version: 66.06
glider: 146
mission: 5
dive: 489
start: 10 24 110 14 18 12
data:
$ID,146
$MISSION,5
$DIVE,489
$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,-259165.64
$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,71
$R_STBD_OVSHOOT,59
$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
$GPS1,140007,2254.659,-15742.138,38,1.2,38,10.1
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-67.6
$GPS2,141716,2254.809,-15742.026,11,2.6,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.018,0.306
$KALMAN_X,-260032.9,-69.3,35.3,309253.6,-149.6
$KALMAN_Y,-613462.2,-93.9,-129.7,751151.9,391.6
$MHEAD_RNG_PITCHd_Wd,353.2,5910,-14.2,-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,-1.03,-116.8,0.0,0.0,0,104,0.00,0.00,-85.50,0.000,6,0.000,0.000,475,1721,3479,0,0,0,0,0,0
$GC,109,-1.03,-116.8,4.5,-9.4,11,127,11.98,2.58,0.00,0.000,4,0.150,0.021,2765,3342,3481,0,0,0,0,0,0
$GC,197,-0.97,-116.8,25.5,-10.1,23,207,0.08,2.50,0.00,0.000,6,0.097,0.028,2786,1809,3481,0,0,0,0,0,0
$GC,480,-0.86,-116.8,53.4,-9.8,51,485,0.12,2.75,0.00,0.000,4,0.110,0.057,2813,189,3482,0,0,0,0,0,0
$GC,527,-0.86,-116.8,58.2,-9.5,54,531,0.00,2.40,0.00,0.000,6,0.000,0.015,2813,1789,3482,0,0,0,0,0,0
$GC,795,-0.86,-116.8,80.5,-6.7,78,799,0.00,2.38,0.00,0.000,4,0.000,0.025,2813,3314,3482,0,0,0,0,0,0
$GC,857,-0.92,-116.8,84.7,-5.9,82,866,0.00,2.47,0.00,0.000,6,0.000,0.025,2813,1778,3482,0,0,0,0,0,0
$GC,1124,-0.98,-116.8,99.9,-6.5,107,1129,0.12,2.67,0.00,0.000,4,0.067,0.058,2762,193,3483,0,0,0,0,0,0
$GC,1183,-0.98,-116.8,105.5,-9.2,111,1189,0.10,2.38,0.00,0.000,6,0.115,0.016,2785,1784,3483,0,0,0,0,0,0
$GC,1446,-0.98,-116.8,125.9,-7.4,136,1450,0.00,2.38,0.00,0.000,4,0.000,0.027,2785,3308,3483,0,0,0,0,0,0
$GC,1516,-1.02,-116.8,130.9,-7.6,141,1520,0.00,2.45,0.00,0.000,6,0.000,0.027,2785,1773,3483,0,0,0,0,0,0
$GC,1783,-1.02,-116.8,149.1,-6.5,165,1787,0.00,2.67,0.00,0.000,4,0.000,0.060,2785,200,3483,0,0,0,0,0,0
$GC,1806,-1.02,-116.8,151.1,-6.9,166,1811,0.00,2.40,0.00,0.000,6,0.000,0.021,2785,1787,3483,0,0,0,0,0,0
$GC,2068,-1.02,-116.8,168.8,-6.8,191,2073,0.00,2.40,0.00,0.000,4,0.000,0.030,2785,3322,3483,0,0,0,0,0,0
$GC,2138,-1.06,-116.8,173.2,-6.6,196,2142,0.00,2.42,0.00,0.000,6,0.000,0.026,2785,1802,3483,0,0,0,0,0,0
$GC,2404,-1.06,-116.8,188.5,-5.3,220,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1802,3483,0,0,0,0,0,0
$GC,2687,-1.06,-116.8,202.3,-4.8,244,2688,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1801,3482,0,0,0,0,0,0
$GC,2929,-1.06,-116.8,216.7,-6.3,250,2933,0.00,2.72,0.00,0.000,4,0.000,0.065,2785,203,3481,0,0,0,0,0,0
$GC,2956,-1.10,-116.8,218.9,-8.2,250,2961,0.12,2.45,0.00,0.000,6,0.070,0.017,2742,1814,3481,0,0,0,0,0,0
$GC,3208,-1.05,-116.8,244.3,-10.8,256,3213,0.12,2.38,0.00,0.000,4,0.102,0.035,2770,3324,3480,0,0,0,0,0,0
$GC,3252,-1.10,-116.8,249.4,-10.6,257,3256,0.00,2.38,0.00,0.000,6,0.000,0.028,2770,1831,3480,0,0,0,0,0,0
$GC,3530,-1.10,-116.8,275.2,-8.8,264,3531,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1831,3479,0,0,0,0,0,0
$GC,3775,-1.10,-116.8,292.0,-6.3,270,3776,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1831,3478,0,0,0,0,0,0
$GC,4017,-1.10,-116.8,304.1,-4.9,276,4018,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1831,3477,0,0,0,0,0,0
$GC,4261,-1.10,-116.8,317.4,-5.6,282,4262,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1831,3475,0,0,0,0,0,0
$GC,4504,-1.10,-116.8,333.9,-7.0,288,4506,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1831,3474,0,0,0,0,0,0
$GC,4750,-1.10,-116.8,352.6,-7.8,294,4751,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1831,3473,0,0,0,0,0,0
$GC,4992,-1.10,-116.8,373.2,-8.6,300,4997,0.00,2.92,0.00,0.000,4,0.000,0.087,2770,203,3471,0,0,0,0,0,0
$GC,5025,-1.14,-116.8,376.1,-8.7,300,5031,0.00,2.53,0.00,0.000,6,0.000,0.030,2770,1800,3471,0,0,0,0,0,0
$GC,5277,-1.14,-116.8,395.5,-7.6,307,5278,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1801,3470,0,0,0,0,0,0
$GC,5521,-1.18,-116.8,411.6,-6.5,313,5523,0.12,0.00,0.00,0.000,6,0.076,0.000,2727,1801,3468,0,0,0,0,0,0
$GC,5763,-1.13,-116.8,429.3,-7.3,319,5765,0.12,0.00,0.00,0.000,6,0.107,0.000,2754,1801,3467,0,0,0,0,0,0
$GC,6008,-1.13,-116.8,444.2,-6.0,325,6012,0.00,2.58,0.00,0.000,4,0.000,0.052,2754,3356,3466,0,0,0,0,0,0
$GC,6035,-1.17,-116.8,446.1,-6.5,325,6039,0.00,2.55,0.00,0.000,6,0.000,0.049,2754,1841,3465,0,0,0,0,0,0
$GC,6285,-1.17,-116.8,462.5,-6.7,331,6286,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1841,3464,0,0,0,0,0,0
$GC,6530,-1.17,-116.8,479.2,-6.9,337,6532,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1841,3463,0,0,0,0,0,0
$GC,6772,-1.17,-116.8,494.8,-6.3,343,6777,0.00,2.53,0.00,0.000,4,0.000,0.050,2754,3346,3461,0,0,0,0,0,0
$GC,6794,-1.17,-116.8,496.3,-6.1,343,6799,0.00,2.55,0.00,0.000,6,0.000,0.058,2755,1854,3462,0,0,0,0,0,0
$STATE,6885,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6885,begin apogee
$GC,6890,-0.31,0.0,501.7,5.9,346,6990,0.77,0.00,96.07,0.939,6,0.073,0.000,2931,1854,3001,0,0,0,0,0,0
$STATE,6990,end apogee,CONTROL_FINISHED_OK
$STATE,6991,begin climb
$GC,6995,1.03,116.8,503.7,0.0,348,7107,1.23,2.67,102.28,0.915,4,0.043,0.047,3230,3386,2523,0,0,0,0,0,0
$GC,7142,1.07,256.5,502.8,5.6,351,7274,0.00,2.67,122.10,0.904,6,0.000,0.057,3230,1835,1953,0,0,0,0,0,0
$GC,7530,1.00,272.5,468.1,9.5,361,7550,0.00,3.12,14.27,0.822,4,0.000,0.115,3230,234,1889,0,0,0,0,0,0
$GC,7574,0.86,272.5,463.6,10.7,362,7580,0.20,2.60,0.00,0.000,6,0.106,0.031,3190,1819,1887,0,0,0,0,0,0
$GC,7854,0.94,337.4,441.0,8.0,369,7916,0.00,0.00,59.55,0.877,6,0.000,0.000,3190,1819,1624,0,0,0,0,0,0
$GC,8140,1.00,380.9,416.6,8.6,376,8186,0.12,2.95,39.53,0.854,4,0.078,0.087,3223,229,1447,0,0,0,0,0,0
$GC,8249,0.95,380.9,405.0,11.1,378,8253,0.00,2.60,0.00,0.000,6,0.000,0.029,3223,1821,1444,0,0,0,0,0,0
$GC,8506,0.99,415.4,381.2,8.9,385,8547,0.00,2.95,32.03,0.832,4,0.000,0.081,3223,234,1306,0,0,0,0,0,0
$GC,8605,0.95,415.4,371.7,11.0,387,8609,0.00,2.53,0.00,0.000,6,0.000,0.028,3223,1799,1304,0,0,0,0,0,0
$GC,8877,0.98,440.5,346.7,9.2,394,8906,0.00,2.90,23.20,0.805,4,0.000,0.078,3224,234,1204,0,0,0,0,0,0
$GC,8981,0.98,440.5,335.7,11.0,396,8985,0.00,2.45,0.00,0.000,6,0.000,0.023,3223,1765,1202,0,0,0,0,0,0
$GC,9247,0.98,440.5,305.7,11.6,403,9251,0.00,2.72,0.00,0.000,4,0.000,0.078,3224,231,1201,0,0,0,0,0,0
$GC,9303,0.98,440.5,298.4,12.8,404,9307,0.00,2.40,0.00,0.000,6,0.000,0.027,3224,1746,1200,0,0,0,0,0,0
$GC,9569,0.98,440.5,264.6,12.8,411,9573,0.00,2.65,0.00,0.000,4,0.000,0.072,3223,232,1200,0,0,0,0,0,0
$GC,9618,0.98,440.5,258.0,13.4,412,9622,0.00,2.35,0.00,0.000,6,0.000,0.026,3223,1736,1199,0,0,0,0,0,0
$GC,9892,0.98,440.5,227.2,11.1,419,9897,0.00,2.62,0.00,0.000,4,0.000,0.076,3223,231,1199,0,0,0,0,0,0
$GC,9931,0.98,440.5,222.5,11.9,420,9935,0.00,2.30,0.00,0.000,6,0.000,0.020,3224,1706,1199,0,0,0,0,0,0
$GC,10189,1.02,440.5,196.0,10.1,427,10193,0.00,2.58,0.00,0.000,4,0.000,0.075,3223,231,1199,0,0,0,0,0,0
$GC,10242,1.02,440.5,190.0,10.9,431,10246,0.00,2.25,0.00,0.000,6,0.000,0.020,3224,1682,1199,0,0,0,0,0,0
$GC,10505,1.05,467.2,165.5,9.2,455,10538,0.00,2.58,24.45,0.686,4,0.000,0.067,3223,231,1093,0,0,0,0,0,0
$GC,10556,1.05,467.2,160.2,10.8,459,10565,0.00,2.28,0.00,0.000,6,0.000,0.026,3224,1677,1093,0,0,0,0,0,0
$GC,10819,1.13,493.4,136.0,9.2,484,10848,0.10,2.58,23.60,0.655,4,0.087,0.066,3253,226,987,0,0,0,0,0,0
$GC,10891,1.13,493.4,127.4,12.4,489,10896,0.00,2.22,0.00,0.000,6,0.000,0.024,3253,1657,986,0,0,0,0,0,0
$GC,11154,1.13,498.7,100.0,9.9,514,11169,0.00,2.53,5.93,0.515,4,0.000,0.064,3253,233,966,0,0,0,0,0,0
$GC,11206,1.13,498.7,94.3,11.5,518,11210,0.00,2.17,0.00,0.000,6,0.000,0.020,3253,1649,965,0,0,0,0,0,0
$GC,11473,1.27,571.2,72.4,7.7,542,11540,0.10,2.50,59.17,0.605,4,0.086,0.063,3285,230,671,0,0,0,0,0,0
$GC,11582,1.31,571.2,60.4,12.0,550,11591,0.00,2.20,0.00,0.000,6,0.000,0.020,3285,1637,669,0,0,0,0,0,0
$GC,11848,1.31,571.2,31.0,11.3,575,11852,0.00,2.42,0.00,0.000,4,0.000,0.061,3285,228,666,0,0,0,0,0,0
$GC,11883,1.31,571.2,26.7,12.4,579,11892,0.00,2.15,0.00,0.000,6,0.000,0.020,3285,1622,665,0,0,0,0,0,0
$STATE,12105,end climb,SURFACE_DEPTH_REACHED
$STATE,12105,begin surface coast
$FINISH,0.4,1.017198
$STATE,12146,end surface coast,CONTROL_FINISHED_OK
$STATE,12146,begin surface
$SM_CCo,12229,0.00,0.000,0,0,663,573.51
$SM_GC,1.08,11.48,0.00,0.00,0.029,0.000,0.000,476,1824,663,-11.53,1.55,573.51
$IRIDIUM_FIX,2248.70,-15743.68,180100,141419
$TT8_MAMPS,0.026078
$HUMID,55.74
$INTERNAL_PRESSURE,9.22887
$TCM_TEMP,20.70
$XPDR_PINGS,89
$24V_AH,23.3,67.662
$10V_AH,9.8,64.304
$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,26.900,131.600,602.175,0.000,0.000,90.020,107.978,508.397,22.250,0.000,32.955,1204.819,8060.517,604.480,2296.207,1090.457,33.370,1485.044,0.000,2280.667,0.000,0.536,0.000
$DEVICE_MAMPS,149.565,115.050,938.808,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,417.822,354.137,482.901,890.280,1347.096,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,47836,618
$CAP_FILE_SIZE,131833,0
$CFSIZE,260165632,153800704
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241010,174306,2256.755,-15741.760,25,1.2,25,10.1