version: 66.06
glider: 146
mission: 5
dive: 475
start: 10 22 110 18 35 28
data:
$ID,146
$MISSION,5
$DIVE,475
$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,-258785.86
$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,55
$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
$GPS1,182627,2256.231,-15753.153,30,99.0,49,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-68.1
$GPS2,183432,2256.281,-15753.138,11,1.3,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.171,-0.161
$KALMAN_X,-258679.5,-65.4,-58.3,288866.1,255.4
$KALMAN_Y,-613337.6,121.5,147.1,753264.9,229.4
$MHEAD_RNG_PITCHd_Wd,123.2,23310,-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,-85.82,0.000,2,0.000,0.000,473,1769,3454,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.2,-8.7,11,127,11.43,2.65,-0.40,0.000,4,0.143,0.064,2688,188,3478,0,0,0,0,0,0
$GC,139,-0.20,-116.8,17.5,-36.1,14,148,1.23,2.47,0.00,0.000,6,0.104,0.016,2950,1785,3480,0,0,0,0,0,0
$GC,449,-0.88,-116.8,39.1,-7.4,52,455,0.57,2.70,0.00,0.000,4,0.059,0.052,2805,188,3481,0,0,0,0,0,0
$GC,557,-1.03,-116.8,49.2,-10.4,60,562,0.12,2.30,0.00,0.000,6,0.068,0.016,2760,1705,3481,0,0,0,0,0,0
$GC,827,-1.12,-116.8,75.8,-7.9,84,831,0.00,2.58,0.00,0.000,4,0.000,0.025,2760,3329,3482,0,0,0,0,0,0
$GC,898,-1.26,-116.8,81.7,-7.4,89,903,0.15,2.58,0.00,0.000,6,0.061,0.028,2707,1717,3482,0,0,0,0,0,0
$GC,1166,-1.26,-116.8,108.0,-9.9,113,1170,0.00,2.55,0.00,0.000,4,0.000,0.029,2707,3327,3483,0,0,0,0,0,0
$GC,1187,-1.26,-116.8,111.0,-10.1,114,1197,0.00,2.62,0.00,0.000,6,0.000,0.033,2707,1718,3483,0,0,0,0,0,0
$GC,1456,-1.26,-116.8,136.4,-9.8,139,1461,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1718,3483,0,0,0,0,0,0
$GC,1717,-1.26,-116.8,165.6,-11.4,164,1721,0.00,2.53,0.00,0.000,4,0.000,0.031,2707,3322,3484,0,0,0,0,0,0
$GC,1759,-1.33,-116.8,170.2,-10.8,167,1763,0.00,2.58,0.00,0.000,6,0.000,0.031,2707,1728,3484,0,0,0,0,0,0
$GC,2021,-1.33,-116.8,197.5,-10.3,191,2026,0.00,2.53,0.00,0.000,4,0.000,0.030,2707,3325,3484,0,0,0,0,0,0
$GC,2038,-1.33,-116.8,199.4,-10.3,192,2043,0.00,2.53,0.00,0.000,6,0.000,0.033,2707,1749,3484,0,0,0,0,0,0
$GC,2290,-1.33,-116.8,222.5,-8.9,198,2294,0.00,2.50,0.00,0.000,4,0.000,0.028,2707,3331,3484,0,0,0,0,0,0
$GC,2318,-1.40,-116.8,225.2,-8.9,198,2322,0.00,2.50,0.00,0.000,6,0.000,0.031,2707,1769,3484,0,0,0,0,0,0
$GC,2568,-1.43,-116.8,249.4,-9.8,204,2573,0.00,2.70,0.00,0.000,4,0.000,0.071,2707,195,3484,0,0,0,0,0,0
$GC,2586,-1.43,-116.8,251.1,-9.7,204,2590,0.00,2.42,0.00,0.000,6,0.000,0.023,2707,1772,3484,0,0,0,0,0,0
$GC,2847,-1.48,-116.8,275.4,-9.2,211,2852,0.12,2.50,0.00,0.000,4,0.074,0.030,2663,3333,3483,0,0,0,0,0,0
$GC,2880,-1.48,-116.8,279.0,-11.3,211,2885,0.00,2.53,0.00,0.000,6,0.000,0.037,2663,1775,3483,0,0,0,0,0,0
$GC,3131,-1.48,-116.8,306.2,-11.2,218,3132,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1775,3482,0,0,0,0,0,0
$GC,3374,-1.48,-116.8,330.0,-9.5,224,3378,0.00,2.50,0.00,0.000,4,0.000,0.035,2663,3325,3482,0,0,0,0,0,0
$GC,3429,-1.48,-116.8,335.3,-9.0,225,3433,0.00,2.53,0.00,0.000,6,0.000,0.044,2663,1789,3481,0,0,0,0,0,0
$GC,3696,-1.48,-116.8,361.9,-10.4,232,3697,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1789,3480,0,0,0,0,0,0
$GC,3938,-1.48,-116.8,387.9,-10.5,238,3942,0.00,2.50,0.00,0.000,4,0.000,0.039,2663,3327,3479,0,0,0,0,0,0
$GC,3965,-1.48,-116.8,390.7,-10.3,238,3970,0.00,2.58,0.00,0.000,6,0.000,0.048,2663,1790,3478,0,0,0,0,0,0
$GC,4217,-1.48,-116.8,416.9,-10.5,244,4221,0.00,2.50,0.00,0.000,4,0.000,0.040,2662,3322,3477,0,0,0,0,0,0
$GC,4244,-1.48,-116.8,420.0,-10.1,244,4248,0.00,2.58,0.00,0.000,6,0.000,0.052,2663,1796,3477,0,0,0,0,0,0
$GC,4499,-1.48,-116.8,446.0,-10.2,251,4503,0.00,2.50,0.00,0.000,4,0.000,0.041,2663,3318,3475,0,0,0,0,0,0
$GC,4515,-1.48,-116.8,447.6,-9.8,251,4519,0.00,2.58,0.00,0.000,6,0.000,0.056,2663,1801,3475,0,0,0,0,0,0
$GC,4777,-1.48,-116.8,472.7,-9.7,258,4782,0.00,2.53,0.00,0.000,4,0.000,0.047,2663,3324,3474,0,0,0,0,0,0
$GC,4794,-1.48,-116.8,474.6,-9.8,258,4798,0.00,2.58,0.00,0.000,6,0.000,0.054,2663,1810,3474,0,0,0,0,0,0
$STATE,5052,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5052,begin apogee
$GC,5057,-0.31,0.0,501.5,10.8,265,5158,1.20,0.00,97.40,0.924,6,0.079,0.000,2929,1810,3001,0,0,0,0,0,0
$STATE,5159,end apogee,CONTROL_FINISHED_OK
$STATE,5159,begin climb
$GC,5163,1.38,116.8,504.3,0.0,267,5269,1.55,0.00,101.22,0.904,6,0.051,0.000,3306,1810,2523,0,0,0,0,0,0
$GC,5489,1.30,153.0,489.2,7.9,275,5523,0.12,0.00,31.52,0.876,6,0.129,0.000,3283,1810,2377,0,0,0,0,0,0
$GC,5735,1.26,168.8,467.9,9.1,281,5755,0.00,2.67,14.68,0.828,4,0.000,0.049,3283,3365,2312,0,0,0,0,0,0
$GC,5811,1.23,180.2,460.8,9.4,282,5830,0.00,2.67,11.57,0.799,6,0.000,0.053,3283,1816,2266,0,0,0,0,0,0
$GC,6107,1.21,187.4,433.7,9.6,290,6122,0.00,3.05,7.18,0.729,4,0.000,0.103,3283,233,2236,0,0,0,0,0,0
$GC,6138,1.11,187.4,430.0,10.5,290,6144,0.20,2.53,0.00,0.000,6,0.117,0.028,3243,1788,2235,0,0,0,0,0,0
$GC,6390,1.18,214.4,408.6,8.5,296,6421,0.00,2.72,25.50,0.848,4,0.000,0.044,3243,3409,2125,0,0,0,0,0,0
$GC,6444,1.28,231.8,403.7,9.0,297,6471,0.15,2.75,16.83,0.811,6,0.075,0.053,3281,1811,2054,0,0,0,0,0,0
$GC,6715,1.28,231.8,375.3,10.6,304,6716,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1811,2049,0,0,0,0,0,0
$GC,6957,1.28,231.8,350.1,10.5,310,6962,0.00,2.85,0.00,0.000,4,0.000,0.081,3281,229,2047,0,0,0,0,0,0
$GC,6992,1.20,231.8,346.2,11.8,310,6997,0.00,2.55,0.00,0.000,6,0.000,0.023,3280,1822,2046,0,0,0,0,0,0
$GC,7242,1.21,235.9,321.2,9.8,317,7246,0.00,2.55,0.00,0.000,4,0.000,0.039,3281,3400,2045,0,0,0,0,0,0
$GC,7259,1.22,244.1,319.7,9.6,317,7275,0.00,2.67,10.75,0.750,6,0.000,0.045,3281,1803,2005,0,0,0,0,0,0
$GC,7519,1.24,259.3,295.4,9.2,323,7536,0.00,0.00,15.27,0.760,6,0.000,0.000,3281,1803,1943,0,0,0,0,0,0
$GC,7762,1.24,259.3,269.6,10.9,329,7767,0.00,2.78,0.00,0.000,4,0.000,0.076,3281,232,1939,0,0,0,0,0,0
$GC,7791,1.24,259.3,266.2,12.4,329,7796,0.00,2.53,0.00,0.000,6,0.000,0.028,3281,1815,1937,0,0,0,0,0,0
$GC,8041,1.24,259.3,239.0,10.9,335,8045,0.00,2.58,0.00,0.000,4,0.000,0.035,3281,3403,1937,0,0,0,0,0,0
$GC,8070,1.31,259.3,236.1,10.9,335,8074,0.00,2.65,0.00,0.000,6,0.000,0.042,3280,1797,1936,0,0,0,0,0,0
$GC,8322,1.40,298.6,215.2,7.8,341,8364,0.10,2.78,35.15,0.729,4,0.091,0.070,3309,240,1781,0,0,0,0,0,0
$GC,8377,1.36,300.5,210.2,9.9,342,8381,0.00,2.50,0.00,0.000,6,0.000,0.026,3308,1811,1780,0,0,0,0,0,0
$GC,8636,1.36,300.5,181.8,11.8,359,8641,0.00,2.55,0.00,0.000,4,0.000,0.029,3309,3393,1776,0,0,0,0,0,0
$GC,8677,1.43,300.5,176.7,12.2,362,8682,0.00,2.62,0.00,0.000,6,0.000,0.040,3308,1810,1775,0,0,0,0,0,0
$GC,8941,1.43,300.5,146.6,11.3,386,8950,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,1810,1775,0,0,0,0,0,0
$GC,9206,1.43,300.5,116.3,10.9,411,9211,0.00,2.72,0.00,0.000,4,0.000,0.070,3309,238,1774,0,0,0,0,0,0
$GC,9241,1.37,300.5,111.6,12.7,413,9246,0.00,2.53,0.00,0.000,6,0.000,0.021,3309,1847,1773,0,0,0,0,0,0
$GC,9505,1.40,320.5,84.4,8.9,438,9530,0.00,2.55,19.27,0.604,4,0.000,0.035,3308,3382,1693,0,0,0,0,0,0
$GC,9554,1.49,332.7,79.8,9.3,442,9572,0.00,2.58,12.02,0.571,6,0.000,0.041,3309,1824,1643,0,0,0,0,0,0
$GC,9839,1.64,362.9,53.7,8.3,468,9876,0.20,2.80,26.40,0.578,4,0.097,0.061,3362,245,1520,0,0,0,0,0,0
$GC,9881,1.64,362.9,48.8,10.6,471,9891,0.00,2.50,0.00,0.000,6,0.000,0.020,3361,1815,1519,0,0,0,0,0,0
$GC,10171,1.64,362.9,17.6,11.7,503,10180,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1817,1518,0,0,0,0,0,0
$STATE,10284,end climb,SURFACE_DEPTH_REACHED
$STATE,10284,begin surface coast
$FINISH,0.4,1.023425
$STATE,10327,end surface coast,CONTROL_FINISHED_OK
$STATE,10329,begin surface
$SM_CCo,10352,47.28,0.534,0,0,1288,420.20
$SM_GC,1.11,0.00,0.00,47.28,0.000,0.000,0.534,475,1743,1288,-11.62,-0.76,420.20
$IRIDIUM_FIX,2248.70,-15758.45,160100,151533
$TT8_MAMPS,0.026078
$HUMID,55.04
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.30
$XPDR_PINGS,115
$24V_AH,23.3,65.743
$10V_AH,10.0,62.563
$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,28.975,134.850,424.775,47.275,0.000,28.559,31.189,281.044,28.750,0.000,13.219,1056.039,6645.075,540.973,1976.349,667.625,33.371,1270.226,0.000,1992.412,0.000,0.534,0.000
$DEVICE_MAMPS,143.429,112.749,924.235,533.832,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,355.027,308.075,412.413,824.271,1246.809,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,41622,525
$CAP_FILE_SIZE,112401,0
$CFSIZE,260165632,154648576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,221010,212955,2255.270,-15752.113,10,1.8,27,10.1