version: 66.06
glider: 146
mission: 5
dive: 558
start: 11 2 110 17 43 8
data:
$ID,146
$MISSION,5
$DIVE,558
$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,-261117.58
$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,22
$R_STBD_OVSHOOT,53
$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
$GPS1,172936,2254.396,-15743.013,36,1.1,41,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-66.9
$GPS2,174214,2254.602,-15742.967,11,1.6,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.032,-0.233
$KALMAN_X,-263481.9,42.0,55.8,310956.1,-197.3
$KALMAN_Y,-509328.8,123.0,432.4,645854.4,1553.1
$MHEAD_RNG_PITCHd_Wd,162.0,10505,-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,16,-1.38,-116.7,0.0,0.0,0,97,0.00,0.00,-78.85,0.000,2,0.000,0.000,475,1765,3341,0,0,0,0,0,0
$GC,102,-1.38,-116.8,3.6,-6.9,10,119,11.88,0.00,-2.55,0.000,6,0.160,0.000,2691,1765,3480,0,0,0,0,0,0
$GC,401,-1.24,-116.8,54.5,-15.4,45,406,0.17,2.50,0.00,0.000,4,0.127,0.025,2725,3345,3482,0,0,0,0,0,0
$GC,436,-1.19,-116.8,59.3,-13.6,47,441,0.00,2.55,0.00,0.000,6,0.000,0.028,2725,1764,3483,0,0,0,0,0,0
$GC,703,-1.19,-116.8,85.6,-9.0,71,707,0.00,2.67,0.00,0.000,4,0.000,0.061,2725,189,3483,0,0,0,0,0,0
$GC,715,-1.19,-116.8,87.2,-9.2,71,720,0.00,2.42,0.00,0.000,6,0.000,0.015,2725,1808,3483,0,0,0,0,0,0
$GC,978,-1.19,-116.8,112.8,-9.3,96,982,0.00,2.35,0.00,0.000,4,0.000,0.024,2725,3319,3484,0,0,0,0,0,0
$GC,988,-1.19,-116.8,114.1,-9.1,96,997,0.00,2.50,0.00,0.000,6,0.000,0.032,2725,1768,3484,0,0,0,0,0,0
$GC,1257,-1.23,-116.8,136.0,-8.5,121,1261,0.00,2.45,0.00,0.000,4,0.000,0.029,2725,3320,3485,0,0,0,0,0,0
$GC,1291,-1.30,-116.8,139.3,-8.8,123,1296,0.00,2.47,0.00,0.000,6,0.000,0.034,2725,1776,3485,0,0,0,0,0,0
$GC,1556,-1.35,-116.8,162.7,-8.9,147,1565,0.00,0.00,0.00,0.000,6,0.000,0.000,2725,1776,3485,0,0,0,0,0,0
$GC,1824,-1.40,-116.8,183.4,-7.5,172,1829,0.12,2.70,0.00,0.000,4,0.070,0.064,2678,198,3485,0,0,0,0,0,0
$GC,1869,-1.33,-116.8,187.9,-10.6,175,1874,0.15,2.38,0.00,0.000,6,0.104,0.022,2710,1765,3485,0,0,0,0,0,0
$GC,2137,-1.33,-116.8,210.5,-8.1,191,2141,0.00,2.45,0.00,0.000,4,0.000,0.032,2710,3318,3485,0,0,0,0,0,0
$GC,2184,-1.43,-116.8,214.7,-8.6,192,2188,0.00,2.45,0.00,0.000,6,0.000,0.029,2710,1783,3485,0,0,0,0,0,0
$GC,2462,-1.47,-116.8,237.9,-8.4,199,2467,0.12,2.72,0.00,0.000,4,0.074,0.070,2668,197,3485,0,0,0,0,0,0
$GC,2473,-1.47,-116.8,238.8,-8.3,199,2477,0.00,2.42,0.00,0.000,6,0.000,0.019,2669,1799,3485,0,0,0,0,0,0
$GC,2741,-1.47,-116.8,264.7,-9.7,206,2745,0.00,2.40,0.00,0.000,4,0.000,0.031,2669,3324,3484,0,0,0,0,0,0
$GC,2762,-1.47,-116.8,267.2,-10.5,206,2766,0.00,2.47,0.00,0.000,6,0.000,0.030,2669,1791,3484,0,0,0,0,0,0
$GC,3017,-1.47,-116.8,292.6,-10.1,213,3021,0.00,2.45,0.00,0.000,4,0.000,0.035,2669,3325,3483,0,0,0,0,0,0
$GC,3068,-1.47,-116.8,297.7,-9.8,214,3072,0.00,2.45,0.00,0.000,6,0.000,0.032,2669,1818,3484,0,0,0,0,0,0
$GC,3340,-1.47,-116.8,324.8,-10.1,221,3344,0.00,2.85,0.00,0.000,4,0.000,0.080,2669,196,3482,0,0,0,0,0,0
$GC,3355,-1.47,-116.8,326.6,-10.3,221,3359,0.00,2.50,0.00,0.000,6,0.000,0.027,2669,1800,3482,0,0,0,0,0,0
$GC,3618,-1.47,-116.8,351.0,-9.2,228,3619,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,1801,3482,0,0,0,0,0,0
$GC,3860,-1.47,-116.8,373.5,-9.3,234,3865,0.00,2.55,0.00,0.000,4,0.000,0.049,2668,3352,3481,0,0,0,0,0,0
$GC,3882,-1.47,-116.8,375.7,-9.5,234,3886,0.00,2.53,0.00,0.000,6,0.000,0.044,2668,1838,3481,0,0,0,0,0,0
$GC,4139,-1.47,-116.8,400.5,-9.8,241,4140,0.00,0.00,0.00,0.000,6,0.000,0.000,2668,1838,3479,0,0,0,0,0,0
$GC,4381,-1.47,-116.8,424.4,-9.8,247,4385,0.00,3.05,0.00,0.000,4,0.000,0.101,2669,188,3477,0,0,0,0,0,0
$GC,4409,-1.47,-116.8,427.6,-11.5,247,4414,0.00,2.60,0.00,0.000,6,0.000,0.032,2669,1814,3477,0,0,0,0,0,0
$GC,4659,-1.47,-116.8,453.8,-10.5,253,4663,0.00,2.58,0.00,0.000,4,0.000,0.058,2668,3355,3476,0,0,0,0,0,0
$GC,4676,-1.47,-116.8,455.5,-10.4,253,4680,0.00,2.58,0.00,0.000,6,0.000,0.058,2669,1834,3476,0,0,0,0,0,0
$GC,4937,-1.47,-116.8,481.5,-9.7,260,4942,0.00,3.08,0.00,0.000,4,0.000,0.111,2669,192,3474,0,0,0,0,0,0
$GC,4958,-1.47,-116.8,483.7,-10.0,260,4963,0.00,2.67,0.00,0.000,6,0.000,0.038,2669,1822,3474,0,0,0,0,0,0
$STATE,5170,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5171,begin apogee
$GC,5178,-0.31,0.0,502.9,8.8,266,5281,1.20,0.00,99.20,0.924,6,0.091,0.000,2930,1823,3001,0,0,0,0,0,0
$STATE,5282,end apogee,CONTROL_FINISHED_OK
$STATE,5282,begin climb
$GC,5284,1.38,116.8,504.9,0.0,268,5399,1.52,2.97,102.93,0.901,4,0.042,0.095,3305,243,2523,0,0,0,0,0,0
$GC,5416,1.27,183.4,504.1,6.2,271,5482,0.15,2.62,59.65,0.886,6,0.126,0.038,3277,1819,2253,0,0,0,0,0,0
$GC,5729,1.25,206.2,477.4,8.7,278,5754,0.00,2.75,20.35,0.844,4,0.000,0.059,3277,3407,2159,0,0,0,0,0,0
$GC,5782,1.27,221.4,472.4,9.2,279,5803,0.00,2.70,15.15,0.818,6,0.000,0.060,3277,1840,2098,0,0,0,0,0,0
$GC,6047,1.28,230.9,447.6,9.5,285,6062,0.00,3.10,9.27,0.765,4,0.000,0.105,3277,227,2059,0,0,0,0,0,0
$GC,6075,1.23,230.9,444.8,10.6,285,6080,0.00,2.60,0.00,0.000,6,0.000,0.031,3277,1830,2057,0,0,0,0,0,0
$GC,6325,1.23,230.9,417.8,10.8,291,6326,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1830,2056,0,0,0,0,0,0
$GC,6568,1.23,230.9,391.2,10.9,297,6570,0.00,0.00,0.00,0.000,6,0.000,0.000,3277,1830,2054,0,0,0,0,0,0
$GC,6814,1.25,245.5,367.9,9.2,303,6830,0.00,0.00,13.90,0.796,6,0.000,0.000,3277,1830,2000,0,0,0,0,0,0
$GC,7056,1.27,257.1,345.1,9.4,309,7070,0.00,0.00,12.25,0.772,6,0.000,0.000,3277,1831,1952,0,0,0,0,0,0
$GC,7302,1.27,263.2,321.8,9.7,315,7310,0.00,0.00,6.60,0.676,6,0.000,0.000,3277,1831,1927,0,0,0,0,0,0
$GC,7593,1.33,273.4,294.3,9.4,322,7609,0.00,2.88,10.88,0.735,4,0.000,0.073,3277,230,1885,0,0,0,0,0,0
$GC,7648,1.33,273.4,288.3,10.9,323,7652,0.00,2.58,0.00,0.000,6,0.000,0.026,3277,1840,1883,0,0,0,0,0,0
$GC,7915,1.39,283.9,264.0,9.4,330,7932,0.10,2.58,10.82,0.716,4,0.222,0.032,3303,3402,1842,0,0,0,0,0,0
$GC,7961,1.44,283.9,259.2,10.9,331,7966,0.00,2.67,0.00,0.000,6,0.000,0.041,3303,1811,1840,0,0,0,0,0,0
$GC,8239,1.44,283.9,229.9,10.6,338,8240,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1811,1838,0,0,0,0,0,0
$GC,8482,1.44,283.9,203.7,10.7,344,8483,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1811,1838,0,0,0,0,0,0
$GC,8737,1.44,284.4,177.5,10.0,365,8738,0.00,0.00,0.00,0.000,6,0.000,0.000,3303,1811,1837,0,0,0,0,0,0
$GC,8991,1.50,297.4,153.1,9.3,389,9016,0.10,2.83,12.55,0.647,4,0.097,0.071,3331,239,1787,0,0,0,0,0,0
$GC,9084,1.42,297.4,142.5,11.8,396,9094,0.08,2.55,0.00,0.000,6,0.105,0.026,3313,1830,1786,0,0,0,0,0,0
$GC,9352,1.42,297.4,115.3,10.3,421,9356,0.00,2.53,0.00,0.000,4,0.000,0.030,3313,3401,1786,0,0,0,0,0,0
$GC,9369,1.47,297.4,112.8,10.3,422,9373,0.00,2.58,0.00,0.000,6,0.000,0.038,3313,1834,1785,0,0,0,0,0,0
$GC,9632,1.55,334.9,89.0,7.9,446,9673,0.10,2.85,34.08,0.620,4,0.097,0.064,3341,241,1634,0,0,0,0,0,0
$GC,9685,1.55,334.9,83.2,11.8,450,9695,0.00,2.55,0.00,0.000,6,0.000,0.022,3341,1829,1633,0,0,0,0,0,0
$GC,9952,1.61,342.3,57.9,9.6,475,9966,0.00,2.53,7.12,0.504,4,0.000,0.027,3341,3400,1605,0,0,0,0,0,0
$GC,9986,1.70,343.0,54.1,10.0,477,9995,0.08,2.62,0.00,0.000,6,0.058,0.041,3369,1828,1604,0,0,0,0,0,0
$GC,10263,1.70,343.0,24.9,11.3,505,10272,0.00,2.75,0.00,0.000,4,0.000,0.061,3369,241,1603,0,0,0,0,0,0
$GC,10311,1.61,343.0,19.3,12.6,511,10321,0.00,2.50,0.00,0.000,6,0.000,0.020,3369,1828,1602,0,0,0,0,0,0
$STATE,10451,end climb,SURFACE_DEPTH_REACHED
$STATE,10451,begin surface coast
$FINISH,0.4,0.998064
$STATE,10502,end surface coast,CONTROL_FINISHED_OK
$STATE,10502,begin surface
$SM_CCo,10524,49.30,0.535,0,0,1370,400.08
$SM_GC,1.04,0.00,0.00,49.30,0.000,0.000,0.535,473,1749,1370,-11.62,-0.59,400.08
$IRIDIUM_FIX,2246.36,-15743.68,270100,171743
$TT8_MAMPS,0.025311
$HUMID,56.18
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.60
$XPDR_PINGS,140
$24V_AH,23.3,77.481
$10V_AH,9.8,72.828
$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,27.625,125.625,414.750,49.300,0.000,53.380,67.160,418.526,35.000,0.000,12.600,1072.461,6914.042,515.369,1955.021,875.169,33.369,1246.719,0.000,1965.809,0.000,0.534,0.000
$DEVICE_MAMPS,221.663,111.215,924.235,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,364.404,310.911,421.420,794.457,1202.097,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355440
$DATA_FILE_SIZE,41435,538
$CAP_FILE_SIZE,115847,0
$CFSIZE,260165632,149651456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,021110,204037,2254.214,-15742.865,33,0.9,33,10.1