version: 66.06
glider: 146
mission: 6
dive: 81
start: 5 21 111 5 8 15
data:
$ID,146
$MISSION,6
$DIVE,81
$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,-269049.81
$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,3110
$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,42
$R_STBD_OVSHOOT,21
$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
$GPS1,050031,2250.179,-15801.483,9,1.6,27,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-67.0
$GPS2,050722,2250.199,-15801.503,15,1.6,17,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.235,0.009
$KALMAN_X,-59321.1,-73.6,22.0,51330.7,-504.3
$KALMAN_Y,-106207.1,566.1,-445.6,117745.0,-175.3
$MHEAD_RNG_PITCHd_Wd,77.7,7696,-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,-79.00,0.000,2,0.000,0.000,475,1751,3378,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.8,-7.3,10,127,12.65,2.67,-1.77,0.000,4,0.167,0.067,2801,200,3482,0,0,0,0,0,0
$GC,146,-0.64,-116.8,21.6,-38.2,15,155,0.75,2.50,0.00,0.000,6,0.102,0.015,2963,1823,3483,0,0,0,0,0,0
$GC,430,-0.78,-116.8,52.8,-9.5,43,434,0.00,2.72,0.00,0.000,4,0.000,0.056,2963,210,3484,0,0,0,0,0,0
$GC,476,-0.91,-116.8,57.5,-10.2,46,481,0.22,2.42,0.00,0.000,6,0.053,0.015,2898,1827,3484,0,0,0,0,0,0
$GC,739,-0.91,-116.8,87.2,-11.5,70,743,0.00,2.45,0.00,0.000,4,0.000,0.033,2898,3374,3485,0,0,0,0,0,0
$GC,785,-0.98,-116.8,91.9,-10.5,73,790,0.00,2.53,0.00,0.000,6,0.000,0.027,2898,1782,3485,0,0,0,0,0,0
$GC,1051,-1.04,-116.8,121.4,-10.7,97,1056,0.00,2.50,0.00,0.000,4,0.000,0.029,2898,3374,3486,0,0,0,0,0,0
$GC,1070,-1.10,-116.8,123.8,-10.8,98,1075,0.12,2.55,0.00,0.000,6,0.072,0.031,2851,1761,3486,0,0,0,0,0,0
$GC,1332,-1.10,-116.8,160.9,-14.5,122,1337,0.00,2.55,0.00,0.000,4,0.000,0.027,2851,3371,3486,0,0,0,0,0,0
$GC,1367,-1.10,-116.8,165.9,-13.0,124,1373,0.00,2.55,0.00,0.000,6,0.000,0.028,2851,1763,3486,0,0,0,0,0,0
$GC,1630,-1.10,-116.8,195.4,-11.2,149,1631,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1763,3487,0,0,0,0,0,0
$GC,1874,-1.10,-116.8,223.2,-11.4,158,1878,0.00,2.55,0.00,0.000,4,0.000,0.028,2851,3368,3487,0,0,0,0,0,0
$GC,1914,-1.15,-116.8,228.0,-12.6,159,1919,0.00,2.58,0.00,0.000,6,0.000,0.030,2851,1766,3488,0,0,0,0,0,0
$GC,2198,-1.15,-116.8,262.2,-12.1,166,2199,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1766,3488,0,0,0,0,0,0
$GC,2442,-1.20,-116.8,286.7,-9.5,172,2446,0.00,2.60,0.00,0.000,4,0.000,0.033,2851,3374,3488,0,0,0,0,0,0
$GC,2476,-1.26,-116.8,289.6,-8.6,172,2482,0.00,2.62,0.00,0.000,6,0.000,0.038,2851,1767,3488,0,0,0,0,0,0
$GC,2727,-1.31,-116.8,311.6,-9.0,179,2732,0.12,2.58,0.00,0.000,4,0.073,0.038,2806,3364,3488,0,0,0,0,0,0
$GC,2748,-1.31,-116.8,314.3,-11.4,179,2753,0.00,2.62,0.00,0.000,6,0.000,0.046,2806,1765,3487,0,0,0,0,0,0
$GC,3005,-1.31,-116.8,345.9,-12.6,186,3009,0.00,2.60,0.00,0.000,4,0.000,0.044,2806,3362,3486,0,0,0,0,0,0
$GC,3054,-1.31,-116.8,352.4,-12.4,187,3059,0.00,2.65,0.00,0.000,6,0.000,0.053,2806,1772,3486,0,0,0,0,0,0
$GC,3327,-1.31,-116.8,384.1,-11.4,194,3328,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1772,3485,0,0,0,0,0,0
$GC,3571,-1.31,-116.8,412.3,-11.5,200,3576,0.00,2.65,0.00,0.000,4,0.000,0.047,2806,3367,3483,0,0,0,0,0,0
$GC,3587,-1.31,-116.8,414.4,-11.8,200,3592,0.00,2.70,0.00,0.000,6,0.000,0.056,2806,1780,3483,0,0,0,0,0,0
$GC,3848,-1.31,-116.8,445.2,-12.0,207,3853,0.00,2.65,0.00,0.000,4,0.000,0.054,2807,3359,3481,0,0,0,0,0,0
$GC,3938,-1.31,-116.8,455.9,-11.6,209,3943,0.00,2.72,0.00,0.000,6,0.000,0.062,2806,1785,3481,0,0,0,0,0,0
$GC,4216,-1.31,-116.8,483.4,-9.5,216,4217,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1785,3479,0,0,0,0,0,0
$STATE,4416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4416,begin apogee
$GC,4422,-0.31,0.0,501.3,8.7,221,4523,1.05,0.00,97.35,0.928,6,0.087,0.000,3038,1952,3001,0,0,0,0,0,0
$STATE,4524,end apogee,CONTROL_FINISHED_OK
$STATE,4524,begin climb
$GC,4528,1.38,116.8,503.3,0.0,223,4632,1.62,0.00,100.07,0.901,6,0.057,0.000,3410,1953,2524,0,0,0,0,0,0
$GC,4863,1.45,169.0,484.9,7.0,232,4914,0.00,3.15,44.92,0.883,4,0.000,0.110,3410,333,2310,0,0,0,0,0,0
$GC,4932,1.47,191.9,479.3,8.7,233,4958,0.00,2.62,21.10,0.845,6,0.000,0.038,3410,1906,2218,0,0,0,0,0,0
$GC,5227,1.48,193.1,450.9,10.0,241,5229,0.10,0.00,0.00,0.000,6,0.099,0.000,3435,1906,2210,0,0,0,0,0,0
$GC,5469,1.48,195.9,426.7,9.9,247,5473,0.00,2.70,0.00,0.000,4,0.000,0.053,3435,3513,2208,0,0,0,0,0,0
$GC,5547,1.48,195.9,418.1,11.2,248,5553,0.00,2.70,0.00,0.000,6,0.000,0.051,3435,1907,2206,0,0,0,0,0,0
$GC,5797,1.48,195.9,392.0,10.3,255,5798,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1907,2205,0,0,0,0,0,0
$GC,6041,1.49,200.5,368.0,9.8,261,6054,0.00,2.65,6.43,0.703,4,0.000,0.041,3435,3514,2183,0,0,0,0,0,0
$GC,6085,1.50,209.6,363.9,9.5,262,6100,0.00,2.67,9.65,0.763,6,0.000,0.038,3435,1910,2146,0,0,0,0,0,0
$GC,6367,1.51,217.5,336.9,9.6,269,6381,0.00,2.70,8.05,0.731,4,0.000,0.041,3435,3512,2113,0,0,0,0,0,0
$GC,6438,1.51,217.5,330.1,10.1,270,6443,0.00,2.62,0.00,0.000,6,0.000,0.039,3435,1925,2112,0,0,0,0,0,0
$GC,6694,1.51,217.5,304.1,10.3,277,6698,0.00,2.58,0.00,0.000,4,0.000,0.040,3435,3512,2111,0,0,0,0,0,0
$GC,6736,1.51,217.5,299.2,11.2,278,6741,0.00,2.60,0.00,0.000,6,0.000,0.037,3435,1933,2110,0,0,0,0,0,0
$GC,7015,1.51,217.5,268.5,11.0,285,7020,0.00,2.58,0.00,0.000,4,0.000,0.039,3435,3517,2109,0,0,0,0,0,0
$GC,7093,1.51,217.5,259.8,10.4,286,7099,0.00,2.58,0.00,0.000,6,0.000,0.035,3435,1942,2108,0,0,0,0,0,0
$GC,7343,1.54,241.4,237.4,8.7,293,7372,0.00,2.90,21.45,0.752,4,0.000,0.073,3435,344,2016,0,0,0,0,0,0
$GC,7391,1.56,261.4,233.4,8.9,294,7415,0.00,2.60,19.00,0.728,6,0.000,0.022,3435,1966,1935,0,0,0,0,0,0
$GC,7672,1.66,309.5,212.1,7.3,301,7722,0.15,2.60,41.75,0.731,4,0.091,0.041,3475,3490,1738,0,0,0,0,0,0
$GC,7783,1.66,309.5,199.9,12.3,303,7787,0.00,2.50,0.00,0.000,6,0.000,0.031,3476,1965,1735,0,0,0,0,0,0
$GC,8054,1.66,309.5,163.9,14.7,328,8059,0.00,2.50,0.00,0.000,4,0.000,0.031,3476,3501,1731,0,0,0,0,0,0
$GC,8088,1.66,309.5,158.1,14.8,330,8098,0.00,2.53,0.00,0.000,6,0.000,0.032,3476,1973,1731,0,0,0,0,0,0
$GC,8355,1.66,309.5,120.2,14.0,355,8359,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,1973,1731,0,0,0,0,0,0
$GC,8615,1.66,309.5,82.5,13.8,380,8619,0.00,2.45,0.00,0.000,4,0.000,0.031,3476,3495,1730,0,0,0,0,0,0
$GC,8662,1.66,309.5,76.9,14.6,383,8666,0.00,2.45,0.00,0.000,6,0.000,0.031,3476,1970,1729,0,0,0,0,0,0
$GC,8928,1.66,309.5,41.3,12.9,407,8937,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,1970,1729,0,0,0,0,0,0
$GC,9242,1.73,313.8,8.9,9.8,447,9251,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,1970,1729,0,0,0,0,0,0
$STATE,9292,end climb,SURFACE_DEPTH_REACHED
$STATE,9293,begin surface coast
$FINISH,0.4,0.975012
$STATE,9342,end surface coast,CONTROL_FINISHED_OK
$STATE,9342,begin surface
$SM_CCo,9365,72.30,0.543,0,0,1370,400.08
$SM_GC,1.27,0.00,0.00,72.30,0.000,0.000,0.543,479,1750,1370,-12.10,-0.57,400.08
$IRIDIUM_FIX,2241.69,-15801.49,140800,020223
$TT8_MAMPS,0.025311
$HUMID,58.07
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.30
$XPDR_PINGS,41
$24V_AH,23.5,10.350
$10V_AH,10.4,8.854
$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,28.975,110.225,369.775,72.300,0.000,31.435,31.900,212.961,10.250,0.000,18.747,929.656,6102.176,525.823,1754.098,540.343,33.358,1171.023,0.000,1759.915,0.000,0.534,0.000
$DEVICE_MAMPS,167.206,110.448,928.070,543.036,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,312.608,249.742,348.059,683.767,1034.253,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,35282,461
$CAP_FILE_SIZE,95686,0
$CFSIZE,260165632,178012160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210511,074644,2250.159,-15800.036,23,1.6,30,10.1