version: 66.06
glider: 146
mission: 5
dive: 491
start: 10 24 110 20 29 4
data:
$ID,146
$MISSION,5
$DIVE,491
$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,-259195.62
$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,66
$R_STBD_OVSHOOT,24
$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
$GPS1,202037,2257.825,-15742.069,28,1.5,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-67.8
$GPS2,202808,2257.845,-15742.094,12,1.4,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.183,-0.147
$KALMAN_X,-259675.5,6.4,21.1,308719.9,139.3
$KALMAN_Y,-612949.4,445.6,177.6,755423.3,290.5
$MHEAD_RNG_PITCHd_Wd,221.2,26911,-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,-116.8,0.0,0.0,0,97,0.00,0.00,-78.85,0.000,2,0.000,0.000,473,1721,3246,0,0,0,0,0,0
$GC,102,-1.38,-116.8,3.1,-5.4,10,127,11.35,2.55,-4.57,0.000,4,0.141,0.064,2688,235,3483,0,0,0,0,0,0
$GC,198,-1.28,-116.8,25.6,-16.2,23,206,0.12,2.45,0.00,0.000,6,0.101,0.016,2717,1810,3483,0,0,0,0,0,0
$GC,475,-1.22,-116.8,63.7,-13.3,50,480,0.00,2.40,0.00,0.000,4,0.000,0.025,2717,3330,3484,0,0,0,0,0,0
$GC,534,-1.22,-116.8,70.5,-10.4,54,539,0.00,2.40,0.00,0.000,6,0.000,0.027,2717,1819,3484,0,0,0,0,0,0
$GC,799,-1.22,-116.8,96.2,-9.7,78,803,0.00,2.72,0.00,0.000,4,0.000,0.056,2717,199,3485,0,0,0,0,0,0
$GC,914,-1.26,-116.8,107.6,-8.8,87,919,0.00,2.38,0.00,0.000,6,0.000,0.021,2717,1769,3486,0,0,0,0,0,0
$GC,1183,-1.30,-116.8,131.8,-10.0,111,1187,0.00,2.67,0.00,0.000,4,0.000,0.064,2717,190,3487,0,0,0,0,0,0
$GC,1199,-1.30,-116.8,134.4,-10.4,112,1204,0.00,2.33,0.00,0.000,6,0.000,0.021,2717,1746,3487,0,0,0,0,0,0
$GC,1466,-1.34,-116.8,159.0,-8.8,136,1471,0.00,2.45,0.00,0.000,4,0.000,0.032,2717,3308,3488,0,0,0,0,0,0
$GC,1502,-1.43,-116.8,162.8,-9.3,138,1512,0.10,2.55,0.00,0.000,6,0.041,0.034,2672,1742,3487,0,0,0,0,0,0
$GC,1767,-1.38,-116.8,192.1,-11.4,163,1772,0.12,2.65,0.00,0.000,4,0.111,0.064,2698,190,3488,0,0,0,0,0,0
$GC,1801,-1.38,-116.8,196.1,-11.0,165,1811,0.00,2.35,0.00,0.000,6,0.000,0.017,2698,1726,3487,0,0,0,0,0,0
$GC,2053,-1.38,-116.8,220.3,-9.4,175,2057,0.00,2.50,0.00,0.000,4,0.000,0.027,2698,3318,3487,0,0,0,0,0,0
$GC,2127,-1.43,-116.8,226.2,-7.3,176,2131,0.00,2.50,0.00,0.000,6,0.000,0.034,2698,1755,3487,0,0,0,0,0,0
$GC,2377,-1.43,-116.8,246.7,-8.4,182,2378,0.00,0.00,0.00,0.000,6,0.000,0.000,2698,1755,3486,0,0,0,0,0,0
$GC,2621,-1.43,-116.8,267.8,-8.8,188,2625,0.00,2.53,0.00,0.000,4,0.000,0.031,2698,3321,3486,0,0,0,0,0,0
$GC,2671,-1.52,-116.8,272.7,-9.8,189,2676,0.12,2.50,0.00,0.000,6,0.072,0.032,2652,1775,3485,0,0,0,0,0,0
$GC,2945,-1.47,-116.8,301.4,-10.5,196,2947,0.12,0.00,0.00,0.000,6,0.115,0.000,2678,1772,3484,0,0,0,0,0,0
$GC,3187,-1.47,-116.8,322.6,-8.8,202,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1772,3483,0,0,0,0,0,0
$GC,3432,-1.47,-116.8,346.1,-9.7,208,3437,0.00,2.47,0.00,0.000,4,0.000,0.038,2678,3309,3481,0,0,0,0,0,0
$GC,3477,-1.53,-116.8,350.6,-9.0,209,3482,0.00,2.53,0.00,0.000,6,0.000,0.042,2678,1787,3481,0,0,0,0,0,0
$GC,3755,-1.53,-116.8,374.6,-8.5,216,3759,0.00,2.47,0.00,0.000,4,0.000,0.035,2678,3309,3480,0,0,0,0,0,0
$GC,3790,-1.57,-116.8,377.6,-8.4,216,3795,0.00,2.53,0.00,0.000,6,0.000,0.043,2678,1796,3480,0,0,0,0,0,0
$GC,4040,-1.57,-116.8,400.4,-9.5,223,4044,0.00,2.47,0.00,0.000,4,0.000,0.042,2678,3314,3478,0,0,0,0,0,0
$GC,4061,-1.57,-116.8,402.8,-10.6,223,4065,0.00,2.53,0.00,0.000,6,0.000,0.052,2678,1805,3478,0,0,0,0,0,0
$GC,4318,-1.57,-116.8,428.3,-10.0,230,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1805,3477,0,0,0,0,0,0
$GC,4561,-1.57,-116.8,450.9,-9.1,236,4565,0.00,2.97,0.00,0.000,4,0.000,0.100,2678,184,3475,0,0,0,0,0,0
$GC,4576,-1.57,-116.8,452.5,-8.9,236,4581,0.00,2.53,0.00,0.000,6,0.000,0.028,2678,1760,3475,0,0,0,0,0,0
$GC,4837,-1.57,-116.8,475.2,-8.7,243,4838,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1760,3473,0,0,0,0,0,0
$GC,5083,-1.57,-116.8,499.4,-9.9,249,5084,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1760,3472,0,0,0,0,0,0
$STATE,5119,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5119,begin apogee
$GC,5125,-0.31,0.0,503.3,9.8,250,5227,1.15,0.00,98.47,0.932,6,0.084,0.000,2932,1834,3001,0,0,0,0,0,0
$STATE,5228,end apogee,CONTROL_FINISHED_OK
$STATE,5228,begin climb
$GC,5230,1.38,116.8,505.3,0.0,252,5344,1.50,2.78,102.07,0.907,4,0.045,0.066,3303,3392,2523,0,0,0,0,0,0
$GC,5367,1.33,167.0,503.0,7.1,255,5417,0.00,2.72,44.78,0.884,6,0.000,0.058,3302,1822,2320,0,0,0,0,0,0
$GC,5679,1.25,180.1,473.2,9.3,263,5694,0.15,0.00,12.18,0.810,6,0.147,0.000,3274,1822,2266,0,0,0,0,0,0
$GC,5923,1.26,194.8,451.5,9.2,269,5942,0.00,3.08,14.18,0.825,4,0.000,0.107,3274,230,2205,0,0,0,0,0,0
$GC,5962,1.19,194.8,447.7,11.1,270,5966,0.00,2.60,0.00,0.000,6,0.000,0.031,3273,1817,2202,0,0,0,0,0,0
$GC,6245,1.19,194.8,416.4,11.1,277,6249,0.00,2.85,0.00,0.000,4,0.000,0.077,3274,229,2199,0,0,0,0,0,0
$GC,6261,1.14,194.8,414.5,11.5,277,6266,0.12,2.58,0.00,0.000,6,0.136,0.031,3250,1812,2199,0,0,0,0,0,0
$GC,6524,1.15,201.2,388.6,9.7,284,6535,0.00,2.70,6.07,0.688,4,0.000,0.046,3250,3414,2180,0,0,0,0,0,0
$GC,6591,1.23,205.0,381.9,9.8,285,6602,0.00,2.72,5.18,0.641,6,0.000,0.051,3250,1809,2165,0,0,0,0,0,0
$GC,6847,1.29,230.4,359.8,8.6,291,6877,0.12,2.70,23.98,0.826,4,0.091,0.037,3282,3417,2061,0,0,0,0,0,0
$GC,6901,1.30,235.9,354.8,9.7,292,6914,0.00,2.70,6.40,0.673,6,0.000,0.049,3282,1828,2039,0,0,0,0,0,0
$GC,7177,1.31,239.9,327.5,9.8,299,7187,0.00,2.62,4.78,0.600,4,0.000,0.037,3283,3418,2022,0,0,0,0,0,0
$GC,7206,1.31,240.2,324.9,10.0,299,7210,0.00,2.67,0.00,0.000,6,0.000,0.044,3282,1838,2021,0,0,0,0,0,0
$GC,7456,1.32,255.5,301.5,9.2,305,7477,0.00,2.90,15.48,0.770,4,0.000,0.081,3282,230,1959,0,0,0,0,0,0
$GC,7499,1.28,255.5,297.0,11.3,306,7504,0.00,2.60,0.00,0.000,6,0.000,0.026,3282,1845,1957,0,0,0,0,0,0
$GC,7778,1.29,264.6,270.6,9.5,313,7792,0.00,2.58,9.10,0.704,4,0.000,0.036,3283,3400,1922,0,0,0,0,0,0
$GC,7810,1.35,276.1,267.1,9.4,313,7830,0.00,2.65,12.20,0.723,6,0.000,0.039,3283,1822,1875,0,0,0,0,0,0
$GC,8111,1.35,276.1,236.0,10.4,321,8115,0.00,2.80,0.00,0.000,4,0.000,0.076,3282,239,1869,0,0,0,0,0,0
$GC,8154,1.35,276.1,230.8,11.5,322,8158,0.00,2.55,0.00,0.000,6,0.000,0.021,3282,1841,1868,0,0,0,0,0,0
$GC,8433,1.41,292.9,204.2,9.1,329,8451,0.10,0.00,15.52,0.704,6,0.097,0.000,3308,1843,1805,0,0,0,0,0,0
$GC,8688,1.41,292.9,177.0,10.9,350,8693,0.00,0.00,0.00,0.000,6,0.000,0.000,3308,1843,1802,0,0,0,0,0,0
$GC,8953,1.41,292.9,148.6,10.2,375,8958,0.00,2.80,0.00,0.000,4,0.000,0.071,3308,238,1801,0,0,0,0,0,0
$GC,8995,1.37,292.9,143.5,11.8,378,9000,0.00,2.47,0.00,0.000,6,0.000,0.026,3308,1818,1799,0,0,0,0,0,0
$GC,9258,1.37,294.0,116.2,10.0,402,9259,0.00,0.00,0.00,0.000,6,0.000,0.000,3309,1820,1799,0,0,0,0,0,0
$GC,9511,1.47,338.2,94.4,7.5,426,9558,0.00,2.62,39.65,0.631,4,0.000,0.035,3309,3389,1621,0,0,0,0,0,0
$GC,9583,1.59,338.4,88.1,10.0,432,9588,0.17,2.65,0.00,0.000,6,0.079,0.036,3351,1796,1620,0,0,0,0,0,0
$GC,9848,1.62,363.6,60.6,8.6,456,9876,0.00,2.75,22.20,0.581,4,0.000,0.061,3352,237,1518,0,0,0,0,0,0
$GC,9920,1.62,363.6,52.9,11.1,461,9929,0.00,2.50,0.00,0.000,6,0.000,0.021,3352,1806,1516,0,0,0,0,0,0
$GC,10197,1.62,363.6,24.9,11.6,489,10206,0.00,2.72,0.00,0.000,4,0.000,0.064,3351,244,1514,0,0,0,0,0,0
$GC,10216,1.62,363.6,22.1,11.6,491,10225,0.00,2.45,0.00,0.000,6,0.000,0.020,3351,1799,1514,0,0,0,0,0,0
$STATE,10377,end climb,SURFACE_DEPTH_REACHED
$STATE,10378,begin surface coast
$FINISH,0.4,1.010979
$STATE,10437,end surface coast,CONTROL_FINISHED_OK
$STATE,10437,begin surface
$SM_CCo,10458,47.12,0.532,0,0,1288,420.20
$SM_GC,1.13,0.00,0.00,47.12,0.000,0.000,0.532,477,1801,1288,-11.61,0.88,420.20
$IRIDIUM_FIX,2246.36,-15740.63,180100,171717
$TT8_MAMPS,0.026078
$HUMID,56.53
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.30
$XPDR_PINGS,98
$24V_AH,23.3,67.899
$10V_AH,10.0,64.533
$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,27.050,130.300,432.225,47.125,0.000,28.753,33.428,255.621,24.500,0.000,14.383,1061.522,6791.342,525.523,1955.362,625.205,33.362,1276.280,0.000,1958.409,0.000,0.534,0.000
$DEVICE_MAMPS,147.264,106.613,931.905,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,353.446,296.810,403.358,767.532,1156.233,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,41669,522
$CAP_FILE_SIZE,113567,0
$CFSIZE,260165632,153710592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,241010,232522,2257.418,-15742.855,11,99.0,30,10.1