version: 66.06
glider: 146
mission: 6
dive: 67
start: 5 19 111 14 26 32
data:
$ID,146
$MISSION,6
$DIVE,67
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$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,400
$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,-268763.12
$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,3090
$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,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,52
$R_STBD_OVSHOOT,18
$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
$GPS1,142006,2250.724,-15800.582,27,2.0,27,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-71.1
$GPS2,142538,2250.695,-15800.611,13,1.9,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.229,0.052
$KALMAN_X,-50354.7,211.4,-49.7,43677.9,-1000.9
$KALMAN_Y,-95615.6,-295.5,-348.9,108838.4,-782.3
$MHEAD_RNG_PITCHd_Wd,67.2,6298,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-79.00,0.000,2,0.000,0.000,474,1732,3312,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.1,-5.1,10,126,12.50,2.65,-3.20,0.000,4,0.166,0.044,2777,3366,3481,0,0,0,0,0,0
$GC,210,-1.21,-116.8,30.6,-18.4,25,220,0.20,2.55,0.00,0.000,6,0.104,0.029,2821,1799,3483,0,0,0,0,0,0
$GC,477,-1.10,-116.8,70.0,-13.8,50,486,0.12,0.00,0.00,0.000,6,0.131,0.000,2846,1799,3484,0,0,0,0,0,0
$GC,745,-1.05,-116.8,104.9,-13.9,75,749,0.00,2.72,0.00,0.000,4,0.000,0.063,2846,197,3485,0,0,0,0,0,0
$GC,780,-0.97,-116.8,110.9,-14.3,77,786,0.15,2.45,0.00,0.000,6,0.125,0.021,2877,1828,3485,0,0,0,0,0,0
$GC,1044,-0.97,-116.8,143.9,-12.7,102,1045,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1830,3486,0,0,0,0,0,0
$GC,1296,-1.02,-116.8,172.6,-9.9,126,1300,0.00,2.42,0.00,0.000,4,0.000,0.028,2877,3377,3486,0,0,0,0,0,0
$GC,1353,-1.09,-116.8,177.4,-9.2,130,1358,0.10,2.60,0.00,0.000,6,0.081,0.028,2836,1755,3486,0,0,0,0,0,0
$GC,1613,-1.09,-116.8,205.2,-10.8,151,1614,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1755,3487,0,0,0,0,0,0
$GC,1855,-1.09,-116.8,230.1,-10.1,157,1860,0.00,2.70,0.00,0.000,4,0.000,0.077,2835,198,3487,0,0,0,0,0,0
$GC,1877,-1.09,-116.8,232.5,-10.8,157,1882,0.00,2.45,0.00,0.000,6,0.000,0.020,2835,1794,3487,0,0,0,0,0,0
$GC,2133,-1.09,-116.8,259.2,-10.6,164,2134,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1794,3487,0,0,0,0,0,0
$GC,2376,-1.09,-116.8,284.9,-10.7,170,2381,0.00,2.47,0.00,0.000,4,0.000,0.037,2835,3334,3487,0,0,0,0,0,0
$GC,2422,-1.14,-116.8,290.1,-11.3,171,2426,0.00,2.55,0.00,0.000,6,0.000,0.035,2835,1772,3487,0,0,0,0,0,0
$GC,2699,-1.14,-116.8,320.3,-11.0,178,2703,0.00,2.55,0.00,0.000,4,0.000,0.038,2835,3338,3486,0,0,0,0,0,0
$GC,2732,-1.18,-116.8,323.7,-10.1,178,2737,0.00,2.60,0.00,0.000,6,0.000,0.044,2835,1768,3486,0,0,0,0,0,0
$GC,2983,-1.18,-116.8,346.1,-8.7,185,2984,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1768,3485,0,0,0,0,0,0
$GC,3225,-1.18,-116.8,369.6,-9.9,191,3230,0.00,2.55,0.00,0.000,4,0.000,0.046,2835,3328,3483,0,0,0,0,0,0
$GC,3303,-1.24,-116.8,378.4,-11.1,192,3309,0.00,2.65,0.00,0.000,6,0.000,0.051,2835,1763,3483,0,0,0,0,0,0
$GC,3555,-1.28,-116.8,408.4,-12.3,199,3560,0.10,2.60,0.00,0.000,4,0.094,0.042,2803,3327,3482,0,0,0,0,0,0
$GC,3582,-1.28,-116.8,412.4,-13.4,199,3586,0.00,2.67,0.00,0.000,6,0.000,0.058,2803,1762,3482,0,0,0,0,0,0
$GC,3838,-1.28,-116.8,445.5,-12.9,206,3839,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1762,3480,0,0,0,0,0,0
$GC,4082,-1.28,-116.8,475.3,-12.0,212,4087,0.00,2.65,0.00,0.000,4,0.000,0.058,2804,3320,3479,0,0,0,0,0,0
$GC,4109,-1.28,-116.8,478.6,-11.6,212,4114,0.00,2.70,0.00,0.000,6,0.000,0.065,2803,1764,3479,0,0,0,0,0,0
$STATE,4316,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4316,begin apogee
$GC,4322,-0.31,0.0,501.5,10.9,217,4423,0.98,0.00,97.18,0.923,6,0.091,0.000,3017,1910,3001,0,0,0,0,0,0
$STATE,4423,end apogee,CONTROL_FINISHED_OK
$STATE,4424,begin climb
$GC,4427,1.38,116.8,505.0,0.0,219,4532,1.65,0.00,100.20,0.900,6,0.058,0.000,3392,1910,2524,0,0,0,0,0,0
$GC,4762,1.45,170.8,488.3,6.9,228,4816,0.00,2.80,46.45,0.884,4,0.000,0.057,3392,3487,2303,0,0,0,0,0,0
$GC,4830,1.54,212.3,483.1,7.6,229,4875,0.15,2.78,37.35,0.867,6,0.078,0.064,3429,1911,2133,0,0,0,0,0,0
$GC,5134,1.54,212.3,447.8,12.1,237,5138,0.00,2.65,0.00,0.000,4,0.000,0.051,3429,3497,2125,0,0,0,0,0,0
$GC,5160,1.54,212.3,444.2,11.7,237,5165,0.00,2.72,0.00,0.000,6,0.000,0.059,3429,1924,2124,0,0,0,0,0,0
$GC,5411,1.54,212.3,415.0,11.9,243,5413,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1924,2122,0,0,0,0,0,0
$GC,5654,1.54,212.3,386.0,11.9,249,5655,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1923,2121,0,0,0,0,0,0
$GC,5897,1.54,212.3,358.6,11.2,255,5902,0.00,2.60,0.00,0.000,4,0.000,0.041,3430,3497,2119,0,0,0,0,0,0
$GC,5946,1.54,212.3,352.9,11.9,256,5951,0.00,2.62,0.00,0.000,6,0.000,0.041,3430,1913,2118,0,0,0,0,0,0
$GC,6219,1.54,212.3,323.8,10.6,263,6224,0.00,2.60,0.00,0.000,4,0.000,0.039,3430,3497,2117,0,0,0,0,0,0
$GC,6246,1.54,212.3,320.7,10.5,263,6251,0.00,2.60,0.00,0.000,6,0.000,0.040,3430,1912,2116,0,0,0,0,0,0
$GC,6496,1.55,221.8,296.9,9.5,269,6509,0.00,2.60,6.45,0.667,4,0.000,0.035,3430,3495,2095,0,0,0,0,0,0
$GC,6528,1.57,233.5,293.9,9.4,269,6547,0.00,2.62,12.15,0.746,6,0.000,0.040,3429,1916,2048,0,0,0,0,0,0
$GC,6827,1.57,236.1,264.3,9.9,277,6831,0.00,2.60,0.00,0.000,4,0.000,0.041,3429,3501,2044,0,0,0,0,0,0
$GC,6876,1.57,236.1,259.2,10.1,278,6880,0.00,2.60,0.00,0.000,6,0.000,0.039,3429,1925,2042,0,0,0,0,0,0
$GC,7150,1.59,252.2,234.0,9.1,285,7174,0.00,2.67,17.08,0.732,4,0.000,0.038,3429,3499,1971,0,0,0,0,0,0
$GC,7220,1.64,252.8,226.9,10.0,286,7224,0.00,2.60,0.00,0.000,6,0.000,0.037,3429,1932,1970,0,0,0,0,0,0
$GC,7477,1.69,255.1,201.4,9.9,293,7483,0.12,2.80,0.00,0.000,4,0.086,0.067,3462,334,1968,0,0,0,0,0,0
$GC,7532,1.64,255.1,195.0,12.2,295,7537,0.00,2.53,0.00,0.000,6,0.000,0.021,3462,1934,1966,0,0,0,0,0,0
$GC,7800,1.64,255.1,166.1,10.8,319,7804,0.00,2.53,0.00,0.000,4,0.000,0.035,3462,3495,1966,0,0,0,0,0,0
$GC,7890,1.64,255.1,154.9,11.6,326,7896,0.00,2.50,0.00,0.000,6,0.000,0.037,3462,1949,1965,0,0,0,0,0,0
$GC,8158,1.64,255.1,126.0,10.8,351,8162,0.00,2.47,0.00,0.000,4,0.000,0.036,3462,3488,1965,0,0,0,0,0,0
$GC,8225,1.64,255.1,117.8,11.2,356,8235,0.00,2.47,0.00,0.000,6,0.000,0.032,3462,1976,1965,0,0,0,0,0,0
$GC,8491,1.64,255.1,91.1,10.7,381,8496,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,1976,1965,0,0,0,0,0,0
$GC,8758,1.64,255.1,63.0,10.2,406,8763,0.00,2.42,0.00,0.000,4,0.000,0.030,3463,3490,1965,0,0,0,0,0,0
$GC,8804,1.68,255.1,58.1,10.1,409,8809,0.00,2.45,0.00,0.000,6,0.000,0.031,3462,1964,1965,0,0,0,0,0,0
$GC,9072,1.77,284.6,34.5,8.3,433,9103,0.00,0.00,28.20,0.560,6,0.000,0.000,3462,1964,1839,0,0,0,0,0,0
$STATE,9379,end climb,SURFACE_DEPTH_REACHED
$STATE,9379,begin surface coast
$FINISH,0.5,0.974527
$STATE,9428,end surface coast,CONTROL_FINISHED_OK
$STATE,9428,begin surface
$SM_CCo,9451,93.12,0.532,0,0,1370,400.08
$SM_GC,1.17,0.00,0.00,93.12,0.000,0.000,0.532,478,1757,1370,-12.02,-0.37,400.08
$IRIDIUM_FIX,2244.02,-15806.70,120800,111147
$TT8_MAMPS,0.026078
$HUMID,56.26
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.80
$XPDR_PINGS,39
$24V_AH,23.5,8.768
$10V_AH,10.4,7.375
$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,28.300,104.325,345.050,93.125,0.000,26.164,35.394,146.009,9.750,0.000,15.126,953.364,6150.655,519.243,1802.386,454.867,33.357,1154.310,0.000,1809.446,0.000,0.534,0.000
$DEVICE_MAMPS,166.439,131.924,923.468,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.232,282.816,377.597,746.034,1123.574,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,38438,484
$CAP_FILE_SIZE,92930,0
$CFSIZE,260165632,178720768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190511,170655,2250.460,-15759.779,38,1.4,38,10.1