version: 66.06
glider: 146
mission: 6
dive: 6
start: 5 10 111 23 2 38
data:
$ID,146
$MISSION,6
$DIVE,6
$D_SURF,4
$D_FLARE,3
$D_TGT,300
$D_ABORT,450
$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,100
$T_MISSION,240
$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,52520
$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,450
$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,1
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-267444.09
$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,25
$R_STBD_OVSHOOT,47
$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,94
$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,0.0036476359
$SEABIRD_T_H,0.00058019959
$SEABIRD_T_I,1.488937e-05
$SEABIRD_T_J,2.4708795e-06
$SEABIRD_C_G,-10.237597
$SEABIRD_C_H,1.1413157
$SEABIRD_C_I,-0.0016513355
$SEABIRD_C_J,0.00021051844
$GPS1,225302,2241.158,-15758.555,10,2.0,11,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.96
$_SM_ANGLEo,-69.0
$GPS2,230145,2241.110,-15758.638,10,2.7,29,10.0
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.200,0.123
$KALMAN_X,-2081.3,-375.6,1.5,-685.4,-1082.9
$KALMAN_Y,-5247.9,-1870.8,-366.3,2315.9,-1097.3
$MHEAD_RNG_PITCHd_Wd,48.5,7571,-19.8,-10.000
$D_GRID,300
$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,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,111,0.00,0.00,-92.12,0.000,6,0.000,0.000,478,1761,3479,0,0,0,0,0,0
$GC,114,-1.38,-116.8,4.7,-10.2,12,131,12.05,2.53,0.00,0.000,4,0.166,0.031,2689,3344,3481,0,0,0,0,0,0
$GC,225,-1.09,-116.8,39.1,-24.8,25,230,0.35,2.55,0.00,0.000,6,0.123,0.030,2757,1763,3482,0,0,0,0,0,0
$GC,491,-0.91,-116.8,93.1,-19.6,49,496,0.22,2.50,0.00,0.000,4,0.127,0.031,2801,3341,3482,0,0,0,0,0,0
$GC,532,-0.84,-116.8,101.4,-16.5,52,536,0.00,2.47,0.00,0.000,6,0.000,0.028,2801,1776,3482,0,0,0,0,0,0
$GC,795,-0.75,-116.8,143.4,-15.1,76,797,0.15,0.00,0.00,0.000,6,0.128,0.000,2832,1776,3482,0,0,0,0,0,0
$GC,1052,-0.75,-116.8,177.9,-12.7,100,1057,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1776,3483,0,0,0,0,0,0
$GC,1309,-0.75,-116.8,210.4,-12.3,119,1314,0.00,2.47,0.00,0.000,4,0.000,0.031,2832,3340,3483,0,0,0,0,0,0
$GC,1365,-0.79,-116.8,217.3,-12.4,120,1369,0.00,2.47,0.00,0.000,6,0.000,0.028,2832,1780,3483,0,0,0,0,0,0
$GC,1632,-0.79,-116.8,248.9,-11.9,127,1633,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1780,3483,0,0,0,0,0,0
$GC,1874,-0.79,-116.8,277.2,-11.4,133,1879,0.00,2.53,0.00,0.000,4,0.000,0.044,2832,3337,3483,0,0,0,0,0,0
$GC,1890,-0.79,-116.8,279.0,-10.8,133,1895,0.00,2.50,0.00,0.000,6,0.000,0.035,2832,1785,3483,0,0,0,0,0,0
$STATE,2108,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2109,begin apogee
$GC,2115,-0.31,0.0,301.1,9.9,139,2211,0.45,0.00,93.20,0.742,6,0.094,0.000,2931,1785,3001,0,0,0,0,0,0
$STATE,2212,end apogee,CONTROL_FINISHED_OK
$STATE,2212,begin climb
$GC,2214,1.38,116.8,305.4,0.0,141,2321,1.60,2.85,94.72,0.726,4,0.071,0.080,3292,240,2523,0,0,0,0,0,0
$GC,2366,1.68,209.5,300.9,4.7,144,2453,0.30,2.50,76.32,0.716,6,0.054,0.026,3369,1821,2145,0,0,0,0,0,0
$GC,2709,1.87,255.7,276.2,7.3,153,2754,0.15,2.62,38.62,0.706,4,0.091,0.046,3410,3389,1957,0,0,0,0,0,0
$GC,2867,1.98,260.2,261.1,9.7,156,2876,0.00,2.55,4.47,0.485,6,0.000,0.041,3411,1834,1940,0,0,0,0,0,0
$GC,3123,2.08,276.7,238.0,9.0,162,3144,0.17,2.58,15.52,0.667,4,0.071,0.039,3456,3397,1872,0,0,0,0,0,0
$GC,3196,2.12,276.7,229.0,13.1,163,3201,0.00,2.58,0.00,0.000,6,0.000,0.039,3456,1840,1869,0,0,0,0,0,0
$GC,3446,2.12,276.7,198.2,11.9,169,3450,0.00,2.53,0.00,0.000,4,0.000,0.035,3456,3389,1865,0,0,0,0,0,0
$GC,3492,2.15,276.7,193.8,11.3,172,3496,0.00,2.50,0.00,0.000,6,0.000,0.039,3456,1859,1865,0,0,0,0,0,0
$GC,3758,2.18,296.2,167.6,8.9,196,3777,0.00,0.00,16.58,0.637,6,0.000,0.000,3456,1859,1792,0,0,0,0,0,0
$GC,4032,2.22,296.2,137.0,11.5,222,4037,0.10,2.47,0.00,0.000,4,0.094,0.033,3485,3392,1787,0,0,0,0,0,0
$GC,4099,2.22,296.2,128.6,13.4,227,4103,0.00,2.45,0.00,0.000,6,0.000,0.032,3485,1879,1786,0,0,0,0,0,0
$GC,4366,2.22,296.2,94.5,12.4,251,4370,0.00,2.42,0.00,0.000,4,0.000,0.038,3485,3397,1786,0,0,0,0,0,0
$GC,4430,2.22,296.2,85.3,12.6,256,4434,0.00,2.42,0.00,0.000,6,0.000,0.031,3485,1880,1785,0,0,0,0,0,0
$GC,4696,2.22,296.2,54.0,11.0,280,4700,0.00,2.40,0.00,0.000,4,0.000,0.032,3484,3395,1785,0,0,0,0,0,0
$GC,4779,2.26,296.2,44.7,10.9,286,4783,0.00,2.40,0.00,0.000,6,0.000,0.032,3485,1904,1785,0,0,0,0,0,0
$GC,5078,2.26,296.2,12.2,10.6,322,5087,0.00,2.40,0.00,0.000,4,0.000,0.038,3485,3386,1784,0,0,0,0,0,0
$STATE,5149,end climb,SURFACE_DEPTH_REACHED
$STATE,5150,begin surface coast
$FINISH,0.1,0.975154
$STATE,5193,end surface coast,CONTROL_FINISHED_OK
$STATE,5193,begin surface
$SM_CCo,5217,120.75,0.528,0,0,1165,450.13
$SM_GC,0.96,0.00,0.00,120.75,0.000,0.000,0.528,475,1750,1165,-11.62,-0.57,450.13
$IRIDIUM_FIX,2232.34,-15755.87,030800,212106
$TT8_MAMPS,0.026078
$HUMID,58.66
$INTERNAL_PRESSURE,9.19957
$TCM_TEMP,21.70
$XPDR_PINGS,24
$24V_AH,23.6,1.015
$10V_AH,10.5,0.712
$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,27.825,60.325,339.450,120.750,0.000,25.546,35.161,292.934,6.000,0.000,31.813,663.512,2760.833,486.097,1401.105,558.268,33.333,966.279,0.000,1386.523,0.000,0.536,0.000
$DEVICE_MAMPS,166.439,79.768,741.689,527.696,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,228.192,217.776,302.610,607.127,918.179,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356152
$DATA_FILE_SIZE,25750,338
$CAP_FILE_SIZE,66648,0
$CFSIZE,260165632,182226944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110511,003300,2240.905,-15758.422,37,1.4,43,10.0