version: 66.06
glider: 146
mission: 5
dive: 663
start: 11 17 110 0 43 39
data:
$ID,146
$MISSION,5
$DIVE,663
$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,-264065.78
$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,13
$R_STBD_OVSHOOT,69
$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
$GPS1,003624,2257.325,-15748.479,47,1.9,64,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-67.0
$GPS2,004244,2257.353,-15748.489,13,1.6,13,10.1
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,SW
$TGT_LATLONG,2249.500,-15755.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.130,-0.216
$KALMAN_X,-299106.8,-308.4,-92.1,337573.3,461.1
$KALMAN_Y,-304921.4,963.3,-39.2,446176.3,1071.9
$MHEAD_RNG_PITCHd_Wd,200.9,18304,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.31,-136.3,0.0,0.0,0,95,0.00,0.00,-75.15,0.000,2,0.000,0.000,475,1797,3197,0,0,0,0,0,0
$GC,98,-1.31,-136.3,3.5,-9.1,14,128,12.25,2.80,-7.28,0.000,4,0.170,0.064,2704,182,3560,0,0,0,0,0,0
$GC,170,-1.21,-136.3,17.8,-14.0,26,177,0.10,2.45,0.00,0.000,6,0.103,0.016,2728,1768,3560,0,0,0,0,0,0
$GC,571,-1.10,-136.3,66.0,-11.8,72,576,0.15,2.45,0.00,0.000,4,0.117,0.023,2759,3327,3561,0,0,0,0,0,0
$GC,591,-1.04,-136.3,68.6,-11.9,73,596,0.00,2.53,0.00,0.000,6,0.000,0.027,2759,1744,3562,0,0,0,0,0,0
$GC,981,-1.04,-136.3,105.3,-9.0,109,985,0.00,2.50,0.00,0.000,4,0.000,0.026,2759,3334,3563,0,0,0,0,0,0
$GC,1058,-1.11,-136.3,112.3,-9.0,115,1062,0.00,2.45,0.00,0.000,6,0.000,0.024,2759,1793,3563,0,0,0,0,0,0
$GC,1448,-1.18,-136.3,142.5,-7.4,151,1453,0.00,2.67,0.00,0.000,4,0.000,0.061,2759,194,3564,0,0,0,0,0,0
$GC,1511,-1.25,-136.3,147.5,-8.1,156,1516,0.15,2.42,0.00,0.000,6,0.060,0.014,2706,1822,3564,0,0,0,0,0,0
$GC,1900,-1.21,-136.3,185.9,-9.4,192,1905,0.12,2.38,0.00,0.000,4,0.106,0.023,2735,3331,3564,0,0,0,0,0,0
$GC,1921,-1.21,-136.3,187.8,-8.1,193,1927,0.00,2.45,0.00,0.000,6,0.000,0.029,2735,1782,3564,0,0,0,0,0,0
$GC,2304,-1.21,-136.3,215.4,-7.3,215,2309,0.00,2.67,0.00,0.000,4,0.000,0.059,2735,198,3564,0,0,0,0,0,0
$GC,2326,-1.25,-136.3,217.7,-8.8,215,2330,0.00,2.42,0.00,0.000,6,0.000,0.020,2735,1807,3565,0,0,0,0,0,0
$GC,2705,-1.29,-136.3,250.4,-8.8,225,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,1808,3564,0,0,0,0,0,0
$GC,3069,-1.34,-136.3,273.9,-5.9,234,3074,0.12,2.38,0.00,0.000,4,0.075,0.028,2692,3315,3564,0,0,0,0,0,0
$GC,3102,-1.34,-136.3,276.5,-7.8,234,3108,0.00,2.47,0.00,0.000,6,0.000,0.030,2692,1782,3564,0,0,0,0,0,0
$GC,3474,-1.34,-136.3,313.6,-11.2,244,3478,0.00,2.75,0.00,0.000,4,0.000,0.079,2692,195,3564,0,0,0,0,0,0
$GC,3489,-1.34,-136.3,315.6,-11.3,244,3493,0.00,2.40,0.00,0.000,6,0.000,0.023,2692,1742,3564,0,0,0,0,0,0
$GC,3873,-1.34,-136.3,351.3,-7.9,254,3877,0.00,2.58,0.00,0.000,4,0.000,0.041,2692,3344,3563,0,0,0,0,0,0
$GC,3896,-1.34,-136.3,353.1,-7.5,254,3901,0.00,2.60,0.00,0.000,6,0.000,0.041,2692,1759,3563,0,0,0,0,0,0
$GC,4273,-1.34,-136.3,385.2,-8.4,264,4277,0.00,2.55,0.00,0.000,4,0.000,0.033,2692,3350,3561,0,0,0,0,0,0
$GC,4313,-1.40,-136.3,388.3,-7.7,265,4318,0.00,2.65,0.00,0.000,6,0.000,0.051,2692,1760,3561,0,0,0,0,0,0
$GC,4720,-1.40,-136.3,420.9,-8.8,275,4725,0.00,2.85,0.00,0.000,4,0.000,0.095,2692,185,3559,0,0,0,0,0,0
$GC,4747,-1.40,-136.3,423.8,-10.4,275,4751,0.00,2.50,0.00,0.000,6,0.000,0.031,2692,1754,3558,0,0,0,0,0,0
$GC,5121,-1.40,-136.3,458.8,-9.1,284,5125,0.00,2.65,0.00,0.000,4,0.000,0.053,2692,3356,3556,0,0,0,0,0,0
$GC,5175,-1.46,-136.3,463.8,-8.2,285,5180,0.00,2.70,0.00,0.000,6,0.000,0.053,2692,1768,3556,0,0,0,0,0,0
$GC,5564,-1.46,-136.3,495.0,-8.1,295,5568,0.00,2.92,0.00,0.000,4,0.000,0.100,2692,180,3553,0,0,0,0,0,0
$GC,5581,-1.46,-136.3,496.4,-8.0,295,5586,0.00,2.55,0.00,0.000,6,0.000,0.035,2692,1757,3553,0,0,0,0,0,0
$STATE,5637,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5637,begin apogee
$GC,5643,-0.31,0.0,501.5,8.6,297,5761,1.08,0.00,113.88,0.912,6,0.086,0.000,2931,1832,3001,0,0,0,0,0,0
$STATE,5761,end apogee,CONTROL_FINISHED_OK
$STATE,5761,begin climb
$GC,5764,1.31,136.3,505.8,0.0,300,5886,1.50,0.00,117.82,0.893,6,0.044,0.000,3297,1832,2445,0,0,0,0,0,0
$GC,6248,1.24,196.4,480.3,7.1,312,6308,0.12,2.72,52.45,0.885,4,0.127,0.052,3272,3384,2199,0,0,0,0,0,0
$GC,6364,1.25,237.9,471.9,8.0,314,6408,0.00,2.70,37.55,0.861,6,0.000,0.061,3272,1824,2031,0,0,0,0,0,0
$GC,6787,1.22,257.1,434.3,9.1,325,6812,0.00,2.67,17.48,0.826,4,0.000,0.036,3272,3398,1952,0,0,0,0,0,0
$GC,6833,1.25,277.2,430.0,9.0,326,6858,0.00,2.72,19.70,0.825,6,0.000,0.056,3272,1834,1870,0,0,0,0,0,0
$GC,7239,1.26,293.1,392.7,9.3,336,7259,0.00,3.03,14.38,0.792,4,0.000,0.094,3273,229,1806,0,0,0,0,0,0
$GC,7329,1.19,293.1,382.8,11.5,338,7333,0.00,2.55,0.00,0.000,6,0.000,0.026,3272,1828,1803,0,0,0,0,0,0
$GC,7728,1.19,293.1,341.1,10.3,348,7733,0.00,2.83,0.00,0.000,4,0.000,0.075,3272,231,1801,0,0,0,0,0,0
$GC,7806,1.15,293.1,332.7,10.7,349,7812,0.10,2.53,0.00,0.000,6,0.134,0.026,3252,1810,1799,0,0,0,0,0,0
$GC,8180,1.26,333.8,302.8,8.0,359,8224,0.00,2.90,36.70,0.782,4,0.000,0.067,3252,228,1639,0,0,0,0,0,0
$GC,8277,1.26,333.8,293.4,10.8,361,8282,0.00,2.50,0.00,0.000,6,0.000,0.028,3252,1795,1636,0,0,0,0,0,0
$GC,8673,1.39,379.5,259.8,7.8,371,8720,0.22,2.60,40.70,0.745,4,0.058,0.028,3312,3390,1453,0,0,0,0,0,0
$GC,8784,1.44,384.0,249.4,9.8,373,8795,0.00,2.80,5.45,0.571,6,0.000,0.038,3312,1725,1435,0,0,0,0,0,0
$GC,9162,1.44,384.0,209.7,10.9,382,9167,0.00,2.70,0.00,0.000,4,0.000,0.027,3312,3394,1431,0,0,0,0,0,0
$GC,9238,1.51,384.0,201.2,11.6,383,9242,0.00,2.83,0.00,0.000,6,0.000,0.038,3311,1698,1429,0,0,0,0,0,0
$GC,9624,1.51,384.0,159.6,11.3,416,9629,0.00,2.55,0.00,0.000,4,0.000,0.066,3312,229,1429,0,0,0,0,0,0
$GC,9722,1.46,384.0,147.4,13.1,424,9726,0.00,2.28,0.00,0.000,6,0.000,0.020,3312,1702,1428,0,0,0,0,0,0
$GC,10112,1.51,384.0,105.2,10.4,460,10116,0.00,2.50,0.00,0.000,4,0.000,0.060,3312,229,1428,0,0,0,0,0,0
$GC,10167,1.51,384.0,98.7,11.0,464,10172,0.00,2.25,0.00,0.000,6,0.000,0.020,3312,1694,1428,0,0,0,0,0,0
$GC,10558,1.61,406.1,64.8,8.9,501,10584,0.15,2.55,19.73,0.563,4,0.072,0.059,3352,228,1345,0,0,0,0,0,0
$GC,10610,1.56,406.1,59.2,11.5,505,10614,0.00,2.25,0.00,0.000,6,0.000,0.019,3352,1688,1344,0,0,0,0,0,0
$GC,11006,1.56,406.1,17.4,10.5,551,11012,0.00,2.53,0.00,0.000,4,0.000,0.060,3352,229,1344,0,0,0,0,0,0
$GC,11048,1.49,406.1,12.1,13.1,558,11056,0.10,2.20,0.00,0.000,6,0.091,0.019,3327,1660,1343,0,0,0,0,0,0
$STATE,11133,end climb,SURFACE_DEPTH_REACHED
$STATE,11133,begin surface coast
$FINISH,0.5,1.021462
$STATE,11178,end surface coast,CONTROL_FINISHED_OK
$STATE,11178,begin surface
$SM_CCo,11260,0.00,0.000,0,0,1339,407.69
$SM_GC,1.20,11.65,0.00,0.00,0.028,0.000,0.000,477,1823,1339,-11.52,1.53,407.69
$IRIDIUM_FIX,2248.70,-15745.85,100200,212123
$TT8_MAMPS,0.025311
$HUMID,58.26
$INTERNAL_PRESSURE,9.307
$TCM_TEMP,21.80
$XPDR_PINGS,156
$24V_AH,23.2,92.921
$10V_AH,9.9,84.776
$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,27.825,124.175,475.825,0.000,0.000,30.786,34.424,169.038,39.000,0.000,15.354,1112.447,8041.994,549.440,1401.820,532.209,33.373,1266.350,0.000,1392.113,0.000,0.534,0.000
$DEVICE_MAMPS,170.274,103.545,911.963,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,389.620,229.301,313.887,0.000,457.667,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,44677,581
$CAP_FILE_SIZE,107004,0
$CFSIZE,260165632,143429632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,171110,035228,2257.296,-15749.389,9,2.7,28,10.1