version: 66.06
glider: 146
mission: 5
dive: 497
start: 10 25 110 15 23 5
data:
$ID,146
$MISSION,5
$DIVE,497
$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,-259388.38
$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,20
$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
$GPS1,151304,2255.288,-15747.906,29,99.0,48,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-68.0
$GPS2,152210,2255.313,-15747.964,11,99.0,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.137,-0.191
$KALMAN_X,-259644.9,12.6,15.9,298586.5,-186.9
$KALMAN_Y,-607732.4,185.1,-246.7,746196.1,519.6
$MHEAD_RNG_PITCHd_Wd,205.6,16130,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-85.00,0.000,2,0.000,0.000,475,1788,3448,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.3,-9.1,11,125,11.32,2.75,-0.55,0.000,4,0.140,0.067,2691,181,3480,0,0,0,0,0,0
$GC,216,-1.27,-116.8,30.2,-15.6,26,226,0.10,2.47,0.00,0.000,6,0.107,0.016,2715,1766,3482,0,0,0,0,0,0
$GC,484,-1.23,-116.8,65.6,-10.6,51,488,0.00,2.50,0.00,0.000,4,0.000,0.025,2715,3343,3483,0,0,0,0,0,0
$GC,505,-1.23,-116.8,68.3,-10.4,52,510,0.00,2.50,0.00,0.000,6,0.000,0.029,2715,1784,3483,0,0,0,0,0,0
$GC,770,-1.23,-116.8,94.4,-9.6,76,774,0.00,2.67,0.00,0.000,4,0.000,0.063,2715,193,3483,0,0,0,0,0,0
$GC,840,-1.28,-116.8,101.4,-10.2,81,844,0.00,2.45,0.00,0.000,6,0.000,0.015,2715,1801,3484,0,0,0,0,0,0
$GC,1108,-1.31,-116.8,125.4,-9.0,105,1113,0.00,2.75,0.00,0.000,4,0.000,0.058,2715,190,3485,0,0,0,0,0,0
$GC,1130,-1.31,-116.8,128.3,-9.6,106,1139,0.00,2.42,0.00,0.000,6,0.000,0.023,2715,1766,3485,0,0,0,0,0,0
$GC,1398,-1.35,-116.8,149.8,-8.1,131,1403,0.00,2.70,0.00,0.000,4,0.000,0.061,2715,190,3485,0,0,0,0,0,0
$GC,1415,-1.35,-116.8,151.8,-8.3,132,1419,0.00,2.40,0.00,0.000,6,0.000,0.018,2715,1766,3485,0,0,0,0,0,0
$GC,1687,-1.39,-116.8,177.0,-9.9,157,1691,0.00,2.45,0.00,0.000,4,0.000,0.034,2715,3321,3485,0,0,0,0,0,0
$GC,1734,-1.47,-116.8,181.6,-9.2,160,1740,0.15,2.47,0.00,0.000,6,0.064,0.030,2662,1765,3485,0,0,0,0,0,0
$GC,2024,-1.42,-116.8,213.7,-10.8,178,2026,0.12,0.00,0.00,0.000,6,0.114,0.000,2689,1762,3486,0,0,0,0,0,0
$GC,2267,-1.42,-116.8,237.6,-9.6,184,2272,0.00,2.67,0.00,0.000,4,0.000,0.071,2689,197,3485,0,0,0,0,0,0
$GC,2283,-1.42,-116.8,239.5,-9.9,184,2287,0.00,2.40,0.00,0.000,6,0.000,0.017,2689,1758,3485,0,0,0,0,0,0
$GC,2544,-1.42,-116.8,264.1,-9.4,191,2548,0.00,2.53,0.00,0.000,4,0.000,0.030,2689,3342,3485,0,0,0,0,0,0
$GC,2562,-1.42,-116.8,265.8,-9.6,191,2566,0.00,2.55,0.00,0.000,6,0.000,0.037,2689,1762,3484,0,0,0,0,0,0
$GC,2822,-1.42,-116.8,290.7,-9.2,198,2827,0.00,2.75,0.00,0.000,4,0.000,0.081,2689,193,3483,0,0,0,0,0,0
$GC,2878,-1.47,-116.8,295.9,-9.3,199,2882,0.00,2.40,0.00,0.000,6,0.000,0.019,2688,1728,3483,0,0,0,0,0,0
$GC,3146,-1.47,-116.8,317.5,-8.0,206,3150,0.00,2.60,0.00,0.000,4,0.000,0.041,2689,3356,3482,0,0,0,0,0,0
$GC,3201,-1.54,-116.8,322.1,-7.9,207,3207,0.10,2.62,0.00,0.000,6,0.087,0.039,2652,1752,3483,0,0,0,0,0,0
$GC,3470,-1.50,-116.8,348.7,-10.5,214,3472,0.10,0.00,0.00,0.000,6,0.125,0.000,2672,1751,3481,0,0,0,0,0,0
$GC,3712,-1.50,-116.8,373.2,-9.7,220,3717,0.00,2.60,0.00,0.000,4,0.000,0.039,2672,3351,3479,0,0,0,0,0,0
$GC,3739,-1.50,-116.8,376.0,-10.4,220,3743,0.00,2.67,0.00,0.000,6,0.000,0.047,2672,1761,3479,0,0,0,0,0,0
$GC,3989,-1.50,-116.8,402.6,-10.8,226,3993,0.00,2.58,0.00,0.000,4,0.000,0.042,2672,3341,3478,0,0,0,0,0,0
$GC,4023,-1.50,-116.8,406.3,-11.1,226,4028,0.00,2.65,0.00,0.000,6,0.000,0.055,2672,1776,3479,0,0,0,0,0,0
$GC,4275,-1.50,-116.8,431.2,-9.8,233,4279,0.00,2.58,0.00,0.000,4,0.000,0.041,2672,3349,3476,0,0,0,0,0,0
$GC,4290,-1.50,-116.8,433.1,-9.5,233,4295,0.00,2.67,0.00,0.000,6,0.000,0.059,2672,1779,3476,0,0,0,0,0,0
$GC,4553,-1.50,-116.8,455.0,-8.3,240,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1779,3475,0,0,0,0,0,0
$GC,4795,-1.50,-116.8,479.0,-10.3,246,4799,0.00,2.60,0.00,0.000,4,0.000,0.051,2673,3338,3473,0,0,0,0,0,0
$GC,4810,-1.50,-116.8,480.8,-10.8,246,4814,0.00,2.67,0.00,0.000,6,0.000,0.059,2673,1786,3474,0,0,0,0,0,0
$STATE,4987,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4988,begin apogee
$GC,4995,-0.31,0.0,500.8,11.2,251,5097,1.17,0.00,98.25,0.922,6,0.081,0.000,2933,1786,3001,0,0,0,0,0,0
$STATE,5098,end apogee,CONTROL_FINISHED_OK
$STATE,5098,begin climb
$GC,5100,1.38,116.8,504.3,0.0,253,5212,1.52,2.83,101.70,0.901,4,0.045,0.052,3306,3380,2523,0,0,0,0,0,0
$GC,5237,1.34,183.3,504.4,6.2,256,5301,0.00,2.72,58.97,0.885,6,0.000,0.063,3306,1821,2253,0,0,0,0,0,0
$GC,5547,1.25,183.3,470.4,11.7,263,5553,0.17,3.05,0.00,0.000,4,0.120,0.118,3270,233,2243,0,0,0,0,0,0
$GC,5589,1.15,183.3,465.7,12.0,264,5594,0.00,2.55,0.00,0.000,6,0.000,0.035,3271,1801,2241,0,0,0,0,0,0
$GC,5872,1.20,223.9,441.5,7.7,271,5914,0.00,2.78,35.42,0.864,4,0.000,0.050,3271,3412,2087,0,0,0,0,0,0
$GC,5973,1.26,241.7,433.2,9.0,273,5998,0.00,2.78,17.40,0.822,6,0.000,0.057,3271,1808,2014,0,0,0,0,0,0
$GC,6249,1.26,241.7,404.1,11.0,280,6253,0.00,2.92,0.00,0.000,4,0.000,0.098,3271,233,2008,0,0,0,0,0,0
$GC,6270,1.26,241.7,401.3,12.9,280,6275,0.00,2.58,0.00,0.000,6,0.000,0.026,3271,1837,2006,0,0,0,0,0,0
$GC,6527,1.26,241.7,371.9,11.4,287,6528,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1837,2006,0,0,0,0,0,0
$GC,6769,1.26,241.7,346.5,10.0,293,6774,0.00,2.85,0.00,0.000,4,0.000,0.075,3271,231,2004,0,0,0,0,0,0
$GC,6799,1.22,241.7,343.5,10.8,293,6804,0.00,2.55,0.00,0.000,6,0.000,0.023,3271,1825,2003,0,0,0,0,0,0
$GC,7051,1.24,257.0,320.6,9.2,299,7070,0.00,2.62,13.35,0.765,4,0.000,0.034,3271,3393,1952,0,0,0,0,0,0
$GC,7094,1.30,257.0,316.2,10.4,300,7099,0.00,2.67,0.00,0.000,6,0.000,0.043,3271,1809,1951,0,0,0,0,0,0
$GC,7377,1.30,257.0,287.4,10.3,307,7378,0.00,0.00,0.00,0.000,6,0.000,0.000,3271,1809,1949,0,0,0,0,0,0
$GC,7623,1.36,266.4,263.9,9.5,313,7639,0.10,2.85,9.60,0.703,4,0.095,0.075,3298,230,1913,0,0,0,0,0,0
$GC,7689,1.30,266.4,255.5,12.9,314,7694,0.00,2.53,0.00,0.000,6,0.000,0.021,3298,1817,1912,0,0,0,0,0,0
$GC,7944,1.30,268.5,229.1,9.9,321,7949,0.00,2.58,0.00,0.000,4,0.000,0.038,3298,3397,1911,0,0,0,0,0,0
$GC,7996,1.38,273.4,224.0,9.8,322,8011,0.00,2.65,7.40,0.644,6,0.000,0.039,3298,1808,1886,0,0,0,0,0,0
$GC,8272,1.39,281.3,197.7,9.6,329,8287,0.00,2.83,8.40,0.643,4,0.000,0.077,3298,240,1854,0,0,0,0,0,0
$GC,8347,1.39,281.3,189.7,10.8,335,8352,0.00,2.50,0.00,0.000,6,0.000,0.025,3298,1813,1852,0,0,0,0,0,0
$GC,8609,1.39,281.3,163.5,11.5,360,8613,0.00,2.55,0.00,0.000,4,0.000,0.038,3297,3393,1852,0,0,0,0,0,0
$GC,8644,1.47,281.3,159.2,12.6,362,8650,0.00,2.65,0.00,0.000,6,0.000,0.043,3298,1798,1851,0,0,0,0,0,0
$GC,8911,1.51,285.5,133.0,9.8,387,8923,0.12,2.72,5.25,0.521,4,0.081,0.066,3333,239,1835,0,0,0,0,0,0
$GC,8963,1.40,285.5,126.8,12.5,391,8968,0.12,2.47,0.00,0.000,6,0.126,0.025,3307,1805,1834,0,0,0,0,0,0
$GC,9229,1.40,285.5,98.8,10.7,415,9233,0.00,2.72,0.00,0.000,4,0.000,0.064,3307,233,1834,0,0,0,0,0,0
$GC,9250,1.40,285.5,95.7,11.3,416,9259,0.00,2.47,0.00,0.000,6,0.000,0.021,3307,1790,1834,0,0,0,0,0,0
$GC,9518,1.47,300.0,72.0,9.2,441,9538,0.00,0.00,14.35,0.584,6,0.000,0.000,3307,1791,1776,0,0,0,0,0,0
$GC,9797,1.63,352.3,50.6,7.0,467,9852,0.20,2.78,46.05,0.583,4,0.074,0.061,3360,240,1562,0,0,0,0,0,0
$GC,9921,1.63,352.3,38.6,10.3,476,9925,0.00,2.45,0.00,0.000,6,0.000,0.020,3361,1791,1559,0,0,0,0,0,0
$STATE,10240,end climb,SURFACE_DEPTH_REACHED
$STATE,10240,begin surface coast
$FINISH,0.4,1.012610
$STATE,10283,end surface coast,CONTROL_FINISHED_OK
$STATE,10283,begin surface
$SM_CCo,10304,56.05,0.532,0,0,1288,420.20
$SM_GC,1.09,0.00,0.00,56.05,0.000,0.000,0.532,477,1794,1288,-11.61,0.68,420.20
$IRIDIUM_FIX,2248.70,-15748.01,190100,121248
$TT8_MAMPS,0.026078
$HUMID,55.39
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.10
$XPDR_PINGS,122
$24V_AH,23.3,68.741
$10V_AH,9.9,65.274
$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,27.175,141.750,416.150,56.050,0.000,28.014,38.912,310.662,30.500,0.000,32.983,1063.052,6607.548,514.123,2002.774,718.694,33.378,1267.771,0.000,1995.290,0.000,0.534,0.000
$DEVICE_MAMPS,139.594,118.118,921.934,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,353.963,308.237,410.889,789.138,1192.568,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,41446,523
$CAP_FILE_SIZE,114241,0
$CFSIZE,260165632,153341952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,251010,181721,2254.885,-15748.715,35,3.7,54,10.1