version: 66.06
glider: 146
mission: 5
dive: 522
start: 10 28 110 22 42 57
data:
$ID,146
$MISSION,5
$DIVE,522
$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,619.13721
$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,-260181.56
$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,33
$R_STBD_OVSHOOT,52
$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
$GPS1,222301,2255.220,-15747.887,38,1.5,38,10.1
$_CALLS,5
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-66.3
$GPS2,224202,2255.449,-15747.853,19,1.6,19,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.097,-0.214
$KALMAN_X,-259933.6,267.8,-36.4,298859.2,420.2
$KALMAN_Y,-590865.4,913.9,457.4,728141.7,489.6
$MHEAD_RNG_PITCHd_Wd,145.5,15572,-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,-116.8,0.0,0.0,0,96,0.00,0.00,-78.47,0.000,2,0.000,0.000,476,1750,3258,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.2,-5.7,10,127,11.93,2.67,-4.22,0.000,4,0.162,0.069,2691,203,3479,0,0,0,0,0,0
$GC,190,-1.29,-116.8,23.5,-15.3,22,200,0.10,2.45,0.00,0.000,6,0.108,0.017,2714,1776,3480,0,0,0,0,0,0
$GC,471,-1.20,-116.8,62.7,-13.0,50,476,0.10,2.47,0.00,0.000,4,0.136,0.027,2734,3339,3481,0,0,0,0,0,0
$GC,505,-1.20,-116.8,66.7,-11.3,52,510,0.00,2.53,0.00,0.000,6,0.000,0.027,2734,1773,3481,0,0,0,0,0,0
$GC,771,-1.26,-116.8,91.2,-8.5,76,775,0.00,2.67,0.00,0.000,4,0.000,0.059,2734,197,3482,0,0,0,0,0,0
$GC,793,-1.33,-116.8,93.5,-8.4,77,800,0.10,2.42,0.00,0.000,6,0.084,0.019,2697,1789,3482,0,0,0,0,0,0
$GC,1058,-1.33,-116.8,118.4,-9.5,102,1067,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1790,3482,0,0,0,0,0,0
$GC,1323,-1.33,-116.8,143.6,-9.4,127,1328,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1790,3482,0,0,0,0,0,0
$GC,1584,-1.33,-116.8,168.1,-9.2,152,1589,0.00,2.40,0.00,0.000,4,0.000,0.034,2697,3320,3482,0,0,0,0,0,0
$GC,1627,-1.38,-116.8,171.9,-9.3,155,1632,0.00,2.53,0.00,0.000,6,0.000,0.028,2697,1754,3482,0,0,0,0,0,0
$GC,1890,-1.38,-116.8,198.3,-9.8,179,1891,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1751,3482,0,0,0,0,0,0
$GC,2154,-1.38,-116.8,222.5,-8.8,187,2159,0.00,2.47,0.00,0.000,4,0.000,0.031,2697,3317,3481,0,0,0,0,0,0
$GC,2182,-1.38,-116.8,225.3,-9.4,187,2186,0.00,2.50,0.00,0.000,6,0.000,0.030,2697,1775,3482,0,0,0,0,0,0
$GC,2432,-1.38,-116.8,249.4,-9.5,193,2433,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1774,3481,0,0,0,0,0,0
$GC,2677,-1.38,-116.8,271.3,-9.2,199,2682,0.00,2.47,0.00,0.000,4,0.000,0.028,2697,3321,3480,0,0,0,0,0,0
$GC,2728,-1.46,-116.8,276.3,-9.8,200,2732,0.00,2.50,0.00,0.000,6,0.000,0.033,2697,1780,3480,0,0,0,0,0,0
$GC,3000,-1.50,-116.8,302.4,-9.6,207,3005,0.10,2.50,0.00,0.000,4,0.085,0.037,2661,3325,3479,0,0,0,0,0,0
$GC,3052,-1.50,-116.8,307.5,-9.9,208,3056,0.00,2.50,0.00,0.000,6,0.000,0.038,2660,1803,3479,0,0,0,0,0,0
$GC,3323,-1.50,-116.8,336.2,-10.5,215,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1803,3477,0,0,0,0,0,0
$GC,3567,-1.50,-116.8,360.7,-9.8,221,3572,0.00,2.45,0.00,0.000,4,0.000,0.041,2660,3314,3476,0,0,0,0,0,0
$GC,3591,-1.50,-116.8,362.9,-9.4,221,3595,0.00,2.53,0.00,0.000,6,0.000,0.048,2660,1798,3476,0,0,0,0,0,0
$GC,3846,-1.50,-116.8,385.3,-8.9,228,3847,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1798,3474,0,0,0,0,0,0
$GC,4090,-1.50,-116.8,408.4,-9.6,234,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1798,3473,0,0,0,0,0,0
$GC,4335,-1.50,-116.8,434.1,-10.6,240,4336,0.00,0.00,0.00,0.000,6,0.000,0.000,2660,1798,3471,0,0,0,0,0,0
$GC,4577,-1.50,-116.8,458.8,-9.8,246,4582,0.00,2.53,0.00,0.000,4,0.000,0.053,2660,3310,3469,0,0,0,0,0,0
$GC,4633,-1.50,-116.8,463.5,-7.7,247,4637,0.00,2.55,0.00,0.000,6,0.000,0.058,2660,1815,3469,0,0,0,0,0,0
$GC,4901,-1.50,-116.8,484.7,-8.0,254,4905,0.00,2.50,0.00,0.000,4,0.000,0.048,2660,3313,3467,0,0,0,0,0,0
$GC,4940,-1.50,-116.8,488.0,-8.7,255,4945,0.00,2.53,0.00,0.000,6,0.000,0.062,2660,1832,3467,0,0,0,0,0,0
$STATE,5099,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5099,begin apogee
$GC,5105,-0.31,0.0,501.4,8.4,259,5207,1.23,0.00,97.88,0.927,6,0.088,0.000,2928,1832,3001,0,0,0,0,0,0
$STATE,5207,end apogee,CONTROL_FINISHED_OK
$STATE,5208,begin climb
$GC,5212,1.38,116.8,503.1,0.0,261,5322,1.58,0.00,103.12,0.904,6,0.051,0.000,3307,1832,2523,0,0,0,0,0,0
$GC,5590,1.30,155.7,483.4,7.8,271,5632,0.12,2.62,33.80,0.877,4,0.133,0.049,3284,3356,2366,0,0,0,0,0,0
$GC,5669,1.28,172.6,477.0,9.1,272,5691,0.00,2.65,16.35,0.831,6,0.000,0.064,3284,1827,2297,0,0,0,0,0,0
$GC,5966,1.24,183.9,449.2,9.4,280,5982,0.00,2.58,11.10,0.794,4,0.000,0.041,3284,3368,2250,0,0,0,0,0,0
$GC,6034,1.24,183.9,442.4,10.2,281,6038,0.00,2.67,0.00,0.000,6,0.000,0.059,3284,1824,2248,0,0,0,0,0,0
$GC,6289,1.23,209.1,420.1,8.6,288,6315,0.00,0.00,23.67,0.848,6,0.000,0.000,3285,1824,2148,0,0,0,0,0,0
$GC,6534,1.25,226.9,398.5,9.0,294,6558,0.00,3.08,16.92,0.818,4,0.000,0.103,3284,230,2074,0,0,0,0,0,0
$GC,6581,1.16,226.9,393.4,11.1,295,6586,0.15,2.50,0.00,0.000,6,0.127,0.021,3254,1791,2072,0,0,0,0,0,0
$GC,6860,1.24,260.1,370.0,8.1,302,6900,0.00,2.83,31.08,0.832,4,0.000,0.080,3254,230,1938,0,0,0,0,0,0
$GC,6912,1.26,271.7,365.3,9.4,303,6931,0.00,2.58,11.85,0.760,6,0.000,0.022,3254,1820,1892,0,0,0,0,0,0
$GC,7188,1.34,286.5,340.2,9.2,310,7205,0.17,0.00,14.07,0.776,6,0.069,0.000,3298,1820,1833,0,0,0,0,0,0
$GC,7433,1.34,286.5,311.9,11.8,316,7437,0.00,2.80,0.00,0.000,4,0.000,0.071,3298,229,1828,0,0,0,0,0,0
$GC,7472,1.27,286.5,306.5,13.4,317,7477,0.10,2.55,0.00,0.000,6,0.138,0.025,3279,1821,1827,0,0,0,0,0,0
$GC,7757,1.27,286.5,274.9,11.0,324,7762,0.00,2.55,0.00,0.000,4,0.000,0.036,3279,3400,1826,0,0,0,0,0,0
$GC,7781,1.32,286.5,272.4,11.4,324,7786,0.00,2.67,0.00,0.000,6,0.000,0.039,3279,1788,1824,0,0,0,0,0,0
$GC,8036,1.36,286.5,245.7,10.3,331,8041,0.00,2.70,0.00,0.000,4,0.000,0.073,3278,240,1824,0,0,0,0,0,0
$GC,8068,1.36,286.5,241.9,11.7,331,8074,0.00,2.47,0.00,0.000,6,0.000,0.026,3278,1805,1823,0,0,0,0,0,0
$GC,8320,1.42,286.5,215.4,10.3,338,8325,0.12,2.53,0.00,0.000,4,0.081,0.035,3314,3391,1822,0,0,0,0,0,0
$GC,8342,1.46,286.5,212.9,10.2,338,8347,0.00,2.65,0.00,0.000,6,0.000,0.038,3314,1793,1822,0,0,0,0,0,0
$GC,8603,1.46,286.5,185.1,10.3,354,8607,0.00,2.58,0.00,0.000,4,0.000,0.031,3314,3398,1822,0,0,0,0,0,0
$GC,8647,1.52,286.5,180.4,10.5,357,8656,0.00,2.65,0.00,0.000,6,0.000,0.038,3314,1811,1822,0,0,0,0,0,0
$GC,8914,1.52,291.1,154.7,9.8,382,8919,0.00,0.00,0.00,0.000,6,0.000,0.000,3314,1811,1821,0,0,0,0,0,0
$GC,9180,1.52,291.1,128.5,10.1,407,9185,0.00,2.72,0.00,0.000,4,0.000,0.066,3314,240,1821,0,0,0,0,0,0
$GC,9197,1.52,291.1,126.1,10.5,408,9202,0.00,2.50,0.00,0.000,6,0.000,0.025,3314,1837,1820,0,0,0,0,0,0
$GC,9462,1.52,291.1,97.2,10.3,432,9466,0.00,2.50,0.00,0.000,4,0.000,0.036,3314,3394,1820,0,0,0,0,0,0
$GC,9482,1.52,291.1,95.3,10.2,433,9486,0.00,2.58,0.00,0.000,6,0.000,0.037,3314,1831,1819,0,0,0,0,0,0
$GC,9749,1.65,329.2,72.3,7.8,457,9793,0.17,2.80,36.85,0.607,4,0.068,0.064,3361,240,1657,0,0,0,0,0,0
$GC,9836,1.65,329.2,62.8,10.9,463,9846,0.00,2.53,0.00,0.000,6,0.000,0.021,3361,1823,1654,0,0,0,0,0,0
$GC,10103,1.65,329.2,37.0,10.4,488,10107,0.00,2.53,0.00,0.000,4,0.000,0.029,3361,3397,1652,0,0,0,0,0,0
$GC,10173,1.72,329.2,29.2,11.1,493,10182,0.00,2.62,0.00,0.000,6,0.000,0.036,3362,1821,1651,0,0,0,0,0,0
$STATE,10401,end climb,SURFACE_DEPTH_REACHED
$STATE,10401,begin surface coast
$FINISH,0.6,1.023386
$STATE,10462,end surface coast,CONTROL_FINISHED_OK
$STATE,10462,begin surface
$SM_CCo,10485,234.05,0.525,0,0,476,619.14
$SM_GC,0.88,0.00,0.00,234.05,0.000,0.000,0.525,477,1748,476,-11.61,-0.62,619.14
$IRIDIUM_FIX,2248.70,-15751.06,220100,222211
$TT8_MAMPS,0.025311
$HUMID,52.48
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,20.40
$XPDR_PINGS,95
$24V_AH,23.3,72.332
$10V_AH,9.9,68.362
$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,27.750,118.675,396.700,234.050,0.000,144.705,212.674,359.411,23.750,0.000,22.104,1062.037,7060.886,691.309,1990.879,1054.757,33.370,1422.943,0.000,1985.469,0.000,0.533,0.000
$DEVICE_MAMPS,161.837,121.186,927.303,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,363.054,302.022,416.332,792.431,1198.736,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,41440,536
$CAP_FILE_SIZE,118269,0
$CFSIZE,260165632,151830528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,291010,014247,2254.865,-15747.215,9,99.0,28,10.1