version: 66.06
glider: 146
mission: 5
dive: 652
start: 11 15 110 13 0 58
data:
$ID,146
$MISSION,5
$DIVE,652
$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,-263608.25
$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,14
$R_STBD_OVSHOOT,50
$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
$GPS1,124437,2256.501,-15742.019,27,1.7,27,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.97
$_SM_ANGLEo,-60.6
$GPS2,130002,2256.590,-15742.021,10,2.0,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,NE
$TGT_LATLONG,2258.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.054,0.199
$KALMAN_X,-301173.6,175.2,114.8,350075.7,-498.0
$KALMAN_Y,-320894.2,-400.0,28.6,462032.2,634.8
$MHEAD_RNG_PITCHd_Wd,5.1,2612,-22.9,-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,-1.54,-88.6,0.0,0.0,0,126,0.00,0.00,-107.10,0.000,2,0.000,0.000,472,1833,3143,0,0,0,0,0,0
$GC,129,-1.58,-116.8,3.0,-6.0,17,157,11.85,2.42,-7.38,0.000,4,0.167,0.033,2652,3349,3479,0,0,0,0,0,0
$GC,218,-1.58,-116.8,18.0,-12.2,32,226,0.00,2.60,0.00,0.000,6,0.000,0.031,2653,1759,3479,0,0,0,0,0,0
$GC,486,-1.47,-116.8,56.0,-16.1,66,491,0.12,2.65,0.00,0.000,4,0.143,0.056,2676,192,3479,0,0,0,0,0,0
$GC,501,-1.36,-116.8,58.8,-17.4,66,508,0.08,2.45,0.00,0.000,6,0.111,0.015,2694,1808,3479,0,0,0,0,0,0
$GC,765,-1.36,-116.8,94.8,-11.3,91,770,0.00,2.72,0.00,0.000,4,0.000,0.058,2694,186,3479,0,0,0,0,0,0
$GC,775,-1.36,-116.8,96.4,-10.9,91,781,0.00,2.35,0.00,0.000,6,0.000,0.015,2694,1782,3479,0,0,0,0,0,0
$GC,1042,-1.41,-116.8,124.3,-10.7,116,1046,0.00,2.67,0.00,0.000,4,0.000,0.054,2694,190,3480,0,0,0,0,0,0
$GC,1063,-1.45,-116.8,127.4,-11.5,117,1068,0.00,2.30,0.00,0.000,6,0.000,0.021,2694,1742,3480,0,0,0,0,0,0
$GC,1328,-1.52,-116.8,153.7,-9.6,142,1333,0.12,2.45,0.00,0.000,4,0.071,0.031,2651,3307,3480,0,0,0,0,0,0
$GC,1424,-1.52,-116.8,164.3,-9.9,150,1428,0.00,2.45,0.00,0.000,6,0.000,0.029,2651,1758,3480,0,0,0,0,0,0
$GC,1688,-1.52,-116.8,190.1,-10.2,174,1692,0.00,2.42,0.00,0.000,4,0.000,0.025,2651,3310,3480,0,0,0,0,0,0
$GC,1755,-1.57,-116.8,197.6,-10.6,179,1761,0.00,2.40,0.00,0.000,6,0.000,0.031,2651,1796,3480,0,0,0,0,0,0
$GC,2028,-1.57,-116.8,225.2,-10.0,188,2032,0.00,2.38,0.00,0.000,4,0.000,0.025,2651,3306,3480,0,0,0,0,0,0
$GC,2084,-1.63,-116.8,230.8,-9.5,189,2089,0.00,2.38,0.00,0.000,6,0.000,0.031,2651,1826,3479,0,0,0,0,0,0
$GC,2351,-1.63,-116.8,256.6,-9.8,196,2356,0.00,2.80,0.00,0.000,4,0.000,0.074,2651,200,3480,0,0,0,0,0,0
$GC,2419,-1.63,-116.8,264.2,-11.7,197,2424,0.00,2.42,0.00,0.000,6,0.000,0.019,2651,1782,3480,0,0,0,0,0,0
$GC,2674,-1.63,-116.8,293.8,-11.9,204,2678,0.00,2.45,0.00,0.000,4,0.000,0.035,2650,3337,3479,0,0,0,0,0,0
$GC,2718,-1.70,-116.8,298.7,-11.0,205,2723,0.00,2.47,0.00,0.000,6,0.000,0.038,2651,1803,3479,0,0,0,0,0,0
$GC,2998,-1.70,-116.8,322.7,-8.2,212,3002,0.00,2.85,0.00,0.000,4,0.000,0.081,2651,192,3478,0,0,0,0,0,0
$GC,3041,-1.70,-116.8,326.8,-8.9,213,3046,0.00,2.47,0.00,0.000,6,0.000,0.029,2651,1771,3478,0,0,0,0,0,0
$GC,3321,-1.70,-116.8,351.1,-9.0,220,3325,0.00,2.58,0.00,0.000,4,0.000,0.044,2651,3355,3477,0,0,0,0,0,0
$GC,3399,-1.78,-116.8,358.2,-8.5,221,3405,0.15,2.58,0.00,0.000,6,0.061,0.044,2596,1811,3476,0,0,0,0,0,0
$GC,3649,-1.73,-116.8,385.0,-10.9,228,3654,0.12,2.95,0.00,0.000,4,0.119,0.090,2621,180,3475,0,0,0,0,0,0
$GC,3673,-1.73,-116.8,387.6,-11.7,228,3677,0.00,2.58,0.00,0.000,6,0.000,0.024,2621,1809,3475,0,0,0,0,0,0
$GC,3927,-1.73,-116.8,416.4,-11.4,235,3932,0.00,2.53,0.00,0.000,4,0.000,0.051,2621,3353,3474,0,0,0,0,0,0
$GC,3943,-1.73,-116.8,418.4,-11.4,235,3948,0.00,2.58,0.00,0.000,6,0.000,0.046,2621,1804,3474,0,0,0,0,0,0
$GC,4206,-1.73,-116.8,446.1,-10.3,242,4211,0.00,2.55,0.00,0.000,4,0.000,0.044,2621,3357,3472,0,0,0,0,0,0
$GC,4251,-1.78,-116.8,450.5,-9.5,243,4255,0.00,2.58,0.00,0.000,6,0.000,0.053,2621,1830,3472,0,0,0,0,0,0
$GC,4528,-1.78,-116.8,476.6,-9.8,250,4529,0.00,0.00,0.00,0.000,6,0.000,0.000,2621,1830,3470,0,0,0,0,0,0
$STATE,4769,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4769,begin apogee
$GC,4777,-0.31,0.0,502.4,10.5,256,4878,1.42,0.00,97.47,0.904,6,0.092,0.000,2930,1830,3001,0,0,0,0,0,0
$STATE,4879,end apogee,CONTROL_FINISHED_OK
$STATE,4879,begin climb
$GC,4881,1.58,116.8,505.5,0.0,258,4994,1.70,3.05,102.25,0.890,4,0.046,0.101,3350,237,2524,0,0,0,0,0,0
$GC,5024,1.38,138.4,503.9,8.4,261,5050,0.25,2.58,19.67,0.836,6,0.120,0.034,3301,1811,2436,0,0,0,0,0,0
$GC,5331,1.41,163.7,478.7,8.1,269,5360,0.00,2.83,22.75,0.844,4,0.000,0.058,3301,3401,2331,0,0,0,0,0,0
$GC,5419,1.42,171.8,470.7,9.4,271,5434,0.00,2.70,8.45,0.742,6,0.000,0.055,3301,1826,2299,0,0,0,0,0,0
$GC,5707,1.44,193.6,445.9,8.4,278,5733,0.00,2.67,20.52,0.832,4,0.000,0.043,3301,3411,2210,0,0,0,0,0,0
$GC,5763,1.51,202.4,441.0,9.4,279,5778,0.12,2.72,9.27,0.750,6,0.086,0.052,3333,1837,2174,0,0,0,0,0,0
$GC,6034,1.51,202.4,410.5,11.6,286,6039,0.00,2.60,0.00,0.000,4,0.000,0.037,3333,3422,2169,0,0,0,0,0,0
$GC,6091,1.51,202.4,403.9,11.7,287,6096,0.00,2.67,0.00,0.000,6,0.000,0.056,3333,1851,2168,0,0,0,0,0,0
$GC,6358,1.52,208.5,376.8,9.6,294,6369,0.00,2.58,5.53,0.647,4,0.000,0.036,3333,3423,2150,0,0,0,0,0,0
$GC,6380,1.54,223.2,374.7,8.9,294,6400,0.00,2.67,15.10,0.788,6,0.000,0.048,3333,1854,2090,0,0,0,0,0,0
$GC,6682,1.55,232.5,347.0,9.3,302,6693,0.00,0.00,9.05,0.726,6,0.000,0.000,3333,1853,2053,0,0,0,0,0,0
$GC,6922,1.55,232.5,321.7,10.6,308,6927,0.00,2.53,0.00,0.000,4,0.000,0.030,3333,3418,2049,0,0,0,0,0,0
$GC,6951,1.59,232.5,318.5,11.1,308,6955,0.00,2.60,0.00,0.000,6,0.000,0.047,3333,1866,2048,0,0,0,0,0,0
$GC,7202,1.59,237.4,293.6,9.7,314,7213,0.00,2.90,5.32,0.605,4,0.000,0.074,3333,234,2032,0,0,0,0,0,0
$GC,7224,1.60,242.6,291.1,9.6,314,7239,0.00,2.65,6.47,0.641,6,0.000,0.022,3333,1885,2011,0,0,0,0,0,0
$GC,7484,1.60,247.0,266.2,9.7,321,7492,0.00,0.00,5.22,0.586,6,0.000,0.000,3333,1887,1993,0,0,0,0,0,0
$GC,7774,1.67,268.9,241.2,8.4,328,7804,0.12,3.00,21.35,0.726,4,0.096,0.063,3366,230,1903,0,0,0,0,0,0
$GC,7873,1.58,268.9,230.1,11.8,330,7878,0.12,2.67,0.00,0.000,6,0.133,0.028,3344,1898,1899,0,0,0,0,0,0
$GC,8148,1.62,269.6,202.3,10.0,337,8152,0.00,2.45,0.00,0.000,4,0.000,0.031,3344,3423,1898,0,0,0,0,0,0
$GC,8169,1.69,269.6,199.9,10.2,337,8174,0.10,2.55,0.00,0.000,6,0.098,0.041,3369,1880,1896,0,0,0,0,0,0
$GC,8435,1.69,269.6,172.7,10.6,362,8440,0.00,2.47,0.00,0.000,4,0.000,0.033,3369,3418,1896,0,0,0,0,0,0
$GC,8468,1.75,269.6,168.5,12.2,364,8474,0.00,2.50,0.00,0.000,6,0.000,0.038,3369,1901,1895,0,0,0,0,0,0
$GC,8733,1.75,269.6,137.8,10.9,389,8737,0.00,0.00,0.00,0.000,6,0.000,0.000,3369,1901,1895,0,0,0,0,0,0
$GC,8995,1.78,295.9,115.3,8.0,414,9030,0.00,2.97,23.38,0.621,4,0.000,0.069,3369,239,1793,0,0,0,0,0,0
$GC,9069,1.73,295.9,108.1,10.7,420,9077,0.00,2.72,0.00,0.000,6,0.000,0.019,3369,1944,1791,0,0,0,0,0,0
$GC,9337,1.86,327.7,84.4,7.6,445,9373,0.15,2.45,28.05,0.591,4,0.070,0.027,3410,3422,1664,0,0,0,0,0,0
$GC,9396,1.91,327.7,77.8,10.9,450,9403,0.00,2.50,0.00,0.000,6,0.000,0.034,3409,1924,1662,0,0,0,0,0,0
$GC,9662,1.92,339.5,50.5,9.1,475,9678,0.00,2.92,10.62,0.522,4,0.000,0.058,3410,233,1616,0,0,0,0,0,0
$GC,9727,1.85,339.5,43.3,10.6,480,9731,0.00,2.72,0.00,0.000,6,0.000,0.019,3409,1962,1614,0,0,0,0,0,0
$GC,9987,1.85,339.5,16.2,13.3,516,9995,0.00,3.00,0.00,0.000,4,0.000,0.059,3410,234,1614,0,0,0,0,0,0
$GC,10030,1.76,339.5,10.1,15.0,523,10038,0.10,2.67,0.00,0.000,6,0.097,0.019,3386,1934,1612,0,0,0,0,0,0
$STATE,10081,end climb,SURFACE_DEPTH_REACHED
$STATE,10081,begin surface coast
$FINISH,0.3,1.010458
$STATE,10123,end surface coast,CONTROL_FINISHED_OK
$STATE,10123,begin surface
$SM_CCo,10145,226.55,0.517,0,0,476,619.14
$SM_GC,0.83,0.00,0.00,226.55,0.000,0.000,0.517,473,1736,476,-11.62,-0.96,619.14
$IRIDIUM_FIX,2248.70,-15742.79,090200,131306
$TT8_MAMPS,0.026078
$HUMID,54.01
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,21.10
$XPDR_PINGS,139
$24V_AH,23.3,91.419
$10V_AH,9.8,83.974
$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,28.475,146.700,410.500,226.550,0.000,142.472,400.413,0.000,34.750,0.000,15.680,1074.366,7003.794,728.978,1636.506,855.580,33.361,1511.604,0.000,1624.973,0.000,0.534,0.000
$DEVICE_MAMPS,167.206,101.244,904.293,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,361.094,276.348,380.292,749.871,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,41476,539
$CAP_FILE_SIZE,115389,0
$CFSIZE,260165632,144019456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151110,155524,2257.906,-15741.898,51,1.5,51,10.1