version: 66.06
glider: 146
mission: 6
dive: 182
start: 6 2 111 5 2 47
data:
$ID,146
$MISSION,6
$DIVE,182
$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,380
$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,-271992.09
$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,3150
$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,1800
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,64
$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,3020
$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
$GPS1,045404,2247.257,-15759.013,10,2.1,29,10.1
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.1
$GPS2,050154,2247.398,-15758.972,17,8.4,36,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.203,-0.119
$KALMAN_X,-90687.9,-64.0,-225.6,87261.4,452.7
$KALMAN_Y,-126907.5,401.5,-92.7,133067.2,1016.0
$MHEAD_RNG_PITCHd_Wd,229.5,6918,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-70.55,0.000,2,0.000,0.000,479,1790,3277,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.7,-6.4,9,118,12.05,2.67,-4.03,0.000,4,0.141,0.067,2839,237,3500,0,0,0,0,0,0
$GC,270,-1.16,-116.8,47.7,-20.2,29,275,0.28,2.40,0.00,0.000,6,0.177,0.014,2896,1836,3501,0,0,0,0,0,0
$GC,537,-1.16,-116.8,83.3,-12.3,53,542,0.00,2.70,0.00,0.000,4,0.000,0.054,2896,230,3502,0,0,0,0,0,0
$GC,593,-1.16,-116.8,90.7,-12.5,57,597,0.00,2.33,0.00,0.000,6,0.000,0.014,2896,1788,3502,0,0,0,0,0,0
$GC,859,-1.16,-116.8,120.9,-11.7,81,863,0.00,2.42,0.00,0.000,4,0.000,0.025,2895,3330,3503,0,0,0,0,0,0
$GC,891,-1.21,-116.8,124.7,-11.8,83,895,0.00,2.45,0.00,0.000,6,0.000,0.028,2896,1788,3503,0,0,0,0,0,0
$GC,1155,-1.28,-116.8,152.3,-9.8,107,1160,0.10,2.45,0.00,0.000,4,0.082,0.025,2853,3333,3503,0,0,0,0,0,0
$GC,1247,-1.28,-116.8,163.1,-10.8,114,1257,0.00,2.45,0.00,0.000,6,0.000,0.025,2852,1798,3503,0,0,0,0,0,0
$GC,1515,-1.28,-116.8,193.1,-12.1,139,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1799,3504,0,0,0,0,0,0
$GC,1777,-1.28,-116.8,222.0,-10.6,150,1781,0.00,2.42,0.00,0.000,4,0.000,0.029,2852,3331,3505,0,0,0,0,0,0
$GC,1824,-1.33,-116.8,226.7,-10.1,151,1828,0.00,2.42,0.00,0.000,6,0.000,0.032,2852,1793,3504,0,0,0,0,0,0
$GC,2108,-1.33,-116.8,256.5,-10.7,158,2109,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1793,3505,0,0,0,0,0,0
$GC,2350,-1.33,-116.8,281.5,-10.1,164,2354,0.00,2.45,0.00,0.000,4,0.000,0.036,2852,3325,3505,0,0,0,0,0,0
$GC,2411,-1.40,-116.8,287.6,-10.0,165,2415,0.00,2.45,0.00,0.000,6,0.000,0.031,2852,1809,3504,0,0,0,0,0,0
$GC,2674,-1.44,-116.8,312.6,-9.7,172,2678,0.00,2.45,0.00,0.000,4,0.000,0.031,2853,3324,3504,0,0,0,0,0,0
$GC,2690,-1.49,-116.8,314.6,-10.3,172,2695,0.12,2.47,0.00,0.000,6,0.077,0.038,2808,1808,3504,0,0,0,0,0,0
$GC,2950,-1.49,-116.8,345.9,-11.9,179,2952,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1808,3503,0,0,0,0,0,0
$GC,3196,-1.49,-116.8,373.6,-11.3,185,3200,0.00,2.47,0.00,0.000,4,0.000,0.038,2808,3321,3502,0,0,0,0,0,0
$GC,3273,-1.49,-116.8,382.7,-10.8,186,3279,0.00,2.50,0.00,0.000,6,0.000,0.051,2807,1831,3502,0,0,0,0,0,0
$GC,3523,-1.49,-116.8,410.4,-11.1,193,3524,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1831,3500,0,0,0,0,0,0
$GC,3767,-1.49,-116.8,436.9,-10.8,199,3771,0.00,2.47,0.00,0.000,4,0.000,0.048,2808,3317,3499,0,0,0,0,0,0
$GC,3800,-1.49,-116.8,440.5,-11.3,199,3806,0.00,2.55,0.00,0.000,6,0.000,0.064,2808,1828,3499,0,0,0,0,0,0
$GC,4050,-1.49,-116.8,469.2,-11.7,206,4054,0.00,2.47,0.00,0.000,4,0.000,0.052,2807,3325,3497,0,0,0,0,0,0
$GC,4076,-1.49,-116.8,472.5,-12.3,206,4081,0.00,2.55,0.00,0.000,6,0.000,0.061,2808,1837,3497,0,0,0,0,0,0
$STATE,4330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4330,begin apogee
$GC,4337,-0.31,0.0,502.4,11.6,213,4438,1.23,0.00,97.35,0.917,6,0.086,0.000,3080,1941,3020,0,0,0,0,0,0
$STATE,4439,end apogee,CONTROL_FINISHED_OK
$STATE,4439,begin climb
$GC,4442,1.38,116.8,505.3,0.0,215,4552,1.58,2.97,99.00,0.896,4,0.047,0.108,3452,404,2544,0,0,0,0,0,0
$GC,4597,1.26,157.4,500.9,7.7,218,4639,0.15,2.60,35.47,0.870,6,0.124,0.039,3424,1973,2378,0,0,0,0,0,0
$GC,4892,1.30,190.5,477.2,8.1,226,4924,0.00,0.00,29.33,0.864,6,0.000,0.000,3424,1973,2243,0,0,0,0,0,0
$GC,5133,1.30,193.4,454.0,9.9,232,5137,0.00,2.72,0.00,0.000,4,0.000,0.056,3424,3575,2237,0,0,0,0,0,0
$GC,5221,1.31,195.1,444.8,9.9,234,5231,0.00,2.67,4.32,0.584,6,0.000,0.046,3424,1987,2224,0,0,0,0,0,0
$GC,5505,1.31,195.1,416.1,10.3,241,5506,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1987,2221,0,0,0,0,0,0
$GC,5748,1.33,212.5,393.4,9.0,247,5772,0.00,2.97,16.58,0.819,4,0.000,0.085,3424,400,2151,0,0,0,0,0,0
$GC,5800,1.28,212.5,388.2,10.4,248,5805,0.00,2.62,0.00,0.000,6,0.000,0.026,3424,2019,2149,0,0,0,0,0,0
$GC,6074,1.30,228.8,363.1,9.1,255,6095,0.00,2.60,15.38,0.798,4,0.000,0.044,3424,3575,2086,0,0,0,0,0,0
$GC,6145,1.31,232.7,356.2,9.8,256,6156,0.00,2.62,4.53,0.580,6,0.000,0.038,3424,1999,2071,0,0,0,0,0,0
$GC,6401,1.31,235.1,331.5,9.9,263,6406,0.00,2.80,0.00,0.000,4,0.000,0.075,3424,408,2068,0,0,0,0,0,0
$GC,6440,1.31,235.1,327.1,11.0,264,6445,0.00,2.53,0.00,0.000,6,0.000,0.025,3424,1995,2067,0,0,0,0,0,0
$GC,6724,1.33,251.6,300.4,9.1,271,6749,0.00,2.85,17.73,0.770,4,0.000,0.064,3424,406,1993,0,0,0,0,0,0
$GC,6795,1.33,251.6,293.0,11.3,272,6800,0.00,2.53,0.00,0.000,6,0.000,0.021,3424,1987,1991,0,0,0,0,0,0
$GC,7051,1.39,261.8,268.4,9.4,279,7064,0.12,0.00,10.32,0.710,6,0.081,0.000,3459,1987,1952,0,0,0,0,0,0
$GC,7294,1.39,261.8,240.0,11.9,285,7299,0.00,2.58,0.00,0.000,4,0.000,0.038,3460,3568,1949,0,0,0,0,0,0
$GC,7311,1.39,261.8,237.8,11.9,285,7316,0.00,2.65,0.00,0.000,6,0.000,0.036,3460,1952,1947,0,0,0,0,0,0
$GC,7573,1.39,261.8,208.4,11.1,292,7574,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1952,1947,0,0,0,0,0,0
$GC,7828,1.39,261.8,179.9,11.0,310,7832,0.00,2.62,0.00,0.000,4,0.000,0.038,3460,3564,1947,0,0,0,0,0,0
$GC,7943,1.39,261.8,166.7,11.6,319,7947,0.00,2.60,0.00,0.000,6,0.000,0.032,3460,1962,1945,0,0,0,0,0,0
$GC,8209,1.39,261.8,137.4,10.8,343,8213,0.00,2.60,0.00,0.000,4,0.000,0.064,3460,411,1946,0,0,0,0,0,0
$GC,8250,1.39,261.8,132.1,11.9,346,8254,0.00,2.42,0.00,0.000,6,0.000,0.020,3460,1980,1945,0,0,0,0,0,0
$GC,8513,1.41,275.7,105.0,9.2,370,8530,0.00,2.55,12.48,0.598,4,0.000,0.031,3460,3545,1895,0,0,0,0,0,0
$GC,8577,1.46,275.7,98.8,10.9,375,8582,0.00,2.58,0.00,0.000,6,0.000,0.031,3460,1958,1894,0,0,0,0,0,0
$GC,8844,1.49,275.7,71.1,10.6,399,8852,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1958,1893,0,0,0,0,0,0
$GC,9110,1.56,275.7,42.5,11.4,424,9115,0.12,2.62,0.00,0.000,4,0.083,0.054,3497,405,1893,0,0,0,0,0,0
$GC,9283,1.56,275.7,22.0,11.3,442,9293,0.00,2.42,0.00,0.000,6,0.000,0.018,3497,1963,1893,0,0,0,0,0,0
$STATE,9481,end climb,SURFACE_DEPTH_REACHED
$STATE,9481,begin surface coast
$FINISH,0.5,0.979960
$STATE,9531,end surface coast,CONTROL_FINISHED_OK
$STATE,9531,begin surface
$SM_CCo,9553,86.12,0.532,0,0,1470,380.21
$SM_GC,1.36,0.00,0.00,86.12,0.000,0.000,0.532,476,1784,1470,-12.30,-0.45,380.21
$IRIDIUM_FIX,2239.35,-15759.32,260800,020259
$TT8_MAMPS,0.026078
$HUMID,58.70
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.70
$XPDR_PINGS,41
$24V_AH,23.5,22.755
$10V_AH,10.4,19.888
$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,27.975,108.150,342.475,86.125,0.000,30.776,45.780,239.801,10.250,0.000,38.811,967.388,6248.383,492.427,1829.194,575.180,33.364,1155.998,0.000,1806.739,0.000,0.535,0.000
$DEVICE_MAMPS,177.177,181.012,916.565,531.531,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,323.906,262.348,366.114,699.743,1058.286,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,38345,477
$CAP_FILE_SIZE,98414,0
$CFSIZE,260165632,172752896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020611,074454,2247.516,-15800.090,29,1.3,46,10.1