version: 66.06
glider: 146
mission: 5
dive: 568
start: 11 4 110 1 25 21
data:
$ID,146
$MISSION,5
$DIVE,568
$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,-261397.91
$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,21
$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
$GPS1,010934,2253.783,-15743.464,11,99.0,30,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-65.9
$GPS2,012428,2253.917,-15743.549,10,2.9,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,SE
$TGT_LATLONG,2249.000,-15742.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.070,-0.224
$KALMAN_X,-268924.1,-23.1,-186.9,315703.9,-540.9
$KALMAN_Y,-487774.6,474.7,-332.5,623442.1,1690.6
$MHEAD_RNG_PITCHd_Wd,152.5,9483,-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,-116.8,0.0,0.0,0,97,0.00,0.00,-78.85,0.000,2,0.000,0.000,476,1734,3370,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.0,-7.6,10,126,11.88,2.65,-2.05,0.000,4,0.160,0.061,2690,188,3481,0,0,0,0,0,0
$GC,192,-1.31,-116.8,24.1,-14.8,22,202,0.08,2.45,0.00,0.000,6,0.109,0.017,2709,1774,3482,0,0,0,0,0,0
$GC,468,-1.21,-116.8,62.3,-14.0,49,473,0.12,2.72,0.00,0.000,4,0.127,0.056,2733,189,3482,0,0,0,0,0,0
$GC,492,-1.11,-116.8,66.0,-14.6,50,497,0.10,2.40,0.00,0.000,6,0.130,0.016,2754,1773,3482,0,0,0,0,0,0
$GC,756,-1.20,-116.8,93.1,-7.6,74,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2754,1774,3483,0,0,0,0,0,0
$GC,1011,-1.29,-116.8,112.6,-7.6,98,1016,0.15,2.72,0.00,0.000,4,0.064,0.063,2705,183,3483,0,0,0,0,0,0
$GC,1022,-1.36,-116.8,113.7,-7.8,98,1031,0.00,2.40,0.00,0.000,6,0.000,0.022,2704,1764,3484,0,0,0,0,0,0
$GC,1289,-1.36,-116.8,140.0,-10.6,123,1294,0.00,2.40,0.00,0.000,4,0.000,0.026,2704,3307,3484,0,0,0,0,0,0
$GC,1347,-1.41,-116.8,147.3,-10.9,127,1353,0.00,2.50,0.00,0.000,6,0.000,0.029,2705,1735,3484,0,0,0,0,0,0
$GC,1612,-1.41,-116.8,174.5,-9.8,152,1616,0.00,2.45,0.00,0.000,4,0.000,0.030,2705,3307,3484,0,0,0,0,0,0
$GC,1657,-1.47,-116.8,179.0,-9.1,155,1663,0.10,2.47,0.00,0.000,6,0.081,0.029,2661,1748,3484,0,0,0,0,0,0
$GC,1931,-1.40,-116.8,204.7,-9.4,178,1933,0.15,0.00,0.00,0.000,6,0.103,0.000,2693,1749,3484,0,0,0,0,0,0
$GC,2171,-1.40,-116.8,226.4,-9.0,184,2175,0.00,2.47,0.00,0.000,4,0.000,0.031,2693,3313,3484,0,0,0,0,0,0
$GC,2198,-1.44,-116.8,229.0,-9.3,184,2202,0.00,2.50,0.00,0.000,6,0.000,0.031,2693,1761,3484,0,0,0,0,0,0
$GC,2450,-1.44,-116.8,252.0,-9.4,190,2454,0.00,2.70,0.00,0.000,4,0.000,0.075,2693,187,3484,0,0,0,0,0,0
$GC,2493,-1.44,-116.8,256.8,-10.4,191,2498,0.00,2.35,0.00,0.000,6,0.000,0.021,2694,1725,3484,0,0,0,0,0,0
$GC,2772,-1.44,-116.8,283.3,-9.5,198,2776,0.00,2.55,0.00,0.000,4,0.000,0.032,2693,3338,3483,0,0,0,0,0,0
$GC,2835,-1.50,-116.8,289.0,-9.5,199,2839,0.00,2.55,0.00,0.000,6,0.000,0.038,2693,1776,3482,0,0,0,0,0,0
$GC,3095,-1.50,-116.8,313.8,-9.4,206,3100,0.00,2.80,0.00,0.000,4,0.000,0.078,2693,185,3482,0,0,0,0,0,0
$GC,3117,-1.50,-116.8,316.0,-10.1,206,3121,0.00,2.50,0.00,0.000,6,0.000,0.025,2693,1775,3481,0,0,0,0,0,0
$GC,3374,-1.54,-116.8,338.8,-9.0,213,3379,0.12,2.58,0.00,0.000,4,0.074,0.044,2652,3354,3480,0,0,0,0,0,0
$GC,3424,-1.54,-116.8,344.0,-9.5,214,3429,0.00,2.60,0.00,0.000,6,0.000,0.043,2652,1789,3480,0,0,0,0,0,0
$GC,3696,-1.50,-116.8,371.0,-10.1,221,3700,0.00,2.53,0.00,0.000,4,0.000,0.042,2652,3357,3479,0,0,0,0,0,0
$GC,3714,-1.50,-116.8,372.9,-10.5,221,3719,0.00,2.62,0.00,0.000,6,0.000,0.051,2652,1799,3479,0,0,0,0,0,0
$GC,3974,-1.50,-116.8,399.6,-10.2,228,3979,0.00,2.92,0.00,0.000,4,0.000,0.100,2652,186,3477,0,0,0,0,0,0
$GC,3990,-1.46,-116.8,401.4,-10.2,228,3995,0.12,2.55,0.00,0.000,6,0.117,0.029,2678,1808,3477,0,0,0,0,0,0
$GC,4253,-1.46,-116.8,425.6,-9.2,235,4254,0.00,0.00,0.00,0.000,6,0.000,0.000,2678,1808,3475,0,0,0,0,0,0
$GC,4495,-1.46,-116.8,448.2,-9.4,241,4499,0.00,2.55,0.00,0.000,4,0.000,0.054,2679,3349,3474,0,0,0,0,0,0
$GC,4511,-1.46,-116.8,449.8,-9.4,241,4515,0.00,2.60,0.00,0.000,6,0.000,0.053,2678,1814,3474,0,0,0,0,0,0
$GC,4773,-1.46,-116.8,472.7,-8.6,248,4778,0.00,3.03,0.00,0.000,4,0.000,0.105,2679,185,3472,0,0,0,0,0,0
$GC,4795,-1.46,-116.8,474.9,-9.1,248,4799,0.00,2.60,0.00,0.000,6,0.000,0.035,2679,1803,3471,0,0,0,0,0,0
$GC,5050,-1.50,-116.8,494.6,-7.7,255,5055,0.00,2.62,0.00,0.000,4,0.000,0.064,2679,3356,3470,0,0,0,0,0,0
$GC,5080,-1.56,-116.8,496.9,-8.1,255,5085,0.00,2.62,0.00,0.000,6,0.000,0.058,2679,1820,3469,0,0,0,0,0,0
$STATE,5124,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5124,begin apogee
$GC,5130,-0.31,0.0,500.5,7.5,256,5232,1.12,0.00,98.30,0.922,6,0.088,0.000,2931,1819,3001,0,0,0,0,0,0
$STATE,5233,end apogee,CONTROL_FINISHED_OK
$STATE,5233,begin climb
$GC,5235,1.38,116.8,502.2,0.0,258,5349,1.52,2.75,102.12,0.904,4,0.041,0.052,3308,3412,2523,0,0,0,0,0,0
$GC,5400,1.32,164.4,499.3,7.3,261,5449,0.00,2.78,42.03,0.887,6,0.000,0.058,3308,1813,2329,0,0,0,0,0,0
$GC,5734,1.24,181.6,470.0,9.0,270,5756,0.17,2.72,15.55,0.844,4,0.132,0.045,3271,3410,2258,0,0,0,0,0,0
$GC,5863,1.27,208.2,458.7,8.5,273,5893,0.00,2.72,24.33,0.855,6,0.000,0.061,3271,1833,2152,0,0,0,0,0,0
$GC,6145,1.29,221.7,433.0,9.3,280,6164,0.00,3.08,12.77,0.804,4,0.000,0.102,3271,235,2097,0,0,0,0,0,0
$GC,6204,1.21,221.7,426.5,11.7,281,6208,0.00,2.60,0.00,0.000,6,0.000,0.028,3271,1834,2094,0,0,0,0,0,0
$GC,6472,1.23,238.2,401.9,9.1,288,6493,0.00,2.65,15.93,0.817,4,0.000,0.044,3271,3407,2029,0,0,0,0,0,0
$GC,6511,1.25,253.1,398.2,9.2,289,6531,0.00,2.72,15.25,0.804,6,0.000,0.059,3271,1832,1969,0,0,0,0,0,0
$GC,6797,1.26,266.6,371.7,9.3,296,6816,0.00,3.03,12.95,0.785,4,0.000,0.091,3271,233,1914,0,0,0,0,0,0
$GC,6844,1.23,266.6,366.7,10.8,297,6849,0.00,2.60,0.00,0.000,6,0.000,0.027,3271,1846,1912,0,0,0,0,0,0
$GC,7122,1.24,273.7,340.2,9.6,304,7137,0.00,2.60,7.60,0.706,4,0.000,0.041,3271,3394,1884,0,0,0,0,0,0
$GC,7156,1.29,273.7,336.9,10.5,304,7161,0.00,2.70,0.00,0.000,6,0.000,0.049,3271,1817,1884,0,0,0,0,0,0
$GC,7406,1.34,273.7,311.4,10.1,310,7411,0.00,2.83,0.00,0.000,4,0.000,0.088,3271,234,1881,0,0,0,0,0,0
$GC,7433,1.34,273.7,308.5,10.9,310,7437,0.00,2.55,0.00,0.000,6,0.000,0.026,3271,1826,1881,0,0,0,0,0,0
$GC,7685,1.41,281.7,284.4,9.6,316,7700,0.15,2.65,8.38,0.696,4,0.075,0.038,3311,3404,1852,0,0,0,0,0,0
$GC,7711,1.41,281.7,281.4,10.7,316,7715,0.00,2.67,0.00,0.000,6,0.000,0.042,3311,1820,1851,0,0,0,0,0,0
$GC,7966,1.41,281.7,254.1,10.5,323,7967,0.00,0.00,0.00,0.000,6,0.000,0.000,3311,1820,1850,0,0,0,0,0,0
$GC,8211,1.42,292.1,230.5,9.4,329,8227,0.00,2.85,10.38,0.688,4,0.000,0.074,3311,233,1809,0,0,0,0,0,0
$GC,8261,1.37,292.1,225.4,10.3,330,8265,0.00,2.55,0.00,0.000,6,0.000,0.023,3311,1827,1808,0,0,0,0,0,0
$GC,8533,1.39,304.4,200.7,9.3,337,8552,0.00,2.65,12.20,0.676,4,0.000,0.035,3312,3407,1760,0,0,0,0,0,0
$GC,8589,1.47,304.4,194.8,11.2,339,8593,0.00,2.67,0.00,0.000,6,0.000,0.045,3311,1809,1759,0,0,0,0,0,0
$GC,8851,1.47,304.4,166.4,11.3,363,8856,0.00,2.75,0.00,0.000,4,0.000,0.071,3311,238,1757,0,0,0,0,0,0
$GC,8893,1.47,304.4,161.4,13.2,366,8897,0.00,2.50,0.00,0.000,6,0.000,0.027,3311,1822,1756,0,0,0,0,0,0
$GC,9156,1.47,306.1,134.7,9.9,390,9160,0.00,2.75,0.00,0.000,4,0.000,0.069,3311,238,1756,0,0,0,0,0,0
$GC,9180,1.48,311.4,132.2,9.7,391,9200,0.00,2.45,7.53,0.574,6,0.000,0.021,3311,1802,1730,0,0,0,0,0,0
$GC,9455,1.53,320.6,105.6,9.5,417,9474,0.10,0.00,9.98,0.580,6,0.096,0.000,3340,1803,1694,0,0,0,0,0,0
$GC,9729,1.58,363.2,81.1,7.6,443,9779,0.00,2.80,38.03,0.606,4,0.000,0.062,3340,238,1518,0,0,0,0,0,0
$GC,9821,1.59,371.2,73.8,9.6,450,9836,0.00,2.45,8.40,0.524,6,0.000,0.020,3340,1800,1487,0,0,0,0,0,0
$GC,10092,1.64,371.2,46.0,11.5,475,10096,0.00,2.55,0.00,0.000,4,0.000,0.031,3340,3379,1484,0,0,0,0,0,0
$GC,10125,1.75,377.7,42.4,9.7,477,10141,0.17,2.60,6.90,0.480,6,0.139,0.035,3387,1788,1460,0,0,0,0,0,0
$STATE,10418,end climb,SURFACE_DEPTH_REACHED
$STATE,10419,begin surface coast
$FINISH,0.3,1.009054
$STATE,10468,end surface coast,CONTROL_FINISHED_OK
$STATE,10468,begin surface
$SM_CCo,10489,18.65,0.515,0,0,1370,400.08
$SM_GC,1.30,0.00,0.00,18.65,0.000,0.000,0.515,476,1785,1370,-11.61,0.42,400.08
$IRIDIUM_FIX,2244.02,-15743.68,290100,010158
$TT8_MAMPS,0.025311
$HUMID,57.48
$INTERNAL_PRESSURE,9.29723
$TCM_TEMP,20.70
$XPDR_PINGS,150
$24V_AH,23.3,78.896
$10V_AH,9.8,74.049
$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,28.000,152.650,448.600,18.650,0.000,88.678,101.887,401.397,37.500,0.000,32.144,1085.627,6849.131,520.177,2004.808,939.687,33.373,1309.073,0.000,1986.929,0.000,0.534,0.000
$DEVICE_MAMPS,160.303,105.079,921.934,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,353.158,310.152,402.014,750.863,1135.871,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355412
$DATA_FILE_SIZE,41358,522
$CAP_FILE_SIZE,127267,0
$CFSIZE,260165632,149028864
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,041110,042206,2254.055,-15743.452,54,1.0,54,10.1