version: 66.06
glider: 146
mission: 5
dive: 550
start: 11 1 110 16 27 8
data:
$ID,146
$MISSION,5
$DIVE,550
$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,-260928.94
$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,40
$R_STBD_OVSHOOT,62
$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
$GPS1,161807,2253.694,-15742.598,41,1.1,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-69.9
$GPS2,162614,2253.844,-15742.585,14,1.1,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.016,-0.234
$KALMAN_X,-260392.2,8.4,55.0,308554.6,-80.9
$KALMAN_Y,-529065.5,245.4,567.5,663942.9,1672.5
$MHEAD_RNG_PITCHd_Wd,166.1,9026,-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,-116.7,0.0,0.0,0,106,0.00,0.00,-85.93,0.000,2,0.000,0.000,474,1741,3357,0,0,0,0,0,0
$GC,110,-1.38,-116.8,3.5,-6.3,11,136,12.18,2.62,-2.28,0.000,4,0.170,0.069,2690,211,3481,0,0,0,0,0,0
$GC,187,-1.29,-116.8,24.1,-19.0,21,197,0.10,2.40,0.00,0.000,6,0.104,0.017,2714,1762,3483,0,0,0,0,0,0
$GC,465,-1.20,-116.8,60.9,-13.1,48,470,0.10,2.50,0.00,0.000,4,0.133,0.031,2734,3338,3483,0,0,0,0,0,0
$GC,487,-1.20,-116.8,63.8,-11.4,49,491,0.00,2.47,0.00,0.000,6,0.000,0.027,2734,1782,3483,0,0,0,0,0,0
$GC,755,-1.20,-116.8,90.9,-8.8,73,760,0.00,2.65,0.00,0.000,4,0.000,0.058,2734,197,3484,0,0,0,0,0,0
$GC,813,-1.27,-116.8,96.7,-9.8,77,817,0.00,2.38,0.00,0.000,6,0.000,0.022,2734,1789,3484,0,0,0,0,0,0
$GC,1082,-1.32,-116.8,120.1,-9.4,101,1086,0.00,2.42,0.00,0.000,4,0.000,0.025,2734,3321,3485,0,0,0,0,0,0
$GC,1103,-1.40,-116.8,122.9,-9.4,102,1112,0.12,2.53,0.00,0.000,6,0.035,0.032,2681,1755,3485,0,0,0,0,0,0
$GC,1372,-1.35,-116.8,150.2,-9.9,127,1377,0.10,2.67,0.00,0.000,4,0.121,0.064,2702,189,3485,0,0,0,0,0,0
$GC,1383,-1.31,-116.8,152.2,-10.2,127,1389,0.00,2.35,0.00,0.000,6,0.000,0.015,2702,1761,3485,0,0,0,0,0,0
$GC,1648,-1.31,-116.8,176.1,-10.0,152,1652,0.00,0.00,0.00,0.000,6,0.000,0.000,2702,1762,3485,0,0,0,0,0,0
$GC,1911,-1.31,-116.8,198.3,-8.0,177,1915,0.00,2.65,0.00,0.000,4,0.000,0.064,2702,197,3485,0,0,0,0,0,0
$GC,1933,-1.31,-116.8,200.4,-8.3,178,1939,0.00,2.33,0.00,0.000,6,0.000,0.015,2702,1742,3486,0,0,0,0,0,0
$GC,2183,-1.31,-116.8,222.1,-8.9,185,2188,0.00,2.47,0.00,0.000,4,0.000,0.032,2702,3316,3486,0,0,0,0,0,0
$GC,2241,-1.39,-116.8,227.2,-9.1,186,2246,0.00,2.47,0.00,0.000,6,0.000,0.030,2702,1765,3485,0,0,0,0,0,0
$GC,2508,-1.39,-116.8,251.5,-9.2,193,2513,0.00,2.67,0.00,0.000,4,0.000,0.074,2702,196,3485,0,0,0,0,0,0
$GC,2531,-1.39,-116.8,253.7,-9.4,193,2535,0.00,2.35,0.00,0.000,6,0.000,0.025,2702,1744,3485,0,0,0,0,0,0
$GC,2786,-1.39,-116.8,275.6,-8.4,200,2791,0.00,2.53,0.00,0.000,4,0.000,0.031,2702,3335,3484,0,0,0,0,0,0
$GC,2809,-1.44,-116.8,277.6,-8.4,200,2813,0.00,2.53,0.00,0.000,6,0.000,0.031,2702,1755,3484,0,0,0,0,0,0
$GC,3066,-1.47,-116.8,299.8,-8.8,207,3071,0.10,2.53,0.00,0.000,4,0.087,0.036,2669,3330,3483,0,0,0,0,0,0
$GC,3116,-1.47,-116.8,304.7,-9.2,208,3120,0.00,2.50,0.00,0.000,6,0.000,0.039,2669,1778,3483,0,0,0,0,0,0
$GC,3388,-1.47,-116.8,329.8,-9.4,215,3389,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1778,3482,0,0,0,0,0,0
$GC,3633,-1.47,-116.8,351.4,-9.0,221,3637,0.00,2.53,0.00,0.000,4,0.000,0.040,2669,3328,3481,0,0,0,0,0,0
$GC,3656,-1.47,-116.8,353.5,-9.1,221,3660,0.00,2.55,0.00,0.000,6,0.000,0.045,2669,1785,3481,0,0,0,0,0,0
$GC,3911,-1.47,-116.8,378.5,-9.9,228,3912,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1784,3480,0,0,0,0,0,0
$GC,4160,-1.47,-116.8,403.0,-10.0,234,4164,0.00,2.55,0.00,0.000,4,0.000,0.040,2669,3333,3478,0,0,0,0,0,0
$GC,4181,-1.47,-116.8,405.9,-10.7,234,4185,0.00,2.62,0.00,0.000,6,0.000,0.056,2669,1775,3478,0,0,0,0,0,0
$GC,4437,-1.47,-116.8,431.7,-10.1,241,4441,0.00,2.92,0.00,0.000,4,0.000,0.107,2669,185,3477,0,0,0,0,0,0
$GC,4452,-1.47,-116.8,433.5,-10.2,241,4457,0.00,2.47,0.00,0.000,6,0.000,0.030,2669,1754,3477,0,0,0,0,0,0
$GC,4715,-1.47,-116.8,459.7,-9.9,248,4720,0.00,2.70,0.00,0.000,4,0.000,0.054,2669,3358,3476,0,0,0,0,0,0
$GC,4760,-1.53,-116.8,464.4,-9.8,249,4764,0.00,2.65,0.00,0.000,6,0.000,0.060,2669,1791,3475,0,0,0,0,0,0
$GC,5039,-1.53,-116.8,490.8,-9.5,256,5044,0.00,3.03,0.00,0.000,4,0.000,0.112,2669,184,3473,0,0,0,0,0,0
$GC,5055,-1.53,-116.8,492.6,-9.5,256,5059,0.00,2.60,0.00,0.000,6,0.000,0.035,2669,1791,3473,0,0,0,0,0,0
$STATE,5150,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5150,begin apogee
$GC,5156,-0.31,0.0,501.6,9.3,259,5259,1.20,0.00,99.30,0.924,6,0.084,0.000,2932,1791,3001,0,0,0,0,0,0
$STATE,5260,end apogee,CONTROL_FINISHED_OK
$STATE,5260,begin climb
$GC,5262,1.38,116.8,503.9,0.0,261,5377,1.52,2.90,102.72,0.902,4,0.044,0.093,3309,235,2523,0,0,0,0,0,0
$GC,5416,1.17,134.2,500.4,9.0,264,5438,0.25,2.60,15.82,0.830,6,0.117,0.032,3259,1824,2453,0,0,0,0,0,0
$GC,5715,1.24,183.7,478.5,7.2,272,5765,0.00,2.78,44.40,0.880,4,0.000,0.061,3259,3415,2251,0,0,0,0,0,0
$GC,5789,1.28,218.1,472.5,8.0,273,5827,0.00,2.72,31.65,0.861,6,0.000,0.055,3259,1820,2111,0,0,0,0,0,0
$GC,6081,1.28,223.3,444.4,9.7,281,6091,0.00,2.67,4.65,0.610,4,0.000,0.044,3259,3419,2090,0,0,0,0,0,0
$GC,6101,1.28,223.3,441.9,10.2,281,6106,0.00,2.70,0.00,0.000,6,0.000,0.053,3259,1827,2090,0,0,0,0,0,0
$GC,6359,1.29,228.7,417.2,9.7,288,6370,0.00,2.62,6.18,0.690,4,0.000,0.041,3259,3415,2067,0,0,0,0,0,0
$GC,6387,1.34,228.7,414.2,10.0,288,6392,0.15,2.70,0.00,0.000,6,0.081,0.052,3297,1824,2067,0,0,0,0,0,0
$GC,6637,1.30,231.0,389.3,9.9,294,6642,0.00,2.60,0.00,0.000,4,0.000,0.041,3297,3418,2064,0,0,0,0,0,0
$GC,6655,1.31,237.7,387.6,9.7,294,6669,0.00,2.67,9.45,0.760,6,0.000,0.048,3297,1835,2031,0,0,0,0,0,0
$GC,6915,1.31,239.3,362.1,9.9,300,6919,0.00,2.90,0.00,0.000,4,0.000,0.087,3297,229,2028,0,0,0,0,0,0
$GC,6930,1.25,239.3,360.1,10.6,300,6936,0.12,2.60,0.00,0.000,6,0.126,0.025,3273,1867,2027,0,0,0,0,0,0
$GC,7193,1.25,240.7,333.9,10.0,307,7198,0.00,2.47,0.00,0.000,4,0.000,0.039,3272,3398,2026,0,0,0,0,0,0
$GC,7249,1.31,240.7,328.0,10.5,308,7254,0.00,2.60,0.00,0.000,6,0.000,0.044,3272,1841,2025,0,0,0,0,0,0
$GC,7515,1.33,254.3,303.4,9.3,315,7537,0.00,2.90,15.85,0.769,4,0.000,0.083,3272,230,1963,0,0,0,0,0,0
$GC,7569,1.33,254.3,297.8,11.0,316,7574,0.00,2.58,0.00,0.000,6,0.000,0.025,3272,1843,1961,0,0,0,0,0,0
$GC,7837,1.39,274.2,273.5,8.9,323,7862,0.12,2.58,18.92,0.755,4,0.084,0.040,3306,3398,1882,0,0,0,0,0,0
$GC,7897,1.44,274.2,267.1,10.8,324,7902,0.00,2.60,0.00,0.000,6,0.000,0.041,3306,1840,1881,0,0,0,0,0,0
$GC,8164,1.45,285.4,241.1,9.4,331,8180,0.00,2.85,10.77,0.695,4,0.000,0.074,3306,240,1838,0,0,0,0,0,0
$GC,8204,1.39,285.4,237.3,10.3,332,8208,0.00,2.58,0.00,0.000,6,0.000,0.022,3306,1856,1836,0,0,0,0,0,0
$GC,8489,1.40,292.9,210.2,9.6,339,8503,0.00,2.90,7.95,0.639,4,0.000,0.074,3306,238,1806,0,0,0,0,0,0
$GC,8520,1.35,292.9,206.5,11.3,339,8525,0.00,2.55,0.00,0.000,6,0.000,0.024,3306,1847,1806,0,0,0,0,0,0
$GC,8778,1.35,292.9,179.7,10.4,357,8782,0.00,2.78,0.00,0.000,4,0.000,0.069,3306,238,1805,0,0,0,0,0,0
$GC,8811,1.30,292.9,175.8,12.3,359,8817,0.10,2.50,0.00,0.000,6,0.131,0.021,3285,1828,1804,0,0,0,0,0,0
$GC,9076,1.36,292.9,149.8,10.1,384,9080,0.00,2.50,0.00,0.000,4,0.000,0.036,3285,3399,1803,0,0,0,0,0,0
$GC,9098,1.44,292.9,147.7,10.5,385,9103,0.12,2.60,0.00,0.000,6,0.084,0.035,3318,1795,1802,0,0,0,0,0,0
$GC,9364,1.46,304.5,120.6,9.4,409,9389,0.00,2.78,11.55,0.611,4,0.000,0.066,3319,236,1757,0,0,0,0,0,0
$GC,9418,1.41,304.5,114.5,10.3,413,9424,0.00,2.47,0.00,0.000,6,0.000,0.026,3319,1817,1756,0,0,0,0,0,0
$GC,9681,1.41,307.7,89.9,9.9,438,9696,0.00,2.55,4.03,0.410,4,0.000,0.033,3318,3382,1745,0,0,0,0,0,0
$GC,9738,1.51,307.7,84.0,10.6,442,9747,0.00,2.55,0.00,0.000,6,0.000,0.036,3318,1842,1745,0,0,0,0,0,0
$GC,10005,1.62,337.2,59.8,8.3,467,10046,0.15,2.80,27.35,0.586,4,0.071,0.061,3360,241,1624,0,0,0,0,0,0
$GC,10151,1.62,337.2,43.8,11.5,478,10155,0.00,2.53,0.00,0.000,6,0.000,0.020,3360,1855,1622,0,0,0,0,0,0
$GC,10454,1.62,337.2,12.3,10.9,513,10463,0.00,2.80,0.00,0.000,4,0.000,0.059,3360,237,1621,0,0,0,0,0,0
$GC,10480,1.58,337.2,9.5,10.6,516,10490,0.00,2.50,0.00,0.000,6,0.000,0.020,3360,1836,1620,0,0,0,0,0,0
$STATE,10538,end climb,SURFACE_DEPTH_REACHED
$STATE,10538,begin surface coast
$FINISH,0.4,1.014162
$STATE,10588,end surface coast,CONTROL_FINISHED_OK
$STATE,10588,begin surface
$SM_CCo,10612,68.57,0.534,0,0,1287,420.20
$SM_GC,1.20,0.00,0.00,68.57,0.000,0.000,0.534,474,1753,1287,-11.62,-0.48,420.20
$IRIDIUM_FIX,2246.36,-15743.68,260100,131334
$TT8_MAMPS,0.026078
$HUMID,55.39
$INTERNAL_PRESSURE,9.2777
$TCM_TEMP,20.20
$XPDR_PINGS,158
$24V_AH,23.3,76.375
$10V_AH,9.8,71.842
$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,28.225,167.200,410.600,68.575,0.000,27.938,34.889,273.652,39.500,0.000,15.730,1104.510,6810.121,558.619,2017.488,675.533,33.369,1357.728,0.000,2015.887,0.000,0.534,0.000
$DEVICE_MAMPS,170.274,111.982,924.235,533.832,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,358.858,298.265,411.170,772.399,1168.374,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,41547,531
$CAP_FILE_SIZE,124850,0
$CFSIZE,260165632,150126592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011110,192622,2253.539,-15742.557,11,2.2,30,10.1