version: 66.06
glider: 146
mission: 6
dive: 40
start: 5 16 111 0 6 24
data:
$ID,146
$MISSION,6
$DIVE,40
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,950
$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,200
$T_MISSION,600
$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,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,-268120.72
$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,3080
$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,48
$R_STBD_OVSHOOT,15
$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
$GPS1,235858,2250.763,-15800.447,6,99.0,25,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-68.9
$GPS2,000531,2250.737,-15800.482,42,1.6,42,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,0.024
$KALMAN_X,-38145.8,-140.3,-238.5,32228.6,-274.8
$KALMAN_Y,-70951.4,446.5,-339.1,83493.3,-864.5
$MHEAD_RNG_PITCHd_Wd,74.0,6099,-19.8,-10.000
$D_GRID,600
$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,-116.8,0.0,0.0,0,98,0.00,0.00,-78.70,0.000,2,0.000,0.000,480,1729,3312,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.2,-5.3,10,127,12.77,2.67,-3.12,0.000,4,0.176,0.041,2769,3377,3481,0,0,0,0,0,0
$GC,139,-0.34,-116.8,16.6,-34.3,14,149,1.10,2.60,0.00,0.000,6,0.111,0.033,3000,1787,3482,0,0,0,0,0,0
$GC,432,-0.55,-116.8,44.0,-8.0,47,442,0.17,0.00,0.00,0.000,6,0.061,0.000,2946,1786,3483,0,0,0,0,0,0
$GC,698,-0.68,-116.8,71.1,-10.2,72,702,0.00,2.72,0.00,0.000,4,0.000,0.060,2946,193,3483,0,0,0,0,0,0
$GC,732,-0.80,-116.8,75.5,-11.5,74,741,0.12,2.53,0.00,0.000,6,0.041,0.021,2898,1839,3484,0,0,0,0,0,0
$GC,999,-0.85,-116.8,106.3,-11.3,99,1004,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1840,3484,0,0,0,0,0,0
$GC,1260,-0.91,-116.8,135.6,-10.5,124,1264,0.00,2.45,0.00,0.000,4,0.000,0.031,2898,3373,3485,0,0,0,0,0,0
$GC,1307,-1.01,-116.8,139.9,-10.6,127,1312,0.17,2.55,0.00,0.000,6,0.058,0.028,2841,1768,3486,0,0,0,0,0,0
$GC,1571,-1.01,-116.8,171.4,-11.6,151,1576,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1769,3486,0,0,0,0,0,0
$GC,1853,-1.01,-116.8,206.6,-13.2,175,1857,0.00,2.55,0.00,0.000,4,0.000,0.027,2841,3381,3486,0,0,0,0,0,0
$GC,1879,-1.01,-116.8,210.3,-13.0,175,1884,0.00,2.55,0.00,0.000,6,0.000,0.025,2841,1778,3486,0,0,0,0,0,0
$GC,2129,-1.01,-116.8,239.0,-11.2,181,2134,0.00,2.75,0.00,0.000,4,0.000,0.073,2841,199,3487,0,0,0,0,0,0
$GC,2157,-1.01,-116.8,242.3,-11.5,181,2161,0.00,2.50,0.00,0.000,6,0.000,0.025,2841,1817,3487,0,0,0,0,0,0
$GC,2407,-1.01,-116.8,270.7,-11.6,187,2411,0.00,2.42,0.00,0.000,4,0.000,0.035,2841,3341,3487,0,0,0,0,0,0
$GC,2427,-1.01,-116.8,273.4,-12.2,187,2432,0.00,2.47,0.00,0.000,6,0.000,0.031,2840,1795,3487,0,0,0,0,0,0
$GC,2684,-1.01,-116.8,301.1,-10.9,194,2688,0.00,2.47,0.00,0.000,4,0.000,0.039,2841,3342,3487,0,0,0,0,0,0
$GC,2711,-1.01,-116.8,304.1,-10.3,194,2715,0.00,2.53,0.00,0.000,6,0.000,0.038,2841,1798,3487,0,0,0,0,0,0
$GC,2961,-1.01,-116.8,328.2,-9.8,200,2965,0.00,2.53,0.00,0.000,4,0.000,0.035,2840,3338,3486,0,0,0,0,0,0
$GC,2982,-1.01,-116.8,330.4,-9.9,200,2987,0.00,2.55,0.00,0.000,6,0.000,0.041,2841,1804,3486,0,0,0,0,0,0
$GC,3239,-1.01,-116.8,355.8,-9.9,207,3240,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1804,3485,0,0,0,0,0,0
$GC,3482,-1.01,-116.8,378.4,-9.2,213,3483,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1804,3483,0,0,0,0,0,0
$GC,3726,-1.05,-116.8,401.7,-9.5,219,3730,0.00,2.55,0.00,0.000,4,0.000,0.043,2841,3332,3482,0,0,0,0,0,0
$GC,3756,-1.11,-116.8,404.5,-9.6,219,3760,0.00,2.60,0.00,0.000,6,0.000,0.054,2840,1805,3482,0,0,0,0,0,0
$GC,4006,-1.15,-116.8,430.1,-10.4,225,4011,0.00,3.03,0.00,0.000,4,0.000,0.110,2841,184,3481,0,0,0,0,0,0
$GC,4045,-1.15,-116.8,434.6,-11.5,226,4049,0.00,2.60,0.00,0.000,6,0.000,0.033,2841,1783,3480,0,0,0,0,0,0
$GC,4330,-1.20,-116.8,462.7,-9.6,233,4334,0.00,2.67,0.00,0.000,4,0.000,0.062,2841,3354,3479,0,0,0,0,0,0
$GC,4362,-1.27,-116.8,465.9,-8.8,233,4369,0.17,2.62,0.00,0.000,6,0.065,0.057,2791,1809,3479,0,0,0,0,0,0
$GC,4612,-1.23,-116.8,492.4,-10.7,240,4617,0.10,2.62,0.00,0.000,4,0.135,0.054,2810,3352,3477,0,0,0,0,0,0
$GC,4635,-1.23,-116.8,495.0,-11.3,240,4639,0.00,2.67,0.00,0.000,6,0.000,0.061,2810,1805,3477,0,0,0,0,0,0
$GC,4890,-1.23,-116.8,519.8,-9.7,247,4891,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1805,3475,0,0,0,0,0,0
$GC,5134,-1.23,-116.8,542.9,-9.4,253,5138,0.00,2.70,0.00,0.000,4,0.000,0.071,2810,3349,3474,0,0,0,0,0,0
$GC,5174,-1.28,-116.8,546.9,-10.3,254,5179,0.00,2.67,0.00,0.000,6,0.000,0.074,2810,1821,3473,0,0,0,0,0,0
$GC,5458,-1.28,-116.8,574.9,-10.1,261,5459,0.00,0.00,0.00,0.000,6,0.000,0.000,2810,1821,3472,0,0,0,0,0,0
$STATE,5699,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5699,begin apogee
$GC,5705,-0.31,0.0,601.3,11.0,267,5805,0.93,0.00,96.95,1.020,6,0.098,0.000,3009,1821,3001,0,0,0,0,0,0
$STATE,5806,end apogee,CONTROL_FINISHED_OK
$STATE,5806,begin climb
$GC,5810,1.38,116.8,605.2,0.0,269,5922,1.62,3.38,101.10,0.995,4,0.064,0.145,3377,239,2523,0,0,0,0,0,0
$GC,6007,1.40,164.1,598.1,7.3,273,6056,0.00,2.75,41.17,0.965,6,0.000,0.056,3377,1818,2331,0,0,0,0,0,0
$GC,6308,1.44,193.8,574.2,8.3,281,6343,0.00,2.97,26.70,0.945,4,0.000,0.087,3377,3404,2209,0,0,0,0,0,0
$GC,6410,1.51,203.8,565.3,9.4,283,6426,0.15,2.80,9.85,0.852,6,0.084,0.072,3413,1827,2170,0,0,0,0,0,0
$GC,6682,1.51,203.8,534.9,11.2,290,6686,0.00,2.75,0.00,0.000,4,0.000,0.056,3413,3415,2165,0,0,0,0,0,0
$GC,6715,1.51,203.8,531.3,10.7,290,6721,0.00,2.78,0.00,0.000,6,0.000,0.066,3413,1835,2164,0,0,0,0,0,0
$GC,6965,1.51,203.8,506.0,10.1,297,6969,0.00,2.67,0.00,0.000,4,0.000,0.051,3413,3412,2162,0,0,0,0,0,0
$GC,7042,1.51,203.8,498.1,10.3,298,7048,0.00,2.70,0.00,0.000,6,0.000,0.064,3414,1851,2161,0,0,0,0,0,0
$GC,7292,1.52,211.0,474.1,9.6,305,7305,0.00,2.65,6.25,0.762,4,0.000,0.046,3414,3418,2141,0,0,0,0,0,0
$GC,7336,1.52,211.0,469.7,10.2,306,7340,0.00,2.70,0.00,0.000,6,0.000,0.058,3413,1854,2140,0,0,0,0,0,0
$GC,7619,1.52,214.5,441.7,9.8,313,7629,0.00,2.65,4.72,0.670,4,0.000,0.049,3413,3422,2126,0,0,0,0,0,0
$GC,7674,1.52,215.3,436.0,10.0,314,7679,0.00,2.70,0.00,0.000,6,0.000,0.052,3413,1856,2125,0,0,0,0,0,0
$GC,7941,1.55,233.6,411.6,9.0,321,7961,0.00,0.00,18.90,0.878,6,0.000,0.000,3413,1856,2048,0,0,0,0,0,0
$GC,8184,1.55,239.9,388.4,9.6,327,8198,0.00,2.67,6.68,0.742,4,0.000,0.044,3414,3420,2022,0,0,0,0,0,0
$GC,8239,1.60,239.9,382.7,11.1,328,8243,0.00,2.65,0.00,0.000,6,0.000,0.044,3413,1860,2020,0,0,0,0,0,0
$GC,8510,1.60,239.9,354.7,10.3,335,8515,0.00,2.55,0.00,0.000,4,0.000,0.036,3414,3417,2019,0,0,0,0,0,0
$GC,8655,1.65,247.4,340.1,9.6,338,8670,0.10,2.55,7.88,0.744,6,0.106,0.038,3441,1884,1991,0,0,0,0,0,0
$GC,8931,1.65,247.4,309.1,11.5,345,8935,0.00,2.50,0.00,0.000,4,0.000,0.035,3441,3417,1989,0,0,0,0,0,0
$GC,9002,1.65,247.4,300.8,11.3,346,9007,0.00,2.53,0.00,0.000,6,0.000,0.041,3441,1896,1988,0,0,0,0,0,0
$GC,9259,1.65,247.4,273.1,10.9,353,9264,0.00,2.50,0.00,0.000,4,0.000,0.035,3441,3421,1988,0,0,0,0,0,0
$GC,9320,1.65,247.4,266.2,11.3,354,9324,0.00,2.50,0.00,0.000,6,0.000,0.041,3441,1906,1987,0,0,0,0,0,0
$GC,9582,1.65,247.4,237.5,11.2,361,9586,0.00,2.47,0.00,0.000,4,0.000,0.039,3441,3421,1987,0,0,0,0,0,0
$GC,9654,1.65,247.4,229.7,10.5,362,9658,0.00,2.47,0.00,0.000,6,0.000,0.035,3441,1918,1987,0,0,0,0,0,0
$GC,9904,1.66,254.6,205.4,9.6,368,9918,0.00,2.53,7.18,0.637,4,0.000,0.039,3441,3419,1963,0,0,0,0,0,0
$GC,9949,1.66,254.7,201.1,10.0,369,9953,0.00,2.42,0.00,0.000,6,0.000,0.038,3441,1932,1962,0,0,0,0,0,0
$GC,10216,1.67,268.1,176.7,9.2,391,10232,0.00,0.00,13.65,0.675,6,0.000,0.000,3441,1931,1907,0,0,0,0,0,0
$GC,10490,1.69,277.7,150.1,9.4,417,10505,0.00,2.42,9.57,0.621,4,0.000,0.031,3441,3422,1868,0,0,0,0,0,0
$GC,10522,1.70,286.7,147.2,9.5,419,10537,0.00,2.45,9.55,0.609,6,0.000,0.031,3441,1928,1831,0,0,0,0,0,0
$GC,10795,1.75,286.7,117.9,10.7,444,10799,0.00,2.40,0.00,0.000,4,0.000,0.036,3441,3426,1828,0,0,0,0,0,0
$GC,10862,1.81,286.7,110.6,11.0,449,10867,0.15,2.42,0.00,0.000,6,0.074,0.030,3481,1934,1829,0,0,0,0,0,0
$GC,11128,1.81,286.7,77.4,12.6,473,11133,0.00,2.40,0.00,0.000,4,0.000,0.030,3481,3422,1828,0,0,0,0,0,0
$GC,11187,1.81,286.7,69.9,12.5,477,11191,0.00,2.38,0.00,0.000,6,0.000,0.031,3481,1945,1828,0,0,0,0,0,0
$GC,11453,1.81,286.7,41.3,11.0,501,11458,0.00,2.90,0.00,0.000,4,0.000,0.058,3481,230,1828,0,0,0,0,0,0
$GC,11499,1.77,286.7,35.7,13.7,504,11503,0.00,2.75,0.00,0.000,6,0.000,0.018,3481,1995,1828,0,0,0,0,0,0
$STATE,11789,end climb,SURFACE_DEPTH_REACHED
$STATE,11789,begin surface coast
$FINISH,0.4,0.972031
$STATE,11845,end surface coast,CONTROL_FINISHED_OK
$STATE,11845,begin surface
$SM_CCo,11868,92.62,0.538,0,0,1370,400.08
$SM_GC,1.11,0.00,0.00,92.62,0.000,0.000,0.538,476,1733,1370,-11.98,-1.05,400.08
$IRIDIUM_FIX,2244.02,-15801.49,080800,202019
$TT8_MAMPS,0.026078
$HUMID,55.78
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,21.60
$XPDR_PINGS,53
$24V_AH,23.3,5.527
$10V_AH,10.5,4.464
$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,29.850,151.975,360.150,92.625,0.000,29.461,34.350,174.020,13.250,0.000,43.484,1150.837,7978.945,544.985,2146.185,533.807,33.367,1343.730,0.000,2120.739,0.000,0.534,0.000
$DEVICE_MAMPS,176.410,144.963,1020.110,538.434,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,376.190,298.169,405.298,775.604,1174.020,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,44750,553
$CAP_FILE_SIZE,121793,0
$CFSIZE,260165632,180146176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160511,032707,2250.922,-15758.769,40,1.6,40,10.1