version: 66.06
glider: 146
mission: 5
dive: 561
start: 11 3 110 3 2 44
data:
$ID,146
$MISSION,5
$DIVE,561
$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,-261164.3
$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,45
$R_STBD_OVSHOOT,50
$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
$GPS1,025225,2254.260,-15742.949,40,1.1,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-69.1
$GPS2,030150,2254.379,-15742.918,12,1.4,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.023,-0.234
$KALMAN_X,-264549.6,-50.2,-128.8,312380.9,-144.3
$KALMAN_Y,-502926.5,415.7,114.7,639060.7,1821.8
$MHEAD_RNG_PITCHd_Wd,164.4,10085,-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,18,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-77.47,0.000,2,0.000,0.000,477,1747,3291,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.3,-5.4,10,126,12.23,2.65,-3.67,0.000,4,0.172,0.068,2689,210,3482,0,0,0,0,0,0
$GC,226,-1.29,-116.8,28.1,-14.8,27,236,0.10,2.45,0.00,0.000,6,0.105,0.018,2713,1782,3483,0,0,0,0,0,0
$GC,493,-1.20,-116.8,66.6,-14.2,52,497,0.10,2.45,0.00,0.000,4,0.136,0.025,2734,3336,3484,0,0,0,0,0,0
$GC,515,-1.14,-116.8,69.9,-13.6,53,519,0.00,2.50,0.00,0.000,6,0.000,0.028,2734,1770,3484,0,0,0,0,0,0
$GC,784,-1.18,-116.8,96.2,-10.4,77,788,0.00,2.67,0.00,0.000,4,0.000,0.058,2734,192,3485,0,0,0,0,0,0
$GC,806,-1.18,-116.8,99.3,-10.4,78,816,0.00,2.40,0.00,0.000,6,0.000,0.019,2734,1772,3484,0,0,0,0,0,0
$GC,1076,-1.23,-116.8,124.0,-9.4,103,1080,0.00,2.40,0.00,0.000,4,0.000,0.029,2734,3313,3485,0,0,0,0,0,0
$GC,1132,-1.32,-116.8,129.5,-8.9,107,1136,0.00,2.42,0.00,0.000,6,0.000,0.026,2734,1775,3486,0,0,0,0,0,0
$GC,1397,-1.39,-116.8,153.6,-9.3,131,1402,0.15,2.67,0.00,0.000,4,0.064,0.061,2685,200,3486,0,0,0,0,0,0
$GC,1416,-1.39,-116.8,155.8,-9.7,132,1420,0.00,2.38,0.00,0.000,6,0.000,0.018,2685,1793,3486,0,0,0,0,0,0
$GC,1680,-1.39,-116.8,184.7,-10.4,156,1685,0.00,2.38,0.00,0.000,4,0.000,0.027,2685,3317,3486,0,0,0,0,0,0
$GC,1710,-1.39,-116.8,187.9,-9.5,158,1714,0.00,2.45,0.00,0.000,6,0.000,0.033,2685,1782,3486,0,0,0,0,0,0
$GC,1966,-1.39,-116.8,211.9,-9.4,173,1970,0.00,2.40,0.00,0.000,4,0.000,0.025,2685,3310,3487,0,0,0,0,0,0
$GC,2022,-1.39,-116.8,216.7,-8.3,174,2026,0.00,2.40,0.00,0.000,6,0.000,0.028,2685,1809,3487,0,0,0,0,0,0
$GC,2295,-1.39,-116.8,241.2,-9.2,181,2300,0.00,2.80,0.00,0.000,4,0.000,0.071,2685,192,3487,0,0,0,0,0,0
$GC,2322,-1.39,-116.8,244.1,-10.8,181,2326,0.00,2.45,0.00,0.000,6,0.000,0.023,2685,1782,3487,0,0,0,0,0,0
$GC,2574,-1.39,-116.8,267.7,-9.3,187,2575,0.00,0.00,0.00,0.000,6,0.000,0.000,2686,1782,3487,0,0,0,0,0,0
$GC,2816,-1.39,-116.8,291.7,-10.0,193,2820,0.00,2.75,0.00,0.000,4,0.000,0.074,2685,199,3486,0,0,0,0,0,0
$GC,2855,-1.39,-116.8,296.0,-11.7,194,2859,0.00,2.45,0.00,0.000,6,0.000,0.025,2685,1773,3486,0,0,0,0,0,0
$GC,3140,-1.39,-116.8,322.4,-8.7,201,3144,0.00,2.58,0.00,0.000,4,0.000,0.044,2685,3350,3484,0,0,0,0,0,0
$GC,3190,-1.45,-116.8,326.9,-7.8,202,3194,0.00,2.55,0.00,0.000,6,0.000,0.045,2685,1804,3485,0,0,0,0,0,0
$GC,3462,-1.45,-116.8,349.0,-8.4,209,3463,0.00,0.00,0.00,0.000,6,0.000,0.000,2685,1804,3483,0,0,0,0,0,0
$GC,3707,-1.45,-116.8,370.1,-8.9,215,3712,0.00,2.92,0.00,0.000,4,0.000,0.097,2685,183,3482,0,0,0,0,0,0
$GC,3733,-1.45,-116.8,373.0,-10.1,215,3738,0.00,2.53,0.00,0.000,6,0.000,0.028,2685,1796,3482,0,0,0,0,0,0
$GC,3984,-1.45,-116.8,397.5,-10.0,221,3988,0.00,2.55,0.00,0.000,4,0.000,0.044,2685,3352,3481,0,0,0,0,0,0
$GC,4007,-1.49,-116.8,399.9,-10.4,221,4012,0.00,2.62,0.00,0.000,6,0.000,0.050,2685,1795,3481,0,0,0,0,0,0
$GC,4262,-1.49,-116.8,425.6,-10.0,228,4267,0.00,2.95,0.00,0.000,4,0.000,0.099,2685,183,3479,0,0,0,0,0,0
$GC,4278,-1.49,-116.8,427.3,-9.7,228,4282,0.00,2.60,0.00,0.000,6,0.000,0.031,2685,1806,3478,0,0,0,0,0,0
$GC,4539,-1.53,-116.8,450.6,-8.8,235,4544,0.00,2.60,0.00,0.000,4,0.000,0.060,2685,3359,3477,0,0,0,0,0,0
$GC,4567,-1.59,-116.8,453.1,-8.5,235,4572,0.15,2.62,0.00,0.000,6,0.065,0.060,2638,1810,3477,0,0,0,0,0,0
$GC,4818,-1.54,-116.8,477.7,-9.8,241,4823,0.12,3.05,0.00,0.000,4,0.121,0.107,2664,181,3475,0,0,0,0,0,0
$GC,4859,-1.54,-116.8,481.8,-10.1,242,4864,0.00,2.65,0.00,0.000,6,0.000,0.038,2664,1803,3475,0,0,0,0,0,0
$STATE,5059,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5059,begin apogee
$GC,5064,-0.31,0.0,500.7,9.3,247,5167,1.23,0.00,99.07,0.920,6,0.087,0.000,2933,1803,3001,0,0,0,0,0,0
$STATE,5168,end apogee,CONTROL_FINISHED_OK
$STATE,5168,begin climb
$GC,5172,1.38,116.8,503.4,0.0,249,5287,1.55,2.83,102.68,0.900,4,0.048,0.062,3309,3407,2522,0,0,0,0,0,0
$GC,5305,1.35,199.4,503.5,5.3,253,5386,0.00,2.75,73.45,0.887,6,0.000,0.061,3309,1818,2187,0,0,0,0,0,0
$GC,5630,1.25,199.4,470.2,10.7,261,5636,0.17,2.65,0.00,0.000,4,0.143,0.041,3275,3407,2178,0,0,0,0,0,0
$GC,5663,1.26,204.1,466.8,9.8,261,5669,0.00,2.75,0.00,0.000,6,0.000,0.063,3275,1826,2176,0,0,0,0,0,0
$GC,5915,1.29,225.0,444.5,8.8,268,5940,0.00,0.00,22.62,0.847,6,0.000,0.000,3275,1825,2083,0,0,0,0,0,0
$GC,6157,1.30,238.0,422.1,9.3,274,6176,0.00,2.70,12.65,0.802,4,0.000,0.037,3275,3411,2030,0,0,0,0,0,0
$GC,6188,1.31,247.3,419.0,9.5,274,6204,0.00,2.72,10.38,0.768,6,0.000,0.055,3275,1833,1992,0,0,0,0,0,0
$GC,6490,1.31,247.3,389.1,10.1,282,6495,0.00,2.97,0.00,0.000,4,0.000,0.098,3275,229,1987,0,0,0,0,0,0
$GC,6534,1.26,247.3,383.9,11.6,283,6539,0.00,2.60,0.00,0.000,6,0.000,0.028,3275,1841,1985,0,0,0,0,0,0
$GC,6815,1.27,256.7,357.0,9.5,290,6829,0.00,2.92,9.02,0.746,4,0.000,0.077,3275,230,1953,0,0,0,0,0,0
$GC,6859,1.22,256.7,352.3,10.7,291,6863,0.00,2.58,0.00,0.000,6,0.000,0.023,3275,1829,1952,0,0,0,0,0,0
$GC,7142,1.25,276.9,327.2,8.9,298,7165,0.00,0.00,19.62,0.793,6,0.000,0.000,3275,1829,1872,0,0,0,0,0,0
$GC,7431,1.29,282.8,300.0,9.7,305,7439,0.00,0.00,6.30,0.653,6,0.000,0.000,3275,1830,1848,0,0,0,0,0,0
$GC,7673,1.34,285.1,276.1,9.9,311,7677,0.00,2.83,0.00,0.000,4,0.000,0.071,3275,230,1845,0,0,0,0,0,0
$GC,7739,1.34,285.1,268.7,11.4,312,7743,0.00,2.58,0.00,0.000,6,0.000,0.027,3275,1833,1844,0,0,0,0,0,0
$GC,7996,1.43,307.4,245.6,8.8,319,8026,0.15,2.90,23.17,0.741,4,0.189,0.068,3314,233,1747,0,0,0,0,0,0
$GC,8043,1.36,307.4,240.3,11.7,320,8047,0.00,2.58,0.00,0.000,6,0.000,0.028,3314,1828,1745,0,0,0,0,0,0
$GC,8322,1.36,307.4,207.8,11.8,327,8326,0.00,2.55,0.00,0.000,4,0.000,0.038,3314,3401,1743,0,0,0,0,0,0
$GC,8361,1.41,307.4,203.2,11.6,328,8366,0.00,2.65,0.00,0.000,6,0.000,0.039,3314,1809,1742,0,0,0,0,0,0
$GC,8625,1.41,307.4,175.0,10.3,350,8630,0.00,2.58,0.00,0.000,4,0.000,0.029,3314,3402,1741,0,0,0,0,0,0
$GC,8668,1.49,307.4,170.2,10.7,353,8672,0.00,2.55,0.00,0.000,6,0.000,0.039,3314,1847,1741,0,0,0,0,0,0
$GC,8934,1.49,307.4,143.4,10.6,377,8939,0.00,2.80,0.00,0.000,4,0.000,0.074,3314,240,1740,0,0,0,0,0,0
$GC,9005,1.44,307.4,134.7,11.5,382,9014,0.00,2.55,0.00,0.000,6,0.000,0.025,3314,1836,1739,0,0,0,0,0,0
$GC,9271,1.46,317.8,107.6,9.4,407,9286,0.00,2.83,9.70,0.583,4,0.000,0.068,3314,240,1704,0,0,0,0,0,0
$GC,9305,1.46,317.8,104.2,10.4,409,9310,0.00,2.50,0.00,0.000,6,0.000,0.027,3314,1821,1703,0,0,0,0,0,0
$GC,9572,1.54,327.7,77.5,9.5,433,9590,0.00,2.60,10.32,0.563,4,0.000,0.030,3314,3385,1665,0,0,0,0,0,0
$GC,9605,1.69,356.8,74.4,8.4,435,9642,0.20,2.62,26.52,0.596,6,0.042,0.035,3372,1812,1545,0,0,0,0,0,0
$GC,9898,1.69,356.8,46.9,10.6,462,9902,0.00,2.72,0.00,0.000,4,0.000,0.063,3372,236,1543,0,0,0,0,0,0
$GC,9922,1.63,356.8,43.5,11.9,463,9931,0.00,2.50,0.00,0.000,6,0.000,0.020,3372,1811,1541,0,0,0,0,0,0
$GC,10227,1.63,356.8,9.5,11.3,501,10238,0.00,2.53,0.00,0.000,4,0.000,0.034,3372,3382,1541,0,0,0,0,0,0
$GC,10250,1.63,356.8,7.3,10.3,503,10259,0.00,2.60,0.00,0.000,6,0.000,0.035,3371,1817,1541,0,0,0,0,0,0
$STATE,10280,end climb,SURFACE_DEPTH_REACHED
$STATE,10280,begin surface coast
$FINISH,0.4,1.011613
$STATE,10323,end surface coast,CONTROL_FINISHED_OK
$STATE,10323,begin surface
$SM_CCo,10345,36.92,0.531,0,0,1369,400.08
$SM_GC,1.14,0.00,0.00,36.92,0.000,0.000,0.531,476,1714,1369,-11.61,-1.58,400.08
$IRIDIUM_FIX,2246.36,-15743.68,270100,232315
$TT8_MAMPS,0.025311
$HUMID,56.10
$INTERNAL_PRESSURE,9.28747
$TCM_TEMP,20.40
$XPDR_PINGS,150
$24V_AH,23.3,77.887
$10V_AH,9.9,73.187
$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,27.975,152.300,425.525,36.925,0.000,27.590,34.847,354.672,37.500,0.000,13.759,1065.156,6652.164,522.481,1959.414,747.097,33.367,1295.604,0.000,1963.476,0.000,0.535,0.000
$DEVICE_MAMPS,188.682,108.914,920.400,530.764,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,346.883,296.618,394.930,750.846,1135.630,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,41517,513
$CAP_FILE_SIZE,118340,0
$CFSIZE,260165632,149467136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,031110,055658,2254.436,-15742.967,11,2.1,30,10.1