version: 66.06
glider: 146
mission: 6
dive: 211
start: 6 5 111 16 29 46
data:
$ID,146
$MISSION,6
$DIVE,211
$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,-272795.41
$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,48
$R_STBD_OVSHOOT,54
$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
$GPS1,162237,2246.885,-15800.320,26,1.5,26,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.3
$GPS2,162850,2246.905,-15800.338,12,1.5,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.235,0.001
$KALMAN_X,-89794.2,201.2,42.9,83500.7,-97.7
$KALMAN_Y,-106356.3,-300.8,-214.2,112433.4,82.1
$MHEAD_RNG_PITCHd_Wd,260.2,4549,-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,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.70,0.000,2,0.000,0.000,476,1795,3272,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.7,-6.4,9,118,12.32,2.58,-3.95,0.000,4,0.149,0.067,2843,279,3499,0,0,0,0,0,0
$GC,354,-1.25,-116.8,65.2,-17.6,35,362,0.12,2.40,0.00,0.000,6,0.108,0.015,2874,1849,3501,0,0,0,0,0,0
$GC,618,-1.25,-116.8,102.8,-13.8,60,622,0.00,2.62,0.00,0.000,4,0.000,0.058,2874,275,3502,0,0,0,0,0,0
$GC,718,-1.25,-116.8,116.7,-12.9,68,723,0.00,2.30,0.00,0.000,6,0.000,0.021,2874,1832,3502,0,0,0,0,0,0
$GC,982,-1.25,-116.8,147.3,-13.0,92,983,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1833,3503,0,0,0,0,0,0
$GC,1234,-1.25,-116.8,176.4,-11.1,116,1238,0.00,2.38,0.00,0.000,4,0.000,0.029,2874,3359,3504,0,0,0,0,0,0
$GC,1287,-1.31,-116.8,182.1,-11.0,120,1291,0.00,2.45,0.00,0.000,6,0.000,0.025,2874,1812,3504,0,0,0,0,0,0
$GC,1574,-1.35,-116.8,213.8,-10.9,138,1578,0.00,2.42,0.00,0.000,4,0.000,0.031,2874,3362,3504,0,0,0,0,0,0
$GC,1607,-1.42,-116.8,217.4,-10.6,138,1613,0.12,2.45,0.00,0.000,6,0.070,0.032,2830,1807,3505,0,0,0,0,0,0
$GC,1858,-1.42,-116.8,248.7,-12.7,145,1863,0.00,2.62,0.00,0.000,4,0.000,0.066,2829,258,3504,0,0,0,0,0,0
$GC,1898,-1.36,-116.8,254.1,-14.2,146,1903,0.12,2.30,0.00,0.000,6,0.117,0.022,2856,1779,3504,0,0,0,0,0,0
$GC,2183,-1.40,-116.8,284.6,-10.4,153,2187,0.00,2.50,0.00,0.000,4,0.000,0.034,2856,3356,3505,0,0,0,0,0,0
$GC,2272,-1.46,-116.8,294.2,-10.1,155,2276,0.00,2.47,0.00,0.000,6,0.000,0.036,2856,1820,3504,0,0,0,0,0,0
$GC,2549,-1.51,-116.8,323.0,-10.4,162,2555,0.12,2.78,0.00,0.000,4,0.072,0.079,2813,253,3504,0,0,0,0,0,0
$GC,2572,-1.51,-116.8,325.8,-12.3,162,2577,0.00,2.35,0.00,0.000,6,0.000,0.028,2813,1760,3504,0,0,0,0,0,0
$GC,2828,-1.51,-116.8,355.7,-11.4,169,2832,0.00,2.60,0.00,0.000,4,0.000,0.051,2813,3349,3503,0,0,0,0,0,0
$GC,2877,-1.51,-116.8,361.5,-11.3,170,2881,0.00,2.53,0.00,0.000,6,0.000,0.046,2813,1827,3503,0,0,0,0,0,0
$GC,3150,-1.51,-116.8,392.0,-11.3,177,3151,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1827,3501,0,0,0,0,0,0
$GC,3392,-1.51,-116.8,419.1,-11.2,183,3397,0.00,2.50,0.00,0.000,4,0.000,0.047,2813,3351,3501,0,0,0,0,0,0
$GC,3419,-1.51,-116.8,422.5,-12.6,183,3424,0.00,2.60,0.00,0.000,6,0.000,0.061,2813,1824,3500,0,0,0,0,0,0
$GC,3671,-1.51,-116.8,450.4,-11.0,189,3675,0.00,2.53,0.00,0.000,4,0.000,0.048,2813,3343,3499,0,0,0,0,0,0
$GC,3720,-1.55,-116.8,456.3,-10.5,190,3725,0.00,2.58,0.00,0.000,6,0.000,0.061,2813,1834,3499,0,0,0,0,0,0
$GC,3992,-1.55,-116.8,485.3,-10.8,197,3997,0.00,3.00,0.00,0.000,4,0.000,0.112,2813,240,3497,0,0,0,0,0,0
$GC,4020,-1.55,-116.8,488.6,-12.5,197,4025,0.00,2.47,0.00,0.000,6,0.000,0.041,2813,1757,3496,0,0,0,0,0,0
$STATE,4146,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4146,begin apogee
$GC,4152,-0.31,0.0,502.6,11.0,200,4253,1.20,0.00,97.15,0.919,6,0.082,0.000,3083,1924,3020,0,0,0,0,0,0
$STATE,4253,end apogee,CONTROL_FINISHED_OK
$STATE,4253,begin climb
$GC,4256,1.38,116.8,504.7,0.0,202,4360,1.55,0.00,99.43,0.899,6,0.054,0.000,3452,1924,2542,0,0,0,0,0,0
$GC,4584,1.34,152.2,487.7,8.0,210,4620,0.00,2.80,30.23,0.867,4,0.000,0.081,3452,409,2397,0,0,0,0,0,0
$GC,4631,1.27,190.2,483.5,7.8,210,4672,0.10,2.50,34.47,0.865,6,0.139,0.035,3435,1923,2243,0,0,0,0,0,0
$GC,4944,1.27,190.2,452.7,10.1,218,4949,0.00,2.72,0.00,0.000,4,0.000,0.077,3434,403,2235,0,0,0,0,0,0
$GC,4977,1.19,190.2,449.2,10.6,218,4982,0.00,2.47,0.00,0.000,6,0.000,0.028,3434,1914,2234,0,0,0,0,0,0
$GC,5227,1.20,198.6,425.1,9.6,225,5241,0.00,2.75,6.72,0.706,4,0.000,0.053,3434,3512,2210,0,0,0,0,0,0
$GC,5317,1.20,198.6,416.1,10.2,227,5321,0.00,2.55,0.00,0.000,6,0.000,0.046,3435,1993,2208,0,0,0,0,0,0
$GC,5600,1.20,198.6,386.1,10.6,234,5604,0.00,2.50,0.00,0.000,4,0.000,0.035,3434,3514,2206,0,0,0,0,0,0
$GC,5622,1.20,202.7,383.9,9.8,234,5632,0.00,2.50,4.72,0.611,6,0.000,0.040,3434,2005,2193,0,0,0,0,0,0
$GC,5877,1.24,227.7,360.6,8.6,240,5902,0.00,0.00,23.45,0.814,6,0.000,0.000,3434,2005,2091,0,0,0,0,0,0
$GC,6158,1.24,230.0,333.4,9.9,247,6159,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,2005,2086,0,0,0,0,0,0
$GC,6403,1.24,230.0,306.5,11.1,253,6408,0.00,2.80,0.00,0.000,4,0.000,0.077,3434,408,2084,0,0,0,0,0,0
$GC,6476,1.24,230.0,298.0,11.0,254,6480,0.00,2.42,0.00,0.000,6,0.000,0.025,3434,1939,2083,0,0,0,0,0,0
$GC,6726,1.26,244.3,274.5,9.2,260,6745,0.00,0.00,14.80,0.738,6,0.000,0.000,3434,1939,2023,0,0,0,0,0,0
$GC,7015,1.27,254.1,247.3,9.5,267,7030,0.00,2.60,9.52,0.680,4,0.000,0.039,3434,3514,1984,0,0,0,0,0,0
$GC,7046,1.27,254.1,243.7,10.6,267,7050,0.00,2.53,0.00,0.000,6,0.000,0.031,3434,1972,1983,0,0,0,0,0,0
$GC,7297,1.33,268.9,219.6,9.2,273,7317,0.00,2.72,14.57,0.696,4,0.000,0.067,3434,418,1922,0,0,0,0,0,0
$GC,7382,1.33,268.9,210.4,11.4,275,7386,0.00,2.35,0.00,0.000,6,0.000,0.024,3434,1914,1920,0,0,0,0,0,0
$GC,7648,1.38,268.9,183.0,10.3,291,7653,0.00,2.60,0.00,0.000,4,0.000,0.039,3434,3516,1919,0,0,0,0,0,0
$GC,7742,1.45,268.9,173.4,10.1,298,7748,0.15,2.50,0.00,0.000,6,0.071,0.035,3476,1971,1918,0,0,0,0,0,0
$GC,8009,1.46,274.2,145.8,9.7,323,8020,0.00,2.65,5.18,0.513,4,0.000,0.057,3477,409,1902,0,0,0,0,0,0
$GC,8097,1.42,274.2,135.1,12.0,330,8106,0.00,2.35,0.00,0.000,6,0.000,0.022,3476,1901,1902,0,0,0,0,0,0
$GC,8362,1.42,274.2,108.0,10.2,355,8367,0.00,2.60,0.00,0.000,4,0.000,0.036,3476,3524,1902,0,0,0,0,0,0
$GC,8427,1.47,274.2,100.4,11.5,360,8431,0.00,2.58,0.00,0.000,6,0.000,0.036,3477,1935,1901,0,0,0,0,0,0
$GC,8694,1.48,288.3,75.3,9.2,384,8720,0.00,2.60,14.07,0.565,4,0.000,0.058,3476,408,1842,0,0,0,0,0,0
$GC,8811,1.48,288.3,63.3,10.4,393,8816,0.00,2.33,0.00,0.000,6,0.000,0.017,3476,1915,1840,0,0,0,0,0,0
$GC,9078,1.58,313.7,40.0,8.6,417,9107,0.00,2.60,22.75,0.545,4,0.000,0.029,3476,3523,1739,0,0,0,0,0,0
$GC,9126,1.67,334.2,35.9,8.9,420,9154,0.17,2.58,18.90,0.533,6,0.066,0.029,3525,1932,1655,0,0,0,0,0,0
$STATE,9383,end climb,SURFACE_DEPTH_REACHED
$STATE,9384,begin surface coast
$FINISH,0.4,0.972779
$STATE,9426,end surface coast,CONTROL_FINISHED_OK
$STATE,9426,begin surface
$SM_CCo,9450,36.53,0.521,0,0,1469,380.21
$SM_GC,1.44,0.00,0.00,36.53,0.000,0.000,0.521,474,1816,1469,-12.34,-0.40,380.21
$IRIDIUM_FIX,2239.35,-15800.20,290800,131330
$TT8_MAMPS,0.026078
$HUMID,59.09
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.20
$XPDR_PINGS,43
$24V_AH,23.5,26.401
$10V_AH,10.4,23.084
$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,28.375,117.450,395.975,36.525,0.000,27.854,34.787,180.546,10.750,0.000,14.123,963.303,6110.023,480.874,1806.736,502.098,33.367,1178.687,0.000,1802.234,0.000,0.535,0.000
$DEVICE_MAMPS,148.798,136.526,918.866,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,312.945,267.335,356.597,666.856,1008.521,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,35192,462
$CAP_FILE_SIZE,101144,0
$CFSIZE,260165632,171233280
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050611,190853,2247.113,-15801.572,11,1.8,20,10.1