version: 66.06
glider: 146
mission: 6
dive: 144
start: 5 28 111 16 16 12
data:
$ID,146
$MISSION,6
$DIVE,144
$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,-270741.75
$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,50
$R_STBD_OVSHOOT,34
$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
$GPS1,155854,2247.076,-15802.129,30,1.2,47,10.1
$_CALLS,3
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-67.7
$GPS2,161519,2247.211,-15802.035,14,1.3,32,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.177,-0.038
$KALMAN_X,-84846.2,-106.9,111.7,75891.5,118.5
$KALMAN_Y,-136595.4,-115.7,354.5,142482.1,-9.5
$MHEAD_RNG_PITCHd_Wd,247.8,1693,-26.2,-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,-1.72,-68.6,0.0,0.0,0,88,0.00,0.00,-70.47,0.000,2,0.000,0.000,478,1744,3172,0,0,0,0,0,0
$GC,91,-1.78,-116.8,3.1,-4.6,9,116,11.82,2.55,-5.95,0.000,4,0.153,0.038,2735,3359,3479,0,0,0,0,0,0
$GC,305,-1.74,-116.8,55.2,-19.6,32,309,0.00,2.53,0.00,0.000,6,0.000,0.027,2735,1786,3480,0,0,0,0,0,0
$GC,569,-1.66,-116.8,105.1,-19.8,56,574,0.15,2.50,0.00,0.000,4,0.136,0.030,2764,3360,3481,0,0,0,0,0,0
$GC,581,-1.60,-116.8,108.3,-19.7,56,590,0.00,2.58,0.00,0.000,6,0.000,0.024,2764,1756,3481,0,0,0,0,0,0
$GC,843,-1.60,-116.8,154.1,-17.6,81,847,0.00,2.53,0.00,0.000,4,0.000,0.024,2764,3359,3481,0,0,0,0,0,0
$GC,873,-1.60,-116.8,159.2,-17.2,83,877,0.00,2.55,0.00,0.000,6,0.000,0.034,2764,1766,3482,0,0,0,0,0,0
$GC,1135,-1.60,-116.8,201.2,-14.6,107,1140,0.00,2.53,0.00,0.000,4,0.000,0.028,2764,3366,3482,0,0,0,0,0,0
$GC,1157,-1.60,-116.8,204.8,-14.3,107,1161,0.00,2.50,0.00,0.000,6,0.000,0.029,2764,1782,3482,0,0,0,0,0,0
$GC,1420,-1.64,-116.8,245.2,-15.3,114,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2764,1782,3482,0,0,0,0,0,0
$GC,1662,-1.70,-116.8,284.9,-16.6,120,1667,0.00,2.55,0.00,0.000,4,0.000,0.042,2764,3362,3483,0,0,0,0,0,0
$GC,1707,-1.78,-116.8,292.4,-16.2,121,1711,0.00,2.60,0.00,0.000,6,0.000,0.047,2764,1785,3483,0,0,0,0,0,0
$GC,1986,-1.85,-116.8,334.1,-14.3,128,1991,0.15,2.90,0.00,0.000,4,0.065,0.092,2715,183,3482,0,0,0,0,0,0
$GC,2007,-1.85,-116.8,337.9,-15.2,128,2012,0.00,2.53,0.00,0.000,6,0.000,0.032,2715,1778,3482,0,0,0,0,0,0
$GC,2263,-1.85,-116.8,377.4,-15.5,135,2267,0.00,2.60,0.00,0.000,4,0.000,0.054,2715,3354,3481,0,0,0,0,0,0
$GC,2297,-1.85,-116.8,382.6,-16.2,135,2303,0.00,2.65,0.00,0.000,6,0.000,0.053,2715,1791,3481,0,0,0,0,0,0
$GC,2546,-1.85,-116.8,420.3,-15.4,142,2548,0.00,0.00,0.00,0.000,6,0.000,0.000,2715,1791,3479,0,0,0,0,0,0
$GC,2790,-1.85,-116.8,456.9,-15.0,148,2794,0.00,2.62,0.00,0.000,4,0.000,0.055,2715,3350,3477,0,0,0,0,0,0
$GC,2863,-1.85,-116.8,468.0,-15.6,149,2868,0.00,2.72,0.00,0.000,6,0.000,0.064,2715,1778,3477,0,0,0,0,0,0
$STATE,3110,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3110,begin apogee
$GC,3116,-0.31,0.0,505.7,15.1,155,3217,1.60,0.00,96.28,0.916,6,0.101,0.000,3059,1984,3001,0,0,0,0,0,0
$STATE,3218,end apogee,CONTROL_FINISHED_OK
$STATE,3218,begin climb
$GC,3220,1.78,116.8,509.5,0.0,157,3323,1.98,0.00,98.85,0.895,6,0.049,0.000,3523,1984,2524,0,0,0,0,0,0
$GC,3558,1.79,122.8,486.7,9.5,166,3568,0.00,3.10,4.88,0.621,4,0.000,0.110,3523,381,2500,0,0,0,0,0,0
$GC,3637,1.69,122.8,477.8,11.6,167,3644,0.12,2.60,0.00,0.000,6,0.135,0.037,3500,1952,2498,0,0,0,0,0,0
$GC,3889,1.70,128.2,453.7,9.5,174,3900,0.00,2.75,5.85,0.682,4,0.000,0.054,3500,3557,2477,0,0,0,0,0,0
$GC,3989,1.70,128.2,443.3,10.3,176,3994,0.00,2.70,0.00,0.000,6,0.000,0.048,3500,1964,2475,0,0,0,0,0,0
$GC,4257,1.72,146.5,420.3,8.2,183,4281,0.00,2.75,16.80,0.832,4,0.000,0.039,3500,3559,2401,0,0,0,0,0,0
$GC,4379,1.72,149.0,409.0,9.8,185,4384,0.00,2.65,0.00,0.000,6,0.000,0.045,3500,1983,2400,0,0,0,0,0,0
$GC,4629,1.77,149.0,383.9,10.2,191,4634,0.00,2.60,0.00,0.000,4,0.000,0.040,3500,3564,2396,0,0,0,0,0,0
$GC,4657,1.77,149.0,380.9,11.1,191,4662,0.00,2.60,0.00,0.000,6,0.000,0.042,3500,1991,2396,0,0,0,0,0,0
$GC,4907,1.81,149.0,354.9,10.3,197,4912,0.10,2.60,0.00,0.000,4,0.095,0.035,3525,3568,2394,0,0,0,0,0,0
$GC,4923,1.81,149.0,353.1,10.0,197,4928,0.00,2.60,0.00,0.000,6,0.000,0.036,3526,1991,2393,0,0,0,0,0,0
$GC,5192,1.82,153.0,326.9,9.6,204,5202,0.00,2.58,5.45,0.641,4,0.000,0.038,3526,3557,2376,0,0,0,0,0,0
$GC,5328,1.82,153.0,312.8,10.3,207,5333,0.00,2.58,0.00,0.000,6,0.000,0.040,3526,1993,2375,0,0,0,0,0,0
$GC,5607,1.84,166.2,287.4,8.7,214,5626,0.00,2.85,12.88,0.753,4,0.000,0.067,3526,395,2322,0,0,0,0,0,0
$GC,5632,1.85,177.4,284.9,8.9,214,5651,0.00,2.60,11.55,0.726,6,0.000,0.025,3526,2019,2276,0,0,0,0,0,0
$GC,5937,1.85,177.4,252.1,11.2,222,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,3526,2020,2271,0,0,0,0,0,0
$GC,6179,1.85,177.4,226.1,11.1,228,6183,0.00,2.47,0.00,0.000,4,0.000,0.040,3526,3544,2270,0,0,0,0,0,0
$GC,6228,1.85,177.4,220.4,11.6,229,6232,0.00,2.55,0.00,0.000,6,0.000,0.034,3526,1983,2269,0,0,0,0,0,0
$GC,6481,1.90,177.4,194.0,10.2,237,6483,0.00,0.00,0.00,0.000,6,0.000,0.000,3526,1983,2269,0,0,0,0,0,0
$GC,6738,1.96,187.8,169.9,9.0,261,6753,0.12,2.55,9.10,0.636,4,0.085,0.037,3560,3548,2234,0,0,0,0,0,0
$GC,6864,1.96,187.8,157.5,11.0,271,6868,0.00,2.55,0.00,0.000,6,0.000,0.031,3560,1980,2233,0,0,0,0,0,0
$GC,7130,1.96,187.8,131.5,11.1,295,7134,0.00,2.53,0.00,0.000,4,0.000,0.033,3560,3544,2231,0,0,0,0,0,0
$GC,7232,1.96,187.8,118.4,12.8,303,7236,0.00,2.47,0.00,0.000,6,0.000,0.028,3559,2006,2231,0,0,0,0,0,0
$GC,7499,1.96,187.8,86.8,11.4,327,7504,0.00,2.70,0.00,0.000,4,0.000,0.054,3560,398,2231,0,0,0,0,0,0
$GC,7531,1.91,187.8,82.5,13.3,329,7536,0.00,2.53,0.00,0.000,6,0.000,0.018,3560,2034,2229,0,0,0,0,0,0
$GC,7799,1.93,205.3,54.3,8.3,353,7827,0.00,2.47,15.82,0.572,4,0.000,0.031,3559,3535,2162,0,0,0,0,0,0
$GC,7981,1.99,212.9,38.6,9.3,367,7996,0.00,2.42,7.95,0.504,6,0.000,0.031,3560,2024,2132,0,0,0,0,0,0
$GC,8294,2.00,225.1,7.4,8.8,409,8312,0.00,2.75,12.05,0.512,4,0.000,0.051,3560,388,2080,0,0,0,0,0,0
$STATE,8328,end climb,SURFACE_DEPTH_REACHED
$STATE,8328,begin surface coast
$FINISH,1.4,0.980114
$STATE,8344,end surface coast,CONTROL_FINISHED_OK
$STATE,8344,begin surface
$SM_CCo,8370,140.50,0.538,0,0,1369,400.08
$SM_GC,1.25,0.00,0.00,140.50,0.000,0.000,0.538,480,1814,1369,-12.19,1.24,400.08
$IRIDIUM_FIX,2237.01,-15800.20,210800,161638
$TT8_MAMPS,0.026078
$HUMID,56.69
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.50
$XPDR_PINGS,39
$24V_AH,23.5,18.226
$10V_AH,10.4,15.677
$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,28.600,109.500,297.450,140.500,0.000,87.534,116.006,489.116,9.750,0.000,34.005,872.096,5510.218,517.504,1641.104,955.534,33.356,1122.365,0.000,1621.149,0.000,0.536,0.000
$DEVICE_MAMPS,153.400,109.681,915.798,538.434,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,281.489,241.578,319.227,624.933,945.916,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355456
$DATA_FILE_SIZE,32113,415
$CAP_FILE_SIZE,97453,0
$CFSIZE,260165632,174747648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280511,183926,2246.989,-15802.884,22,99.0,41,10.1