version: 66.06
glider: 146
mission: 6
dive: 192
start: 6 3 111 10 10 25
data:
$ID,146
$MISSION,6
$DIVE,192
$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,-272325.19
$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,35
$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,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
$GPS1,094536,2249.843,-15757.953,61,1.0,73,10.1
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-71.9
$GPS2,100931,2250.010,-15757.859,8,1.6,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.006,-0.235
$KALMAN_X,-91248.7,374.1,47.0,89015.4,-15.3
$KALMAN_Y,-119409.1,749.9,332.1,129631.3,86.3
$MHEAD_RNG_PITCHd_Wd,168.6,5576,-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,16,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-71.18,0.000,2,0.000,0.000,472,1782,3332,0,0,0,0,0,0
$GC,94,-1.38,-116.8,4.0,-8.2,9,120,12.25,2.62,-2.92,0.000,4,0.146,0.058,2839,235,3500,0,0,0,0,0,0
$GC,234,-1.19,-116.8,40.2,-20.5,25,239,0.22,2.38,0.00,0.000,6,0.160,0.014,2886,1827,3502,0,0,0,0,0,0
$GC,501,-1.19,-116.8,78.1,-11.1,49,505,0.00,2.35,0.00,0.000,4,0.000,0.023,2886,3344,3502,0,0,0,0,0,0
$GC,543,-1.27,-116.8,83.8,-11.4,52,547,0.00,2.42,0.00,0.000,6,0.000,0.026,2887,1803,3501,0,0,0,0,0,0
$GC,807,-1.27,-116.8,113.8,-11.5,76,811,0.00,2.40,0.00,0.000,4,0.000,0.031,2886,3338,3502,0,0,0,0,0,0
$GC,837,-1.31,-116.8,117.6,-11.5,78,841,0.00,2.42,0.00,0.000,6,0.000,0.032,2886,1809,3502,0,0,0,0,0,0
$GC,1100,-1.36,-116.8,146.7,-10.8,102,1105,0.15,2.70,0.00,0.000,4,0.061,0.061,2831,226,3502,0,0,0,0,0,0
$GC,1171,-1.28,-116.8,156.7,-14.6,107,1177,0.17,2.38,0.00,0.000,6,0.106,0.015,2868,1814,3502,0,0,0,0,0,0
$GC,1433,-1.28,-116.8,185.0,-10.4,132,1437,0.00,2.35,0.00,0.000,4,0.000,0.028,2868,3332,3502,0,0,0,0,0,0
$GC,1457,-1.32,-116.8,187.4,-10.1,133,1462,0.00,2.40,0.00,0.000,6,0.000,0.031,2868,1803,3502,0,0,0,0,0,0
$GC,1742,-1.37,-116.8,217.3,-10.2,149,1747,0.00,2.42,0.00,0.000,4,0.000,0.028,2868,3338,3502,0,0,0,0,0,0
$GC,1771,-1.43,-116.8,220.5,-10.6,149,1776,0.12,2.40,0.00,0.000,6,0.066,0.025,2817,1815,3502,0,0,0,0,0,0
$GC,2021,-1.39,-116.8,253.8,-13.5,155,2026,0.15,2.42,0.00,0.000,4,0.104,0.029,2848,3331,3502,0,0,0,0,0,0
$GC,2061,-1.44,-116.8,258.5,-11.8,156,2066,0.00,2.40,0.00,0.000,6,0.000,0.035,2849,1818,3502,0,0,0,0,0,0
$GC,2347,-1.44,-116.8,288.0,-9.9,163,2351,0.00,2.42,0.00,0.000,4,0.000,0.033,2849,3335,3501,0,0,0,0,0,0
$GC,2391,-1.51,-116.8,292.6,-9.6,164,2396,0.12,2.42,0.00,0.000,6,0.068,0.037,2805,1822,3501,0,0,0,0,0,0
$GC,2670,-1.51,-116.8,325.1,-11.9,171,2671,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1822,3500,0,0,0,0,0,0
$GC,2912,-1.51,-116.8,354.7,-12.4,177,2917,0.00,2.42,0.00,0.000,4,0.000,0.038,2805,3332,3499,0,0,0,0,0,0
$GC,2945,-1.51,-116.8,358.7,-11.8,177,2951,0.00,2.47,0.00,0.000,6,0.000,0.052,2805,1833,3499,0,0,0,0,0,0
$GC,3195,-1.51,-116.8,388.6,-11.8,184,3196,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1833,3497,0,0,0,0,0,0
$GC,3440,-1.51,-116.8,416.1,-11.3,190,3441,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1833,3495,0,0,0,0,0,0
$GC,3683,-1.51,-116.8,443.7,-11.3,196,3687,0.00,2.45,0.00,0.000,4,0.000,0.049,2805,3320,3494,0,0,0,0,0,0
$GC,3703,-1.51,-116.8,446.2,-11.7,196,3708,0.00,2.50,0.00,0.000,6,0.000,0.063,2805,1836,3494,0,0,0,0,0,0
$GC,3959,-1.51,-116.8,474.2,-10.8,203,3963,0.00,2.47,0.00,0.000,4,0.000,0.051,2805,3320,3492,0,0,0,0,0,0
$GC,3992,-1.51,-116.8,477.9,-11.5,203,3998,0.00,2.53,0.00,0.000,6,0.000,0.059,2804,1836,3491,0,0,0,0,0,0
$STATE,4240,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4240,begin apogee
$GC,4246,-0.31,0.0,504.2,10.5,210,4345,1.23,0.00,95.82,0.924,6,0.083,0.000,3080,1942,3020,0,0,0,0,0,0
$STATE,4346,end apogee,CONTROL_FINISHED_OK
$STATE,4346,begin climb
$GC,4349,1.38,116.8,506.2,0.0,212,4453,1.55,0.00,99.20,0.901,6,0.044,0.000,3451,1942,2542,0,0,0,0,0,0
$GC,4674,1.35,160.6,488.7,7.5,220,4715,0.00,0.00,37.35,0.877,6,0.000,0.000,3451,1941,2364,0,0,0,0,0,0
$GC,4961,1.29,170.0,462.7,9.5,227,4975,0.00,2.78,8.80,0.767,4,0.000,0.048,3451,3554,2326,0,0,0,0,0,0
$GC,5027,1.23,170.0,455.6,11.3,228,5032,0.15,2.67,0.00,0.000,6,0.120,0.052,3421,1988,2324,0,0,0,0,0,0
$GC,5290,1.25,188.8,431.6,9.0,235,5309,0.00,0.00,17.60,0.836,6,0.000,0.000,3421,1988,2250,0,0,0,0,0,0
$GC,5533,1.28,210.5,409.7,8.8,241,5558,0.00,2.67,20.10,0.836,4,0.000,0.045,3420,3559,2160,0,0,0,0,0,0
$GC,5609,1.29,223.3,402.6,9.3,242,5628,0.00,2.65,12.73,0.793,6,0.000,0.045,3421,1975,2107,0,0,0,0,0,0
$GC,5903,1.31,238.4,376.0,9.2,250,5922,0.00,2.85,13.73,0.798,4,0.000,0.085,3421,399,2047,0,0,0,0,0,0
$GC,5973,1.31,238.4,368.8,10.4,251,5977,0.00,2.50,0.00,0.000,6,0.000,0.026,3421,1974,2045,0,0,0,0,0,0
$GC,6228,1.33,250.5,345.0,9.3,258,6242,0.00,0.00,11.80,0.772,6,0.000,0.000,3421,1974,1998,0,0,0,0,0,0
$GC,6473,1.38,257.2,321.7,9.7,264,6483,0.12,0.00,7.15,0.693,6,0.085,0.000,3453,1974,1971,0,0,0,0,0,0
$GC,6715,1.38,257.2,293.3,11.9,270,6719,0.00,2.60,0.00,0.000,4,0.000,0.041,3453,3562,1967,0,0,0,0,0,0
$GC,6810,1.38,257.2,281.8,11.9,272,6815,0.00,2.62,0.00,0.000,6,0.000,0.038,3453,1959,1966,0,0,0,0,0,0
$GC,7082,1.38,257.2,252.0,10.7,279,7086,0.00,2.62,0.00,0.000,4,0.000,0.039,3453,3567,1965,0,0,0,0,0,0
$GC,7114,1.38,257.2,248.2,11.2,279,7120,0.00,2.60,0.00,0.000,6,0.000,0.032,3453,1975,1964,0,0,0,0,0,0
$GC,7366,1.38,257.2,222.1,10.6,286,7367,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1974,1964,0,0,0,0,0,0
$GC,7608,1.38,257.2,196.9,10.2,292,7609,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1974,1963,0,0,0,0,0,0
$GC,7867,1.38,257.2,170.1,10.6,316,7871,0.00,2.58,0.00,0.000,4,0.000,0.038,3453,3560,1963,0,0,0,0,0,0
$GC,7959,1.38,257.2,159.8,11.0,323,7964,0.00,2.58,0.00,0.000,6,0.000,0.031,3453,1969,1962,0,0,0,0,0,0
$GC,8221,1.39,262.2,132.9,9.7,348,8236,0.00,2.67,4.55,0.483,4,0.000,0.064,3454,414,1949,0,0,0,0,0,0
$GC,8325,1.39,262.2,121.9,10.8,356,8334,0.00,2.47,0.00,0.000,6,0.000,0.018,3453,1987,1949,0,0,0,0,0,0
$GC,8592,1.45,277.7,98.9,9.1,381,8616,0.00,2.58,14.93,0.605,4,0.000,0.035,3453,3548,1887,0,0,0,0,0,0
$GC,8630,1.52,295.1,95.0,9.0,384,8655,0.10,2.58,16.38,0.597,6,0.087,0.035,3485,1963,1815,0,0,0,0,0,0
$GC,8913,1.52,295.1,60.9,11.2,410,8922,0.00,0.00,0.00,0.000,6,0.000,0.000,3485,1964,1812,0,0,0,0,0,0
$GC,9180,1.58,312.4,35.8,9.0,435,9208,0.00,2.65,15.45,0.544,4,0.000,0.029,3485,3555,1745,0,0,0,0,0,0
$GC,9298,1.65,316.2,23.2,9.8,448,9309,0.05,2.58,4.88,0.415,6,0.064,0.035,3508,1977,1729,0,0,0,0,0,0
$STATE,9452,end climb,SURFACE_DEPTH_REACHED
$STATE,9453,begin surface coast
$FINISH,0.6,0.980069
$STATE,9495,end surface coast,CONTROL_FINISHED_OK
$STATE,9495,begin surface
$SM_CCo,9517,51.62,0.536,0,0,1470,380.21
$SM_GC,1.37,0.00,0.00,51.62,0.000,0.000,0.536,474,1786,1470,-12.31,-0.40,380.21
$IRIDIUM_FIX,2244.02,-15756.28,270800,101035
$TT8_MAMPS,0.026078
$HUMID,60.39
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.80
$XPDR_PINGS,39
$24V_AH,23.5,24.104
$10V_AH,10.4,21.012
$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,28.700,101.450,380.450,51.625,0.000,113.554,143.676,842.683,9.750,0.000,15.203,954.140,6416.234,489.535,1754.950,1391.809,33.366,1148.471,0.000,1764.641,0.000,0.536,0.000
$DEVICE_MAMPS,160.303,199.420,924.235,536.133,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.401,271.156,368.149,686.940,1038.947,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,38365,476
$CAP_FILE_SIZE,114432,0
$CFSIZE,260165632,172208128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030611,125338,2248.766,-15757.978,182,1.0,183,10.1