version: 66.06
glider: 146
mission: 6
dive: 132
start: 5 27 111 5 51 19
data:
$ID,146
$MISSION,6
$DIVE,132
$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,-270422.88
$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,3130
$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,44
$R_STBD_OVSHOOT,24
$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
$GPS1,054046,2247.919,-15802.744,8,2.6,27,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.2
$GPS2,055023,2247.973,-15802.774,12,1.7,21,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.022,0.234
$KALMAN_X,-82291.0,-35.6,-10.7,72131.5,-398.9
$KALMAN_Y,-135960.6,94.6,184.4,143221.7,-630.9
$MHEAD_RNG_PITCHd_Wd,355.3,3774,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.45,0.000,2,0.000,0.000,476,1747,3355,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.6,-6.5,10,125,12.70,2.62,-2.28,0.000,4,0.167,0.041,2820,3375,3482,0,0,0,0,0,0
$GC,326,-1.26,-116.8,52.8,-19.6,34,331,0.15,2.55,0.00,0.000,6,0.125,0.028,2851,1781,3483,0,0,0,0,0,0
$GC,589,-1.21,-116.8,94.4,-14.2,58,593,0.00,2.50,0.00,0.000,4,0.000,0.028,2851,3371,3484,0,0,0,0,0,0
$GC,611,-1.17,-116.8,97.0,-13.2,59,616,0.10,2.55,0.00,0.000,6,0.127,0.025,2871,1759,3484,0,0,0,0,0,0
$GC,877,-1.17,-116.8,127.8,-11.3,83,882,0.00,2.53,0.00,0.000,4,0.000,0.025,2872,3366,3485,0,0,0,0,0,0
$GC,909,-1.17,-116.8,131.9,-12.3,85,914,0.00,2.53,0.00,0.000,6,0.000,0.031,2872,1774,3485,0,0,0,0,0,0
$GC,1177,-1.17,-116.8,162.5,-11.2,109,1181,0.00,2.67,0.00,0.000,4,0.000,0.070,2872,197,3486,0,0,0,0,0,0
$GC,1204,-1.17,-116.8,166.7,-12.2,111,1208,0.00,2.45,0.00,0.000,6,0.000,0.016,2872,1834,3486,0,0,0,0,0,0
$GC,1468,-1.21,-116.8,198.9,-11.9,135,1473,0.00,2.80,0.00,0.000,4,0.000,0.069,2872,196,3486,0,0,0,0,0,0
$GC,1495,-1.21,-116.8,203.1,-13.9,135,1499,0.00,2.47,0.00,0.000,6,0.000,0.022,2871,1824,3486,0,0,0,0,0,0
$GC,1745,-1.27,-116.8,231.7,-11.3,141,1750,0.00,2.42,0.00,0.000,4,0.000,0.028,2872,3367,3486,0,0,0,0,0,0
$GC,1774,-1.35,-116.8,234.9,-10.5,141,1779,0.15,2.53,0.00,0.000,6,0.066,0.029,2823,1782,3486,0,0,0,0,0,0
$GC,2024,-1.35,-116.8,266.0,-12.6,147,2028,0.00,2.53,0.00,0.000,4,0.000,0.029,2822,3363,3487,0,0,0,0,0,0
$GC,2050,-1.35,-116.8,269.2,-11.2,147,2055,0.00,2.55,0.00,0.000,6,0.000,0.036,2822,1784,3486,0,0,0,0,0,0
$GC,2302,-1.35,-116.8,296.7,-10.9,153,2306,0.00,2.53,0.00,0.000,4,0.000,0.037,2822,3370,3486,0,0,0,0,0,0
$GC,2341,-1.35,-116.8,300.7,-10.0,154,2345,0.00,2.55,0.00,0.000,6,0.000,0.038,2822,1803,3486,0,0,0,0,0,0
$GC,2624,-1.35,-116.8,328.0,-9.6,161,2628,0.00,2.53,0.00,0.000,4,0.000,0.039,2823,3364,3485,0,0,0,0,0,0
$GC,2674,-1.35,-116.8,333.2,-10.4,162,2679,0.00,2.58,0.00,0.000,6,0.000,0.045,2823,1813,3484,0,0,0,0,0,0
$GC,2946,-1.35,-116.8,361.8,-10.5,169,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1813,3483,0,0,0,0,0,0
$GC,3190,-1.35,-116.8,390.3,-11.9,175,3195,0.00,2.53,0.00,0.000,4,0.000,0.043,2823,3363,3481,0,0,0,0,0,0
$GC,3235,-1.35,-116.8,395.8,-12.4,176,3240,0.00,2.60,0.00,0.000,6,0.000,0.051,2823,1828,3481,0,0,0,0,0,0
$GC,3513,-1.35,-116.8,428.7,-11.7,183,3517,0.00,2.53,0.00,0.000,4,0.000,0.048,2823,3356,3480,0,0,0,0,0,0
$GC,3546,-1.39,-116.8,432.7,-11.3,183,3551,0.00,2.60,0.00,0.000,6,0.000,0.062,2823,1824,3479,0,0,0,0,0,0
$GC,3796,-1.39,-116.8,460.5,-10.9,190,3798,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1823,3478,0,0,0,0,0,0
$GC,4039,-1.39,-116.8,485.2,-9.9,196,4043,0.00,2.58,0.00,0.000,4,0.000,0.054,2822,3352,3476,0,0,0,0,0,0
$GC,4066,-1.43,-116.8,487.9,-10.4,196,4070,0.00,2.62,0.00,0.000,6,0.000,0.063,2823,1831,3476,0,0,0,0,0,0
$STATE,4191,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4191,begin apogee
$GC,4199,-0.31,0.0,500.3,9.7,199,4299,1.05,0.00,96.60,0.923,6,0.081,0.000,3060,2002,3000,0,0,0,0,0,0
$STATE,4300,end apogee,CONTROL_FINISHED_OK
$STATE,4300,begin climb
$GC,4302,1.38,116.8,502.9,0.0,201,4409,1.60,2.67,99.22,0.901,4,0.059,0.059,3433,3526,2522,0,0,0,0,0,0
$GC,4452,1.37,165.6,498.0,7.2,205,4501,0.00,2.70,41.95,0.884,6,0.000,0.058,3433,1971,2324,0,0,0,0,0,0
$GC,4765,1.40,190.8,470.8,8.6,213,4794,0.00,2.75,21.75,0.852,4,0.000,0.047,3433,3536,2222,0,0,0,0,0,0
$GC,4823,1.41,201.3,465.5,9.4,214,4839,0.00,2.67,10.57,0.786,6,0.000,0.054,3433,1976,2180,0,0,0,0,0,0
$GC,5089,1.43,214.9,440.3,9.3,221,5109,0.00,3.15,12.82,0.808,4,0.000,0.114,3433,382,2123,0,0,0,0,0,0
$GC,5121,1.39,220.6,437.2,9.7,221,5134,0.00,2.58,6.50,0.694,6,0.000,0.029,3433,1959,2101,0,0,0,0,0,0
$GC,5420,1.40,230.5,408.9,9.5,229,5435,0.00,2.70,9.45,0.772,4,0.000,0.049,3433,3553,2060,0,0,0,0,0,0
$GC,5531,1.40,230.5,397.2,10.2,231,5536,0.00,2.62,0.00,0.000,6,0.000,0.040,3433,1988,2059,0,0,0,0,0,0
$GC,5787,1.40,230.5,368.3,11.6,238,5791,0.00,2.55,0.00,0.000,4,0.000,0.035,3433,3555,2057,0,0,0,0,0,0
$GC,5842,1.40,230.5,361.3,12.6,239,5846,0.00,2.60,0.00,0.000,6,0.000,0.044,3433,1994,2056,0,0,0,0,0,0
$GC,6108,1.40,230.5,329.8,11.7,246,6109,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1994,2055,0,0,0,0,0,0
$GC,6353,1.40,230.5,302.5,11.0,252,6354,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1994,2053,0,0,0,0,0,0
$GC,6596,1.41,232.6,277.2,9.9,258,6600,0.00,2.55,0.00,0.000,4,0.000,0.035,3433,3560,2053,0,0,0,0,0,0
$GC,6635,1.41,232.6,273.0,10.9,259,6639,0.00,2.55,0.00,0.000,6,0.000,0.033,3433,2001,2051,0,0,0,0,0,0
$GC,6919,1.42,245.7,245.6,9.3,266,6938,0.00,2.85,13.32,0.732,4,0.000,0.071,3433,400,1998,0,0,0,0,0,0
$GC,6963,1.42,245.7,240.9,10.8,267,6967,0.00,2.60,0.00,0.000,6,0.000,0.024,3433,2033,1997,0,0,0,0,0,0
$GC,7246,1.50,274.1,215.8,8.4,274,7275,0.10,0.00,26.02,0.739,6,0.194,0.000,3461,2034,1883,0,0,0,0,0,0
$GC,7496,1.50,280.7,192.1,9.7,283,7505,0.00,0.00,6.78,0.614,6,0.000,0.000,3461,2034,1855,0,0,0,0,0,0
$GC,7759,1.50,280.7,163.1,12.6,308,7763,0.00,2.83,0.00,0.000,4,0.000,0.061,3461,384,1853,0,0,0,0,0,0
$GC,7793,1.47,280.7,159.4,13.1,310,7798,0.00,2.58,0.00,0.000,6,0.000,0.019,3461,2041,1852,0,0,0,0,0,0
$GC,8056,1.47,280.7,125.8,12.8,334,8060,0.00,2.45,0.00,0.000,4,0.000,0.033,3461,3559,1852,0,0,0,0,0,0
$GC,8084,1.47,280.7,121.9,13.5,336,8089,0.00,2.50,0.00,0.000,6,0.000,0.035,3461,2013,1851,0,0,0,0,0,0
$GC,8348,1.47,280.7,89.4,11.6,360,8352,0.00,2.50,0.00,0.000,4,0.000,0.037,3461,3562,1851,0,0,0,0,0,0
$GC,8377,1.50,280.7,85.9,11.5,362,8381,0.00,2.47,0.00,0.000,6,0.000,0.031,3461,2025,1851,0,0,0,0,0,0
$GC,8645,1.59,307.4,61.9,8.5,386,8674,0.00,0.00,23.62,0.591,6,0.000,0.000,3461,2026,1745,0,0,0,0,0,0
$GC,8932,1.65,307.4,35.8,10.7,413,8938,0.12,2.75,0.00,0.000,4,0.076,0.055,3499,393,1743,0,0,0,0,0,0
$GC,8966,1.65,307.4,32.2,10.7,415,8971,0.00,2.62,0.00,0.000,6,0.000,0.019,3500,2077,1742,0,0,0,0,0,0
$STATE,9216,end climb,SURFACE_DEPTH_REACHED
$STATE,9216,begin surface coast
$FINISH,0.5,0.971118
$STATE,9259,end surface coast,CONTROL_FINISHED_OK
$STATE,9259,begin surface
$SM_CCo,9282,75.30,0.537,0,0,1370,400.08
$SM_GC,1.24,0.00,0.00,75.30,0.000,0.000,0.537,478,1756,1370,-12.20,-0.42,400.08
$IRIDIUM_FIX,2241.69,-15802.37,200800,050534
$TT8_MAMPS,0.026078
$HUMID,58.46
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.90
$XPDR_PINGS,49
$24V_AH,23.5,16.751
$10V_AH,10.4,14.361
$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,28.175,120.325,368.625,75.300,0.000,60.766,68.284,245.647,12.250,0.000,23.319,942.061,6081.982,508.933,1762.080,644.662,33.363,1158.027,0.000,1755.355,0.000,0.536,0.000
$DEVICE_MAMPS,194.051,129.623,923.468,536.900,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,310.665,267.434,349.825,683.771,1034.127,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,35210,457
$CAP_FILE_SIZE,100448,0
$CFSIZE,260165632,175374336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270511,082927,2248.795,-15802.970,70,3.3,89,10.1