version: 66.06
glider: 146
mission: 5
dive: 548
start: 11 1 110 10 7 24
data:
$ID,146
$MISSION,5
$DIVE,548
$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,420
$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,-260896.84
$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,34
$R_STBD_OVSHOOT,56
$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
$GPS1,095819,2253.047,-15742.417,9,1.9,14,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-67.4
$GPS2,100631,2253.151,-15742.412,41,1.1,41,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.025,-0.234
$KALMAN_X,-259928.4,74.7,-84.8,308464.5,-243.5
$KALMAN_Y,-533043.5,-620.6,-554.1,668604.8,2264.6
$MHEAD_RNG_PITCHd_Wd,163.8,7719,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,106,0.00,0.00,-85.93,0.000,2,0.000,0.000,474,1746,3465,0,0,0,0,0,0
$GC,110,-1.38,-116.8,4.3,-8.8,11,128,11.82,2.60,-0.20,0.000,4,0.158,0.061,2689,196,3479,0,0,0,0,0,0
$GC,205,-1.30,-116.8,29.6,-17.2,24,215,0.08,2.45,0.00,0.000,6,0.110,0.021,2708,1781,3480,0,0,0,0,0,0
$GC,473,-1.24,-116.8,66.5,-12.8,49,478,0.10,2.45,0.00,0.000,4,0.134,0.031,2727,3346,3481,0,0,0,0,0,0
$GC,485,-1.19,-116.8,69.2,-13.2,49,494,0.00,2.53,0.00,0.000,6,0.000,0.025,2727,1772,3481,0,0,0,0,0,0
$GC,747,-1.19,-116.8,98.3,-10.4,74,752,0.00,2.65,0.00,0.000,4,0.000,0.055,2727,190,3482,0,0,0,0,0,0
$GC,757,-1.19,-116.8,99.7,-10.1,74,767,0.00,2.45,0.00,0.000,6,0.000,0.017,2727,1808,3482,0,0,0,0,0,0
$GC,1024,-1.23,-116.8,121.4,-7.3,99,1029,0.00,2.35,0.00,0.000,4,0.000,0.025,2727,3312,3482,0,0,0,0,0,0
$GC,1084,-1.32,-116.8,125.8,-7.0,103,1088,0.00,2.40,0.00,0.000,6,0.000,0.033,2727,1789,3483,0,0,0,0,0,0
$GC,1351,-1.37,-116.8,146.4,-8.4,127,1356,0.12,2.70,0.00,0.000,4,0.072,0.065,2684,196,3483,0,0,0,0,0,0
$GC,1374,-1.37,-116.8,149.2,-9.6,128,1384,0.00,2.42,0.00,0.000,6,0.000,0.021,2685,1786,3483,0,0,0,0,0,0
$GC,1637,-1.37,-116.8,176.3,-9.7,153,1642,0.00,2.70,0.00,0.000,4,0.000,0.064,2684,199,3484,0,0,0,0,0,0
$GC,1659,-1.33,-116.8,178.2,-10.4,154,1664,0.10,2.38,0.00,0.000,6,0.120,0.018,2706,1786,3484,0,0,0,0,0,0
$GC,1933,-1.33,-116.8,204.0,-9.2,176,1937,0.00,2.38,0.00,0.000,4,0.000,0.033,2706,3317,3483,0,0,0,0,0,0
$GC,1994,-1.40,-116.8,210.0,-8.8,177,1998,0.00,2.40,0.00,0.000,6,0.000,0.032,2706,1811,3483,0,0,0,0,0,0
$GC,2256,-1.40,-116.8,233.7,-9.0,184,2261,0.00,2.35,0.00,0.000,4,0.000,0.025,2706,3317,3484,0,0,0,0,0,0
$GC,2267,-1.40,-116.8,235.0,-8.9,184,2271,0.00,2.40,0.00,0.000,6,0.000,0.028,2706,1799,3483,0,0,0,0,0,0
$GC,2534,-1.40,-116.8,257.8,-8.5,191,2535,0.00,0.00,0.00,0.000,6,0.000,0.000,2706,1800,3483,0,0,0,0,0,0
$GC,2779,-1.44,-116.8,279.1,-8.8,197,2783,0.00,2.40,0.00,0.000,4,0.000,0.031,2706,3313,3483,0,0,0,0,0,0
$GC,2807,-1.51,-116.8,281.8,-8.8,197,2812,0.15,2.38,0.00,0.000,6,0.063,0.037,2654,1825,3482,0,0,0,0,0,0
$GC,3063,-1.46,-116.8,308.7,-10.7,204,3064,0.12,0.00,0.00,0.000,6,0.113,0.000,2679,1824,3482,0,0,0,0,0,0
$GC,3308,-1.46,-116.8,332.4,-9.9,210,3313,0.00,2.88,0.00,0.000,4,0.000,0.084,2680,193,3481,0,0,0,0,0,0
$GC,3324,-1.46,-116.8,334.1,-9.4,210,3328,0.00,2.50,0.00,0.000,6,0.000,0.028,2679,1790,3481,0,0,0,0,0,0
$GC,3584,-1.46,-116.8,357.4,-8.9,217,3589,0.00,2.53,0.00,0.000,4,0.000,0.042,2680,3355,3480,0,0,0,0,0,0
$GC,3602,-1.46,-116.8,359.0,-8.9,217,3607,0.00,2.50,0.00,0.000,6,0.000,0.044,2679,1838,3479,0,0,0,0,0,0
$GC,3864,-1.46,-116.8,381.1,-8.5,224,3868,0.00,2.92,0.00,0.000,4,0.000,0.092,2679,199,3478,0,0,0,0,0,0
$GC,3885,-1.46,-116.8,383.3,-9.5,224,3889,0.00,2.60,0.00,0.000,6,0.000,0.028,2680,1845,3478,0,0,0,0,0,0
$GC,4142,-1.46,-116.8,405.3,-8.7,231,4146,0.00,2.45,0.00,0.000,4,0.000,0.046,2680,3349,3477,0,0,0,0,0,0
$GC,4197,-1.53,-116.8,410.3,-8.8,232,4202,0.00,2.47,0.00,0.000,6,0.000,0.051,2679,1855,3477,0,0,0,0,0,0
$GC,4464,-1.53,-116.8,434.0,-9.0,239,4469,0.00,3.03,0.00,0.000,4,0.000,0.101,2680,196,3475,0,0,0,0,0,0
$GC,4482,-1.53,-116.8,435.5,-8.9,239,4486,0.00,2.65,0.00,0.000,6,0.000,0.031,2680,1847,3475,0,0,0,0,0,0
$GC,4742,-1.53,-116.8,459.2,-9.0,246,4747,0.00,2.47,0.00,0.000,4,0.000,0.052,2680,3351,3473,0,0,0,0,0,0
$GC,4765,-1.57,-116.8,461.3,-9.2,246,4769,0.00,2.53,0.00,0.000,6,0.000,0.058,2680,1855,3473,0,0,0,0,0,0
$GC,5022,-1.61,-116.8,483.9,-8.8,253,5024,0.12,0.00,0.00,0.000,6,0.077,0.000,2636,1855,3472,0,0,0,0,0,0
$STATE,5179,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5180,begin apogee
$GC,5185,-0.31,0.0,500.5,10.2,257,5289,1.35,0.00,99.53,0.923,6,0.088,0.000,2931,1855,3001,0,0,0,0,0,0
$STATE,5289,end apogee,CONTROL_FINISHED_OK
$STATE,5289,begin climb
$GC,5292,1.38,116.8,503.0,0.0,259,5407,1.55,3.12,104.60,0.904,4,0.044,0.107,3309,243,2522,0,0,0,0,0,0
$GC,5438,1.19,162.5,501.9,7.4,262,5488,0.25,2.58,40.97,0.880,6,0.117,0.034,3261,1807,2337,0,0,0,0,0,0
$GC,5744,1.25,210.0,479.9,7.3,270,5794,0.00,2.80,42.53,0.877,4,0.000,0.061,3260,3401,2144,0,0,0,0,0,0
$GC,5852,1.31,229.8,471.1,8.9,272,5877,0.12,2.67,18.70,0.835,6,0.086,0.056,3293,1845,2064,0,0,0,0,0,0
$GC,6166,1.27,229.8,439.0,10.6,280,6167,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1846,2057,0,0,0,0,0,0
$GC,6404,1.27,229.8,412.0,11.1,286,6405,0.00,0.00,0.00,0.000,6,0.000,0.000,3294,1844,2055,0,0,0,0,0,0
$GC,6648,1.27,229.8,385.2,10.8,292,6652,0.00,2.58,0.00,0.000,4,0.000,0.038,3294,3427,2054,0,0,0,0,0,0
$GC,6671,1.27,229.8,382.8,11.0,292,6675,0.00,2.67,0.00,0.000,6,0.000,0.053,3293,1833,2053,0,0,0,0,0,0
$GC,6927,1.27,230.4,356.9,10.0,299,6928,0.00,0.00,0.00,0.000,6,0.000,0.000,3293,1833,2052,0,0,0,0,0,0
$GC,7171,1.27,236.0,333.0,9.7,305,7181,0.00,2.90,5.00,0.617,4,0.000,0.086,3293,230,2037,0,0,0,0,0,0
$GC,7222,1.19,236.0,327.4,11.1,306,7227,0.17,2.58,0.00,0.000,6,0.119,0.023,3259,1851,2036,0,0,0,0,0,0
$GC,7495,1.29,274.1,305.0,7.8,313,7537,0.00,2.90,35.97,0.798,4,0.000,0.074,3259,230,1881,0,0,0,0,0,0
$GC,7566,1.29,276.8,298.8,9.9,314,7571,0.10,2.55,0.00,0.000,6,0.094,0.027,3286,1824,1878,0,0,0,0,0,0
$GC,7822,1.29,276.8,272.5,10.5,321,7826,0.00,2.55,0.00,0.000,4,0.000,0.038,3286,3397,1876,0,0,0,0,0,0
$GC,7854,1.36,276.8,269.0,10.6,321,7860,0.00,2.60,0.00,0.000,6,0.000,0.044,3285,1814,1874,0,0,0,0,0,0
$GC,8106,1.36,276.8,242.2,10.8,328,8110,0.00,2.75,0.00,0.000,4,0.000,0.077,3286,236,1874,0,0,0,0,0,0
$GC,8132,1.36,276.8,238.9,12.1,328,8137,0.00,2.50,0.00,0.000,6,0.000,0.025,3286,1822,1872,0,0,0,0,0,0
$GC,8383,1.42,298.6,215.9,8.8,334,8407,0.10,0.00,21.30,0.719,6,0.097,0.000,3313,1823,1782,0,0,0,0,0,0
$GC,8668,1.42,298.6,188.5,10.2,346,8672,0.00,2.55,0.00,0.000,4,0.000,0.034,3313,3401,1778,0,0,0,0,0,0
$GC,8698,1.46,298.6,185.0,10.8,348,8702,0.00,2.62,0.00,0.000,6,0.000,0.038,3313,1800,1777,0,0,0,0,0,0
$GC,8962,1.46,298.6,157.1,10.5,372,8966,0.00,2.72,0.00,0.000,4,0.000,0.075,3313,232,1777,0,0,0,0,0,0
$GC,9017,1.41,298.6,150.8,12.0,376,9022,0.00,2.45,0.00,0.000,6,0.000,0.021,3313,1803,1775,0,0,0,0,0,0
$GC,9280,1.41,298.6,122.8,10.5,400,9284,0.00,2.53,0.00,0.000,4,0.000,0.031,3313,3387,1776,0,0,0,0,0,0
$GC,9311,1.46,298.6,119.7,10.5,402,9315,0.00,2.62,0.00,0.000,6,0.000,0.038,3313,1786,1775,0,0,0,0,0,0
$GC,9573,1.47,305.8,92.8,9.6,426,9589,0.00,2.58,6.78,0.532,4,0.000,0.034,3313,3384,1753,0,0,0,0,0,0
$GC,9603,1.53,311.1,89.8,9.7,428,9618,0.00,2.58,6.25,0.512,6,0.000,0.036,3313,1801,1733,0,0,0,0,0,0
$GC,9873,1.62,324.5,65.2,9.3,453,9893,0.17,2.70,13.45,0.568,4,0.069,0.061,3360,238,1678,0,0,0,0,0,0
$GC,9925,1.55,324.5,59.5,11.5,456,9933,0.08,2.47,0.00,0.000,6,0.099,0.021,3341,1806,1677,0,0,0,0,0,0
$GC,10193,1.60,324.5,35.0,10.3,481,10197,0.00,2.53,0.00,0.000,4,0.000,0.028,3341,3390,1676,0,0,0,0,0,0
$GC,10228,1.68,324.5,31.1,11.0,483,10233,0.10,2.58,0.00,0.000,6,0.094,0.037,3369,1805,1675,0,0,0,0,0,0
$STATE,10469,end climb,SURFACE_DEPTH_REACHED
$STATE,10469,begin surface coast
$FINISH,0.4,1.010584
$STATE,10518,end surface coast,CONTROL_FINISHED_OK
$STATE,10518,begin surface
$SM_CCo,10542,79.62,0.535,0,0,1287,420.20
$SM_GC,0.95,0.00,0.00,79.62,0.000,0.000,0.535,471,1761,1287,-11.63,-0.25,420.20
$IRIDIUM_FIX,2244.02,-15743.68,260100,070750
$TT8_MAMPS,0.026078
$HUMID,55.82
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.30
$XPDR_PINGS,143
$24V_AH,23.3,76.094
$10V_AH,9.9,71.598
$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,28.375,144.625,395.075,79.625,0.000,24.361,33.178,255.672,35.750,0.000,42.731,1079.076,6865.694,545.225,1968.526,653.839,33.368,1282.015,0.000,1948.797,0.000,0.534,0.000
$DEVICE_MAMPS,158.002,176.410,922.701,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.805,297.515,403.096,764.526,1156.725,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,41678,524
$CAP_FILE_SIZE,116800,0
$CFSIZE,260165632,150261760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011110,130536,2253.320,-15742.479,25,1.0,29,10.1