version: 66.06
glider: 146
mission: 5
dive: 520
start: 10 28 110 16 19 26
data:
$ID,146
$MISSION,5
$DIVE,520
$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,-260142.36
$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,35
$R_STBD_OVSHOOT,57
$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
$GPS1,160300,2255.426,-15749.185,51,1.5,51,10.1
$_CALLS,2
$_XMS_NAKs,30
$_XMS_TOUTs,2
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-66.5
$GPS2,161832,2255.566,-15749.172,12,1.8,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.122,-0.201
$KALMAN_X,-259979.6,-382.6,98.3,297150.8,-199.6
$KALMAN_Y,-593561.9,268.8,-206.9,732364.4,1001.2
$MHEAD_RNG_PITCHd_Wd,138.6,17256,-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,-78.80,0.000,2,0.000,0.000,478,1751,3238,0,0,0,0,0,0
$GC,102,-1.38,-116.8,3.1,-5.6,10,127,11.85,0.00,-4.75,0.000,6,0.160,0.000,2691,1752,3480,0,0,0,0,0,0
$GC,409,-1.25,-116.8,54.2,-14.0,46,414,0.17,2.53,0.00,0.000,4,0.126,0.024,2725,3348,3481,0,0,0,0,0,0
$GC,431,-1.16,-116.8,57.2,-13.8,47,437,0.10,2.55,0.00,0.000,6,0.130,0.028,2744,1769,3482,0,0,0,0,0,0
$GC,698,-1.20,-116.8,85.4,-9.4,71,703,0.00,2.45,0.00,0.000,4,0.000,0.023,2744,3338,3482,0,0,0,0,0,0
$GC,755,-1.32,-116.8,90.8,-10.3,75,760,0.15,2.45,0.00,0.000,6,0.063,0.025,2695,1805,3482,0,0,0,0,0,0
$GC,1023,-1.32,-116.8,114.0,-8.9,99,1027,0.00,2.75,0.00,0.000,4,0.000,0.064,2695,191,3482,0,0,0,0,0,0
$GC,1054,-1.32,-116.8,117.6,-11.1,101,1059,0.00,2.45,0.00,0.000,6,0.000,0.019,2694,1809,3483,0,0,0,0,0,0
$GC,1322,-1.32,-116.8,144.8,-10.5,125,1326,0.00,2.38,0.00,0.000,4,0.000,0.032,2695,3321,3483,0,0,0,0,0,0
$GC,1392,-1.37,-116.8,153.2,-10.2,130,1397,0.00,2.42,0.00,0.000,6,0.000,0.028,2695,1809,3483,0,0,0,0,0,0
$GC,1656,-1.37,-116.8,179.8,-10.0,155,1661,0.00,2.75,0.00,0.000,4,0.000,0.069,2695,193,3483,0,0,0,0,0,0
$GC,1688,-1.37,-116.8,183.2,-10.4,157,1693,0.00,2.47,0.00,0.000,6,0.000,0.021,2695,1809,3483,0,0,0,0,0,0
$GC,1960,-1.37,-116.8,207.9,-8.8,176,1964,0.00,2.78,0.00,0.000,4,0.000,0.063,2695,192,3483,0,0,0,0,0,0
$GC,1986,-1.37,-116.8,210.8,-9.4,176,1991,0.00,2.45,0.00,0.000,6,0.000,0.016,2695,1818,3483,0,0,0,0,0,0
$GC,2237,-1.37,-116.8,233.5,-9.1,182,2241,0.00,2.38,0.00,0.000,4,0.000,0.028,2695,3324,3483,0,0,0,0,0,0
$GC,2260,-1.37,-116.8,235.7,-8.9,182,2265,0.00,2.42,0.00,0.000,6,0.000,0.034,2695,1819,3483,0,0,0,0,0,0
$GC,2515,-1.37,-116.8,261.3,-10.2,189,2520,0.00,2.80,0.00,0.000,4,0.000,0.073,2694,197,3482,0,0,0,0,0,0
$GC,2538,-1.37,-116.8,263.6,-10.2,189,2542,0.00,2.47,0.00,0.000,6,0.000,0.018,2695,1794,3482,0,0,0,0,0,0
$GC,2793,-1.37,-116.8,287.6,-9.1,196,2797,0.00,2.47,0.00,0.000,4,0.000,0.031,2695,3342,3481,0,0,0,0,0,0
$GC,2839,-1.45,-116.8,292.2,-9.9,197,2843,0.00,2.47,0.00,0.000,6,0.000,0.032,2695,1824,3481,0,0,0,0,0,0
$GC,3117,-1.45,-116.8,318.5,-9.4,204,3118,0.00,0.00,0.00,0.000,6,0.000,0.000,2694,1825,3480,0,0,0,0,0,0
$GC,3362,-1.49,-116.8,338.6,-7.9,210,3367,0.00,2.42,0.00,0.000,4,0.000,0.033,2695,3338,3478,0,0,0,0,0,0
$GC,3385,-1.54,-116.8,340.5,-8.0,210,3390,0.12,2.47,0.00,0.000,6,0.073,0.038,2653,1835,3478,0,0,0,0,0,0
$GC,3640,-1.49,-116.8,366.0,-10.5,217,3646,0.10,2.97,0.00,0.000,4,0.128,0.093,2673,189,3476,0,0,0,0,0,0
$GC,3664,-1.49,-116.8,368.6,-10.7,217,3668,0.00,2.55,0.00,0.000,6,0.000,0.024,2673,1814,3476,0,0,0,0,0,0
$GC,3919,-1.49,-116.8,392.4,-9.3,224,3923,0.00,2.50,0.00,0.000,4,0.000,0.048,2673,3356,3475,0,0,0,0,0,0
$GC,3947,-1.49,-116.8,394.9,-9.3,224,3952,0.00,2.53,0.00,0.000,6,0.000,0.050,2673,1837,3475,0,0,0,0,0,0
$GC,4199,-1.49,-116.8,417.6,-9.2,230,4200,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1837,3473,0,0,0,0,0,0
$GC,4441,-1.49,-116.8,441.1,-9.6,236,4442,0.00,0.00,0.00,0.000,6,0.000,0.000,2673,1837,3472,0,0,0,0,0,0
$GC,4685,-1.49,-116.8,464.9,-9.9,242,4690,0.00,3.05,0.00,0.000,4,0.000,0.104,2673,199,3470,0,0,0,0,0,0
$GC,4700,-1.49,-116.8,466.7,-10.1,242,4705,0.00,2.65,0.00,0.000,6,0.000,0.035,2673,1830,3470,0,0,0,0,0,0
$GC,4963,-1.49,-116.8,491.6,-9.5,249,4967,0.00,2.53,0.00,0.000,4,0.000,0.064,2673,3342,3469,0,0,0,0,0,0
$GC,5013,-1.55,-116.8,496.7,-9.5,250,5017,0.00,2.53,0.00,0.000,6,0.000,0.052,2673,1855,3468,0,0,0,0,0,0
$STATE,5079,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5079,begin apogee
$GC,5087,-0.31,0.0,503.4,9.8,252,5188,1.17,0.00,97.70,0.923,6,0.086,0.000,2931,1829,3001,0,0,0,0,0,0
$STATE,5189,end apogee,CONTROL_FINISHED_OK
$STATE,5189,begin climb
$GC,5192,1.38,116.8,506.5,0.0,254,5304,1.58,2.70,102.68,0.901,4,0.044,0.056,3310,3394,2523,0,0,0,0,0,0
$GC,5334,1.34,187.6,507.3,5.9,258,5406,0.00,2.72,62.83,0.884,6,0.000,0.058,3310,1824,2234,0,0,0,0,0,0
$GC,5650,1.23,187.6,476.6,10.2,266,5655,0.20,2.62,0.00,0.000,4,0.179,0.038,3271,3393,2225,0,0,0,0,0,0
$GC,5741,1.25,198.8,468.1,9.4,268,5756,0.00,2.70,9.52,0.771,6,0.000,0.061,3271,1836,2189,0,0,0,0,0,0
$GC,6019,1.26,211.1,442.4,9.3,275,6038,0.00,3.12,12.05,0.802,4,0.000,0.108,3270,233,2140,0,0,0,0,0,0
$GC,6075,1.19,211.1,436.5,11.7,276,6079,0.00,2.60,0.00,0.000,6,0.000,0.026,3270,1827,2138,0,0,0,0,0,0
$GC,6347,1.22,236.7,412.6,8.6,283,6376,0.00,2.95,24.05,0.841,4,0.000,0.084,3270,231,2035,0,0,0,0,0,0
$GC,6399,1.17,236.7,407.9,10.3,284,6403,0.00,2.60,0.00,0.000,6,0.000,0.025,3270,1825,2033,0,0,0,0,0,0
$GC,6667,1.17,236.7,380.4,10.7,291,6671,0.00,2.62,0.00,0.000,4,0.000,0.042,3270,3415,2030,0,0,0,0,0,0
$GC,6697,1.20,236.7,376.9,11.4,291,6701,0.00,2.70,0.00,0.000,6,0.000,0.049,3270,1828,2029,0,0,0,0,0,0
$GC,6946,1.20,236.7,350.3,10.5,297,6951,0.00,2.88,0.00,0.000,4,0.000,0.084,3270,233,2028,0,0,0,0,0,0
$GC,6975,1.16,236.7,347.2,11.2,297,6979,0.00,2.58,0.00,0.000,6,0.000,0.022,3271,1843,2027,0,0,0,0,0,0
$GC,7225,1.16,237.7,322.0,10.0,303,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,3270,1844,2027,0,0,0,0,0,0
$GC,7469,1.17,246.1,298.2,9.6,309,7483,0.00,2.58,8.60,0.710,4,0.000,0.038,3271,3394,1996,0,0,0,0,0,0
$GC,7514,1.26,246.2,293.8,10.0,310,7519,0.00,2.62,0.00,0.000,6,0.000,0.044,3271,1827,1995,0,0,0,0,0,0
$GC,7798,1.32,262.2,267.2,9.1,317,7819,0.00,2.60,16.10,0.745,4,0.000,0.031,3270,3407,1930,0,0,0,0,0,0
$GC,7849,1.41,266.0,262.6,9.8,318,7860,0.15,2.62,4.80,0.559,6,0.078,0.043,3309,1840,1915,0,0,0,0,0,0
$GC,8121,1.41,266.0,234.1,10.4,325,8126,0.00,2.80,0.00,0.000,4,0.000,0.075,3309,241,1913,0,0,0,0,0,0
$GC,8143,1.35,266.0,231.7,11.3,325,8147,0.00,2.58,0.00,0.000,6,0.000,0.026,3308,1858,1912,0,0,0,0,0,0
$GC,8399,1.35,273.3,207.5,9.6,332,8409,0.00,0.00,7.68,0.635,6,0.000,0.000,3309,1860,1886,0,0,0,0,0,0
$GC,8649,1.35,273.3,182.1,10.1,350,8653,0.00,2.85,0.00,0.000,4,0.000,0.068,3309,239,1884,0,0,0,0,0,0
$GC,8700,1.31,273.3,176.3,12.1,354,8705,0.12,2.55,0.00,0.000,6,0.126,0.027,3285,1847,1883,0,0,0,0,0,0
$GC,8961,1.39,287.2,152.4,9.2,378,8984,0.00,2.88,13.93,0.650,4,0.000,0.064,3284,233,1827,0,0,0,0,0,0
$GC,9007,1.39,287.2,147.6,10.6,382,9012,0.00,2.53,0.00,0.000,6,0.000,0.027,3284,1820,1825,0,0,0,0,0,0
$GC,9272,1.46,303.7,124.7,9.1,406,9297,0.15,2.62,15.25,0.627,4,0.077,0.031,3324,3390,1761,0,0,0,0,0,0
$GC,9321,1.46,303.7,119.0,11.3,410,9326,0.00,2.62,0.00,0.000,6,0.000,0.037,3324,1814,1760,0,0,0,0,0,0
$GC,9585,1.46,303.7,91.5,10.7,434,9590,0.00,2.72,0.00,0.000,4,0.000,0.071,3324,240,1758,0,0,0,0,0,0
$GC,9643,1.42,303.7,84.3,11.1,438,9652,0.00,2.50,0.00,0.000,6,0.000,0.025,3324,1811,1757,0,0,0,0,0,0
$GC,9911,1.54,344.3,59.6,7.7,463,9951,0.00,0.00,35.65,0.591,6,0.000,0.000,3324,1812,1596,0,0,0,0,0,0
$GC,10210,1.64,354.0,31.5,9.5,491,10225,0.15,2.75,9.18,0.509,4,0.071,0.058,3365,234,1556,0,0,0,0,0,0
$GC,10257,1.60,354.0,26.0,12.4,496,10266,0.00,2.50,0.00,0.000,6,0.000,0.020,3365,1808,1555,0,0,0,0,0,0
$STATE,10433,end climb,SURFACE_DEPTH_REACHED
$STATE,10434,begin surface coast
$FINISH,0.5,1.023458
$STATE,10476,end surface coast,CONTROL_FINISHED_OK
$STATE,10476,begin surface
$SM_CCo,10500,54.92,0.534,0,0,1287,420.20
$SM_GC,1.10,0.00,0.00,54.92,0.000,0.000,0.534,471,1743,1287,-11.63,-0.76,420.20
$IRIDIUM_FIX,2248.70,-15748.01,220100,161609
$TT8_MAMPS,0.026078
$HUMID,56.57
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.10
$XPDR_PINGS,97
$24V_AH,23.3,72.037
$10V_AH,9.9,68.114
$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,27.850,146.875,420.000,54.925,0.000,59.022,78.175,570.128,24.250,0.000,14.358,1086.954,6856.889,522.063,1970.821,1049.327,33.373,1288.096,0.000,1974.844,0.000,0.535,0.000
$DEVICE_MAMPS,178.711,250.042,923.468,533.832,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,356.767,306.766,408.289,776.462,1173.886,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,41716,527
$CAP_FILE_SIZE,125530,0
$CFSIZE,260165632,151953408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,281010,191807,2255.337,-15748.464,125,0.9,125,10.1