version: 66.06
glider: 146
mission: 5
dive: 508
start: 10 27 110 1 52 55
data:
$ID,146
$MISSION,5
$DIVE,508
$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,-259779.16
$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,56
$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
$GPS1,014416,2250.872,-15754.614,30,3.0,49,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.03
$_SM_ANGLEo,-64.0
$GPS2,015200,2250.800,-15754.666,36,1.5,55,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NW
$TGT_LATLONG,2258.000,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.027,0.232
$KALMAN_X,-257199.9,301.8,46.1,284289.4,-352.8
$KALMAN_Y,-600241.6,153.2,-99.5,730236.1,-359.9
$MHEAD_RNG_PITCHd_Wd,356.5,13346,-19.9,-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,-1.39,-115.8,0.0,0.0,0,104,0.00,0.00,-86.20,0.000,2,0.000,0.000,476,1777,3447,0,0,0,0,0,0
$GC,108,-1.39,-116.8,4.1,-8.4,11,127,11.62,2.50,-0.52,0.000,4,0.153,0.035,2688,3350,3478,0,0,0,0,0,0
$GC,217,-1.34,-116.8,26.2,-13.1,26,226,0.00,2.60,0.00,0.000,6,0.000,0.031,2688,1770,3480,0,0,0,0,0,0
$GC,491,-1.25,-116.8,69.5,-13.7,52,496,0.17,2.70,0.00,0.000,4,0.117,0.060,2724,189,3480,0,0,0,0,0,0
$GC,515,-1.25,-116.8,73.1,-10.5,53,524,0.00,2.45,0.00,0.000,6,0.000,0.016,2724,1786,3480,0,0,0,0,0,0
$GC,777,-1.25,-116.8,93.2,-7.4,78,782,0.00,2.40,0.00,0.000,4,0.000,0.024,2724,3318,3481,0,0,0,0,0,0
$GC,848,-1.33,-116.8,97.8,-6.8,83,852,0.00,2.50,0.00,0.000,6,0.000,0.027,2724,1762,3481,0,0,0,0,0,0
$GC,1115,-1.37,-116.8,120.2,-9.0,107,1120,0.10,2.67,0.00,0.000,4,0.086,0.065,2689,198,3482,0,0,0,0,0,0
$GC,1149,-1.37,-116.8,124.0,-11.5,109,1153,0.00,2.38,0.00,0.000,6,0.000,0.021,2688,1778,3482,0,0,0,0,0,0
$GC,1415,-1.37,-116.8,154.0,-11.3,133,1420,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1780,3483,0,0,0,0,0,0
$GC,1678,-1.37,-116.8,182.6,-10.0,158,1682,0.00,2.45,0.00,0.000,4,0.000,0.028,2689,3323,3483,0,0,0,0,0,0
$GC,1723,-1.43,-116.8,187.0,-8.9,161,1729,0.00,2.50,0.00,0.000,6,0.000,0.028,2689,1771,3483,0,0,0,0,0,0
$GC,2014,-1.43,-116.8,210.0,-8.0,180,2019,0.00,2.70,0.00,0.000,4,0.000,0.064,2688,191,3483,0,0,0,0,0,0
$GC,2030,-1.43,-116.8,211.7,-8.3,180,2034,0.00,2.38,0.00,0.000,6,0.000,0.020,2689,1767,3483,0,0,0,0,0,0
$GC,2291,-1.43,-116.8,235.3,-9.1,187,2295,0.00,2.42,0.00,0.000,4,0.000,0.028,2688,3313,3483,0,0,0,0,0,0
$GC,2314,-1.43,-116.8,237.4,-9.2,187,2318,0.00,2.47,0.00,0.000,6,0.000,0.031,2688,1776,3483,0,0,0,0,0,0
$GC,2569,-1.43,-116.8,261.0,-9.4,194,2573,0.00,2.72,0.00,0.000,4,0.000,0.070,2689,196,3482,0,0,0,0,0,0
$GC,2590,-1.43,-116.8,263.4,-10.6,194,2594,0.00,2.40,0.00,0.000,6,0.000,0.018,2688,1755,3482,0,0,0,0,0,0
$GC,2845,-1.43,-116.8,289.3,-10.2,201,2849,0.00,2.55,0.00,0.000,4,0.000,0.037,2688,3350,3482,0,0,0,0,0,0
$GC,2879,-1.48,-116.8,292.5,-9.8,201,2885,0.00,2.55,0.00,0.000,6,0.000,0.038,2689,1774,3482,0,0,0,0,0,0
$GC,3129,-1.48,-116.8,317.0,-9.6,208,3131,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1774,3481,0,0,0,0,0,0
$GC,3373,-1.48,-116.8,339.1,-8.9,214,3377,0.00,2.50,0.00,0.000,4,0.000,0.031,2688,3336,3480,0,0,0,0,0,0
$GC,3430,-1.56,-116.8,344.6,-9.3,215,3435,0.12,2.55,0.00,0.000,6,0.075,0.038,2645,1790,3479,0,0,0,0,0,0
$GC,3697,-1.51,-116.8,373.6,-10.9,222,3703,0.12,2.90,0.00,0.000,4,0.118,0.093,2670,183,3478,0,0,0,0,0,0
$GC,3721,-1.46,-116.8,376.3,-11.5,222,3726,0.00,2.50,0.00,0.000,6,0.000,0.028,2670,1770,3478,0,0,0,0,0,0
$GC,3976,-1.46,-116.8,400.9,-9.3,229,3977,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1770,3477,0,0,0,0,0,0
$GC,4220,-1.46,-116.8,423.7,-9.4,235,4224,0.00,2.60,0.00,0.000,4,0.000,0.052,2670,3349,3475,0,0,0,0,0,0
$GC,4247,-1.46,-116.8,426.5,-9.7,235,4251,0.00,2.65,0.00,0.000,6,0.000,0.054,2670,1782,3475,0,0,0,0,0,0
$GC,4498,-1.46,-116.8,451.3,-10.2,241,4503,0.00,2.97,0.00,0.000,4,0.000,0.107,2670,183,3474,0,0,0,0,0,0
$GC,4519,-1.46,-116.8,454.0,-11.5,241,4524,0.00,2.58,0.00,0.000,6,0.000,0.028,2670,1781,3474,0,0,0,0,0,0
$GC,4774,-1.46,-116.8,481.1,-10.6,248,4775,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1781,3472,0,0,0,0,0,0
$STATE,4975,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4975,begin apogee
$GC,4983,-0.31,0.0,501.2,9.8,253,5085,1.17,0.00,98.53,0.923,6,0.086,0.000,2929,1828,3000,0,0,0,0,0,0
$STATE,5086,end apogee,CONTROL_FINISHED_OK
$STATE,5086,begin climb
$GC,5088,1.39,116.8,503.5,0.0,255,5203,1.55,3.00,102.28,0.899,4,0.040,0.088,3307,232,2523,0,0,0,0,0,0
$GC,5210,1.34,196.5,502.8,5.4,258,5286,0.00,2.62,70.50,0.885,6,0.000,0.033,3307,1804,2199,0,0,0,0,0,0
$GC,5530,1.26,196.5,468.0,11.2,265,5535,0.15,2.75,0.00,0.000,4,0.124,0.058,3277,3407,2190,0,0,0,0,0,0
$GC,5572,1.26,197.3,463.8,10.0,266,5576,0.00,2.72,0.00,0.000,6,0.000,0.054,3277,1818,2188,0,0,0,0,0,0
$GC,5855,1.26,203.2,436.4,9.7,273,5862,0.00,0.00,5.18,0.640,6,0.000,0.000,3277,1818,2172,0,0,0,0,0,0
$GC,6100,1.27,204.1,412.2,10.0,279,6101,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1818,2170,0,0,0,0,0,0
$GC,6342,1.29,221.2,389.7,9.0,285,6366,0.00,2.72,17.52,0.818,4,0.000,0.035,3277,3419,2098,0,0,0,0,0,0
$GC,6385,1.31,240.0,385.9,8.9,286,6410,0.00,2.75,18.45,0.808,6,0.000,0.051,3277,1817,2022,0,0,0,0,0,0
$GC,6673,1.31,240.0,355.9,10.4,293,6674,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1817,2017,0,0,0,0,0,0
$GC,6916,1.31,240.0,329.8,10.8,299,6917,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1817,2015,0,0,0,0,0,0
$GC,7159,1.31,240.0,303.3,10.9,305,7164,0.00,2.62,0.00,0.000,4,0.000,0.036,3277,3426,2014,0,0,0,0,0,0
$GC,7187,1.35,240.0,300.1,11.1,305,7192,0.00,2.67,0.00,0.000,6,0.000,0.044,3277,1824,2014,0,0,0,0,0,0
$GC,7439,1.37,254.5,276.4,9.2,311,7459,0.10,2.67,13.32,0.740,4,0.099,0.037,3303,3416,1962,0,0,0,0,0,0
$GC,7470,1.38,259.2,273.1,9.8,311,7482,0.00,2.62,5.90,0.613,6,0.000,0.040,3303,1842,1944,0,0,0,0,0,0
$GC,7727,1.41,284.7,250.6,8.6,318,7753,0.00,0.00,24.10,0.747,6,0.000,0.000,3304,1842,1840,0,0,0,0,0,0
$GC,7969,1.41,284.7,225.5,10.8,324,7970,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1842,1836,0,0,0,0,0,0
$GC,8213,1.41,284.7,197.6,11.5,330,8217,0.00,2.83,0.00,0.000,4,0.000,0.072,3304,239,1834,0,0,0,0,0,0
$GC,8233,1.41,284.7,195.6,11.5,331,8237,0.00,2.60,0.00,0.000,6,0.000,0.021,3304,1885,1833,0,0,0,0,0,0
$GC,8501,1.41,284.7,166.3,11.1,355,8505,0.00,2.47,0.00,0.000,4,0.000,0.037,3303,3419,1832,0,0,0,0,0,0
$GC,8529,1.46,284.7,162.5,10.4,357,8534,0.00,2.60,0.00,0.000,6,0.000,0.041,3304,1847,1831,0,0,0,0,0,0
$GC,8797,1.46,284.7,135.3,10.2,381,8802,0.00,2.78,0.00,0.000,4,0.000,0.067,3303,241,1831,0,0,0,0,0,0
$GC,8818,1.46,284.7,132.0,11.3,382,8828,0.00,2.62,0.00,0.000,6,0.000,0.022,3303,1886,1831,0,0,0,0,0,0
$GC,9085,1.48,299.5,106.7,9.2,407,9104,0.00,0.00,13.25,0.613,6,0.000,0.000,3303,1887,1779,0,0,0,0,0,0
$GC,9364,1.52,299.5,79.0,10.5,433,9373,0.12,0.00,0.00,0.000,6,0.084,0.000,3337,1887,1776,0,0,0,0,0,0
$GC,9632,1.65,362.5,54.0,6.4,458,9693,0.10,2.50,54.95,0.592,4,0.139,0.028,3363,3427,1522,0,0,0,0,0,0
$GC,9760,1.72,362.5,40.9,11.7,467,9765,0.00,2.62,0.00,0.000,6,0.000,0.033,3364,1839,1520,0,0,0,0,0,0
$GC,10072,1.72,362.5,6.5,10.5,505,10080,0.00,0.00,0.00,0.000,6,0.000,0.000,3364,1839,1517,0,0,0,0,0,0
$STATE,10095,end climb,SURFACE_DEPTH_REACHED
$STATE,10095,begin surface coast
$FINISH,0.3,1.013652
$STATE,10138,end surface coast,CONTROL_FINISHED_OK
$STATE,10138,begin surface
$SM_CCo,10160,48.35,0.535,0,0,1288,420.20
$SM_GC,0.97,0.00,0.00,48.35,0.000,0.000,0.535,475,1748,1288,-11.62,-0.65,420.20
$IRIDIUM_FIX,2241.69,-15754.99,200100,222211
$TT8_MAMPS,0.026078
$HUMID,56.02
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,19.70
$XPDR_PINGS,127
$24V_AH,23.3,70.274
$10V_AH,9.9,66.608
$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,27.175,114.950,423.975,48.350,0.000,30.405,33.884,198.881,31.750,0.000,56.490,1008.480,6665.887,514.038,1901.318,584.771,33.370,1216.105,0.000,1867.669,0.000,0.534,0.000
$DEVICE_MAMPS,152.633,161.837,922.701,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.821,288.236,400.186,760.409,1150.312,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,41540,514
$CAP_FILE_SIZE,103152,0
$CFSIZE,260165632,152694784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,271010,044425,2251.864,-15754.544,39,1.8,39,10.1