version: 66.06
glider: 146
mission: 6
dive: 134
start: 5 27 111 11 24 24
data:
$ID,146
$MISSION,6
$DIVE,134
$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,-270458.66
$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,46
$R_STBD_OVSHOOT,45
$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
$GPS1,111730,2249.718,-15803.299,59,0.9,63,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-71.3
$GPS2,112331,2249.762,-15803.292,11,1.4,17,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,0.016
$KALMAN_X,-83559.9,31.4,-149.0,72586.5,-380.7
$KALMAN_Y,-136906.0,209.7,-326.6,147875.7,-75.1
$MHEAD_RNG_PITCHd_Wd,76.1,10749,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-78.45,0.000,2,0.000,0.000,477,1747,3320,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.2,-5.5,10,127,12.62,2.58,-2.95,0.000,4,0.166,0.041,2818,3345,3481,0,0,0,0,0,0
$GC,232,-1.27,-116.8,34.8,-16.4,27,242,0.12,2.53,0.00,0.000,6,0.104,0.029,2847,1789,3482,0,0,0,0,0,0
$GC,500,-1.20,-116.8,74.2,-14.1,52,505,0.10,2.50,0.00,0.000,4,0.141,0.026,2867,3352,3484,0,0,0,0,0,0
$GC,577,-1.20,-116.8,84.9,-12.4,58,582,0.00,2.53,0.00,0.000,6,0.000,0.026,2866,1775,3484,0,0,0,0,0,0
$GC,840,-1.20,-116.8,116.7,-12.3,82,844,0.00,2.50,0.00,0.000,4,0.000,0.026,2867,3355,3485,0,0,0,0,0,0
$GC,874,-1.20,-116.8,121.0,-12.2,84,883,0.00,2.53,0.00,0.000,6,0.000,0.029,2867,1789,3485,0,0,0,0,0,0
$GC,1140,-1.20,-116.8,148.8,-10.4,109,1145,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1789,3486,0,0,0,0,0,0
$GC,1402,-1.20,-116.8,178.8,-11.9,134,1406,0.00,2.72,0.00,0.000,4,0.000,0.072,2867,193,3486,0,0,0,0,0,0
$GC,1435,-1.20,-116.8,182.6,-13.3,136,1439,0.00,2.47,0.00,0.000,6,0.000,0.018,2867,1826,3486,0,0,0,0,0,0
$GC,1702,-1.24,-116.8,214.2,-11.1,152,1706,0.00,2.38,0.00,0.000,4,0.000,0.032,2867,3344,3486,0,0,0,0,0,0
$GC,1732,-1.29,-116.8,217.3,-9.9,152,1736,0.00,2.47,0.00,0.000,6,0.000,0.026,2867,1783,3486,0,0,0,0,0,0
$GC,1988,-1.34,-116.8,241.2,-9.5,159,1989,0.12,0.00,0.00,0.000,6,0.073,0.000,2824,1783,3487,0,0,0,0,0,0
$GC,2230,-1.34,-116.8,269.4,-11.8,165,2232,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1783,3486,0,0,0,0,0,0
$GC,2475,-1.34,-116.8,299.5,-11.8,171,2480,0.00,2.50,0.00,0.000,4,0.000,0.033,2824,3346,3486,0,0,0,0,0,0
$GC,2497,-1.34,-116.8,302.4,-12.5,171,2501,0.00,2.50,0.00,0.000,6,0.000,0.041,2825,1804,3486,0,0,0,0,0,0
$GC,2752,-1.34,-116.8,331.7,-11.4,178,2757,0.00,2.47,0.00,0.000,4,0.000,0.038,2825,3340,3486,0,0,0,0,0,0
$GC,2779,-1.34,-116.8,334.8,-11.3,178,2784,0.00,2.53,0.00,0.000,6,0.000,0.043,2824,1803,3485,0,0,0,0,0,0
$GC,3031,-1.34,-116.8,360.8,-10.2,184,3032,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1804,3484,0,0,0,0,0,0
$GC,3273,-1.34,-116.8,386.2,-10.5,190,3274,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1803,3483,0,0,0,0,0,0
$GC,3517,-1.34,-116.8,411.8,-10.6,196,3521,0.00,2.55,0.00,0.000,4,0.000,0.047,2824,3342,3482,0,0,0,0,0,0
$GC,3562,-1.38,-116.8,416.6,-11.1,197,3566,0.00,2.62,0.00,0.000,6,0.000,0.059,2824,1804,3481,0,0,0,0,0,0
$GC,3839,-1.38,-116.8,447.1,-11.1,204,3843,0.00,2.58,0.00,0.000,4,0.000,0.047,2824,3342,3480,0,0,0,0,0,0
$GC,3911,-1.43,-116.8,454.9,-10.8,205,3915,0.00,2.62,0.00,0.000,6,0.000,0.064,2824,1808,3479,0,0,0,0,0,0
$GC,4162,-1.43,-116.8,477.4,-8.8,211,4166,0.00,2.53,0.00,0.000,4,0.000,0.051,2824,3335,3478,0,0,0,0,0,0
$GC,4184,-1.47,-116.8,479.5,-8.7,211,4188,0.00,2.62,0.00,0.000,6,0.000,0.067,2824,1812,3478,0,0,0,0,0,0
$STATE,4436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4436,begin apogee
$GC,4444,-0.31,0.0,503.3,9.6,218,4544,1.05,0.00,96.60,0.925,6,0.083,0.000,3061,1982,3001,0,0,0,0,0,0
$STATE,4545,end apogee,CONTROL_FINISHED_OK
$STATE,4545,begin climb
$GC,4547,1.38,116.8,506.5,0.0,220,4654,1.60,2.72,98.75,0.904,4,0.048,0.060,3435,3530,2524,0,0,0,0,0,0
$GC,4667,1.46,236.0,506.0,3.1,223,4778,0.00,2.67,100.88,0.894,6,0.000,0.052,3436,1969,2038,0,0,0,0,0,0
$GC,5045,1.46,236.0,469.5,10.7,233,5046,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1969,2029,0,0,0,0,0,0
$GC,5289,1.46,236.0,441.5,11.7,239,5293,0.00,2.60,0.00,0.000,4,0.000,0.048,3436,3533,2026,0,0,0,0,0,0
$GC,5356,1.46,236.0,433.3,12.6,240,5361,0.00,2.65,0.00,0.000,6,0.000,0.049,3436,1966,2026,0,0,0,0,0,0
$GC,5611,1.46,236.0,402.1,12.2,247,5615,0.00,2.58,0.00,0.000,4,0.000,0.042,3435,3538,2025,0,0,0,0,0,0
$GC,5671,1.46,236.0,394.4,12.1,248,5675,0.00,2.60,0.00,0.000,6,0.000,0.044,3435,1977,2023,0,0,0,0,0,0
$GC,5933,1.46,236.0,363.4,11.7,255,5935,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1976,2023,0,0,0,0,0,0
$GC,6176,1.46,236.0,337.1,10.6,261,6180,0.00,2.53,0.00,0.000,4,0.000,0.038,3435,3534,2022,0,0,0,0,0,0
$GC,6202,1.46,236.0,334.0,11.4,261,6207,0.00,2.58,0.00,0.000,6,0.000,0.041,3436,1970,2021,0,0,0,0,0,0
$GC,6454,1.46,236.0,308.4,10.1,267,6458,0.00,2.55,0.00,0.000,4,0.000,0.034,3435,3542,2020,0,0,0,0,0,0
$GC,6503,1.46,236.0,303.1,10.8,268,6507,0.00,2.53,0.00,0.000,6,0.000,0.035,3435,1989,2019,0,0,0,0,0,0
$GC,6781,1.47,245.8,275.9,9.5,275,6792,0.00,2.55,6.22,0.643,4,0.000,0.038,3435,3538,2000,0,0,0,0,0,0
$GC,6805,1.49,257.4,273.6,9.4,275,6823,0.00,2.55,12.43,0.729,6,0.000,0.037,3436,1983,1951,0,0,0,0,0,0
$GC,7064,1.49,257.4,246.8,10.4,282,7069,0.00,2.55,0.00,0.000,4,0.000,0.036,3436,3544,1947,0,0,0,0,0,0
$GC,7086,1.49,260.7,244.7,9.8,282,7090,0.00,2.53,0.00,0.000,6,0.000,0.038,3436,1998,1946,0,0,0,0,0,0
$GC,7343,1.49,260.7,218.9,10.6,289,7348,0.00,0.00,3.60,0.452,6,0.000,0.000,3436,1998,1937,0,0,0,0,0,0
$GC,7592,1.53,260.7,192.2,10.7,298,7597,0.12,2.53,0.00,0.000,4,0.080,0.032,3470,3542,1937,0,0,0,0,0,0
$GC,7613,1.53,260.7,189.0,12.0,299,7619,0.00,2.47,0.00,0.000,6,0.000,0.030,3470,2010,1936,0,0,0,0,0,0
$GC,7877,1.53,260.7,157.7,12.5,324,7881,0.00,2.75,0.00,0.000,4,0.000,0.064,3470,393,1936,0,0,0,0,0,0
$GC,7906,1.48,260.7,153.7,12.7,326,7910,0.00,2.55,0.00,0.000,6,0.000,0.023,3470,2031,1935,0,0,0,0,0,0
$GC,8170,1.49,270.4,125.3,9.5,350,8184,0.00,0.00,10.23,0.603,6,0.000,0.000,3470,2033,1897,0,0,0,0,0,0
$GC,8441,1.51,287.7,102.1,9.0,375,8466,0.00,2.47,16.20,0.607,4,0.000,0.032,3470,3536,1827,0,0,0,0,0,0
$GC,8517,1.51,287.7,94.1,10.8,381,8522,0.00,2.45,0.00,0.000,6,0.000,0.032,3470,2015,1825,0,0,0,0,0,0
$GC,8783,1.51,287.7,62.1,11.3,405,8788,0.00,2.45,0.00,0.000,4,0.000,0.031,3470,3540,1824,0,0,0,0,0,0
$GC,8805,1.51,287.7,59.6,11.4,406,8810,0.00,2.42,0.00,0.000,6,0.000,0.028,3470,2019,1824,0,0,0,0,0,0
$GC,9074,1.57,293.9,32.1,9.7,430,9089,0.00,2.47,6.65,0.472,4,0.000,0.027,3470,3541,1801,0,0,0,0,0,0
$GC,9106,1.63,293.9,28.3,11.1,432,9115,0.00,2.47,0.00,0.000,6,0.000,0.035,3470,2016,1801,0,0,0,0,0,0
$STATE,9329,end climb,SURFACE_DEPTH_REACHED
$STATE,9329,begin surface coast
$FINISH,0.7,0.979917
$STATE,9373,end surface coast,CONTROL_FINISHED_OK
$STATE,9373,begin surface
$SM_CCo,9396,86.75,0.532,0,0,1369,400.08
$SM_GC,1.14,0.00,0.00,86.75,0.000,0.000,0.532,477,1747,1369,-12.20,-0.65,400.08
$IRIDIUM_FIX,2239.35,-15804.53,200800,080823
$TT8_MAMPS,0.026078
$HUMID,57.52
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.70
$XPDR_PINGS,44
$24V_AH,23.5,16.984
$10V_AH,10.4,14.574
$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,27.775,112.600,351.550,86.750,0.000,23.360,36.870,169.163,11.000,0.000,19.000,931.961,6183.474,503.883,1740.999,486.502,33.355,1147.220,0.000,1741.467,0.000,0.534,0.000
$DEVICE_MAMPS,165.672,129.623,925.002,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,318.583,256.377,362.068,693.337,1048.658,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,38238,470
$CAP_FILE_SIZE,94233,0
$CFSIZE,260165632,175267840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270511,140401,2249.945,-15801.937,52,1.1,52,10.1