version: 66.06
glider: 146
mission: 6
dive: 202
start: 6 4 111 14 52 1
data:
$ID,146
$MISSION,6
$DIVE,202
$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,-272570.84
$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,30
$R_STBD_OVSHOOT,60
$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
$GPS1,144000,2250.046,-15801.144,39,1.2,44,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-67.9
$GPS2,145107,2250.075,-15801.170,8,1.1,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.232,-0.035
$KALMAN_X,-89961.4,98.9,154.1,82232.5,45.5
$KALMAN_Y,-111481.0,27.9,-260.8,123144.4,304.8
$MHEAD_RNG_PITCHd_Wd,88.5,7119,-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,-70.90,0.000,2,0.000,0.000,475,1744,3286,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.8,-7.8,9,119,12.18,0.00,-3.70,0.000,6,0.145,0.000,2839,1745,3499,0,0,0,0,0,0
$GC,395,-1.27,-116.8,69.7,-16.7,41,400,0.15,2.60,0.00,0.000,4,0.129,0.033,2870,3366,3501,0,0,0,0,0,0
$GC,419,-1.21,-116.8,74.3,-15.8,42,428,0.00,2.53,0.00,0.000,6,0.000,0.025,2870,1796,3501,0,0,0,0,0,0
$GC,684,-1.21,-116.8,108.6,-12.0,67,689,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1796,3502,0,0,0,0,0,0
$GC,946,-1.21,-116.8,140.6,-11.2,92,951,0.00,2.45,0.00,0.000,4,0.000,0.031,2870,3362,3502,0,0,0,0,0,0
$GC,992,-1.25,-116.8,145.3,-11.8,95,996,0.00,2.47,0.00,0.000,6,0.000,0.033,2870,1795,3503,0,0,0,0,0,0
$GC,1254,-1.25,-116.8,176.1,-11.3,119,1259,0.00,2.67,0.00,0.000,4,0.000,0.063,2870,226,3503,0,0,0,0,0,0
$GC,1289,-1.25,-116.8,179.6,-12.1,121,1293,0.00,2.40,0.00,0.000,6,0.000,0.016,2870,1829,3503,0,0,0,0,0,0
$GC,1556,-1.25,-116.8,208.5,-10.1,140,1557,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1829,3504,0,0,0,0,0,0
$GC,1801,-1.29,-116.8,234.7,-10.8,146,1805,0.00,2.40,0.00,0.000,4,0.000,0.035,2870,3353,3504,0,0,0,0,0,0
$GC,1852,-1.38,-116.8,240.2,-10.5,147,1856,0.00,2.45,0.00,0.000,6,0.000,0.030,2870,1806,3504,0,0,0,0,0,0
$GC,2124,-1.44,-116.8,269.3,-11.0,154,2126,0.15,0.00,0.00,0.000,6,0.068,0.000,2822,1806,3504,0,0,0,0,0,0
$GC,2367,-1.44,-116.8,298.7,-12.0,160,2371,0.00,2.42,0.00,0.000,4,0.000,0.033,2822,3338,3504,0,0,0,0,0,0
$GC,2400,-1.44,-116.8,302.7,-11.5,160,2406,0.00,2.47,0.00,0.000,6,0.000,0.039,2822,1815,3504,0,0,0,0,0,0
$GC,2650,-1.44,-116.8,331.2,-11.4,167,2654,0.00,2.45,0.00,0.000,4,0.000,0.034,2822,3337,3503,0,0,0,0,0,0
$GC,2682,-1.44,-116.8,335.4,-13.0,167,2688,0.00,2.53,0.00,0.000,6,0.000,0.048,2822,1811,3503,0,0,0,0,0,0
$GC,2934,-1.44,-116.8,366.5,-12.5,174,2938,0.00,2.50,0.00,0.000,4,0.000,0.041,2822,3345,3501,0,0,0,0,0,0
$GC,2960,-1.44,-116.8,370.0,-12.0,174,2965,0.00,2.53,0.00,0.000,6,0.000,0.052,2822,1821,3501,0,0,0,0,0,0
$GC,3216,-1.44,-116.8,398.7,-11.0,181,3217,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1821,3500,0,0,0,0,0,0
$GC,3460,-1.44,-116.8,423.6,-10.1,187,3461,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1821,3498,0,0,0,0,0,0
$GC,3705,-1.44,-116.8,449.0,-10.4,193,3709,0.00,2.50,0.00,0.000,4,0.000,0.054,2822,3331,3497,0,0,0,0,0,0
$GC,3731,-1.44,-116.8,452.1,-10.4,193,3736,0.00,2.58,0.00,0.000,6,0.000,0.064,2822,1816,3497,0,0,0,0,0,0
$GC,3981,-1.44,-116.8,478.3,-10.5,199,3986,0.00,2.55,0.00,0.000,4,0.000,0.054,2822,3338,3495,0,0,0,0,0,0
$GC,4049,-1.49,-116.8,485.6,-10.7,200,4054,0.00,2.62,0.00,0.000,6,0.000,0.067,2822,1815,3495,0,0,0,0,0,0
$STATE,4220,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4221,begin apogee
$GC,4227,-0.31,0.0,503.9,10.6,205,4327,1.15,0.00,96.62,0.923,6,0.081,0.000,3082,1968,3020,0,0,0,0,0,0
$STATE,4328,end apogee,CONTROL_FINISHED_OK
$STATE,4328,begin climb
$GC,4330,1.38,116.8,506.5,0.0,207,4441,1.58,2.78,99.38,0.906,4,0.048,0.061,3458,3551,2542,0,0,0,0,0,0
$GC,4465,1.35,195.8,506.0,5.5,211,4539,0.00,2.70,68.50,0.895,6,0.000,0.055,3458,1980,2221,0,0,0,0,0,0
$GC,4790,1.28,195.8,472.9,10.8,219,4795,0.15,2.65,0.00,0.000,4,0.118,0.051,3428,3551,2212,0,0,0,0,0,0
$GC,4814,1.23,195.8,470.5,10.3,219,4818,0.00,2.67,0.00,0.000,6,0.000,0.052,3428,1997,2211,0,0,0,0,0,0
$GC,5069,1.24,205.5,446.1,9.5,226,5083,0.00,2.67,7.85,0.743,4,0.000,0.048,3428,3555,2181,0,0,0,0,0,0
$GC,5114,1.25,211.0,441.8,9.7,227,5127,0.00,2.62,6.60,0.700,6,0.000,0.045,3428,2000,2159,0,0,0,0,0,0
$GC,5401,1.25,211.0,411.7,10.6,234,5402,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1999,2156,0,0,0,0,0,0
$GC,5645,1.25,211.0,386.2,10.4,240,5646,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2000,2154,0,0,0,0,0,0
$GC,5889,1.26,219.9,362.3,9.5,246,5899,0.00,0.00,8.50,0.738,6,0.000,0.000,3428,2000,2123,0,0,0,0,0,0
$GC,6132,1.28,239.5,340.3,8.9,252,6157,0.00,2.62,18.67,0.801,4,0.000,0.040,3428,3548,2042,0,0,0,0,0,0
$GC,6168,1.30,253.1,336.9,9.3,252,6187,0.00,2.58,13.65,0.768,6,0.000,0.034,3428,1998,1988,0,0,0,0,0,0
$GC,6462,1.30,253.1,307.4,10.3,260,6463,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1998,1982,0,0,0,0,0,0
$GC,6705,1.34,253.1,282.7,10.1,266,6709,0.00,2.58,0.00,0.000,4,0.000,0.034,3428,3560,1980,0,0,0,0,0,0
$GC,6726,1.38,253.1,280.4,10.3,266,6731,0.00,2.55,0.00,0.000,6,0.000,0.036,3428,2001,1980,0,0,0,0,0,0
$GC,6984,1.43,263.0,255.4,9.5,273,6998,0.15,2.80,8.85,0.693,4,0.075,0.072,3469,412,1947,0,0,0,0,0,0
$GC,7021,1.36,263.0,250.6,13.0,273,7027,0.12,2.55,0.00,0.000,6,0.124,0.025,3445,2013,1946,0,0,0,0,0,0
$GC,7271,1.36,264.2,224.8,10.0,280,7272,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2014,1945,0,0,0,0,0,0
$GC,7514,1.36,264.2,199.9,10.5,286,7518,0.00,2.50,0.00,0.000,4,0.000,0.041,3445,3559,1945,0,0,0,0,0,0
$GC,7545,1.40,264.2,196.8,10.7,288,7549,0.00,2.53,0.00,0.000,6,0.000,0.037,3445,1991,1944,0,0,0,0,0,0
$GC,7809,1.40,265.3,170.5,10.0,312,7813,0.00,2.55,0.00,0.000,4,0.000,0.032,3445,3567,1943,0,0,0,0,0,0
$GC,7837,1.44,265.3,167.3,10.4,314,7842,0.00,2.53,0.00,0.000,6,0.000,0.035,3444,2001,1943,0,0,0,0,0,0
$GC,8102,1.49,267.0,141.6,9.9,338,8112,0.12,0.00,4.55,0.492,6,0.077,0.000,3480,2001,1930,0,0,0,0,0,0
$GC,8368,1.49,267.0,113.6,10.6,363,8373,0.00,2.53,0.00,0.000,4,0.000,0.037,3480,3569,1930,0,0,0,0,0,0
$GC,8413,1.49,267.0,108.3,10.4,366,8422,0.00,2.53,0.00,0.000,6,0.000,0.032,3480,2017,1929,0,0,0,0,0,0
$GC,8682,1.49,267.1,80.0,10.0,391,8686,0.00,2.47,0.00,0.000,4,0.000,0.035,3480,3563,1929,0,0,0,0,0,0
$GC,8762,1.49,267.1,71.7,11.0,397,8767,0.00,2.50,0.00,0.000,6,0.000,0.036,3480,2009,1929,0,0,0,0,0,0
$GC,9032,1.53,296.0,46.3,8.4,421,9063,0.00,2.72,26.17,0.568,4,0.000,0.054,3480,412,1812,0,0,0,0,0,0
$GC,9168,1.55,309.1,32.1,9.3,431,9186,0.00,2.47,12.18,0.524,6,0.000,0.017,3480,2017,1759,0,0,0,0,0,0
$STATE,9453,end climb,SURFACE_DEPTH_REACHED
$STATE,9453,begin surface coast
$FINISH,0.7,0.980042
$STATE,9509,end surface coast,CONTROL_FINISHED_OK
$STATE,9509,begin surface
$SM_CCo,9533,57.60,0.526,0,0,1469,380.21
$SM_GC,1.30,0.00,0.00,57.60,0.000,0.000,0.526,479,1785,1469,-12.29,-0.42,380.21
$IRIDIUM_FIX,2244.02,-15801.49,280800,141441
$TT8_MAMPS,0.026078
$HUMID,58.70
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.00
$XPDR_PINGS,40
$24V_AH,23.5,25.362
$10V_AH,10.4,22.113
$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,27.925,102.800,371.525,57.600,0.000,49.436,65.895,343.052,10.000,0.000,16.922,955.048,6359.042,468.534,1735.854,742.509,33.366,1118.307,0.000,1743.086,0.000,0.536,0.000
$DEVICE_MAMPS,144.963,72.098,922.701,526.162,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.361,290.740,371.612,699.751,1058.336,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355476
$DATA_FILE_SIZE,38336,480
$CAP_FILE_SIZE,99754,0
$CFSIZE,260165632,171696128
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040611,173303,2249.779,-15759.680,12,1.4,31,10.1