version: 66.06
glider: 146
mission: 6
dive: 209
start: 6 5 111 10 57 47
data:
$ID,146
$MISSION,6
$DIVE,209
$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,-272746.28
$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,3155
$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,1830
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,62
$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
$GPS1,105040,2247.177,-15757.898,37,2.0,52,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-71.4
$GPS2,105652,2247.211,-15757.846,11,2.0,19,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.232,-0.034
$KALMAN_X,-89947.0,-9.8,23.1,88142.0,58.5
$KALMAN_Y,-107177.6,532.3,219.8,112552.7,234.2
$MHEAD_RNG_PITCHd_Wd,251.7,8810,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-70.53,0.000,2,0.000,0.000,480,1814,3275,0,0,0,0,0,0
$GC,91,-1.38,-116.8,4.0,-6.9,9,117,12.20,2.67,-3.95,0.000,4,0.146,0.062,2845,251,3499,0,0,0,0,0,0
$GC,246,-1.17,-116.8,44.1,-21.2,27,256,0.20,2.42,0.00,0.000,6,0.194,0.014,2890,1845,3501,0,0,0,0,0,0
$GC,513,-1.17,-116.8,81.0,-13.5,52,517,0.00,2.70,0.00,0.000,4,0.000,0.054,2890,246,3501,0,0,0,0,0,0
$GC,560,-1.17,-116.8,88.8,-15.3,55,565,0.00,2.35,0.00,0.000,6,0.000,0.019,2890,1820,3501,0,0,0,0,0,0
$GC,821,-1.17,-116.8,118.6,-10.9,80,825,0.00,2.40,0.00,0.000,4,0.000,0.024,2890,3364,3503,0,0,0,0,0,0
$GC,855,-1.22,-116.8,122.3,-10.7,82,865,0.00,2.53,0.00,0.000,6,0.000,0.032,2890,1793,3503,0,0,0,0,0,0
$GC,1122,-1.27,-116.8,150.6,-10.3,107,1126,0.00,2.45,0.00,0.000,4,0.000,0.023,2890,3367,3504,0,0,0,0,0,0
$GC,1142,-1.33,-116.8,152.9,-9.9,108,1147,0.12,2.47,0.00,0.000,6,0.072,0.025,2843,1803,3504,0,0,0,0,0,0
$GC,1402,-1.33,-116.8,185.5,-12.7,132,1404,0.10,0.00,0.00,0.000,6,0.117,0.000,2864,1803,3504,0,0,0,0,0,0
$GC,1664,-1.33,-116.8,214.1,-10.9,148,1668,0.00,2.45,0.00,0.000,4,0.000,0.032,2865,3359,3504,0,0,0,0,0,0
$GC,1703,-1.40,-116.8,218.6,-11.5,149,1707,0.00,2.45,0.00,0.000,6,0.000,0.032,2865,1817,3504,0,0,0,0,0,0
$GC,1986,-1.45,-116.8,249.2,-10.6,156,1991,0.12,2.47,0.00,0.000,4,0.071,0.034,2821,3364,3505,0,0,0,0,0,0
$GC,2014,-1.45,-116.8,252.3,-11.2,156,2019,0.00,2.47,0.00,0.000,6,0.000,0.029,2821,1820,3505,0,0,0,0,0,0
$GC,2264,-1.45,-116.8,282.1,-12.1,162,2268,0.00,2.45,0.00,0.000,4,0.000,0.035,2822,3362,3505,0,0,0,0,0,0
$GC,2279,-1.45,-116.8,284.1,-12.0,162,2284,0.00,2.47,0.00,0.000,6,0.000,0.031,2821,1825,3504,0,0,0,0,0,0
$GC,2542,-1.45,-116.8,314.9,-11.2,169,2543,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1825,3505,0,0,0,0,0,0
$GC,2784,-1.45,-116.8,341.5,-10.8,175,2785,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1825,3504,0,0,0,0,0,0
$GC,3028,-1.45,-116.8,368.7,-11.0,181,3032,0.00,2.47,0.00,0.000,4,0.000,0.044,2821,3352,3502,0,0,0,0,0,0
$GC,3055,-1.45,-116.8,371.8,-10.8,181,3059,0.00,2.53,0.00,0.000,6,0.000,0.054,2822,1828,3502,0,0,0,0,0,0
$GC,3306,-1.45,-116.8,398.5,-10.6,187,3310,0.00,2.47,0.00,0.000,4,0.000,0.043,2821,3353,3501,0,0,0,0,0,0
$GC,3321,-1.45,-116.8,400.4,-10.5,187,3326,0.00,2.58,0.00,0.000,6,0.000,0.057,2822,1825,3501,0,0,0,0,0,0
$GC,3582,-1.45,-116.8,428.8,-10.8,194,3587,0.00,2.50,0.00,0.000,4,0.000,0.044,2822,3352,3500,0,0,0,0,0,0
$GC,3598,-1.45,-116.8,430.6,-10.7,194,3603,0.00,2.58,0.00,0.000,6,0.000,0.054,2821,1829,3500,0,0,0,0,0,0
$GC,3861,-1.45,-116.8,458.2,-10.5,201,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1829,3498,0,0,0,0,0,0
$GC,4103,-1.45,-116.8,484.2,-10.7,207,4107,0.00,2.53,0.00,0.000,4,0.000,0.058,2821,3349,3496,0,0,0,0,0,0
$GC,4124,-1.45,-116.8,486.5,-10.6,207,4129,0.00,2.60,0.00,0.000,6,0.000,0.064,2821,1833,3496,0,0,0,0,0,0
$STATE,4255,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4256,begin apogee
$GC,4263,-0.31,0.0,500.3,10.4,211,4364,1.15,0.00,97.20,0.921,6,0.078,0.000,3083,1958,3020,0,0,0,0,0,0
$STATE,4365,end apogee,CONTROL_FINISHED_OK
$STATE,4365,begin climb
$GC,4367,1.38,116.8,502.9,0.0,213,4477,1.60,2.85,99.97,0.905,4,0.046,0.061,3460,3552,2541,0,0,0,0,0,0
$GC,4489,1.38,217.7,502.9,4.2,216,4586,0.00,2.70,86.82,0.897,6,0.000,0.054,3461,1987,2132,0,0,0,0,0,0
$GC,4870,1.31,217.7,461.2,11.3,226,4871,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1987,2122,0,0,0,0,0,0
$GC,5115,1.24,217.7,433.7,11.3,232,5117,0.17,0.00,0.00,0.000,6,0.114,0.000,3425,1986,2121,0,0,0,0,0,0
$GC,5359,1.25,220.3,409.2,9.9,238,5363,0.00,2.90,0.00,0.000,4,0.000,0.094,3425,406,2118,0,0,0,0,0,0
$GC,5374,1.25,224.4,407.4,9.8,238,5384,0.00,2.53,4.62,0.611,6,0.000,0.026,3425,1976,2105,0,0,0,0,0,0
$GC,5636,1.26,232.7,382.2,9.6,245,5650,0.00,2.70,8.93,0.758,4,0.000,0.047,3425,3582,2071,0,0,0,0,0,0
$GC,5684,1.27,243.2,377.4,9.4,246,5700,0.00,2.67,11.00,0.775,6,0.000,0.038,3425,1975,2028,0,0,0,0,0,0
$GC,5962,1.29,255.6,351.4,9.3,253,5976,0.00,0.00,12.40,0.779,6,0.000,0.000,3425,1975,1976,0,0,0,0,0,0
$GC,6206,1.29,255.6,325.5,10.9,259,6211,0.00,2.72,0.00,0.000,4,0.000,0.073,3426,411,1974,0,0,0,0,0,0
$GC,6239,1.29,255.6,321.4,11.8,259,6245,0.00,2.53,0.00,0.000,6,0.000,0.025,3425,2003,1973,0,0,0,0,0,0
$GC,6489,1.33,255.6,294.1,10.6,266,6493,0.00,2.55,0.00,0.000,4,0.000,0.041,3425,3570,1972,0,0,0,0,0,0
$GC,6511,1.33,255.6,291.8,10.4,266,6516,0.00,2.60,0.00,0.000,6,0.000,0.038,3425,1980,1971,0,0,0,0,0,0
$GC,6767,1.37,256.6,266.1,10.0,273,6772,0.12,2.72,0.00,0.000,4,0.083,0.072,3460,410,1970,0,0,0,0,0,0
$GC,6800,1.31,256.6,261.9,12.5,273,6806,0.00,2.50,0.00,0.000,6,0.000,0.021,3460,1989,1969,0,0,0,0,0,0
$GC,7052,1.31,256.6,234.6,10.8,280,7056,0.00,2.58,0.00,0.000,4,0.000,0.036,3460,3573,1969,0,0,0,0,0,0
$GC,7095,1.31,256.6,229.3,11.3,281,7099,0.00,2.60,0.00,0.000,6,0.000,0.036,3460,1975,1969,0,0,0,0,0,0
$GC,7373,1.31,256.6,200.7,10.2,288,7378,0.00,2.67,0.00,0.000,4,0.000,0.065,3460,411,1968,0,0,0,0,0,0
$GC,7396,1.27,256.6,198.1,11.9,288,7401,0.15,2.47,0.00,0.000,6,0.116,0.019,3430,1992,1967,0,0,0,0,0,0
$GC,7666,1.34,256.6,172.5,10.1,313,7671,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1992,1967,0,0,0,0,0,0
$GC,7931,1.45,288.1,147.6,8.2,338,7962,0.17,0.00,27.98,0.665,6,0.069,0.000,3478,1993,1845,0,0,0,0,0,0
$GC,8216,1.45,288.1,115.7,11.5,365,8221,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,1993,1840,0,0,0,0,0,0
$GC,8478,1.45,288.1,86.8,11.1,390,8483,0.00,2.67,0.00,0.000,4,0.000,0.060,3478,408,1840,0,0,0,0,0,0
$GC,8546,1.45,288.1,79.2,12.3,395,8550,0.00,2.45,0.00,0.000,6,0.000,0.024,3478,1988,1839,0,0,0,0,0,0
$GC,8814,1.52,307.0,52.0,8.9,419,8842,0.00,2.58,16.92,0.558,4,0.000,0.032,3478,3552,1767,0,0,0,0,0,0
$GC,8985,1.69,359.7,36.4,7.0,432,9038,0.17,2.55,45.03,0.556,6,0.071,0.028,3525,1968,1553,0,0,0,0,0,0
$STATE,9240,end climb,SURFACE_DEPTH_REACHED
$STATE,9240,begin surface coast
$FINISH,0.5,0.970594
$STATE,9278,end surface coast,CONTROL_FINISHED_OK
$STATE,9278,begin surface
$SM_CCo,9300,16.25,0.503,0,0,1470,380.21
$SM_GC,1.98,0.00,0.00,16.25,0.000,0.000,0.503,475,1799,1470,-12.33,-0.88,380.21
$IRIDIUM_FIX,2239.35,-15759.32,290800,080853
$TT8_MAMPS,0.026078
$HUMID,60.51
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.00
$XPDR_PINGS,40
$24V_AH,23.5,26.171
$10V_AH,10.4,22.875
$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,28.750,107.950,410.875,16.250,0.000,30.627,32.193,168.941,10.000,0.000,21.223,930.111,6069.392,478.179,1717.534,497.597,33.369,1122.585,0.000,1711.225,0.000,0.534,0.000
$DEVICE_MAMPS,194.051,94.341,921.167,503.152,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,318.838,266.108,364.186,685.324,1030.369,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,38552,471
$CAP_FILE_SIZE,95098,0
$CFSIZE,260165632,171335680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050611,133421,2247.053,-15759.038,15,99.0,34,10.1