version: 66.06
glider: 146
mission: 5
dive: 450
start: 10 19 110 14 43 34
data:
$ID,146
$MISSION,5
$DIVE,450
$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,-258217.12
$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,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
$GPS1,143423,2253.490,-15742.255,31,2.0,47,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-68.4
$GPS2,144238,2253.486,-15742.240,14,1.1,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.056,0.227
$KALMAN_X,-260096.7,-81.0,49.0,308949.7,-441.2
$KALMAN_Y,-608516.8,-438.3,-89.1,744060.4,109.8
$MHEAD_RNG_PITCHd_Wd,3.8,8369,-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,17,-1.39,-115.9,0.0,0.0,0,105,0.00,0.00,-85.05,0.000,2,0.000,0.000,480,1746,3410,0,0,0,0,0,0
$GC,108,-1.39,-116.8,4.0,-7.9,11,126,11.35,2.53,-1.17,0.000,4,0.143,0.041,2688,3343,3476,0,0,0,0,0,0
$GC,177,-1.32,-116.8,23.8,-16.3,20,187,0.08,2.58,0.00,0.000,6,0.107,0.032,2707,1781,3478,0,0,0,0,0,0
$GC,458,-1.26,-116.8,63.2,-11.6,48,462,0.00,2.70,0.00,0.000,4,0.000,0.056,2707,186,3479,0,0,0,0,0,0
$GC,492,-1.22,-116.8,67.0,-12.8,50,497,0.12,2.42,0.00,0.000,6,0.119,0.015,2732,1787,3479,0,0,0,0,0,0
$GC,756,-1.27,-116.8,92.3,-9.6,74,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1789,3479,0,0,0,0,0,0
$GC,1022,-1.33,-116.8,117.0,-9.5,99,1027,0.00,0.00,0.00,0.000,6,0.000,0.000,2732,1788,3480,0,0,0,0,0,0
$GC,1285,-1.39,-116.8,141.9,-9.2,124,1290,0.15,2.42,0.00,0.000,4,0.063,0.025,2683,3331,3481,0,0,0,0,0,0
$GC,1331,-1.39,-116.8,146.3,-10.5,127,1335,0.00,2.55,0.00,0.000,6,0.000,0.028,2683,1747,3481,0,0,0,0,0,0
$GC,1599,-1.39,-116.8,174.4,-10.6,151,1603,0.00,2.62,0.00,0.000,4,0.000,0.067,2682,196,3481,0,0,0,0,0,0
$GC,1643,-1.34,-116.8,180.5,-12.3,154,1649,0.12,2.38,0.00,0.000,6,0.110,0.023,2708,1776,3481,0,0,0,0,0,0
$GC,1938,-1.34,-116.8,207.6,-8.9,176,1939,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1778,3481,0,0,0,0,0,0
$GC,2177,-1.39,-116.8,230.8,-9.5,182,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2708,1778,3481,0,0,0,0,0,0
$GC,2420,-1.44,-116.8,254.3,-9.5,188,2422,0.10,0.00,0.00,0.000,6,0.090,0.000,2673,1778,3481,0,0,0,0,0,0
$GC,2665,-1.44,-116.8,277.3,-9.5,194,2669,0.00,2.42,0.00,0.000,4,0.000,0.030,2674,3313,3481,0,0,0,0,0,0
$GC,2693,-1.44,-116.8,279.9,-8.3,194,2697,0.00,2.50,0.00,0.000,6,0.000,0.041,2673,1768,3481,0,0,0,0,0,0
$GC,2943,-1.44,-116.8,301.9,-8.9,200,2947,0.00,2.45,0.00,0.000,4,0.000,0.035,2674,3313,3479,0,0,0,0,0,0
$GC,2970,-1.44,-116.8,304.4,-9.1,200,2974,0.00,2.53,0.00,0.000,6,0.000,0.039,2673,1762,3480,0,0,0,0,0,0
$GC,3222,-1.44,-116.8,328.5,-10.0,206,3226,0.00,2.50,0.00,0.000,4,0.000,0.038,2673,3318,3478,0,0,0,0,0,0
$GC,3248,-1.44,-116.8,331.8,-10.8,206,3253,0.00,2.53,0.00,0.000,6,0.000,0.041,2674,1782,3478,0,0,0,0,0,0
$GC,3504,-1.44,-116.8,359.6,-11.3,213,3508,0.00,2.85,0.00,0.000,4,0.000,0.087,2673,189,3477,0,0,0,0,0,0
$GC,3521,-1.44,-116.8,361.7,-11.9,213,3525,0.00,2.42,0.00,0.000,6,0.000,0.028,2673,1740,3476,0,0,0,0,0,0
$GC,3781,-1.44,-116.8,393.7,-12.3,220,3785,0.00,2.62,0.00,0.000,4,0.000,0.042,2673,3356,3475,0,0,0,0,0,0
$GC,3802,-1.44,-116.8,396.3,-11.8,220,3807,0.00,2.62,0.00,0.000,6,0.000,0.045,2673,1785,3475,0,0,0,0,0,0
$GC,4059,-1.44,-116.8,423.4,-10.4,227,4064,0.00,2.88,0.00,0.000,4,0.000,0.097,2673,186,3474,0,0,0,0,0,0
$GC,4080,-1.44,-116.8,425.9,-10.4,227,4085,0.00,2.53,0.00,0.000,6,0.000,0.031,2674,1777,3473,0,0,0,0,0,0
$GC,4342,-1.44,-116.8,449.5,-8.9,234,4346,0.00,2.62,0.00,0.000,4,0.000,0.048,2673,3363,3471,0,0,0,0,0,0
$GC,4384,-1.50,-116.8,452.9,-8.4,235,4388,0.00,2.65,0.00,0.000,6,0.000,0.051,2673,1785,3471,0,0,0,0,0,0
$GC,4667,-1.50,-116.8,477.7,-9.1,242,4668,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1785,3469,0,0,0,0,0,0
$STATE,4908,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4908,begin apogee
$GC,4914,-0.31,0.0,503.3,10.7,248,5014,1.15,0.00,97.00,0.924,6,0.082,0.000,2929,1785,3001,0,0,0,0,0,0
$STATE,5015,end apogee,CONTROL_FINISHED_OK
$STATE,5015,begin climb
$GC,5019,1.39,116.8,506.6,0.0,250,5130,1.55,2.85,101.60,0.902,4,0.052,0.058,3305,3389,2522,0,0,0,0,0,0
$GC,5171,1.34,171.8,506.2,6.8,253,5227,0.00,2.70,48.12,0.881,6,0.000,0.054,3305,1824,2301,0,0,0,0,0,0
$GC,5475,1.25,171.8,476.9,10.2,261,5480,0.15,2.62,0.00,0.000,4,0.184,0.038,3275,3400,2292,0,0,0,0,0,0
$GC,5564,1.25,171.8,467.5,10.2,263,5568,0.00,2.70,0.00,0.000,6,0.000,0.059,3274,1825,2291,0,0,0,0,0,0
$GC,5843,1.26,184.9,441.4,9.3,270,5861,0.00,2.65,11.32,0.798,4,0.000,0.037,3275,3401,2246,0,0,0,0,0,0
$GC,5913,1.27,186.9,434.6,9.9,271,5917,0.00,2.70,0.00,0.000,6,0.000,0.051,3274,1830,2244,0,0,0,0,0,0
$GC,6168,1.29,208.2,411.9,8.8,278,6192,0.00,0.00,21.95,0.840,6,0.000,0.000,3275,1830,2152,0,0,0,0,0,0
$GC,6413,1.30,216.9,389.0,9.5,284,6424,0.00,0.00,8.85,0.753,6,0.000,0.000,3275,1830,2116,0,0,0,0,0,0
$GC,6655,1.30,216.9,364.5,10.2,290,6660,0.00,2.88,0.00,0.000,4,0.000,0.085,3275,232,2112,0,0,0,0,0,0
$GC,6676,1.26,216.9,362.1,10.7,290,6681,0.00,2.58,0.00,0.000,6,0.000,0.027,3274,1852,2112,0,0,0,0,0,0
$GC,6933,1.28,235.0,338.6,9.0,297,6952,0.00,0.00,17.12,0.795,6,0.000,0.000,3274,1853,2043,0,0,0,0,0,0
$GC,7175,1.32,262.9,318.0,8.4,303,7203,0.00,0.00,26.42,0.796,6,0.000,0.000,3274,1853,1929,0,0,0,0,0,0
$GC,7419,1.32,264.7,294.3,9.9,309,7423,0.00,2.88,0.00,0.000,4,0.000,0.074,3274,226,1923,0,0,0,0,0,0
$GC,7430,1.32,264.7,293.1,10.1,309,7434,0.00,2.58,0.00,0.000,6,0.000,0.022,3274,1857,1922,0,0,0,0,0,0
$GC,7698,1.32,264.7,266.0,10.2,316,7700,0.00,0.00,0.00,0.000,6,0.000,0.000,3274,1858,1921,0,0,0,0,0,0
$GC,7941,1.37,264.7,239.4,11.2,322,7946,0.10,2.85,0.00,0.000,4,0.101,0.073,3301,230,1921,0,0,0,0,0,0
$GC,7969,1.32,264.7,235.6,13.6,322,7973,0.00,2.55,0.00,0.000,6,0.000,0.021,3301,1828,1919,0,0,0,0,0,0
$GC,8220,1.32,264.7,207.3,10.9,328,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,3301,1829,1919,0,0,0,0,0,0
$GC,8474,1.33,277.0,183.0,9.3,346,8495,0.00,2.60,12.55,0.672,4,0.000,0.033,3301,3394,1870,0,0,0,0,0,0
$GC,8521,1.40,290.9,178.4,9.2,350,8546,0.00,2.62,13.65,0.667,6,0.000,0.039,3301,1807,1813,0,0,0,0,0,0
$GC,8800,1.40,290.9,151.8,10.1,376,8805,0.00,2.72,0.00,0.000,4,0.000,0.067,3301,240,1809,0,0,0,0,0,0
$GC,8853,1.40,290.9,145.6,11.8,380,8858,0.00,2.50,0.00,0.000,6,0.000,0.022,3301,1823,1808,0,0,0,0,0,0
$GC,9116,1.40,290.9,118.4,10.3,404,9120,0.00,2.50,0.00,0.000,4,0.000,0.030,3301,3393,1807,0,0,0,0,0,0
$GC,9137,1.45,292.4,116.6,10.0,405,9141,0.00,2.58,0.00,0.000,6,0.000,0.035,3301,1813,1807,0,0,0,0,0,0
$GC,9405,1.51,306.9,91.1,9.2,429,9425,0.12,0.00,14.65,0.597,6,0.083,0.000,3333,1813,1748,0,0,0,0,0,0
$GC,9683,1.51,312.1,63.1,9.7,455,9697,0.00,2.58,5.43,0.472,4,0.000,0.027,3333,3386,1728,0,0,0,0,0,0
$GC,9727,1.65,334.7,58.9,8.7,458,9756,0.10,2.58,21.60,0.578,6,0.092,0.035,3361,1812,1635,0,0,0,0,0,0
$GC,10014,1.65,334.7,30.1,10.4,484,10018,0.00,2.70,0.00,0.000,4,0.000,0.060,3361,238,1631,0,0,0,0,0,0
$GC,10063,1.60,334.7,23.9,12.6,490,10072,0.00,2.50,0.00,0.000,6,0.000,0.020,3361,1821,1629,0,0,0,0,0,0
$STATE,10253,end climb,SURFACE_DEPTH_REACHED
$STATE,10253,begin surface coast
$FINISH,0.3,1.023350
$STATE,10302,end surface coast,CONTROL_FINISHED_OK
$STATE,10303,begin surface
$SM_CCo,10326,77.43,0.465,1,0,1288,420.20
$SM_GC,1.03,0.00,0.00,77.43,0.000,0.000,0.465,475,1737,1288,-11.62,-0.93,420.20
$IRIDIUM_FIX,2241.69,-15739.35,130100,111136
$TT8_MAMPS,0.026078
$HUMID,53.93
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.50
$XPDR_PINGS,84
$24V_AH,23.4,62.508
$10V_AH,10.0,59.630
$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,26.925,114.825,400.275,77.425,0.000,27.781,34.438,286.509,21.000,0.000,16.285,1034.264,6788.119,562.067,1873.281,648.208,33.368,1239.808,0.000,1878.824,0.000,0.534,0.000
$DEVICE_MAMPS,184.080,96.642,924.235,464.802,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.703,303.307,407.981,770.014,1164.653,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,41565,524
$CAP_FILE_SIZE,105025,0
$CFSIZE,260165632,156045312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,191010,173813,2255.031,-15742.158,23,1.3,29,10.1