version: 66.06
glider: 146
mission: 5
dive: 615
start: 11 10 110 10 34 58
data:
$ID,146
$MISSION,5
$DIVE,615
$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,-262680.66
$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,45
$R_STBD_OVSHOOT,61
$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
$GPS1,102700,2252.853,-15742.913,35,2.0,35,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-67.8
$GPS2,103404,2252.926,-15742.910,13,2.2,32,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.015,-0.234
$KALMAN_X,-292086.2,-40.7,-211.9,340010.4,61.1
$KALMAN_Y,-388586.7,-102.7,502.9,522152.8,1335.6
$MHEAD_RNG_PITCHd_Wd,166.1,7435,-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,-78.60,0.000,2,0.000,0.000,473,1746,3344,0,0,0,0,0,0
$GC,102,-1.38,-116.8,4.0,-8.3,10,128,12.27,2.65,-2.50,0.000,4,0.173,0.066,2692,213,3481,0,0,0,0,0,0
$GC,159,-1.23,-116.8,19.1,-16.9,17,169,0.15,2.42,0.00,0.000,6,0.095,0.017,2726,1781,3482,0,0,0,0,0,0
$GC,515,-1.17,-116.8,62.0,-11.1,54,519,0.00,2.65,0.00,0.000,4,0.000,0.054,2726,204,3484,0,0,0,0,0,0
$GC,549,-1.10,-116.8,66.1,-11.4,56,554,0.15,2.35,0.00,0.000,6,0.111,0.015,2757,1764,3483,0,0,0,0,0,0
$GC,876,-1.17,-116.8,95.0,-8.7,86,880,0.00,2.62,0.00,0.000,4,0.000,0.054,2757,210,3484,0,0,0,0,0,0
$GC,933,-1.28,-116.8,100.6,-9.0,90,943,0.12,2.33,0.00,0.000,6,0.037,0.015,2708,1740,3484,0,0,0,0,0,0
$GC,1262,-1.28,-116.8,129.6,-8.9,121,1266,0.00,2.47,0.00,0.000,4,0.000,0.027,2708,3318,3485,0,0,0,0,0,0
$GC,1326,-1.33,-116.8,135.7,-9.4,126,1330,0.00,2.50,0.00,0.000,6,0.000,0.030,2707,1750,3485,0,0,0,0,0,0
$GC,1651,-1.33,-116.8,165.3,-8.3,156,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,2707,1750,3486,0,0,0,0,0,0
$GC,1971,-1.33,-116.8,191.2,-8.0,186,1975,0.00,2.45,0.00,0.000,4,0.000,0.029,2708,3320,3487,0,0,0,0,0,0
$GC,1995,-1.33,-116.8,193.3,-8.3,187,2001,0.00,2.55,0.00,0.000,6,0.000,0.030,2708,1718,3486,0,0,0,0,0,0
$GC,2320,-1.33,-116.8,222.7,-9.3,201,2324,0.00,2.53,0.00,0.000,4,0.000,0.024,2708,3318,3487,0,0,0,0,0,0
$GC,2341,-1.33,-116.8,224.8,-9.3,201,2346,0.00,2.55,0.00,0.000,6,0.000,0.035,2707,1732,3487,0,0,0,0,0,0
$GC,2680,-1.33,-116.8,255.8,-9.3,210,2684,0.00,2.47,0.00,0.000,4,0.000,0.026,2708,3312,3487,0,0,0,0,0,0
$GC,2696,-1.33,-116.8,257.5,-9.4,210,2700,0.00,2.53,0.00,0.000,6,0.000,0.030,2708,1747,3487,0,0,0,0,0,0
$GC,3038,-1.33,-116.8,286.9,-8.4,219,3042,0.00,2.50,0.00,0.000,4,0.000,0.032,2708,3318,3486,0,0,0,0,0,0
$GC,3079,-1.41,-116.8,290.0,-7.5,220,3084,0.00,2.47,0.00,0.000,6,0.000,0.036,2707,1770,3485,0,0,0,0,0,0
$GC,3404,-1.46,-116.8,313.5,-7.5,228,3406,0.10,0.00,0.00,0.000,6,0.084,0.000,2670,1770,3485,0,0,0,0,0,0
$GC,3728,-1.46,-116.8,346.2,-10.2,236,3729,0.00,0.00,0.00,0.000,6,0.000,0.000,2671,1770,3484,0,0,0,0,0,0
$GC,4055,-1.46,-116.8,377.4,-9.3,244,4060,0.00,2.50,0.00,0.000,4,0.000,0.039,2670,3312,3483,0,0,0,0,0,0
$GC,4106,-1.49,-116.8,382.0,-8.9,245,4110,0.00,2.58,0.00,0.000,6,0.000,0.053,2670,1776,3483,0,0,0,0,0,0
$GC,4420,-1.49,-116.8,408.5,-8.7,253,4421,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1776,3481,0,0,0,0,0,0
$GC,4743,-1.49,-116.8,437.1,-8.9,261,4748,0.00,2.47,0.00,0.000,4,0.000,0.048,2671,3301,3479,0,0,0,0,0,0
$GC,4760,-1.49,-116.8,438.7,-8.8,261,4764,0.00,2.55,0.00,0.000,6,0.000,0.058,2670,1784,3479,0,0,0,0,0,0
$GC,5102,-1.49,-116.8,468.6,-8.8,270,5103,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1783,3477,0,0,0,0,0,0
$GC,5426,-1.49,-116.8,499.1,-9.6,278,5431,0.00,2.53,0.00,0.000,4,0.000,0.057,2670,3296,3475,0,0,0,0,0,0
$STATE,5435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5435,begin apogee
$GC,5443,-0.31,0.0,500.3,9.8,278,5549,1.15,0.00,98.93,0.911,6,0.082,0.000,2927,1819,3001,0,0,0,0,0,0
$STATE,5550,end apogee,CONTROL_FINISHED_OK
$STATE,5550,begin climb
$GC,5554,1.38,116.8,504.4,0.0,281,5666,1.55,2.67,101.72,0.893,4,0.043,0.053,3308,3353,2523,0,0,0,0,0,0
$GC,5679,1.37,209.7,504.2,4.7,284,5768,0.00,2.67,81.53,0.883,6,0.000,0.056,3308,1816,2145,0,0,0,0,0,0
$GC,6091,1.28,209.7,462.2,10.4,294,6096,0.15,2.53,0.00,0.000,4,0.189,0.039,3279,3354,2136,0,0,0,0,0,0
$GC,6212,1.31,235.6,451.7,8.5,296,6241,0.00,2.62,23.02,0.839,6,0.000,0.058,3279,1841,2039,0,0,0,0,0,0
$GC,6551,1.35,265.2,422.7,8.3,305,6586,0.00,2.58,27.62,0.840,4,0.000,0.041,3280,3353,1918,0,0,0,0,0,0
$GC,6611,1.40,266.3,417.3,10.0,306,6616,0.10,2.65,0.00,0.000,6,0.092,0.062,3307,1839,1916,0,0,0,0,0,0
$GC,6959,1.36,266.3,380.1,10.8,315,6963,0.00,2.47,0.00,0.000,4,0.000,0.035,3306,3357,1912,0,0,0,0,0,0
$GC,6980,1.36,266.3,377.7,10.5,315,6984,0.00,2.58,0.00,0.000,6,0.000,0.053,3306,1854,1911,0,0,0,0,0,0
$GC,7318,1.36,266.3,340.1,11.4,324,7319,0.00,0.00,0.00,0.000,6,0.000,0.000,3307,1853,1910,0,0,0,0,0,0
$GC,7641,1.36,266.3,303.2,11.1,332,7645,0.00,2.42,0.00,0.000,4,0.000,0.030,3307,3358,1909,0,0,0,0,0,0
$GC,7669,1.36,266.3,300.1,11.5,332,7674,0.00,2.50,0.00,0.000,6,0.000,0.047,3307,1851,1908,0,0,0,0,0,0
$GC,8002,1.36,266.3,262.9,10.9,340,8006,0.00,2.42,0.00,0.000,4,0.000,0.033,3306,3358,1908,0,0,0,0,0,0
$GC,8063,1.40,266.3,255.9,11.2,341,8067,0.00,2.45,0.00,0.000,6,0.000,0.041,3307,1879,1907,0,0,0,0,0,0
$GC,8411,1.43,288.4,222.3,8.8,350,8436,0.00,2.95,20.00,0.713,4,0.000,0.074,3307,234,1824,0,0,0,0,0,0
$GC,8472,1.40,302.5,217.1,9.2,351,8493,0.00,2.58,14.05,0.683,6,0.000,0.022,3306,1854,1766,0,0,0,0,0,0
$GC,8808,1.40,302.5,184.7,11.2,367,8812,0.00,2.47,0.00,0.000,4,0.000,0.031,3307,3396,1762,0,0,0,0,0,0
$GC,8831,1.46,302.5,181.6,11.2,368,8837,0.00,2.50,0.00,0.000,6,0.000,0.038,3306,1867,1760,0,0,0,0,0,0
$GC,9156,1.54,336.6,150.4,8.1,399,9194,0.12,2.90,30.77,0.659,4,0.076,0.070,3342,234,1626,0,0,0,0,0,0
$GC,9271,1.47,336.6,138.3,11.1,408,9281,0.10,2.58,0.00,0.000,6,0.098,0.021,3318,1845,1624,0,0,0,0,0,0
$GC,9601,1.54,336.8,107.2,10.0,439,9605,0.00,2.47,0.00,0.000,4,0.000,0.031,3318,3396,1623,0,0,0,0,0,0
$GC,9624,1.64,345.3,104.6,9.5,440,9638,0.12,2.58,8.00,0.546,6,0.048,0.040,3358,1847,1593,0,0,0,0,0,0
$GC,9961,1.66,362.0,69.9,9.1,471,9989,0.00,2.83,16.00,0.568,4,0.000,0.060,3358,247,1524,0,0,0,0,0,0
$GC,10057,1.66,362.0,60.1,11.0,478,10061,0.00,2.47,0.00,0.000,6,0.000,0.019,3358,1829,1522,0,0,0,0,0,0
$GC,10393,1.66,362.0,26.2,11.2,510,10402,0.00,2.50,0.00,0.000,4,0.000,0.028,3358,3384,1521,0,0,0,0,0,0
$GC,10412,1.66,362.0,23.8,11.2,512,10422,0.00,2.60,0.00,0.000,6,0.000,0.037,3358,1817,1520,0,0,0,0,0,0
$STATE,10607,end climb,SURFACE_DEPTH_REACHED
$STATE,10608,begin surface coast
$FINISH,0.4,1.000045
$STATE,10664,end surface coast,CONTROL_FINISHED_OK
$STATE,10664,begin surface
$SM_CCo,10688,32.85,0.519,0,0,1370,400.08
$SM_GC,1.08,0.00,0.00,32.85,0.000,0.000,0.519,474,1751,1370,-11.62,-0.54,400.08
$IRIDIUM_FIX,2246.36,-15731.08,040200,070726
$TT8_MAMPS,0.026078
$HUMID,56.89
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,20.90
$XPDR_PINGS,193
$24V_AH,23.3,85.707
$10V_AH,9.8,79.948
$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,27.850,117.300,421.650,32.850,0.000,29.121,35.609,188.071,48.250,0.000,35.027,1059.790,6958.009,481.737,2072.690,570.548,33.368,1231.661,0.000,2060.542,0.000,0.533,0.000
$DEVICE_MAMPS,189.449,120.419,911.196,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,370.446,312.876,428.924,817.969,1237.172,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,44638,548
$CAP_FILE_SIZE,104444,0
$CFSIZE,260165632,146251776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,101110,133454,2252.803,-15742.786,34,1.3,34,10.1