version: 66.06
glider: 146
mission: 5
dive: 442
start: 10 18 110 13 37 52
data:
$ID,146
$MISSION,5
$DIVE,442
$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,-258036.2
$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,39
$R_STBD_OVSHOOT,55
$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
$GPS1,132833,2251.617,-15746.207,7,6.0,26,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-69.1
$GPS2,133656,2251.616,-15746.216,12,1.1,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.209,-0.107
$KALMAN_X,-258501.1,-79.0,5.1,300553.2,-242.5
$KALMAN_Y,-606630.9,-80.4,-285.4,738558.8,-165.9
$MHEAD_RNG_PITCHd_Wd,107.0,8676,-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,17,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-85.15,0.000,2,0.000,0.000,474,1750,3461,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.6,-9.5,11,126,11.55,2.60,-0.25,0.000,4,0.149,0.061,2690,201,3478,0,0,0,0,0,0
$GC,138,-0.17,-116.8,17.4,-36.9,14,148,1.25,2.45,0.00,0.000,6,0.108,0.016,2956,1792,3479,0,0,0,0,0,0
$GC,455,-0.83,-116.8,38.3,-7.2,53,461,0.57,2.40,0.00,0.000,4,0.058,0.025,2811,3323,3480,0,0,0,0,0,0
$GC,539,-0.98,-116.8,45.7,-8.8,59,544,0.10,2.60,0.00,0.000,6,0.082,0.026,2770,1695,3480,0,0,0,0,0,0
$GC,809,-1.06,-116.8,74.0,-9.5,83,813,0.00,2.47,0.00,0.000,4,0.000,0.055,2770,205,3481,0,0,0,0,0,0
$GC,831,-1.16,-116.8,76.3,-8.5,84,835,0.00,2.22,0.00,0.000,6,0.000,0.016,2770,1688,3481,0,0,0,0,0,0
$GC,1096,-1.29,-116.8,94.5,-8.4,108,1101,0.22,2.58,0.00,0.000,4,0.048,0.024,2699,3327,3482,0,0,0,0,0,0
$GC,1164,-1.33,-116.8,101.7,-11.0,113,1168,0.00,2.60,0.00,0.000,6,0.000,0.033,2699,1699,3482,0,0,0,0,0,0
$GC,1432,-1.33,-116.8,129.6,-10.3,137,1436,0.00,2.58,0.00,0.000,4,0.000,0.028,2699,3327,3483,0,0,0,0,0,0
$GC,1466,-1.37,-116.8,133.9,-10.7,139,1471,0.00,2.60,0.00,0.000,6,0.000,0.029,2700,1713,3483,0,0,0,0,0,0
$GC,1730,-1.37,-116.8,159.7,-9.9,164,1734,0.00,2.55,0.00,0.000,4,0.000,0.029,2699,3321,3484,0,0,0,0,0,0
$GC,1770,-1.42,-116.8,164.3,-10.2,167,1775,0.00,2.58,0.00,0.000,6,0.000,0.035,2699,1724,3483,0,0,0,0,0,0
$GC,2035,-1.42,-116.8,191.0,-9.6,191,2039,0.00,2.60,0.00,0.000,4,0.000,0.064,2699,186,3483,0,0,0,0,0,0
$GC,2068,-1.42,-116.8,194.8,-10.3,193,2074,0.00,2.30,0.00,0.000,6,0.000,0.018,2699,1709,3483,0,0,0,0,0,0
$GC,2331,-1.42,-116.8,216.5,-8.1,204,2335,0.00,2.53,0.00,0.000,4,0.000,0.027,2699,3316,3483,0,0,0,0,0,0
$GC,2372,-1.48,-116.8,220.1,-9.4,205,2377,0.00,2.58,0.00,0.000,6,0.000,0.031,2699,1710,3484,0,0,0,0,0,0
$GC,2656,-1.48,-116.8,247.8,-10.2,212,2657,0.00,0.00,0.00,0.000,6,0.000,0.000,2699,1710,3483,0,0,0,0,0,0
$GC,2899,-1.48,-116.8,274.4,-11.0,218,2904,0.00,2.55,0.00,0.000,4,0.000,0.032,2699,3315,3482,0,0,0,0,0,0
$GC,2917,-1.52,-116.8,276.0,-10.4,218,2922,0.12,2.58,0.00,0.000,6,0.076,0.032,2655,1718,3482,0,0,0,0,0,0
$GC,3179,-1.47,-116.8,303.3,-10.0,225,3181,0.10,0.00,0.00,0.000,6,0.124,0.000,2677,1718,3481,0,0,0,0,0,0
$GC,3424,-1.47,-116.8,325.0,-9.0,231,3428,0.00,2.55,0.00,0.000,4,0.000,0.031,2677,3313,3481,0,0,0,0,0,0
$GC,3465,-1.52,-116.8,329.0,-9.9,232,3470,0.00,2.60,0.00,0.000,6,0.000,0.044,2677,1733,3480,0,0,0,0,0,0
$GC,3748,-1.52,-116.8,359.5,-11.0,239,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,2677,1733,3478,0,0,0,0,0,0
$GC,3992,-1.52,-116.8,385.6,-10.5,245,3996,0.00,2.58,0.00,0.000,4,0.000,0.039,2677,3317,3477,0,0,0,0,0,0
$GC,4033,-1.58,-116.8,389.5,-10.0,246,4038,0.00,2.67,0.00,0.000,6,0.000,0.049,2677,1724,3477,0,0,0,0,0,0
$GC,4317,-1.58,-116.8,417.2,-9.9,253,4322,0.00,2.58,0.00,0.000,4,0.000,0.038,2677,3310,3476,0,0,0,0,0,0
$GC,4345,-1.62,-116.8,420.2,-10.1,253,4350,0.12,2.67,0.00,0.000,6,0.073,0.053,2637,1731,3475,0,0,0,0,0,0
$GC,4597,-1.55,-116.8,451.5,-13.0,259,4602,0.12,2.60,0.00,0.000,4,0.117,0.047,2662,3316,3473,0,0,0,0,0,0
$GC,4631,-1.55,-116.8,455.9,-12.0,259,4636,0.00,2.65,0.00,0.000,6,0.000,0.059,2662,1746,3473,0,0,0,0,0,0
$GC,4881,-1.55,-116.8,481.4,-10.1,266,4882,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1746,3471,0,0,0,0,0,0
$STATE,5122,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5122,begin apogee
$GC,5129,-0.31,0.0,502.3,8.4,272,5230,1.20,0.00,97.35,0.924,6,0.080,0.000,2930,1746,3001,0,0,0,0,0,0
$STATE,5231,end apogee,CONTROL_FINISHED_OK
$STATE,5231,begin climb
$GC,5234,1.38,116.8,503.7,0.0,274,5347,1.55,2.95,101.40,0.900,4,0.050,0.110,3308,236,2523,0,0,0,0,0,0
$GC,5450,1.17,126.2,494.1,9.5,279,5465,0.25,2.50,8.60,0.762,6,0.122,0.035,3259,1770,2485,0,0,0,0,0,0
$GC,5741,1.26,196.6,475.2,6.0,286,5811,0.00,2.88,62.70,0.885,4,0.000,0.054,3259,3407,2198,0,0,0,0,0,0
$GC,5895,1.30,227.8,462.9,8.2,289,5930,0.10,2.70,28.42,0.856,6,0.104,0.056,3284,1833,2071,0,0,0,0,0,0
$GC,6201,1.30,230.1,433.5,9.9,297,6206,0.00,2.97,0.00,0.000,4,0.000,0.101,3284,234,2063,0,0,0,0,0,0
$GC,6228,1.21,230.1,429.9,11.9,297,6232,0.00,2.60,0.00,0.000,6,0.000,0.026,3284,1835,2061,0,0,0,0,0,0
$GC,6478,1.21,230.1,403.2,10.9,303,6482,0.00,2.88,0.00,0.000,4,0.000,0.077,3284,229,2060,0,0,0,0,0,0
$GC,6501,1.14,230.1,400.6,11.9,303,6506,0.17,2.58,0.00,0.000,6,0.123,0.029,3250,1825,2059,0,0,0,0,0,0
$GC,6756,1.20,243.0,376.2,9.3,310,6771,0.00,0.00,12.93,0.794,6,0.000,0.000,3249,1825,2010,0,0,0,0,0,0
$GC,7000,1.28,261.7,354.6,9.0,316,7025,0.12,2.90,18.05,0.805,4,0.087,0.071,3282,240,1933,0,0,0,0,0,0
$GC,7055,1.19,261.7,348.4,12.6,317,7060,0.10,2.55,0.00,0.000,6,0.140,0.021,3263,1821,1931,0,0,0,0,0,0
$GC,7329,1.20,265.3,320.9,9.8,324,7338,0.00,2.60,4.25,0.558,4,0.000,0.040,3263,3402,1919,0,0,0,0,0,0
$GC,7358,1.28,272.3,318.1,9.6,324,7374,0.00,2.65,8.45,0.711,6,0.000,0.040,3263,1817,1889,0,0,0,0,0,0
$GC,7619,1.33,277.2,292.5,9.8,331,7630,0.12,2.78,5.28,0.611,4,0.083,0.077,3296,239,1872,0,0,0,0,0,0
$GC,7654,1.26,277.2,288.5,11.8,331,7660,0.10,2.53,0.00,0.000,6,0.137,0.025,3277,1835,1870,0,0,0,0,0,0
$GC,7904,1.26,277.2,262.8,10.3,338,7905,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1837,1869,0,0,0,0,0,0
$GC,8148,1.32,292.9,239.4,9.1,344,8168,0.00,2.55,15.45,0.726,4,0.000,0.035,3277,3404,1806,0,0,0,0,0,0
$GC,8181,1.40,306.8,236.4,9.2,344,8201,0.12,2.65,13.90,0.705,6,0.087,0.037,3309,1813,1750,0,0,0,0,0,0
$GC,8476,1.40,306.8,202.1,12.1,352,8477,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1813,1745,0,0,0,0,0,0
$GC,8733,1.40,306.8,169.9,13.2,373,8737,0.00,2.75,0.00,0.000,4,0.000,0.071,3309,234,1744,0,0,0,0,0,0
$GC,8754,1.35,306.8,166.1,14.3,374,8760,0.00,2.50,0.00,0.000,6,0.000,0.028,3309,1827,1743,0,0,0,0,0,0
$GC,9020,1.35,306.8,135.0,10.3,399,9024,0.00,2.53,0.00,0.000,4,0.000,0.035,3309,3401,1743,0,0,0,0,0,0
$GC,9056,1.41,313.5,130.8,9.7,401,9074,0.00,2.62,6.45,0.559,6,0.000,0.037,3309,1810,1721,0,0,0,0,0,0
$GC,9329,1.41,313.5,101.5,12.1,427,9334,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,1809,1720,0,0,0,0,0,0
$GC,9596,1.51,349.3,76.9,8.0,452,9635,0.00,0.00,31.88,0.610,6,0.000,0.000,3309,1809,1577,0,0,0,0,0,0
$GC,9894,1.64,366.3,49.2,9.1,480,9918,0.20,2.75,16.05,0.558,4,0.095,0.061,3361,234,1506,0,0,0,0,0,0
$GC,9937,1.64,366.3,44.8,10.9,483,9941,0.00,2.53,0.00,0.000,6,0.000,0.020,3361,1848,1505,0,0,0,0,0,0
$GC,10238,1.65,378.9,12.1,9.3,518,10255,0.00,0.00,12.27,0.512,6,0.000,0.000,3361,1850,1454,0,0,0,0,0,0
$STATE,10310,end climb,SURFACE_DEPTH_REACHED
$STATE,10310,begin surface coast
$FINISH,0.5,0.999127
$STATE,10353,end surface coast,CONTROL_FINISHED_OK
$STATE,10356,begin surface
$SM_CCo,10378,40.40,0.401,1,0,1287,420.20
$SM_GC,1.01,0.00,0.00,40.40,0.000,0.000,0.401,480,1746,1287,-11.59,-0.65,420.20
$IRIDIUM_FIX,2244.02,-15745.85,120100,101020
$TT8_MAMPS,0.025311
$HUMID,54.21
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.60
$XPDR_PINGS,78
$24V_AH,23.4,61.418
$10V_AH,10.0,58.659
$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,30.000,125.325,443.425,40.400,0.000,31.136,38.450,297.335,19.500,0.000,14.066,1077.538,6590.990,521.098,2060.119,679.791,33.376,1281.744,0.000,2067.268,0.000,0.534,0.000
$DEVICE_MAMPS,148.798,110.448,924.235,401.141,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.996,317.801,420.474,843.528,1275.812,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355712
$DATA_FILE_SIZE,41362,534
$CAP_FILE_SIZE,114518,0
$CFSIZE,260165632,156491776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,181010,163255,2250.919,-15745.384,38,1.5,38,10.1