version: 66.06
glider: 146
mission: 5
dive: 502
start: 10 26 110 7 0 14
data:
$ID,146
$MISSION,5
$DIVE,502
$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,-259550.92
$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,24
$R_STBD_OVSHOOT,58
$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
$GPS1,064602,2252.300,-15751.558,93,1.1,93,10.1
$_CALLS,2
$_XMS_NAKs,17
$_XMS_TOUTs,2
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-67.0
$GPS2,065919,2252.404,-15751.627,12,1.2,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.116,-0.204
$KALMAN_X,-258293.5,-67.5,-263.8,291285.1,483.6
$KALMAN_Y,-603714.9,-251.3,-268.9,737243.7,1410.8
$MHEAD_RNG_PITCHd_Wd,199.5,7879,-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,-85.05,0.000,2,0.000,0.000,474,1790,3464,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.4,-9.3,11,126,11.57,2.75,-0.22,0.000,4,0.150,0.068,2691,193,3478,0,0,0,0,0,0
$GC,217,-1.26,-116.8,30.5,-19.3,26,226,0.10,2.45,0.00,0.000,6,0.106,0.016,2715,1773,3480,0,0,0,0,0,0
$GC,485,-1.22,-116.8,69.1,-11.1,51,490,0.00,2.70,0.00,0.000,4,0.000,0.058,2715,184,3481,0,0,0,0,0,0
$GC,555,-1.22,-116.8,78.4,-12.2,56,560,0.00,2.38,0.00,0.000,6,0.000,0.016,2715,1742,3481,0,0,0,0,0,0
$GC,820,-1.22,-116.8,104.5,-9.0,80,824,0.00,2.62,0.00,0.000,4,0.000,0.058,2714,186,3481,0,0,0,0,0,0
$GC,842,-1.22,-116.8,106.3,-9.0,81,846,0.00,2.33,0.00,0.000,6,0.000,0.017,2715,1716,3481,0,0,0,0,0,0
$GC,1110,-1.22,-116.8,126.4,-8.4,105,1114,0.00,2.55,0.00,0.000,4,0.000,0.032,2715,3328,3482,0,0,0,0,0,0
$GC,1151,-1.30,-116.8,130.6,-9.4,108,1155,0.00,2.60,0.00,0.000,6,0.000,0.032,2715,1702,3482,0,0,0,0,0,0
$GC,1415,-1.30,-116.8,155.6,-9.1,132,1420,0.00,2.55,0.00,0.000,4,0.000,0.027,2715,3322,3482,0,0,0,0,0,0
$GC,1437,-1.34,-116.8,157.4,-9.0,133,1441,0.00,2.58,0.00,0.000,6,0.000,0.028,2715,1710,3483,0,0,0,0,0,0
$GC,1706,-1.38,-116.8,180.3,-9.1,157,1710,0.00,2.60,0.00,0.000,4,0.000,0.064,2715,189,3483,0,0,0,0,0,0
$GC,1738,-1.38,-116.8,184.5,-10.5,159,1747,0.00,2.35,0.00,0.000,6,0.000,0.017,2714,1717,3483,0,0,0,0,0,0
$GC,2026,-1.42,-116.8,213.0,-9.8,178,2031,0.10,2.58,0.00,0.000,4,0.087,0.033,2679,3327,3483,0,0,0,0,0,0
$GC,2060,-1.42,-116.8,216.7,-11.2,178,2065,0.00,2.60,0.00,0.000,6,0.000,0.031,2679,1721,3482,0,0,0,0,0,0
$GC,2309,-1.42,-116.8,242.3,-10.2,185,2314,0.00,2.55,0.00,0.000,4,0.000,0.028,2679,3321,3482,0,0,0,0,0,0
$GC,2342,-1.42,-116.8,245.6,-9.3,185,2348,0.00,2.55,0.00,0.000,6,0.000,0.031,2679,1747,3482,0,0,0,0,0,0
$GC,2594,-1.42,-116.8,269.3,-9.5,192,2598,0.00,2.67,0.00,0.000,4,0.000,0.071,2679,193,3481,0,0,0,0,0,0
$GC,2615,-1.42,-116.8,271.9,-10.6,192,2619,0.00,2.38,0.00,0.000,6,0.000,0.024,2679,1727,3481,0,0,0,0,0,0
$GC,2876,-1.42,-116.8,296.7,-9.6,199,2880,0.00,2.58,0.00,0.000,4,0.000,0.032,2680,3349,3480,0,0,0,0,0,0
$GC,2899,-1.42,-116.8,298.8,-8.9,199,2904,0.00,2.60,0.00,0.000,6,0.000,0.041,2679,1758,3480,0,0,0,0,0,0
$GC,3154,-1.42,-116.8,322.6,-9.4,206,3159,0.00,2.55,0.00,0.000,4,0.000,0.031,2679,3339,3479,0,0,0,0,0,0
$GC,3176,-1.42,-116.8,324.8,-9.6,206,3180,0.00,2.58,0.00,0.000,6,0.000,0.041,2679,1766,3479,0,0,0,0,0,0
$GC,3431,-1.42,-116.8,351.1,-10.6,213,3432,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1766,3477,0,0,0,0,0,0
$GC,3676,-1.42,-116.8,377.9,-11.0,219,3681,0.00,2.80,0.00,0.000,4,0.000,0.089,2678,192,3476,0,0,0,0,0,0
$GC,3691,-1.42,-116.8,379.9,-10.8,219,3696,0.00,2.47,0.00,0.000,6,0.000,0.028,2679,1759,3476,0,0,0,0,0,0
$GC,3953,-1.42,-116.8,404.6,-9.0,226,3958,0.00,2.60,0.00,0.000,4,0.000,0.042,2679,3363,3474,0,0,0,0,0,0
$GC,3999,-1.48,-116.8,408.3,-7.8,227,4004,0.00,2.65,0.00,0.000,6,0.000,0.048,2679,1780,3474,0,0,0,0,0,0
$GC,4276,-1.48,-116.8,431.6,-8.6,234,4281,0.00,2.92,0.00,0.000,4,0.000,0.100,2679,185,3472,0,0,0,0,0,0
$GC,4303,-1.48,-116.8,434.3,-9.9,234,4308,0.00,2.55,0.00,0.000,6,0.000,0.027,2679,1777,3472,0,0,0,0,0,0
$GC,4555,-1.48,-116.8,457.7,-9.3,240,4560,0.00,2.62,0.00,0.000,4,0.000,0.055,2679,3358,3471,0,0,0,0,0,0
$GC,4596,-1.55,-116.8,461.3,-8.6,241,4600,0.00,2.67,0.00,0.000,6,0.000,0.058,2679,1780,3470,0,0,0,0,0,0
$GC,4881,-1.55,-116.8,483.4,-7.9,248,4885,0.00,2.60,0.00,0.000,4,0.000,0.045,2679,3352,3468,0,0,0,0,0,0
$GC,4930,-1.62,-116.8,487.4,-7.6,249,4936,0.12,2.65,0.00,0.000,6,0.073,0.058,2636,1803,3468,0,0,0,0,0,0
$STATE,5078,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5078,begin apogee
$GC,5084,-0.31,0.0,501.8,9.8,253,5185,1.35,0.00,97.45,0.927,6,0.094,0.000,2930,1803,3000,0,0,0,0,0,0
$STATE,5186,end apogee,CONTROL_FINISHED_OK
$STATE,5186,begin climb
$GC,5190,1.38,116.8,504.1,0.0,255,5302,1.55,3.08,101.80,0.904,4,0.040,0.111,3308,233,2523,0,0,0,0,0,0
$GC,5348,1.17,125.8,501.4,9.5,258,5362,0.25,2.62,8.60,0.760,6,0.120,0.035,3258,1816,2487,0,0,0,0,0,0
$GC,5650,1.24,183.4,480.5,6.7,266,5709,0.00,2.75,51.30,0.889,4,0.000,0.061,3258,3402,2251,0,0,0,0,0,0
$GC,5788,1.27,205.0,468.6,8.8,269,5813,0.00,2.72,19.70,0.844,6,0.000,0.058,3258,1826,2165,0,0,0,0,0,0
$GC,6058,1.28,210.8,442.2,9.7,275,6065,0.00,0.00,5.80,0.677,6,0.000,0.000,3258,1826,2141,0,0,0,0,0,0
$GC,6301,1.29,224.1,419.6,9.3,281,6317,0.10,0.00,13.48,0.813,6,0.100,0.000,3284,1826,2087,0,0,0,0,0,0
$GC,6547,1.29,224.1,393.3,10.8,287,6551,0.00,2.95,0.00,0.000,4,0.000,0.097,3284,231,2082,0,0,0,0,0,0
$GC,6568,1.23,224.1,390.6,11.7,287,6572,0.00,2.58,0.00,0.000,6,0.000,0.026,3284,1842,2081,0,0,0,0,0,0
$GC,6824,1.23,224.1,363.3,10.5,294,6828,0.00,2.53,0.00,0.000,4,0.000,0.034,3284,3400,2080,0,0,0,0,0,0
$GC,6865,1.23,224.1,359.1,11.3,295,6869,0.00,2.65,0.00,0.000,6,0.000,0.050,3283,1829,2079,0,0,0,0,0,0
$GC,7148,1.24,233.1,331.3,9.5,302,7162,0.00,2.90,8.27,0.726,4,0.000,0.084,3284,243,2050,0,0,0,0,0,0
$GC,7185,1.19,233.1,327.3,10.9,302,7191,0.12,2.55,0.00,0.000,6,0.130,0.025,3260,1829,2048,0,0,0,0,0,0
$GC,7436,1.21,254.2,305.7,8.8,309,7462,0.00,2.58,20.12,0.780,4,0.000,0.038,3260,3398,1965,0,0,0,0,0,0
$GC,7501,1.31,254.2,299.3,11.1,310,7506,0.10,2.65,0.00,0.000,6,0.099,0.041,3286,1822,1963,0,0,0,0,0,0
$GC,7758,1.31,254.2,271.3,11.3,317,7763,0.00,2.58,0.00,0.000,4,0.000,0.035,3286,3405,1961,0,0,0,0,0,0
$GC,7774,1.31,254.2,269.4,10.4,317,7779,0.00,2.65,0.00,0.000,6,0.000,0.045,3286,1814,1960,0,0,0,0,0,0
$GC,8041,1.34,278.9,245.5,8.6,324,8071,0.00,2.88,23.00,0.748,4,0.000,0.074,3287,241,1863,0,0,0,0,0,0
$GC,8106,1.34,278.9,239.3,10.1,325,8111,0.00,2.53,0.00,0.000,6,0.000,0.026,3287,1825,1861,0,0,0,0,0,0
$GC,8366,1.34,278.9,213.2,10.3,332,8371,0.00,2.53,0.00,0.000,4,0.000,0.032,3286,3390,1859,0,0,0,0,0,0
$GC,8396,1.41,278.9,210.1,11.2,332,8400,0.00,2.62,0.00,0.000,6,0.000,0.043,3286,1811,1857,0,0,0,0,0,0
$GC,8653,1.45,278.9,181.3,11.3,347,8658,0.12,2.78,0.00,0.000,4,0.089,0.073,3319,239,1857,0,0,0,0,0,0
$GC,8710,1.37,278.9,173.3,13.7,351,8722,0.08,2.47,0.00,0.000,6,0.108,0.026,3302,1793,1856,0,0,0,0,0,0
$GC,8972,1.37,279.9,146.1,10.0,376,8977,0.00,2.70,0.00,0.000,4,0.000,0.067,3301,241,1856,0,0,0,0,0,0
$GC,8995,1.37,279.9,144.2,10.6,377,8999,0.00,2.42,0.00,0.000,6,0.000,0.024,3301,1799,1855,0,0,0,0,0,0
$GC,9263,1.37,279.9,116.0,10.2,401,9267,0.00,2.55,0.00,0.000,4,0.000,0.037,3301,3383,1855,0,0,0,0,0,0
$GC,9318,1.44,284.2,110.2,9.8,405,9329,0.00,2.60,4.88,0.492,6,0.000,0.041,3301,1804,1842,0,0,0,0,0,0
$GC,9586,1.48,284.2,83.8,11.4,430,9591,0.00,2.55,0.00,0.000,4,0.000,0.029,3301,3389,1841,0,0,0,0,0,0
$GC,9620,1.58,284.2,79.6,11.7,432,9630,0.15,2.62,0.00,0.000,6,0.050,0.038,3344,1814,1841,0,0,0,0,0,0
$GC,9890,1.63,322.6,53.7,7.8,457,9930,0.00,2.80,34.97,0.592,4,0.000,0.064,3345,230,1685,0,0,0,0,0,0
$GC,9973,1.63,322.6,45.2,10.3,463,9978,0.00,2.53,0.00,0.000,6,0.000,0.020,3344,1827,1682,0,0,0,0,0,0
$GC,10265,1.63,322.6,17.4,11.0,495,10275,0.00,2.50,0.00,0.000,4,0.000,0.028,3345,3379,1681,0,0,0,0,0,0
$GC,10299,1.69,322.6,13.4,11.7,499,10309,0.08,2.58,0.00,0.000,6,0.053,0.035,3373,1824,1680,0,0,0,0,0,0
$STATE,10386,end climb,SURFACE_DEPTH_REACHED
$STATE,10386,begin surface coast
$FINISH,0.5,1.009747
$STATE,10431,end surface coast,CONTROL_FINISHED_OK
$STATE,10431,begin surface
$SM_CCo,10454,80.57,0.538,0,0,1288,420.20
$SM_GC,0.95,0.00,0.00,80.57,0.000,0.000,0.538,479,1726,1288,-11.60,-1.24,420.20
$IRIDIUM_FIX,2241.69,-15748.90,200100,060605
$TT8_MAMPS,0.026078
$HUMID,55.15
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,19.80
$XPDR_PINGS,121
$24V_AH,23.3,69.430
$10V_AH,9.9,65.876
$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,27.725,162.150,389.375,80.575,0.000,55.770,71.622,444.405,30.250,0.000,30.522,1081.762,6819.445,541.533,1983.907,903.757,33.375,1314.372,0.000,1970.290,0.000,0.534,0.000
$DEVICE_MAMPS,149.565,111.215,926.536,538.434,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.159,303.084,398.119,749.054,1134.554,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355612
$DATA_FILE_SIZE,41531,517
$CAP_FILE_SIZE,124719,0
$CFSIZE,260165632,153034752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,261010,095658,2251.695,-15752.110,8,2.4,27,10.1