version: 66.06
glider: 146
mission: 6
dive: 143
start: 5 28 111 13 20 18
data:
$ID,146
$MISSION,6
$DIVE,143
$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,-270707.12
$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,49
$R_STBD_OVSHOOT,69
$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
$GPS1,130528,2247.211,-15800.971,8,5.5,27,10.1
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-68.0
$GPS2,131922,2247.373,-15800.967,13,99.0,32,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.218,-0.087
$KALMAN_X,-84784.2,-239.9,-157.7,78060.4,168.8
$KALMAN_Y,-136718.3,-23.6,-181.8,143349.2,471.4
$MHEAD_RNG_PITCHd_Wd,238.1,3540,-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,-78.38,0.000,2,0.000,0.000,477,1743,3375,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.6,-6.6,10,125,12.12,2.62,-1.85,0.000,4,0.147,0.071,2821,221,3480,0,0,0,0,0,0
$GC,325,-1.22,-116.8,55.9,-16.5,33,330,0.20,2.33,0.00,0.000,6,0.120,0.013,2861,1787,3482,0,0,0,0,0,0
$GC,591,-1.22,-116.8,91.7,-13.5,57,596,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1788,3482,0,0,0,0,0,0
$GC,853,-1.22,-116.8,128.1,-13.9,82,858,0.00,2.65,0.00,0.000,4,0.000,0.061,2861,218,3483,0,0,0,0,0,0
$GC,874,-1.22,-116.8,130.8,-14.0,83,878,0.00,2.33,0.00,0.000,6,0.000,0.019,2861,1784,3483,0,0,0,0,0,0
$GC,1138,-1.22,-116.8,164.8,-12.6,107,1142,0.00,2.38,0.00,0.000,4,0.000,0.030,2861,3299,3483,0,0,0,0,0,0
$GC,1171,-1.22,-116.8,168.6,-12.3,109,1175,0.00,2.40,0.00,0.000,6,0.000,0.025,2861,1786,3483,0,0,0,0,0,0
$GC,1437,-1.22,-116.8,198.4,-10.7,133,1441,0.00,2.35,0.00,0.000,4,0.000,0.025,2861,3290,3483,0,0,0,0,0,0
$GC,1488,-1.28,-116.8,204.1,-10.7,135,1492,0.00,2.42,0.00,0.000,6,0.000,0.032,2861,1769,3484,0,0,0,0,0,0
$GC,1759,-1.28,-116.8,233.3,-11.2,142,1764,0.00,2.40,0.00,0.000,4,0.000,0.025,2861,3288,3484,0,0,0,0,0,0
$GC,1787,-1.32,-116.8,236.6,-12.0,142,1791,0.00,2.40,0.00,0.000,6,0.000,0.028,2861,1776,3484,0,0,0,0,0,0
$GC,2038,-1.36,-116.8,264.3,-11.1,148,2043,0.12,2.40,0.00,0.000,4,0.079,0.028,2817,3289,3484,0,0,0,0,0,0
$GC,2065,-1.36,-116.8,267.8,-12.2,148,2070,0.00,2.42,0.00,0.000,6,0.000,0.033,2817,1784,3484,0,0,0,0,0,0
$GC,2317,-1.36,-116.8,295.9,-11.3,154,2318,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1783,3483,0,0,0,0,0,0
$GC,2560,-1.36,-116.8,323.7,-11.3,160,2565,0.00,2.85,0.00,0.000,4,0.000,0.093,2817,187,3482,0,0,0,0,0,0
$GC,2599,-1.30,-116.8,328.3,-11.8,161,2604,0.12,2.40,0.00,0.000,6,0.115,0.029,2842,1717,3482,0,0,0,0,0,0
$GC,2884,-1.34,-116.8,356.2,-9.5,168,2889,0.00,2.55,0.00,0.000,4,0.000,0.044,2842,3284,3481,0,0,0,0,0,0
$GC,2969,-1.40,-116.8,364.5,-9.6,170,2974,0.00,2.50,0.00,0.000,6,0.000,0.050,2842,1786,3481,0,0,0,0,0,0
$GC,3253,-1.45,-116.8,392.0,-9.8,177,3258,0.12,2.47,0.00,0.000,4,0.075,0.044,2797,3290,3479,0,0,0,0,0,0
$GC,3270,-1.45,-116.8,393.8,-10.0,177,3275,0.00,2.53,0.00,0.000,6,0.000,0.058,2797,1793,3479,0,0,0,0,0,0
$GC,3531,-1.45,-116.8,425.9,-12.4,184,3532,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1793,3477,0,0,0,0,0,0
$GC,3774,-1.45,-116.8,455.4,-12.3,190,3778,0.00,2.47,0.00,0.000,4,0.000,0.049,2796,3278,3476,0,0,0,0,0,0
$GC,3819,-1.45,-116.8,461.1,-12.7,191,3824,0.00,2.58,0.00,0.000,6,0.000,0.064,2797,1792,3476,0,0,0,0,0,0
$GC,4097,-1.45,-116.8,493.0,-11.1,198,4102,0.00,2.50,0.00,0.000,4,0.000,0.060,2796,3277,3474,0,0,0,0,0,0
$STATE,4161,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4162,begin apogee
$GC,4171,-0.31,0.0,500.2,10.5,199,4271,1.15,0.00,95.97,0.925,6,0.089,0.000,3054,1971,3001,0,0,0,0,0,0
$STATE,4272,end apogee,CONTROL_FINISHED_OK
$STATE,4272,begin climb
$GC,4274,1.38,116.8,502.8,0.0,202,4378,1.60,0.00,99.12,0.900,6,0.053,0.000,3429,1970,2524,0,0,0,0,0,0
$GC,4601,1.38,154.5,482.1,7.9,210,4642,0.00,3.10,32.10,0.874,4,0.000,0.113,3430,390,2369,0,0,0,0,0,0
$GC,4661,1.32,166.6,477.0,9.3,211,4679,0.00,2.50,11.95,0.807,6,0.000,0.032,3430,1899,2321,0,0,0,0,0,0
$GC,4931,1.34,182.5,452.2,9.1,218,4950,0.00,2.72,14.32,0.833,4,0.000,0.051,3429,3484,2257,0,0,0,0,0,0
$GC,5054,1.34,182.5,439.6,11.0,220,5058,0.00,2.55,0.00,0.000,6,0.000,0.044,3429,1978,2253,0,0,0,0,0,0
$GC,5304,1.34,182.5,412.7,10.9,226,5308,0.00,2.50,0.00,0.000,4,0.000,0.044,3430,3486,2250,0,0,0,0,0,0
$GC,5343,1.34,182.5,408.6,10.8,227,5347,0.00,2.53,0.00,0.000,6,0.000,0.042,3430,1986,2250,0,0,0,0,0,0
$GC,5627,1.36,199.2,381.7,9.1,234,5648,0.00,2.92,14.93,0.817,4,0.000,0.087,3430,385,2187,0,0,0,0,0,0
$GC,5666,1.32,199.2,377.9,10.3,235,5670,0.00,2.47,0.00,0.000,6,0.000,0.026,3430,1922,2185,0,0,0,0,0,0
$GC,5950,1.35,227.6,353.5,8.4,242,5981,0.00,2.72,25.42,0.825,4,0.000,0.044,3429,3552,2071,0,0,0,0,0,0
$GC,6037,1.35,227.6,344.8,10.1,244,6041,0.00,2.60,0.00,0.000,6,0.000,0.037,3430,1985,2069,0,0,0,0,0,0
$GC,6321,1.38,248.8,318.6,8.8,251,6346,0.00,2.62,19.33,0.791,4,0.000,0.039,3429,3548,1985,0,0,0,0,0,0
$GC,6403,1.38,248.8,310.2,11.1,253,6407,0.00,2.55,0.00,0.000,6,0.000,0.039,3430,1997,1983,0,0,0,0,0,0
$GC,6686,1.38,248.8,279.6,11.2,260,6687,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1997,1980,0,0,0,0,0,0
$GC,6931,1.38,248.8,250.9,11.8,266,6935,0.00,2.78,0.00,0.000,4,0.000,0.071,3429,392,1979,0,0,0,0,0,0
$GC,6951,1.38,248.8,248.0,12.3,266,6956,0.00,2.60,0.00,0.000,6,0.000,0.020,3430,2035,1978,0,0,0,0,0,0
$GC,7213,1.43,248.8,218.6,11.5,273,7217,0.00,2.42,0.00,0.000,4,0.000,0.038,3430,3548,1977,0,0,0,0,0,0
$GC,7255,1.48,248.8,214.1,11.5,274,7260,0.10,2.47,0.00,0.000,6,0.096,0.035,3459,2026,1977,0,0,0,0,0,0
$GC,7512,1.48,248.8,185.9,10.5,287,7513,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,2026,1976,0,0,0,0,0,0
$GC,7768,1.49,253.8,162.7,9.8,311,7776,0.00,0.00,4.10,0.474,6,0.000,0.000,3459,2026,1965,0,0,0,0,0,0
$GC,8031,1.49,253.8,135.3,10.8,336,8036,0.00,2.47,0.00,0.000,4,0.000,0.034,3459,3556,1965,0,0,0,0,0,0
$GC,8065,1.49,253.8,131.6,10.8,338,8074,0.00,2.50,0.00,0.000,6,0.000,0.035,3458,2022,1964,0,0,0,0,0,0
$GC,8333,1.49,256.4,105.2,9.9,363,8344,0.00,2.78,3.95,0.429,4,0.000,0.058,3459,390,1954,0,0,0,0,0,0
$GC,8383,1.49,256.4,99.3,11.8,367,8388,0.00,2.58,0.00,0.000,6,0.000,0.018,3459,2046,1953,0,0,0,0,0,0
$GC,8651,1.53,256.4,71.4,11.1,391,8655,0.00,2.40,0.00,0.000,4,0.000,0.031,3459,3551,1953,0,0,0,0,0,0
$GC,8685,1.58,256.4,67.4,11.1,393,8689,0.00,2.47,0.00,0.000,6,0.000,0.036,3459,2011,1953,0,0,0,0,0,0
$GC,8953,1.70,299.0,43.7,7.6,417,9003,0.17,2.80,37.30,0.574,4,0.067,0.052,3507,395,1780,0,0,0,0,0,0
$GC,9009,1.71,308.3,38.0,9.5,421,9023,0.00,2.62,9.15,0.504,6,0.000,0.018,3507,2047,1744,0,0,0,0,0,0
$STATE,9294,end climb,SURFACE_DEPTH_REACHED
$STATE,9294,begin surface coast
$FINISH,0.5,0.980111
$STATE,9330,end surface coast,CONTROL_FINISHED_OK
$STATE,9330,begin surface
$SM_CCo,9352,73.90,0.536,0,0,1369,400.08
$SM_GC,1.12,0.00,0.00,73.90,0.000,0.000,0.536,479,1744,1369,-12.20,-0.74,400.08
$IRIDIUM_FIX,2239.35,-15800.20,210800,131354
$TT8_MAMPS,0.026078
$HUMID,57.63
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.90
$XPDR_PINGS,42
$24V_AH,23.5,18.096
$10V_AH,10.4,15.573
$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,28.025,117.375,367.650,73.900,0.000,84.562,115.210,347.784,10.500,0.000,35.151,958.568,6171.878,498.394,1818.367,818.831,33.363,1184.415,0.000,1795.069,0.000,0.536,0.000
$DEVICE_MAMPS,147.264,112.749,925.002,536.133,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,314.827,264.833,356.786,671.025,1014.815,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,35245,464
$CAP_FILE_SIZE,106533,0
$CFSIZE,260165632,174784512
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280511,155854,2247.076,-15802.129,30,1.2,47,10.1