version: 66.06
glider: 146
mission: 5
dive: 570
start: 11 4 110 7 59 19
data:
$ID,146
$MISSION,5
$DIVE,570
$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,400
$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,-261428.02
$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,12
$R_STBD_OVSHOOT,53
$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
$GPS1,074436,2254.088,-15743.610,22,2.0,22,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-65.5
$GPS2,075825,2254.181,-15743.621,13,1.7,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.084,-0.219
$KALMAN_X,-270144.0,-29.8,104.6,316515.3,-330.8
$KALMAN_Y,-483554.7,291.7,616.1,618949.4,454.4
$MHEAD_RNG_PITCHd_Wd,149.0,9986,-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,-78.53,0.000,2,0.000,0.000,472,1778,3320,0,0,0,0,0,0
$GC,102,-1.38,-116.8,3.4,-6.0,10,128,12.10,2.78,-3.05,0.000,4,0.168,0.068,2689,178,3480,0,0,0,0,0,0
$GC,198,-1.31,-116.8,23.6,-14.9,23,208,0.08,2.50,0.00,0.000,6,0.108,0.017,2707,1788,3482,0,0,0,0,0,0
$GC,476,-1.21,-116.8,62.6,-15.5,50,481,0.12,2.75,0.00,0.000,4,0.123,0.056,2733,178,3482,0,0,0,0,0,0
$GC,488,-1.12,-116.8,65.7,-15.5,50,498,0.08,2.45,0.00,0.000,6,0.101,0.015,2751,1784,3483,0,0,0,0,0,0
$GC,817,-1.18,-116.8,99.8,-8.6,81,821,0.00,2.40,0.00,0.000,4,0.000,0.025,2751,3310,3484,0,0,0,0,0,0
$GC,896,-1.31,-116.8,106.7,-8.9,87,901,0.15,2.47,0.00,0.000,6,0.060,0.031,2697,1759,3483,0,0,0,0,0,0
$GC,1225,-1.31,-116.8,138.6,-10.0,117,1229,0.00,2.65,0.00,0.000,4,0.000,0.059,2697,197,3484,0,0,0,0,0,0
$GC,1241,-1.31,-116.8,140.7,-10.0,118,1245,0.00,2.35,0.00,0.000,6,0.000,0.016,2697,1778,3484,0,0,0,0,0,0
$GC,1569,-1.31,-116.8,168.2,-8.4,148,1574,0.00,2.70,0.00,0.000,4,0.000,0.060,2697,194,3485,0,0,0,0,0,0
$GC,1623,-1.31,-116.8,173.4,-9.1,152,1627,0.00,2.33,0.00,0.000,6,0.000,0.018,2697,1752,3485,0,0,0,0,0,0
$GC,1947,-1.31,-116.8,199.7,-8.4,182,1951,0.00,2.47,0.00,0.000,4,0.000,0.033,2697,3322,3485,0,0,0,0,0,0
$GC,1975,-1.35,-116.8,202.3,-8.8,182,1980,0.00,2.53,0.00,0.000,6,0.000,0.031,2697,1747,3485,0,0,0,0,0,0
$GC,2309,-1.35,-116.8,231.8,-9.2,190,2313,0.00,2.50,0.00,0.000,4,0.000,0.032,2697,3324,3485,0,0,0,0,0,0
$GC,2398,-1.38,-116.8,240.2,-9.1,192,2402,0.00,2.47,0.00,0.000,6,0.000,0.035,2697,1768,3485,0,0,0,0,0,0
$GC,2716,-1.38,-116.8,267.1,-8.2,200,2720,0.00,2.72,0.00,0.000,4,0.000,0.076,2697,186,3484,0,0,0,0,0,0
$GC,2745,-1.38,-116.8,269.6,-9.3,200,2749,0.00,2.38,0.00,0.000,6,0.000,0.023,2697,1735,3484,0,0,0,0,0,0
$GC,3076,-1.38,-116.8,298.4,-8.8,208,3080,0.00,2.55,0.00,0.000,4,0.000,0.040,2698,3340,3483,0,0,0,0,0,0
$GC,3162,-1.44,-116.8,305.5,-8.4,210,3167,0.00,2.55,0.00,0.000,6,0.000,0.041,2697,1782,3483,0,0,0,0,0,0
$GC,3487,-1.44,-116.8,331.3,-7.9,218,3491,0.00,2.53,0.00,0.000,4,0.000,0.039,2697,3338,3481,0,0,0,0,0,0
$GC,3503,-1.48,-116.8,332.7,-8.1,218,3508,0.00,2.55,0.00,0.000,6,0.000,0.042,2697,1779,3481,0,0,0,0,0,0
$GC,3848,-1.52,-116.8,360.7,-8.3,227,3853,0.12,2.53,0.00,0.000,4,0.076,0.035,2654,3339,3480,0,0,0,0,0,0
$GC,3881,-1.52,-116.8,364.1,-9.6,227,3887,0.00,2.60,0.00,0.000,6,0.000,0.048,2653,1790,3480,0,0,0,0,0,0
$GC,4213,-1.48,-116.8,393.6,-8.5,236,4214,0.10,0.00,0.00,0.000,6,0.126,0.000,2674,1790,3477,0,0,0,0,0,0
$GC,4539,-1.48,-116.8,420.8,-8.9,244,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2674,1790,3476,0,0,0,0,0,0
$GC,4862,-1.48,-116.8,452.8,-10.1,252,4866,0.00,2.60,0.00,0.000,4,0.000,0.052,2674,3332,3473,0,0,0,0,0,0
$GC,4895,-1.53,-116.8,456.1,-10.3,252,4900,0.00,2.65,0.00,0.000,6,0.000,0.065,2674,1796,3473,0,0,0,0,0,0
$GC,5228,-1.53,-116.8,487.9,-9.6,261,5232,0.00,3.08,0.00,0.000,4,0.000,0.117,2674,183,3471,0,0,0,0,0,0
$GC,5243,-1.53,-116.8,489.8,-9.4,261,5248,0.00,2.58,0.00,0.000,6,0.000,0.035,2674,1776,3471,0,0,0,0,0,0
$STATE,5379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5380,begin apogee
$GC,5386,-0.31,0.0,502.8,9.5,265,5487,1.17,0.00,97.12,0.931,6,0.086,0.000,2932,1829,3001,0,0,0,0,0,0
$STATE,5487,end apogee,CONTROL_FINISHED_OK
$STATE,5487,begin climb
$GC,5492,1.38,116.8,505.5,0.0,267,5604,1.52,3.00,100.82,0.910,4,0.047,0.090,3306,240,2522,0,0,0,0,0,0
$GC,5656,1.19,145.4,502.9,8.4,270,5688,0.22,2.60,25.48,0.861,6,0.118,0.038,3261,1811,2408,0,0,0,0,0,0
$GC,6027,1.24,192.5,476.1,7.3,280,6076,0.00,2.85,41.60,0.876,4,0.000,0.064,3261,3415,2215,0,0,0,0,0,0
$GC,6119,1.28,221.2,468.7,8.4,282,6154,0.00,2.78,26.62,0.854,6,0.000,0.058,3261,1816,2098,0,0,0,0,0,0
$GC,6480,1.31,246.3,437.1,8.6,291,6506,0.10,0.00,23.23,0.845,6,0.094,0.000,3287,1815,1996,0,0,0,0,0,0
$GC,6806,1.31,246.3,403.9,10.3,299,6810,0.00,2.62,0.00,0.000,4,0.000,0.038,3287,3415,1990,0,0,0,0,0,0
$GC,6861,1.31,246.3,398.0,10.8,300,6865,0.00,2.75,0.00,0.000,6,0.000,0.061,3288,1819,1989,0,0,0,0,0,0
$GC,7208,1.32,257.2,364.9,9.4,309,7220,0.00,0.00,10.10,0.759,6,0.000,0.000,3287,1819,1952,0,0,0,0,0,0
$GC,7534,1.33,259.8,332.6,9.9,317,7538,0.00,2.58,0.00,0.000,4,0.000,0.037,3287,3416,1948,0,0,0,0,0,0
$GC,7555,1.34,269.6,330.5,9.5,317,7574,0.00,2.67,12.68,0.765,6,0.000,0.045,3288,1817,1900,0,0,0,0,0,0
$GC,7901,1.34,271.9,296.7,9.9,326,7905,0.00,2.60,0.00,0.000,4,0.000,0.035,3288,3419,1896,0,0,0,0,0,0
$GC,7924,1.39,277.5,294.4,9.7,326,7940,0.00,2.67,8.10,0.696,6,0.000,0.042,3287,1823,1868,0,0,0,0,0,0
$GC,8265,1.39,277.5,260.6,10.2,335,8270,0.00,2.83,0.00,0.000,4,0.000,0.082,3287,233,1866,0,0,0,0,0,0
$GC,8327,1.39,277.5,253.8,10.8,336,8332,0.00,2.55,0.00,0.000,6,0.000,0.022,3287,1842,1865,0,0,0,0,0,0
$GC,8678,1.46,300.7,222.6,8.7,345,8707,0.12,2.58,21.33,0.721,4,0.079,0.035,3324,3405,1775,0,0,0,0,0,0
$GC,8719,1.46,300.7,218.0,11.6,346,8724,0.00,2.65,0.00,0.000,6,0.000,0.039,3324,1811,1774,0,0,0,0,0,0
$GC,9043,1.46,300.7,181.5,12.0,365,9047,0.00,2.58,0.00,0.000,4,0.000,0.038,3323,3398,1772,0,0,0,0,0,0
$GC,9111,1.50,300.7,173.4,10.9,370,9117,0.00,2.60,0.00,0.000,6,0.000,0.040,3323,1828,1771,0,0,0,0,0,0
$GC,9440,1.54,335.5,142.2,8.0,401,9477,0.00,2.85,31.60,0.661,4,0.000,0.073,3323,248,1632,0,0,0,0,0,0
$GC,9537,1.50,335.5,132.8,11.3,409,9541,0.00,2.50,0.00,0.000,6,0.000,0.020,3324,1836,1630,0,0,0,0,0,0
$GC,9865,1.54,335.5,97.3,11.3,439,9869,0.00,2.75,0.00,0.000,4,0.000,0.061,3324,240,1628,0,0,0,0,0,0
$GC,9886,1.54,335.5,94.2,12.2,440,9895,0.00,2.50,0.00,0.000,6,0.000,0.021,3324,1818,1627,0,0,0,0,0,0
$GC,10215,1.69,386.7,63.8,7.1,471,10270,0.17,0.00,44.80,0.599,6,0.162,0.000,3371,1820,1423,0,0,0,0,0,0
$GC,10610,1.70,391.3,17.8,9.8,513,10621,0.00,2.75,5.03,0.420,4,0.000,0.060,3370,234,1405,0,0,0,0,0,0
$GC,10646,1.66,391.3,12.5,13.9,517,10655,0.00,2.47,0.00,0.000,6,0.000,0.026,3371,1805,1404,0,0,0,0,0,0
$STATE,10710,end climb,SURFACE_DEPTH_REACHED
$STATE,10710,begin surface coast
$FINISH,0.4,1.006109
$STATE,10753,end surface coast,CONTROL_FINISHED_OK
$STATE,10753,begin surface
$SM_CCo,10777,7.43,0.461,0,0,1370,400.08
$SM_GC,0.82,0.00,0.00,7.43,0.000,0.000,0.461,474,1764,1370,-11.62,-0.17,400.08
$IRIDIUM_FIX,2244.02,-15746.73,290100,070745
$TT8_MAMPS,0.026078
$HUMID,57.95
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.30
$XPDR_PINGS,133
$24V_AH,23.3,79.209
$10V_AH,9.8,74.292
$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,27.875,125.525,448.500,7.425,0.000,56.166,70.016,486.447,33.250,0.000,14.936,1051.988,7189.039,494.091,1950.382,925.372,33.367,1246.995,0.000,1954.029,0.000,0.534,0.000
$DEVICE_MAMPS,167.973,142.662,931.138,460.967,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,359.434,310.165,406.217,750.945,1135.826,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,41563,532
$CAP_FILE_SIZE,112779,0
$CFSIZE,260165632,148926464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041110,110101,2253.730,-15743.803,77,1.0,77,10.1