version: 66.06
glider: 146
mission: 5
dive: 554
start: 11 2 110 5 3 56
data:
$ID,146
$MISSION,5
$DIVE,554
$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,400
$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,-261038
$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,16
$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
$GPS1,045306,2254.160,-15742.842,40,1.6,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-69.9
$GPS2,050302,2254.333,-15742.833,11,1.9,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.015,-0.234
$KALMAN_X,-261641.2,-122.4,-62.5,309628.7,68.0
$KALMAN_Y,-519397.8,431.3,663.6,654882.1,850.1
$MHEAD_RNG_PITCHd_Wd,166.3,9978,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,104,0.00,0.00,-83.32,0.000,6,0.000,0.000,474,1763,3479,0,0,0,0,0,0
$GC,107,-1.38,-116.8,4.6,-9.7,11,125,12.00,2.65,0.00,0.000,4,0.164,0.049,2689,182,3481,0,0,0,0,0,0
$GC,156,-1.01,-116.8,20.5,-25.7,17,164,0.38,2.47,0.00,0.000,6,0.088,0.017,2773,1766,3482,0,0,0,0,0,0
$GC,443,-1.01,-116.8,52.2,-11.0,48,447,0.00,2.47,0.00,0.000,4,0.000,0.025,2773,3343,3483,0,0,0,0,0,0
$GC,454,-1.01,-116.8,54.2,-11.3,48,463,0.00,2.58,0.00,0.000,6,0.000,0.027,2773,1757,3482,0,0,0,0,0,0
$GC,722,-1.10,-116.8,78.6,-8.1,73,726,0.00,2.62,0.00,0.000,4,0.000,0.062,2773,196,3484,0,0,0,0,0,0
$GC,757,-1.21,-116.8,82.1,-8.6,75,763,0.15,2.40,0.00,0.000,6,0.062,0.015,2724,1769,3483,0,0,0,0,0,0
$GC,1022,-1.21,-116.8,103.6,-8.0,100,1026,0.00,2.42,0.00,0.000,4,0.000,0.030,2724,3324,3484,0,0,0,0,0,0
$GC,1043,-1.25,-116.8,105.3,-8.0,101,1047,0.00,2.55,0.00,0.000,6,0.000,0.035,2724,1729,3484,0,0,0,0,0,0
$GC,1311,-1.25,-116.8,128.6,-9.3,125,1316,0.00,0.00,0.00,0.000,6,0.000,0.000,2724,1727,3485,0,0,0,0,0,0
$GC,1574,-1.29,-116.8,154.6,-9.3,150,1579,0.00,2.50,0.00,0.000,4,0.000,0.031,2724,3325,3486,0,0,0,0,0,0
$GC,1610,-1.37,-116.8,157.6,-8.5,152,1616,0.00,2.55,0.00,0.000,6,0.000,0.031,2724,1732,3486,0,0,0,0,0,0
$GC,1874,-1.42,-116.8,178.2,-8.3,177,1879,0.15,2.50,0.00,0.000,4,0.135,0.025,2674,3326,3486,0,0,0,0,0,0
$GC,1966,-1.42,-116.8,188.1,-11.4,184,1970,0.00,2.53,0.00,0.000,6,0.000,0.030,2674,1751,3486,0,0,0,0,0,0
$GC,2230,-1.37,-116.8,219.5,-11.7,197,2232,0.12,0.00,0.00,0.000,6,0.244,0.000,2700,1751,3486,0,0,0,0,0,0
$GC,2474,-1.37,-116.8,243.0,-9.5,203,2475,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1751,3486,0,0,0,0,0,0
$GC,2719,-1.37,-116.8,264.2,-8.8,209,2720,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1751,3485,0,0,0,0,0,0
$GC,2961,-1.37,-116.8,285.1,-8.7,215,2965,0.00,2.53,0.00,0.000,4,0.000,0.033,2700,3328,3485,0,0,0,0,0,0
$GC,3005,-1.45,-116.8,289.0,-8.4,216,3010,0.00,2.53,0.00,0.000,6,0.000,0.033,2700,1776,3484,0,0,0,0,0,0
$GC,3285,-1.45,-116.8,311.4,-8.1,223,3290,0.00,2.80,0.00,0.000,4,0.000,0.083,2700,191,3484,0,0,0,0,0,0
$GC,3329,-1.52,-116.8,316.0,-10.3,224,3334,0.15,2.40,0.00,0.000,6,0.065,0.021,2654,1735,3483,0,0,0,0,0,0
$GC,3607,-1.47,-116.8,346.0,-11.2,231,3613,0.12,2.65,0.00,0.000,4,0.116,0.044,2679,3357,3482,0,0,0,0,0,0
$GC,3643,-1.53,-116.8,349.5,-9.6,231,3650,0.00,2.60,0.00,0.000,6,0.000,0.045,2679,1779,3482,0,0,0,0,0,0
$GC,3893,-1.53,-116.8,373.5,-9.4,238,3897,0.00,2.85,0.00,0.000,4,0.000,0.091,2679,185,3481,0,0,0,0,0,0
$GC,3903,-1.53,-116.8,374.5,-9.1,238,3907,0.00,2.47,0.00,0.000,6,0.000,0.027,2679,1773,3481,0,0,0,0,0,0
$GC,4171,-1.53,-116.8,397.5,-8.7,245,4175,0.00,2.60,0.00,0.000,4,0.000,0.049,2679,3346,3479,0,0,0,0,0,0
$GC,4198,-1.56,-116.8,400.1,-8.8,245,4203,0.00,2.62,0.00,0.000,6,0.000,0.049,2679,1780,3479,0,0,0,0,0,0
$GC,4449,-1.56,-116.8,422.4,-9.2,251,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1780,3477,0,0,0,0,0,0
$GC,4694,-1.56,-116.8,445.1,-9.4,257,4695,0.00,0.00,0.00,0.000,6,0.000,0.000,2679,1780,3477,0,0,0,0,0,0
$GC,4936,-1.56,-116.8,467.0,-8.9,263,4940,0.00,2.60,0.00,0.000,4,0.000,0.047,2679,3342,3475,0,0,0,0,0,0
$GC,4969,-1.62,-116.8,470.0,-9.2,263,4975,0.15,2.67,0.00,0.000,6,0.064,0.059,2632,1784,3475,0,0,0,0,0,0
$GC,5221,-1.55,-116.8,494.8,-10.0,270,5223,0.12,0.00,0.00,0.000,6,0.239,0.000,2660,1784,3473,0,0,0,0,0,0
$STATE,5297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5297,begin apogee
$GC,5303,-0.31,0.0,502.6,9.9,272,5405,1.23,0.00,98.88,0.925,6,0.097,0.000,2929,1784,3001,0,0,0,0,0,0
$STATE,5406,end apogee,CONTROL_FINISHED_OK
$STATE,5406,begin climb
$GC,5409,1.38,116.8,504.7,0.0,274,5516,1.58,0.00,103.50,0.902,6,0.047,0.000,3313,1784,2524,0,0,0,0,0,0
$GC,5746,1.30,166.3,489.9,7.2,283,5796,0.15,2.78,43.62,0.884,4,0.127,0.050,3284,3388,2321,0,0,0,0,0,0
$GC,5891,1.33,193.2,478.4,8.5,286,5921,0.00,2.75,24.73,0.858,6,0.000,0.061,3284,1820,2213,0,0,0,0,0,0
$GC,6203,1.31,207.5,450.4,9.2,294,6222,0.00,2.70,13.07,0.811,4,0.000,0.046,3284,3396,2154,0,0,0,0,0,0
$GC,6268,1.31,207.5,443.5,10.1,295,6272,0.00,2.67,0.00,0.000,6,0.000,0.055,3284,1835,2152,0,0,0,0,0,0
$GC,6531,1.32,218.4,418.6,9.4,302,6544,0.00,0.00,10.93,0.792,6,0.000,0.000,3284,1834,2110,0,0,0,0,0,0
$GC,6773,1.33,225.1,395.3,9.6,308,6782,0.00,0.00,7.03,0.717,6,0.000,0.000,3284,1834,2083,0,0,0,0,0,0
$GC,7017,1.34,231.4,371.8,9.7,314,7031,0.00,2.65,7.25,0.717,4,0.000,0.033,3284,3405,2056,0,0,0,0,0,0
$GC,7065,1.34,233.5,367.0,9.9,315,7069,0.00,2.67,0.00,0.000,6,0.000,0.049,3284,1833,2055,0,0,0,0,0,0
$GC,7342,1.36,251.8,341.8,9.0,322,7364,0.00,0.00,19.95,0.805,6,0.000,0.000,3284,1833,1974,0,0,0,0,0,0
$GC,7586,1.38,263.0,319.0,9.4,328,7604,0.00,2.92,11.30,0.750,4,0.000,0.082,3284,233,1927,0,0,0,0,0,0
$GC,7631,1.33,263.0,314.5,10.9,329,7635,0.00,2.58,0.00,0.000,6,0.000,0.027,3284,1838,1926,0,0,0,0,0,0
$GC,7914,1.34,271.4,287.1,9.6,336,7928,0.00,2.90,8.68,0.703,4,0.000,0.076,3284,236,1893,0,0,0,0,0,0
$GC,7964,1.30,271.4,281.7,11.8,337,7968,0.00,2.53,0.00,0.000,6,0.000,0.021,3284,1813,1891,0,0,0,0,0,0
$GC,8241,1.32,282.4,255.1,9.4,344,8260,0.00,2.83,11.30,0.711,4,0.000,0.075,3284,234,1848,0,0,0,0,0,0
$GC,8277,1.32,282.4,251.5,10.4,344,8283,0.00,2.53,0.00,0.000,6,0.000,0.023,3284,1809,1847,0,0,0,0,0,0
$GC,8529,1.38,303.5,229.2,8.8,351,8551,0.00,0.00,20.00,0.723,6,0.000,0.000,3283,1810,1763,0,0,0,0,0,0
$GC,8771,1.44,303.5,204.1,10.5,357,8776,0.12,2.80,0.00,0.000,4,0.084,0.074,3316,232,1758,0,0,0,0,0,0
$GC,8838,1.41,303.5,195.2,13.2,360,8847,0.00,2.50,0.00,0.000,6,0.000,0.021,3316,1789,1757,0,0,0,0,0,0
$GC,9106,1.41,303.5,165.8,10.7,385,9110,0.00,0.00,0.00,0.000,6,0.000,0.000,3316,1790,1757,0,0,0,0,0,0
$GC,9366,1.41,303.5,138.1,10.8,410,9371,0.00,2.60,0.00,0.000,4,0.000,0.034,3316,3401,1757,0,0,0,0,0,0
$GC,9414,1.47,303.5,133.8,10.7,413,9418,0.00,2.70,0.00,0.000,6,0.000,0.040,3316,1771,1755,0,0,0,0,0,0
$GC,9680,1.47,303.5,106.8,10.5,437,9685,0.00,2.65,0.00,0.000,4,0.000,0.070,3316,238,1755,0,0,0,0,0,0
$GC,9738,1.43,303.5,100.5,11.1,441,9742,0.00,2.40,0.00,0.000,6,0.000,0.020,3316,1778,1754,0,0,0,0,0,0
$GC,10005,1.49,320.5,74.0,9.1,465,10024,0.00,0.00,15.32,0.585,6,0.000,0.000,3316,1780,1694,0,0,0,0,0,0
$GC,10285,1.64,359.1,50.7,7.8,491,10325,0.17,0.00,34.12,0.581,6,0.154,0.000,3362,1779,1537,0,0,0,0,0,0
$GC,10603,1.64,359.1,17.5,11.9,527,10611,0.00,0.00,0.00,0.000,6,0.000,0.000,3362,1780,1532,0,0,0,0,0,0
$STATE,10721,end climb,SURFACE_DEPTH_REACHED
$STATE,10721,begin surface coast
$FINISH,0.5,1.011516
$STATE,10772,end surface coast,CONTROL_FINISHED_OK
$STATE,10773,begin surface
$SM_CCo,10794,33.92,0.533,0,0,1370,400.08
$SM_GC,1.23,0.00,0.00,33.92,0.000,0.000,0.533,476,1779,1370,-11.62,0.25,400.08
$IRIDIUM_FIX,2246.36,-15743.68,270100,010104
$TT8_MAMPS,0.026078
$HUMID,56.65
$INTERNAL_PRESSURE,9.26793
$TCM_TEMP,19.90
$XPDR_PINGS,135
$24V_AH,23.3,76.930
$10V_AH,9.9,72.339
$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,28.300,109.725,429.675,33.925,0.000,29.356,43.316,374.375,33.750,0.000,13.133,1091.347,7026.106,538.590,1987.728,780.447,33.371,1253.031,0.000,2010.286,0.000,0.533,0.000
$DEVICE_MAMPS,243.906,91.273,925.002,533.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,372.505,333.413,431.358,836.260,1264.038,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,44745,551
$CAP_FILE_SIZE,110781,0
$CFSIZE,260165632,149897216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021110,080536,2254.049,-15743.134,29,0.9,29,10.1