version: 66.06
glider: 146
mission: 5
dive: 538
start: 10 31 110 1 55 50
data:
$ID,146
$MISSION,5
$DIVE,538
$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,-260673.91
$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,23
$R_STBD_OVSHOOT,64
$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
$GPS1,014630,2252.538,-15742.527,34,1.8,40,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-68.1
$GPS2,015456,2252.650,-15742.528,14,1.8,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.005,-0.235
$KALMAN_X,-260134.8,80.5,-35.7,308413.8,228.8
$KALMAN_Y,-562199.1,934.8,515.7,694211.4,1033.6
$MHEAD_RNG_PITCHd_Wd,171.2,6820,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,107,0.00,0.00,-85.15,0.000,2,0.000,0.000,477,1751,3427,0,0,0,0,0,0
$GC,110,-1.38,-116.8,4.1,-8.0,11,128,11.85,2.65,-0.95,0.000,4,0.160,0.068,2688,189,3478,0,0,0,0,0,0
$GC,153,-0.74,-116.8,18.2,-32.1,16,162,0.65,2.45,0.00,0.000,6,0.094,0.016,2830,1766,3480,0,0,0,0,0,0
$GC,447,-0.88,-116.8,44.7,-8.6,50,451,0.00,2.47,0.00,0.000,4,0.000,0.026,2830,3329,3481,0,0,0,0,0,0
$GC,470,-1.04,-116.8,46.7,-8.5,51,475,0.25,2.53,0.00,0.000,6,0.044,0.027,2753,1762,3481,0,0,0,0,0,0
$GC,738,-1.04,-116.8,76.1,-10.5,75,746,0.00,0.00,0.00,0.000,6,0.000,0.000,2753,1761,3482,0,0,0,0,0,0
$GC,999,-1.12,-116.8,100.8,-8.9,100,1004,0.00,2.65,0.00,0.000,4,0.000,0.058,2753,193,3483,0,0,0,0,0,0
$GC,1071,-1.20,-116.8,107.2,-8.4,105,1076,0.00,2.42,0.00,0.000,6,0.000,0.021,2753,1807,3483,0,0,0,0,0,0
$GC,1334,-1.31,-116.8,124.9,-6.5,130,1339,0.17,2.35,0.00,0.000,4,0.059,0.031,2697,3303,3483,0,0,0,0,0,0
$GC,1357,-1.37,-116.8,126.4,-7.5,131,1361,0.00,2.45,0.00,0.000,6,0.000,0.027,2697,1772,3483,0,0,0,0,0,0
$GC,1620,-1.37,-116.8,151.6,-10.0,155,1625,0.00,2.67,0.00,0.000,4,0.000,0.061,2697,197,3484,0,0,0,0,0,0
$GC,1642,-1.37,-116.8,154.4,-11.3,156,1651,0.00,2.38,0.00,0.000,6,0.000,0.016,2697,1764,3484,0,0,0,0,0,0
$GC,1910,-1.37,-116.8,179.6,-9.6,181,1915,0.00,2.42,0.00,0.000,4,0.000,0.028,2697,3322,3484,0,0,0,0,0,0
$GC,1928,-1.37,-116.8,181.9,-9.5,182,1932,0.00,2.47,0.00,0.000,6,0.000,0.031,2697,1773,3484,0,0,0,0,0,0
$GC,2208,-1.37,-116.8,209.3,-10.3,202,2212,0.00,2.42,0.00,0.000,4,0.000,0.026,2697,3317,3485,0,0,0,0,0,0
$GC,2248,-1.43,-116.8,213.3,-10.0,203,2252,0.00,2.40,0.00,0.000,6,0.000,0.035,2697,1803,3485,0,0,0,0,0,0
$GC,2533,-1.43,-116.8,240.3,-9.3,210,2537,0.00,2.38,0.00,0.000,4,0.000,0.028,2697,3320,3485,0,0,0,0,0,0
$GC,2554,-1.43,-116.8,242.5,-8.9,210,2558,0.00,2.42,0.00,0.000,6,0.000,0.036,2697,1809,3485,0,0,0,0,0,0
$GC,2809,-1.43,-116.8,264.3,-8.7,217,2814,0.00,2.78,0.00,0.000,4,0.000,0.069,2698,198,3484,0,0,0,0,0,0
$GC,2836,-1.43,-116.8,267.1,-10.2,217,2840,0.00,2.42,0.00,0.000,6,0.000,0.021,2697,1767,3483,0,0,0,0,0,0
$GC,3088,-1.43,-116.8,291.1,-9.6,223,3092,0.00,2.50,0.00,0.000,4,0.000,0.036,2697,3340,3483,0,0,0,0,0,0
$GC,3128,-1.51,-116.8,294.7,-8.7,224,3133,0.12,2.47,0.00,0.000,6,0.071,0.033,2652,1798,3483,0,0,0,0,0,0
$GC,3413,-1.46,-116.8,324.2,-10.6,231,3418,0.15,2.88,0.00,0.000,4,0.107,0.087,2683,186,3482,0,0,0,0,0,0
$GC,3435,-1.46,-116.8,326.8,-10.3,231,3439,0.00,2.53,0.00,0.000,6,0.000,0.024,2683,1797,3482,0,0,0,0,0,0
$GC,3690,-1.46,-116.8,349.1,-8.7,238,3691,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1797,3481,0,0,0,0,0,0
$GC,3936,-1.46,-116.8,372.1,-9.5,244,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2683,1797,3480,0,0,0,0,0,0
$GC,4178,-1.46,-116.8,395.4,-9.5,250,4182,0.00,2.85,0.00,0.000,4,0.000,0.084,2683,193,3478,0,0,0,0,0,0
$GC,4199,-1.46,-116.8,397.4,-8.9,250,4203,0.00,2.55,0.00,0.000,6,0.000,0.028,2683,1791,3478,0,0,0,0,0,0
$GC,4454,-1.46,-116.8,419.9,-8.7,257,4458,0.00,2.58,0.00,0.000,4,0.000,0.048,2683,3356,3477,0,0,0,0,0,0
$GC,4517,-1.52,-116.8,425.2,-8.5,258,4522,0.00,2.60,0.00,0.000,6,0.000,0.051,2683,1820,3476,0,0,0,0,0,0
$GC,4778,-1.52,-116.8,448.5,-9.2,265,4783,0.00,3.03,0.00,0.000,4,0.000,0.103,2683,185,3475,0,0,0,0,0,0
$GC,4824,-1.58,-116.8,453.1,-10.5,266,4829,0.12,2.60,0.00,0.000,6,0.075,0.031,2644,1808,3474,0,0,0,0,0,0
$GC,5102,-1.53,-116.8,484.0,-11.2,273,5107,0.10,2.62,0.00,0.000,4,0.126,0.061,2664,3361,3473,0,0,0,0,0,0
$GC,5129,-1.53,-116.8,487.3,-10.9,273,5134,0.00,2.62,0.00,0.000,6,0.000,0.059,2663,1816,3473,0,0,0,0,0,0
$STATE,5261,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5261,begin apogee
$GC,5268,-0.31,0.0,500.5,10.0,277,5371,1.20,0.00,98.88,0.920,6,0.085,0.000,2929,1816,3001,0,0,0,0,0,0
$STATE,5372,end apogee,CONTROL_FINISHED_OK
$STATE,5372,begin climb
$GC,5374,1.38,116.8,503.3,0.0,279,5482,1.58,0.00,103.40,0.898,6,0.050,0.000,3308,1816,2524,0,0,0,0,0,0
$GC,5711,1.30,149.1,486.6,8.2,288,5746,0.12,2.78,28.25,0.865,4,0.132,0.049,3285,3399,2392,0,0,0,0,0,0
$GC,5825,1.27,165.1,476.4,9.1,290,5846,0.00,2.70,15.73,0.824,6,0.000,0.054,3284,1837,2327,0,0,0,0,0,0
$GC,6129,1.24,182.3,449.1,9.0,298,6152,0.00,2.62,16.27,0.825,4,0.000,0.037,3285,3407,2255,0,0,0,0,0,0
$GC,6175,1.26,200.4,444.5,9.0,299,6199,0.00,2.70,17.62,0.825,6,0.000,0.057,3284,1844,2182,0,0,0,0,0,0
$GC,6457,1.27,211.2,417.9,9.4,306,6473,0.00,3.03,10.10,0.774,4,0.000,0.097,3284,233,2139,0,0,0,0,0,0
$GC,6484,1.21,211.2,414.9,10.1,306,6489,0.10,2.62,0.00,0.000,6,0.140,0.028,3266,1860,2138,0,0,0,0,0,0
$GC,6734,1.23,232.6,392.7,8.8,312,6756,0.00,0.00,20.75,0.825,6,0.000,0.000,3266,1860,2052,0,0,0,0,0,0
$GC,6979,1.26,256.0,371.3,8.7,318,7008,0.00,3.00,22.17,0.813,4,0.000,0.078,3265,232,1956,0,0,0,0,0,0
$GC,7038,1.22,256.0,365.4,10.6,319,7042,0.00,2.60,0.00,0.000,6,0.000,0.028,3265,1848,1954,0,0,0,0,0,0
$GC,7304,1.27,263.0,340.1,9.6,326,7318,0.00,2.95,6.90,0.683,4,0.000,0.074,3266,233,1929,0,0,0,0,0,0
$GC,7350,1.27,263.0,335.2,11.7,327,7355,0.00,2.58,0.00,0.000,6,0.000,0.026,3265,1830,1927,0,0,0,0,0,0
$GC,7634,1.32,263.3,306.6,10.0,334,7639,0.10,2.83,0.00,0.000,4,0.101,0.075,3292,230,1926,0,0,0,0,0,0
$GC,7657,1.32,263.3,303.8,12.1,334,7662,0.00,2.53,0.00,0.000,6,0.000,0.027,3292,1822,1925,0,0,0,0,0,0
$GC,7912,1.32,263.3,276.2,10.5,341,7916,0.00,2.55,0.00,0.000,4,0.000,0.035,3292,3400,1925,0,0,0,0,0,0
$GC,7956,1.37,266.1,271.7,9.9,342,7961,0.00,2.62,0.00,0.000,6,0.000,0.044,3292,1818,1923,0,0,0,0,0,0
$GC,8235,1.40,286.6,246.5,8.9,349,8265,0.00,2.92,22.00,0.741,4,0.000,0.074,3292,234,1831,0,0,0,0,0,0
$GC,8304,1.40,286.6,239.0,11.4,350,8309,0.00,2.53,0.00,0.000,6,0.000,0.027,3292,1819,1829,0,0,0,0,0,0
$GC,8562,1.45,296.8,214.9,9.4,357,8579,0.10,2.58,10.30,0.669,4,0.097,0.033,3318,3394,1789,0,0,0,0,0,0
$GC,8606,1.45,296.8,209.8,11.2,358,8611,0.00,2.65,0.00,0.000,6,0.000,0.039,3318,1798,1787,0,0,0,0,0,0
$GC,8871,1.45,296.8,180.6,11.3,375,8875,0.00,2.60,0.00,0.000,4,0.000,0.035,3318,3404,1786,0,0,0,0,0,0
$GC,8894,1.45,296.8,178.7,11.4,376,8898,0.00,2.65,0.00,0.000,6,0.000,0.038,3318,1806,1786,0,0,0,0,0,0
$GC,9161,1.45,296.8,150.7,10.3,400,9165,0.00,2.72,0.00,0.000,4,0.000,0.067,3318,236,1785,0,0,0,0,0,0
$GC,9232,1.38,296.8,142.2,11.8,405,9237,0.00,2.45,0.00,0.000,6,0.000,0.022,3318,1800,1784,0,0,0,0,0,0
$GC,9494,1.38,296.8,113.3,10.7,430,9499,0.00,2.70,0.00,0.000,4,0.000,0.069,3318,239,1784,0,0,0,0,0,0
$GC,9515,1.38,296.8,111.1,11.4,431,9520,0.00,2.42,0.00,0.000,6,0.000,0.028,3318,1790,1784,0,0,0,0,0,0
$GC,9783,1.38,296.8,83.1,10.0,455,9787,0.00,2.55,0.00,0.000,4,0.000,0.028,3318,3385,1784,0,0,0,0,0,0
$GC,9829,1.48,303.1,78.5,9.7,458,9843,0.00,2.67,6.18,0.509,6,0.000,0.035,3318,1765,1764,0,0,0,0,0,0
$GC,10100,1.60,340.5,55.3,7.9,483,10142,0.12,2.70,34.20,0.586,4,0.123,0.061,3351,231,1610,0,0,0,0,0,0
$GC,10209,1.60,340.5,43.8,11.4,491,10213,0.00,2.40,0.00,0.000,6,0.000,0.020,3351,1764,1607,0,0,0,0,0,0
$GC,10511,1.60,342.6,13.6,9.9,526,10520,0.00,2.62,0.00,0.000,4,0.000,0.027,3351,3385,1606,0,0,0,0,0,0
$GC,10531,1.66,351.8,11.6,9.5,528,10549,0.00,2.72,10.32,0.502,6,0.000,0.036,3351,1755,1566,0,0,0,0,0,0
$STATE,10610,end climb,SURFACE_DEPTH_REACHED
$STATE,10610,begin surface coast
$FINISH,0.4,1.002622
$STATE,10663,end surface coast,CONTROL_FINISHED_OK
$STATE,10663,begin surface
$SM_CCo,10684,57.10,0.536,0,0,1287,420.20
$SM_GC,1.02,0.00,0.00,57.10,0.000,0.000,0.536,473,1752,1287,-11.62,-0.51,420.20
$IRIDIUM_FIX,2246.36,-15743.68,240100,222205
$TT8_MAMPS,0.025311
$HUMID,55.78
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.60
$XPDR_PINGS,129
$24V_AH,23.3,74.677
$10V_AH,9.9,70.348
$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,28.500,156.575,423.075,57.100,0.000,26.986,33.809,288.992,32.250,0.000,16.302,1133.622,6765.257,555.802,2091.211,700.934,33.371,1339.771,0.000,2097.237,0.000,0.534,0.000
$DEVICE_MAMPS,159.536,102.778,920.400,536.133,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,369.729,325.059,428.819,836.032,1265.045,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,44782,546
$CAP_FILE_SIZE,122555,0
$CFSIZE,260165632,150859776
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,311010,045606,2252.369,-15742.189,33,0.9,33,10.1