version: 66.06
glider: 146
mission: 6
dive: 155
start: 5 29 111 23 28 38
data:
$ID,146
$MISSION,6
$DIVE,155
$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,-271225.78
$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,31
$R_STBD_OVSHOOT,61
$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
$GPS1,232022,2247.128,-15757.699,9,99.0,28,10.1
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.7
$GPS2,232745,2247.187,-15757.758,16,99.0,35,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.234,-0.019
$KALMAN_X,-86688.6,-35.9,-56.1,85137.7,-363.3
$KALMAN_Y,-134819.4,205.1,-324.7,141024.6,80.2
$MHEAD_RNG_PITCHd_Wd,255.4,8958,-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,15,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-71.43,0.000,2,0.000,0.000,474,1762,3163,0,0,0,0,0,0
$GC,94,-1.38,-116.8,3.4,-5.9,9,120,12.32,2.70,-5.97,0.000,4,0.153,0.071,2821,194,3480,0,0,0,0,0,0
$GC,272,-1.20,-116.8,45.7,-19.4,30,280,0.17,2.42,0.00,0.000,6,0.103,0.014,2861,1775,3481,0,0,0,0,0,0
$GC,540,-1.16,-116.8,84.0,-14.5,55,545,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1776,3482,0,0,0,0,0,0
$GC,801,-1.16,-116.8,117.9,-12.1,80,805,0.00,2.42,0.00,0.000,4,0.000,0.025,2861,3320,3483,0,0,0,0,0,0
$GC,830,-1.16,-116.8,121.3,-11.8,82,835,0.00,2.50,0.00,0.000,6,0.000,0.028,2861,1757,3484,0,0,0,0,0,0
$GC,1098,-1.16,-116.8,154.4,-12.7,106,1102,0.00,2.67,0.00,0.000,4,0.000,0.064,2861,192,3484,0,0,0,0,0,0
$GC,1114,-1.16,-116.8,157.2,-11.8,107,1119,0.00,2.40,0.00,0.000,6,0.000,0.021,2861,1805,3484,0,0,0,0,0,0
$GC,1378,-1.16,-116.8,185.9,-10.2,131,1382,0.00,2.33,0.00,0.000,4,0.000,0.027,2861,3290,3484,0,0,0,0,0,0
$GC,1445,-1.21,-116.8,192.6,-9.8,136,1449,0.00,2.42,0.00,0.000,6,0.000,0.027,2861,1770,3484,0,0,0,0,0,0
$GC,1719,-1.21,-116.8,222.5,-11.2,147,1720,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1769,3485,0,0,0,0,0,0
$GC,1963,-1.21,-116.8,246.9,-9.8,153,1967,0.00,2.45,0.00,0.000,4,0.000,0.030,2861,3293,3485,0,0,0,0,0,0
$GC,2030,-1.29,-116.8,253.3,-8.9,154,2034,0.00,2.40,0.00,0.000,6,0.000,0.034,2861,1789,3485,0,0,0,0,0,0
$GC,2286,-1.33,-116.8,279.4,-10.7,161,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1789,3485,0,0,0,0,0,0
$GC,2529,-1.39,-116.8,303.3,-9.7,167,2531,0.15,0.00,0.00,0.000,6,0.070,0.000,2814,1789,3484,0,0,0,0,0,0
$GC,2772,-1.39,-116.8,330.3,-11.2,173,2776,0.00,2.42,0.00,0.000,4,0.000,0.039,2813,3289,3484,0,0,0,0,0,0
$GC,2817,-1.39,-116.8,335.6,-11.9,174,2821,0.00,2.45,0.00,0.000,6,0.000,0.041,2812,1800,3484,0,0,0,0,0,0
$GC,3094,-1.39,-116.8,367.2,-11.5,181,3095,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1800,3483,0,0,0,0,0,0
$GC,3337,-1.39,-116.8,396.3,-11.9,187,3342,0.00,2.42,0.00,0.000,4,0.000,0.044,2813,3282,3481,0,0,0,0,0,0
$GC,3383,-1.39,-116.8,401.7,-12.2,188,3387,0.00,2.53,0.00,0.000,6,0.000,0.060,2813,1799,3481,0,0,0,0,0,0
$GC,3660,-1.39,-116.8,432.6,-10.8,195,3665,0.00,2.45,0.00,0.000,4,0.000,0.051,2813,3280,3479,0,0,0,0,0,0
$GC,3700,-1.39,-116.8,437.0,-11.5,196,3704,0.00,2.53,0.00,0.000,6,0.000,0.064,2813,1805,3480,0,0,0,0,0,0
$GC,3984,-1.39,-116.8,469.1,-11.5,203,3988,0.00,2.45,0.00,0.000,4,0.000,0.050,2813,3277,3478,0,0,0,0,0,0
$GC,4016,-1.39,-116.8,473.2,-11.5,203,4022,0.00,2.53,0.00,0.000,6,0.000,0.067,2813,1811,3478,0,0,0,0,0,0
$STATE,4264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4264,begin apogee
$GC,4270,-0.31,0.0,501.9,11.4,210,4371,1.10,0.00,97.15,0.927,6,0.087,0.000,3058,1914,3001,0,0,0,0,0,0
$STATE,4372,end apogee,CONTROL_FINISHED_OK
$STATE,4372,begin climb
$GC,4375,1.38,116.8,505.1,0.0,212,4485,1.60,3.00,99.55,0.905,4,0.051,0.114,3432,384,2522,0,0,0,0,0,0
$GC,4511,1.34,185.1,501.9,6.1,216,4575,0.00,2.53,58.85,0.887,6,0.000,0.033,3432,1900,2246,0,0,0,0,0,0
$GC,4837,1.34,185.1,469.1,10.5,224,4841,0.00,2.70,0.00,0.000,4,0.000,0.055,3431,3479,2237,0,0,0,0,0,0
$GC,4908,1.34,185.1,461.4,10.6,225,4913,0.00,2.58,0.00,0.000,6,0.000,0.051,3431,1968,2235,0,0,0,0,0,0
$GC,5166,1.36,204.6,437.8,8.9,232,5184,0.00,0.00,16.70,0.833,6,0.000,0.000,3432,1968,2166,0,0,0,0,0,0
$GC,5408,1.37,215.5,415.2,9.4,238,5423,0.00,2.53,10.43,0.782,4,0.000,0.039,3432,3480,2122,0,0,0,0,0,0
$GC,5491,1.37,215.5,406.2,11.3,240,5496,0.00,2.55,0.00,0.000,6,0.000,0.048,3432,1973,2120,0,0,0,0,0,0
$GC,5775,1.37,215.5,372.9,12.0,247,5777,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1973,2117,0,0,0,0,0,0
$GC,6018,1.37,215.5,346.1,10.8,253,6022,0.00,2.47,0.00,0.000,4,0.000,0.039,3431,3486,2116,0,0,0,0,0,0
$GC,6061,1.37,215.5,341.6,10.1,254,6066,0.00,2.50,0.00,0.000,6,0.000,0.043,3432,1977,2115,0,0,0,0,0,0
$GC,6341,1.40,236.5,316.8,8.8,261,6362,0.00,0.00,18.75,0.793,6,0.000,0.000,3432,1976,2037,0,0,0,0,0,0
$GC,6583,1.41,242.2,293.1,9.7,267,6591,0.00,0.00,6.30,0.657,6,0.000,0.000,3431,1977,2013,0,0,0,0,0,0
$GC,6827,1.42,251.5,269.3,9.5,273,6838,0.00,0.00,9.52,0.705,6,0.000,0.000,3432,1976,1975,0,0,0,0,0,0
$GC,7073,1.46,251.9,245.1,10.0,279,7077,0.00,2.72,0.00,0.000,4,0.000,0.064,3432,388,1973,0,0,0,0,0,0
$GC,7093,1.46,251.9,242.3,11.9,279,7098,0.00,2.45,0.00,0.000,6,0.000,0.020,3432,1957,1972,0,0,0,0,0,0
$GC,7355,1.50,251.9,215.7,10.2,286,7360,0.10,2.58,0.00,0.000,4,0.245,0.034,3460,3534,1971,0,0,0,0,0,0
$GC,7400,1.50,251.9,210.4,11.6,287,7404,0.00,2.50,0.00,0.000,6,0.000,0.038,3460,2000,1970,0,0,0,0,0,0
$GC,7667,1.50,251.9,181.0,10.5,304,7672,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2000,1970,0,0,0,0,0,0
$GC,7930,1.53,274.1,155.7,8.8,329,7957,0.00,2.60,20.30,0.667,4,0.000,0.037,3460,3541,1883,0,0,0,0,0,0
$GC,7990,1.56,274.1,150.1,10.5,334,7995,0.00,2.50,0.00,0.000,6,0.000,0.031,3460,2009,1882,0,0,0,0,0,0
$GC,8254,1.56,274.1,121.5,11.0,358,8258,0.00,2.75,0.00,0.000,4,0.000,0.063,3460,392,1880,0,0,0,0,0,0
$GC,8330,1.56,274.1,111.9,12.7,364,8334,0.00,2.53,0.00,0.000,6,0.000,0.020,3460,2013,1879,0,0,0,0,0,0
$GC,8593,1.56,274.1,83.2,10.8,388,8595,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2015,1879,0,0,0,0,0,0
$GC,8850,1.62,275.5,56.9,10.0,412,8854,0.00,2.72,0.00,0.000,4,0.000,0.051,3460,392,1879,0,0,0,0,0,0
$GC,8894,1.62,275.7,52.4,10.0,415,8898,0.00,2.47,0.00,0.000,6,0.000,0.017,3460,2003,1879,0,0,0,0,0,0
$GC,9164,1.76,317.1,29.9,7.6,439,9207,0.20,2.75,37.15,0.557,4,0.061,0.049,3517,388,1706,0,0,0,0,0,0
$GC,9226,1.70,317.1,23.7,10.9,446,9235,0.00,2.50,0.00,0.000,6,0.000,0.017,3517,1987,1705,0,0,0,0,0,0
$STATE,9387,end climb,SURFACE_DEPTH_REACHED
$STATE,9387,begin surface coast
$FINISH,0.6,0.974878
$STATE,9439,end surface coast,CONTROL_FINISHED_OK
$STATE,9439,begin surface
$SM_CCo,9461,66.68,0.533,0,0,1369,400.08
$SM_GC,1.21,0.00,0.00,66.68,0.000,0.000,0.533,476,1759,1369,-12.20,-0.31,400.08
$IRIDIUM_FIX,2241.69,-15757.16,220800,202059
$TT8_MAMPS,0.026078
$HUMID,57.91
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.00
$XPDR_PINGS,36
$24V_AH,23.5,19.558
$10V_AH,10.4,16.884
$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,27.950,96.950,374.700,66.675,0.000,28.280,36.330,225.639,9.000,0.000,37.659,944.121,6222.062,491.730,1772.084,542.224,33.369,1131.300,0.000,1756.230,0.000,0.534,0.000
$DEVICE_MAMPS,245.440,114.283,927.303,533.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.792,273.068,365.650,702.019,1062.120,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,38479,476
$CAP_FILE_SIZE,94308,0
$CFSIZE,260165632,174178304
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300511,020927,2247.311,-15759.098,59,2.5,78,10.1