version: 66.06
glider: 146
mission: 5
dive: 507
start: 10 26 110 22 48 46
data:
$ID,146
$MISSION,5
$DIVE,507
$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,-259722.05
$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,39
$R_STBD_OVSHOOT,32
$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
$GPS1,223907,2249.836,-15754.384,59,1.3,59,10.1
$_CALLS,1
$_XMS_NAKs,20
$_XMS_TOUTs,4
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-67.1
$GPS2,224749,2249.774,-15754.353,14,1.3,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.034,0.232
$KALMAN_X,-257196.5,276.2,253.4,284639.7,180.6
$KALMAN_Y,-600526.9,507.3,240.8,727929.9,-193.7
$MHEAD_RNG_PITCHd_Wd,341.6,15275,-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,15,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-86.18,0.000,2,0.000,0.000,480,1750,3471,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.4,-8.9,11,125,11.70,2.58,0.00,0.000,4,0.156,0.021,2690,3378,3473,0,0,0,0,0,0
$GC,182,-1.32,-116.8,23.9,-14.1,21,192,0.05,2.60,0.00,0.000,6,0.121,0.029,2704,1789,3474,0,0,0,0,0,0
$GC,463,-1.28,-116.8,61.3,-10.3,49,467,0.00,2.70,0.00,0.000,4,0.000,0.058,2704,193,3475,0,0,0,0,0,0
$GC,496,-1.28,-116.8,65.6,-12.4,51,501,0.00,2.45,0.00,0.000,6,0.000,0.015,2704,1817,3475,0,0,0,0,0,0
$GC,765,-1.28,-116.8,92.4,-9.5,75,769,0.00,2.33,0.00,0.000,4,0.000,0.031,2704,3311,3476,0,0,0,0,0,0
$GC,784,-1.28,-116.8,94.7,-9.3,76,788,0.00,2.50,0.00,0.000,6,0.000,0.034,2704,1753,3476,0,0,0,0,0,0
$GC,1049,-1.28,-116.8,117.0,-8.1,100,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1751,3477,0,0,0,0,0,0
$GC,1314,-1.28,-116.8,139.5,-8.3,125,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1751,3478,0,0,0,0,0,0
$GC,1577,-1.28,-116.8,163.7,-9.0,150,1581,0.00,2.45,0.00,0.000,4,0.000,0.031,2704,3310,3478,0,0,0,0,0,0
$GC,1624,-1.34,-116.8,168.4,-9.2,153,1633,0.00,2.53,0.00,0.000,6,0.000,0.035,2704,1759,3478,0,0,0,0,0,0
$GC,1892,-1.34,-116.8,191.8,-8.2,178,1897,0.00,2.70,0.00,0.000,4,0.000,0.064,2704,190,3478,0,0,0,0,0,0
$GC,1936,-1.34,-116.8,196.1,-9.6,181,1941,0.00,2.38,0.00,0.000,6,0.000,0.016,2704,1763,3478,0,0,0,0,0,0
$GC,2188,-1.34,-116.8,217.6,-8.3,190,2193,0.00,2.45,0.00,0.000,4,0.000,0.033,2704,3324,3478,0,0,0,0,0,0
$GC,2224,-1.42,-116.8,220.7,-9.2,190,2229,0.00,2.50,0.00,0.000,6,0.000,0.035,2704,1775,3478,0,0,0,0,0,0
$GC,2474,-1.46,-116.8,243.4,-9.4,197,2478,0.00,2.45,0.00,0.000,4,0.000,0.026,2704,3324,3477,0,0,0,0,0,0
$GC,2497,-1.52,-116.8,245.5,-9.0,197,2502,0.15,2.50,0.00,0.000,6,0.065,0.037,2653,1783,3477,0,0,0,0,0,0
$GC,2754,-1.47,-116.8,274.0,-11.5,204,2759,0.12,2.78,0.00,0.000,4,0.115,0.077,2679,192,3476,0,0,0,0,0,0
$GC,2781,-1.47,-116.8,277.6,-11.6,204,2785,0.00,2.42,0.00,0.000,6,0.000,0.026,2679,1760,3476,0,0,0,0,0,0
$GC,3031,-1.47,-116.8,302.9,-9.9,210,3036,0.00,2.53,0.00,0.000,4,0.000,0.033,2679,3350,3475,0,0,0,0,0,0
$GC,3094,-1.53,-116.8,308.9,-9.4,211,3099,0.00,2.53,0.00,0.000,6,0.000,0.040,2679,1803,3475,0,0,0,0,0,0
$GC,3356,-1.53,-116.8,333.2,-9.4,218,3360,0.00,2.88,0.00,0.000,4,0.000,0.090,2679,186,3474,0,0,0,0,0,0
$GC,3377,-1.53,-116.8,335.4,-9.9,218,3381,0.00,2.53,0.00,0.000,6,0.000,0.020,2679,1799,3474,0,0,0,0,0,0
$GC,3634,-1.53,-116.8,360.4,-10.0,225,3638,0.00,2.83,0.00,0.000,4,0.000,0.077,2679,190,3472,0,0,0,0,0,0
$GC,3660,-1.53,-116.8,363.7,-11.2,225,3665,0.00,2.50,0.00,0.000,6,0.000,0.023,2679,1787,3472,0,0,0,0,0,0
$GC,3911,-1.53,-116.8,388.8,-9.8,231,3915,0.00,2.55,0.00,0.000,4,0.000,0.041,2679,3353,3471,0,0,0,0,0,0
$GC,3945,-1.57,-116.8,392.0,-10.1,231,3953,0.00,2.58,0.00,0.000,6,0.000,0.051,2679,1805,3471,0,0,0,0,0,0
$GC,4195,-1.57,-116.8,415.2,-9.1,238,4200,0.00,2.97,0.00,0.000,4,0.000,0.095,2679,177,3469,0,0,0,0,0,0
$GC,4228,-1.57,-116.8,418.5,-9.8,238,4234,0.00,2.58,0.00,0.000,6,0.000,0.030,2679,1785,3469,0,0,0,0,0,0
$GC,4480,-1.57,-116.8,441.4,-9.2,245,4484,0.00,2.88,0.00,0.000,4,0.000,0.082,2679,179,3468,0,0,0,0,0,0
$GC,4506,-1.57,-116.8,444.6,-11.0,245,4511,0.00,2.58,0.00,0.000,6,0.000,0.035,2679,1771,3468,0,0,0,0,0,0
$GC,4757,-1.57,-116.8,470.1,-10.4,251,4761,0.00,2.65,0.00,0.000,4,0.000,0.059,2679,3358,3466,0,0,0,0,0,0
$GC,4780,-1.61,-116.8,472.6,-11.2,251,4785,0.12,2.70,0.00,0.000,6,0.072,0.054,2635,1771,3465,0,0,0,0,0,0
$STATE,5033,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5033,begin apogee
$GC,5039,-0.31,0.0,504.0,12.2,258,5140,1.35,0.00,96.85,0.931,6,0.092,0.000,2928,1839,3001,0,0,0,0,0,0
$STATE,5141,end apogee,CONTROL_FINISHED_OK
$STATE,5141,begin climb
$GC,5143,1.38,116.8,507.5,0.0,260,5251,1.55,0.00,103.20,0.909,6,0.042,0.000,3306,1839,2524,0,0,0,0,0,0
$GC,5472,1.31,156.9,492.9,7.7,268,5514,0.10,2.67,35.20,0.883,4,0.138,0.051,3287,3382,2360,0,0,0,0,0,0
$GC,5662,1.27,173.4,475.2,9.1,272,5683,0.00,2.70,15.40,0.835,6,0.000,0.058,3287,1822,2294,0,0,0,0,0,0
$GC,5934,1.23,185.8,449.8,9.3,279,5953,0.00,2.70,11.98,0.810,4,0.000,0.042,3287,3391,2242,0,0,0,0,0,0
$GC,5972,1.22,212.9,446.5,8.5,279,6004,0.00,2.72,25.95,0.856,6,0.000,0.056,3287,1820,2132,0,0,0,0,0,0
$GC,6260,1.24,227.0,419.8,9.2,287,6279,0.00,3.05,13.05,0.806,4,0.000,0.102,3287,237,2074,0,0,0,0,0,0
$GC,6303,1.14,227.0,415.4,10.4,288,6308,0.17,2.55,0.00,0.000,6,0.120,0.028,3252,1814,2072,0,0,0,0,0,0
$GC,6589,1.24,275.6,394.4,7.2,295,6636,0.00,0.00,45.12,0.854,6,0.000,0.000,3252,1814,1876,0,0,0,0,0,0
$GC,6871,1.34,303.3,371.0,8.4,302,6902,0.17,2.88,25.23,0.818,4,0.069,0.075,3296,230,1763,0,0,0,0,0,0
$GC,6941,1.27,303.3,362.7,13.9,303,6946,0.00,2.55,0.00,0.000,6,0.000,0.028,3296,1807,1759,0,0,0,0,0,0
$GC,7197,1.27,303.3,331.0,12.3,310,7201,0.00,2.80,0.00,0.000,4,0.000,0.072,3296,231,1757,0,0,0,0,0,0
$GC,7212,1.23,303.3,328.8,12.6,310,7218,0.15,2.53,0.00,0.000,6,0.124,0.026,3267,1807,1756,0,0,0,0,0,0
$GC,7475,1.27,303.3,300.4,10.7,317,7476,0.00,0.00,0.00,0.000,6,0.000,0.000,3267,1807,1755,0,0,0,0,0,0
$GC,7717,1.33,303.3,273.0,11.3,323,7723,0.10,2.78,0.00,0.000,4,0.099,0.069,3294,227,1754,0,0,0,0,0,0
$GC,7759,1.28,303.3,267.5,14.8,324,7764,0.00,2.50,0.00,0.000,6,0.000,0.021,3294,1797,1753,0,0,0,0,0,0
$GC,8043,1.28,303.3,234.8,10.9,331,8047,0.00,2.60,0.00,0.000,4,0.000,0.039,3294,3398,1753,0,0,0,0,0,0
$GC,8058,1.28,303.3,233.0,10.8,331,8062,0.00,2.67,0.00,0.000,6,0.000,0.037,3294,1780,1752,0,0,0,0,0,0
$GC,8319,1.28,303.3,205.0,10.5,338,8320,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1779,1752,0,0,0,0,0,0
$GC,8572,1.28,303.3,179.0,10.1,356,8577,0.00,2.70,0.00,0.000,4,0.000,0.077,3294,240,1751,0,0,0,0,0,0
$GC,8612,1.28,303.3,174.3,12.0,359,8617,0.00,2.47,0.00,0.000,6,0.000,0.024,3294,1806,1750,0,0,0,0,0,0
$GC,8881,1.29,308.4,148.5,9.7,383,8885,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1807,1750,0,0,0,0,0,0
$GC,9142,1.34,315.9,122.1,9.6,408,9160,0.00,2.80,10.12,0.607,4,0.000,0.066,3295,238,1712,0,0,0,0,0,0
$GC,9168,1.35,322.3,119.8,9.7,410,9183,0.00,2.47,7.88,0.571,6,0.000,0.024,3294,1801,1685,0,0,0,0,0,0
$GC,9439,1.42,325.9,93.4,9.8,435,9445,0.00,0.00,4.28,0.449,6,0.000,0.000,3294,1802,1672,0,0,0,0,0,0
$GC,9707,1.53,358.3,70.5,8.2,460,9751,0.17,2.67,29.58,0.604,4,0.071,0.031,3341,3389,1537,0,0,0,0,0,0
$GC,9794,1.63,358.3,60.7,11.3,466,9804,0.00,2.72,0.00,0.000,6,0.000,0.039,3341,1781,1536,0,0,0,0,0,0
$GC,10063,1.68,369.6,35.6,9.4,491,10078,0.10,0.00,10.68,0.532,6,0.097,0.000,3369,1781,1493,0,0,0,0,0,0
$STATE,10324,end climb,SURFACE_DEPTH_REACHED
$STATE,10324,begin surface coast
$FINISH,0.4,1.023566
$STATE,10374,end surface coast,CONTROL_FINISHED_OK
$STATE,10374,begin surface
$SM_CCo,10397,42.45,0.539,0,0,1288,420.20
$SM_GC,0.83,0.00,0.00,42.45,0.000,0.000,0.539,477,1778,1288,-11.61,0.23,420.20
$IRIDIUM_FIX,2239.35,-15751.94,200100,191904
$TT8_MAMPS,0.026078
$HUMID,56.97
$INTERNAL_PRESSURE,9.25817
$TCM_TEMP,19.80
$XPDR_PINGS,133
$24V_AH,23.3,70.149
$10V_AH,9.9,66.492
$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,27.850,131.175,434.500,42.450,0.000,23.069,36.663,295.711,33.250,0.000,33.414,1067.490,6679.622,547.145,1984.319,685.371,33.380,1285.112,0.000,1979.091,0.000,0.534,0.000
$DEVICE_MAMPS,155.701,335.179,931.138,539.201,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,361.449,319.890,420.813,791.623,1198.747,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,41627,534
$CAP_FILE_SIZE,113135,0
$CFSIZE,260165632,152752128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271010,014416,2250.872,-15754.614,30,3.0,49,10.1