version: 66.06
glider: 146
mission: 6
dive: 129
start: 5 26 111 21 12 28
data:
$ID,146
$MISSION,6
$DIVE,129
$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,-270297.62
$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,43
$R_STBD_OVSHOOT,60
$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
$GPS1,205811,2246.890,-15759.130,35,99.0,54,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.2
$GPS2,211134,2246.929,-15759.271,13,99.0,32,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.235,0.007
$KALMAN_X,-81199.7,-187.0,-113.8,77271.5,-185.6
$KALMAN_Y,-134783.1,-315.7,-324.9,141028.9,-21.1
$MHEAD_RNG_PITCHd_Wd,261.7,6369,-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,-78.65,0.000,2,0.000,0.000,473,1743,3385,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.8,-7.0,10,127,12.40,2.62,-1.65,0.000,4,0.159,0.065,2808,211,3480,0,0,0,0,0,0
$GC,289,-1.16,-116.8,51.8,-20.3,30,295,0.28,2.38,0.00,0.000,6,0.117,0.014,2864,1799,3482,0,0,0,0,0,0
$GC,553,-1.16,-116.8,88.4,-13.7,54,557,0.00,2.38,0.00,0.000,4,0.000,0.023,2864,3313,3483,0,0,0,0,0,0
$GC,587,-1.16,-116.8,93.5,-13.5,56,596,0.00,2.45,0.00,0.000,6,0.000,0.027,2864,1790,3483,0,0,0,0,0,0
$GC,853,-1.16,-116.8,126.8,-12.7,81,858,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1790,3484,0,0,0,0,0,0
$GC,1118,-1.16,-116.8,156.0,-10.0,106,1123,0.00,2.72,0.00,0.000,4,0.000,0.067,2864,195,3484,0,0,0,0,0,0
$GC,1162,-1.16,-116.8,160.7,-11.3,109,1166,0.00,2.35,0.00,0.000,6,0.000,0.015,2864,1776,3484,0,0,0,0,0,0
$GC,1429,-1.16,-116.8,191.4,-12.8,133,1434,0.00,2.67,0.00,0.000,4,0.000,0.065,2864,198,3484,0,0,0,0,0,0
$GC,1481,-1.16,-116.8,199.4,-13.7,137,1486,0.00,2.30,0.00,0.000,6,0.000,0.021,2864,1743,3484,0,0,0,0,0,0
$GC,1732,-1.16,-116.8,228.3,-11.0,143,1736,0.00,2.47,0.00,0.000,4,0.000,0.028,2864,3309,3484,0,0,0,0,0,0
$GC,1766,-1.22,-116.8,231.9,-10.0,143,1771,0.00,2.53,0.00,0.000,6,0.000,0.035,2864,1742,3485,0,0,0,0,0,0
$GC,2016,-1.26,-116.8,254.5,-8.7,150,2021,0.00,2.70,0.00,0.000,4,0.000,0.074,2864,187,3484,0,0,0,0,0,0
$GC,2039,-1.26,-116.8,256.6,-8.8,150,2044,0.00,2.35,0.00,0.000,6,0.000,0.021,2863,1713,3484,0,0,0,0,0,0
$GC,2295,-1.31,-116.8,281.8,-10.2,157,2300,0.12,2.55,0.00,0.000,4,0.074,0.041,2823,3303,3484,0,0,0,0,0,0
$GC,2328,-1.31,-116.8,285.9,-12.4,157,2334,0.00,2.55,0.00,0.000,6,0.000,0.035,2823,1739,3484,0,0,0,0,0,0
$GC,2579,-1.31,-116.8,315.6,-11.8,164,2583,0.00,2.50,0.00,0.000,4,0.000,0.037,2823,3306,3483,0,0,0,0,0,0
$GC,2645,-1.31,-116.8,323.8,-12.2,165,2649,0.00,2.58,0.00,0.000,6,0.000,0.041,2824,1748,3483,0,0,0,0,0,0
$GC,2906,-1.31,-116.8,353.9,-11.6,172,2911,0.00,2.50,0.00,0.000,4,0.000,0.042,2823,3301,3482,0,0,0,0,0,0
$GC,2980,-1.31,-116.8,362.3,-11.0,173,2984,0.00,2.58,0.00,0.000,6,0.000,0.049,2823,1760,3481,0,0,0,0,0,0
$GC,3229,-1.31,-116.8,389.0,-10.7,179,3234,0.00,2.88,0.00,0.000,4,0.000,0.100,2823,181,3480,0,0,0,0,0,0
$GC,3250,-1.31,-116.8,391.4,-10.7,179,3254,0.00,2.42,0.00,0.000,6,0.000,0.032,2823,1717,3479,0,0,0,0,0,0
$GC,3507,-1.31,-116.8,416.0,-9.3,186,3512,0.00,2.65,0.00,0.000,4,0.000,0.057,2823,3305,3478,0,0,0,0,0,0
$GC,3586,-1.36,-116.8,423.8,-9.6,187,3592,0.00,2.60,0.00,0.000,6,0.000,0.061,2823,1782,3478,0,0,0,0,0,0
$GC,3836,-1.36,-116.8,447.6,-9.6,194,3841,0.00,2.53,0.00,0.000,4,0.000,0.052,2823,3304,3477,0,0,0,0,0,0
$GC,3871,-1.40,-116.8,451.2,-10.1,194,3876,0.00,2.58,0.00,0.000,6,0.000,0.059,2823,1793,3477,0,0,0,0,0,0
$GC,4120,-1.40,-116.8,479.1,-11.3,201,4122,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1793,3475,0,0,0,0,0,0
$STATE,4321,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4321,begin apogee
$GC,4327,-0.31,0.0,501.8,11.1,206,4427,1.02,0.00,96.05,0.927,6,0.085,0.000,3053,1928,3000,0,0,0,0,0,0
$STATE,4428,end apogee,CONTROL_FINISHED_OK
$STATE,4428,begin climb
$GC,4431,1.38,116.8,504.8,0.0,208,4535,1.55,0.00,98.78,0.905,6,0.051,0.000,3418,1928,2524,0,0,0,0,0,0
$GC,4757,1.43,151.7,486.2,8.0,216,4792,0.00,2.80,29.75,0.874,4,0.000,0.052,3418,3537,2381,0,0,0,0,0,0
$GC,4882,1.44,160.5,474.1,9.5,218,4897,0.00,2.70,8.80,0.764,6,0.000,0.055,3418,1968,2346,0,0,0,0,0,0
$GC,5170,1.49,202.4,449.9,7.6,225,5216,0.10,3.12,36.90,0.875,4,0.096,0.111,3444,382,2174,0,0,0,0,0,0
$GC,5236,1.42,218.5,444.5,9.1,226,5257,0.00,2.60,15.23,0.816,6,0.000,0.035,3444,1954,2109,0,0,0,0,0,0
$GC,5500,1.42,218.5,417.0,10.5,233,5505,0.00,2.67,0.00,0.000,4,0.000,0.048,3444,3555,2103,0,0,0,0,0,0
$GC,5551,1.42,218.5,410.7,12.0,234,5556,0.00,2.67,0.00,0.000,6,0.000,0.045,3445,1969,2102,0,0,0,0,0,0
$GC,5823,1.42,218.5,376.5,12.8,241,5828,0.00,2.62,0.00,0.000,4,0.000,0.037,3445,3558,2099,0,0,0,0,0,0
$GC,5878,1.42,218.5,369.5,12.2,242,5883,0.00,2.65,0.00,0.000,6,0.000,0.044,3444,1971,2098,0,0,0,0,0,0
$GC,6146,1.42,218.5,340.0,10.7,249,6151,0.00,2.80,0.00,0.000,4,0.000,0.074,3445,380,2097,0,0,0,0,0,0
$GC,6162,1.38,218.5,338.1,10.6,249,6167,0.12,2.60,0.00,0.000,6,0.124,0.027,3420,2010,2096,0,0,0,0,0,0
$GC,6423,1.42,246.9,315.6,8.4,256,6452,0.00,2.60,23.88,0.801,4,0.000,0.044,3420,3555,1993,0,0,0,0,0,0
$GC,6505,1.48,246.9,307.8,10.6,257,6511,0.00,2.60,0.00,0.000,6,0.000,0.038,3420,1984,1991,0,0,0,0,0,0
$GC,6755,1.52,246.9,281.3,10.7,264,6760,0.12,2.58,0.00,0.000,4,0.118,0.035,3453,3542,1989,0,0,0,0,0,0
$GC,6788,1.52,246.9,277.4,12.3,264,6794,0.00,2.55,0.00,0.000,6,0.000,0.035,3453,1992,1988,0,0,0,0,0,0
$GC,7039,1.52,246.9,249.8,11.0,271,7044,0.00,2.78,0.00,0.000,4,0.000,0.071,3453,388,1987,0,0,0,0,0,0
$GC,7054,1.52,246.9,247.8,11.5,271,7059,0.00,2.58,0.00,0.000,6,0.000,0.024,3452,2026,1986,0,0,0,0,0,0
$GC,7315,1.52,246.9,220.3,10.5,278,7316,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2027,1986,0,0,0,0,0,0
$GC,7562,1.54,265.0,195.5,9.0,287,7587,0.00,2.88,15.80,0.693,4,0.000,0.059,3453,395,1920,0,0,0,0,0,0
$GC,7634,1.54,265.0,187.9,10.6,293,7638,0.00,2.60,0.00,0.000,6,0.000,0.025,3453,2041,1918,0,0,0,0,0,0
$GC,7897,1.54,265.0,160.0,11.0,317,7902,0.00,2.42,0.00,0.000,4,0.000,0.034,3453,3548,1917,0,0,0,0,0,0
$GC,7914,1.54,265.0,157.7,11.5,318,7919,0.00,2.45,0.00,0.000,6,0.000,0.035,3452,2022,1916,0,0,0,0,0,0
$GC,8177,1.55,268.9,130.0,9.8,342,8192,0.00,2.83,4.43,0.472,4,0.000,0.064,3453,392,1904,0,0,0,0,0,0
$GC,8245,1.55,268.9,122.4,11.4,347,8251,0.00,2.58,0.00,0.000,6,0.000,0.022,3453,2037,1904,0,0,0,0,0,0
$GC,8508,1.59,268.9,94.1,11.6,372,8512,0.00,2.42,0.00,0.000,4,0.000,0.033,3453,3552,1904,0,0,0,0,0,0
$GC,8538,1.63,268.9,90.4,12.7,374,8544,0.10,2.50,0.00,0.000,6,0.087,0.028,3483,2000,1903,0,0,0,0,0,0
$GC,8803,1.63,268.9,61.1,10.5,398,8807,0.00,2.47,0.00,0.000,4,0.000,0.029,3483,3544,1903,0,0,0,0,0,0
$GC,8836,1.63,268.9,57.4,12.1,400,8841,0.00,2.42,0.00,0.000,6,0.000,0.029,3483,2032,1903,0,0,0,0,0,0
$GC,9105,1.65,283.9,30.5,9.2,424,9128,0.00,2.47,14.50,0.538,4,0.000,0.028,3483,3542,1843,0,0,0,0,0,0
$GC,9139,1.65,283.9,26.6,10.4,427,9148,0.00,2.45,0.00,0.000,6,0.000,0.028,3483,2041,1842,0,0,0,0,0,0
$STATE,9348,end climb,SURFACE_DEPTH_REACHED
$STATE,9348,begin surface coast
$FINISH,0.4,0.979908
$STATE,9398,end surface coast,CONTROL_FINISHED_OK
$STATE,9398,begin surface
$SM_CCo,9420,94.53,0.535,0,0,1369,400.08
$SM_GC,1.29,0.00,0.00,94.53,0.000,0.000,0.535,480,1757,1369,-12.15,-0.37,400.08
$IRIDIUM_FIX,2237.01,-15800.20,190800,212126
$TT8_MAMPS,0.026078
$HUMID,57.24
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.60
$XPDR_PINGS,50
$24V_AH,23.5,16.386
$10V_AH,10.4,14.040
$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,28.050,134.875,344.100,94.525,0.000,77.476,122.015,315.160,12.500,0.000,34.741,952.512,6249.263,519.372,1802.149,798.187,33.364,1205.334,0.000,1780.954,0.000,0.535,0.000
$DEVICE_MAMPS,158.769,151.866,926.536,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,314.173,252.673,354.885,675.770,1017.338,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,35340,464
$CAP_FILE_SIZE,106831,0
$CFSIZE,260165632,175525888
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260511,235159,2246.813,-15800.675,11,1.5,14,10.1