version: 66.06
glider: 146
mission: 6
dive: 171
start: 5 31 111 20 55 47
data:
$ID,146
$MISSION,6
$DIVE,171
$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,-271650.75
$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,3140
$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,48
$R_STBD_OVSHOOT,32
$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
$GPS1,204756,2247.026,-15802.153,48,3.0,67,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.7
$GPS2,205452,2247.061,-15802.167,14,3.9,33,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.044,0.231
$KALMAN_X,-88631.7,-401.3,234.5,79626.1,-177.2
$KALMAN_Y,-132076.3,-240.0,424.0,137742.3,58.3
$MHEAD_RNG_PITCHd_Wd,339.1,5625,-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,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.32,0.000,2,0.000,0.000,482,1740,3399,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.2,-7.6,10,126,12.27,2.62,-1.33,0.000,4,0.151,0.043,2831,3365,3481,0,0,0,0,0,0
$GC,138,-0.40,-116.8,21.0,-41.3,14,148,0.98,2.58,0.00,0.000,6,0.097,0.029,3044,1793,3482,0,0,0,0,0,0
$GC,423,-0.68,-116.8,45.7,-7.7,44,429,0.22,2.75,0.00,0.000,4,0.049,0.060,2972,189,3484,0,0,0,0,0,0
$GC,446,-0.91,-116.8,47.6,-7.5,45,451,0.12,2.47,0.00,0.000,6,0.074,0.014,2928,1836,3483,0,0,0,0,0,0
$GC,714,-1.01,-116.8,73.7,-10.3,69,718,0.00,2.38,0.00,0.000,4,0.000,0.031,2928,3358,3484,0,0,0,0,0,0
$GC,774,-1.16,-116.8,79.5,-9.2,73,779,0.17,2.53,0.00,0.000,6,0.060,0.032,2870,1763,3484,0,0,0,0,0,0
$GC,1040,-1.16,-116.8,108.5,-11.2,97,1044,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1762,3485,0,0,0,0,0,0
$GC,1302,-1.16,-116.8,139.5,-11.4,122,1306,0.00,2.50,0.00,0.000,4,0.000,0.025,2870,3359,3485,0,0,0,0,0,0
$GC,1347,-1.22,-116.8,144.1,-11.1,125,1351,0.00,2.50,0.00,0.000,6,0.000,0.033,2870,1784,3485,0,0,0,0,0,0
$GC,1611,-1.27,-116.8,174.5,-11.1,149,1616,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1784,3486,0,0,0,0,0,0
$GC,1881,-1.32,-116.8,205.6,-11.3,172,1886,0.00,2.70,0.00,0.000,4,0.000,0.067,2869,197,3486,0,0,0,0,0,0
$GC,1909,-1.32,-116.8,208.9,-11.5,172,1914,0.00,2.45,0.00,0.000,6,0.000,0.023,2870,1818,3486,0,0,0,0,0,0
$GC,2159,-1.37,-116.8,235.0,-10.3,178,2164,0.12,2.38,0.00,0.000,4,0.077,0.037,2828,3321,3486,0,0,0,0,0,0
$GC,2225,-1.37,-116.8,243.0,-11.5,179,2230,0.00,2.47,0.00,0.000,6,0.000,0.035,2828,1781,3486,0,0,0,0,0,0
$GC,2482,-1.37,-116.8,273.7,-12.2,186,2486,0.00,2.78,0.00,0.000,4,0.000,0.075,2828,194,3486,0,0,0,0,0,0
$GC,2503,-1.37,-116.8,276.6,-12.2,186,2507,0.00,2.42,0.00,0.000,6,0.000,0.024,2828,1755,3486,0,0,0,0,0,0
$GC,2759,-1.37,-116.8,305.1,-10.7,193,2763,0.00,2.55,0.00,0.000,4,0.000,0.040,2828,3340,3485,0,0,0,0,0,0
$GC,2793,-1.37,-116.8,308.4,-9.8,193,2798,0.00,2.53,0.00,0.000,6,0.000,0.042,2828,1799,3485,0,0,0,0,0,0
$GC,3042,-1.37,-116.8,333.9,-10.5,200,3047,0.00,2.47,0.00,0.000,4,0.000,0.040,2828,3344,3484,0,0,0,0,0,0
$GC,3075,-1.37,-116.8,337.5,-10.8,200,3081,0.00,2.55,0.00,0.000,6,0.000,0.048,2828,1804,3484,0,0,0,0,0,0
$GC,3325,-1.37,-116.8,364.1,-10.6,207,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1804,3483,0,0,0,0,0,0
$GC,3570,-1.37,-116.8,389.5,-10.3,213,3574,0.00,2.55,0.00,0.000,4,0.000,0.041,2828,3345,3482,0,0,0,0,0,0
$GC,3603,-1.41,-116.8,393.1,-10.7,213,3608,0.00,2.58,0.00,0.000,6,0.000,0.053,2828,1805,3482,0,0,0,0,0,0
$GC,3853,-1.41,-116.8,417.9,-9.9,220,3857,0.00,2.53,0.00,0.000,4,0.000,0.045,2828,3338,3480,0,0,0,0,0,0
$GC,3893,-1.47,-116.8,421.9,-10.1,221,3898,0.00,2.58,0.00,0.000,6,0.000,0.061,2828,1811,3480,0,0,0,0,0,0
$GC,4176,-1.47,-116.8,450.7,-10.3,228,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1811,3478,0,0,0,0,0,0
$GC,4421,-1.51,-116.8,477.5,-11.3,234,4425,0.00,2.55,0.00,0.000,4,0.000,0.052,2827,3342,3476,0,0,0,0,0,0
$GC,4449,-1.56,-116.8,480.7,-11.6,234,4454,0.12,2.65,0.00,0.000,6,0.076,0.064,2788,1808,3477,0,0,0,0,0,0
$STATE,4615,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4615,begin apogee
$GC,4621,-0.31,0.0,502.5,12.9,238,4722,1.27,0.00,97.43,0.927,6,0.088,0.000,3072,1977,3001,0,0,0,0,0,0
$STATE,4723,end apogee,CONTROL_FINISHED_OK
$STATE,4723,begin climb
$GC,4726,1.38,116.8,505.9,0.0,240,4830,1.60,0.00,100.32,0.906,6,0.049,0.000,3445,1977,2524,0,0,0,0,0,0
$GC,5063,1.35,155.5,488.2,7.8,249,5105,0.00,2.72,33.40,0.881,4,0.000,0.051,3445,3524,2365,0,0,0,0,0,0
$GC,5132,1.28,155.5,481.7,10.3,250,5138,0.12,2.70,0.00,0.000,6,0.127,0.055,3422,1968,2362,0,0,0,0,0,0
$GC,5389,1.33,192.7,460.8,7.9,257,5430,0.00,2.72,32.58,0.877,4,0.000,0.050,3422,3532,2214,0,0,0,0,0,0
$GC,5447,1.36,218.2,455.8,8.6,258,5476,0.00,2.65,23.90,0.854,6,0.000,0.053,3421,1976,2110,0,0,0,0,0,0
$GC,5764,1.37,225.4,426.2,9.6,266,5776,0.00,2.62,6.18,0.696,4,0.000,0.041,3422,3536,2082,0,0,0,0,0,0
$GC,5792,1.37,225.4,423.0,10.3,266,5796,0.00,2.67,0.00,0.000,6,0.000,0.044,3421,1966,2082,0,0,0,0,0,0
$GC,6042,1.37,225.5,397.9,10.0,272,6043,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1966,2079,0,0,0,0,0,0
$GC,6286,1.37,226.6,373.6,10.0,278,6290,0.00,2.58,0.00,0.000,4,0.000,0.040,3422,3534,2077,0,0,0,0,0,0
$GC,6307,1.37,232.0,371.4,9.7,278,6323,0.00,2.60,6.88,0.715,6,0.000,0.038,3422,1974,2054,0,0,0,0,0,0
$GC,6566,1.37,232.0,343.9,10.8,285,6567,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1974,2052,0,0,0,0,0,0
$GC,6810,1.37,232.0,316.9,11.2,291,6814,0.00,2.55,0.00,0.000,4,0.000,0.039,3421,3534,2051,0,0,0,0,0,0
$GC,6832,1.41,232.0,314.3,11.7,291,6838,0.12,2.53,0.00,0.000,6,0.086,0.040,3454,1987,2050,0,0,0,0,0,0
$GC,7089,1.41,232.0,282.5,12.2,298,7090,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1987,2049,0,0,0,0,0,0
$GC,7333,1.41,232.0,256.1,10.5,304,7337,0.00,2.75,0.00,0.000,4,0.000,0.071,3454,383,2048,0,0,0,0,0,0
$GC,7378,1.36,232.0,251.3,10.9,305,7382,0.00,2.55,0.00,0.000,6,0.000,0.021,3454,1996,2047,0,0,0,0,0,0
$GC,7655,1.37,240.5,224.4,9.5,312,7665,0.00,0.00,7.85,0.663,6,0.000,0.000,3454,1996,2020,0,0,0,0,0,0
$GC,7899,1.37,241.3,200.6,10.0,318,7903,0.00,2.50,0.00,0.000,4,0.000,0.040,3454,3535,2018,0,0,0,0,0,0
$GC,7944,1.37,241.3,195.7,11.0,319,7950,0.00,2.50,0.00,0.000,6,0.000,0.035,3454,1992,2018,0,0,0,0,0,0
$GC,8206,1.37,241.3,168.9,10.4,344,8211,0.00,2.72,0.00,0.000,4,0.000,0.061,3454,393,2018,0,0,0,0,0,0
$GC,8239,1.33,241.3,165.6,11.5,346,8245,0.12,2.53,0.00,0.000,6,0.120,0.020,3429,2012,2017,0,0,0,0,0,0
$GC,8501,1.39,241.3,138.9,10.1,370,8505,0.00,2.72,0.00,0.000,4,0.000,0.061,3429,392,2016,0,0,0,0,0,0
$GC,8521,1.44,241.3,137.0,10.4,371,8526,0.10,2.47,0.00,0.000,6,0.094,0.019,3459,1999,2016,0,0,0,0,0,0
$GC,8785,1.45,256.4,109.8,9.2,395,8809,0.00,0.00,15.23,0.620,6,0.000,0.000,3459,2001,1953,0,0,0,0,0,0
$GC,9068,1.45,256.4,81.5,10.7,421,9073,0.00,2.70,0.00,0.000,4,0.000,0.059,3459,392,1952,0,0,0,0,0,0
$GC,9101,1.45,256.4,77.5,11.5,423,9105,0.00,2.47,0.00,0.000,6,0.000,0.018,3459,1984,1951,0,0,0,0,0,0
$GC,9368,1.50,256.4,48.2,10.4,447,9372,0.00,2.47,0.00,0.000,4,0.000,0.030,3459,3534,1951,0,0,0,0,0,0
$GC,9475,1.60,275.3,37.8,8.9,455,9502,0.12,2.47,17.27,0.557,6,0.083,0.027,3496,1976,1878,0,0,0,0,0,0
$GC,9802,1.66,324.8,10.2,7.2,498,9853,0.00,0.00,43.08,0.542,6,0.000,0.000,3496,1976,1674,0,0,0,0,0,0
$STATE,9862,end climb,SURFACE_DEPTH_REACHED
$STATE,9862,begin surface coast
$FINISH,0.5,0.970158
$STATE,9911,end surface coast,CONTROL_FINISHED_OK
$STATE,9911,begin surface
$SM_CCo,9934,60.20,0.532,0,0,1370,400.08
$SM_GC,1.25,0.00,0.00,60.20,0.000,0.000,0.532,474,1754,1370,-12.26,-0.45,400.08
$IRIDIUM_FIX,2239.35,-15802.37,240800,181858
$TT8_MAMPS,0.025311
$HUMID,58.93
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.70
$XPDR_PINGS,41
$24V_AH,23.5,21.405
$10V_AH,10.4,18.643
$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,29.825,118.850,384.100,60.200,0.000,27.949,44.225,189.033,10.250,0.000,35.415,1015.384,6429.315,520.844,1902.363,548.035,33.366,1203.725,0.000,1898.020,0.000,0.535,0.000
$DEVICE_MAMPS,151.099,126.555,927.303,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,346.982,303.861,402.852,794.549,1202.115,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,41465,512
$CAP_FILE_SIZE,103173,0
$CFSIZE,260165632,173326336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310511,234431,2248.221,-15802.803,88,1.6,88,10.1