version: 66.06
glider: 146
mission: 5
dive: 446
start: 10 19 110 2 8 32
data:
$ID,146
$MISSION,5
$DIVE,446
$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,-258131.23
$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,31
$R_STBD_OVSHOOT,52
$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
$GPS1,015456,2249.164,-15741.907,8,1.7,8,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-67.5
$GPS2,020737,2249.200,-15741.864,35,1.0,35,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.006,0.219
$KALMAN_X,-259326.2,-1.1,135.7,308654.4,-88.0
$KALMAN_Y,-607209.0,326.6,-136.9,734100.5,-67.7
$MHEAD_RNG_PITCHd_Wd,351.4,16298,-21.4,-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,-1.46,-101.2,0.0,0.0,0,96,0.00,0.00,-78.10,0.000,2,0.000,0.000,478,1753,3230,0,0,0,0,0,0
$GC,100,-1.48,-116.8,3.3,-6.3,10,126,11.30,2.55,-4.75,0.000,4,0.145,0.035,2666,3336,3479,0,0,0,0,0,0
$GC,177,-1.41,-116.8,22.2,-16.7,20,187,0.08,2.58,0.00,0.000,6,0.120,0.031,2685,1772,3480,0,0,0,0,0,0
$GC,458,-1.35,-116.8,66.9,-14.3,48,463,0.10,2.72,0.00,0.000,4,0.144,0.069,2703,193,3481,0,0,0,0,0,0
$GC,518,-1.35,-116.8,76.2,-13.7,52,528,0.00,2.45,0.00,0.000,6,0.000,0.021,2704,1791,3481,0,0,0,0,0,0
$GC,787,-1.39,-116.8,104.0,-9.9,77,792,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1791,3482,0,0,0,0,0,0
$GC,1049,-1.45,-116.8,129.4,-9.7,102,1053,0.00,2.38,0.00,0.000,4,0.000,0.032,2704,3313,3482,0,0,0,0,0,0
$GC,1070,-1.51,-116.8,131.1,-9.8,103,1075,0.15,2.50,0.00,0.000,6,0.063,0.028,2653,1758,3482,0,0,0,0,0,0
$GC,1335,-1.46,-116.8,162.7,-12.8,127,1340,0.12,0.00,0.00,0.000,6,0.120,0.000,2678,1758,3483,0,0,0,0,0,0
$GC,1597,-1.46,-116.8,192.8,-10.7,152,1602,0.00,2.45,0.00,0.000,4,0.000,0.031,2678,3320,3483,0,0,0,0,0,0
$GC,1631,-1.50,-116.8,196.3,-11.5,154,1636,0.00,2.47,0.00,0.000,6,0.000,0.035,2678,1772,3483,0,0,0,0,0,0
$GC,1913,-1.50,-116.8,229.7,-12.1,163,1917,0.00,2.72,0.00,0.000,4,0.000,0.074,2679,193,3482,0,0,0,0,0,0
$GC,1928,-1.50,-116.8,231.8,-12.0,163,1932,0.00,2.38,0.00,0.000,6,0.000,0.021,2678,1760,3483,0,0,0,0,0,0
$GC,2197,-1.50,-116.8,260.7,-10.5,170,2201,0.00,2.75,0.00,0.000,4,0.000,0.070,2678,188,3482,0,0,0,0,0,0
$GC,2229,-1.50,-116.8,264.6,-11.5,170,2235,0.00,2.38,0.00,0.000,6,0.000,0.025,2678,1747,3482,0,0,0,0,0,0
$GC,2480,-1.54,-116.8,289.2,-9.7,177,2484,0.00,2.53,0.00,0.000,4,0.000,0.031,2678,3335,3482,0,0,0,0,0,0
$GC,2509,-1.62,-116.8,291.9,-9.8,177,2514,0.12,2.58,0.00,0.000,6,0.070,0.036,2634,1762,3481,0,0,0,0,0,0
$GC,2759,-1.58,-116.8,317.2,-9.9,183,2764,0.10,2.80,0.00,0.000,4,0.129,0.089,2654,185,3481,0,0,0,0,0,0
$GC,2779,-1.54,-116.8,318.9,-9.8,183,2784,0.00,2.45,0.00,0.000,6,0.000,0.028,2654,1755,3480,0,0,0,0,0,0
$GC,3041,-1.54,-116.8,344.5,-9.8,190,3045,0.00,2.58,0.00,0.000,4,0.000,0.042,2654,3362,3479,0,0,0,0,0,0
$GC,3067,-1.54,-116.8,347.4,-10.5,190,3072,0.00,2.60,0.00,0.000,6,0.000,0.041,2653,1772,3479,0,0,0,0,0,0
$GC,3317,-1.54,-116.8,374.0,-10.8,196,3318,0.00,0.00,0.00,0.000,6,0.000,0.000,2653,1772,3477,0,0,0,0,0,0
$GC,3563,-1.54,-116.8,399.4,-10.5,202,3567,0.00,2.55,0.00,0.000,4,0.000,0.044,2653,3348,3476,0,0,0,0,0,0
$GC,3618,-1.60,-116.8,405.3,-10.6,203,3622,0.00,2.62,0.00,0.000,6,0.000,0.048,2653,1776,3476,0,0,0,0,0,0
$GC,3884,-1.60,-116.8,434.4,-11.1,210,3885,0.00,0.00,0.00,0.000,6,0.000,0.000,2654,1776,3473,0,0,0,0,0,0
$GC,4129,-1.60,-116.8,462.0,-11.3,216,4133,0.00,2.60,0.00,0.000,4,0.000,0.044,2654,3343,3472,0,0,0,0,0,0
$GC,4213,-1.67,-116.8,471.1,-10.3,218,4218,0.00,2.62,0.00,0.000,6,0.000,0.057,2653,1798,3472,0,0,0,0,0,0
$GC,4498,-1.67,-116.8,499.2,-9.6,225,4503,0.00,3.05,0.00,0.000,4,0.000,0.117,2654,186,3470,0,0,0,0,0,0
$STATE,4506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4506,begin apogee
$GC,4515,-0.31,0.0,500.3,9.0,225,4616,1.25,0.00,97.20,0.920,6,0.094,0.000,2927,1805,3001,0,0,0,0,0,0
$STATE,4617,end apogee,CONTROL_FINISHED_OK
$STATE,4617,begin climb
$GC,4619,1.48,116.8,501.4,0.0,227,4733,1.65,2.83,100.85,0.894,4,0.042,0.058,3326,3403,2522,0,0,0,0,0,0
$GC,4739,1.42,156.8,498.3,7.4,229,4780,0.00,2.75,35.30,0.863,6,0.000,0.052,3326,1812,2361,0,0,0,0,0,0
$GC,5027,1.32,156.8,466.5,11.0,236,5033,0.17,2.97,0.00,0.000,4,0.192,0.109,3290,234,2352,0,0,0,0,0,0
$GC,5061,1.22,156.8,462.6,10.3,236,5067,0.12,2.60,0.00,0.000,6,0.137,0.030,3267,1819,2350,0,0,0,0,0,0
$GC,5311,1.28,206.0,444.5,6.8,243,5360,0.00,2.75,42.80,0.864,4,0.000,0.051,3267,3406,2160,0,0,0,0,0,0
$GC,5400,1.39,237.2,438.6,8.0,245,5435,0.15,2.70,28.65,0.842,6,0.083,0.051,3305,1820,2033,0,0,0,0,0,0
$GC,5686,1.39,237.2,410.4,10.1,252,5691,0.00,2.65,0.00,0.000,4,0.000,0.040,3305,3418,2026,0,0,0,0,0,0
$GC,5727,1.39,237.2,406.2,10.3,253,5732,0.00,2.72,0.00,0.000,6,0.000,0.050,3305,1824,2025,0,0,0,0,0,0
$GC,6010,1.39,237.2,375.0,11.3,260,6014,0.00,2.60,0.00,0.000,4,0.000,0.036,3305,3418,2023,0,0,0,0,0,0
$GC,6053,1.39,237.2,369.9,11.8,261,6058,0.00,2.67,0.00,0.000,6,0.000,0.045,3305,1834,2022,0,0,0,0,0,0
$GC,6333,1.39,237.2,336.6,12.1,268,6337,0.00,2.58,0.00,0.000,4,0.000,0.033,3305,3422,2021,0,0,0,0,0,0
$GC,6366,1.42,237.2,332.4,12.3,268,6371,0.00,2.67,0.00,0.000,6,0.000,0.049,3305,1834,2020,0,0,0,0,0,0
$GC,6619,1.42,237.2,302.7,12.0,275,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1834,2020,0,0,0,0,0,0
$GC,6861,1.42,237.2,274.8,11.3,281,6865,0.00,2.83,0.00,0.000,4,0.000,0.078,3305,231,2019,0,0,0,0,0,0
$GC,6895,1.37,237.2,270.4,12.6,281,6900,0.00,2.62,0.00,0.000,6,0.000,0.028,3305,1882,2018,0,0,0,0,0,0
$GC,7145,1.39,252.3,247.1,9.0,288,7159,0.00,0.00,12.15,0.714,6,0.000,0.000,3304,1883,1972,0,0,0,0,0,0
$GC,7390,1.41,272.1,226.0,8.7,294,7411,0.00,0.00,19.38,0.722,6,0.000,0.000,3305,1883,1891,0,0,0,0,0,0
$GC,7632,1.46,272.1,200.1,11.1,300,7637,0.00,2.88,0.00,0.000,4,0.000,0.071,3305,235,1887,0,0,0,0,0,0
$GC,7647,1.46,272.1,198.1,11.7,300,7652,0.00,2.60,0.00,0.000,6,0.000,0.028,3305,1883,1886,0,0,0,0,0,0
$GC,7913,1.52,272.1,166.9,11.4,324,7922,0.10,0.00,0.00,0.000,6,0.097,0.000,3333,1884,1885,0,0,0,0,0,0
$GC,8177,1.52,272.1,137.6,10.8,349,8181,0.00,2.47,0.00,0.000,4,0.000,0.032,3333,3420,1885,0,0,0,0,0,0
$GC,8238,1.58,272.1,131.0,10.2,353,8244,0.00,2.60,0.00,0.000,6,0.000,0.038,3333,1833,1884,0,0,0,0,0,0
$GC,8501,1.58,272.1,105.9,10.3,378,8505,0.00,2.55,0.00,0.000,4,0.000,0.028,3332,3423,1884,0,0,0,0,0,0
$GC,8547,1.66,272.1,100.7,10.7,381,8553,0.12,2.58,0.00,0.000,6,0.089,0.040,3365,1857,1884,0,0,0,0,0,0
$GC,8815,1.66,272.1,72.1,10.4,406,8819,0.00,2.78,0.00,0.000,4,0.000,0.063,3365,241,1884,0,0,0,0,0,0
$GC,8861,1.62,272.1,66.7,11.6,409,8865,0.00,2.55,0.00,0.000,6,0.000,0.020,3365,1877,1883,0,0,0,0,0,0
$GC,9129,1.63,280.1,40.3,9.5,433,9144,0.00,2.50,7.00,0.495,4,0.000,0.028,3365,3415,1859,0,0,0,0,0,0
$GC,9162,1.68,285.1,37.1,9.7,435,9177,0.00,2.58,6.72,0.483,6,0.000,0.034,3365,1846,1836,0,0,0,0,0,0
$GC,9481,1.70,302.1,8.1,8.9,478,9507,0.00,2.58,15.98,0.520,4,0.000,0.027,3365,3414,1767,0,0,0,0,0,0
$STATE,9530,end climb,SURFACE_DEPTH_REACHED
$STATE,9530,begin surface coast
$FINISH,2.8,1.023236
$STATE,9538,end surface coast,CONTROL_FINISHED_OK
$STATE,9538,begin surface
$SM_CCo,9564,103.85,0.482,1,0,1287,420.20
$SM_GC,0.93,0.00,0.00,103.85,0.000,0.000,0.482,482,1767,1287,-11.59,-0.08,420.20
$IRIDIUM_FIX,2241.69,-15739.35,130100,020258
$TT8_MAMPS,0.026078
$HUMID,53.26
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.70
$XPDR_PINGS,72
$24V_AH,23.4,61.952
$10V_AH,10.0,59.145
$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,27.675,131.300,366.025,103.850,0.000,60.649,71.550,399.019,18.000,0.000,36.673,983.327,6239.089,546.241,1834.366,832.504,33.376,1235.323,0.000,1814.819,0.000,0.534,0.000
$DEVICE_MAMPS,191.750,117.351,919.633,482.443,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,327.644,285.247,378.611,727.807,1101.994,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,38460,485
$CAP_FILE_SIZE,108218,0
$CFSIZE,260165632,156274688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,191010,045038,2250.245,-15741.808,12,1.8,12,10.1