version: 66.06
glider: 146
mission: 5
dive: 469
start: 10 22 110 0 12 33
data:
$ID,146
$MISSION,5
$DIVE,469
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$D_NO_BLEED,200
$D_BOOST,0
$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,-258644
$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,49
$R_STBD_OVSHOOT,61
$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
$GPS1,000006,2253.372,-15754.738,11,1.5,21,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-70.1
$GPS2,001137,2253.396,-15754.673,28,1.3,28,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.029,0.233
$KALMAN_X,-258535.6,-150.0,48.0,286060.7,158.9
$KALMAN_Y,-611489.5,185.6,-409.9,746574.8,-389.2
$MHEAD_RNG_PITCHd_Wd,342.9,8544,-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,15,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-85.93,0.000,2,0.000,0.000,475,1742,3461,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.1,-8.4,11,127,11.52,2.53,-0.25,0.000,4,0.147,0.041,2690,3339,3478,0,0,0,0,0,0
$GC,250,-1.32,-116.8,33.5,-14.5,30,255,0.10,2.50,0.00,0.000,6,0.142,0.030,2709,1793,3480,0,0,0,0,0,0
$GC,518,-1.28,-116.8,71.7,-11.1,54,523,0.00,2.70,0.00,0.000,4,0.000,0.060,2709,192,3480,0,0,0,0,0,0
$GC,576,-1.28,-116.8,78.8,-10.6,58,580,0.00,2.38,0.00,0.000,6,0.000,0.015,2709,1783,3480,0,0,0,0,0,0
$GC,839,-1.28,-116.8,104.6,-9.7,82,843,0.00,2.70,0.00,0.000,4,0.000,0.062,2709,193,3481,0,0,0,0,0,0
$GC,893,-1.28,-116.8,109.7,-9.5,86,897,0.00,2.33,0.00,0.000,6,0.000,0.016,2709,1750,3481,0,0,0,0,0,0
$GC,1156,-1.28,-116.8,130.3,-8.5,110,1160,0.00,2.45,0.00,0.000,4,0.000,0.031,2709,3312,3482,0,0,0,0,0,0
$GC,1238,-1.33,-116.8,137.5,-8.6,116,1247,0.00,2.53,0.00,0.000,6,0.000,0.034,2709,1756,3482,0,0,0,0,0,0
$GC,1501,-1.33,-116.8,161.9,-9.5,141,1502,0.00,0.00,0.00,0.000,6,0.000,0.000,2709,1755,3482,0,0,0,0,0,0
$GC,1756,-1.33,-116.8,184.7,-8.3,165,1760,0.00,2.67,0.00,0.000,4,0.000,0.064,2709,192,3482,0,0,0,0,0,0
$GC,1801,-1.33,-116.8,189.2,-10.0,168,1810,0.00,2.40,0.00,0.000,6,0.000,0.023,2709,1751,3482,0,0,0,0,0,0
$GC,2058,-1.33,-116.8,210.9,-8.5,184,2062,0.00,2.45,0.00,0.000,4,0.000,0.032,2709,3325,3481,0,0,0,0,0,0
$GC,2098,-1.42,-116.8,214.5,-8.2,185,2102,0.00,2.53,0.00,0.000,6,0.000,0.035,2709,1757,3481,0,0,0,0,0,0
$GC,2381,-1.46,-116.8,240.1,-9.6,192,2383,0.12,0.00,0.00,0.000,6,0.077,0.000,2669,1757,3481,0,0,0,0,0,0
$GC,2626,-1.46,-116.8,267.0,-11.0,198,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1757,3480,0,0,0,0,0,0
$GC,2868,-1.46,-116.8,292.2,-10.1,204,2872,0.00,2.47,0.00,0.000,4,0.000,0.030,2669,3321,3480,0,0,0,0,0,0
$GC,2895,-1.46,-116.8,295.1,-10.1,204,2899,0.00,2.50,0.00,0.000,6,0.000,0.038,2669,1774,3480,0,0,0,0,0,0
$GC,3146,-1.46,-116.8,321.5,-10.8,210,3150,0.00,2.45,0.00,0.000,4,0.000,0.029,2669,3321,3479,0,0,0,0,0,0
$GC,3173,-1.46,-116.8,324.9,-11.0,210,3178,0.00,2.53,0.00,0.000,6,0.000,0.038,2669,1781,3479,0,0,0,0,0,0
$GC,3424,-1.46,-116.8,351.8,-10.9,216,3428,0.00,2.83,0.00,0.000,4,0.000,0.091,2668,188,3477,0,0,0,0,0,0
$GC,3444,-1.46,-116.8,354.2,-11.2,216,3449,0.00,2.45,0.00,0.000,6,0.000,0.027,2669,1749,3477,0,0,0,0,0,0
$GC,3707,-1.46,-116.8,381.5,-10.5,223,3711,0.00,2.60,0.00,0.000,4,0.000,0.041,2669,3348,3475,0,0,0,0,0,0
$GC,3722,-1.46,-116.8,383.5,-10.9,223,3727,0.00,2.62,0.00,0.000,6,0.000,0.042,2669,1771,3475,0,0,0,0,0,0
$GC,3984,-1.46,-116.8,411.1,-10.7,230,3988,0.00,2.55,0.00,0.000,4,0.000,0.043,2669,3346,3474,0,0,0,0,0,0
$GC,4017,-1.46,-116.8,414.6,-10.5,230,4023,0.00,2.62,0.00,0.000,6,0.000,0.054,2669,1780,3474,0,0,0,0,0,0
$GC,4267,-1.46,-116.8,439.9,-10.1,237,4268,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1781,3472,0,0,0,0,0,0
$GC,4511,-1.46,-116.8,464.5,-10.3,243,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1781,3471,0,0,0,0,0,0
$GC,4754,-1.46,-116.8,489.9,-10.4,249,4755,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1780,3469,0,0,0,0,0,0
$STATE,4874,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4874,begin apogee
$GC,4881,-0.31,0.0,501.6,9.7,252,4981,1.20,0.00,96.60,0.921,6,0.086,0.000,2932,1780,3001,0,0,0,0,0,0
$STATE,4982,end apogee,CONTROL_FINISHED_OK
$STATE,4982,begin climb
$GC,4985,1.38,116.8,503.8,0.0,254,5097,1.52,3.03,100.93,0.900,4,0.038,0.110,3308,235,2522,0,0,0,0,0,0
$GC,5111,1.27,177.3,502.4,6.5,257,5171,0.15,2.60,53.33,0.882,6,0.132,0.037,3279,1801,2277,0,0,0,0,0,0
$GC,5439,1.22,177.3,469.3,10.5,265,5443,0.00,2.75,0.00,0.000,4,0.000,0.061,3279,3405,2267,0,0,0,0,0,0
$GC,5546,1.23,191.6,458.3,9.2,267,5567,0.00,2.72,12.05,0.803,6,0.000,0.057,3279,1825,2218,0,0,0,0,0,0
$GC,5811,1.25,207.6,434.1,9.1,274,5832,0.00,3.00,15.23,0.820,4,0.000,0.105,3279,236,2153,0,0,0,0,0,0
$GC,5851,1.18,207.6,430.1,10.6,275,5857,0.12,2.60,0.00,0.000,6,0.133,0.025,3256,1833,2152,0,0,0,0,0,0
$GC,6135,1.20,223.6,403.6,9.1,282,6156,0.00,2.65,15.32,0.812,4,0.000,0.043,3255,3414,2088,0,0,0,0,0,0
$GC,6191,1.27,225.6,398.4,9.9,283,6196,0.00,2.70,0.00,0.000,6,0.000,0.052,3255,1829,2086,0,0,0,0,0,0
$GC,6458,1.34,249.4,374.9,8.7,290,6488,0.15,2.95,23.80,0.821,4,0.113,0.085,3293,234,1983,0,0,0,0,0,0
$GC,6499,1.27,249.4,370.7,10.5,291,6504,0.00,2.58,0.00,0.000,6,0.000,0.027,3293,1832,1982,0,0,0,0,0,0
$GC,6779,1.27,254.0,342.8,9.8,298,6789,0.00,2.85,4.95,0.608,4,0.000,0.074,3293,229,1965,0,0,0,0,0,0
$GC,6800,1.22,258.8,340.4,9.8,298,6812,0.12,2.55,6.05,0.657,6,0.133,0.024,3269,1816,1946,0,0,0,0,0,0
$GC,7057,1.23,269.8,316.5,9.4,304,7075,0.00,2.67,11.52,0.749,4,0.000,0.035,3269,3404,1900,0,0,0,0,0,0
$GC,7116,1.32,269.8,310.4,10.3,305,7121,0.00,2.65,0.00,0.000,6,0.000,0.045,3269,1824,1898,0,0,0,0,0,0
$GC,7383,1.36,269.8,281.6,11.0,312,7388,0.12,2.58,0.00,0.000,4,0.084,0.035,3304,3398,1896,0,0,0,0,0,0
$GC,7401,1.36,269.8,279.6,11.2,312,7406,0.00,2.62,0.00,0.000,6,0.000,0.038,3304,1820,1896,0,0,0,0,0,0
$GC,7662,1.36,269.8,246.6,12.7,319,7663,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,1820,1895,0,0,0,0,0,0
$GC,7905,1.36,269.8,217.2,11.9,325,7909,0.00,2.60,0.00,0.000,4,0.000,0.031,3304,3408,1895,0,0,0,0,0,0
$GC,7951,1.42,269.8,211.9,12.1,326,7955,0.00,2.60,0.00,0.000,6,0.000,0.038,3304,1840,1893,0,0,0,0,0,0
$GC,8219,1.43,279.4,185.1,9.5,343,8233,0.00,0.00,8.93,0.645,6,0.000,0.000,3304,1840,1861,0,0,0,0,0,0
$GC,8492,1.44,286.3,159.6,9.6,369,8507,0.00,2.80,7.88,0.610,4,0.000,0.067,3304,239,1831,0,0,0,0,0,0
$GC,8519,1.44,286.3,156.3,11.0,371,8523,0.00,2.58,0.00,0.000,6,0.000,0.025,3304,1861,1831,0,0,0,0,0,0
$GC,8787,1.44,286.3,128.0,10.5,395,8791,0.00,2.45,0.00,0.000,4,0.000,0.030,3304,3389,1830,0,0,0,0,0,0
$GC,8820,1.49,286.3,124.2,11.4,397,8824,0.00,2.55,0.00,0.000,6,0.000,0.035,3304,1842,1829,0,0,0,0,0,0
$GC,9086,1.49,286.3,95.9,10.5,421,9091,0.00,0.00,0.00,0.000,6,0.000,0.000,3304,1842,1829,0,0,0,0,0,0
$GC,9353,1.57,301.4,70.2,9.2,446,9381,0.15,2.78,14.12,0.584,4,0.075,0.064,3343,238,1771,0,0,0,0,0,0
$GC,9435,1.58,311.2,62.6,9.5,452,9450,0.00,2.55,10.05,0.551,6,0.000,0.020,3343,1857,1732,0,0,0,0,0,0
$GC,9706,1.59,318.1,38.8,9.6,477,9715,0.00,0.00,7.30,0.499,6,0.000,0.000,3343,1857,1703,0,0,0,0,0,0
$GC,10014,1.59,319.2,8.0,10.0,518,10024,0.00,2.80,0.00,0.000,4,0.000,0.062,3343,239,1702,0,0,0,0,0,0
$GC,10034,1.59,319.2,5.8,10.6,520,10043,0.00,2.55,0.00,0.000,6,0.000,0.020,3343,1860,1702,0,0,0,0,0,0
$STATE,10051,end climb,SURFACE_DEPTH_REACHED
$STATE,10051,begin surface coast
$FINISH,0.3,0.999073
$STATE,10100,end surface coast,CONTROL_FINISHED_OK
$STATE,10100,begin surface
$SM_CCo,10124,84.30,0.536,0,0,1287,420.20
$SM_GC,1.08,0.00,0.00,84.30,0.000,0.000,0.536,473,1750,1287,-11.62,-0.57,420.20
$IRIDIUM_FIX,2246.36,-15753.23,160100,000006
$TT8_MAMPS,0.026078
$HUMID,53.62
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.50
$XPDR_PINGS,92
$24V_AH,23.3,64.972
$10V_AH,9.9,61.835
$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,27.000,125.675,388.050,84.300,0.000,55.243,66.152,348.280,23.000,0.000,29.482,1056.074,6551.104,526.446,1985.957,781.728,33.396,1263.258,0.000,1976.477,0.000,0.534,0.000
$DEVICE_MAMPS,147.264,110.448,921.167,536.133,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.222,322.962,419.589,795.567,1203.378,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,41561,529
$CAP_FILE_SIZE,112142,0
$CFSIZE,260165632,155000832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221010,030352,2254.211,-15754.970,10,99.0,29,10.1