version: 66.06
glider: 146
mission: 5
dive: 649
start: 11 15 110 2 58 59
data:
$ID,146
$MISSION,5
$DIVE,649
$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,-263563.84
$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,12
$R_STBD_OVSHOOT,72
$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
$GPS1,023937,2252.382,-15742.701,23,1.9,23,10.1
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-61.2
$GPS2,025806,2252.437,-15742.695,13,1.9,23,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.050,0.230
$KALMAN_X,-299945.4,122.9,27.7,347830.7,-176.2
$KALMAN_Y,-322339.3,157.5,-129.0,455395.0,493.6
$MHEAD_RNG_PITCHd_Wd,2.2,10371,-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,-116.8,0.0,0.0,0,132,0.00,0.00,-113.70,0.000,2,0.000,0.000,474,1793,3366,0,0,0,0,0,0
$GC,135,-1.38,-116.8,3.6,-7.9,18,156,12.15,2.45,-2.25,0.000,4,0.170,0.040,2693,3330,3479,0,0,0,0,0,0
$GC,213,-1.32,-116.8,18.8,-12.2,31,221,0.00,2.58,0.00,0.000,6,0.000,0.028,2693,1754,3479,0,0,0,0,0,0
$GC,484,-1.20,-116.8,55.2,-13.6,64,490,0.22,2.65,0.00,0.000,4,0.111,0.054,2739,191,3480,0,0,0,0,0,0
$GC,529,-1.20,-116.8,61.1,-12.4,67,534,0.00,2.40,0.00,0.000,6,0.000,0.015,2739,1776,3479,0,0,0,0,0,0
$GC,794,-1.20,-116.8,90.1,-11.2,91,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2739,1778,3479,0,0,0,0,0,0
$GC,1057,-1.20,-116.8,112.4,-7.9,116,1062,0.00,2.67,0.00,0.000,4,0.000,0.061,2738,196,3479,0,0,0,0,0,0
$GC,1112,-1.24,-116.8,117.6,-8.7,120,1120,0.00,2.35,0.00,0.000,6,0.000,0.015,2738,1763,3479,0,0,0,0,0,0
$GC,1380,-1.29,-116.8,138.5,-7.1,145,1384,0.00,2.65,0.00,0.000,4,0.000,0.062,2738,196,3479,0,0,0,0,0,0
$GC,1454,-1.37,-116.8,144.4,-7.9,151,1459,0.15,2.35,0.00,0.000,6,0.064,0.014,2689,1787,3480,0,0,0,0,0,0
$GC,1716,-1.37,-116.8,169.5,-10.4,175,1721,0.00,2.38,0.00,0.000,4,0.000,0.028,2689,3314,3480,0,0,0,0,0,0
$GC,1768,-1.37,-116.8,174.8,-9.6,179,1772,0.00,2.40,0.00,0.000,6,0.000,0.031,2689,1792,3480,0,0,0,0,0,0
$GC,2032,-1.37,-116.8,199.8,-9.1,203,2037,0.00,2.35,0.00,0.000,4,0.000,0.025,2690,3306,3479,0,0,0,0,0,0
$GC,2054,-1.37,-116.8,202.1,-8.6,203,2058,0.00,2.40,0.00,0.000,6,0.000,0.033,2689,1801,3479,0,0,0,0,0,0
$GC,2316,-1.37,-116.8,226.3,-9.5,210,2317,0.00,0.00,0.00,0.000,6,0.000,0.000,2689,1801,3479,0,0,0,0,0,0
$GC,2561,-1.37,-116.8,249.4,-9.5,216,2566,0.00,2.75,0.00,0.000,4,0.000,0.067,2689,196,3479,0,0,0,0,0,0
$GC,2622,-1.37,-116.8,255.4,-9.5,217,2626,0.00,2.45,0.00,0.000,6,0.000,0.019,2689,1789,3479,0,0,0,0,0,0
$GC,2883,-1.37,-116.8,275.5,-7.7,224,2887,0.00,2.45,0.00,0.000,4,0.000,0.035,2690,3345,3479,0,0,0,0,0,0
$GC,2974,-1.41,-116.8,282.9,-7.8,226,2978,0.00,2.42,0.00,0.000,6,0.000,0.031,2689,1837,3478,0,0,0,0,0,0
$GC,3252,-1.41,-116.8,303.1,-7.1,233,3256,0.00,2.85,0.00,0.000,4,0.000,0.073,2689,200,3477,0,0,0,0,0,0
$GC,3313,-1.41,-116.8,308.3,-8.8,234,3317,0.00,2.53,0.00,0.000,6,0.000,0.019,2689,1814,3477,0,0,0,0,0,0
$GC,3575,-1.41,-116.8,329.3,-8.5,241,3579,0.00,2.42,0.00,0.000,4,0.000,0.034,2689,3346,3475,0,0,0,0,0,0
$GC,3599,-1.46,-116.8,331.6,-8.9,241,3604,0.00,2.47,0.00,0.000,6,0.000,0.035,2689,1833,3475,0,0,0,0,0,0
$GC,3855,-1.46,-116.8,355.2,-9.3,248,3860,0.00,2.88,0.00,0.000,4,0.000,0.086,2689,200,3474,0,0,0,0,0,0
$GC,3883,-1.46,-116.8,358.0,-10.2,248,3888,0.00,2.58,0.00,0.000,6,0.000,0.021,2689,1828,3475,0,0,0,0,0,0
$GC,4133,-1.46,-116.8,378.0,-7.7,254,4138,0.00,2.45,0.00,0.000,4,0.000,0.040,2689,3342,3473,0,0,0,0,0,0
$GC,4167,-1.53,-116.8,380.7,-8.1,254,4173,0.00,2.50,0.00,0.000,6,0.000,0.044,2689,1844,3473,0,0,0,0,0,0
$GC,4419,-1.57,-116.8,401.6,-8.7,261,4425,0.12,3.00,0.00,0.000,4,0.075,0.091,2648,200,3471,0,0,0,0,0,0
$GC,4442,-1.57,-116.8,404.4,-10.7,261,4446,0.00,2.58,0.00,0.000,6,0.000,0.025,2648,1810,3471,0,0,0,0,0,0
$GC,4697,-1.53,-116.8,430.6,-10.0,268,4698,0.00,0.00,0.00,0.000,6,0.000,0.000,2648,1811,3469,0,0,0,0,0,0
$GC,4942,-1.53,-116.8,452.1,-8.8,274,4947,0.00,2.55,0.00,0.000,4,0.000,0.053,2648,3356,3468,0,0,0,0,0,0
$GC,4970,-1.53,-116.8,454.9,-8.8,274,4974,0.00,2.58,0.00,0.000,6,0.000,0.057,2648,1838,3468,0,0,0,0,0,0
$GC,5220,-1.53,-116.8,478.7,-9.9,280,5225,0.00,3.03,0.00,0.000,4,0.000,0.100,2648,200,3466,0,0,0,0,0,0
$GC,5249,-1.49,-116.8,481.7,-10.8,280,5254,0.12,2.62,0.00,0.000,6,0.119,0.038,2673,1822,3466,0,0,0,0,0,0
$STATE,5455,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5455,begin apogee
$GC,5461,-0.31,0.0,502.0,9.6,285,5560,1.15,0.00,95.28,0.923,6,0.095,0.000,2928,1822,3001,0,0,0,0,0,0
$STATE,5561,end apogee,CONTROL_FINISHED_OK
$STATE,5561,begin climb
$GC,5563,1.38,116.8,505.4,0.0,287,5677,1.55,2.95,101.82,0.891,4,0.046,0.087,3307,245,2523,0,0,0,0,0,0
$GC,5717,1.20,155.7,503.6,7.8,290,5758,0.22,2.60,34.62,0.863,6,0.118,0.036,3263,1814,2366,0,0,0,0,0,0
$GC,6017,1.23,183.9,479.4,8.4,298,6048,0.00,2.80,25.35,0.851,4,0.000,0.064,3263,3409,2249,0,0,0,0,0,0
$GC,6113,1.25,200.5,471.1,9.1,300,6134,0.00,2.67,15.62,0.818,6,0.000,0.058,3263,1851,2183,0,0,0,0,0,0
$GC,6386,1.30,239.9,449.4,7.8,307,6428,0.00,3.08,35.67,0.855,4,0.000,0.102,3263,235,2021,0,0,0,0,0,0
$GC,6439,1.33,262.6,444.7,8.7,308,6470,0.10,2.62,21.42,0.825,6,0.091,0.029,3290,1852,1929,0,0,0,0,0,0
$GC,6715,1.33,262.6,414.2,11.4,315,6720,0.00,2.88,0.00,0.000,4,0.000,0.075,3290,234,1921,0,0,0,0,0,0
$GC,6737,1.26,262.6,411.2,12.5,315,6741,0.00,2.60,0.00,0.000,6,0.000,0.029,3290,1843,1919,0,0,0,0,0,0
$GC,6993,1.28,272.4,385.7,9.5,322,7004,0.00,0.00,8.50,0.729,6,0.000,0.000,3290,1843,1890,0,0,0,0,0,0
$GC,7239,1.29,282.8,362.9,9.4,328,7255,0.00,2.92,10.55,0.749,4,0.000,0.072,3290,226,1847,0,0,0,0,0,0
$GC,7294,1.24,282.8,356.4,12.1,329,7299,0.00,2.60,0.00,0.000,6,0.000,0.024,3290,1834,1844,0,0,0,0,0,0
$GC,7560,1.24,282.8,327.4,11.0,336,7565,0.00,2.80,0.00,0.000,4,0.000,0.068,3290,231,1843,0,0,0,0,0,0
$GC,7601,1.19,282.8,322.8,11.8,337,7606,0.15,2.53,0.00,0.000,6,0.119,0.028,3260,1817,1842,0,0,0,0,0,0
$GC,7885,1.30,311.2,298.0,8.4,344,7915,0.10,0.00,25.60,0.769,6,0.091,0.000,3289,1819,1731,0,0,0,0,0,0
$GC,8174,1.35,311.4,269.1,10.0,351,8179,0.00,2.80,0.00,0.000,4,0.000,0.071,3289,226,1725,0,0,0,0,0,0
$GC,8240,1.35,311.4,261.1,11.3,352,8244,0.00,2.53,0.00,0.000,6,0.000,0.026,3289,1829,1723,0,0,0,0,0,0
$GC,8502,1.40,313.8,235.0,9.9,359,8507,0.00,2.80,0.00,0.000,4,0.000,0.071,3289,229,1723,0,0,0,0,0,0
$GC,8558,1.40,313.8,229.1,10.6,360,8563,0.00,2.47,0.00,0.000,6,0.000,0.021,3289,1802,1722,0,0,0,0,0,0
$GC,8825,1.47,321.6,203.9,9.6,367,8841,0.12,2.80,9.43,0.641,4,0.078,0.072,3324,226,1688,0,0,0,0,0,0
$GC,8871,1.40,321.6,198.5,13.2,368,8876,0.00,2.45,0.00,0.000,6,0.000,0.025,3324,1784,1686,0,0,0,0,0,0
$GC,9134,1.40,322.9,171.6,10.0,393,9138,0.00,2.55,0.00,0.000,4,0.000,0.031,3325,3389,1686,0,0,0,0,0,0
$GC,9144,1.40,324.2,170.4,10.0,393,9149,0.00,2.72,0.00,0.000,6,0.000,0.036,3324,1741,1685,0,0,0,0,0,0
$GC,9408,1.40,324.2,144.7,10.1,418,9413,0.00,2.62,0.00,0.000,4,0.000,0.067,3324,223,1684,0,0,0,0,0,0
$GC,9463,1.37,324.2,138.2,10.8,422,9470,0.10,2.40,0.00,0.000,6,0.094,0.021,3300,1757,1683,0,0,0,0,0,0
$GC,9732,1.46,347.4,115.0,8.7,447,9764,0.00,2.67,22.80,0.611,4,0.000,0.062,3300,231,1582,0,0,0,0,0,0
$GC,9778,1.53,353.9,110.3,9.7,451,9793,0.12,2.38,7.05,0.519,6,0.077,0.019,3335,1754,1557,0,0,0,0,0,0
$GC,10057,1.59,372.1,86.6,9.0,477,10080,0.00,2.67,16.95,0.573,4,0.000,0.061,3335,230,1483,0,0,0,0,0,0
$GC,10141,1.59,372.1,77.8,10.8,484,10148,0.00,2.30,0.00,0.000,6,0.000,0.019,3335,1699,1481,0,0,0,0,0,0
$GC,10407,1.68,372.1,50.8,11.4,509,10413,0.12,2.72,0.00,0.000,4,0.079,0.028,3371,3386,1480,0,0,0,0,0,0
$GC,10449,1.75,381.5,46.5,9.5,512,10465,0.00,2.80,9.55,0.505,6,0.000,0.036,3371,1689,1444,0,0,0,0,0,0
$GC,10724,1.75,381.5,15.9,11.8,548,10731,0.00,0.00,0.00,0.000,6,0.000,0.000,3371,1689,1442,0,0,0,0,0,0
$STATE,10845,end climb,SURFACE_DEPTH_REACHED
$STATE,10845,begin surface coast
$FINISH,0.4,1.010698
$STATE,10897,end surface coast,CONTROL_FINISHED_OK
$STATE,10897,begin surface
$SM_CCo,10919,191.18,0.514,0,0,477,619.14
$SM_GC,0.96,0.00,0.00,191.18,0.000,0.000,0.514,473,1801,477,-11.62,0.88,619.14
$IRIDIUM_FIX,2241.69,-15743.68,090200,020219
$TT8_MAMPS,0.026078
$HUMID,54.60
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,21.30
$XPDR_PINGS,135
$24V_AH,23.3,90.948
$10V_AH,9.9,83.721
$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,28.400,151.550,440.225,191.175,0.000,108.209,228.496,411.775,33.750,0.000,26.357,1159.994,7501.513,713.758,1742.347,1097.573,33.369,1533.576,0.000,1718.637,0.000,0.537,0.000
$DEVICE_MAMPS,169.507,102.778,922.701,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,389.301,304.500,411.145,802.720,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355392
$DATA_FILE_SIZE,44656,580
$CAP_FILE_SIZE,130863,0
$CFSIZE,260165632,144207872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151110,060531,2253.605,-15742.818,41,1.2,41,10.1