version: 66.06
glider: 146
mission: 5
dive: 487
start: 10 24 110 8 1 50
data:
$ID,146
$MISSION,5
$DIVE,487
$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,-259104.62
$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,53
$R_STBD_OVSHOOT,60
$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
$GPS1,075152,2251.824,-15742.270,9,3.3,28,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-66.0
$GPS2,080055,2251.898,-15742.260,42,1.2,42,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.020,0.236
$KALMAN_X,-260151.3,93.4,18.4,308825.8,-104.8
$KALMAN_Y,-614443.4,-314.9,340.2,746493.8,56.3
$MHEAD_RNG_PITCHd_Wd,354.8,11310,-19.7,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-1.37,-116.8,0.0,0.0,0,96,0.00,0.00,-77.38,0.000,2,0.000,0.000,476,1737,3202,0,0,0,0,0,0
$GC,99,-1.37,-116.8,3.2,-5.9,10,124,11.80,2.55,-5.53,0.000,4,0.159,0.031,2690,3352,3478,0,0,0,0,0,0
$GC,241,-1.34,-116.8,29.2,-14.3,30,251,0.00,2.55,0.00,0.000,6,0.000,0.030,2690,1798,3480,0,0,0,0,0,0
$GC,510,-1.25,-116.8,71.1,-14.5,55,515,0.17,2.72,0.00,0.000,4,0.120,0.056,2724,189,3480,0,0,0,0,0,0
$GC,522,-1.18,-116.8,73.3,-12.5,55,531,0.00,2.45,0.00,0.000,6,0.000,0.015,2724,1804,3480,0,0,0,0,0,0
$GC,784,-1.18,-116.8,98.9,-10.4,80,789,0.00,2.72,0.00,0.000,4,0.000,0.058,2724,186,3481,0,0,0,0,0,0
$GC,841,-1.24,-116.8,105.4,-10.9,84,850,0.00,2.38,0.00,0.000,6,0.000,0.015,2725,1747,3481,0,0,0,0,0,0
$GC,1109,-1.29,-116.8,129.7,-8.8,109,1113,0.00,2.45,0.00,0.000,4,0.000,0.028,2724,3317,3482,0,0,0,0,0,0
$GC,1132,-1.35,-116.8,132.5,-9.0,110,1140,0.00,2.55,0.00,0.000,6,0.000,0.033,2725,1746,3482,0,0,0,0,0,0
$GC,1396,-1.40,-116.8,156.5,-9.9,135,1405,0.12,0.00,0.00,0.000,6,0.071,0.000,2681,1745,3483,0,0,0,0,0,0
$GC,1663,-1.36,-116.8,185.5,-10.9,160,1669,0.10,0.00,0.00,0.000,6,0.125,0.000,2701,1746,3482,0,0,0,0,0,0
$GC,1931,-1.36,-116.8,213.0,-9.9,177,1935,0.00,2.65,0.00,0.000,4,0.000,0.067,2701,192,3483,0,0,0,0,0,0
$GC,1958,-1.36,-116.8,215.8,-10.1,177,1962,0.00,2.38,0.00,0.000,6,0.000,0.022,2701,1764,3483,0,0,0,0,0,0
$GC,2213,-1.36,-116.8,237.5,-8.3,184,2217,0.00,2.45,0.00,0.000,4,0.000,0.027,2701,3321,3483,0,0,0,0,0,0
$GC,2276,-1.43,-116.8,242.7,-8.2,185,2280,0.00,2.45,0.00,0.000,6,0.000,0.036,2701,1783,3482,0,0,0,0,0,0
$GC,2536,-1.43,-116.8,265.6,-8.9,192,2537,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1783,3482,0,0,0,0,0,0
$GC,2781,-1.46,-116.8,288.6,-9.3,198,2782,0.00,0.00,0.00,0.000,6,0.000,0.000,2701,1783,3481,0,0,0,0,0,0
$GC,3026,-1.51,-116.8,310.5,-9.0,204,3031,0.12,2.47,0.00,0.000,4,0.075,0.031,2662,3326,3480,0,0,0,0,0,0
$GC,3076,-1.51,-116.8,315.5,-9.6,205,3080,0.00,2.53,0.00,0.000,6,0.000,0.035,2661,1783,3481,0,0,0,0,0,0
$GC,3348,-1.51,-116.8,342.5,-9.9,212,3349,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1782,3479,0,0,0,0,0,0
$GC,3593,-1.51,-116.8,366.3,-9.7,218,3594,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1782,3477,0,0,0,0,0,0
$GC,3835,-1.51,-116.8,389.2,-9.4,224,3839,0.00,2.50,0.00,0.000,4,0.000,0.044,2662,3323,3476,0,0,0,0,0,0
$GC,3856,-1.51,-116.8,391.3,-9.6,224,3861,0.00,2.58,0.00,0.000,6,0.000,0.051,2662,1771,3476,0,0,0,0,0,0
$GC,4111,-1.51,-116.8,415.7,-9.6,231,4116,0.00,2.53,0.00,0.000,4,0.000,0.042,2662,3320,3475,0,0,0,0,0,0
$GC,4146,-1.51,-116.8,418.8,-9.5,231,4151,0.00,2.58,0.00,0.000,6,0.000,0.050,2662,1782,3474,0,0,0,0,0,0
$GC,4396,-1.51,-116.8,442.3,-9.3,238,4400,0.00,2.50,0.00,0.000,4,0.000,0.043,2662,3313,3472,0,0,0,0,0,0
$GC,4417,-1.51,-116.8,444.3,-8.8,238,4421,0.00,2.60,0.00,0.000,6,0.000,0.058,2662,1781,3472,0,0,0,0,0,0
$GC,4674,-1.51,-116.8,468.2,-9.4,245,4675,0.00,0.00,0.00,0.000,6,0.000,0.000,2662,1781,3471,0,0,0,0,0,0
$GC,4915,-1.51,-116.8,493.0,-10.3,251,4920,0.00,2.53,0.00,0.000,4,0.000,0.055,2662,3308,3470,0,0,0,0,0,0
$GC,4948,-1.51,-116.8,496.4,-10.9,251,4954,0.00,2.60,0.00,0.000,6,0.000,0.065,2662,1791,3469,0,0,0,0,0,0
$STATE,4993,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4993,begin apogee
$GC,5000,-0.31,0.0,500.8,9.7,253,5101,1.23,0.00,97.47,0.930,6,0.097,0.000,2929,1791,3001,0,0,0,0,0,0
$STATE,5102,end apogee,CONTROL_FINISHED_OK
$STATE,5102,begin climb
$GC,5104,1.37,116.8,503.6,0.0,255,5217,1.55,2.75,101.82,0.907,4,0.052,0.055,3306,3353,2523,0,0,0,0,0,0
$GC,5224,1.35,207.8,504.1,4.9,257,5311,0.00,2.67,79.35,0.893,6,0.000,0.056,3306,1820,2152,0,0,0,0,0,0
$GC,5555,1.26,207.8,467.9,11.7,266,5560,0.15,2.60,0.00,0.000,4,0.121,0.046,3277,3367,2143,0,0,0,0,0,0
$GC,5573,1.20,207.8,465.8,11.8,266,5577,0.00,2.67,0.00,0.000,6,0.000,0.058,3277,1825,2142,0,0,0,0,0,0
$GC,5833,1.20,207.8,438.4,10.4,273,5838,0.00,2.53,0.00,0.000,4,0.000,0.042,3277,3367,2140,0,0,0,0,0,0
$GC,5855,1.20,207.8,436.0,10.5,273,5859,0.00,2.62,0.00,0.000,6,0.000,0.051,3277,1831,2140,0,0,0,0,0,0
$GC,6117,1.20,207.8,409.3,10.3,280,6121,0.00,2.53,0.00,0.000,4,0.000,0.039,3277,3375,2139,0,0,0,0,0,0
$GC,6144,1.20,207.8,406.1,10.9,280,6148,0.00,2.60,0.00,0.000,6,0.000,0.053,3278,1833,2138,0,0,0,0,0,0
$GC,6394,1.20,207.8,380.2,10.2,286,6395,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1833,2137,0,0,0,0,0,0
$GC,6638,1.22,216.7,356.8,9.5,292,6651,0.00,2.53,6.47,0.696,4,0.000,0.028,3277,3375,2116,0,0,0,0,0,0
$GC,6664,1.23,231.8,354.3,9.2,292,6685,0.00,2.60,15.18,0.796,6,0.000,0.047,3277,1841,2056,0,0,0,0,0,0
$GC,6963,1.25,242.3,325.8,9.4,300,6979,0.00,2.90,10.88,0.755,4,0.000,0.079,3277,234,2011,0,0,0,0,0,0
$GC,7027,1.19,242.3,319.4,10.9,301,7032,0.00,2.53,0.00,0.000,6,0.000,0.027,3277,1814,2009,0,0,0,0,0,0
$GC,7288,1.22,268.9,295.8,8.5,308,7318,0.00,2.62,25.00,0.788,4,0.000,0.040,3277,3392,1903,0,0,0,0,0,0
$GC,7348,1.32,296.5,290.8,8.5,309,7379,0.00,2.60,25.67,0.773,6,0.000,0.045,3277,1845,1791,0,0,0,0,0,0
$GC,7654,1.38,313.8,263.8,9.1,317,7679,0.10,2.90,16.23,0.738,4,0.148,0.078,3304,231,1720,0,0,0,0,0,0
$GC,7738,1.34,313.8,253.3,13.3,318,7744,0.00,2.55,0.00,0.000,6,0.000,0.021,3304,1838,1717,0,0,0,0,0,0
$GC,7988,1.34,313.8,220.9,13.0,325,7992,0.00,2.53,0.00,0.000,4,0.000,0.036,3304,3400,1716,0,0,0,0,0,0
$GC,8010,1.39,313.8,218.1,12.9,325,8014,0.00,2.60,0.00,0.000,6,0.000,0.042,3304,1830,1715,0,0,0,0,0,0
$GC,8270,1.39,313.8,188.2,10.9,338,8274,0.00,2.80,0.00,0.000,4,0.000,0.076,3303,234,1713,0,0,0,0,0,0
$GC,8310,1.34,313.8,183.3,12.2,341,8314,0.00,2.53,0.00,0.000,6,0.000,0.023,3303,1825,1713,0,0,0,0,0,0
$GC,8574,1.34,313.8,154.6,11.3,365,8579,0.00,2.78,0.00,0.000,4,0.000,0.067,3304,238,1713,0,0,0,0,0,0
$GC,8591,1.34,313.8,152.2,12.0,366,8595,0.00,2.53,0.00,0.000,6,0.000,0.021,3303,1836,1713,0,0,0,0,0,0
$GC,8853,1.34,313.8,122.6,11.0,390,8858,0.00,2.78,0.00,0.000,4,0.000,0.070,3303,239,1713,0,0,0,0,0,0
$GC,8908,1.34,313.8,116.5,11.2,394,8912,0.00,2.45,0.00,0.000,6,0.000,0.028,3304,1809,1712,0,0,0,0,0,0
$GC,9171,1.40,330.6,92.3,9.1,418,9188,0.00,0.00,14.68,0.605,6,0.000,0.000,3304,1810,1653,0,0,0,0,0,0
$GC,9451,1.54,360.7,65.8,8.3,444,9485,0.12,2.75,27.02,0.595,4,0.084,0.064,3338,239,1529,0,0,0,0,0,0
$GC,9514,1.54,360.7,59.5,10.7,448,9518,0.00,2.47,0.00,0.000,6,0.000,0.020,3337,1805,1528,0,0,0,0,0,0
$GC,9782,1.60,365.4,32.3,9.8,472,9792,0.00,0.00,5.50,0.450,6,0.000,0.000,3338,1807,1510,0,0,0,0,0,0
$STATE,10084,end climb,SURFACE_DEPTH_REACHED
$STATE,10085,begin surface coast
$FINISH,0.4,1.023541
$STATE,10140,end surface coast,CONTROL_FINISHED_OK
$STATE,10140,begin surface
$SM_CCo,10163,45.95,0.533,0,0,1286,420.20
$SM_GC,1.13,0.00,0.00,45.95,0.000,0.000,0.533,477,1698,1286,-11.61,-2.01,420.20
$IRIDIUM_FIX,2241.69,-15744.57,180100,040426
$TT8_MAMPS,0.026078
$HUMID,55.82
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.70
$XPDR_PINGS,110
$24V_AH,23.3,67.346
$10V_AH,10.0,64.041
$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,27.125,124.175,425.275,45.950,0.000,25.216,38.853,303.431,27.500,0.000,43.914,1038.335,6534.666,510.051,1991.253,679.225,33.374,1242.984,0.000,1963.876,0.000,0.533,0.000
$DEVICE_MAMPS,158.769,106.613,930.371,533.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,355.045,312.133,409.134,797.074,1206.933,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,41444,525
$CAP_FILE_SIZE,109166,0
$CFSIZE,260165632,153948160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241010,105310,2253.383,-15742.115,9,2.5,28,10.1