version: 66.06
glider: 146
mission: 5
dive: 647
start: 11 14 110 20 12 30
data:
$ID,146
$MISSION,5
$DIVE,647
$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,-263505.03
$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,41
$R_STBD_OVSHOOT,65
$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
$GPS1,195736,2249.203,-15742.690,11,1.0,27,10.1
$_CALLS,2
$_XMS_NAKs,17
$_XMS_TOUTs,1
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-58.2
$GPS2,201137,2249.345,-15742.740,13,1.1,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.027,0.233
$KALMAN_X,-298450.7,-540.9,-153.3,347115.5,-24.2
$KALMAN_Y,-323823.6,302.9,45.1,450821.0,848.2
$MHEAD_RNG_PITCHd_Wd,356.6,16078,-19.9,-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,-116.4,0.0,0.0,0,132,0.00,0.00,-113.68,0.000,2,0.000,0.000,471,1749,3313,0,0,0,0,0,0
$GC,136,-1.38,-116.8,3.3,-6.6,18,157,11.93,2.50,-3.50,0.000,4,0.161,0.031,2692,3339,3478,0,0,0,0,0,0
$GC,239,-1.33,-116.8,19.2,-10.7,36,247,0.00,2.55,0.00,0.000,6,0.000,0.030,2692,1783,3479,0,0,0,0,0,0
$GC,508,-1.20,-116.8,55.6,-12.8,67,514,0.22,2.72,0.00,0.000,4,0.112,0.058,2738,186,3479,0,0,0,0,0,0
$GC,532,-1.13,-116.8,59.2,-11.9,68,539,0.00,2.42,0.00,0.000,6,0.000,0.015,2738,1775,3479,0,0,0,0,0,0
$GC,795,-1.13,-116.8,89.4,-12.0,93,799,0.00,2.42,0.00,0.000,4,0.000,0.030,2738,3324,3479,0,0,0,0,0,0
$GC,849,-1.19,-116.8,95.5,-11.9,97,853,0.00,2.47,0.00,0.000,6,0.000,0.030,2737,1780,3479,0,0,0,0,0,0
$GC,1114,-1.19,-116.8,123.5,-9.5,121,1118,0.00,2.67,0.00,0.000,4,0.000,0.062,2737,197,3479,0,0,0,0,0,0
$GC,1154,-1.19,-116.8,127.7,-10.0,124,1159,0.00,2.42,0.00,0.000,6,0.000,0.021,2738,1812,3479,0,0,0,0,0,0
$GC,1418,-1.25,-116.8,147.3,-7.3,148,1422,0.00,2.35,0.00,0.000,4,0.000,0.028,2738,3320,3480,0,0,0,0,0,0
$GC,1469,-1.37,-116.8,150.9,-6.6,152,1475,0.15,2.42,0.00,0.000,6,0.061,0.027,2687,1794,3480,0,0,0,0,0,0
$GC,1731,-1.37,-116.8,173.1,-9.3,176,1735,0.00,2.70,0.00,0.000,4,0.000,0.058,2686,200,3480,0,0,0,0,0,0
$GC,1783,-1.37,-116.8,178.2,-10.1,180,1787,0.00,2.35,0.00,0.000,6,0.000,0.021,2686,1786,3480,0,0,0,0,0,0
$GC,2065,-1.37,-116.8,203.9,-9.4,203,2070,0.00,2.67,0.00,0.000,4,0.000,0.065,2686,199,3479,0,0,0,0,0,0
$GC,2097,-1.37,-116.8,207.6,-10.6,203,2103,0.00,2.35,0.00,0.000,6,0.000,0.016,2686,1765,3480,0,0,0,0,0,0
$GC,2349,-1.37,-116.8,232.6,-10.2,210,2354,0.00,2.67,0.00,0.000,4,0.000,0.064,2686,199,3479,0,0,0,0,0,0
$GC,2381,-1.37,-116.8,236.4,-11.0,210,2387,0.00,2.30,0.00,0.000,6,0.000,0.022,2686,1736,3479,0,0,0,0,0,0
$GC,2632,-1.37,-116.8,258.2,-8.3,217,2636,0.00,2.47,0.00,0.000,4,0.000,0.031,2686,3320,3479,0,0,0,0,0,0
$GC,2712,-1.42,-116.8,264.4,-7.7,218,2717,0.00,2.53,0.00,0.000,6,0.000,0.031,2686,1749,3479,0,0,0,0,0,0
$GC,2962,-1.42,-116.8,283.7,-7.8,225,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1749,3478,0,0,0,0,0,0
$GC,3205,-1.42,-116.8,306.4,-9.4,231,3210,0.00,2.47,0.00,0.000,4,0.000,0.028,2686,3316,3478,0,0,0,0,0,0
$GC,3252,-1.48,-116.8,310.5,-8.9,232,3256,0.00,2.53,0.00,0.000,6,0.000,0.037,2686,1772,3478,0,0,0,0,0,0
$GC,3530,-1.48,-116.8,335.1,-8.7,239,3534,0.00,2.78,0.00,0.000,4,0.000,0.081,2686,193,3476,0,0,0,0,0,0
$GC,3545,-1.48,-116.8,336.6,-8.6,239,3550,0.00,2.40,0.00,0.000,6,0.000,0.025,2686,1735,3476,0,0,0,0,0,0
$GC,3808,-1.48,-116.8,359.8,-8.8,246,3813,0.00,2.60,0.00,0.000,4,0.000,0.037,2686,3349,3475,0,0,0,0,0,0
$GC,3870,-1.53,-116.8,365.0,-8.7,247,3874,0.00,2.60,0.00,0.000,6,0.000,0.048,2686,1784,3475,0,0,0,0,0,0
$GC,4132,-1.53,-116.8,383.8,-7.0,254,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1784,3474,0,0,0,0,0,0
$GC,4374,-1.53,-116.8,400.7,-7.1,260,4378,0.00,2.53,0.00,0.000,4,0.000,0.039,2686,3345,3471,0,0,0,0,0,0
$GC,4407,-1.60,-116.8,403.2,-7.7,260,4413,0.15,2.62,0.00,0.000,6,0.065,0.054,2638,1787,3472,0,0,0,0,0,0
$GC,4657,-1.54,-116.8,427.3,-10.0,267,4662,0.12,2.92,0.00,0.000,4,0.117,0.097,2664,186,3470,0,0,0,0,0,0
$GC,4688,-1.54,-116.8,430.4,-11.0,267,4692,0.00,2.53,0.00,0.000,6,0.000,0.026,2664,1778,3469,0,0,0,0,0,0
$GC,4938,-1.54,-116.8,455.5,-9.9,273,4942,0.00,2.60,0.00,0.000,4,0.000,0.052,2664,3362,3468,0,0,0,0,0,0
$GC,5001,-1.59,-116.8,461.6,-9.1,274,5006,0.00,2.65,0.00,0.000,6,0.000,0.060,2664,1801,3467,0,0,0,0,0,0
$GC,5262,-1.59,-116.8,485.0,-8.9,281,5263,0.00,0.00,0.00,0.000,6,0.000,0.000,2663,1801,3466,0,0,0,0,0,0
$STATE,5462,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5462,begin apogee
$GC,5468,-0.31,0.0,502.7,8.5,286,5568,1.20,0.00,96.45,0.909,6,0.097,0.000,2928,1801,3001,0,0,0,0,0,0
$STATE,5569,end apogee,CONTROL_FINISHED_OK
$STATE,5569,begin climb
$GC,5573,1.38,116.8,505.0,0.0,288,5684,1.55,3.05,102.50,0.893,4,0.048,0.114,3308,236,2523,0,0,0,0,0,0
$GC,5692,1.32,189.3,504.5,5.8,291,5763,0.00,2.62,64.43,0.881,6,0.000,0.035,3308,1819,2229,0,0,0,0,0,0
$GC,6013,1.22,189.3,471.5,10.5,299,6019,0.20,2.72,0.00,0.000,4,0.135,0.054,3269,3410,2219,0,0,0,0,0,0
$GC,6103,1.23,198.4,463.3,9.5,301,6117,0.00,2.70,7.55,0.721,6,0.000,0.054,3269,1827,2191,0,0,0,0,0,0
$GC,6387,1.27,229.6,439.7,8.2,308,6421,0.00,2.67,28.83,0.844,4,0.000,0.043,3269,3411,2065,0,0,0,0,0,0
$GC,6444,1.28,234.4,434.4,9.8,309,6455,0.00,2.70,5.70,0.647,6,0.000,0.055,3269,1842,2045,0,0,0,0,0,0
$GC,6713,1.29,246.1,409.9,9.4,316,6732,0.00,3.05,11.40,0.775,4,0.000,0.096,3268,227,1996,0,0,0,0,0,0
$GC,6771,1.29,246.1,403.3,11.5,317,6776,0.00,2.60,0.00,0.000,6,0.000,0.025,3268,1839,1996,0,0,0,0,0,0
$GC,7039,1.30,250.3,377.0,9.8,324,7050,0.00,2.92,4.93,0.611,4,0.000,0.081,3268,227,1980,0,0,0,0,0,0
$GC,7062,1.31,258.4,374.8,9.6,324,7079,0.00,2.58,9.18,0.733,6,0.000,0.022,3269,1825,1947,0,0,0,0,0,0
$GC,7323,1.35,291.8,352.8,8.1,331,7356,0.10,0.00,31.12,0.807,6,0.100,0.000,3295,1825,1811,0,0,0,0,0,0
$GC,7566,1.35,291.8,328.2,10.6,337,7570,0.00,2.83,0.00,0.000,4,0.000,0.074,3296,233,1805,0,0,0,0,0,0
$GC,7607,1.27,291.8,323.3,13.2,338,7611,0.00,2.55,0.00,0.000,6,0.000,0.028,3296,1818,1803,0,0,0,0,0,0
$GC,7890,1.27,291.8,289.3,11.6,345,7891,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1819,1802,0,0,0,0,0,0
$GC,8134,1.32,328.5,268.6,7.9,351,8175,0.00,2.90,32.33,0.757,4,0.000,0.067,3296,230,1659,0,0,0,0,0,0
$GC,8188,1.34,348.1,264.2,8.9,352,8212,0.00,2.55,18.33,0.723,6,0.000,0.021,3296,1823,1580,0,0,0,0,0,0
$GC,8463,1.40,348.1,236.7,10.8,359,8467,0.00,2.80,0.00,0.000,4,0.000,0.066,3296,232,1573,0,0,0,0,0,0
$GC,8504,1.40,348.1,231.9,12.4,360,8508,0.00,2.45,0.00,0.000,6,0.000,0.024,3296,1785,1572,0,0,0,0,0,0
$GC,8787,1.46,348.1,200.7,10.5,367,8792,0.10,2.72,0.00,0.000,4,0.096,0.071,3324,225,1571,0,0,0,0,0,0
$GC,8865,1.46,348.1,191.3,12.0,371,8870,0.00,2.35,0.00,0.000,6,0.000,0.021,3324,1739,1569,0,0,0,0,0,0
$GC,9129,1.46,348.1,164.9,10.6,396,9134,0.00,2.62,0.00,0.000,4,0.000,0.067,3324,231,1569,0,0,0,0,0,0
$GC,9162,1.42,348.1,160.7,11.8,398,9168,0.00,2.35,0.00,0.000,6,0.000,0.021,3324,1736,1568,0,0,0,0,0,0
$GC,9428,1.42,348.1,133.4,10.2,423,9433,0.00,2.62,0.00,0.000,4,0.000,0.029,3324,3390,1568,0,0,0,0,0,0
$GC,9467,1.51,348.1,128.6,10.7,426,9472,0.00,2.78,0.00,0.000,6,0.000,0.041,3324,1715,1567,0,0,0,0,0,0
$GC,9732,1.57,350.5,102.5,9.9,450,9739,0.00,0.00,0.00,0.000,6,0.000,0.000,3324,1715,1567,0,0,0,0,0,0
$GC,9996,1.66,365.2,77.6,9.2,475,10021,0.15,2.62,13.98,0.564,4,0.073,0.063,3365,231,1510,0,0,0,0,0,0
$GC,10039,1.61,365.2,72.5,11.6,478,10047,0.00,2.35,0.00,0.000,6,0.000,0.019,3365,1727,1510,0,0,0,0,0,0
$GC,10304,1.61,365.2,46.1,10.2,503,10308,0.00,2.55,0.00,0.000,4,0.000,0.060,3365,229,1509,0,0,0,0,0,0
$GC,10323,1.61,365.2,44.1,10.1,504,10327,0.00,2.28,0.00,0.000,6,0.000,0.019,3365,1719,1508,0,0,0,0,0,0
$GC,10588,1.64,396.3,18.4,8.2,538,10621,0.00,0.00,28.25,0.530,6,0.000,0.000,3365,1721,1383,0,0,0,0,0,0
$STATE,10715,end climb,SURFACE_DEPTH_REACHED
$STATE,10719,begin surface coast
$FINISH,0.7,1.023497
$STATE,10746,end surface coast,CONTROL_FINISHED_OK
$STATE,10746,begin surface
$SM_CCo,10767,179.40,0.515,0,0,477,619.14
$SM_GC,0.91,0.00,0.00,179.40,0.000,0.000,0.515,474,1721,477,-11.62,-1.39,619.14
$IRIDIUM_FIX,2241.69,-15741.52,080200,202038
$TT8_MAMPS,0.025311
$HUMID,55.23
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,21.30
$XPDR_PINGS,128
$24V_AH,23.3,90.619
$10V_AH,9.9,83.542
$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,27.800,145.200,454.950,179.400,0.000,53.093,70.819,485.393,32.000,0.000,31.660,1114.858,7321.681,725.874,1685.666,937.769,33.367,1517.222,0.000,1658.515,0.000,0.535,0.000
$DEVICE_MAMPS,161.070,114.283,908.895,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,379.726,288.790,395.934,782.193,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355428
$DATA_FILE_SIZE,44642,566
$CAP_FILE_SIZE,126079,0
$CFSIZE,260165632,144334848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,141110,231657,2250.925,-15742.879,59,2.7,78,10.1