0.00,0.000,6,0.000,0.038,2690,1760,3475,0,0,0,0,0,0
$GC,3651,-1.44,-116.8,355.4,-8.4,222,3652,0.00,0.00,0.00,0.000,6,0.000,0.000,2690,1760,3474,0,0,0,0,0,0
$GC,3894,-1.48,-116.8,376.9,-8.9,228,3898,0.00,2.55,0.00,0.000,4,0.000,0.042,2690,3331,3472,0,0,0,0,0,0
$GC,3915,-1.52,-116.8,379.0,-9.3,228,3920,0.00,2.60,0.00,0.000,6,0.000,0.048,2691,1770,3472,0,0,0,0,0,0
$GC,4176,-1.56,-116.8,402.0,-9.1,235,4178,0.12,0.00,0.00,0.000,6,0.077,0.000,2650,1769,3470,0,0,0,0,0,0
$GC,4414,-1.52,-116.8,427.7,-10.7,241,4419,0.00,2.58,0.00,0.000,4,0.000,0.040,2650,3329,3469,0,0,0,0,0,0
$GC,4436,-1.52,-116.8,430.2,-10.7,241,4440,0.00,2.60,0.00,0.000,6,0.000,0.052,2649,1778,3469,0,0,0,0,0,0
$GC,4692,-1.52,-116.8,459.5,-11.7,248,4697,0.00,2.53,0.00,0.000,4,0.000,0.048,2649,3322,3467,0,0,0,0,0,0
$GC,4736,-1.52,-116.8,465.2,-12.0,249,4740,0.00,2.62,0.00,0.000,6,0.000,0.061,2649,1787,3466,0,0,0,0,0,0
$GC,5014,-1.52,-116.8,495.3,-10.7,256,5018,0.00,2.55,0.00,0.000,4,0.000,0.048,2649,3321,3464,0,0,0,0,0,0
$GC,5031,-1.52,-116.8,497.1,-10.5,256,5036,0.00,2.62,0.00,0.000,6,0.000,0.059,2649,1792,3464,0,0,0,0,0,0
$STATE,5086,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5086,begin apogee
$GC,5092,-0.31,0.0,502.6,9.7,258,5192,1.27,0.00,96.28,0.924,6,0.087,0.000,2929,1792,3001,0,0,0,0,0,0
$STATE,5193,end apogee,CONTROL_FINISHED_OK
$STATE,5193,begin climb
$GC,5195,1.38,116.8,504.6,0.0,260,5301,1.58,0.00,102.22,0.900,6,0.049,0.000,3308,1791,2523,0,0,0,0,0,0
$GC,5535,1.30,151.1,486.5,8.1,269,5571,0.12,2.72,29.98,0.871,4,0.133,0.044,3285,3376,2384,0,0,0,0,0,0
$GC,5635,1.27,168.1,478.3,9.1,270,5656,0.00,2.67,16.10,0.831,6,0.000,0.058,3285,1834,2315,0,0,0,0,0,0
$GC,5902,1.26,201.3,456.6,8.1,276,5938,0.00,2.58,30.20,0.864,4,0.000,0.037,3285,3375,2179,0,0,0,0,0,0
$GC,5949,1.24,221.2,452.2,8.9,276,5974,0.00,2.62,19.12,0.828,6,0.000,0.055,3285,1841,2098,0,0,0,0,0,0
$GC,6225,1.24,221.2,423.1,11.0,283,6230,0.00,3.03,0.00,0.000,4,0.000,0.109,3284,232,2091,0,0,0,0,0,0
$GC,6241,1.17,221.2,420.8,11.8,283,6247,0.15,2.55,0.00,0.000,6,0.129,0.028,3256,1815,2091,0,0,0,0,0,0
$GC,6502,1.17,221.2,391.6,11.1,290,6507,0.00,2.60,0.00,0.000,4,0.000,0.038,3256,3405,2089,0,0,0,0,0,0
$GC,6525,1.22,221.2,389.0,11.0,290,6530,0.00,2.62,0.00,0.000,6,0.000,0.044,3256,1836,2088,0,0,0,0,0,0
$GC,6780,1.23,225.9,363.6,9.8,297,6781,0.00,0.00,0.00,0.000,6,0.000,0.000,3256,1836,2087,0,0,0,0,0,0
$GC,7024,1.28,239.7,341.4,9.2,303,7043,0.10,0.00,16.02,0.794,6,0.100,0.000,3281,1836,2023,0,0,0,0,0,0
$GC,7269,1.28,239.7,312.4,12.2,309,7273,0.00,2.53,0.00,0.000,4,0.000,0.035,3281,3407,2019,0,0,0,0,0,0
$GC,7290,1.28,239.7,309.6,12.1,309,7294,0.00,2.60,0.00,0.000,6,0.000,0.044,3281,1844,2018,0,0,0,0,0,0
$GC,7546,1.29,243.8,283.5,9.8,316,7552,0.00,0.00,4.53,0.566,6,0.000,0.000,3281,1844,2006,0,0,0,0,0,0
$GC,7790,1.33,273.8,262.5,8.3,322,7820,0.00,0.00,28.80,0.765,6,0.000,0.000,3281,1844,1884,0,0,0,0,0,0
$GC,8035,1.35,290.0,240.5,9.1,328,8055,0.00,2.88,15.23,0.719,4,0.000,0.074,3281,238,1817,0,0,0,0,0,0
$GC,8077,1.35,290.0,235.5,11.9,329,8082,0.00,2.58,0.00,0.000,6,0.000,0.024,3281,1866,1816,0,0,0,0,0,0
$GC,8357,1.39,290.0,201.8,12.3,336,8358,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1868,1813,0,0,0,0,0,0
$GC,8609,1.46,310.1,177.2,8.9,357,8630,0.15,0.00,18.52,0.683,6,0.074,0.000,3322,1868,1736,0,0,0,0,0,0
$GC,8886,1.46,310.1,143.2,13.4,383,8891,0.00,2.47,0.00,0.000,4,0.000,0.037,3322,3399,1732,0,0,0,0,0,0
$GC,8927,1.50,310.1,137.3,13.5,386,8932,0.00,2.58,0.00,0.000,6,0.000,0.042,3322,1838,1730,0,0,0,0,0,0
$GC,9190,1.50,310.1,106.4,11.5,410,9194,0.00,2.50,0.00,0.000,4,0.000,0.028,3322,3394,1730,0,0,0,0,0,0
$GC,9211,1.50,310.1,104.3,11.3,411,9216,0.00,2.55,0.00,0.000,6,0.000,0.036,3322,1845,1729,0,0,0,0,0,0
$GC,9478,1.50,310.1,71.9,11.6,435,9482,0.00,2.78,0.00,0.000,4,0.000,0.063,3322,238,1729,0,0,0,0,0,0
$GC,9510,1.50,310.1,68.0,12.0,437,9514,0.00,2.55,0.00,0.000,6,0.000,0.020,3322,1873,1729,0,0,0,0,0,0
$GC,9780,1.58,310.1,42.8,10.5,461,9785,0.10,2.80,0.00,0.000,4,0.219,0.058,3350,233,1728,0,0,0,0,0,0
$GC,9812,1.58,310.1,38.7,11.2,463,9817,0.00,2.55,0.00,0.000,6,0.000,0.020,3350,1866,1728,0,0,0,0,0,0
$GC,10120,1.58,310.1,10.6,10.2,503,10129,0.00,2.42,0.00,0.000,4,0.000,0.027,3349,3386,1728,0,0,0,0,0,0
$GC,10148,1.63,310.1,7.6,10.6,506,10157,0.00,2.50,0.00,0.000,6,0.000,0.033,3350,1865,1728,0,0,0,0,0,0
$STATE,10179,end climb,SURFACE_DEPTH_REACHED
$STATE,10179,begin surface coast
$FINISH,0.3,1.000237
$STATE,10221,end surface coast,CONTROL_FINISHED_OK
$STATE,10221,begin surface
$SM_CCo,10245,96.85,0.482,1,0,1287,420.20
$SM_GC,1.10,0.00,0.00,96.85,0.000,0.000,0.482,475,1751,1287,-11.62,-0.54,420.20
$IRIDIUM_FIX,2244.02,-15743.68,120100,070731
$TT8_MAMPS,0.026078
$HUMID,53.30
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.40
$XPDR_PINGS,79
$24V_AH,23.4,61.288
$10V_AH,10.0,58.534
$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,27.875,133.800,377.000,96.850,0.000,27.665,32.602,256.805,19.750,0.000,16.769,1057.374,6672.764,577.069,1873.857,625.494,33.367,1238.386,0.000,1888.937,0.000,0.535,0.000
$DEVICE_MAMPS,218.595,108.914,924.235,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.343,314.331,401.735,786.069,1188.838,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,41553,516
$CAP_FILE_SIZE,109802,0
$CFSIZE,260165632,156549120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181010,132833,2251.617,-15746.207,7,6.0,26,10.1