version: 66.06
glider: 146
mission: 5
dive: 610
start: 11 9 110 18 35 8
data:
$ID,146
$MISSION,5
$DIVE,610
$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,-262560.56
$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,24
$R_STBD_OVSHOOT,54
$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
$GPS1,182355,2253.921,-15742.422,41,1.7,41,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.1
$GPS2,183414,2253.966,-15742.471,16,1.5,16,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.024,-0.234
$KALMAN_X,-290383.2,-233.8,-205.3,339244.5,-214.0
$KALMAN_Y,-397480.9,238.4,-265.1,533403.1,2088.3
$MHEAD_RNG_PITCHd_Wd,164.1,9232,-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,18,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-77.35,0.000,2,0.000,0.000,474,1751,3285,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.5,-6.6,10,126,12.12,2.70,-3.75,0.000,4,0.168,0.073,2688,192,3481,0,0,0,0,0,0
$GC,140,-0.52,-116.8,14.8,-29.2,14,150,0.88,2.47,0.00,0.000,6,0.083,0.017,2883,1786,3482,0,0,0,0,0,0
$GC,538,-0.79,-116.8,37.0,-6.5,65,543,0.22,2.42,0.00,0.000,4,0.048,0.024,2813,3334,3483,0,0,0,0,0,0
$GC,575,-0.98,-116.8,40.0,-9.5,67,580,0.12,2.50,0.00,0.000,6,0.067,0.025,2767,1766,3484,0,0,0,0,0,0
$GC,905,-0.98,-116.8,75.1,-11.4,97,909,0.00,2.62,0.00,0.000,4,0.000,0.055,2767,196,3484,0,0,0,0,0,0
$GC,973,-1.03,-116.8,83.0,-10.9,102,977,0.00,2.38,0.00,0.000,6,0.000,0.016,2767,1774,3484,0,0,0,0,0,0
$GC,1300,-1.14,-116.8,108.4,-6.6,132,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2767,1775,3485,0,0,0,0,0,0
$GC,1618,-1.26,-116.8,129.3,-6.5,162,1623,0.17,2.67,0.00,0.000,4,0.057,0.059,2712,194,3486,0,0,0,0,0,0
$GC,1652,-1.26,-116.8,132.5,-9.3,164,1661,0.00,2.38,0.00,0.000,6,0.000,0.018,2712,1754,3486,0,0,0,0,0,0
$GC,1977,-1.26,-116.8,163.2,-9.5,195,1981,0.00,2.45,0.00,0.000,4,0.000,0.025,2712,3326,3486,0,0,0,0,0,0
$GC,2035,-1.32,-116.8,168.5,-8.8,199,2040,0.00,2.55,0.00,0.000,6,0.000,0.032,2711,1730,3486,0,0,0,0,0,0
$GC,2360,-1.32,-116.8,193.5,-7.5,230,2364,0.00,2.50,0.00,0.000,4,0.000,0.025,2712,3324,3487,0,0,0,0,0,0
$GC,2392,-1.38,-116.8,195.7,-7.8,232,2396,0.00,2.55,0.00,0.000,6,0.000,0.028,2712,1733,3486,0,0,0,0,0,0
$GC,2738,-1.38,-116.8,223.8,-8.2,244,2742,0.00,2.62,0.00,0.000,4,0.000,0.064,2712,197,3487,0,0,0,0,0,0
$GC,2765,-1.42,-116.8,226.5,-8.4,244,2769,0.00,2.30,0.00,0.000,6,0.000,0.019,2711,1732,3486,0,0,0,0,0,0
$GC,3098,-1.46,-116.8,251.8,-7.6,252,3103,0.12,2.53,0.00,0.000,4,0.072,0.031,2671,3331,3486,0,0,0,0,0,0
$GC,3115,-1.46,-116.8,253.6,-7.7,252,3119,0.00,2.58,0.00,0.000,6,0.000,0.031,2671,1739,3486,0,0,0,0,0,0
$GC,3457,-1.46,-116.8,285.5,-9.1,261,3461,0.00,2.70,0.00,0.000,4,0.000,0.074,2671,192,3485,0,0,0,0,0,0
$GC,3491,-1.46,-116.8,288.8,-10.2,261,3496,0.00,2.35,0.00,0.000,6,0.000,0.025,2671,1710,3485,0,0,0,0,0,0
$GC,3822,-1.46,-116.8,318.5,-8.8,270,3826,0.00,2.62,0.00,0.000,4,0.000,0.036,2671,3332,3484,0,0,0,0,0,0
$GC,3871,-1.46,-116.8,322.5,-7.7,271,3875,0.00,2.65,0.00,0.000,6,0.000,0.046,2671,1729,3484,0,0,0,0,0,0
$GC,4185,-1.46,-116.8,347.8,-8.4,279,4190,0.00,2.60,0.00,0.000,4,0.000,0.035,2671,3321,3482,0,0,0,0,0,0
$GC,4218,-1.46,-116.8,351.0,-8.8,279,4224,0.00,2.65,0.00,0.000,6,0.000,0.043,2671,1715,3482,0,0,0,0,0,0
$GC,4550,-1.46,-116.8,382.6,-9.7,288,4554,0.00,2.62,0.00,0.000,4,0.000,0.041,2671,3316,3480,0,0,0,0,0,0
$GC,4601,-1.51,-116.8,387.1,-8.5,289,4606,0.00,2.65,0.00,0.000,6,0.000,0.052,2671,1731,3480,0,0,0,0,0,0
$GC,4914,-1.51,-116.8,413.5,-8.4,297,4919,0.00,2.80,0.00,0.000,4,0.000,0.095,2671,182,3479,0,0,0,0,0,0
$GC,4941,-1.51,-116.8,416.1,-9.4,297,4945,0.00,2.40,0.00,0.000,6,0.000,0.028,2671,1692,3479,0,0,0,0,0,0
$GC,5274,-1.51,-116.8,447.1,-9.5,305,5279,0.00,2.70,0.00,0.000,4,0.000,0.052,2671,3323,3476,0,0,0,0,0,0
$GC,5335,-1.55,-116.8,453.1,-9.3,306,5340,0.00,2.70,0.00,0.000,6,0.000,0.058,2671,1741,3476,0,0,0,0,0,0
$GC,5678,-1.55,-116.8,484.6,-9.3,315,5683,0.00,2.90,0.00,0.000,4,0.000,0.110,2671,183,3474,0,0,0,0,0,0
$GC,5694,-1.55,-116.8,486.2,-9.0,315,5698,0.00,2.42,0.00,0.000,6,0.000,0.036,2671,1697,3474,0,0,0,0,0,0
$STATE,5870,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5870,begin apogee
$GC,5877,-0.31,0.0,500.8,8.1,320,5979,1.17,0.00,98.32,0.910,6,0.079,0.000,2932,1781,3001,0,0,0,0,0,0
$STATE,5979,end apogee,CONTROL_FINISHED_OK
$STATE,5980,begin climb
$GC,5984,1.38,116.8,502.8,0.0,322,6096,1.52,2.90,102.00,0.890,4,0.035,0.090,3311,235,2524,0,0,0,0,0,0
$GC,6180,1.18,138.3,495.7,8.8,326,6206,0.25,2.60,19.12,0.839,6,0.116,0.034,3260,1813,2437,0,0,0,0,0,0
$GC,6523,1.25,196.9,472.1,6.7,335,6582,0.00,2.83,51.95,0.882,4,0.000,0.060,3260,3409,2197,0,0,0,0,0,0
$GC,6627,1.26,203.3,463.3,9.7,337,6641,0.00,2.75,6.82,0.706,6,0.000,0.054,3260,1817,2172,0,0,0,0,0,0
$GC,6973,1.29,230.9,433.6,8.5,346,7004,0.00,2.70,25.33,0.845,4,0.000,0.040,3261,3420,2058,0,0,0,0,0,0
$GC,7023,1.36,253.1,429.3,8.8,347,7054,0.15,2.75,21.25,0.825,6,0.074,0.057,3299,1824,1968,0,0,0,0,0,0
$GC,7380,1.33,253.1,392.3,10.1,356,7384,0.00,2.62,0.00,0.000,4,0.000,0.039,3299,3428,1962,0,0,0,0,0,0
$GC,7401,1.33,254.0,389.9,10.0,356,7406,0.00,2.75,0.00,0.000,6,0.000,0.051,3299,1821,1961,0,0,0,0,0,0
$GC,7740,1.33,254.0,354.2,10.9,365,7744,0.00,2.60,0.00,0.000,4,0.000,0.034,3299,3422,1959,0,0,0,0,0,0
$GC,7789,1.33,254.0,348.1,11.9,366,7793,0.00,2.65,0.00,0.000,6,0.000,0.045,3299,1838,1958,0,0,0,0,0,0
$GC,8103,1.33,260.2,316.1,9.7,374,8114,0.00,2.58,5.57,0.632,4,0.000,0.035,3299,3426,1940,0,0,0,0,0,0
$GC,8154,1.35,272.2,311.2,9.4,375,8174,0.00,2.65,12.75,0.750,6,0.000,0.043,3299,1848,1891,0,0,0,0,0,0
$GC,8511,1.36,282.3,277.3,9.5,384,8527,0.00,2.92,10.02,0.716,4,0.000,0.079,3298,234,1850,0,0,0,0,0,0
$GC,8546,1.32,283.4,273.9,10.0,384,8551,0.00,2.65,0.00,0.000,6,0.000,0.021,3299,1886,1849,0,0,0,0,0,0
$GC,8877,1.34,300.6,243.5,9.1,393,8901,0.00,3.00,17.38,0.732,4,0.000,0.073,3299,238,1774,0,0,0,0,0,0
$GC,8935,1.34,300.6,237.4,11.2,394,8939,0.00,2.62,0.00,0.000,6,0.000,0.025,3299,1877,1773,0,0,0,0,0,0
$GC,9285,1.34,300.6,200.8,10.6,403,9289,0.00,2.47,0.00,0.000,4,0.000,0.031,3299,3422,1771,0,0,0,0,0,0
$GC,9312,1.41,300.6,197.9,10.3,403,9316,0.00,2.60,0.00,0.000,6,0.000,0.040,3299,1842,1769,0,0,0,0,0,0
$GC,9642,1.51,341.5,169.7,7.7,433,9687,0.12,2.88,36.45,0.687,4,0.207,0.069,3333,248,1606,0,0,0,0,0,0
$GC,9763,1.45,341.5,156.1,11.9,443,9768,0.00,2.58,0.00,0.000,6,0.000,0.025,3333,1869,1603,0,0,0,0,0,0
$GC,10087,1.45,341.5,120.7,11.6,474,10091,0.00,2.85,0.00,0.000,4,0.000,0.065,3333,235,1601,0,0,0,0,0,0
$GC,10143,1.45,341.5,113.5,12.5,478,10153,0.00,2.50,0.00,0.000,6,0.000,0.026,3333,1806,1599,0,0,0,0,0,0
$GC,10472,1.50,341.5,78.1,10.2,509,10476,0.00,2.70,0.00,0.000,4,0.000,0.064,3334,234,1600,0,0,0,0,0,0
$GC,10540,1.50,341.5,71.0,10.2,514,10545,0.00,2.45,0.00,0.000,6,0.000,0.019,3333,1808,1599,0,0,0,0,0,0
$GC,10870,1.57,345.7,40.6,9.8,544,10875,0.00,2.67,0.00,0.000,4,0.000,0.058,3333,232,1599,0,0,0,0,0,0
$GC,10891,1.63,355.4,38.5,9.5,545,10909,0.00,2.42,12.23,0.528,6,0.000,0.019,3333,1798,1551,0,0,0,0,0,0
$STATE,11248,end climb,SURFACE_DEPTH_REACHED
$STATE,11248,begin surface coast
$FINISH,0.4,1.010560
$STATE,11305,end surface coast,CONTROL_FINISHED_OK
$STATE,11306,begin surface
$SM_CCo,11328,37.67,0.523,0,0,1370,400.08
$SM_GC,1.11,0.00,0.00,37.67,0.000,0.000,0.523,476,1798,1370,-11.61,0.79,400.08
$IRIDIUM_FIX,2246.36,-15743.68,030200,151528
$TT8_MAMPS,0.026078
$HUMID,57.32
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.70
$XPDR_PINGS,187
$24V_AH,23.3,85.056
$10V_AH,9.8,79.343
$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,28.550,146.825,419.200,37.675,0.000,23.714,32.796,407.515,46.750,0.000,17.644,1186.327,7168.375,511.499,2316.626,801.243,33.369,1317.759,0.000,2319.003,0.000,0.534,0.000
$DEVICE_MAMPS,207.090,115.050,909.662,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,407.122,370.297,478.377,948.917,1435.228,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,47807,601
$CAP_FILE_SIZE,120154,0
$CFSIZE,260165632,146522112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,091110,214554,2253.960,-15742.221,22,1.3,39,10.1