version: 66.08
glider: 158
mission: 11
dive: 44
start: 5 4 112 15 53 52
data:
$ID,158
$MISSION,11
$DIVE,44
$N_DIVES,0
$D_SURF,3
$D_FLARE,3
$D_TGT,150
$D_ABORT,1090
$D_NO_BLEED,200
$D_BOOST,4
$T_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,50
$T_MISSION,70
$T_ABORT,1440
$T_TURN,225
$T_TURN_SAMPINT,5
$T_NO_W,120
$T_LOITER,0
$USE_BATHY,-6
$USE_ICE,0
$ICE_FREEZE_MARGIN,0.30000001
$D_OFFGRID,100
$T_WATCHDOG,10
$RELAUNCH,1
$APOGEE_PITCH,-5
$MAX_BUOY,250
$COURSE_BIAS,0
$GLIDE_SLOPE,15
$SPEED_FACTOR,1
$RHO,1.0233001
$MASS,51960
$NAV_MODE,1
$FERRY_MAX,45
$KALMAN_USE,2
$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,3200
$TGT_DEFAULT_LON,-7306
$TGT_AUTO_DEFAULT,0
$SM_CC,300
$N_FILEKB,4
$FILEMGR,0
$CALL_NDIVES,1
$COMM_SEQ,0
$PROTOCOL,0
$N_NOCOMM,2
$N_NOSURFACE,0
$UPLOAD_DIVES_MAX,-1
$CALL_TRIES,5
$CALL_WAIT,60
$CAPUPLOAD,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,15
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-719503.94
$T_RSLEEP,3
$STROBE,0
$RAFOS_PEAK_OFFSET,1.5
$RAFOS_CORR_THRESH,60
$RAFOS_HIT_WINDOW,3600
$PITCH_MIN,138
$PITCH_MAX,3933
$C_PITCH,1885
$PITCH_DBAND,0.1
$PITCH_CNV,0.003125763
$P_OVSHOOT,0.02
$PITCH_GAIN,33
$PITCH_TIMEOUT,20
$PITCH_AD_RATE,145
$PITCH_MAXERRORS,1
$PITCH_ADJ_GAIN,0
$PITCH_ADJ_DBAND,0
$ROLL_MIN,236
$ROLL_MAX,3794
$ROLL_DEG,30
$C_ROLL_DIVE,350
$C_ROLL_CLIMB,350
$HEAD_ERRBAND,361
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,33
$ROLL_AD_RATE,300
$ROLL_MAXERRORS,2
$ROLL_ADJ_GAIN,0
$ROLL_ADJ_DBAND,0
$VBD_MIN,485
$VBD_MAX,3960
$C_VBD,2112
$VBD_DBAND,2
$VBD_CNV,-0.24529999
$VBD_TIMEOUT,720
$PITCH_VBD_SHIFT,0.00030000001
$VBD_PUMP_AD_RATE_SURFACE,5
$VBD_PUMP_AD_RATE_APOGEE,4
$VBD_BLEED_AD_RATE,8
$UNCOM_BLEED,50
$VBD_MAXERRORS,1
$CF8_MAXERRORS,20
$AH0_24V,150
$AH0_10V,100
$MINV_24V,19
$MINV_10V,8
$FG_AHR_10V,0
$FG_AHR_24V,0
$PHONE_SUPPLY,2
$PRESSURE_YINT,-40.257854
$PRESSURE_SLOPE,0.0001162534
$AD7714Ch0Gain,128
$TCM_PITCH_OFFSET,0
$TCM_ROLL_OFFSET,0
$COMPASS_USE,4
$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,20
$ALTIM_PING_DELTA,5
$ALTIM_FREQUENCY,13
$ALTIM_PULSE,6
$ALTIM_SENSITIVITY,2
$XPDR_VALID,2
$XPDR_INHIBIT,90
$INT_PRESSURE_SLOPE,0.0097660003
$INT_PRESSURE_YINT,1.7
$DEEPGLIDER,0
$DEEPGLIDERMB,0
$MOTHERBOARD,4
$DEVICE1,2
$DEVICE2,20
$DEVICE3,83
$DEVICE4,119
$DEVICE5,-1
$DEVICE6,-1
$LOGGERS,0
$LOGGERDEVICE1,-1
$LOGGERDEVICE2,-1
$LOGGERDEVICE3,-1
$LOGGERDEVICE4,-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,0.0043185689
$SEABIRD_T_H,0.00063211145
$SEABIRD_T_I,2.4453147e-05
$SEABIRD_T_J,2.6602299e-06
$SEABIRD_C_G,-9.7588167
$SEABIRD_C_H,1.1098362
$SEABIRD_C_I,-0.00086821435
$SEABIRD_C_J,0.00015583097
$GPS1,040512,154537,4743.615,-12223.533,41,1.3,41,18.2
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.71
$_SM_ANGLEo,-68.1
$GPS2,040512,155308,4743.712,-12223.451,16,1.9,16,18.2
$SPEED_LIMITS,0.373,0.383
$TGT_NAME,SW
$TGT_LATLONG,4742.700,-12224.800
$TGT_RADIUS,200.000
$KALMAN_CONTROL,0.000,0.000
$KALMAN_X,0.0,0.0,0.0,0.0,0.0
$KALMAN_Y,0.0,0.0,0.0,0.0,0.0
$MHEAD_RNG_PITCHd_Wd,203.7,2517,-10.1,-10.000
$D_GRID,156
$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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,14,-0.38,-244.3,0.0,0.0,0,58,0.00,0.00,-41.05,0.000,2,0.000,0.000,108,2012,1805,0,0,0,0,0,0
$GC,60,-0.38,-244.3,3.2,-5.2,5,109,6.62,0.00,-38.33,0.000,6,0.251,0.000,1760,2012,3110,0,0,0,0,0,0
$GC,148,-0.38,-244.3,10.0,-7.9,17,156,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,195,-0.38,-244.3,13.8,-8.1,24,203,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,242,-0.38,-244.3,17.8,-8.7,31,250,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,289,-0.38,-244.3,21.6,-7.4,38,297,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,336,-0.38,-244.3,25.3,-7.4,45,345,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,383,-0.38,-244.3,28.9,-7.5,52,391,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,431,-0.38,-244.3,32.3,-6.7,59,439,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,478,-0.38,-244.3,36.0,-8.2,66,486,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,525,-0.38,-244.3,39.3,-7.2,73,533,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2011,3111,0,0,0,0,0,0
$GC,570,-0.38,-244.3,42.8,-7.8,80,578,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,618,-0.38,-244.3,46.1,-7.0,87,624,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,659,-0.38,-244.3,49.1,-6.9,94,668,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,705,-0.38,-244.3,52.2,-7.1,101,710,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,749,-0.38,-244.3,55.7,-7.4,108,757,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,794,-0.38,-244.3,59.1,-7.3,115,800,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,2012,3111,0,0,0,0,0,0
$GC,836,-0.38,-244.3,62.4,-7.4,122,844,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,881,-0.38,-244.3,65.5,-7.3,129,887,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,922,-0.38,-244.3,69.0,-7.7,136,931,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,968,-0.38,-244.3,72.3,-7.7,143,974,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,1010,-0.38,-244.3,75.5,-7.0,150,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,1055,-0.38,-244.3,78.7,-7.2,157,1061,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,1096,-0.38,-244.3,81.9,-7.3,164,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,1142,-0.38,-244.3,85.2,-7.0,171,1148,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,1183,-0.38,-244.3,88.3,-6.7,178,1191,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,1229,-0.38,-244.3,90.9,-5.8,185,1235,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,1271,-0.38,-244.3,93.9,-6.9,192,1279,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,1316,-0.38,-244.3,96.9,-6.8,199,1322,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,1357,-0.38,-244.3,100.1,-7.0,206,1366,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,1403,-0.38,-244.3,103.7,-8.1,213,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,1444,-0.38,-244.3,107.0,-7.9,220,1452,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,2012,3111,0,0,0,0,0,0
$GC,1490,-0.38,-244.3,111.0,-9.9,227,1496,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,1531,-0.38,-244.3,115.0,-8.7,234,1540,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,2012,3111,0,0,0,0,0,0
$GC,1577,-0.38,-244.3,117.8,-6.2,241,1583,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,1619,-0.38,-244.3,120.3,-5.4,248,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,1664,-0.38,-244.3,122.8,-6.6,255,1670,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,1706,-0.38,-244.3,126.0,-6.9,262,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,1751,-0.38,-244.3,129.1,-7.5,269,1757,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,2012,3111,0,0,0,0,0,0
$GC,1792,-0.38,-244.3,132.5,-6.6,276,1801,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,1838,-0.38,-244.3,135.3,-7.6,283,1844,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,1879,-0.38,-244.3,138.1,-5.7,290,1888,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,2012,3111,0,0,0,0,0,0
$GC,1925,-0.38,-244.3,141.2,-7.2,297,1931,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,1966,-0.38,-244.3,144.4,-7.1,304,1974,0.00,0.00,0.00,0.000,6,0.000,0.000,1760,2012,3111,0,0,0,0,0,0
$GC,2012,-0.38,-244.3,148.0,-8.8,311,2018,0.00,0.00,0.00,0.000,6,0.000,0.000,1761,2012,3111,0,0,0,0,0,0
$STATE,2036,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2036,begin apogee
$GC,2043,-0.15,0.0,150.4,9.3,315,2241,0.22,0.00,192.68,0.857,6,0.086,0.000,1847,351,2112,0,0,0,0,0,0
$STATE,2242,end apogee,CONTROL_FINISHED_OK
$STATE,2242,begin climb
$GC,2243,0.38,244.3,155.7,0.0,344,2443,0.47,0.00,191.40,0.835,6,0.086,0.000,2013,349,1114,0,0,0,0,0,0
$GC,2480,0.40,310.4,139.9,8.8,379,2536,0.00,0.00,52.75,0.813,6,0.000,0.000,2013,349,845,0,0,0,0,0,0
$GC,2573,0.43,425.3,132.5,7.8,393,2647,0.00,0.00,69.82,0.804,6,0.000,0.000,2013,349,484,0,0,0,0,0,0
$GC,2684,0.45,480.0,123.0,9.0,410,2692,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,349,481,0,0,0,0,0,0
$GC,2729,0.45,480.0,119.0,10.4,417,2735,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,349,481,0,0,0,0,0,0
$GC,2771,0.45,480.0,114.2,11.3,424,2779,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,349,480,0,0,0,0,0,0
$GC,2816,0.45,480.0,109.3,10.5,431,2822,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,349,480,0,0,0,0,0,0
$GC,2857,0.45,480.0,104.4,11.7,438,2865,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,348,479,0,0,0,0,0,0
$GC,2902,0.45,480.0,98.9,12.5,445,2908,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,349,479,0,0,0,0,0,0
$GC,2943,0.45,480.0,93.1,14.1,452,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,348,479,0,0,0,0,0,0
$GC,2988,0.45,480.0,87.7,13.0,459,2994,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,348,479,0,0,0,0,0,0
$GC,3029,0.45,480.0,82.1,13.7,466,3037,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,349,479,0,0,0,0,0,0
$GC,3074,0.45,480.0,76.8,13.3,473,3080,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,348,479,0,0,0,0,0,0
$GC,3115,0.45,480.0,71.2,13.4,480,3123,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,348,479,0,0,0,0,0,0
$GC,3160,0.45,480.0,65.9,12.0,487,3166,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,349,479,0,0,0,0,0,0
$GC,3202,0.45,480.0,60.7,11.6,494,3211,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,349,479,0,0,0,0,0,0
$GC,3248,0.45,480.0,55.2,12.2,501,3254,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,349,479,0,0,0,0,0,0
$GC,3289,0.45,480.0,50.0,11.7,508,3297,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,348,479,0,0,0,0,0,0
$GC,3334,0.45,480.0,44.9,11.7,515,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,2014,349,479,0,0,0,0,0,0
$GC,3375,0.45,480.0,39.5,12.4,522,3383,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,348,479,0,0,0,0,0,0
$GC,3421,0.45,480.0,34.0,11.5,529,3430,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,348,479,0,0,0,0,0,0
$GC,3468,0.45,480.0,28.4,12.6,536,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,348,479,0,0,0,0,0,0
$GC,3514,0.45,480.0,21.9,14.1,543,3522,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,348,479,0,0,0,0,0,0
$GC,3561,0.45,480.0,15.0,14.9,550,3569,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,349,479,0,0,0,0,0,0
$GC,3607,0.45,480.0,9.3,11.6,557,3615,0.00,0.00,0.00,0.000,6,0.000,0.000,2013,349,479,0,0,0,0,0,0
$GC,3654,0.53,735.3,6.2,5.2,564,3663,0.15,0.00,0.00,0.000,6,0.109,0.000,2071,348,479,0,0,0,0,0,0
$STATE,3693,end climb,SURFACE_DEPTH_REACHED
$STATE,3693,begin surface coast
$FINISH,0.6,1.019320
$STATE,3731,end surface coast,CONTROL_FINISHED_OK
$STATE,3731,begin surface
$SM_CCo,3804,0.00,0.000,0,0,478,400.82
$SM_GC,1.48,5.12,0.00,0.00,0.047,0.000,0.000,103,349,478,-5.46,-0.03,400.82
$IRIDIUM_FIX,4729.30,-12233.92,040512,141448
$TT8_MAMPS,0.026215
$HUMID,36.49
$INTERNAL_PRESSURE,8.95614
$TCM_TEMP,13.50
$XPDR_PINGS,11
$ALTIM_BOTTOM_PING,55.1,8.3
$24V_AH,24.0,5.608
$10V_AH,10.4,2.145
$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,12.600,2.650,506.650,0.000,0.000,27.556,31.574,281.771,5.000,0.000,17.151,1220.302,328.269,628.449,1960.512,149.474,0.000,1422.935,0.000,1618.027,0.000,15.854,0.000
$DEVICE_MAMPS,250.920,50.490,856.800,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,0.000,12.000,0.000,15.000,0.000,30.000,0.000
$SENSORS,SBE_CT,SBE_O2,WL_BBFL2VMT,QSP2150,nil,nil,nil,nil,nil,nil
$SENSOR_SECS,392.501,244.176,1210.153,191.833,0.000,0.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,105.000,4.380,0.000,0.000,0.000,0.000,0.000,0.000
$MEM,323248
$DATA_FILE_SIZE,40330,576
$CAP_FILE_SIZE,106428,0
$CFSIZE,260165632,239112192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040512,165802,4743.935,-12223.430,13,1.3,13,18.2