version: 66.06
glider: 146
mission: 5
dive: 536
start: 10 30 110 19 34 32
data:
$ID,146
$MISSION,5
$DIVE,536
$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,-260640.86
$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,22
$R_STBD_OVSHOOT,62
$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
$GPS1,192436,2251.919,-15742.117,31,1.4,47,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-68.2
$GPS2,193337,2251.992,-15742.128,12,1.4,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.041,-0.233
$KALMAN_X,-259742.0,-278.8,-58.1,309089.6,429.6
$KALMAN_Y,-566518.3,175.5,-181.3,698773.8,1752.2
$MHEAD_RNG_PITCHd_Wd,179.9,5546,-19.7,-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,-1.37,-116.8,0.0,0.0,0,104,0.00,0.00,-85.10,0.000,2,0.000,0.000,475,1793,3444,0,0,0,0,0,0
$GC,107,-1.37,-116.8,4.2,-8.6,11,126,11.98,2.72,-0.60,0.000,4,0.163,0.061,2691,189,3478,0,0,0,0,0,0
$GC,164,-1.19,-116.8,21.5,-20.4,18,174,0.20,2.47,0.00,0.000,6,0.092,0.017,2737,1771,3480,0,0,0,0,0,0
$GC,443,-1.19,-116.8,58.3,-12.1,47,448,0.00,2.67,0.00,0.000,4,0.000,0.055,2737,189,3481,0,0,0,0,0,0
$GC,465,-1.19,-116.8,60.8,-12.0,48,469,0.00,2.40,0.00,0.000,6,0.000,0.016,2737,1774,3481,0,0,0,0,0,0
$GC,729,-1.19,-116.8,88.9,-10.7,72,733,0.00,2.42,0.00,0.000,4,0.000,0.024,2737,3330,3482,0,0,0,0,0,0
$GC,781,-1.28,-116.8,94.4,-9.2,76,786,0.00,2.53,0.00,0.000,6,0.000,0.028,2737,1750,3482,0,0,0,0,0,0
$GC,1047,-1.33,-116.8,116.6,-8.2,100,1056,0.12,0.00,0.00,0.000,6,0.072,0.000,2696,1750,3483,0,0,0,0,0,0
$GC,1313,-1.33,-116.8,141.1,-9.0,125,1317,0.00,2.50,0.00,0.000,4,0.000,0.028,2695,3328,3483,0,0,0,0,0,0
$GC,1354,-1.33,-116.8,145.3,-9.2,128,1358,0.00,2.50,0.00,0.000,6,0.000,0.028,2695,1771,3483,0,0,0,0,0,0
$GC,1619,-1.33,-116.8,169.6,-9.5,152,1623,0.00,2.72,0.00,0.000,4,0.000,0.069,2695,196,3484,0,0,0,0,0,0
$GC,1635,-1.33,-116.8,171.7,-10.2,153,1639,0.00,2.40,0.00,0.000,6,0.000,0.015,2695,1777,3483,0,0,0,0,0,0
$GC,1899,-1.33,-116.8,198.3,-10.5,177,1908,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1780,3483,0,0,0,0,0,0
$GC,2160,-1.33,-116.8,224.6,-9.9,185,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1780,3483,0,0,0,0,0,0
$GC,2404,-1.33,-116.8,246.0,-8.5,191,2405,0.00,0.00,0.00,0.000,6,0.000,0.000,2695,1780,3483,0,0,0,0,0,0
$GC,2649,-1.33,-116.8,266.6,-8.3,197,2654,0.00,2.72,0.00,0.000,4,0.000,0.071,2695,198,3483,0,0,0,0,0,0
$GC,2665,-1.33,-116.8,268.1,-8.2,197,2669,0.00,2.38,0.00,0.000,6,0.000,0.025,2695,1739,3482,0,0,0,0,0,0
$GC,2926,-1.33,-116.8,288.5,-8.0,204,2930,0.00,2.58,0.00,0.000,4,0.000,0.031,2695,3349,3482,0,0,0,0,0,0
$GC,2960,-1.39,-116.8,291.3,-8.8,204,2966,0.00,2.55,0.00,0.000,6,0.000,0.037,2695,1768,3482,0,0,0,0,0,0
$GC,3211,-1.39,-116.8,313.6,-9.1,211,3215,0.00,2.78,0.00,0.000,4,0.000,0.083,2694,193,3481,0,0,0,0,0,0
$GC,3260,-1.45,-116.8,318.6,-9.7,212,3265,0.00,2.42,0.00,0.000,6,0.000,0.023,2695,1742,3481,0,0,0,0,0,0
$GC,3535,-1.45,-116.8,343.2,-9.0,219,3539,0.00,2.60,0.00,0.000,4,0.000,0.038,2695,3350,3480,0,0,0,0,0,0
$GC,3574,-1.54,-116.8,346.6,-8.5,220,3580,0.12,2.60,0.00,0.000,6,0.072,0.044,2653,1760,3480,0,0,0,0,0,0
$GC,3860,-1.48,-116.8,372.2,-8.8,227,3865,0.10,2.58,0.00,0.000,4,0.126,0.038,2674,3350,3478,0,0,0,0,0,0
$GC,3901,-1.53,-116.8,375.7,-7.6,228,3905,0.00,2.62,0.00,0.000,6,0.000,0.044,2674,1766,3477,0,0,0,0,0,0
$GC,4184,-1.53,-116.8,400.5,-9.1,235,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1765,3476,0,0,0,0,0,0
$GC,4429,-1.53,-116.8,424.8,-10.1,241,4433,0.00,2.58,0.00,0.000,4,0.000,0.041,2674,3346,3475,0,0,0,0,0,0
$GC,4468,-1.58,-116.8,429.2,-10.5,242,4473,0.00,2.65,0.00,0.000,6,0.000,0.060,2673,1783,3475,0,0,0,0,0,0
$GC,4752,-1.58,-116.8,458.2,-10.2,249,4756,0.00,2.58,0.00,0.000,4,0.000,0.045,2674,3344,3473,0,0,0,0,0,0
$GC,4781,-1.58,-116.8,460.9,-9.6,249,4785,0.00,2.65,0.00,0.000,6,0.000,0.062,2674,1790,3473,0,0,0,0,0,0
$GC,5031,-1.58,-116.8,484.9,-9.4,255,5035,0.00,3.03,0.00,0.000,4,0.000,0.117,2674,182,3471,0,0,0,0,0,0
$GC,5041,-1.58,-116.8,485.9,-9.0,255,5045,0.00,2.58,0.00,0.000,6,0.000,0.035,2674,1782,3471,0,0,0,0,0,0
$STATE,5223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5223,begin apogee
$GC,5231,-0.31,0.0,501.4,8.3,260,5334,1.15,0.00,99.10,0.922,6,0.083,0.000,2929,1828,3001,0,0,0,0,0,0
$STATE,5335,end apogee,CONTROL_FINISHED_OK
$STATE,5335,begin climb
$GC,5337,1.37,116.8,502.8,0.0,262,5445,1.52,0.00,103.12,0.899,6,0.042,0.000,3301,1828,2524,0,0,0,0,0,0
$GC,5666,1.32,163.0,486.6,7.4,270,5709,0.00,0.00,40.97,0.877,6,0.000,0.000,3301,1828,2336,0,0,0,0,0,0
$GC,5947,1.26,180.8,461.7,9.0,277,5971,0.12,2.75,16.65,0.832,4,0.130,0.056,3277,3396,2263,0,0,0,0,0,0
$GC,6011,1.28,198.2,455.8,9.0,278,6035,0.00,2.70,17.30,0.828,6,0.000,0.058,3277,1826,2191,0,0,0,0,0,0
$GC,6323,1.29,204.3,426.6,9.7,286,6334,0.00,2.60,5.93,0.672,4,0.000,0.038,3277,3400,2168,0,0,0,0,0,0
$GC,6356,1.30,213.5,423.0,9.5,286,6371,0.00,2.70,10.05,0.772,6,0.000,0.058,3277,1836,2129,0,0,0,0,0,0
$GC,6646,1.31,219.4,395.0,9.7,294,6660,0.00,2.65,6.55,0.699,4,0.000,0.038,3277,3404,2105,0,0,0,0,0,0
$GC,6693,1.31,219.4,389.9,10.4,295,6698,0.00,2.65,0.00,0.000,6,0.000,0.054,3277,1850,2104,0,0,0,0,0,0
$GC,6972,1.32,228.9,363.2,9.5,302,6983,0.00,0.00,9.90,0.756,6,0.000,0.000,3277,1850,2067,0,0,0,0,0,0
$GC,7217,1.35,251.8,341.6,8.7,308,7246,0.00,2.65,22.08,0.804,4,0.000,0.032,3277,3411,1973,0,0,0,0,0,0
$GC,7260,1.37,271.3,337.6,8.9,309,7285,0.00,2.65,19.42,0.783,6,0.000,0.043,3277,1849,1894,0,0,0,0,0,0
$GC,7547,1.37,271.3,308.8,10.2,316,7552,0.00,2.90,0.00,0.000,4,0.000,0.084,3277,231,1888,0,0,0,0,0,0
$GC,7602,1.37,271.3,302.1,12.4,317,7606,0.00,2.58,0.00,0.000,6,0.000,0.023,3277,1847,1887,0,0,0,0,0,0
$GC,7869,1.39,283.8,276.3,9.3,324,7888,0.10,2.88,11.50,0.722,4,0.099,0.069,3304,234,1842,0,0,0,0,0,0
$GC,7948,1.33,283.8,267.4,12.5,325,7952,0.00,2.53,0.00,0.000,6,0.000,0.028,3304,1820,1841,0,0,0,0,0,0
$GC,8198,1.33,283.9,241.4,10.0,331,8203,0.00,2.80,0.00,0.000,4,0.000,0.073,3304,229,1839,0,0,0,0,0,0
$GC,8231,1.25,283.9,237.5,12.1,331,8237,0.15,2.50,0.00,0.000,6,0.120,0.028,3274,1798,1839,0,0,0,0,0,0
$GC,8483,1.34,308.6,215.4,8.6,338,8512,0.00,2.67,22.70,0.720,4,0.000,0.034,3274,3394,1742,0,0,0,0,0,0
$GC,8541,1.48,321.0,210.1,9.3,339,8561,0.20,2.67,13.12,0.678,6,0.066,0.039,3325,1786,1690,0,0,0,0,0,0
$GC,8824,1.48,321.0,179.5,10.9,358,8829,0.00,2.72,0.00,0.000,4,0.000,0.071,3325,238,1686,0,0,0,0,0,0
$GC,8891,1.43,321.0,170.2,12.8,363,8900,0.00,2.50,0.00,0.000,6,0.000,0.021,3325,1804,1685,0,0,0,0,0,0
$GC,9155,1.43,321.0,139.6,12.0,388,9160,0.00,2.72,0.00,0.000,4,0.000,0.067,3325,238,1684,0,0,0,0,0,0
$GC,9178,1.39,321.0,137.1,12.3,389,9183,0.10,2.45,0.00,0.000,6,0.132,0.025,3304,1799,1683,0,0,0,0,0,0
$GC,9444,1.44,321.0,106.8,10.7,413,9448,0.00,2.55,0.00,0.000,4,0.000,0.035,3304,3390,1683,0,0,0,0,0,0
$GC,9476,1.52,322.9,103.4,9.9,415,9481,0.12,2.65,0.00,0.000,6,0.082,0.037,3337,1783,1683,0,0,0,0,0,0
$GC,9741,1.53,324.0,75.9,10.0,439,9745,0.00,2.67,0.00,0.000,4,0.000,0.065,3338,232,1683,0,0,0,0,0,0
$GC,9797,1.48,324.0,69.6,11.2,443,9802,0.00,2.45,0.00,0.000,6,0.000,0.021,3337,1801,1682,0,0,0,0,0,0
$GC,10068,1.54,337.7,45.5,9.3,467,10095,0.00,2.75,14.38,0.556,4,0.000,0.060,3338,237,1623,0,0,0,0,0,0
$GC,10112,1.54,337.8,40.8,10.0,470,10117,0.00,2.45,0.00,0.000,6,0.000,0.019,3337,1800,1622,0,0,0,0,0,0
$GC,10425,1.61,348.0,10.6,9.5,508,10443,0.00,0.00,10.18,0.502,6,0.000,0.000,3338,1802,1582,0,0,0,0,0,0
$STATE,10497,end climb,SURFACE_DEPTH_REACHED
$STATE,10497,begin surface coast
$FINISH,0.4,1.023434
$STATE,10561,end surface coast,CONTROL_FINISHED_OK
$STATE,10561,begin surface
$SM_CCo,10583,60.50,0.535,0,0,1288,420.20
$SM_GC,0.91,0.00,0.00,60.50,0.000,0.000,0.535,475,1736,1288,-11.62,-0.96,420.20
$IRIDIUM_FIX,2241.69,-15741.52,240100,161604
$TT8_MAMPS,0.025311
$HUMID,55.51
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.70
$XPDR_PINGS,149
$24V_AH,23.3,74.392
$10V_AH,9.9,70.100
$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,27.650,136.125,422.950,60.500,0.000,27.435,32.905,313.805,37.250,0.000,31.142,1088.503,6816.917,567.195,2005.839,708.790,33.365,1309.734,0.000,1998.730,0.000,0.534,0.000
$DEVICE_MAMPS,163.371,164.905,921.934,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,356.835,308.522,407.252,785.963,1188.857,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355616
$DATA_FILE_SIZE,41524,527
$CAP_FILE_SIZE,115907,0
$CFSIZE,260165632,150986752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,301010,223306,2252.056,-15742.492,27,1.6,27,10.1