version: 66.06
glider: 146
mission: 5
dive: 545
start: 11 1 110 0 52 50
data:
$ID,146
$MISSION,5
$DIVE,545
$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,-260805.05
$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,28
$R_STBD_OVSHOOT,59
$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
$GPS1,003428,2253.471,-15742.040,24,2.1,43,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-66.8
$GPS2,005155,2253.610,-15742.087,17,1.7,34,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.042,-0.211
$KALMAN_X,-259214.5,-228.9,-230.4,308759.5,406.2
$KALMAN_Y,-540471.2,932.9,-473.2,675253.9,2818.4
$MHEAD_RNG_PITCHd_Wd,181.2,8539,-21.9,-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,15,-1.49,-97.0,0.0,0.0,0,103,0.00,0.00,-83.35,0.000,6,0.000,0.000,473,1765,3399,0,0,0,0,0,0
$GC,108,-1.50,-107.8,4.5,-9.3,11,126,11.75,2.62,-0.75,0.000,4,0.161,0.064,2664,190,3443,0,0,0,0,0,0
$GC,209,-1.40,-107.8,29.1,-16.3,25,218,0.10,2.45,0.00,0.000,6,0.112,0.016,2688,1778,3443,0,0,0,0,0,0
$GC,479,-1.35,-107.8,67.1,-12.9,50,483,0.00,2.42,0.00,0.000,4,0.000,0.023,2688,3334,3444,0,0,0,0,0,0
$GC,490,-1.35,-107.8,69.9,-13.1,50,499,0.00,2.53,0.00,0.000,6,0.000,0.031,2688,1769,3444,0,0,0,0,0,0
$GC,757,-1.35,-107.8,99.1,-11.1,75,761,0.00,2.45,0.00,0.000,4,0.000,0.025,2688,3332,3444,0,0,0,0,0,0
$GC,799,-1.42,-107.8,104.2,-11.1,78,804,0.00,2.42,0.00,0.000,6,0.000,0.032,2688,1796,3445,0,0,0,0,0,0
$GC,1062,-1.43,-116.8,129.9,-9.4,102,1067,0.00,2.70,-0.25,0.000,4,0.000,0.071,2688,193,3481,0,0,0,0,0,0
$GC,1111,-1.47,-116.8,135.2,-10.9,105,1116,0.00,2.40,0.00,0.000,6,0.000,0.022,2688,1806,3481,0,0,0,0,0,0
$GC,1378,-1.47,-116.8,160.1,-9.3,130,1382,0.00,2.35,0.00,0.000,4,0.000,0.031,2688,3313,3482,0,0,0,0,0,0
$GC,1448,-1.56,-116.8,166.8,-9.2,135,1457,0.10,2.42,0.00,0.000,6,0.034,0.028,2636,1805,3482,0,0,0,0,0,0
$GC,1712,-1.51,-116.8,195.6,-11.2,160,1718,0.15,0.00,0.00,0.000,6,0.110,0.000,2668,1802,3482,0,0,0,0,0,0
$GC,1995,-1.51,-116.8,225.1,-10.1,170,2000,0.00,2.75,0.00,0.000,4,0.000,0.071,2668,193,3482,0,0,0,0,0,0
$GC,2028,-1.51,-116.8,229.1,-11.7,170,2034,0.00,2.45,0.00,0.000,6,0.000,0.016,2668,1802,3482,0,0,0,0,0,0
$GC,2278,-1.51,-116.8,255.7,-10.6,177,2282,0.00,2.40,0.00,0.000,4,0.000,0.035,2668,3331,3482,0,0,0,0,0,0
$GC,2293,-1.51,-116.8,257.4,-10.1,177,2297,0.00,2.42,0.00,0.000,6,0.000,0.035,2668,1803,3482,0,0,0,0,0,0
$GC,2556,-1.51,-116.8,284.2,-10.4,184,2561,0.00,2.80,0.00,0.000,4,0.000,0.080,2668,194,3481,0,0,0,0,0,0
$GC,2583,-1.51,-116.8,287.4,-11.2,184,2587,0.00,2.42,0.00,0.000,6,0.000,0.026,2667,1781,3481,0,0,0,0,0,0
$GC,2834,-1.55,-116.8,311.9,-9.8,190,2838,0.00,2.50,0.00,0.000,4,0.000,0.038,2667,3352,3480,0,0,0,0,0,0
$GC,2875,-1.64,-116.8,315.8,-10.0,191,2880,0.10,2.50,0.00,0.000,6,0.082,0.042,2632,1805,3480,0,0,0,0,0,0
$GC,3159,-1.64,-116.8,348.3,-11.5,198,3160,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1804,3478,0,0,0,0,0,0
$GC,3402,-1.64,-116.8,376.0,-11.4,204,3406,0.00,2.47,0.00,0.000,4,0.000,0.041,2631,3342,3477,0,0,0,0,0,0
$GC,3454,-1.68,-116.8,381.5,-10.6,205,3459,0.00,2.58,0.00,0.000,6,0.000,0.054,2631,1805,3477,0,0,0,0,0,0
$GC,3726,-1.68,-116.8,409.3,-10.0,212,3730,0.00,2.47,0.00,0.000,4,0.000,0.038,2632,3338,3475,0,0,0,0,0,0
$GC,3736,-1.68,-116.8,410.4,-9.8,212,3741,0.00,2.55,0.00,0.000,6,0.000,0.054,2631,1803,3475,0,0,0,0,0,0
$GC,4004,-1.68,-116.8,436.9,-10.1,219,4005,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1803,3473,0,0,0,0,0,0
$GC,4246,-1.68,-116.8,462.1,-10.3,225,4250,0.00,2.53,0.00,0.000,4,0.000,0.047,2631,3335,3471,0,0,0,0,0,0
$GC,4279,-1.72,-116.8,465.5,-10.7,225,4284,0.00,2.58,0.00,0.000,6,0.000,0.066,2632,1817,3471,0,0,0,0,0,0
$GC,4534,-1.72,-116.8,491.3,-10.6,232,4535,0.00,0.00,0.00,0.000,6,0.000,0.000,2631,1817,3469,0,0,0,0,0,0
$STATE,4648,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4648,begin apogee
$GC,4653,-0.31,0.0,504.1,10.4,235,4755,1.38,0.00,97.88,0.916,6,0.094,0.000,2929,1817,3001,0,0,0,0,0,0
$STATE,4756,end apogee,CONTROL_FINISHED_OK
$STATE,4756,begin climb
$GC,4758,1.51,116.8,506.5,0.0,237,4873,1.67,3.10,102.00,0.894,4,0.049,0.113,3336,227,2522,0,0,0,0,0,0
$GC,4880,1.43,174.4,505.9,6.0,240,4939,0.12,2.60,51.20,0.876,6,0.138,0.035,3314,1799,2290,0,0,0,0,0,0
$GC,5206,1.38,174.4,471.5,11.0,248,5210,0.00,2.72,0.00,0.000,4,0.000,0.057,3314,3408,2280,0,0,0,0,0,0
$GC,5272,1.38,174.4,464.0,11.2,249,5276,0.00,2.70,0.00,0.000,6,0.000,0.058,3314,1821,2279,0,0,0,0,0,0
$GC,5528,1.34,174.4,438.0,10.0,256,5533,0.10,2.60,0.00,0.000,4,0.143,0.041,3295,3421,2276,0,0,0,0,0,0
$GC,5546,1.34,174.4,436.1,10.1,256,5551,0.00,2.67,0.00,0.000,6,0.000,0.055,3295,1833,2276,0,0,0,0,0,0
$GC,5807,1.37,196.8,413.5,8.5,263,5827,0.00,0.00,19.02,0.828,6,0.000,0.000,3295,1834,2198,0,0,0,0,0,0
$GC,6050,1.39,211.1,391.9,9.0,269,6066,0.00,0.00,13.77,0.796,6,0.000,0.000,3295,1833,2140,0,0,0,0,0,0
$GC,6296,1.39,215.6,368.3,9.7,275,6306,0.00,2.60,5.12,0.630,4,0.000,0.034,3295,3428,2122,0,0,0,0,0,0
$GC,6335,1.45,215.6,364.0,10.4,276,6340,0.00,2.70,0.00,0.000,6,0.000,0.047,3295,1829,2121,0,0,0,0,0,0
$GC,6618,1.46,223.0,336.7,9.5,283,6633,0.10,2.65,7.88,0.716,4,0.102,0.035,3321,3421,2091,0,0,0,0,0,0
$GC,6652,1.46,225.8,333.5,9.8,283,6663,0.00,2.65,4.53,0.571,6,0.000,0.051,3321,1834,2080,0,0,0,0,0,0
$GC,6907,1.47,229.0,308.2,9.8,290,6916,0.00,2.60,4.03,0.529,4,0.000,0.034,3321,3423,2067,0,0,0,0,0,0
$GC,6964,1.51,232.3,302.6,9.8,291,6974,0.00,2.60,5.03,0.597,6,0.000,0.042,3321,1862,2053,0,0,0,0,0,0
$GC,7236,1.53,246.1,277.4,9.1,298,7255,0.00,2.95,13.60,0.742,4,0.000,0.081,3321,230,1997,0,0,0,0,0,0
$GC,7274,1.50,253.2,273.8,9.5,298,7289,0.00,2.62,8.43,0.679,6,0.000,0.022,3321,1869,1967,0,0,0,0,0,0
$GC,7568,1.50,253.2,243.9,10.1,306,7572,0.00,2.45,0.00,0.000,4,0.000,0.036,3321,3404,1963,0,0,0,0,0,0
$GC,7634,1.57,253.2,236.7,10.6,307,7639,0.00,2.55,0.00,0.000,6,0.000,0.043,3321,1849,1962,0,0,0,0,0,0
$GC,7890,1.57,253.2,209.5,10.9,314,7894,0.00,2.50,0.00,0.000,4,0.000,0.037,3321,3401,1962,0,0,0,0,0,0
$GC,7962,1.65,253.2,201.1,10.9,315,7967,0.15,2.50,0.00,0.000,6,0.080,0.038,3359,1867,1961,0,0,0,0,0,0
$GC,8225,1.61,253.2,170.4,11.8,336,8229,0.00,2.47,0.00,0.000,4,0.000,0.038,3359,3401,1961,0,0,0,0,0,0
$GC,8288,1.61,253.2,162.2,11.3,341,8292,0.00,2.45,0.00,0.000,6,0.000,0.036,3359,1901,1960,0,0,0,0,0,0
$GC,8556,1.61,253.2,134.3,10.1,365,8560,0.00,2.40,0.00,0.000,4,0.000,0.037,3359,3413,1960,0,0,0,0,0,0
$GC,8635,1.61,253.2,125.4,10.6,371,8640,0.00,2.45,0.00,0.000,6,0.000,0.042,3359,1914,1960,0,0,0,0,0,0
$GC,8902,1.63,273.0,101.0,8.7,395,8927,0.00,2.92,17.62,0.614,4,0.000,0.067,3359,240,1887,0,0,0,0,0,0
$GC,9011,1.63,273.0,89.2,11.8,404,9016,0.00,2.62,0.00,0.000,6,0.000,0.022,3359,1909,1884,0,0,0,0,0,0
$GC,9279,1.65,286.4,63.9,9.1,428,9298,0.00,2.90,12.80,0.563,4,0.000,0.064,3359,237,1832,0,0,0,0,0,0
$GC,9327,1.66,299.0,59.6,9.2,431,9345,0.00,2.58,12.55,0.552,6,0.000,0.020,3359,1898,1780,0,0,0,0,0,0
$GC,9609,1.74,315.3,35.6,8.9,456,9628,0.00,0.00,15.25,0.540,6,0.000,0.000,3359,1898,1714,0,0,0,0,0,0
$GC,9936,1.82,315.3,4.1,11.3,502,9946,0.15,2.85,0.00,0.000,4,0.075,0.059,3399,241,1710,0,0,0,0,0,0
$STATE,9953,end climb,SURFACE_DEPTH_REACHED
$STATE,9954,begin surface coast
$FINISH,0.4,1.000107
$STATE,9996,end surface coast,CONTROL_FINISHED_OK
$STATE,9996,begin surface
$SM_CCo,10022,244.60,0.522,0,0,476,619.14
$SM_GC,0.86,0.00,0.00,244.60,0.000,0.000,0.522,473,1806,476,-11.62,1.02,619.14
$IRIDIUM_FIX,2244.02,-15739.35,260100,000024
$TT8_MAMPS,0.025311
$HUMID,52.44
$INTERNAL_PRESSURE,9.2484
$TCM_TEMP,20.40
$XPDR_PINGS,130
$24V_AH,23.3,75.699
$10V_AH,9.7,71.242
$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,27.825,134.075,390.700,244.600,0.000,150.539,178.509,252.528,32.500,0.000,35.523,1039.534,6676.551,693.610,1955.035,946.812,33.369,1425.902,0.000,1933.368,0.000,0.534,0.000
$DEVICE_MAMPS,161.070,112.749,915.798,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,344.944,309.864,397.982,777.195,1178.128,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355436
$DATA_FILE_SIZE,41535,510
$CAP_FILE_SIZE,114449,0
$CFSIZE,260165632,150433792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011110,034506,2253.711,-15742.195,12,1.4,28,10.1