version: 66.06
glider: 146
mission: 6
dive: 88
start: 5 22 111 0 41 29
data:
$ID,146
$MISSION,6
$DIVE,88
$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,-269191.88
$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,3120
$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,1970
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,76
$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
$GPS1,002731,2246.544,-15800.989,40,1.0,40,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-67.4
$GPS2,004032,2246.621,-15801.062,10,0.9,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.180,0.151
$KALMAN_X,-62085.9,-771.4,97.9,55473.8,-277.0
$KALMAN_Y,-112557.7,-311.9,362.2,117543.5,-1070.9
$MHEAD_RNG_PITCHd_Wd,300.0,3385,-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,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.15,0.000,2,0.000,0.000,476,1838,3326,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.1,-4.2,10,125,12.45,2.38,-2.88,0.000,4,0.160,0.041,2809,3310,3481,0,0,0,0,0,0
$GC,266,-1.27,-116.8,41.8,-17.9,30,271,0.15,2.47,0.00,0.000,6,0.126,0.038,2839,1773,3482,0,0,0,0,0,0
$GC,529,-1.19,-116.8,83.3,-14.0,54,534,0.10,2.45,0.00,0.000,4,0.143,0.026,2858,3320,3483,0,0,0,0,0,0
$GC,576,-1.19,-116.8,88.8,-11.9,57,581,0.00,2.45,0.00,0.000,6,0.000,0.028,2858,1775,3484,0,0,0,0,0,0
$GC,842,-1.19,-116.8,122.6,-13.1,81,847,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1775,3484,0,0,0,0,0,0
$GC,1109,-1.19,-116.8,158.6,-13.0,106,1114,0.00,2.72,0.00,0.000,4,0.000,0.069,2858,190,3484,0,0,0,0,0,0
$GC,1188,-1.19,-116.8,169.3,-13.7,112,1193,0.00,2.42,0.00,0.000,6,0.000,0.021,2858,1804,3484,0,0,0,0,0,0
$GC,1470,-1.19,-116.8,204.9,-11.8,135,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1804,3485,0,0,0,0,0,0
$GC,1714,-1.19,-116.8,230.2,-10.3,141,1717,0.00,2.35,0.00,0.000,4,0.000,0.028,2858,3303,3485,0,0,0,0,0,0
$GC,1753,-1.26,-116.8,234.4,-10.0,141,1758,0.00,2.42,0.00,0.000,6,0.000,0.028,2859,1782,3485,0,0,0,0,0,0
$GC,2003,-1.30,-116.8,260.6,-10.7,148,2004,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1782,3485,0,0,0,0,0,0
$GC,2248,-1.35,-116.8,285.9,-9.9,154,2253,0.15,2.45,0.00,0.000,4,0.067,0.033,2809,3307,3485,0,0,0,0,0,0
$GC,2292,-1.35,-116.8,290.7,-10.5,155,2296,0.00,2.50,0.00,0.000,6,0.000,0.038,2809,1780,3485,0,0,0,0,0,0
$GC,2570,-1.35,-116.8,321.2,-11.0,162,2574,0.00,2.42,0.00,0.000,4,0.000,0.032,2809,3298,3484,0,0,0,0,0,0
$GC,2632,-1.35,-116.8,328.6,-12.2,163,2636,0.00,2.53,0.00,0.000,6,0.000,0.048,2809,1785,3484,0,0,0,0,0,0
$GC,2892,-1.35,-116.8,360.7,-12.6,170,2896,0.00,2.45,0.00,0.000,4,0.000,0.037,2809,3305,3482,0,0,0,0,0,0
$GC,2987,-1.35,-116.8,372.2,-11.9,172,2992,0.00,2.55,0.00,0.000,6,0.000,0.052,2809,1790,3482,0,0,0,0,0,0
$GC,3259,-1.35,-116.8,403.4,-11.5,179,3260,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1790,3480,0,0,0,0,0,0
$GC,3502,-1.35,-116.8,431.1,-11.3,185,3507,0.00,2.47,0.00,0.000,4,0.000,0.051,2809,3295,3479,0,0,0,0,0,0
$GC,3558,-1.35,-116.8,437.8,-12.8,186,3562,0.00,2.58,0.00,0.000,6,0.000,0.067,2809,1788,3478,0,0,0,0,0,0
$GC,3825,-1.35,-116.8,467.1,-10.6,193,3826,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1788,3477,0,0,0,0,0,0
$GC,4068,-1.35,-116.8,492.2,-10.1,199,4072,0.00,2.53,0.00,0.000,4,0.000,0.057,2809,3287,3475,0,0,0,0,0,0
$GC,4122,-1.35,-116.8,497.7,-10.3,200,4127,0.00,2.58,0.00,0.000,6,0.000,0.064,2809,1803,3475,0,0,0,0,0,0
$STATE,4184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4184,begin apogee
$GC,4191,-0.31,0.0,504.0,10.1,202,4292,1.10,0.00,97.00,0.923,6,0.093,0.000,3050,1927,3000,0,0,0,0,0,0
$STATE,4292,end apogee,CONTROL_FINISHED_OK
$STATE,4293,begin climb
$GC,4295,1.38,116.8,506.2,0.0,204,4407,1.62,2.83,99.57,0.900,4,0.054,0.063,3422,3531,2522,0,0,0,0,0,0
$GC,4414,1.45,208.1,503.4,4.8,207,4498,0.00,2.72,78.43,0.887,6,0.000,0.058,3422,1966,2152,0,0,0,0,0,0
$GC,4757,1.47,228.1,473.4,8.9,216,4781,0.00,2.75,17.27,0.834,4,0.000,0.051,3422,3534,2070,0,0,0,0,0,0
$GC,4792,1.50,249.7,470.1,8.8,216,4819,0.10,2.72,20.77,0.841,6,0.102,0.058,3448,1968,1981,0,0,0,0,0,0
$GC,5082,1.50,249.7,440.3,10.5,224,5087,0.00,3.03,0.00,0.000,4,0.000,0.117,3448,384,1974,0,0,0,0,0,0
$GC,5105,1.43,249.7,437.6,11.4,224,5109,0.00,2.55,0.00,0.000,6,0.000,0.033,3449,1940,1974,0,0,0,0,0,0
$GC,5359,1.43,249.7,409.6,11.1,231,5364,0.00,2.70,0.00,0.000,4,0.000,0.044,3449,3564,1973,0,0,0,0,0,0
$GC,5416,1.43,249.7,402.9,11.4,232,5420,0.00,2.72,0.00,0.000,6,0.000,0.045,3448,1950,1971,0,0,0,0,0,0
$GC,5683,1.43,249.7,373.4,10.9,239,5687,0.00,2.65,0.00,0.000,4,0.000,0.041,3448,3561,1970,0,0,0,0,0,0
$GC,5722,1.43,249.7,369.3,10.6,240,5726,0.00,2.65,0.00,0.000,6,0.000,0.045,3448,1973,1970,0,0,0,0,0,0
$GC,6004,1.43,249.7,340.7,10.3,247,6009,0.00,2.60,0.00,0.000,4,0.000,0.035,3449,3556,1969,0,0,0,0,0,0
$GC,6055,1.43,249.7,334.9,11.7,248,6059,0.00,2.60,0.00,0.000,6,0.000,0.043,3449,1988,1967,0,0,0,0,0,0
$GC,6326,1.43,249.7,302.9,11.9,255,6331,0.00,2.58,0.00,0.000,4,0.000,0.035,3449,3562,1967,0,0,0,0,0,0
$GC,6344,1.43,249.7,300.9,11.5,255,6348,0.00,2.58,0.00,0.000,6,0.000,0.035,3448,1991,1967,0,0,0,0,0,0
$GC,6605,1.43,249.7,273.2,10.2,262,6609,0.00,2.55,0.00,0.000,4,0.000,0.040,3449,3554,1966,0,0,0,0,0,0
$GC,6626,1.43,249.7,270.8,10.1,262,6630,0.00,2.55,0.00,0.000,6,0.000,0.032,3449,1989,1965,0,0,0,0,0,0
$GC,6882,1.43,249.7,243.5,11.3,269,6886,0.00,2.75,0.00,0.000,4,0.000,0.071,3449,393,1966,0,0,0,0,0,0
$GC,6922,1.40,249.7,238.4,13.8,270,6927,0.12,2.53,0.00,0.000,6,0.123,0.023,3425,1999,1965,0,0,0,0,0,0
$GC,7207,1.45,249.7,206.5,11.1,277,7211,0.00,2.47,0.00,0.000,4,0.000,0.041,3424,3540,1964,0,0,0,0,0,0
$GC,7234,1.51,249.7,203.4,11.2,277,7239,0.10,2.53,0.00,0.000,6,0.092,0.031,3452,1981,1964,0,0,0,0,0,0
$GC,7500,1.52,257.8,176.5,9.6,298,7511,0.00,2.55,5.00,0.538,4,0.000,0.033,3452,3540,1949,0,0,0,0,0,0
$GC,7538,1.52,260.5,172.6,9.9,301,7549,0.00,2.55,4.38,0.498,6,0.000,0.037,3452,1972,1937,0,0,0,0,0,0
$GC,7804,1.52,260.5,144.0,10.5,326,7805,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1972,1936,0,0,0,0,0,0
$GC,8059,1.52,260.5,118.1,10.9,350,8063,0.00,2.67,0.00,0.000,4,0.000,0.066,3452,384,1936,0,0,0,0,0,0
$GC,8140,1.52,260.5,109.0,11.1,356,8149,0.00,2.50,0.00,0.000,6,0.000,0.022,3452,1980,1935,0,0,0,0,0,0
$GC,8407,1.58,276.4,83.3,9.1,381,8428,0.00,2.72,15.27,0.590,4,0.000,0.056,3452,389,1873,0,0,0,0,0,0
$GC,8441,1.58,276.8,79.6,10.0,384,8445,0.00,2.47,0.00,0.000,6,0.000,0.025,3452,1975,1872,0,0,0,0,0,0
$GC,8708,1.67,285.7,52.6,9.5,408,8726,0.12,0.00,9.15,0.525,6,0.076,0.000,3490,1976,1835,0,0,0,0,0,0
$GC,9002,1.67,285.7,18.7,10.4,441,9011,0.00,2.70,0.00,0.000,4,0.000,0.054,3490,395,1834,0,0,0,0,0,0
$GC,9035,1.62,285.7,14.9,11.5,445,9044,0.00,2.45,0.00,0.000,6,0.000,0.018,3490,1966,1834,0,0,0,0,0,0
$STATE,9133,end climb,SURFACE_DEPTH_REACHED
$STATE,9133,begin surface coast
$FINISH,0.5,0.980115
$STATE,9194,end surface coast,CONTROL_FINISHED_OK
$STATE,9194,begin surface
$SM_CCo,9216,92.85,0.533,0,0,1370,400.08
$SM_GC,1.07,0.00,0.00,92.85,0.000,0.000,0.533,474,1742,1370,-12.17,-0.79,400.08
$IRIDIUM_FIX,2237.01,-15800.20,150800,000011
$TT8_MAMPS,0.026078
$HUMID,56.69
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.70
$XPDR_PINGS,46
$24V_AH,23.5,11.197
$10V_AH,10.4,9.607
$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,28.275,118.900,346.850,92.850,0.000,86.491,99.043,335.889,11.500,0.000,11.635,951.017,6064.730,502.933,1782.861,795.294,33.393,1181.708,0.000,1784.805,0.000,0.536,0.000
$DEVICE_MAMPS,159.536,165.672,923.468,533.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,316.598,262.924,360.042,686.992,1039.097,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,38172,467
$CAP_FILE_SIZE,104941,0
$CFSIZE,260165632,177643520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220511,031753,2246.737,-15802.407,14,99.0,33,10.1