version: 66.06
glider: 146
mission: 5
dive: 654
start: 11 15 110 19 27 58
data:
$ID,146
$MISSION,5
$DIVE,654
$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,-263642.62
$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,20
$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
$GPS1,191136,2257.638,-15742.556,25,1.0,25,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-61.7
$GPS2,192702,2257.722,-15742.569,13,1.3,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.146,-0.184
$KALMAN_X,-301005.4,-155.7,15.0,349392.0,-43.1
$KALMAN_Y,-319724.2,430.3,75.1,462076.0,769.7
$MHEAD_RNG_PITCHd_Wd,208.3,26118,-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,-113.40,0.000,2,0.000,0.000,473,1709,3356,0,0,0,0,0,0
$GC,135,-1.38,-116.8,3.8,-9.2,18,157,12.15,2.60,-2.35,0.000,4,0.170,0.062,2692,181,3479,0,0,0,0,0,0
$GC,218,-1.29,-116.8,22.6,-14.9,32,226,0.08,2.47,0.00,0.000,6,0.108,0.021,2711,1783,3480,0,0,0,0,0,0
$GC,484,-1.20,-116.8,52.6,-10.0,62,488,0.12,2.42,0.00,0.000,4,0.127,0.024,2735,3325,3480,0,0,0,0,0,0
$GC,520,-1.20,-116.8,56.3,-9.5,64,527,0.00,2.53,0.00,0.000,6,0.000,0.027,2735,1772,3479,0,0,0,0,0,0
$GC,784,-1.15,-116.8,85.0,-11.0,89,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1771,3479,0,0,0,0,0,0
$GC,1049,-1.15,-116.8,112.3,-8.8,114,1053,0.00,2.62,0.00,0.000,4,0.000,0.058,2735,196,3479,0,0,0,0,0,0
$GC,1068,-1.15,-116.8,114.0,-8.7,115,1073,0.00,2.42,0.00,0.000,6,0.000,0.015,2736,1806,3479,0,0,0,0,0,0
$GC,1335,-1.21,-116.8,136.3,-8.7,139,1339,0.00,2.33,0.00,0.000,4,0.000,0.023,2735,3309,3480,0,0,0,0,0,0
$GC,1379,-1.29,-116.8,140.8,-9.0,142,1386,0.00,2.45,0.00,0.000,6,0.000,0.024,2735,1783,3480,0,0,0,0,0,0
$GC,1644,-1.35,-116.8,160.9,-7.1,167,1649,0.12,2.42,0.00,0.000,4,0.074,0.031,2689,3312,3480,0,0,0,0,0,0
$GC,1665,-1.35,-116.8,162.9,-7.5,168,1671,0.00,2.42,0.00,0.000,6,0.000,0.027,2689,1785,3480,0,0,0,0,0,0
$GC,1928,-1.35,-116.8,186.0,-9.8,193,1933,0.00,2.67,0.00,0.000,4,0.000,0.064,2689,198,3480,0,0,0,0,0,0
$GC,1969,-1.35,-116.8,190.2,-10.7,196,1973,0.00,2.40,0.00,0.000,6,0.000,0.016,2689,1796,3480,0,0,0,0,0,0
$GC,2233,-1.35,-116.8,217.3,-10.2,209,2238,0.00,2.72,0.00,0.000,4,0.000,0.064,2689,192,3480,0,0,0,0,0,0
$GC,2261,-1.35,-116.8,220.3,-10.6,209,2265,0.00,2.38,0.00,0.000,6,0.000,0.019,2689,1765,3480,0,0,0,0,0,0
$GC,2518,-1.35,-116.8,243.6,-9.0,216,2522,0.00,2.42,0.00,0.000,4,0.000,0.025,2689,3314,3480,0,0,0,0,0,0
$GC,2562,-1.35,-116.8,247.6,-8.5,217,2566,0.00,2.50,0.00,0.000,6,0.000,0.028,2689,1761,3480,0,0,0,0,0,0
$GC,2839,-1.35,-116.8,271.9,-9.0,224,2844,0.00,2.45,0.00,0.000,4,0.000,0.028,2689,3317,3479,0,0,0,0,0,0
$GC,2926,-1.35,-116.8,278.7,-8.2,226,2930,0.00,2.45,0.00,0.000,6,0.000,0.035,2689,1789,3479,0,0,0,0,0,0
$GC,3209,-1.35,-116.8,302.1,-8.2,233,3214,0.00,2.80,0.00,0.000,4,0.000,0.074,2689,189,3478,0,0,0,0,0,0
$GC,3244,-1.35,-116.8,305.1,-9.2,233,3249,0.00,2.42,0.00,0.000,6,0.000,0.020,2689,1747,3478,0,0,0,0,0,0
$GC,3494,-1.35,-116.8,326.1,-8.2,240,3498,0.00,2.53,0.00,0.000,4,0.000,0.040,2690,3341,3477,0,0,0,0,0,0
$GC,3578,-1.40,-116.8,332.6,-7.0,242,3582,0.00,2.53,0.00,0.000,6,0.000,0.043,2689,1789,3476,0,0,0,0,0,0
$GC,3863,-1.40,-116.8,351.7,-6.5,249,3867,0.00,2.50,0.00,0.000,4,0.000,0.031,2689,3342,3475,0,0,0,0,0,0
$GC,3879,-1.44,-116.8,353.0,-6.6,249,3883,0.00,2.58,0.00,0.000,6,0.000,0.048,2689,1794,3475,0,0,0,0,0,0
$GC,4140,-1.44,-116.8,372.7,-7.7,256,4144,0.00,2.50,0.00,0.000,4,0.000,0.032,2689,3344,3474,0,0,0,0,0,0
$GC,4199,-1.51,-116.8,377.1,-7.9,257,4203,0.00,2.50,0.00,0.000,6,0.000,0.049,2689,1831,3474,0,0,0,0,0,0
$GC,4466,-1.55,-116.8,396.0,-7.0,264,4471,0.12,2.45,0.00,0.000,4,0.073,0.041,2644,3340,3472,0,0,0,0,0,0
$GC,4495,-1.55,-116.8,398.3,-8.3,264,4499,0.00,2.50,0.00,0.000,6,0.000,0.049,2644,1857,3472,0,0,0,0,0,0
$GC,4745,-1.51,-116.8,421.9,-9.8,270,4751,0.12,3.05,0.00,0.000,4,0.117,0.099,2669,183,3470,0,0,0,0,0,0
$GC,4773,-1.51,-116.8,425.0,-10.7,270,4778,0.00,2.62,0.00,0.000,6,0.000,0.029,2669,1823,3470,0,0,0,0,0,0
$GC,5025,-1.51,-116.8,449.6,-9.8,276,5029,0.00,2.50,0.00,0.000,4,0.000,0.054,2669,3335,3469,0,0,0,0,0,0
$GC,5081,-1.57,-116.8,455.2,-9.3,277,5085,0.00,2.50,0.00,0.000,6,0.000,0.051,2669,1855,3468,0,0,0,0,0,0
$GC,5347,-1.57,-116.8,478.0,-8.3,284,5352,0.00,3.05,0.00,0.000,4,0.000,0.103,2669,189,3466,0,0,0,0,0,0
$GC,5364,-1.57,-116.8,479.5,-8.3,284,5369,0.00,2.67,0.00,0.000,6,0.000,0.037,2669,1833,3466,0,0,0,0,0,0
$STATE,5623,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5623,begin apogee
$GC,5628,-0.31,0.0,501.7,8.6,291,5728,1.17,0.00,96.32,0.914,6,0.100,0.000,2929,1833,3001,0,0,0,0,0,0
$STATE,5729,end apogee,CONTROL_FINISHED_OK
$STATE,5729,begin climb
$GC,5732,1.38,116.8,504.4,0.0,293,5846,1.55,3.00,101.93,0.900,4,0.041,0.089,3309,240,2523,0,0,0,0,0,0
$GC,5896,1.17,136.9,500.6,8.9,296,5921,0.25,2.55,18.12,0.840,6,0.118,0.031,3258,1795,2442,0,0,0,0,0,0
$GC,6192,1.22,175.8,477.9,7.8,304,6234,0.00,2.85,34.80,0.869,4,0.000,0.063,3258,3410,2284,0,0,0,0,0,0
$GC,6308,1.22,178.3,467.2,9.9,306,6313,0.00,2.70,0.00,0.000,6,0.000,0.057,3258,1841,2278,0,0,0,0,0,0
$GC,6565,1.26,210.8,445.9,8.2,313,6606,0.00,3.05,31.40,0.858,4,0.000,0.103,3258,235,2139,0,0,0,0,0,0
$GC,6669,1.24,227.7,436.7,9.1,315,6691,0.00,2.60,16.00,0.815,6,0.000,0.026,3258,1833,2072,0,0,0,0,0,0
$GC,6936,1.28,263.5,415.1,8.0,321,6977,0.00,2.97,32.55,0.847,4,0.000,0.078,3258,241,1925,0,0,0,0,0,0
$GC,7025,1.29,265.2,406.8,9.9,323,7030,0.00,2.55,0.00,0.000,6,0.000,0.023,3258,1807,1921,0,0,0,0,0,0
$GC,7311,1.34,271.0,379.3,9.7,330,7326,0.15,2.90,6.90,0.697,4,0.079,0.078,3296,233,1895,0,0,0,0,0,0
$GC,7342,1.27,271.0,375.4,11.7,330,7347,0.00,2.50,0.00,0.000,6,0.000,0.027,3296,1793,1893,0,0,0,0,0,0
$GC,7592,1.27,272.8,349.9,9.9,336,7594,0.00,0.00,0.00,0.000,6,0.000,0.000,3296,1793,1892,0,0,0,0,0,0
$GC,7838,1.28,278.5,326.2,9.7,342,7852,0.00,2.83,7.60,0.696,4,0.000,0.074,3296,233,1864,0,0,0,0,0,0
$GC,7886,1.22,278.5,321.0,10.6,343,7891,0.15,2.47,0.00,0.000,6,0.121,0.028,3267,1778,1863,0,0,0,0,0,0
$GC,8166,1.34,321.5,299.3,7.6,350,8213,0.10,2.80,39.10,0.783,4,0.098,0.069,3294,244,1690,0,0,0,0,0,0
$GC,8229,1.34,325.3,293.5,9.8,351,8239,0.00,2.45,4.80,0.558,6,0.000,0.028,3294,1772,1674,0,0,0,0,0,0
$GC,8485,1.38,325.3,268.6,10.4,357,8489,0.00,2.72,0.00,0.000,4,0.000,0.071,3294,227,1669,0,0,0,0,0,0
$GC,8530,1.38,325.3,263.1,11.9,358,8534,0.00,2.40,0.00,0.000,6,0.000,0.028,3294,1751,1668,0,0,0,0,0,0
$GC,8808,1.43,325.5,234.7,10.0,365,8812,0.00,2.67,0.00,0.000,4,0.000,0.069,3294,232,1667,0,0,0,0,0,0
$GC,8885,1.43,325.5,226.0,10.7,366,8891,0.00,2.35,0.00,0.000,6,0.000,0.028,3294,1728,1665,0,0,0,0,0,0
$GC,9137,1.49,325.5,200.8,10.3,373,9142,0.12,2.60,0.00,0.000,4,0.087,0.067,3327,233,1665,0,0,0,0,0,0
$GC,9204,1.44,325.5,192.4,12.8,376,9210,0.00,2.28,0.00,0.000,6,0.000,0.028,3327,1694,1664,0,0,0,0,0,0
$GC,9469,1.44,325.5,165.4,10.6,401,9473,0.00,2.70,0.00,0.000,4,0.000,0.031,3326,3396,1663,0,0,0,0,0,0
$GC,9501,1.50,325.5,161.4,10.7,403,9507,0.00,2.90,0.00,0.000,6,0.000,0.041,3327,1650,1663,0,0,0,0,0,0
$GC,9766,1.51,330.0,134.9,9.8,428,9770,0.00,2.83,0.00,0.000,4,0.000,0.031,3327,3402,1663,0,0,0,0,0,0
$GC,9820,1.56,333.5,129.3,9.8,432,9832,0.00,2.85,6.65,0.541,6,0.000,0.040,3327,1694,1641,0,0,0,0,0,0
$GC,10092,1.64,366.6,103.0,8.1,457,10129,0.12,2.60,30.00,0.611,4,0.078,0.064,3361,236,1505,0,0,0,0,0,0
$GC,10185,1.56,368.0,94.2,10.0,465,10189,0.00,2.28,0.00,0.000,6,0.000,0.019,3361,1702,1502,0,0,0,0,0,0
$GC,10451,1.56,368.0,69.2,10.5,489,10456,0.00,2.70,0.00,0.000,4,0.000,0.025,3361,3396,1501,0,0,0,0,0,0
$GC,10504,1.64,368.0,62.9,10.8,493,10511,0.00,2.90,0.00,0.000,6,0.000,0.037,3361,1668,1499,0,0,0,0,0,0
$GC,10771,1.64,368.0,35.3,10.8,518,10775,0.00,2.45,0.00,0.000,4,0.000,0.060,3361,230,1499,0,0,0,0,0,0
$GC,10822,1.64,368.0,28.8,11.8,522,10829,0.00,2.25,0.00,0.000,6,0.000,0.018,3361,1692,1498,0,0,0,0,0,0
$STATE,11058,end climb,SURFACE_DEPTH_REACHED
$STATE,11058,begin surface coast
$FINISH,0.4,0.999814
$STATE,11097,end surface coast,CONTROL_FINISHED_OK
$STATE,11097,begin surface
$SM_CCo,11121,203.32,0.515,0,0,477,619.14
$SM_GC,1.00,0.00,0.00,203.32,0.000,0.000,0.515,474,1801,477,-11.62,0.88,619.14
$IRIDIUM_FIX,2248.70,-15740.63,090200,191913
$TT8_MAMPS,0.026078
$HUMID,54.84
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,21.30
$XPDR_PINGS,150
$24V_AH,23.3,91.735
$10V_AH,9.9,84.146
$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,28.100,166.175,426.175,203.325,0.000,140.024,400.394,0.000,37.500,0.000,18.323,1171.358,7687.998,733.693,1786.179,873.277,33.375,1576.705,0.000,1769.033,0.000,0.536,0.000
$DEVICE_MAMPS,169.507,102.778,914.264,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,385.050,293.391,401.797,789.115,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,44662,574
$CAP_FILE_SIZE,127219,0
$CFSIZE,260165632,143892480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,151110,223807,2257.816,-15743.431,40,1.1,40,10.1