version: 66.06
glider: 146
mission: 5
dive: 471
start: 10 22 110 6 17 45
data:
$ID,146
$MISSION,5
$DIVE,471
$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,-258695.48
$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,62
$R_STBD_OVSHOOT,50
$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
$GPS1,060827,2255.558,-15755.098,34,99.0,53,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-67.3
$GPS2,061649,2255.590,-15755.063,10,1.1,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.047,0.230
$KALMAN_X,-258427.9,-6.0,-148.5,285334.0,515.8
$KALMAN_Y,-612537.8,-30.4,315.3,751166.9,-380.9
$MHEAD_RNG_PITCHd_Wd,338.3,4464,-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,-86.43,0.000,3,0.000,0.000,477,1730,3479,0,0,0,0,0,0
$GC,109,-1.38,-116.8,4.3,-8.5,11,127,11.43,2.58,0.00,0.000,4,0.144,0.021,2687,3359,3481,0,0,0,0,0,0
$GC,204,-1.33,-116.8,28.2,-14.2,24,214,0.08,2.55,0.00,0.000,6,0.109,0.030,2705,1805,3482,0,0,0,0,0,0
$GC,482,-1.28,-116.8,66.3,-11.9,50,487,0.00,2.72,0.00,0.000,4,0.000,0.056,2705,192,3483,0,0,0,0,0,0
$GC,528,-1.28,-116.8,72.7,-13.3,53,532,0.00,2.42,0.00,0.000,6,0.000,0.015,2705,1790,3483,0,0,0,0,0,0
$GC,796,-1.28,-116.8,100.9,-10.0,77,800,0.00,2.40,0.00,0.000,4,0.000,0.024,2705,3327,3484,0,0,0,0,0,0
$GC,814,-1.28,-116.8,103.3,-9.7,78,818,0.00,2.55,0.00,0.000,6,0.000,0.029,2705,1749,3484,0,0,0,0,0,0
$GC,1076,-1.28,-116.8,127.2,-9.5,102,1081,0.00,2.62,0.00,0.000,4,0.000,0.061,2705,193,3485,0,0,0,0,0,0
$GC,1130,-1.28,-116.8,132.5,-10.1,106,1134,0.00,2.35,0.00,0.000,6,0.000,0.022,2705,1755,3485,0,0,0,0,0,0
$GC,1397,-1.28,-116.8,156.4,-8.8,130,1401,0.00,2.45,0.00,0.000,4,0.000,0.028,2705,3314,3485,0,0,0,0,0,0
$GC,1443,-1.35,-116.8,160.6,-9.8,133,1448,0.00,2.53,0.00,0.000,6,0.000,0.030,2705,1750,3485,0,0,0,0,0,0
$GC,1710,-1.35,-116.8,186.3,-9.9,157,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1750,3485,0,0,0,0,0,0
$GC,1967,-1.35,-116.8,212.2,-9.8,173,1972,0.00,2.50,0.00,0.000,4,0.000,0.030,2705,3325,3486,0,0,0,0,0,0
$GC,1984,-1.35,-116.8,214.0,-9.8,173,1988,0.00,2.53,0.00,0.000,6,0.000,0.028,2705,1757,3485,0,0,0,0,0,0
$GC,2245,-1.35,-116.8,239.3,-9.9,180,2249,0.00,2.70,0.00,0.000,4,0.000,0.070,2705,193,3485,0,0,0,0,0,0
$GC,2273,-1.35,-116.8,242.3,-10.9,180,2277,0.00,2.38,0.00,0.000,6,0.000,0.018,2705,1742,3485,0,0,0,0,0,0
$GC,2528,-1.39,-116.8,267.9,-10.1,187,2532,0.00,2.53,0.00,0.000,4,0.000,0.035,2705,3331,3485,0,0,0,0,0,0
$GC,2561,-1.48,-116.8,271.2,-9.8,187,2567,0.12,2.55,0.00,0.000,6,0.069,0.031,2659,1758,3485,0,0,0,0,0,0
$GC,2813,-1.44,-116.8,297.3,-10.6,194,2815,0.12,0.00,0.00,0.000,6,0.117,0.000,2685,1758,3484,0,0,0,0,0,0
$GC,3055,-1.44,-116.8,320.1,-9.3,200,3059,0.00,2.53,0.00,0.000,4,0.000,0.033,2685,3334,3483,0,0,0,0,0,0
$GC,3082,-1.48,-116.8,322.8,-9.7,200,3087,0.00,2.58,0.00,0.000,6,0.000,0.043,2685,1772,3483,0,0,0,0,0,0
$GC,3334,-1.48,-116.8,345.8,-9.3,206,3338,0.00,2.53,0.00,0.000,4,0.000,0.033,2685,3335,3482,0,0,0,0,0,0
$GC,3369,-1.54,-116.8,349.2,-9.8,206,3374,0.00,2.55,0.00,0.000,6,0.000,0.042,2685,1789,3482,0,0,0,0,0,0
$GC,3619,-1.54,-116.8,372.7,-9.5,213,3623,0.00,2.85,0.00,0.000,4,0.000,0.090,2685,187,3481,0,0,0,0,0,0
$GC,3636,-1.54,-116.8,374.4,-9.7,213,3640,0.00,2.47,0.00,0.000,6,0.000,0.028,2684,1769,3480,0,0,0,0,0,0
$GC,3896,-1.54,-116.8,401.5,-10.5,220,3901,0.00,2.58,0.00,0.000,4,0.000,0.046,2685,3346,3479,0,0,0,0,0,0
$GC,3918,-1.58,-116.8,403.9,-10.4,220,3923,0.12,2.60,0.00,0.000,6,0.073,0.052,2645,1794,3479,0,0,0,0,0,0
$GC,4176,-1.54,-116.8,433.5,-11.6,227,4180,0.00,2.55,0.00,0.000,4,0.000,0.045,2645,3350,3477,0,0,0,0,0,0
$GC,4198,-1.54,-116.8,436.1,-11.2,227,4203,0.00,2.65,0.00,0.000,6,0.000,0.058,2645,1796,3477,0,0,0,0,0,0
$GC,4454,-1.54,-116.8,463.6,-10.7,234,4458,0.00,3.00,0.00,0.000,4,0.000,0.104,2644,183,3475,0,0,0,0,0,0
$GC,4481,-1.48,-116.8,466.8,-11.6,234,4486,0.15,2.58,0.00,0.000,6,0.119,0.031,2674,1785,3475,0,0,0,0,0,0
$GC,4732,-1.48,-116.8,490.5,-9.5,240,4737,0.00,2.65,0.00,0.000,4,0.000,0.058,2675,3356,3474,0,0,0,0,0,0
$GC,4765,-1.54,-116.8,493.7,-9.2,240,4771,0.00,2.65,0.00,0.000,6,0.000,0.056,2674,1799,3473,0,0,0,0,0,0
$STATE,4850,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4850,begin apogee
$GC,4858,-0.31,0.0,501.8,9.3,243,4958,1.15,0.00,97.07,0.925,6,0.083,0.000,2929,1800,3001,0,0,0,0,0,0
$STATE,4959,end apogee,CONTROL_FINISHED_OK
$STATE,4959,begin climb
$GC,4961,1.38,116.8,504.0,0.0,245,5074,1.55,3.05,100.60,0.901,4,0.054,0.105,3305,236,2522,0,0,0,0,0,0
$GC,5109,1.21,156.4,501.8,7.7,248,5150,0.20,2.62,34.60,0.873,6,0.123,0.037,3266,1818,2363,0,0,0,0,0,0
$GC,5412,1.25,194.6,478.2,7.8,256,5453,0.00,2.80,33.88,0.874,4,0.000,0.060,3266,3407,2206,0,0,0,0,0,0
$GC,5494,1.27,206.7,471.2,9.3,257,5513,0.00,2.75,11.73,0.798,6,0.000,0.053,3266,1821,2158,0,0,0,0,0,0
$GC,5787,1.30,229.6,445.1,8.7,265,5815,0.00,3.03,21.17,0.844,4,0.000,0.103,3266,233,2062,0,0,0,0,0,0
$GC,5834,1.24,229.6,440.4,11.1,266,5839,0.00,2.60,0.00,0.000,6,0.000,0.030,3266,1822,2060,0,0,0,0,0,0
$GC,6111,1.25,236.4,413.5,9.6,273,6125,0.00,2.70,6.65,0.709,4,0.000,0.048,3266,3405,2037,0,0,0,0,0,0
$GC,6136,1.25,236.4,410.9,10.4,273,6141,0.00,2.72,0.00,0.000,6,0.000,0.053,3266,1813,2036,0,0,0,0,0,0
$GC,6393,1.25,236.4,385.5,10.1,280,6398,0.00,2.90,0.00,0.000,4,0.000,0.097,3266,229,2034,0,0,0,0,0,0
$GC,6436,1.20,236.4,380.7,12.3,281,6440,0.00,2.55,0.00,0.000,6,0.000,0.025,3266,1820,2032,0,0,0,0,0,0
$GC,6719,1.20,236.4,350.4,10.6,288,6720,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1821,2032,0,0,0,0,0,0
$GC,6964,1.21,238.0,325.9,9.9,294,6968,0.00,2.58,0.00,0.000,4,0.000,0.035,3266,3408,2031,0,0,0,0,0,0
$GC,6992,1.26,239.5,323.0,10.0,294,6996,0.00,2.70,0.00,0.000,6,0.000,0.041,3266,1796,2030,0,0,0,0,0,0
$GC,7242,1.28,254.3,300.1,9.2,300,7266,0.00,2.88,16.67,0.774,4,0.000,0.075,3266,231,1963,0,0,0,0,0,0
$GC,7279,1.28,254.3,296.4,10.2,300,7285,0.00,2.53,0.00,0.000,6,0.000,0.026,3266,1808,1962,0,0,0,0,0,0
$GC,7530,1.34,268.3,273.0,9.2,307,7546,0.10,0.00,13.77,0.741,6,0.101,0.000,3292,1809,1907,0,0,0,0,0,0
$GC,7772,1.34,268.3,246.6,10.9,313,7774,0.00,0.00,0.00,0.000,6,0.000,0.000,3292,1810,1903,0,0,0,0,0,0
$GC,8018,1.34,268.3,220.4,10.6,319,8022,0.00,2.75,0.00,0.000,4,0.000,0.066,3292,236,1902,0,0,0,0,0,0
$GC,8050,1.29,268.3,216.4,12.0,319,8056,0.00,2.47,0.00,0.000,6,0.000,0.022,3293,1799,1901,0,0,0,0,0,0
$GC,8304,1.29,268.9,190.3,10.0,332,8308,0.00,2.55,0.00,0.000,4,0.000,0.035,3293,3389,1900,0,0,0,0,0,0
$GC,8339,1.35,268.9,187.1,10.8,334,8344,0.00,2.62,0.00,0.000,6,0.000,0.041,3293,1800,1899,0,0,0,0,0,0
$GC,8606,1.39,268.9,158.2,10.9,358,8611,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1800,1900,0,0,0,0,0,0
$GC,8872,1.39,268.9,129.9,10.3,383,8877,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1800,1899,0,0,0,0,0,0
$GC,9134,1.46,283.8,104.4,9.2,408,9158,0.10,2.72,14.12,0.616,4,0.097,0.067,3320,239,1843,0,0,0,0,0,0
$GC,9188,1.38,283.8,98.5,11.9,412,9198,0.00,2.50,0.00,0.000,6,0.000,0.021,3320,1809,1841,0,0,0,0,0,0
$GC,9454,1.40,300.1,73.2,9.1,437,9482,0.00,2.62,15.52,0.589,4,0.000,0.028,3320,3392,1775,0,0,0,0,0,0
$GC,9514,1.48,303.9,68.0,9.8,441,9528,0.00,2.58,4.50,0.437,6,0.000,0.041,3320,1822,1762,0,0,0,0,0,0
$GC,9786,1.61,350.0,45.9,7.4,466,9840,0.12,2.75,40.53,0.578,4,0.081,0.059,3352,240,1573,0,0,0,0,0,0
$GC,9883,1.61,350.0,36.1,12.0,473,9888,0.00,2.50,0.00,0.000,6,0.000,0.024,3353,1825,1571,0,0,0,0,0,0
$STATE,10171,end climb,SURFACE_DEPTH_REACHED
$STATE,10171,begin surface coast
$FINISH,0.4,1.023447
$STATE,10214,end surface coast,CONTROL_FINISHED_OK
$STATE,10214,begin surface
$SM_CCo,10238,57.72,0.535,0,0,1288,420.20
$SM_GC,0.92,0.00,0.00,57.72,0.000,0.000,0.535,477,1746,1288,-11.61,-0.68,420.20
$IRIDIUM_FIX,2246.36,-15756.28,160100,030300
$TT8_MAMPS,0.026078
$HUMID,55.71
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.30
$XPDR_PINGS,100
$24V_AH,23.3,65.228
$10V_AH,9.9,62.077
$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,27.025,141.675,410.825,57.725,0.000,30.898,36.038,285.138,25.000,0.000,16.923,1046.847,6626.143,533.738,1925.465,666.458,33.371,1279.403,0.000,1928.441,0.000,0.534,0.000
$DEVICE_MAMPS,144.196,105.079,925.002,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,349.238,300.726,403.352,762.512,1153.791,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,41449,517
$CAP_FILE_SIZE,112694,0
$CFSIZE,260165632,154882048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221010,091012,2256.672,-15755.269,7,1.6,11,10.1