version: 66.06
glider: 146
mission: 5
dive: 606
start: 11 9 110 5 20 57
data:
$ID,146
$MISSION,5
$DIVE,606
$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,-262446.16
$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,21
$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
$GPS1,050104,2253.923,-15743.066,11,99.0,30,10.1
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-69.0
$GPS2,052004,2254.037,-15743.025,14,99.0,33,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.115,-0.205
$KALMAN_X,-290394.6,246.2,147.1,337469.2,-948.2
$KALMAN_Y,-406239.5,578.3,-385.1,542074.2,1023.5
$MHEAD_RNG_PITCHd_Wd,140.7,9491,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.38,-116.7,0.0,0.0,0,98,0.00,0.00,-77.35,0.000,2,0.000,0.000,473,1790,3318,0,0,0,0,0,0
$GC,102,-1.38,-116.8,3.7,-7.2,10,128,12.07,2.78,-3.10,0.000,4,0.166,0.069,2691,190,3480,0,0,0,0,0,0
$GC,159,-1.20,-116.8,18.0,-17.6,17,167,0.17,2.45,0.00,0.000,6,0.092,0.018,2731,1771,3481,0,0,0,0,0,0
$GC,505,-1.16,-116.8,62.3,-12.6,54,509,0.00,2.45,0.00,0.000,4,0.000,0.025,2732,3333,3482,0,0,0,0,0,0
$GC,541,-1.16,-116.8,67.1,-11.1,56,551,0.00,2.53,0.00,0.000,6,0.000,0.028,2732,1774,3482,0,0,0,0,0,0
$GC,873,-1.16,-116.8,100.4,-11.2,87,877,0.00,2.47,0.00,0.000,4,0.000,0.023,2732,3338,3483,0,0,0,0,0,0
$GC,914,-1.24,-116.8,105.4,-9.9,90,919,0.00,2.47,0.00,0.000,6,0.000,0.025,2732,1780,3483,0,0,0,0,0,0
$GC,1239,-1.29,-116.8,134.6,-8.2,120,1244,0.00,2.42,0.00,0.000,4,0.000,0.028,2732,3337,3483,0,0,0,0,0,0
$GC,1286,-1.41,-116.8,137.8,-7.7,123,1291,0.17,2.40,0.00,0.000,6,0.054,0.028,2672,1822,3483,0,0,0,0,0,0
$GC,1611,-1.35,-116.8,167.4,-9.3,153,1617,0.15,2.80,0.00,0.000,4,0.105,0.068,2704,193,3483,0,0,0,0,0,0
$GC,1635,-1.35,-116.8,169.6,-9.0,154,1640,0.00,2.47,0.00,0.000,6,0.000,0.020,2704,1828,3483,0,0,0,0,0,0
$GC,1959,-1.35,-116.8,198.4,-10.1,185,1963,0.00,2.78,0.00,0.000,4,0.000,0.060,2704,198,3484,0,0,0,0,0,0
$GC,2003,-1.39,-116.8,203.3,-10.8,187,2007,0.00,2.45,0.00,0.000,6,0.000,0.016,2705,1813,3483,0,0,0,0,0,0
$GC,2323,-1.39,-116.8,232.5,-8.8,195,2327,0.00,2.35,0.00,0.000,4,0.000,0.033,2704,3325,3484,0,0,0,0,0,0
$GC,2356,-1.46,-116.8,235.5,-9.1,195,2362,0.00,2.42,0.00,0.000,6,0.000,0.038,2704,1816,3484,0,0,0,0,0,0
$GC,2687,-1.46,-116.8,259.8,-7.3,204,2692,0.00,2.40,0.00,0.000,4,0.000,0.032,2704,3330,3483,0,0,0,0,0,0
$GC,2745,-1.54,-116.8,264.6,-8.7,205,2750,0.17,2.42,0.00,0.000,6,0.056,0.038,2647,1826,3483,0,0,0,0,0,0
$GC,3093,-1.47,-116.8,302.3,-10.9,214,3099,0.15,2.88,0.00,0.000,4,0.110,0.079,2679,195,3482,0,0,0,0,0,0
$GC,3135,-1.47,-116.8,306.6,-10.8,215,3139,0.00,2.47,0.00,0.000,6,0.000,0.021,2679,1791,3482,0,0,0,0,0,0
$GC,3459,-1.47,-116.8,338.3,-9.9,223,3463,0.00,2.50,0.00,0.000,4,0.000,0.040,2679,3350,3480,0,0,0,0,0,0
$GC,3502,-1.52,-116.8,343.0,-10.7,224,3507,0.00,2.47,0.00,0.000,6,0.000,0.046,2679,1833,3480,0,0,0,0,0,0
$GC,3823,-1.52,-116.8,375.2,-9.9,232,3828,0.00,2.92,0.00,0.000,4,0.000,0.094,2679,196,3478,0,0,0,0,0,0
$GC,3872,-1.52,-116.8,380.6,-10.1,233,3877,0.00,2.55,0.00,0.000,6,0.000,0.029,2679,1822,3477,0,0,0,0,0,0
$GC,4185,-1.52,-116.8,406.2,-8.0,241,4190,0.00,2.47,0.00,0.000,4,0.000,0.049,2679,3346,3476,0,0,0,0,0,0
$GC,4227,-1.57,-116.8,409.4,-8.1,242,4232,0.00,2.55,0.00,0.000,6,0.000,0.051,2679,1827,3476,0,0,0,0,0,0
$GC,4552,-1.57,-116.8,437.2,-8.9,250,4556,0.00,3.00,0.00,0.000,4,0.000,0.105,2679,191,3473,0,0,0,0,0,0
$GC,4578,-1.57,-116.8,440.0,-10.4,250,4583,0.00,2.60,0.00,0.000,6,0.000,0.030,2679,1809,3473,0,0,0,0,0,0
$GC,4912,-1.57,-116.8,471.3,-9.5,258,4913,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1809,3471,0,0,0,0,0,0
$STATE,5232,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5232,begin apogee
$GC,5238,-0.31,0.0,501.2,9.0,266,5339,1.12,0.00,97.47,0.910,6,0.081,0.000,2929,1809,3001,0,0,0,0,0,0
$STATE,5340,end apogee,CONTROL_FINISHED_OK
$STATE,5340,begin climb
$GC,5344,1.38,116.8,503.0,0.0,268,5451,1.58,0.00,101.78,0.893,6,0.045,0.000,3314,1809,2523,0,0,0,0,0,0
$GC,5761,1.28,143.5,476.6,8.5,279,5791,0.17,2.78,22.80,0.852,4,0.119,0.054,3279,3397,2415,0,0,0,0,0,0
$GC,5903,1.31,166.9,464.4,8.7,282,5934,0.00,2.67,22.02,0.846,6,0.000,0.063,3279,1844,2319,0,0,0,0,0,0
$GC,6259,1.34,197.8,434.1,8.3,291,6293,0.00,3.12,28.00,0.852,4,0.000,0.107,3279,240,2193,0,0,0,0,0,0
$GC,6323,1.25,197.8,428.1,10.3,292,6328,0.00,2.58,0.00,0.000,6,0.000,0.029,3279,1828,2190,0,0,0,0,0,0
$GC,6665,1.26,206.6,395.6,9.5,301,6680,0.00,2.65,8.35,0.743,4,0.000,0.041,3279,3404,2158,0,0,0,0,0,0
$GC,6732,1.26,206.6,388.4,11.4,302,6737,0.00,2.70,0.00,0.000,6,0.000,0.053,3279,1816,2156,0,0,0,0,0,0
$GC,7074,1.28,217.8,354.7,9.4,311,7093,0.00,2.90,11.25,0.766,4,0.000,0.093,3279,232,2112,0,0,0,0,0,0
$GC,7121,1.20,217.8,350.0,10.6,312,7126,0.00,2.55,0.00,0.000,6,0.000,0.023,3280,1824,2109,0,0,0,0,0,0
$GC,7441,1.24,252.0,323.6,8.1,320,7478,0.00,0.00,31.88,0.802,6,0.000,0.000,3279,1825,1972,0,0,0,0,0,0
$GC,7804,1.26,264.1,289.7,9.3,329,7818,0.00,0.00,11.48,0.729,6,0.000,0.000,3279,1825,1924,0,0,0,0,0,0
$GC,8131,1.34,300.4,262.3,7.9,337,8173,0.00,2.92,33.25,0.759,4,0.000,0.074,3279,231,1775,0,0,0,0,0,0
$GC,8195,1.34,300.4,255.9,10.8,338,8199,0.00,2.53,0.00,0.000,6,0.000,0.025,3279,1821,1772,0,0,0,0,0,0
$GC,8537,1.42,305.0,222.8,9.8,347,8548,0.12,2.83,4.47,0.523,4,0.080,0.075,3315,233,1757,0,0,0,0,0,0
$GC,8591,1.37,305.0,216.5,12.5,348,8595,0.00,2.45,0.00,0.000,6,0.000,0.028,3315,1782,1756,0,0,0,0,0,0
$GC,8912,1.37,309.4,182.7,9.8,368,8923,0.00,2.78,5.50,0.554,4,0.000,0.071,3315,229,1738,0,0,0,0,0,0
$GC,8938,1.39,318.1,180.7,9.5,370,8952,0.00,2.42,9.30,0.627,6,0.000,0.020,3315,1772,1704,0,0,0,0,0,0
$GC,9278,1.39,318.1,142.5,12.4,402,9282,0.00,2.67,0.00,0.000,4,0.000,0.064,3315,231,1701,0,0,0,0,0,0
$GC,9299,1.39,318.1,140.3,12.4,403,9304,0.00,2.42,0.00,0.000,6,0.000,0.021,3314,1782,1699,0,0,0,0,0,0
$GC,9629,1.45,338.5,109.8,8.9,433,9653,0.00,2.72,18.80,0.619,4,0.000,0.062,3315,230,1620,0,0,0,0,0,0
$GC,9682,1.48,358.6,105.4,8.9,437,9707,0.00,2.40,18.92,0.607,6,0.000,0.027,3315,1762,1537,0,0,0,0,0,0
$GC,10026,1.63,384.3,74.5,8.6,469,10055,0.17,2.70,23.33,0.584,4,0.145,0.027,3361,3390,1434,0,0,0,0,0,0
$GC,10087,1.73,384.3,67.7,11.8,473,10096,0.00,2.72,0.00,0.000,6,0.000,0.038,3361,1768,1431,0,0,0,0,0,0
$GC,10420,1.73,384.3,28.0,13.5,505,10429,0.00,2.67,0.00,0.000,4,0.000,0.064,3361,231,1430,0,0,0,0,0,0
$GC,10466,1.73,384.3,21.1,14.3,511,10476,0.00,2.42,0.00,0.000,6,0.000,0.019,3361,1786,1428,0,0,0,0,0,0
$STATE,10606,end climb,SURFACE_DEPTH_REACHED
$STATE,10606,begin surface coast
$FINISH,0.5,0.999515
$STATE,10650,end surface coast,CONTROL_FINISHED_OK
$STATE,10650,begin surface
$SM_CCo,10673,12.75,0.501,0,0,1369,400.08
$SM_GC,1.13,0.00,0.00,12.75,0.000,0.000,0.501,475,1787,1369,-11.62,0.51,400.08
$IRIDIUM_FIX,2246.36,-15743.68,030200,050511
$TT8_MAMPS,0.026078
$HUMID,57.83
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.30
$XPDR_PINGS,152
$24V_AH,23.3,84.443
$10V_AH,9.8,78.818
$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,27.825,125.125,448.600,12.750,0.000,82.221,103.000,647.250,38.000,0.000,36.102,1058.661,7082.794,511.482,2015.521,1153.074,33.371,1251.791,0.000,1997.414,0.000,0.535,0.000
$DEVICE_MAMPS,166.439,107.380,910.429,500.851,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,363.034,304.622,413.285,769.142,1163.439,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,41513,537
$CAP_FILE_SIZE,115971,0
$CFSIZE,260165632,146776064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091110,082024,2254.097,-15742.528,24,1.1,40,10.1