version: 66.06
glider: 146
mission: 7
dive: 300
start: 7 8 112 7 58 52
data:
$ID,146
$MISSION,7
$DIVE,300
$D_SURF,4
$D_FLARE,3
$D_TGT,400
$D_ABORT,520
$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,133
$T_MISSION,300
$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,52355
$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,380
$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,-298249.19
$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,3115
$PITCH_DBAND,0.1
$PITCH_CNV,0.0046000001
$P_OVSHOOT,0.039999999
$PITCH_GAIN,16
$PITCH_TIMEOUT,17
$PITCH_AD_RATE,175
$PITCH_MAXERRORS,2
$PITCH_ADJ_GAIN,0.029999999
$PITCH_ADJ_DBAND,1.2
$ROLL_MIN,160
$ROLL_MAX,3941
$ROLL_DEG,45
$C_ROLL_DIVE,2180
$C_ROLL_CLIMB,2180
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,28
$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,3190
$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,10
$ALTIM_PULSE,8
$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,0.0043256786
$SEABIRD_T_H,0.0006194216
$SEABIRD_T_I,2.1253354e-05
$SEABIRD_T_J,2.0307182e-06
$SEABIRD_C_G,-9.7992477
$SEABIRD_C_H,1.0845563
$SEABIRD_C_I,-0.0017217569
$SEABIRD_C_J,0.00021252052
$GPS1,073509,2146.631,-15806.236,10,2.1,29,9.9
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.01
$_SM_ANGLEo,-61.5
$GPS2,075800,2146.576,-15806.704,15,1.7,32,9.9
$SPEED_LIMITS,0.143,0.252
$TGT_NAME,mile5
$TGT_LATLONG,2140.500,-15809.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.133,-0.214
$KALMAN_X,-169266.5,-603.6,172.6,164686.9,-1947.0
$KALMAN_Y,197316.0,-78.5,185.5,-297421.9,-782.6
$MHEAD_RNG_PITCHd_Wd,138.2,11926,-18.2,-10.025
$D_GRID,400
$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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.31,-136.3,0.0,0.0,0,160,0.00,0.00,-133.95,0.000,6,0.000,0.000,481,2190,3747,0,0,0,0,0,0
$GC,166,-1.31,-136.3,3.4,-7.5,15,186,12.77,2.60,0.00,0.000,4,0.169,0.038,2821,587,3748,0,0,0,0,0,0
$GC,197,-0.04,-136.3,18.8,-37.9,18,206,1.27,2.50,0.00,0.000,6,0.094,0.017,3102,2204,3748,0,0,0,0,0,0
$GC,540,-0.41,-136.3,34.6,-4.2,56,550,0.30,0.00,0.00,0.000,6,0.042,0.000,3005,2205,3747,0,0,0,0,0,0
$GC,808,-0.57,-136.3,51.1,-6.1,81,813,0.00,2.62,0.00,0.000,4,0.000,0.051,3004,587,3747,0,0,0,0,0,0
$GC,848,-0.77,-136.3,54.3,-7.5,83,859,0.20,2.45,0.00,0.000,6,0.025,0.017,2924,2175,3747,0,0,0,0,0,0
$GC,1116,-0.77,-136.3,78.8,-8.2,108,1121,0.10,2.47,0.00,0.000,4,0.109,0.040,2932,3746,3746,0,0,0,0,0,0
$GC,1152,-0.85,-136.3,81.9,-7.4,110,1163,0.00,2.47,0.00,0.000,6,0.000,0.022,2948,2171,3746,0,0,0,0,0,0
$GC,1420,-0.92,-136.3,102.6,-8.9,135,1425,0.15,0.00,0.00,0.000,6,0.059,0.000,2888,2172,3746,0,0,0,0,0,0
$GC,1682,-0.87,-136.3,131.7,-10.6,160,1687,0.17,2.50,0.00,0.000,4,0.089,0.035,2933,3746,3746,0,0,0,0,0,0
$GC,1718,-0.93,-136.3,135.1,-9.0,162,1731,0.00,2.50,0.00,0.000,6,0.000,0.025,2929,2162,3746,0,0,0,0,0,0
$GC,1987,-0.99,-136.3,153.3,-7.2,187,1992,0.12,2.53,0.00,0.000,4,0.068,0.056,2875,608,3746,0,0,0,0,0,0
$GC,2016,-0.93,-136.3,156.5,-10.2,189,2021,0.17,2.38,0.00,0.000,6,0.091,0.020,2914,2168,3745,0,0,0,0,0,0
$GC,2277,-0.93,-136.3,176.1,-7.4,213,2282,0.00,2.55,0.00,0.000,4,0.000,0.052,2914,605,3745,0,0,0,0,0,0
$GC,2299,-0.93,-136.3,177.4,-8.0,214,2304,0.00,2.35,0.00,0.000,6,0.000,0.017,2915,2163,3745,0,0,0,0,0,0
$GC,2567,-0.98,-136.3,197.1,-7.4,238,2571,0.00,2.47,0.00,0.000,4,0.000,0.036,2915,3749,3744,0,0,0,0,0,0
$GC,2588,-1.05,-136.3,199.3,-8.0,239,2595,0.12,2.47,0.00,0.000,6,0.065,0.021,2859,2158,3744,0,0,0,0,0,0
$GC,2853,-0.99,-136.3,229.5,-12.2,247,2858,0.17,2.55,0.00,0.000,4,0.090,0.054,2899,608,3744,0,0,0,0,0,0
$GC,2908,-1.03,-136.3,236.0,-10.4,248,2913,0.00,2.38,0.00,0.000,6,0.000,0.024,2899,2155,3743,0,0,0,0,0,0
$GC,3178,-1.08,-136.3,259.3,-8.2,255,3179,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2155,3743,0,0,0,0,0,0
$GC,3419,-1.14,-136.3,272.7,-4.9,261,3421,0.15,0.00,0.00,0.000,6,0.061,0.000,2842,2155,3741,0,0,0,0,0,0
$GC,3663,-1.08,-136.3,291.0,-7.8,267,3665,0.15,0.00,0.00,0.000,6,0.095,0.000,2878,2155,3740,0,0,0,0,0,0
$GC,3906,-1.08,-136.3,310.5,-8.2,273,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2156,3739,0,0,0,0,0,0
$GC,4152,-1.08,-136.3,329.3,-7.5,279,4157,0.00,2.65,0.00,0.000,4,0.000,0.064,2878,605,3737,0,0,0,0,0,0
$GC,4174,-1.08,-136.3,331.2,-7.4,279,4179,0.00,2.42,0.00,0.000,6,0.000,0.028,2878,2142,3737,0,0,0,0,0,0
$GC,4432,-1.08,-136.3,351.3,-8.1,286,4436,0.00,2.62,0.00,0.000,4,0.000,0.048,2878,3757,3735,0,0,0,0,0,0
$GC,4495,-1.13,-136.3,356.9,-8.6,287,4499,0.00,2.55,0.00,0.000,6,0.000,0.038,2878,2182,3735,0,0,0,0,0,0
$GC,4756,-1.17,-136.3,377.7,-7.9,294,4757,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2182,3732,0,0,0,0,0,0
$GC,5000,-1.23,-136.3,397.7,-8.4,300,5005,0.12,2.80,0.00,0.000,4,0.068,0.091,2831,597,3731,0,0,0,0,0,0
$STATE,5019,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5019,begin apogee
$GC,5030,-0.31,0.0,400.0,9.6,300,5141,0.93,0.00,107.30,0.834,6,0.074,0.000,3044,2178,3190,0,0,0,0,0,0
$STATE,5141,end apogee,CONTROL_FINISHED_OK
$STATE,5142,begin climb
$GC,5144,1.31,136.3,403.5,0.0,303,5265,1.50,2.75,111.53,0.811,4,0.045,0.049,3299,3761,2636,0,0,0,0,0,0
$GC,5292,1.26,141.7,395.4,9.8,307,5306,0.00,2.65,6.30,0.624,6,0.000,0.043,3365,2185,2612,0,0,0,0,0,0
$GC,5579,1.27,153.0,368.4,9.5,314,5595,0.00,2.90,10.32,0.714,4,0.000,0.082,3400,585,2566,0,0,0,0,0,0
$GC,5641,1.23,153.0,362.2,10.1,315,5646,0.00,2.58,0.00,0.000,6,0.000,0.033,3390,2178,2564,0,0,0,0,0,0
$GC,5903,1.27,187.8,339.5,8.3,322,5938,0.00,2.67,30.02,0.775,4,0.000,0.048,3400,3761,2424,0,0,0,0,0,0
$GC,5986,1.27,187.8,331.8,10.3,323,5990,0.00,2.62,0.00,0.000,6,0.000,0.035,3400,2176,2421,0,0,0,0,0,0
$GC,6269,1.30,213.5,307.3,8.8,330,6298,0.00,2.83,22.85,0.757,4,0.000,0.072,3400,600,2318,0,0,0,0,0,0
$GC,6361,1.30,213.5,298.2,10.5,332,6366,0.00,2.55,0.00,0.000,6,0.000,0.024,3400,2189,2315,0,0,0,0,0,0
$GC,6641,1.32,230.2,272.5,9.2,339,6658,0.00,0.00,15.50,0.723,6,0.000,0.000,3400,2189,2251,0,0,0,0,0,0
$GC,6883,1.35,253.2,250.4,8.9,345,6905,0.00,0.00,20.88,0.725,6,0.000,0.000,3400,2191,2157,0,0,0,0,0,0
$GC,7127,1.46,299.4,231.0,7.7,351,7175,0.15,2.83,40.55,0.724,4,0.073,0.053,3440,576,1967,0,0,0,0,0,0
$GC,7199,1.42,299.4,223.7,10.8,352,7204,0.00,2.58,0.00,0.000,6,0.000,0.029,3440,2165,1964,0,0,0,0,0,0
$GC,7456,1.42,299.4,195.2,11.3,361,7461,0.00,2.65,0.00,0.000,4,0.000,0.054,3440,585,1961,0,0,0,0,0,0
$GC,7488,1.42,299.4,190.9,12.7,363,7492,0.00,2.53,0.00,0.000,6,0.000,0.028,3439,2171,1961,0,0,0,0,0,0
$GC,7748,1.42,299.4,161.9,11.9,387,7753,0.00,2.58,0.00,0.000,4,0.000,0.042,3382,3758,1959,0,0,0,0,0,0
$GC,7780,1.42,299.4,158.3,12.1,389,7785,0.00,2.60,0.00,0.000,6,0.000,0.035,3441,2149,1958,0,0,0,0,0,0
$GC,8047,1.42,299.4,129.5,10.8,413,8052,0.00,2.60,0.00,0.000,4,0.000,0.055,3420,597,1958,0,0,0,0,0,0
$GC,8094,1.42,299.4,123.8,10.9,416,8102,0.05,2.45,0.00,0.000,6,0.107,0.023,3426,2139,1956,0,0,0,0,0,0
$GC,8360,1.49,314.8,99.9,9.3,441,8378,0.00,2.62,12.73,0.584,4,0.000,0.039,3357,3756,1903,0,0,0,0,0,0
$GC,8422,1.60,314.8,94.2,10.2,445,8428,0.15,2.62,0.00,0.000,6,0.066,0.036,3470,2139,1903,0,0,0,0,0,0
$GC,8688,1.60,314.8,62.3,12.3,469,8698,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2138,1902,0,0,0,0,0,0
$GC,8954,1.60,314.8,31.1,12.4,494,8959,0.00,2.58,0.00,0.000,4,0.000,0.052,3469,591,1902,0,0,0,0,0,0
$GC,9043,1.60,314.8,19.4,12.7,504,9053,0.00,2.47,0.00,0.000,6,0.000,0.020,3470,2159,1901,0,0,0,0,0,0
$STATE,9169,end climb,SURFACE_DEPTH_REACHED
$STATE,9169,begin surface coast
$FINISH,-0.6,1.010280
$STATE,9221,end surface coast,CONTROL_FINISHED_OK
$STATE,9221,begin surface
$SM_CCo,9243,51.35,0.527,0,0,1640,380.46
$SM_GC,0.40,0.00,0.00,51.35,0.000,0.000,0.527,463,2162,1640,-12.20,-0.51,380.46
$IRIDIUM_FIX,2138.81,-15804.59,021001,070700
$TT8_MAMPS,0.027612
$HUMID,67.36
$INTERNAL_PRESSURE,9.43396
$TCM_TEMP,20.90
$XPDR_PINGS,41
$24V_AH,23.6,43.244
$10V_AH,10.2,36.720
$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,30.775,108.075,377.975,51.350,0.000,0.000,0.000,0.000,10.250,0.000,33.928,1018.897,5208.829,542.338,2361.285,256.849,33.363,1242.482,0.000,2376.586,0.000,0.538,0.000
$DEVICE_MAMPS,168.740,90.506,833.729,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,355.390,309.241,442.029,1056.044,1680.328,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355892
$DATA_FILE_SIZE,41491,525
$CAP_FILE_SIZE,184754,0
$CFSIZE,260165632,129265664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080712,103536,2145.828,-15806.506,67,1.0,67,9.9