version: 66.06
glider: 146
mission: 5
dive: 466
start: 10 21 110 15 0 51
data:
$ID,146
$MISSION,5
$DIVE,466
$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,-258579.06
$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,28
$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
$GPS1,145206,2250.380,-15754.813,8,1.9,24,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-68.8
$GPS2,145955,2250.414,-15754.819,10,1.2,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.003,0.235
$KALMAN_X,-259889.3,118.1,-75.4,287016.1,-26.8
$KALMAN_Y,-609921.5,-321.1,-112.4,739680.3,119.2
$MHEAD_RNG_PITCHd_Wd,349.2,14053,-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,-116.6,0.0,0.0,0,105,0.00,0.00,-86.72,0.000,2,0.000,0.000,477,1743,3451,0,0,0,0,0,0
$GC,109,-1.38,-116.8,4.1,-8.2,11,128,11.88,2.58,-0.45,0.000,4,0.161,0.036,2690,3371,3478,0,0,0,0,0,0
$GC,172,-1.34,-116.8,23.1,-17.0,19,181,0.00,2.62,0.00,0.000,6,0.000,0.031,2690,1778,3480,0,0,0,0,0,0
$GC,452,-1.24,-116.8,63.2,-13.5,47,457,0.17,2.72,0.00,0.000,4,0.120,0.059,2725,195,3481,0,0,0,0,0,0
$GC,487,-1.20,-116.8,68.3,-12.9,49,491,0.00,2.47,0.00,0.000,6,0.000,0.015,2725,1826,3480,0,0,0,0,0,0
$GC,755,-1.25,-116.8,98.5,-10.0,73,760,0.00,2.42,0.00,0.000,4,0.000,0.031,2725,3374,3482,0,0,0,0,0,0
$GC,790,-1.32,-116.8,101.7,-9.0,75,794,0.00,2.58,0.00,0.000,6,0.000,0.027,2725,1771,3482,0,0,0,0,0,0
$GC,1057,-1.37,-116.8,122.6,-7.8,99,1062,0.10,0.00,0.00,0.000,6,0.083,0.000,2690,1771,3483,0,0,0,0,0,0
$GC,1319,-1.37,-116.8,150.2,-11.3,124,1323,0.00,2.70,0.00,0.000,4,0.000,0.063,2689,192,3483,0,0,0,0,0,0
$GC,1362,-1.31,-116.8,155.2,-12.2,127,1367,0.10,2.50,0.00,0.000,6,0.123,0.021,2711,1840,3483,0,0,0,0,0,0
$GC,1631,-1.31,-116.8,182.7,-9.7,151,1635,0.00,2.40,0.00,0.000,4,0.000,0.026,2711,3365,3483,0,0,0,0,0,0
$GC,1663,-1.38,-116.8,186.5,-9.3,153,1673,0.00,2.55,0.00,0.000,6,0.000,0.028,2711,1795,3483,0,0,0,0,0,0
$GC,1952,-1.38,-116.8,209.8,-7.8,172,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2711,1793,3484,0,0,0,0,0,0
$GC,2195,-1.42,-116.8,229.8,-8.3,178,2199,0.00,2.50,0.00,0.000,4,0.000,0.031,2711,3366,3484,0,0,0,0,0,0
$GC,2222,-1.49,-116.8,232.2,-8.4,178,2227,0.15,2.53,0.00,0.000,6,0.063,0.028,2661,1803,3484,0,0,0,0,0,0
$GC,2474,-1.44,-116.8,257.8,-10.6,184,2476,0.12,0.00,0.00,0.000,6,0.115,0.000,2687,1803,3483,0,0,0,0,0,0
$GC,2716,-1.44,-116.8,281.1,-9.6,190,2720,0.00,2.80,0.00,0.000,4,0.000,0.072,2687,197,3482,0,0,0,0,0,0
$GC,2742,-1.44,-116.8,284.0,-10.5,190,2747,0.00,2.53,0.00,0.000,6,0.000,0.018,2688,1825,3482,0,0,0,0,0,0
$GC,2994,-1.44,-116.8,308.5,-9.7,196,2995,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1826,3482,0,0,0,0,0,0
$GC,3237,-1.44,-116.8,331.0,-9.1,202,3241,0.00,2.83,0.00,0.000,4,0.000,0.071,2687,199,3481,0,0,0,0,0,0
$GC,3298,-1.48,-116.8,336.9,-8.9,203,3302,0.00,2.50,0.00,0.000,6,0.000,0.023,2687,1787,3480,0,0,0,0,0,0
$GC,3560,-1.48,-116.8,360.1,-8.9,210,3564,0.00,2.55,0.00,0.000,4,0.000,0.039,2688,3360,3479,0,0,0,0,0,0
$GC,3604,-1.55,-116.8,363.9,-8.0,211,3610,0.10,2.58,0.00,0.000,6,0.081,0.040,2645,1792,3479,0,0,0,0,0,0
$GC,3882,-1.49,-116.8,391.9,-10.4,218,3888,0.12,2.88,0.00,0.000,4,0.119,0.089,2671,189,3477,0,0,0,0,0,0
$GC,3906,-1.49,-116.8,394.4,-10.8,218,3911,0.00,2.55,0.00,0.000,6,0.000,0.029,2671,1794,3477,0,0,0,0,0,0
$GC,4161,-1.49,-116.8,419.9,-10.2,225,4165,0.00,2.53,0.00,0.000,4,0.000,0.042,2671,3352,3476,0,0,0,0,0,0
$GC,4182,-1.49,-116.8,422.2,-10.2,225,4186,0.00,2.58,0.00,0.000,6,0.000,0.051,2671,1800,3476,0,0,0,0,0,0
$GC,4439,-1.49,-116.8,450.4,-11.4,232,4443,0.00,2.55,0.00,0.000,4,0.000,0.043,2671,3353,3474,0,0,0,0,0,0
$GC,4465,-1.49,-116.8,453.9,-12.0,232,4470,0.00,2.65,0.00,0.000,6,0.000,0.054,2671,1794,3474,0,0,0,0,0,0
$GC,4715,-1.49,-116.8,481.0,-10.7,238,4720,0.00,2.55,0.00,0.000,4,0.000,0.044,2671,3344,3472,0,0,0,0,0,0
$GC,4738,-1.49,-116.8,483.4,-10.4,238,4743,0.00,2.62,0.00,0.000,6,0.000,0.056,2671,1806,3472,0,0,0,0,0,0
$STATE,4909,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4909,begin apogee
$GC,4915,-0.31,0.0,501.1,10.3,243,5016,1.17,0.00,97.18,0.923,6,0.087,0.000,2929,1805,3001,0,0,0,0,0,0
$STATE,5017,end apogee,CONTROL_FINISHED_OK
$STATE,5017,begin climb
$GC,5019,1.38,116.8,503.7,0.0,245,5133,1.52,2.80,100.80,0.901,4,0.039,0.052,3301,3393,2523,0,0,0,0,0,0
$GC,5145,1.36,190.3,503.4,5.8,248,5215,0.00,2.72,64.05,0.887,6,0.000,0.059,3301,1820,2225,0,0,0,0,0,0
$GC,5466,1.28,190.3,469.1,11.5,256,5468,0.10,0.00,0.00,0.000,6,0.251,0.000,3282,1820,2216,0,0,0,0,0,0
$GC,5710,1.24,190.3,443.7,10.2,262,5714,0.00,2.62,0.00,0.000,4,0.000,0.039,3282,3405,2213,0,0,0,0,0,0
$GC,5731,1.24,191.5,441.5,10.0,262,5735,0.00,2.67,0.00,0.000,6,0.000,0.051,3282,1832,2212,0,0,0,0,0,0
$GC,5988,1.27,212.0,418.6,8.9,269,6012,0.00,2.65,18.48,0.826,4,0.000,0.039,3282,3395,2136,0,0,0,0,0,0
$GC,6051,1.29,229.0,412.6,9.1,270,6073,0.00,2.67,16.35,0.811,6,0.000,0.054,3282,1835,2067,0,0,0,0,0,0
$GC,6318,1.32,254.1,389.3,8.6,277,6344,0.00,0.00,23.90,0.828,6,0.000,0.000,3282,1835,1964,0,0,0,0,0,0
$GC,6562,1.34,270.8,367.6,9.1,283,6583,0.00,2.97,15.65,0.794,4,0.000,0.087,3282,233,1896,0,0,0,0,0,0
$GC,6601,1.29,270.8,363.4,11.1,284,6605,0.00,2.60,0.00,0.000,6,0.000,0.022,3282,1853,1895,0,0,0,0,0,0
$GC,6885,1.29,270.8,333.1,10.8,291,6890,0.00,2.50,0.00,0.000,4,0.000,0.034,3282,3398,1891,0,0,0,0,0,0
$GC,6914,1.33,270.8,329.6,11.5,291,6918,0.00,2.60,0.00,0.000,6,0.000,0.046,3282,1849,1890,0,0,0,0,0,0
$GC,7163,1.33,270.8,301.9,11.1,297,7168,0.00,2.88,0.00,0.000,4,0.000,0.081,3282,231,1889,0,0,0,0,0,0
$GC,7215,1.29,270.8,295.4,13.3,298,7219,0.00,2.55,0.00,0.000,6,0.000,0.023,3282,1847,1888,0,0,0,0,0,0
$GC,7486,1.29,270.8,265.3,10.7,305,7487,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1848,1888,0,0,0,0,0,0
$GC,7730,1.29,270.8,240.3,10.2,311,7731,0.00,0.00,0.00,0.000,6,0.000,0.000,3282,1848,1888,0,0,0,0,0,0
$GC,7974,1.29,277.0,216.4,9.7,317,7981,0.00,0.00,5.55,0.588,6,0.000,0.000,3282,1848,1871,0,0,0,0,0,0
$GC,8222,1.33,277.7,192.3,10.0,326,8226,0.00,2.50,0.00,0.000,4,0.000,0.036,3282,3397,1870,0,0,0,0,0,0
$GC,8255,1.41,277.7,189.3,10.5,328,8260,0.10,2.60,0.00,0.000,6,0.097,0.042,3310,1825,1868,0,0,0,0,0,0
$GC,8520,1.44,296.6,163.6,8.9,352,8544,0.00,2.83,18.73,0.677,4,0.000,0.074,3310,235,1789,0,0,0,0,0,0
$GC,8559,1.40,303.5,159.6,9.6,355,8575,0.00,2.55,7.50,0.588,6,0.000,0.022,3310,1854,1762,0,0,0,0,0,0
$GC,8834,1.40,304.7,134.3,10.0,381,8838,0.00,0.00,0.00,0.000,6,0.000,0.000,3310,1854,1760,0,0,0,0,0,0
$GC,9094,1.40,304.7,102.4,13.3,406,9099,0.00,2.45,0.00,0.000,4,0.000,0.029,3310,3385,1759,0,0,0,0,0,0
$GC,9142,1.48,304.7,97.3,12.4,409,9147,0.00,2.55,0.00,0.000,6,0.000,0.035,3310,1833,1757,0,0,0,0,0,0
$GC,9409,1.58,340.8,70.7,8.0,433,9449,0.15,2.78,33.03,0.606,4,0.074,0.061,3350,243,1610,0,0,0,0,0,0
$GC,9469,1.58,342.6,64.7,9.9,437,9479,0.00,2.58,0.00,0.000,6,0.000,0.026,3350,1853,1608,0,0,0,0,0,0
$GC,9735,1.61,368.2,42.3,8.6,462,9767,0.00,0.00,24.62,0.566,6,0.000,0.000,3350,1854,1497,0,0,0,0,0,0
$GC,10064,1.61,368.2,6.1,11.1,505,10072,0.00,0.00,0.00,0.000,6,0.000,0.000,3350,1854,1495,0,0,0,0,0,0
$STATE,10088,end climb,SURFACE_DEPTH_REACHED
$STATE,10089,begin surface coast
$FINISH,0.4,1.010061
$STATE,10138,end surface coast,CONTROL_FINISHED_OK
$STATE,10138,begin surface
$SM_CCo,10160,48.67,0.425,1,0,1288,420.20
$SM_GC,0.96,0.00,0.00,48.67,0.000,0.000,0.425,475,1730,1288,-11.62,-1.13,420.20
$IRIDIUM_FIX,2241.69,-15754.11,150100,121245
$TT8_MAMPS,0.026078
$HUMID,54.33
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.50
$XPDR_PINGS,87
$24V_AH,23.3,64.573
$10V_AH,10.0,61.477
$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,27.575,120.475,425.825,48.675,0.000,31.714,31.104,267.198,21.750,0.000,16.738,1023.886,6627.979,522.637,1877.093,635.387,33.394,1235.129,0.000,1888.769,0.000,0.534,0.000
$DEVICE_MAMPS,250.809,88.972,922.701,424.918,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,348.302,302.996,402.950,769.006,1163.428,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,41672,515
$CAP_FILE_SIZE,107142,0
$CFSIZE,260165632,155168768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,1,0
$GPS,211010,175225,2251.825,-15754.521,38,1.4,38,10.1