version: 66.06
glider: 146
mission: 5
dive: 590
start: 11 7 110 0 32 12
data:
$ID,146
$MISSION,5
$DIVE,590
$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,-261959.23
$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,63
$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
$GPS1,002337,2255.436,-15743.911,48,1.0,48,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-67.2
$GPS2,003119,2255.487,-15743.941,21,1.3,22,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.132,-0.194
$KALMAN_X,-283368.1,338.5,259.4,328666.8,-832.0
$KALMAN_Y,-438411.8,490.1,310.9,576330.2,187.5
$MHEAD_RNG_PITCHd_Wd,135.6,12463,-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,-116.8,0.0,0.0,0,96,0.00,0.00,-78.05,0.000,2,0.000,0.000,474,1803,3281,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.0,-4.7,10,127,11.98,2.80,-3.83,0.000,4,0.163,0.065,2689,189,3481,0,0,0,0,0,0
$GC,184,-1.30,-116.8,22.6,-13.7,21,192,0.08,2.45,0.00,0.000,6,0.110,0.017,2708,1764,3482,0,0,0,0,0,0
$GC,530,-1.20,-116.8,67.5,-12.9,56,535,0.15,2.67,0.00,0.000,4,0.116,0.061,2739,186,3484,0,0,0,0,0,0
$GC,552,-1.12,-116.8,70.6,-13.0,57,557,0.00,2.42,0.00,0.000,6,0.000,0.016,2738,1788,3483,0,0,0,0,0,0
$GC,882,-1.16,-116.8,105.0,-9.6,87,886,0.00,2.40,0.00,0.000,4,0.000,0.025,2738,3332,3484,0,0,0,0,0,0
$GC,961,-1.24,-116.8,112.3,-8.1,93,965,0.00,2.47,0.00,0.000,6,0.000,0.025,2739,1765,3485,0,0,0,0,0,0
$GC,1290,-1.32,-116.8,139.4,-7.8,123,1295,0.12,2.62,0.00,0.000,4,0.070,0.060,2696,197,3486,0,0,0,0,0,0
$GC,1335,-1.32,-116.8,144.2,-9.6,126,1345,0.00,2.38,0.00,0.000,6,0.000,0.021,2696,1763,3486,0,0,0,0,0,0
$GC,1664,-1.32,-116.8,172.5,-9.0,157,1668,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1763,3486,0,0,0,0,0,0
$GC,1997,-1.32,-116.8,205.2,-10.3,186,1998,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1763,3486,0,0,0,0,0,0
$GC,2324,-1.32,-116.8,235.6,-8.8,194,2328,0.00,2.42,0.00,0.000,4,0.000,0.031,2696,3317,3486,0,0,0,0,0,0
$GC,2368,-1.38,-116.8,239.5,-8.5,195,2373,0.00,2.53,0.00,0.000,6,0.000,0.034,2697,1750,3486,0,0,0,0,0,0
$GC,2688,-1.38,-116.8,266.3,-8.7,203,2693,0.00,2.70,0.00,0.000,4,0.000,0.071,2696,193,3486,0,0,0,0,0,0
$GC,2738,-1.42,-116.8,271.3,-10.0,204,2742,0.00,2.35,0.00,0.000,6,0.000,0.022,2696,1712,3485,0,0,0,0,0,0
$GC,3052,-1.42,-116.8,297.2,-8.2,212,3056,0.00,2.58,0.00,0.000,4,0.000,0.041,2696,3315,3484,0,0,0,0,0,0
$GC,3109,-1.51,-116.8,302.2,-9.4,213,3114,0.12,2.55,0.00,0.000,6,0.066,0.039,2646,1745,3485,0,0,0,0,0,0
$GC,3457,-1.45,-116.8,337.1,-9.7,222,3459,0.17,0.00,0.00,0.000,6,0.103,0.000,2684,1745,3483,0,0,0,0,0,0
$GC,3782,-1.45,-116.8,362.3,-7.5,230,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,2684,1745,3481,0,0,0,0,0,0
$GC,4109,-1.45,-116.8,389.6,-8.9,238,4113,0.00,2.58,0.00,0.000,4,0.000,0.047,2684,3310,3480,0,0,0,0,0,0
$GC,4158,-1.54,-116.8,394.3,-9.2,239,4163,0.00,2.62,0.00,0.000,6,0.000,0.056,2684,1756,3479,0,0,0,0,0,0
$GC,4473,-1.54,-116.8,421.5,-8.8,247,4477,0.00,2.53,0.00,0.000,4,0.000,0.040,2684,3306,3477,0,0,0,0,0,0
$GC,4500,-1.59,-116.8,424.3,-8.8,247,4505,0.12,2.62,0.00,0.000,6,0.071,0.056,2643,1768,3477,0,0,0,0,0,0
$GC,4832,-1.55,-116.8,456.9,-9.9,255,4837,0.00,2.95,0.00,0.000,4,0.000,0.107,2642,179,3475,0,0,0,0,0,0
$GC,4873,-1.49,-116.8,461.4,-11.6,256,4878,0.15,2.47,0.00,0.000,6,0.110,0.030,2674,1723,3475,0,0,0,0,0,0
$GC,5198,-1.49,-116.8,492.0,-9.3,264,5202,0.00,2.75,0.00,0.000,4,0.000,0.057,2674,3356,3473,0,0,0,0,0,0
$GC,5231,-1.56,-116.8,495.2,-9.2,264,5236,0.00,2.72,0.00,0.000,6,0.000,0.058,2674,1769,3473,0,0,0,0,0,0
$STATE,5315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5315,begin apogee
$GC,5323,-0.31,0.0,503.2,9.3,267,5427,1.15,0.00,99.72,0.924,6,0.080,0.000,2929,1860,3001,0,0,0,0,0,0
$STATE,5428,end apogee,CONTROL_FINISHED_OK
$STATE,5428,begin climb
$GC,5430,1.38,116.8,505.9,0.0,269,5538,1.58,0.00,103.32,0.904,6,0.048,0.000,3309,1860,2524,0,0,0,0,0,0
$GC,5845,1.32,171.5,488.1,6.9,280,5900,0.10,2.62,48.40,0.886,4,0.142,0.048,3290,3372,2301,0,0,0,0,0,0
$GC,6022,1.29,189.4,473.9,9.0,284,6046,0.00,2.65,16.95,0.837,6,0.000,0.055,3290,1837,2228,0,0,0,0,0,0
$GC,6392,1.26,209.9,441.2,8.9,293,6416,0.00,2.60,18.92,0.843,4,0.000,0.041,3290,3377,2144,0,0,0,0,0,0
$GC,6468,1.26,209.9,433.7,10.1,294,6473,0.00,2.65,0.00,0.000,6,0.000,0.055,3290,1844,2142,0,0,0,0,0,0
$GC,6799,1.26,209.9,399.9,10.4,302,6803,0.00,2.50,0.00,0.000,4,0.000,0.041,3290,3378,2139,0,0,0,0,0,0
$GC,6839,1.26,209.9,395.6,11.3,303,6843,0.00,2.60,0.00,0.000,6,0.000,0.057,3290,1853,2138,0,0,0,0,0,0
$GC,7164,1.29,228.9,365.2,8.9,311,7184,0.00,0.00,17.58,0.811,6,0.000,0.000,3290,1853,2067,0,0,0,0,0,0
$GC,7527,1.31,244.9,331.7,9.1,320,7548,0.00,2.53,15.82,0.787,4,0.000,0.037,3290,3382,2000,0,0,0,0,0,0
$GC,7594,1.31,244.9,325.2,10.2,321,7598,0.00,2.58,0.00,0.000,6,0.000,0.049,3290,1858,1998,0,0,0,0,0,0
$GC,7930,1.33,261.8,294.3,9.1,330,7954,0.00,2.95,16.35,0.767,4,0.000,0.080,3290,234,1931,0,0,0,0,0,0
$GC,7982,1.27,261.8,288.8,10.7,331,7987,0.00,2.55,0.00,0.000,6,0.000,0.027,3290,1828,1930,0,0,0,0,0,0
$GC,8296,1.27,261.8,257.9,10.1,339,8301,0.00,2.55,0.00,0.000,4,0.000,0.037,3289,3406,1929,0,0,0,0,0,0
$GC,8358,1.34,261.8,251.4,10.6,340,8362,0.00,2.60,0.00,0.000,6,0.000,0.044,3289,1842,1927,0,0,0,0,0,0
$GC,8700,1.38,291.2,221.0,8.3,349,8728,0.00,0.00,26.73,0.732,6,0.000,0.000,3289,1842,1814,0,0,0,0,0,0
$GC,9048,1.43,291.2,188.0,10.5,364,9053,0.10,2.83,0.00,0.000,4,0.091,0.077,3318,240,1809,0,0,0,0,0,0
$GC,9105,1.37,291.2,180.0,13.2,368,9111,0.00,2.58,0.00,0.000,6,0.000,0.026,3318,1870,1807,0,0,0,0,0,0
$GC,9433,1.37,291.2,144.2,11.7,399,9438,0.00,0.00,0.00,0.000,6,0.000,0.000,3318,1872,1807,0,0,0,0,0,0
$GC,9762,1.39,302.5,111.9,9.4,430,9779,0.00,2.53,10.52,0.594,4,0.000,0.033,3318,3393,1767,0,0,0,0,0,0
$GC,9803,1.48,314.6,107.5,9.3,433,9823,0.00,2.58,12.45,0.597,6,0.000,0.041,3317,1833,1716,0,0,0,0,0,0
$GC,10144,1.63,371.5,80.5,6.8,465,10207,0.15,2.62,49.88,0.611,4,0.070,0.028,3360,3401,1484,0,0,0,0,0,0
$GC,10213,1.68,383.0,74.2,9.4,471,10236,0.00,2.58,11.50,0.548,6,0.000,0.035,3359,1862,1437,0,0,0,0,0,0
$GC,10555,1.68,383.0,37.9,11.1,503,10560,0.00,2.80,0.00,0.000,4,0.000,0.060,3359,234,1435,0,0,0,0,0,0
$GC,10601,1.64,383.0,31.8,14.6,506,10605,0.00,2.55,0.00,0.000,6,0.000,0.019,3360,1871,1434,0,0,0,0,0,0
$STATE,10833,end climb,SURFACE_DEPTH_REACHED
$STATE,10833,begin surface coast
$FINISH,0.4,1.010385
$STATE,10876,end surface coast,CONTROL_FINISHED_OK
$STATE,10876,begin surface
$SM_CCo,10898,13.73,0.505,0,0,1369,400.08
$SM_GC,0.86,0.00,0.00,13.73,0.000,0.000,0.505,475,1747,1369,-11.62,-0.62,400.08
$IRIDIUM_FIX,2246.36,-15743.68,310100,212158
$TT8_MAMPS,0.026845
$HUMID,57.52
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.50
$XPDR_PINGS,147
$24V_AH,23.3,82.041
$10V_AH,9.9,76.760
$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,27.725,109.300,448.150,13.725,0.000,30.525,32.640,231.919,36.750,0.000,23.833,1063.745,7202.136,484.608,2012.539,608.457,33.375,1240.559,0.000,2007.942,0.000,0.533,0.000
$DEVICE_MAMPS,163.371,106.613,924.235,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,367.782,318.220,417.551,772.339,1168.382,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355436
$DATA_FILE_SIZE,44638,544
$CAP_FILE_SIZE,106164,0
$CFSIZE,260165632,147738624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,071110,033524,2255.093,-15743.913,38,1.5,38,10.1