version: 66.06
glider: 146
mission: 6
dive: 46
start: 5 16 111 19 44 0
data:
$ID,146
$MISSION,6
$DIVE,46
$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,-268265.06
$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,38
$R_STBD_OVSHOOT,23
$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
$GPS1,193646,2246.773,-15800.831,12,2.3,31,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-70.6
$GPS2,194307,2246.802,-15800.862,30,1.3,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.185,0.144
$KALMAN_X,-39899.7,-567.6,386.3,33136.7,-790.6
$KALMAN_Y,-76843.8,-546.9,486.0,82273.8,-1427.8
$MHEAD_RNG_PITCHd_Wd,297.8,3669,-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,-78.65,0.000,2,0.000,0.000,477,1734,3326,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.4,-6.0,10,127,12.80,2.65,-2.85,0.000,4,0.176,0.041,2772,3364,3481,0,0,0,0,0,0
$GC,400,-1.22,-116.8,69.8,-18.9,40,405,0.20,2.55,0.00,0.000,6,0.123,0.028,2811,1781,3483,0,0,0,0,0,0
$GC,664,-1.12,-116.8,114.2,-16.5,64,673,0.12,0.00,0.00,0.000,6,0.133,0.000,2834,1780,3484,0,0,0,0,0,0
$GC,929,-1.12,-116.8,150.3,-12.6,89,933,0.00,2.50,0.00,0.000,4,0.000,0.026,2834,3367,3485,0,0,0,0,0,0
$GC,970,-1.12,-116.8,155.7,-12.1,92,974,0.00,2.55,0.00,0.000,6,0.000,0.032,2834,1774,3485,0,0,0,0,0,0
$GC,1232,-1.12,-116.8,187.6,-12.7,116,1237,0.00,2.72,0.00,0.000,4,0.000,0.072,2834,198,3485,0,0,0,0,0,0
$GC,1283,-1.07,-116.8,194.8,-14.0,120,1288,0.00,2.45,0.00,0.000,6,0.000,0.016,2835,1821,3486,0,0,0,0,0,0
$GC,1536,-1.07,-116.8,226.2,-12.3,129,1540,0.00,2.45,0.00,0.000,4,0.000,0.035,2834,3371,3486,0,0,0,0,0,0
$GC,1580,-1.07,-116.8,232.2,-12.9,130,1585,0.00,2.58,0.00,0.000,6,0.000,0.028,2834,1772,3486,0,0,0,0,0,0
$GC,1860,-1.07,-116.8,264.5,-11.6,137,1864,0.00,2.55,0.00,0.000,4,0.000,0.030,2834,3365,3486,0,0,0,0,0,0
$GC,1903,-1.07,-116.8,269.7,-11.0,138,1907,0.00,2.55,0.00,0.000,6,0.000,0.038,2834,1784,3486,0,0,0,0,0,0
$GC,2182,-1.07,-116.8,297.6,-9.7,145,2186,0.00,2.53,0.00,0.000,4,0.000,0.035,2834,3363,3486,0,0,0,0,0,0
$GC,2204,-1.07,-116.8,299.6,-9.0,145,2209,0.00,2.58,0.00,0.000,6,0.000,0.036,2834,1784,3486,0,0,0,0,0,0
$GC,2460,-1.07,-116.8,322.2,-9.0,152,2461,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1784,3486,0,0,0,0,0,0
$GC,2704,-1.07,-116.8,346.0,-9.9,158,2708,0.00,2.58,0.00,0.000,4,0.000,0.043,2834,3363,3485,0,0,0,0,0,0
$GC,2724,-1.07,-116.8,348.2,-10.1,158,2729,0.00,2.62,0.00,0.000,6,0.000,0.048,2834,1794,3485,0,0,0,0,0,0
$GC,2981,-1.07,-116.8,374.7,-10.5,165,2985,0.00,2.58,0.00,0.000,4,0.000,0.040,2834,3360,3483,0,0,0,0,0,0
$GC,3030,-1.13,-116.8,380.4,-11.0,166,3035,0.00,2.65,0.00,0.000,6,0.000,0.058,2834,1800,3483,0,0,0,0,0,0
$GC,3304,-1.17,-116.8,410.3,-11.1,173,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1800,3482,0,0,0,0,0,0
$GC,3547,-1.22,-116.8,435.9,-10.2,179,3551,0.00,3.03,0.00,0.000,4,0.000,0.114,2834,185,3480,0,0,0,0,0,0
$GC,3579,-1.22,-116.8,439.5,-11.1,179,3585,0.00,2.62,0.00,0.000,6,0.000,0.039,2834,1795,3481,0,0,0,0,0,0
$GC,3829,-1.26,-116.8,464.9,-10.2,186,3835,0.12,2.67,0.00,0.000,4,0.085,0.062,2796,3355,3479,0,0,0,0,0,0
$GC,3882,-1.26,-116.8,470.6,-11.4,187,3886,0.00,2.67,0.00,0.000,6,0.000,0.060,2796,1804,3478,0,0,0,0,0,0
$GC,4153,-1.26,-116.8,502.3,-11.7,194,4158,0.00,2.62,0.00,0.000,4,0.000,0.056,2796,3352,3476,0,0,0,0,0,0
$GC,4194,-1.26,-116.8,506.9,-11.3,195,4199,0.00,2.65,0.00,0.000,6,0.000,0.066,2796,1817,3476,0,0,0,0,0,0
$GC,4479,-1.26,-116.8,537.3,-10.2,202,4480,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1817,3474,0,0,0,0,0,0
$GC,4722,-1.26,-116.8,559.0,-8.6,208,4726,0.00,2.70,0.00,0.000,4,0.000,0.078,2796,3352,3473,0,0,0,0,0,0
$GC,4737,-1.26,-116.8,560.4,-8.1,208,4742,0.00,2.67,0.00,0.000,6,0.000,0.071,2796,1822,3473,0,0,0,0,0,0
$GC,5000,-1.26,-116.8,582.2,-8.3,215,5005,0.00,3.25,0.00,0.000,4,0.000,0.139,2796,185,3472,0,0,0,0,0,0
$GC,5072,-1.21,-116.8,589.7,-10.3,216,5077,0.00,2.78,0.00,0.000,6,0.000,0.058,2796,1808,3471,0,0,0,0,0,0
$STATE,5198,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5198,begin apogee
$GC,5203,-0.31,0.0,601.2,9.0,219,5304,1.00,0.00,97.15,1.019,6,0.098,0.000,3011,1807,3000,0,0,0,0,0,0
$STATE,5305,end apogee,CONTROL_FINISHED_OK
$STATE,5305,begin climb
$GC,5308,1.38,116.8,603.6,0.0,221,5419,1.65,3.15,101.68,0.989,4,0.064,0.113,3380,236,2522,0,0,0,0,0,0
$GC,5430,1.49,211.4,600.4,4.5,224,5525,0.10,2.78,82.50,0.972,6,0.097,0.055,3405,1827,2137,0,0,0,0,0,0
$GC,5765,1.51,225.9,570.8,9.2,233,5785,0.00,2.92,12.43,0.880,4,0.000,0.086,3405,3400,2079,0,0,0,0,0,0
$GC,5809,1.51,225.9,566.5,10.2,234,5814,0.00,2.85,0.00,0.000,6,0.000,0.070,3405,1816,2078,0,0,0,0,0,0
$GC,6093,1.51,225.9,537.1,10.8,241,6097,0.00,2.78,0.00,0.000,4,0.000,0.062,3405,3414,2074,0,0,0,0,0,0
$GC,6136,1.51,225.9,532.1,11.6,242,6141,0.00,2.80,0.00,0.000,6,0.000,0.067,3405,1834,2073,0,0,0,0,0,0
$GC,6414,1.51,225.9,501.8,11.0,249,6419,0.00,2.67,0.00,0.000,4,0.000,0.056,3405,3417,2072,0,0,0,0,0,0
$GC,6470,1.51,225.9,495.7,10.9,250,6475,0.00,2.75,0.00,0.000,6,0.000,0.064,3405,1843,2071,0,0,0,0,0,0
$GC,6736,1.51,225.9,467.9,10.2,257,6740,0.00,2.65,0.00,0.000,4,0.000,0.051,3405,3416,2070,0,0,0,0,0,0
$GC,6791,1.56,225.9,462.0,10.5,258,6796,0.00,2.72,0.00,0.000,6,0.000,0.058,3405,1850,2069,0,0,0,0,0,0
$GC,7059,1.56,232.4,436.0,9.6,265,7070,0.00,2.62,5.75,0.727,4,0.000,0.042,3404,3425,2052,0,0,0,0,0,0
$GC,7105,1.61,232.4,431.1,10.4,266,7110,0.10,2.67,0.00,0.000,6,0.100,0.058,3431,1870,2051,0,0,0,0,0,0
$GC,7384,1.61,232.4,400.4,11.1,273,7389,0.00,3.03,0.00,0.000,4,0.000,0.098,3431,230,2050,0,0,0,0,0,0
$GC,7405,1.56,232.4,397.6,11.9,273,7410,0.00,2.67,0.00,0.000,6,0.000,0.029,3431,1883,2048,0,0,0,0,0,0
$GC,7661,1.56,232.4,369.9,10.8,280,7665,0.00,2.53,0.00,0.000,4,0.000,0.048,3431,3420,2049,0,0,0,0,0,0
$GC,7767,1.56,232.4,358.4,10.8,282,7771,0.00,2.58,0.00,0.000,6,0.000,0.041,3431,1874,2047,0,0,0,0,0,0
$GC,8027,1.56,232.4,330.5,10.5,289,8032,0.00,2.55,0.00,0.000,4,0.000,0.041,3431,3425,2047,0,0,0,0,0,0
$GC,8094,1.56,232.4,323.4,10.4,290,8098,0.00,2.58,0.00,0.000,6,0.000,0.040,3431,1874,2047,0,0,0,0,0,0
$GC,8351,1.56,234.7,298.5,9.9,297,8355,0.00,2.53,0.00,0.000,4,0.000,0.036,3431,3416,2047,0,0,0,0,0,0
$GC,8422,1.56,234.7,291.1,10.0,298,8427,0.00,2.50,0.00,0.000,6,0.000,0.035,3431,1898,2047,0,0,0,0,0,0
$GC,8673,1.58,249.9,268.2,9.1,304,8696,0.00,2.53,16.35,0.768,4,0.000,0.037,3431,3415,1980,0,0,0,0,0,0
$GC,8731,1.58,249.9,262.5,10.4,305,8735,0.00,2.53,0.00,0.000,6,0.000,0.038,3431,1891,1979,0,0,0,0,0,0
$GC,8997,1.58,249.9,234.6,10.6,312,9001,0.00,2.50,0.00,0.000,4,0.000,0.035,3431,3421,1977,0,0,0,0,0,0
$GC,9076,1.62,250.2,226.6,10.0,313,9081,0.00,2.47,0.00,0.000,6,0.000,0.036,3431,1917,1977,0,0,0,0,0,0
$GC,9326,1.66,255.5,202.5,9.7,320,9337,0.00,2.47,6.00,0.599,4,0.000,0.038,3431,3422,1958,0,0,0,0,0,0
$GC,9381,1.71,255.5,196.8,11.1,322,9385,0.00,2.45,0.00,0.000,6,0.000,0.037,3431,1931,1958,0,0,0,0,0,0
$GC,9649,1.76,255.5,165.7,11.9,346,9654,0.15,2.95,0.00,0.000,4,0.186,0.067,3470,232,1957,0,0,0,0,0,0
$GC,9717,1.69,255.5,155.6,13.3,351,9727,0.08,2.78,0.00,0.000,6,0.100,0.025,3451,1971,1956,0,0,0,0,0,0
$GC,9981,1.75,297.8,131.1,7.6,376,10020,0.00,0.00,37.55,0.666,6,0.000,0.000,3451,1972,1787,0,0,0,0,0,0
$GC,10273,1.79,297.8,102.4,10.8,404,10274,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1973,1782,0,0,0,0,0,0
$GC,10535,1.83,297.8,73.9,10.4,428,10540,0.12,3.03,0.00,0.000,4,0.085,0.064,3487,224,1782,0,0,0,0,0,0
$GC,10555,1.83,297.8,71.0,10.9,429,10560,0.00,2.75,0.00,0.000,6,0.000,0.024,3487,1976,1781,0,0,0,0,0,0
$GC,10824,1.83,297.8,38.0,11.4,453,10828,0.00,2.33,0.00,0.000,4,0.000,0.031,3487,3430,1780,0,0,0,0,0,0
$GC,10901,1.83,297.8,28.3,11.9,459,10910,0.00,2.50,0.00,0.000,6,0.000,0.032,3487,1908,1781,0,0,0,0,0,0
$STATE,11126,end climb,SURFACE_DEPTH_REACHED
$STATE,11126,begin surface coast
$FINISH,0.4,0.979842
$STATE,11175,end surface coast,CONTROL_FINISHED_OK
$STATE,11175,begin surface
$SM_CCo,11197,82.93,0.535,0,0,1369,400.08
$SM_GC,1.32,0.00,0.00,82.93,0.000,0.000,0.535,477,1738,1369,-11.98,-0.90,400.08
$IRIDIUM_FIX,2241.69,-15804.53,090800,161642
$TT8_MAMPS,0.026078
$HUMID,57.16
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,21.30
$XPDR_PINGS,55
$24V_AH,23.4,6.239
$10V_AH,10.4,5.112
$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,28.725,154.600,359.400,82.925,0.000,29.237,44.121,165.519,13.750,0.000,32.374,1056.131,7636.743,546.220,1915.386,508.017,33.366,1299.349,0.000,1888.392,0.000,0.533,0.000
$DEVICE_MAMPS,186.381,138.827,1018.576,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,338.641,254.701,348.831,635.845,961.662,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,38394,498
$CAP_FILE_SIZE,114488,0
$CFSIZE,260165632,179822592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160511,225307,2246.887,-15802.358,26,1.6,26,10.1