version: 66.06
glider: 146
mission: 5
dive: 633
start: 11 12 110 20 58 4
data:
$ID,146
$MISSION,5
$DIVE,633
$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,619.13721
$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,-263138.62
$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,15
$R_STBD_OVSHOOT,112
$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
$GPS1,203436,2251.087,-15742.386,24,1.8,24,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-64.5
$GPS2,205708,2251.307,-15742.341,14,1.7,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.002,-0.235
$KALMAN_X,-293522.0,201.2,-135.5,342104.7,123.8
$KALMAN_Y,-351457.0,716.9,-62.3,481772.3,1299.7
$MHEAD_RNG_PITCHd_Wd,169.4,4312,-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,-116.8,0.0,0.0,0,135,0.00,0.00,-116.82,0.000,2,0.000,0.000,474,1818,3460,0,0,0,0,0,0
$GC,140,-1.38,-116.8,4.2,-8.3,15,158,12.20,2.78,-0.30,0.000,4,0.170,0.065,2690,174,3478,0,0,0,0,0,0
$GC,190,-1.12,-116.8,19.4,-23.4,21,199,0.28,2.40,0.00,0.000,6,0.089,0.020,2753,1719,3480,0,0,0,0,0,0
$GC,539,-1.12,-116.8,58.1,-10.5,58,543,0.00,2.45,0.00,0.000,4,0.000,0.023,2753,3293,3480,0,0,0,0,0,0
$GC,560,-1.12,-116.8,60.3,-10.0,59,565,0.00,2.47,0.00,0.000,6,0.000,0.026,2753,1749,3479,0,0,0,0,0,0
$GC,891,-1.12,-116.8,93.0,-10.2,89,895,0.00,2.62,0.00,0.000,4,0.000,0.061,2753,189,3479,0,0,0,0,0,0
$GC,907,-1.12,-116.8,95.0,-9.3,90,911,0.00,2.35,0.00,0.000,6,0.000,0.015,2753,1750,3479,0,0,0,0,0,0
$GC,1242,-1.20,-116.8,121.8,-9.0,121,1246,0.00,2.40,0.00,0.000,4,0.000,0.024,2753,3317,3479,0,0,0,0,0,0
$GC,1323,-1.33,-116.8,128.5,-8.3,127,1328,0.17,2.45,0.00,0.000,6,0.057,0.024,2696,1759,3479,0,0,0,0,0,0
$GC,1654,-1.33,-116.8,157.7,-8.9,157,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2696,1758,3479,0,0,0,0,0,0
$GC,1980,-1.33,-116.8,190.6,-9.5,188,1984,0.00,2.42,0.00,0.000,4,0.000,0.027,2696,3318,3479,0,0,0,0,0,0
$GC,2004,-1.33,-116.8,192.7,-9.0,189,2013,0.00,2.47,0.00,0.000,6,0.000,0.026,2696,1785,3479,0,0,0,0,0,0
$GC,2340,-1.33,-116.8,222.3,-8.9,204,2345,0.00,2.72,0.00,0.000,4,0.000,0.067,2696,189,3479,0,0,0,0,0,0
$GC,2373,-1.33,-116.8,225.7,-9.8,204,2378,0.00,2.38,0.00,0.000,6,0.000,0.018,2696,1777,3479,0,0,0,0,0,0
$GC,2706,-1.33,-116.8,256.8,-9.6,213,2710,0.00,2.42,0.00,0.000,4,0.000,0.033,2696,3315,3478,0,0,0,0,0,0
$GC,2778,-1.37,-116.8,263.4,-8.5,214,2783,0.00,2.45,0.00,0.000,6,0.000,0.034,2696,1794,3478,0,0,0,0,0,0
$GC,3110,-1.37,-116.8,291.2,-8.5,222,3114,0.00,2.78,0.00,0.000,4,0.000,0.078,2696,193,3477,0,0,0,0,0,0
$GC,3150,-1.37,-116.8,295.0,-10.2,223,3155,0.00,2.40,0.00,0.000,6,0.000,0.022,2696,1752,3477,0,0,0,0,0,0
$GC,3475,-1.37,-116.8,323.5,-9.0,231,3479,0.00,2.55,0.00,0.000,4,0.000,0.040,2696,3345,3475,0,0,0,0,0,0
$GC,3525,-1.45,-116.8,328.4,-9.4,232,3529,0.00,2.55,0.00,0.000,6,0.000,0.037,2696,1779,3475,0,0,0,0,0,0
$GC,3840,-1.49,-116.8,355.7,-8.7,240,3844,0.00,2.83,0.00,0.000,4,0.000,0.087,2696,182,3474,0,0,0,0,0,0
$GC,3856,-1.53,-116.8,357.4,-8.6,240,3861,0.12,2.50,0.00,0.000,6,0.068,0.028,2649,1783,3474,0,0,0,0,0,0
$GC,4201,-1.48,-116.8,387.4,-8.6,249,4206,0.12,2.55,0.00,0.000,4,0.116,0.041,2675,3353,3472,0,0,0,0,0,0
$GC,4223,-1.48,-116.8,389.5,-8.1,249,4227,0.00,2.67,0.00,0.000,6,0.000,0.053,2675,1768,3472,0,0,0,0,0,0
$GC,4559,-1.48,-116.8,417.7,-8.9,258,4564,0.00,2.85,0.00,0.000,4,0.000,0.097,2675,183,3469,0,0,0,0,0,0
$GC,4577,-1.48,-116.8,419.3,-9.2,258,4581,0.00,2.50,0.00,0.000,6,0.000,0.025,2675,1753,3469,0,0,0,0,0,0
$GC,4919,-1.48,-116.8,452.1,-9.5,267,4923,0.00,2.65,0.00,0.000,4,0.000,0.055,2675,3357,3467,0,0,0,0,0,0
$GC,4952,-1.53,-116.8,455.3,-9.4,267,4957,0.00,2.70,0.00,0.000,6,0.000,0.061,2675,1774,3467,0,0,0,0,0,0
$GC,5285,-1.53,-116.8,486.0,-9.4,276,5289,0.00,2.62,0.00,0.000,4,0.000,0.047,2675,3352,3464,0,0,0,0,0,0
$GC,5318,-1.59,-116.8,489.4,-9.6,276,5324,0.00,2.70,0.00,0.000,6,0.000,0.061,2675,1780,3464,0,0,0,0,0,0
$STATE,5443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5443,begin apogee
$GC,5450,-0.31,0.0,501.2,9.2,280,5551,1.15,0.00,97.45,0.912,6,0.084,0.000,2929,1836,3001,0,0,0,0,0,0
$STATE,5551,end apogee,CONTROL_FINISHED_OK
$STATE,5552,begin climb
$GC,5556,1.38,116.8,504.2,0.0,282,5668,1.55,3.12,103.68,0.897,4,0.049,0.110,3307,232,2522,0,0,0,0,0,0
$GC,5677,1.34,205.4,505.1,4.9,285,5762,0.00,2.58,78.68,0.888,6,0.000,0.031,3308,1799,2162,0,0,0,0,0,0
$GC,6090,1.25,205.4,462.3,10.9,295,6095,0.17,2.70,0.00,0.000,4,0.131,0.051,3274,3413,2151,0,0,0,0,0,0
$GC,6181,1.26,209.9,453.3,9.8,297,6186,0.00,2.75,0.00,0.000,6,0.000,0.053,3273,1813,2149,0,0,0,0,0,0
$GC,6499,1.28,226.7,423.6,9.1,305,6524,0.00,2.70,17.70,0.821,4,0.000,0.038,3274,3403,2075,0,0,0,0,0,0
$GC,6547,1.28,229.2,419.1,9.9,306,6551,0.00,2.72,0.00,0.000,6,0.000,0.056,3273,1824,2073,0,0,0,0,0,0
$GC,6865,1.30,246.2,390.4,9.1,314,6889,0.00,3.03,18.33,0.809,4,0.000,0.094,3274,234,1996,0,0,0,0,0,0
$GC,6908,1.26,246.2,386.3,10.1,315,6913,0.00,2.60,0.00,0.000,6,0.000,0.021,3273,1847,1994,0,0,0,0,0,0
$GC,7234,1.27,253.2,354.8,9.6,323,7243,0.00,0.00,7.32,0.696,6,0.000,0.000,3273,1847,1968,0,0,0,0,0,0
$GC,7557,1.29,263.9,323.3,9.4,331,7575,0.00,2.90,10.98,0.738,4,0.000,0.075,3273,229,1923,0,0,0,0,0,0
$GC,7632,1.29,263.9,315.7,10.7,332,7637,0.00,2.55,0.00,0.000,6,0.000,0.028,3273,1826,1921,0,0,0,0,0,0
$GC,7972,1.39,303.8,288.7,7.7,341,8016,0.12,2.88,36.12,0.769,4,0.086,0.067,3306,227,1760,0,0,0,0,0,0
$GC,8029,1.39,303.8,282.8,11.0,342,8033,0.00,2.50,0.00,0.000,6,0.000,0.024,3306,1811,1759,0,0,0,0,0,0
$GC,8378,1.42,328.8,250.8,8.6,351,8408,0.00,2.62,22.48,0.726,4,0.000,0.032,3305,3389,1659,0,0,0,0,0,0
$GC,8442,1.51,328.8,244.4,10.2,352,8446,0.00,2.67,0.00,0.000,6,0.000,0.038,3306,1788,1656,0,0,0,0,0,0
$GC,8786,1.54,328.8,206.2,11.7,361,8791,0.12,2.72,0.00,0.000,4,0.082,0.069,3340,242,1653,0,0,0,0,0,0
$GC,8886,1.45,328.8,192.8,13.7,364,8891,0.10,2.42,0.00,0.000,6,0.140,0.026,3319,1785,1651,0,0,0,0,0,0
$GC,9214,1.46,332.7,157.4,9.8,394,9219,0.00,0.00,0.00,0.000,6,0.000,0.000,3319,1786,1651,0,0,0,0,0,0
$GC,9545,1.48,348.2,126.1,9.1,425,9572,0.00,2.75,16.42,0.612,4,0.000,0.063,3319,241,1580,0,0,0,0,0,0
$GC,9673,1.48,348.2,111.5,11.4,435,9677,0.00,2.35,0.00,0.000,6,0.000,0.025,3319,1752,1579,0,0,0,0,0,0
$GC,10002,1.63,383.2,80.2,8.0,465,10041,0.15,2.65,31.52,0.585,4,0.120,0.065,3360,237,1437,0,0,0,0,0,0
$GC,10084,1.63,383.2,72.5,10.8,471,10088,0.00,2.33,0.00,0.000,6,0.000,0.019,3360,1729,1435,0,0,0,0,0,0
$GC,10415,1.63,383.2,37.6,10.5,501,10419,0.00,2.65,0.00,0.000,4,0.000,0.026,3360,3389,1434,0,0,0,0,0,0
$GC,10435,1.67,383.2,35.1,10.8,502,10440,0.00,2.78,0.00,0.000,6,0.000,0.037,3360,1703,1433,0,0,0,0,0,0
$STATE,10722,end climb,SURFACE_DEPTH_REACHED
$STATE,10723,begin surface coast
$FINISH,0.5,1.008918
$STATE,10778,end surface coast,CONTROL_FINISHED_OK
$STATE,10778,begin surface
$SM_CCo,10802,190.23,0.516,0,0,476,619.14
$SM_GC,0.91,0.00,0.00,190.23,0.000,0.000,0.516,474,1800,476,-11.62,0.85,619.14
$IRIDIUM_FIX,2241.69,-15743.68,060200,202030
$TT8_MAMPS,0.025311
$HUMID,54.88
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,21.20
$XPDR_PINGS,157
$24V_AH,23.3,88.314
$10V_AH,9.9,82.185
$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,28.150,130.750,440.675,190.225,0.000,151.020,226.292,559.998,39.250,0.000,15.676,1087.245,7200.264,691.513,2092.459,1274.461,33.391,1466.180,0.000,2090.612,0.000,0.536,0.000
$DEVICE_MAMPS,170.274,153.400,911.963,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,371.721,323.445,427.455,829.144,1249.322,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355388
$DATA_FILE_SIZE,44720,550
$CAP_FILE_SIZE,122489,0
$CFSIZE,260165632,145190912
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,131110,000237,2251.486,-15742.274,39,1.3,39,10.1