version: 66.06
glider: 146
mission: 5
dive: 584
start: 11 6 110 5 34 31
data:
$ID,146
$MISSION,5
$DIVE,584
$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,-261822.27
$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,36
$R_STBD_OVSHOOT,56
$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
$GPS1,052554,2255.341,-15744.053,35,1.5,39,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-68.4
$GPS2,053338,2255.391,-15744.104,17,1.7,17,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.026,-0.234
$KALMAN_X,-280115.7,155.6,-513.7,326089.8,-136.3
$KALMAN_Y,-450820.9,-114.2,-18.1,589490.6,1932.6
$MHEAD_RNG_PITCHd_Wd,163.6,12368,-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,15,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-85.80,0.000,2,0.000,0.000,474,1744,3465,0,0,0,0,0,0
$GC,108,-1.38,-116.8,4.2,-8.8,11,127,12.07,2.60,-0.20,0.000,4,0.166,0.064,2691,200,3478,0,0,0,0,0,0
$GC,197,-1.32,-116.8,24.7,-12.0,23,206,0.00,2.45,0.00,0.000,6,0.000,0.017,2691,1774,3480,0,0,0,0,0,0
$GC,541,-1.19,-116.8,71.6,-13.7,57,546,0.22,2.45,0.00,0.000,4,0.116,0.025,2736,3341,3480,0,0,0,0,0,0
$GC,553,-1.08,-116.8,74.1,-13.7,57,563,0.08,2.53,0.00,0.000,6,0.091,0.025,2757,1772,3481,0,0,0,0,0,0
$GC,878,-1.16,-116.8,102.3,-8.2,88,882,0.00,2.65,0.00,0.000,4,0.000,0.061,2757,190,3481,0,0,0,0,0,0
$GC,912,-1.27,-116.8,105.2,-8.9,90,920,0.10,2.45,0.00,0.000,6,0.038,0.023,2714,1789,3481,0,0,0,0,0,0
$GC,1240,-1.27,-116.8,134.0,-9.3,121,1244,0.00,2.40,0.00,0.000,4,0.000,0.028,2714,3338,3483,0,0,0,0,0,0
$GC,1298,-1.35,-116.8,139.5,-9.5,125,1302,0.00,2.47,0.00,0.000,6,0.000,0.031,2714,1768,3483,0,0,0,0,0,0
$GC,1623,-1.35,-116.8,166.7,-7.3,155,1627,0.00,2.42,0.00,0.000,4,0.000,0.024,2714,3328,3484,0,0,0,0,0,0
$GC,1645,-1.39,-116.8,168.3,-7.0,156,1654,0.00,2.45,0.00,0.000,6,0.000,0.027,2714,1802,3483,0,0,0,0,0,0
$GC,1973,-1.39,-116.8,193.6,-8.8,187,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1802,3483,0,0,0,0,0,0
$GC,2287,-1.43,-116.8,222.4,-9.2,200,2292,0.12,2.75,0.00,0.000,4,0.069,0.071,2669,196,3483,0,0,0,0,0,0
$GC,2333,-1.43,-116.8,227.6,-11.5,201,2337,0.00,2.45,0.00,0.000,6,0.000,0.018,2670,1797,3483,0,0,0,0,0,0
$GC,2651,-1.39,-116.8,261.5,-10.5,209,2656,0.12,2.80,0.00,0.000,4,0.113,0.073,2696,193,3483,0,0,0,0,0,0
$GC,2667,-1.39,-116.8,263.2,-9.9,209,2672,0.00,2.42,0.00,0.000,6,0.000,0.018,2695,1787,3483,0,0,0,0,0,0
$GC,3012,-1.39,-116.8,291.8,-7.7,218,3016,0.00,2.47,0.00,0.000,4,0.000,0.035,2696,3348,3482,0,0,0,0,0,0
$GC,3084,-1.44,-116.8,297.1,-6.8,219,3088,0.00,2.47,0.00,0.000,6,0.000,0.034,2696,1819,3482,0,0,0,0,0,0
$GC,3418,-1.48,-116.8,322.3,-8.0,227,3422,0.00,2.85,0.00,0.000,4,0.000,0.081,2696,192,3481,0,0,0,0,0,0
$GC,3434,-1.53,-116.8,323.8,-8.3,227,3439,0.12,2.53,0.00,0.000,6,0.067,0.027,2652,1801,3480,0,0,0,0,0,0
$GC,3776,-1.48,-116.8,359.0,-10.2,236,3781,0.12,2.55,0.00,0.000,4,0.114,0.047,2678,3356,3479,0,0,0,0,0,0
$GC,3818,-1.54,-116.8,362.6,-9.1,237,3822,0.00,2.55,0.00,0.000,6,0.000,0.044,2678,1822,3479,0,0,0,0,0,0
$GC,4142,-1.54,-116.8,391.5,-8.9,245,4147,0.00,2.97,0.00,0.000,4,0.000,0.099,2677,185,3477,0,0,0,0,0,0
$GC,4158,-1.54,-116.8,393.0,-9.0,245,4162,0.00,2.58,0.00,0.000,6,0.000,0.028,2678,1817,3477,0,0,0,0,0,0
$GC,4502,-1.54,-116.8,421.1,-8.0,254,4503,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1817,3475,0,0,0,0,0,0
$GC,4825,-1.54,-116.8,447.1,-8.2,262,4829,0.00,2.90,0.00,0.000,4,0.000,0.093,2678,193,3473,0,0,0,0,0,0
$GC,4846,-1.54,-116.8,449.1,-8.9,262,4851,0.00,2.60,0.00,0.000,6,0.000,0.035,2678,1810,3473,0,0,0,0,0,0
$GC,5184,-1.54,-116.8,479.4,-9.3,271,5188,0.00,2.60,0.00,0.000,4,0.000,0.060,2678,3357,3471,0,0,0,0,0,0
$GC,5206,-1.58,-116.8,481.7,-9.9,271,5210,0.00,2.62,0.00,0.000,6,0.000,0.060,2678,1816,3471,0,0,0,0,0,0
$STATE,5417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5417,begin apogee
$GC,5423,-0.31,0.0,501.5,9.3,277,5525,1.15,0.00,98.72,0.926,6,0.084,0.000,2931,1816,3001,0,0,0,0,0,0
$STATE,5526,end apogee,CONTROL_FINISHED_OK
$STATE,5526,begin climb
$GC,5531,1.38,116.8,504.5,0.0,279,5645,1.55,2.75,102.68,0.905,4,0.036,0.051,3311,3413,2523,0,0,0,0,0,0
$GC,5657,1.35,207.0,505.5,4.8,282,5743,0.00,2.75,79.47,0.892,6,0.000,0.054,3311,1821,2157,0,0,0,0,0,0
$GC,6068,1.26,207.0,464.7,10.3,293,6074,0.17,2.62,0.00,0.000,4,0.209,0.040,3276,3410,2147,0,0,0,0,0,0
$GC,6131,1.27,217.9,458.6,9.4,294,6146,0.00,2.75,9.48,0.768,6,0.000,0.059,3276,1823,2112,0,0,0,0,0,0
$GC,6472,1.27,217.9,423.2,10.5,302,6477,0.00,3.00,0.00,0.000,4,0.000,0.107,3276,227,2108,0,0,0,0,0,0
$GC,6512,1.18,217.9,418.6,11.8,303,6516,0.00,2.58,0.00,0.000,6,0.000,0.031,3276,1830,2106,0,0,0,0,0,0
$GC,6837,1.19,223.8,386.5,9.7,311,6849,0.00,2.60,5.95,0.674,4,0.000,0.047,3276,3403,2087,0,0,0,0,0,0
$GC,6882,1.19,225.1,381.8,10.0,312,6887,0.00,2.67,0.00,0.000,6,0.000,0.050,3276,1826,2087,0,0,0,0,0,0
$GC,7202,1.21,245.0,353.2,8.9,320,7228,0.00,2.60,20.95,0.809,4,0.000,0.032,3276,3406,2000,0,0,0,0,0,0
$GC,7279,1.27,250.8,346.4,9.7,321,7293,0.00,2.65,6.72,0.679,6,0.000,0.047,3276,1842,1977,0,0,0,0,0,0
$GC,7614,1.28,253.4,314.3,9.9,330,7619,0.00,2.88,0.00,0.000,4,0.000,0.087,3276,232,1974,0,0,0,0,0,0
$GC,7647,1.22,253.4,310.6,11.2,330,7653,0.00,2.60,0.00,0.000,6,0.000,0.022,3276,1862,1972,0,0,0,0,0,0
$GC,7979,1.28,270.5,279.5,9.1,339,8003,0.00,2.55,18.65,0.759,4,0.000,0.036,3276,3390,1898,0,0,0,0,0,0
$GC,8035,1.36,278.8,274.4,9.6,340,8049,0.00,2.55,9.30,0.690,6,0.000,0.043,3277,1848,1863,0,0,0,0,0,0
$GC,8393,1.46,310.7,243.9,8.2,349,8429,0.17,2.92,29.40,0.742,4,0.073,0.075,3322,234,1733,0,0,0,0,0,0
$GC,8496,1.40,310.7,232.6,11.8,350,8500,0.00,2.58,0.00,0.000,6,0.000,0.027,3322,1849,1730,0,0,0,0,0,0
$GC,8837,1.40,310.7,196.2,11.1,359,8842,0.00,2.80,0.00,0.000,4,0.000,0.069,3322,237,1729,0,0,0,0,0,0
$GC,8872,1.34,310.7,192.8,12.3,361,8878,0.15,2.53,0.00,0.000,6,0.118,0.021,3293,1837,1727,0,0,0,0,0,0
$GC,9202,1.41,319.5,159.0,9.5,391,9216,0.00,2.55,8.35,0.599,4,0.000,0.034,3292,3393,1698,0,0,0,0,0,0
$GC,9240,1.52,329.3,155.6,9.5,394,9257,0.15,2.55,10.55,0.615,6,0.074,0.042,3333,1835,1658,0,0,0,0,0,0
$GC,9579,1.52,331.8,120.8,9.9,425,9584,0.00,2.72,0.00,0.000,4,0.000,0.070,3333,242,1655,0,0,0,0,0,0
$GC,9665,1.48,331.8,111.1,11.1,431,9670,0.00,2.50,0.00,0.000,6,0.000,0.026,3333,1842,1653,0,0,0,0,0,0
$GC,9992,1.57,352.3,79.7,8.9,462,10022,0.00,0.00,20.80,0.588,6,0.000,0.000,3333,1844,1563,0,0,0,0,0,0
$GC,10342,1.66,369.2,49.0,9.1,495,10371,0.12,2.83,16.20,0.545,4,0.081,0.060,3369,242,1494,0,0,0,0,0,0
$GC,10429,1.62,369.2,38.7,12.2,501,10433,0.00,2.45,0.00,0.000,6,0.000,0.019,3369,1820,1493,0,0,0,0,0,0
$STATE,10748,end climb,SURFACE_DEPTH_REACHED
$STATE,10748,begin surface coast
$FINISH,0.5,1.023460
$STATE,10790,end surface coast,CONTROL_FINISHED_OK
$STATE,10791,begin surface
$SM_CCo,10814,25.77,0.515,0,0,1370,400.08
$SM_GC,1.11,0.00,0.00,25.77,0.000,0.000,0.515,475,1753,1370,-11.62,-0.48,400.08
$IRIDIUM_FIX,2248.70,-15743.68,310100,020215
$TT8_MAMPS,0.026078
$HUMID,57.20
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,20.80
$XPDR_PINGS,166
$24V_AH,23.3,81.265
$10V_AH,9.8,76.035
$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,28.325,131.075,437.225,25.775,0.000,27.561,35.138,241.582,41.500,0.000,18.805,1090.164,7026.573,504.679,2053.485,627.480,33.376,1273.545,0.000,2057.431,0.000,0.534,0.000
$DEVICE_MAMPS,208.624,107.380,925.769,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,371.150,317.548,427.808,801.430,1212.071,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355388
$DATA_FILE_SIZE,44736,549
$CAP_FILE_SIZE,112566,0
$CFSIZE,260165632,148086784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,061110,083655,2255.657,-15744.128,63,1.5,63,10.1