version: 66.06
glider: 146
mission: 5
dive: 551
start: 11 1 110 19 36 30
data:
$ID,146
$MISSION,5
$DIVE,551
$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,-260962.36
$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,33
$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
$GPS1,192622,2253.539,-15742.557,11,2.2,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.07
$_SM_ANGLEo,-67.5
$GPS2,193537,2253.697,-15742.548,31,1.3,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.060,-0.227
$KALMAN_X,-260558.9,-67.1,206.0,308709.2,-408.8
$KALMAN_Y,-527251.1,625.9,410.4,661622.2,529.3
$MHEAD_RNG_PITCHd_Wd,155.1,8749,-19.9,-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,17,-1.38,-116.3,0.0,0.0,0,105,0.00,0.00,-85.12,0.000,2,0.000,0.000,474,1753,3435,0,0,0,0,0,0
$GC,108,-1.39,-116.8,4.2,-8.6,11,126,12.05,2.62,-0.77,0.000,4,0.166,0.061,2689,193,3479,0,0,0,0,0,0
$GC,145,-0.49,-116.8,17.2,-34.3,15,154,0.90,2.45,0.00,0.000,6,0.094,0.017,2885,1777,3480,0,0,0,0,0,0
$GC,444,-0.76,-116.8,37.8,-6.3,52,449,0.22,2.45,0.00,0.000,4,0.046,0.026,2812,3326,3481,0,0,0,0,0,0
$GC,480,-0.95,-116.8,40.7,-8.5,54,485,0.00,2.47,0.00,0.000,6,0.000,0.028,2814,1781,3482,0,0,0,0,0,0
$GC,749,-1.10,-116.8,65.1,-7.4,78,758,0.22,0.00,0.00,0.000,6,0.047,0.000,2742,1780,3482,0,0,0,0,0,0
$GC,1017,-1.17,-116.8,90.2,-9.5,103,1022,0.00,0.00,0.00,0.000,6,0.000,0.000,2742,1780,3483,0,0,0,0,0,0
$GC,1280,-1.24,-116.8,112.7,-8.6,128,1284,0.00,2.42,0.00,0.000,4,0.000,0.026,2742,3327,3483,0,0,0,0,0,0
$GC,1340,-1.36,-116.8,117.8,-8.0,132,1350,0.12,2.50,0.00,0.000,6,0.032,0.032,2688,1772,3484,0,0,0,0,0,0
$GC,1607,-1.36,-116.8,142.3,-9.1,157,1611,0.00,0.00,0.00,0.000,6,0.000,0.000,2688,1772,3484,0,0,0,0,0,0
$GC,1870,-1.36,-116.8,166.2,-9.0,182,1874,0.00,2.47,0.00,0.000,4,0.000,0.028,2688,3328,3484,0,0,0,0,0,0
$GC,1903,-1.36,-116.8,169.1,-9.8,184,1907,0.00,2.45,0.00,0.000,6,0.000,0.034,2688,1775,3484,0,0,0,0,0,0
$GC,2170,-1.36,-116.8,193.4,-9.3,208,2174,0.00,2.70,0.00,0.000,4,0.000,0.063,2688,190,3485,0,0,0,0,0,0
$GC,2199,-1.36,-116.8,196.8,-10.2,210,2203,0.00,2.38,0.00,0.000,6,0.000,0.019,2688,1781,3484,0,0,0,0,0,0
$GC,2481,-1.36,-116.8,222.8,-9.2,219,2485,0.00,2.42,0.00,0.000,4,0.000,0.033,2688,3316,3485,0,0,0,0,0,0
$GC,2521,-1.41,-116.8,226.3,-8.4,220,2525,0.00,2.47,0.00,0.000,6,0.000,0.031,2688,1769,3485,0,0,0,0,0,0
$GC,2806,-1.41,-116.8,253.1,-9.7,227,2810,0.00,2.70,0.00,0.000,4,0.000,0.070,2688,192,3484,0,0,0,0,0,0
$GC,2827,-1.41,-116.8,255.4,-9.8,227,2831,0.00,2.40,0.00,0.000,6,0.000,0.018,2688,1758,3484,0,0,0,0,0,0
$GC,3082,-1.41,-116.8,279.9,-9.6,234,3086,0.00,2.53,0.00,0.000,4,0.000,0.033,2688,3336,3483,0,0,0,0,0,0
$GC,3138,-1.47,-116.8,285.3,-9.5,235,3143,0.00,2.53,0.00,0.000,6,0.000,0.035,2688,1777,3483,0,0,0,0,0,0
$GC,3405,-1.47,-116.8,308.8,-8.6,242,3410,0.00,2.50,0.00,0.000,4,0.000,0.030,2688,3340,3482,0,0,0,0,0,0
$GC,3441,-1.52,-116.8,311.9,-8.7,242,3446,0.00,2.50,0.00,0.000,6,0.000,0.034,2688,1801,3482,0,0,0,0,0,0
$GC,3691,-1.52,-116.8,333.8,-9.0,249,3695,0.00,2.47,0.00,0.000,4,0.000,0.039,2688,3335,3480,0,0,0,0,0,0
$GC,3719,-1.58,-116.8,336.5,-8.8,249,3724,0.15,2.47,0.00,0.000,6,0.063,0.041,2638,1817,3481,0,0,0,0,0,0
$GC,3976,-1.52,-116.8,362.6,-10.1,256,3978,0.15,0.00,0.00,0.000,6,0.111,0.000,2669,1817,3479,0,0,0,0,0,0
$GC,4218,-1.52,-116.8,384.1,-8.6,262,4222,0.00,2.45,0.00,0.000,4,0.000,0.036,2669,3333,3478,0,0,0,0,0,0
$GC,4234,-1.52,-116.8,385.4,-8.5,262,4238,0.00,2.47,0.00,0.000,6,0.000,0.049,2670,1822,3478,0,0,0,0,0,0
$GC,4496,-1.52,-116.8,408.4,-8.9,269,4501,0.00,2.97,0.00,0.000,4,0.000,0.096,2670,190,3477,0,0,0,0,0,0
$GC,4529,-1.52,-116.8,411.7,-10.2,269,4535,0.00,2.53,0.00,0.000,6,0.000,0.033,2670,1789,3476,0,0,0,0,0,0
$GC,4779,-1.52,-116.8,434.3,-9.1,276,4783,0.00,2.58,0.00,0.000,4,0.000,0.055,2670,3354,3474,0,0,0,0,0,0
$GC,4802,-1.52,-116.8,436.4,-9.0,276,4806,0.00,2.55,0.00,0.000,6,0.000,0.053,2670,1832,3474,0,0,0,0,0,0
$GC,5057,-1.52,-116.8,459.1,-8.9,283,5058,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1832,3473,0,0,0,0,0,0
$GC,5301,-1.52,-116.8,480.8,-9.0,289,5302,0.00,0.00,0.00,0.000,6,0.000,0.000,2670,1832,3472,0,0,0,0,0,0
$STATE,5542,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5542,begin apogee
$GC,5548,-0.31,0.0,503.6,9.3,295,5650,1.17,0.00,98.55,0.927,6,0.085,0.000,2930,1832,3001,0,0,0,0,0,0
$STATE,5651,end apogee,CONTROL_FINISHED_OK
$STATE,5651,begin climb
$GC,5655,1.39,116.8,506.2,0.0,297,5768,1.55,3.12,102.88,0.907,4,0.044,0.110,3310,235,2522,0,0,0,0,0,0
$GC,5798,1.20,176.4,505.7,6.6,300,5860,0.22,2.60,52.62,0.887,6,0.120,0.036,3266,1822,2282,0,0,0,0,0,0
$GC,6103,1.25,213.6,481.9,7.9,308,6145,0.00,2.80,33.35,0.871,4,0.000,0.061,3266,3408,2129,0,0,0,0,0,0
$GC,6163,1.29,245.9,477.1,8.2,309,6199,0.00,2.75,30.20,0.861,6,0.000,0.059,3266,1826,1998,0,0,0,0,0,0
$GC,6473,1.30,249.8,447.5,9.8,317,6474,0.00,0.00,0.00,0.000,6,0.000,0.000,3266,1826,1990,0,0,0,0,0,0
$GC,6715,1.30,249.8,422.4,10.4,323,6720,0.00,2.97,0.00,0.000,4,0.000,0.107,3266,233,1988,0,0,0,0,0,0
$GC,6738,1.30,249.8,419.8,11.5,323,6742,0.00,2.58,0.00,0.000,6,0.000,0.028,3265,1831,1986,0,0,0,0,0,0
$GC,6993,1.30,249.8,392.8,10.6,330,6997,0.00,2.85,0.00,0.000,4,0.000,0.079,3265,228,1985,0,0,0,0,0,0
$GC,7025,1.24,249.8,388.9,12.0,330,7031,0.00,2.55,0.00,0.000,6,0.000,0.029,3266,1814,1984,0,0,0,0,0,0
$GC,7277,1.24,250.4,363.4,10.0,337,7282,0.00,2.83,0.00,0.000,4,0.000,0.082,3265,226,1984,0,0,0,0,0,0
$GC,7298,1.24,250.5,360.9,10.0,337,7303,0.00,2.53,0.00,0.000,6,0.000,0.025,3266,1803,1983,0,0,0,0,0,0
$GC,7554,1.27,271.4,337.7,8.8,344,7583,0.00,2.72,21.98,0.806,4,0.000,0.044,3265,3403,1894,0,0,0,0,0,0
$GC,7636,1.39,293.0,330.7,8.8,345,7663,0.15,2.70,20.85,0.792,6,0.082,0.044,3305,1805,1806,0,0,0,0,0,0
$GC,7926,1.39,293.0,298.5,11.5,353,7927,0.00,0.00,0.00,0.000,6,0.000,0.000,3305,1805,1801,0,0,0,0,0,0
$GC,8168,1.39,293.0,271.3,11.1,359,8173,0.00,2.78,0.00,0.000,4,0.000,0.084,3305,236,1799,0,0,0,0,0,0
$GC,8190,1.34,293.0,268.5,12.9,359,8194,0.00,2.55,0.00,0.000,6,0.000,0.023,3305,1836,1798,0,0,0,0,0,0
$GC,8444,1.34,293.0,239.0,11.5,366,8449,0.00,2.83,0.00,0.000,4,0.000,0.074,3305,236,1798,0,0,0,0,0,0
$GC,8479,1.28,293.0,234.7,13.9,366,8485,0.12,2.50,0.00,0.000,6,0.126,0.024,3281,1814,1797,0,0,0,0,0,0
$GC,8729,1.34,293.0,207.0,10.8,373,8730,0.00,0.00,0.00,0.000,6,0.000,0.000,3281,1815,1797,0,0,0,0,0,0
$GC,8985,1.44,322.4,183.1,8.3,391,9020,0.12,2.85,26.10,0.696,4,0.080,0.067,3315,234,1685,0,0,0,0,0,0
$GC,9097,1.40,322.4,171.7,10.7,400,9102,0.00,2.47,0.00,0.000,6,0.000,0.022,3315,1796,1683,0,0,0,0,0,0
$GC,9360,1.40,322.4,144.3,10.9,424,9364,0.00,2.58,0.00,0.000,4,0.000,0.037,3315,3397,1682,0,0,0,0,0,0
$GC,9429,1.47,322.4,136.8,11.6,429,9434,0.00,2.65,0.00,0.000,6,0.000,0.039,3315,1793,1681,0,0,0,0,0,0
$GC,9695,1.47,322.4,106.3,11.0,453,9699,0.00,2.70,0.00,0.000,4,0.000,0.071,3316,232,1680,0,0,0,0,0,0
$GC,9728,1.47,322.4,102.4,12.4,455,9733,0.00,2.47,0.00,0.000,6,0.000,0.021,3315,1815,1679,0,0,0,0,0,0
$GC,9995,1.54,347.4,77.9,8.6,479,10023,0.00,2.55,22.52,0.597,4,0.000,0.035,3315,3386,1583,0,0,0,0,0,0
$GC,10043,1.67,386.7,74.2,7.8,482,10085,0.20,2.62,35.55,0.596,6,0.142,0.035,3367,1795,1424,0,0,0,0,0,0
$GC,10341,1.67,386.7,40.8,11.7,509,10345,0.00,2.67,0.00,0.000,4,0.000,0.062,3367,240,1419,0,0,0,0,0,0
$GC,10376,1.63,386.7,36.3,14.3,511,10380,0.00,2.42,0.00,0.000,6,0.000,0.020,3367,1792,1417,0,0,0,0,0,0
$STATE,10638,end climb,SURFACE_DEPTH_REACHED
$STATE,10638,begin surface coast
$FINISH,0.3,1.012063
$STATE,10681,end surface coast,CONTROL_FINISHED_OK
$STATE,10681,begin surface
$SM_CCo,10704,27.10,0.528,0,0,1288,420.20
$SM_GC,0.95,0.00,0.00,27.10,0.000,0.000,0.528,474,1795,1288,-11.62,0.71,420.20
$IRIDIUM_FIX,2244.02,-15743.68,260100,161614
$TT8_MAMPS,0.025311
$HUMID,57.95
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,20.20
$XPDR_PINGS,145
$24V_AH,23.3,76.513
$10V_AH,9.9,71.969
$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,29.225,135.125,444.600,27.100,0.000,23.685,31.363,333.599,36.250,0.000,32.795,1094.802,6882.781,510.823,2076.677,718.544,33.369,1278.291,0.000,2063.702,0.000,0.534,0.000
$DEVICE_MAMPS,165.672,110.448,927.303,527.696,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,373.251,331.905,432.023,848.230,1278.230,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,44635,552
$CAP_FILE_SIZE,116353,0
$CFSIZE,260165632,150077440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,011110,223636,2253.521,-15742.516,34,1.3,34,10.1