version: 66.06
glider: 146
mission: 5
dive: 458
start: 10 20 110 15 0 40
data:
$ID,146
$MISSION,5
$DIVE,458
$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,-258373.42
$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,22
$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
$GPS1,145137,2254.130,-15748.279,37,1.1,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-69.1
$GPS2,145944,2254.179,-15748.256,13,1.4,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.132,-0.194
$KALMAN_X,-261866.7,200.0,-115.3,300245.1,-255.7
$KALMAN_Y,-607300.6,-251.7,-400.9,744255.6,755.6
$MHEAD_RNG_PITCHd_Wd,204.2,14410,-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,16,-1.38,-116.8,0.0,0.0,0,105,0.00,0.00,-86.68,0.000,2,0.000,0.000,478,1798,3476,0,0,0,0,0,0
$GC,109,-1.38,-116.8,4.4,-9.5,11,127,11.52,2.72,0.00,0.000,4,0.149,0.054,2687,185,3479,0,0,0,0,0,0
$GC,204,-1.25,-116.8,30.6,-17.5,24,212,0.15,2.47,0.00,0.000,6,0.104,0.017,2722,1778,3480,0,0,0,0,0,0
$GC,474,-1.20,-116.8,67.2,-11.1,49,478,0.00,2.70,0.00,0.000,4,0.000,0.053,2722,186,3481,0,0,0,0,0,0
$GC,485,-1.16,-116.8,69.7,-11.4,49,495,0.08,2.42,0.00,0.000,6,0.102,0.017,2741,1768,3480,0,0,0,0,0,0
$GC,749,-1.23,-116.8,93.4,-9.2,74,754,0.00,2.67,0.00,0.000,4,0.000,0.054,2741,182,3481,0,0,0,0,0,0
$GC,771,-1.29,-116.8,95.4,-9.6,75,776,0.10,2.35,0.00,0.000,6,0.079,0.016,2702,1730,3481,0,0,0,0,0,0
$GC,1037,-1.29,-116.8,123.3,-10.9,99,1041,0.00,2.50,0.00,0.000,4,0.000,0.027,2702,3317,3482,0,0,0,0,0,0
$GC,1060,-1.29,-116.8,126.3,-10.7,100,1070,0.00,2.55,0.00,0.000,6,0.000,0.028,2702,1744,3482,0,0,0,0,0,0
$GC,1323,-1.29,-116.8,152.4,-8.7,125,1328,0.00,2.62,0.00,0.000,4,0.000,0.065,2702,188,3483,0,0,0,0,0,0
$GC,1359,-1.29,-116.8,155.2,-9.4,127,1363,0.00,2.35,0.00,0.000,6,0.000,0.016,2702,1732,3483,0,0,0,0,0,0
$GC,1625,-1.29,-116.8,181.6,-10.6,151,1630,0.00,2.50,0.00,0.000,4,0.000,0.026,2702,3325,3483,0,0,0,0,0,0
$GC,1669,-1.37,-116.8,186.3,-9.8,154,1673,0.00,2.58,0.00,0.000,6,0.000,0.031,2702,1730,3483,0,0,0,0,0,0
$GC,1926,-1.37,-116.8,213.2,-10.4,169,1930,0.00,2.62,0.00,0.000,4,0.000,0.064,2702,187,3483,0,0,0,0,0,0
$GC,1941,-1.37,-116.8,215.1,-10.4,169,1945,0.00,2.38,0.00,0.000,6,0.000,0.019,2702,1742,3483,0,0,0,0,0,0
$GC,2210,-1.37,-116.8,238.8,-8.7,176,2214,0.00,2.50,0.00,0.000,4,0.000,0.035,2702,3324,3483,0,0,0,0,0,0
$GC,2254,-1.45,-116.8,242.8,-8.5,177,2259,0.00,2.58,0.00,0.000,6,0.000,0.037,2702,1737,3483,0,0,0,0,0,0
$GC,2533,-1.49,-116.8,268.2,-9.7,184,2538,0.12,2.58,0.00,0.000,4,0.073,0.032,2661,3333,3482,0,0,0,0,0,0
$GC,2551,-1.49,-116.8,270.2,-10.9,184,2555,0.00,2.58,0.00,0.000,6,0.000,0.036,2660,1739,3482,0,0,0,0,0,0
$GC,2811,-1.49,-116.8,301.5,-11.8,191,2812,0.00,0.00,0.00,0.000,6,0.000,0.000,2661,1739,3481,0,0,0,0,0,0
$GC,3055,-1.49,-116.8,327.1,-10.3,197,3059,0.00,2.55,0.00,0.000,4,0.000,0.031,2661,3322,3481,0,0,0,0,0,0
$GC,3076,-1.49,-116.8,329.3,-9.9,197,3081,0.00,2.60,0.00,0.000,6,0.000,0.044,2660,1746,3480,0,0,0,0,0,0
$GC,3332,-1.49,-116.8,356.7,-11.1,204,3337,0.00,2.53,0.00,0.000,4,0.000,0.035,2660,3318,3479,0,0,0,0,0,0
$GC,3353,-1.49,-116.8,359.3,-10.6,204,3358,0.00,2.60,0.00,0.000,6,0.000,0.049,2660,1751,3479,0,0,0,0,0,0
$GC,3614,-1.49,-116.8,387.9,-10.9,211,3619,0.00,2.55,0.00,0.000,4,0.000,0.035,2660,3320,3477,0,0,0,0,0,0
$GC,3643,-1.49,-116.8,390.9,-10.8,211,3648,0.00,2.62,0.00,0.000,6,0.000,0.054,2660,1761,3477,0,0,0,0,0,0
$GC,3893,-1.49,-116.8,414.4,-9.3,217,3894,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1761,3476,0,0,0,0,0,0
$GC,4137,-1.49,-116.8,438.1,-9.8,223,4141,0.00,2.58,0.00,0.000,4,0.000,0.045,2660,3321,3474,0,0,0,0,0,0
$GC,4154,-1.49,-116.8,439.9,-10.4,223,4158,0.00,2.67,0.00,0.000,6,0.000,0.053,2660,1754,3474,0,0,0,0,0,0
$GC,4414,-1.49,-116.8,469.6,-11.5,230,4418,0.00,2.60,0.00,0.000,4,0.000,0.048,2660,3319,3473,0,0,0,0,0,0
$GC,4446,-1.49,-116.8,473.2,-11.1,230,4452,0.00,2.65,0.00,0.000,6,0.000,0.063,2660,1773,3473,0,0,0,0,0,0
$GC,4696,-1.49,-116.8,498.8,-10.3,237,4697,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1773,3470,0,0,0,0,0,0
$STATE,4734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4734,begin apogee
$GC,4742,-0.31,0.0,503.0,10.4,238,4843,1.23,0.00,98.10,0.929,6,0.092,0.000,2928,1773,3001,0,0,0,0,0,0
$STATE,4844,end apogee,CONTROL_FINISHED_OK
$STATE,4844,begin climb
$GC,4847,1.38,116.8,505.1,0.0,240,4954,1.55,0.00,102.85,0.904,6,0.041,0.000,3306,1773,2524,0,0,0,0,0,0
$GC,5176,1.28,147.2,487.8,8.3,248,5205,0.12,0.00,26.83,0.871,6,0.130,0.000,3283,1772,2400,0,0,0,0,0,0
$GC,5416,1.23,158.2,465.6,9.4,254,5431,0.00,2.72,10.52,0.794,4,0.000,0.048,3284,3362,2354,0,0,0,0,0,0
$GC,5512,1.21,173.8,457.0,9.1,256,5532,0.00,2.67,15.05,0.827,6,0.000,0.056,3283,1819,2292,0,0,0,0,0,0
$GC,5784,1.22,209.5,434.8,8.0,263,5826,0.00,2.65,32.33,0.863,4,0.000,0.037,3283,3368,2146,0,0,0,0,0,0
$GC,5848,1.22,215.0,429.0,9.7,264,5861,0.00,2.67,6.55,0.695,6,0.000,0.051,3283,1816,2124,0,0,0,0,0,0
$GC,6114,1.23,221.0,403.3,9.7,271,6122,0.00,0.00,6.10,0.687,6,0.000,0.000,3284,1816,2100,0,0,0,0,0,0
$GC,6356,1.23,221.0,377.7,10.5,277,6361,0.00,2.55,0.00,0.000,4,0.000,0.038,3283,3378,2097,0,0,0,0,0,0
$GC,6378,1.23,222.2,375.4,10.0,277,6383,0.00,2.65,0.00,0.000,6,0.000,0.051,3283,1814,2096,0,0,0,0,0,0
$GC,6635,1.24,233.5,350.7,9.4,284,6649,0.00,0.00,12.52,0.785,6,0.000,0.000,3283,1814,2047,0,0,0,0,0,0
$GC,6876,1.24,233.5,326.7,10.1,290,6881,0.00,2.53,0.00,0.000,4,0.000,0.036,3283,3371,2043,0,0,0,0,0,0
$GC,6898,1.24,233.5,324.4,10.4,290,6902,0.00,2.60,0.00,0.000,6,0.000,0.046,3283,1813,2043,0,0,0,0,0,0
$GC,7155,1.24,233.5,297.3,10.8,297,7156,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1814,2042,0,0,0,0,0,0
$GC,7398,1.26,244.0,273.7,9.4,303,7409,0.00,0.00,10.00,0.720,6,0.000,0.000,3283,1813,2006,0,0,0,0,0,0
$GC,7641,1.28,264.0,251.9,8.9,309,7666,0.00,2.58,19.48,0.750,4,0.000,0.032,3283,3378,1923,0,0,0,0,0,0
$GC,7679,1.33,303.8,248.9,7.7,309,7724,0.00,2.62,36.58,0.753,6,0.000,0.039,3283,1811,1761,0,0,0,0,0,0
$GC,7972,1.37,303.8,219.9,10.2,317,7973,0.00,0.00,0.00,0.000,6,0.000,0.000,3283,1811,1755,0,0,0,0,0,0
$GC,8214,1.43,306.2,194.6,9.9,326,8219,0.12,2.78,0.00,0.000,4,0.087,0.073,3315,240,1754,0,0,0,0,0,0
$GC,8273,1.37,306.2,187.6,12.2,330,8282,0.00,2.50,0.00,0.000,6,0.000,0.026,3315,1804,1752,0,0,0,0,0,0
$GC,8539,1.37,306.2,158.0,12.0,355,8543,0.00,2.55,0.00,0.000,4,0.000,0.035,3315,3390,1751,0,0,0,0,0,0
$GC,8585,1.43,306.2,152.6,11.9,358,8590,0.00,2.58,0.00,0.000,6,0.000,0.042,3315,1831,1750,0,0,0,0,0,0
$GC,8848,1.43,306.2,120.6,12.1,382,8852,0.00,2.72,0.00,0.000,4,0.000,0.070,3315,241,1750,0,0,0,0,0,0
$GC,8894,1.37,306.2,115.1,14.4,385,8898,0.00,2.53,0.00,0.000,6,0.000,0.026,3315,1842,1749,0,0,0,0,0,0
$GC,9160,1.37,306.2,84.7,10.4,409,9164,0.00,0.00,0.00,0.000,6,0.000,0.000,3315,1843,1749,0,0,0,0,0,0
$GC,9426,1.42,319.9,58.0,9.3,434,9445,0.00,2.80,13.55,0.574,4,0.000,0.059,3315,240,1695,0,0,0,0,0,0
$GC,9463,1.45,344.1,54.8,8.6,436,9491,0.00,2.50,22.27,0.582,6,0.000,0.021,3315,1839,1597,0,0,0,0,0,0
$GC,9749,1.60,376.3,29.8,8.2,462,9786,0.15,2.83,28.70,0.560,4,0.149,0.061,3354,225,1465,0,0,0,0,0,0
$GC,9823,1.60,376.3,21.0,13.4,471,9833,0.00,2.55,0.00,0.000,6,0.000,0.020,3354,1823,1463,0,0,0,0,0,0
$STATE,9962,end climb,SURFACE_DEPTH_REACHED
$STATE,9962,begin surface coast
$FINISH,0.4,1.020258
$STATE,10008,end surface coast,CONTROL_FINISHED_OK
$STATE,10008,begin surface
$SM_CCo,10030,42.47,0.412,1,0,1288,420.20
$SM_GC,1.11,0.00,0.00,42.47,0.000,0.000,0.412,478,1753,1288,-11.61,-0.48,420.20
$IRIDIUM_FIX,2248.70,-15745.85,140100,121252
$TT8_MAMPS,0.026078
$HUMID,55.94
$INTERNAL_PRESSURE,9.23864
$TCM_TEMP,19.70
$XPDR_PINGS,87
$24V_AH,23.3,63.556
$10V_AH,9.8,60.557
$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,26.950,124.300,441.425,42.475,0.000,28.306,33.810,285.365,21.750,0.000,15.046,999.766,6607.020,548.520,1767.270,644.853,33.375,1231.290,0.000,1773.610,0.000,0.534,0.000
$DEVICE_MAMPS,148.798,98.943,928.837,411.879,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.402,286.974,380.565,730.795,1105.428,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,38363,497
$CAP_FILE_SIZE,104788,0
$CFSIZE,260165632,155611136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,201010,174946,2253.312,-15749.104,7,99.0,26,10.1