version: 66.06
glider: 146
mission: 6
dive: 10
start: 5 11 111 7 42 57
data:
$ID,146
$MISSION,6
$DIVE,10
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,650
$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,340
$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,0
$CAPMAXSIZE,100000
$HEAPDBG,0
$T_GPS,25
$N_GPS,20
$T_GPS_ALMANAC,0
$T_GPS_CHARGE,-267536.22
$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,3010
$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,25
$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
$GPS1,073606,2240.764,-15758.674,31,1.5,31,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,0.98
$_SM_ANGLEo,-67.4
$GPS2,074204,2240.696,-15758.710,9,99.0,28,10.0
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,ALOHA
$TGT_LATLONG,2245.000,-15800.000
$TGT_RADIUS,1000.000
$KALMAN_CONTROL,0.173,0.159
$KALMAN_X,-7131.7,-13.5,182.1,3692.5,-1549.4
$KALMAN_Y,-14657.5,981.0,-366.9,8099.3,-2211.7
$MHEAD_RNG_PITCHd_Wd,37.5,8270,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,111,0.00,0.00,-91.57,0.000,6,0.000,0.000,482,1755,3479,0,0,0,0,0,0
$GC,114,-1.38,-116.8,4.6,-9.8,12,132,12.30,2.58,0.00,0.000,4,0.172,0.034,2701,3364,3481,0,0,0,0,0,0
$GC,238,-1.11,-116.8,45.8,-24.0,26,248,0.30,2.60,0.00,0.000,6,0.120,0.029,2762,1768,3482,0,0,0,0,0,0
$GC,505,-0.93,-116.8,96.4,-18.7,51,510,0.20,0.00,0.00,0.000,6,0.128,0.000,2802,1768,3482,0,0,0,0,0,0
$GC,768,-0.84,-116.8,135.3,-13.9,76,773,0.10,2.58,0.00,0.000,4,0.153,0.029,2821,3366,3483,0,0,0,0,0,0
$GC,802,-0.84,-116.8,140.6,-13.2,78,812,0.00,2.60,0.00,0.000,6,0.000,0.032,2821,1769,3483,0,0,0,0,0,0
$GC,1070,-0.81,-116.8,175.8,-13.9,103,1075,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1769,3484,0,0,0,0,0,0
$GC,1357,-0.81,-116.8,220.1,-15.5,122,1358,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1768,3484,0,0,0,0,0,0
$GC,1601,-0.81,-116.8,255.2,-13.9,128,1605,0.00,2.60,0.00,0.000,4,0.000,0.035,2821,3362,3484,0,0,0,0,0,0
$GC,1650,-0.81,-116.8,261.7,-12.1,129,1655,0.00,2.58,0.00,0.000,6,0.000,0.037,2821,1778,3484,0,0,0,0,0,0
$GC,1922,-0.81,-116.8,291.6,-10.4,136,1923,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1778,3485,0,0,0,0,0,0
$GC,2166,-0.81,-116.8,317.0,-10.6,142,2170,0.00,2.60,0.00,0.000,4,0.000,0.039,2821,3363,3484,0,0,0,0,0,0
$GC,2198,-0.81,-116.8,320.7,-11.1,142,2204,0.00,2.65,0.00,0.000,6,0.000,0.043,2821,1777,3484,0,0,0,0,0,0
$GC,2448,-0.81,-116.8,349.4,-11.7,149,2452,0.00,2.62,0.00,0.000,4,0.000,0.047,2821,3364,3483,0,0,0,0,0,0
$GC,2487,-0.85,-116.8,354.1,-11.9,150,2492,0.00,2.65,0.00,0.000,6,0.000,0.048,2821,1788,3484,0,0,0,0,0,0
$GC,2771,-0.85,-116.8,389.8,-12.8,157,2775,0.00,2.60,0.00,0.000,4,0.000,0.045,2821,3360,3482,0,0,0,0,0,0
$GC,2810,-0.91,-116.8,394.9,-12.6,158,2815,0.00,2.67,0.00,0.000,6,0.000,0.057,2821,1782,3482,0,0,0,0,0,0
$GC,3094,-0.91,-116.8,429.2,-11.7,165,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1782,3481,0,0,0,0,0,0
$GC,3339,-0.94,-116.8,454.8,-10.1,171,3343,0.00,2.65,0.00,0.000,4,0.000,0.058,2821,3353,3479,0,0,0,0,0,0
$GC,3378,-1.01,-116.8,458.9,-9.7,172,3384,0.12,2.70,0.00,0.000,6,0.081,0.060,2784,1786,3479,0,0,0,0,0,0
$GC,3662,-1.01,-116.8,489.1,-10.4,179,3663,0.00,0.00,0.00,0.000,6,0.000,0.000,2784,1786,3478,0,0,0,0,0,0
$STATE,3781,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3781,begin apogee
$GC,3788,-0.31,0.0,501.4,10.1,182,3887,0.73,0.00,95.90,0.923,6,0.104,0.000,2938,1830,3001,0,0,0,0,0,0
$STATE,3888,end apogee,CONTROL_FINISHED_OK
$STATE,3888,begin climb
$GC,3891,1.38,116.8,505.0,0.0,184,3999,1.70,3.17,100.12,0.899,4,0.077,0.114,3310,230,2523,0,0,0,0,0,0
$GC,4017,1.63,215.2,501.7,4.3,187,4109,0.25,2.62,83.72,0.884,6,0.062,0.038,3371,1806,2123,0,0,0,0,0,0
$GC,4388,1.77,252.7,472.2,7.9,197,4429,0.10,2.85,32.47,0.865,4,0.091,0.067,3398,3401,1969,0,0,0,0,0,0
$GC,4488,1.84,254.6,463.2,9.9,199,4493,0.00,2.75,0.00,0.000,6,0.000,0.058,3398,1819,1966,0,0,0,0,0,0
$GC,4761,1.92,262.3,437.3,9.6,206,4772,0.12,0.00,8.82,0.762,6,0.084,0.000,3431,1819,1931,0,0,0,0,0,0
$GC,5005,1.92,262.3,409.8,11.5,212,5010,0.00,2.67,0.00,0.000,4,0.000,0.047,3431,3418,1927,0,0,0,0,0,0
$GC,5134,1.92,262.3,393.9,12.0,215,5139,0.00,2.67,0.00,0.000,6,0.000,0.050,3431,1834,1926,0,0,0,0,0,0
$GC,5418,1.92,262.3,362.5,10.8,222,5422,0.00,2.60,0.00,0.000,4,0.000,0.037,3431,3411,1924,0,0,0,0,0,0
$GC,5472,1.92,262.3,356.5,10.5,223,5477,0.00,2.65,0.00,0.000,6,0.000,0.048,3431,1834,1923,0,0,0,0,0,0
$GC,5739,1.92,267.7,329.8,9.7,230,5749,0.00,2.62,4.93,0.614,4,0.000,0.038,3431,3410,1909,0,0,0,0,0,0
$GC,5834,1.98,267.7,320.4,10.4,232,5839,0.00,2.58,0.00,0.000,6,0.000,0.043,3431,1851,1908,0,0,0,0,0,0
$GC,6106,1.99,277.3,294.8,9.5,239,6118,0.00,0.00,10.27,0.738,6,0.000,0.000,3431,1851,1870,0,0,0,0,0,0
$GC,6351,2.02,277.3,269.3,10.5,245,6355,0.00,2.55,0.00,0.000,4,0.000,0.040,3431,3411,1866,0,0,0,0,0,0
$GC,6457,2.09,277.3,257.7,11.3,247,6462,0.15,2.53,0.00,0.000,6,0.081,0.038,3469,1870,1865,0,0,0,0,0,0
$GC,6718,2.09,277.3,225.6,12.5,254,6722,0.00,2.50,0.00,0.000,4,0.000,0.038,3469,3411,1865,0,0,0,0,0,0
$GC,6812,2.09,277.3,213.4,12.7,256,6817,0.00,2.50,0.00,0.000,6,0.000,0.035,3469,1887,1864,0,0,0,0,0,0
$GC,7071,2.09,277.3,181.5,12.0,273,7075,0.00,2.47,0.00,0.000,4,0.000,0.034,3469,3414,1863,0,0,0,0,0,0
$GC,7106,2.09,277.3,177.3,12.2,275,7111,0.00,2.47,0.00,0.000,6,0.000,0.032,3469,1891,1863,0,0,0,0,0,0
$GC,7368,2.09,277.3,147.2,10.6,300,7369,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,1891,1863,0,0,0,0,0,0
$GC,7623,2.11,292.3,122.1,9.2,324,7642,0.00,2.47,13.50,0.622,4,0.000,0.031,3469,3421,1808,0,0,0,0,0,0
$GC,7692,2.11,292.3,115.4,11.0,329,7697,0.00,2.47,0.00,0.000,6,0.000,0.031,3469,1885,1807,0,0,0,0,0,0
$GC,7958,2.11,292.3,87.8,10.7,353,7962,0.00,2.45,0.00,0.000,4,0.000,0.035,3469,3422,1806,0,0,0,0,0,0
$GC,8000,2.16,292.3,82.8,10.8,356,8004,0.00,2.47,0.00,0.000,6,0.000,0.031,3469,1891,1805,0,0,0,0,0,0
$GC,8266,2.20,292.3,55.6,10.3,380,8270,0.00,2.42,0.00,0.000,4,0.000,0.035,3469,3419,1805,0,0,0,0,0,0
$GC,8375,2.27,292.3,44.3,11.1,388,8380,0.15,2.42,0.00,0.000,6,0.073,0.031,3510,1901,1805,0,0,0,0,0,0
$GC,8682,2.22,292.3,6.8,14.7,425,8691,0.00,2.42,0.00,0.000,4,0.000,0.031,3510,3415,1805,0,0,0,0,0,0
$STATE,8699,end climb,SURFACE_DEPTH_REACHED
$STATE,8699,begin surface coast
$FINISH,2.6,0.980193
$STATE,8708,end surface coast,CONTROL_FINISHED_OK
$STATE,8708,begin surface
$SM_CCo,8733,126.93,0.536,0,0,1166,450.13
$SM_GC,1.02,0.00,0.00,126.93,0.000,0.000,0.536,484,1767,1166,-11.62,-0.08,450.13
$IRIDIUM_FIX,2232.34,-15755.87,040800,050524
$TT8_MAMPS,0.026078
$HUMID,56.53
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,21.40
$XPDR_PINGS,37
$24V_AH,23.4,1.484
$10V_AH,10.4,1.100
$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,28.675,98.775,349.750,126.925,0.000,30.450,33.904,154.948,9.250,0.000,31.264,876.151,5686.212,557.381,1657.248,446.348,33.334,1181.604,0.000,1643.711,0.000,0.534,0.000
$DEVICE_MAMPS,171.808,202.488,923.468,536.133,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,289.783,228.423,323.333,602.373,906.099,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356096
$DATA_FILE_SIZE,35272,428
$CAP_FILE_SIZE,89398,0
$CFSIZE,260165632,182009856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110511,101155,2240.861,-15758.341,37,1.7,37,10.0