version: 66.06
glider: 146
mission: 5
dive: 658
start: 11 16 110 8 25 1
data:
$ID,146
$MISSION,5
$DIVE,658
$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,140
$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,400
$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,-263961.69
$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,32
$R_STBD_OVSHOOT,26
$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,94
$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
$GPS1,080937,2257.481,-15745.166,29,1.5,29,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-67.4
$GPS2,082407,2257.539,-15745.167,248,1.3,248,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.150,-0.202
$KALMAN_X,-300097.0,349.8,33.7,343495.8,-102.3
$KALMAN_Y,-314293.7,102.1,-130.5,456845.6,606.3
$MHEAD_RNG_PITCHd_Wd,206.5,22437,-18.2,-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,-1.31,-136.3,0.0,0.0,0,93,0.00,0.00,-75.12,0.000,2,0.000,0.000,471,1752,3242,0,0,0,0,0,0
$GC,96,-1.31,-136.3,3.6,-9.1,14,121,12.20,2.62,-6.38,0.000,4,0.169,0.060,2707,194,3559,0,0,0,0,0,0
$GC,146,-1.11,-136.3,16.2,-19.0,22,153,0.20,2.53,0.00,0.000,6,0.089,0.016,2753,1829,3560,0,0,0,0,0,0
$GC,545,-1.07,-136.3,56.1,-11.0,69,549,0.00,2.75,0.00,0.000,4,0.000,0.057,2753,193,3560,0,0,0,0,0,0
$GC,575,-1.07,-136.3,59.9,-11.9,71,579,0.00,2.45,0.00,0.000,6,0.000,0.015,2753,1807,3561,0,0,0,0,0,0
$GC,965,-1.07,-136.3,102.7,-10.6,107,969,0.00,2.35,0.00,0.000,4,0.000,0.031,2753,3311,3561,0,0,0,0,0,0
$GC,995,-1.11,-136.3,105.6,-9.4,109,1000,0.00,2.47,0.00,0.000,6,0.000,0.028,2753,1750,3561,0,0,0,0,0,0
$GC,1388,-1.15,-136.3,139.7,-9.0,145,1392,0.00,2.45,0.00,0.000,4,0.000,0.025,2753,3313,3562,0,0,0,0,0,0
$GC,1477,-1.24,-136.3,148.0,-9.5,152,1483,0.10,2.45,0.00,0.000,6,0.084,0.025,2714,1772,3562,0,0,0,0,0,0
$GC,1866,-1.24,-136.3,183.3,-8.4,189,1870,0.00,2.65,0.00,0.000,4,0.000,0.058,2714,196,3563,0,0,0,0,0,0
$GC,1894,-1.24,-136.3,185.8,-8.9,191,1898,0.00,2.42,0.00,0.000,6,0.000,0.021,2714,1805,3563,0,0,0,0,0,0
$GC,2287,-1.24,-136.3,218.4,-8.9,213,2291,0.00,2.35,0.00,0.000,4,0.000,0.025,2714,3314,3563,0,0,0,0,0,0
$GC,2343,-1.27,-136.3,224.6,-10.0,214,2347,0.00,2.42,0.00,0.000,6,0.000,0.033,2714,1793,3563,0,0,0,0,0,0
$GC,2743,-1.27,-136.3,257.6,-7.0,224,2747,0.00,2.72,0.00,0.000,4,0.000,0.072,2714,199,3562,0,0,0,0,0,0
$GC,2784,-1.27,-136.3,260.2,-6.9,225,2788,0.00,2.42,0.00,0.000,6,0.000,0.021,2714,1788,3562,0,0,0,0,0,0
$GC,3189,-1.27,-136.3,287.2,-7.5,235,3193,0.00,2.42,0.00,0.000,4,0.000,0.030,2714,3330,3562,0,0,0,0,0,0
$GC,3240,-1.33,-136.3,291.4,-8.8,236,3245,0.00,2.45,0.00,0.000,6,0.000,0.031,2715,1805,3562,0,0,0,0,0,0
$GC,3635,-1.33,-136.3,324.3,-8.0,246,3640,0.00,2.83,0.00,0.000,4,0.000,0.076,2714,186,3560,0,0,0,0,0,0
$GC,3675,-1.36,-136.3,327.7,-8.6,247,3679,0.00,2.47,0.00,0.000,6,0.000,0.025,2714,1783,3560,0,0,0,0,0,0
$GC,4082,-1.36,-136.3,356.8,-7.5,257,4086,0.00,2.53,0.00,0.000,4,0.000,0.035,2714,3351,3558,0,0,0,0,0,0
$GC,4171,-1.44,-136.3,364.0,-8.4,259,4176,0.12,2.50,0.00,0.000,6,0.069,0.039,2670,1825,3557,0,0,0,0,0,0
$GC,4575,-1.39,-136.3,401.1,-9.4,269,4576,0.12,0.00,0.00,0.000,6,0.110,0.000,2697,1825,3555,0,0,0,0,0,0
$GC,4936,-1.39,-136.3,429.3,-7.6,278,4937,0.00,0.00,0.00,0.000,6,0.000,0.000,2697,1825,3553,0,0,0,0,0,0
$GC,5304,-1.39,-136.3,459.6,-8.6,287,5308,0.00,2.50,0.00,0.000,4,0.000,0.048,2697,3339,3550,0,0,0,0,0,0
$GC,5328,-1.43,-136.3,461.7,-8.6,287,5332,0.00,2.55,0.00,0.000,6,0.000,0.057,2697,1833,3550,0,0,0,0,0,0
$GC,5705,-1.43,-136.3,488.8,-7.0,297,5709,0.00,3.05,0.00,0.000,4,0.000,0.103,2697,193,3548,0,0,0,0,0,0
$GC,5760,-1.47,-136.3,493.1,-8.0,298,5765,0.00,2.60,0.00,0.000,6,0.000,0.036,2697,1802,3547,0,0,0,0,0,0
$STATE,5861,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5861,begin apogee
$GC,5869,-0.31,0.0,500.5,7.2,301,5986,1.05,0.00,113.25,0.918,6,0.077,0.000,2933,1802,3001,0,0,0,0,0,0
$STATE,5986,end apogee,CONTROL_FINISHED_OK
$STATE,5986,begin climb
$GC,5989,1.31,136.3,503.9,0.0,304,6119,1.45,2.83,117.65,0.899,4,0.035,0.062,3296,3404,2444,0,0,0,0,0,0
$GC,6158,1.23,176.5,499.4,8.0,308,6203,0.15,2.72,35.97,0.869,6,0.124,0.052,3266,1827,2281,0,0,0,0,0,0
$GC,6604,1.22,228.9,465.1,7.4,319,6658,0.00,3.12,46.45,0.870,4,0.000,0.102,3266,233,2066,0,0,0,0,0,0
$GC,6671,1.15,245.8,459.5,9.2,320,6695,0.00,2.62,16.42,0.813,6,0.000,0.028,3266,1829,1998,0,0,0,0,0,0
$GC,7099,1.17,263.0,421.7,9.2,331,7120,0.00,2.92,15.65,0.812,4,0.000,0.081,3266,233,1928,0,0,0,0,0,0
$GC,7143,1.09,263.0,416.4,11.9,332,7148,0.12,2.58,0.00,0.000,6,0.123,0.030,3241,1824,1926,0,0,0,0,0,0
$GC,7545,1.14,267.8,376.4,9.8,342,7555,0.00,2.85,5.22,0.632,4,0.000,0.071,3240,233,1908,0,0,0,0,0,0
$GC,7600,1.15,275.8,370.9,9.6,343,7615,0.00,2.53,9.07,0.739,6,0.000,0.028,3240,1803,1875,0,0,0,0,0,0
$GC,7996,1.25,321.4,339.3,7.8,353,8045,0.12,2.90,41.20,0.825,4,0.087,0.068,3274,228,1688,0,0,0,0,0,0
$GC,8129,1.18,321.4,326.2,10.4,356,8134,0.00,2.53,0.00,0.000,6,0.000,0.026,3275,1811,1684,0,0,0,0,0,0
$GC,8530,1.19,329.9,290.3,9.6,366,8545,0.00,2.65,7.70,0.682,4,0.000,0.031,3274,3404,1654,0,0,0,0,0,0
$GC,8615,1.24,329.9,281.4,10.5,367,8622,0.00,2.67,0.00,0.000,6,0.000,0.038,3274,1795,1652,0,0,0,0,0,0
$GC,8988,1.27,351.8,247.2,9.0,377,9014,0.00,2.78,19.85,0.738,4,0.000,0.071,3274,240,1565,0,0,0,0,0,0
$GC,9083,1.27,353.1,237.9,10.0,379,9087,0.00,2.45,0.00,0.000,6,0.000,0.021,3274,1805,1563,0,0,0,0,0,0
$GC,9479,1.36,378.5,202.4,8.8,389,9510,0.10,2.78,24.40,0.703,4,0.096,0.068,3302,239,1456,0,0,0,0,0,0
$GC,9576,1.32,378.5,191.9,11.0,395,9580,0.00,2.40,0.00,0.000,6,0.000,0.020,3303,1764,1454,0,0,0,0,0,0
$GC,9965,1.36,378.5,152.6,10.2,431,9966,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1765,1453,0,0,0,0,0,0
$GC,10349,1.45,398.6,117.9,9.0,467,10374,0.00,2.72,18.58,0.613,4,0.000,0.063,3303,239,1374,0,0,0,0,0,0
$GC,10397,1.50,401.9,113.1,9.9,471,10408,0.08,2.38,4.30,0.431,6,0.056,0.025,3331,1743,1361,0,0,0,0,0,0
$GC,10797,1.55,404.3,80.2,9.9,509,10798,0.00,0.00,0.00,0.000,6,0.000,0.000,3332,1744,1360,0,0,0,0,0,0
$GC,11182,1.58,433.7,42.4,8.6,545,11217,0.00,2.67,28.17,0.546,4,0.000,0.061,3331,243,1231,0,0,0,0,0,0
$GC,11259,1.58,433.7,34.3,10.8,552,11263,0.00,2.30,0.00,0.000,6,0.000,0.018,3331,1754,1229,0,0,0,0,0,0
$STATE,11564,end climb,SURFACE_DEPTH_REACHED
$STATE,11565,begin surface coast
$FINISH,0.5,1.023549
$STATE,11600,end surface coast,CONTROL_FINISHED_OK
$STATE,11600,begin surface
$SM_CCo,11682,0.00,0.000,0,0,1224,435.90
$SM_GC,1.08,11.68,0.00,0.00,0.027,0.000,0.000,477,1755,1224,-11.52,-0.40,435.90
$IRIDIUM_FIX,2248.70,-15745.85,100200,080845
$TT8_MAMPS,0.026078
$HUMID,57.75
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,22.00
$XPDR_PINGS,137
$24V_AH,23.2,92.251
$10V_AH,9.9,84.443
$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,27.500,114.375,503.900,0.000,0.000,51.515,75.320,280.041,34.250,0.000,249.733,1158.174,8378.761,524.560,1765.407,720.562,33.373,1317.513,0.000,1510.185,0.000,0.535,0.000
$DEVICE_MAMPS,168.740,102.778,918.099,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,408.714,237.713,326.209,0.000,464.964,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355432
$DATA_FILE_SIZE,47751,609
$CAP_FILE_SIZE,113646,0
$CFSIZE,260165632,143704064
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,161110,114054,2257.419,-15745.838,13,3.0,32,10.1