version: 66.06
glider: 146
mission: 6
dive: 212
start: 6 5 111 19 16 30
data:
$ID,146
$MISSION,6
$DIVE,212
$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,-272827.16
$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,43
$R_STBD_OVSHOOT,95
$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
$GPS1,190853,2247.113,-15801.572,11,1.8,20,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.1
$GPS2,191536,2247.200,-15801.543,13,1.4,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.195,-0.130
$KALMAN_X,-89491.5,209.9,7.4,81163.8,42.7
$KALMAN_Y,-105527.8,-597.4,-218.5,112447.2,1016.5
$MHEAD_RNG_PITCHd_Wd,226.2,2516,-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,-71.05,0.000,2,0.000,0.000,473,1815,3258,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.4,-5.4,9,118,12.48,2.62,-4.43,0.000,4,0.153,0.060,2846,272,3499,0,0,0,0,0,0
$GC,233,-1.19,-116.8,38.4,-21.3,26,238,0.22,2.33,0.00,0.000,6,0.131,0.014,2892,1814,3501,0,0,0,0,0,0
$GC,500,-1.19,-116.8,81.4,-14.0,50,509,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1816,3501,0,0,0,0,0,0
$GC,765,-1.19,-116.8,114.7,-11.4,75,769,0.00,2.62,0.00,0.000,4,0.000,0.057,2892,263,3502,0,0,0,0,0,0
$GC,796,-1.19,-116.8,118.8,-13.5,77,800,0.00,2.38,0.00,0.000,6,0.000,0.019,2892,1845,3503,0,0,0,0,0,0
$GC,1064,-1.24,-116.8,148.6,-10.9,101,1068,0.00,2.38,0.00,0.000,4,0.000,0.032,2892,3367,3503,0,0,0,0,0,0
$GC,1097,-1.33,-116.8,152.2,-10.0,103,1102,0.12,2.42,0.00,0.000,6,0.070,0.025,2845,1839,3504,0,0,0,0,0,0
$GC,1362,-1.33,-116.8,186.1,-13.5,127,1366,0.00,2.65,0.00,0.000,4,0.000,0.061,2845,260,3504,0,0,0,0,0,0
$GC,1424,-1.33,-116.8,194.9,-13.1,132,1428,0.00,2.35,0.00,0.000,6,0.000,0.017,2845,1839,3504,0,0,0,0,0,0
$GC,1676,-1.33,-116.8,224.8,-11.6,141,1678,0.10,0.00,0.00,0.000,6,0.123,0.000,2867,1840,3504,0,0,0,0,0,0
$GC,1921,-1.38,-116.8,250.4,-10.6,147,1922,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1840,3504,0,0,0,0,0,0
$GC,2164,-1.43,-116.8,275.4,-10.3,153,2168,0.10,2.45,0.00,0.000,4,0.085,0.034,2832,3373,3505,0,0,0,0,0,0
$GC,2190,-1.43,-116.8,278.5,-11.2,153,2195,0.00,2.47,0.00,0.000,6,0.000,0.036,2832,1831,3505,0,0,0,0,0,0
$GC,2442,-1.43,-116.8,306.4,-11.1,159,2443,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1831,3504,0,0,0,0,0,0
$GC,2684,-1.43,-116.8,331.2,-10.1,165,2688,0.00,2.45,0.00,0.000,4,0.000,0.035,2832,3364,3504,0,0,0,0,0,0
$GC,2723,-1.47,-116.8,335.1,-10.5,166,2728,0.00,2.50,0.00,0.000,6,0.000,0.046,2831,1847,3503,0,0,0,0,0,0
$GC,3008,-1.47,-116.8,365.9,-11.1,173,3012,0.00,2.45,0.00,0.000,4,0.000,0.038,2832,3366,3502,0,0,0,0,0,0
$GC,3057,-1.51,-116.8,371.8,-11.3,174,3062,0.00,2.55,0.00,0.000,6,0.000,0.054,2831,1843,3502,0,0,0,0,0,0
$GC,3329,-1.51,-116.8,401.7,-10.9,181,3333,0.00,2.50,0.00,0.000,4,0.000,0.042,2832,3365,3500,0,0,0,0,0,0
$GC,3363,-1.55,-116.8,405.4,-11.2,181,3368,0.00,2.55,0.00,0.000,6,0.000,0.057,2832,1857,3501,0,0,0,0,0,0
$GC,3613,-1.55,-116.8,430.8,-9.9,188,3617,0.00,2.45,0.00,0.000,4,0.000,0.044,2831,3355,3498,0,0,0,0,0,0
$GC,3639,-1.60,-116.8,433.6,-10.0,188,3645,0.10,2.55,0.00,0.000,6,0.081,0.054,2789,1857,3499,0,0,0,0,0,0
$GC,3891,-1.55,-116.8,460.9,-11.1,194,3893,0.12,0.00,0.00,0.000,6,0.117,0.000,2815,1857,3497,0,0,0,0,0,0
$GC,4133,-1.55,-116.8,487.9,-11.3,200,4134,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1857,3495,0,0,0,0,0,0
$STATE,4252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4252,begin apogee
$GC,4259,-0.31,0.0,501.6,11.2,203,4359,1.20,0.00,97.10,0.913,6,0.081,0.000,3084,1962,3020,0,0,0,0,0,0
$STATE,4360,end apogee,CONTROL_FINISHED_OK
$STATE,4360,begin climb
$GC,4364,1.38,116.8,504.8,0.0,205,4468,1.58,0.00,99.30,0.898,6,0.054,0.000,3459,1962,2543,0,0,0,0,0,0
$GC,4690,1.35,176.0,492.9,6.6,213,4746,0.00,2.83,50.58,0.888,4,0.000,0.063,3459,3557,2301,0,0,0,0,0,0
$GC,4870,1.26,176.0,475.8,10.2,217,4875,0.15,2.70,0.00,0.000,6,0.121,0.053,3430,1989,2295,0,0,0,0,0,0
$GC,5142,1.27,184.6,450.0,9.5,224,5156,0.00,3.05,7.55,0.745,4,0.000,0.105,3430,409,2267,0,0,0,0,0,0
$GC,5170,1.22,184.6,447.2,10.1,224,5174,0.00,2.58,0.00,0.000,6,0.000,0.031,3430,1980,2265,0,0,0,0,0,0
$GC,5425,1.23,191.8,422.3,9.6,231,5439,0.00,2.72,7.35,0.730,4,0.000,0.051,3429,3577,2238,0,0,0,0,0,0
$GC,5470,1.23,195.4,418.0,9.8,232,5480,0.00,2.67,4.80,0.621,6,0.000,0.044,3430,1988,2222,0,0,0,0,0,0
$GC,5753,1.25,208.5,391.0,9.3,239,5767,0.00,0.00,12.85,0.809,6,0.000,0.000,3430,1988,2170,0,0,0,0,0,0
$GC,5996,1.26,215.7,368.1,9.6,245,6006,0.00,0.00,7.60,0.735,6,0.000,0.000,3430,1988,2140,0,0,0,0,0,0
$GC,6241,1.27,229.5,345.0,9.2,251,6261,0.00,2.70,13.48,0.793,4,0.000,0.035,3429,3584,2083,0,0,0,0,0,0
$GC,6285,1.29,242.2,340.9,9.3,252,6305,0.00,2.67,13.00,0.775,6,0.000,0.038,3430,1974,2030,0,0,0,0,0,0
$GC,6572,1.29,242.2,312.1,10.3,259,6573,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1975,2026,0,0,0,0,0,0
$GC,6817,1.29,242.2,285.1,11.1,265,6821,0.00,2.72,0.00,0.000,4,0.000,0.067,3430,407,2025,0,0,0,0,0,0
$GC,6837,1.29,242.2,282.6,10.8,265,6842,0.00,2.53,0.00,0.000,6,0.000,0.025,3430,2007,2024,0,0,0,0,0,0
$GC,7093,1.30,253.0,258.1,9.4,272,7104,0.00,0.00,9.65,0.706,6,0.000,0.000,3430,2008,1988,0,0,0,0,0,0
$GC,7339,1.35,255.7,234.0,9.9,278,7343,0.00,2.72,0.00,0.000,4,0.000,0.064,3430,408,1985,0,0,0,0,0,0
$GC,7382,1.35,255.7,228.7,11.9,279,7386,0.00,2.47,0.00,0.000,6,0.000,0.025,3430,1978,1984,0,0,0,0,0,0
$GC,7661,1.41,264.7,201.6,9.5,286,7680,0.15,2.78,11.40,0.683,4,0.076,0.061,3469,408,1939,0,0,0,0,0,0
$GC,7733,1.36,264.7,192.8,12.9,289,7739,0.00,2.45,0.00,0.000,6,0.000,0.025,3470,1958,1938,0,0,0,0,0,0
$GC,7996,1.37,271.5,166.8,9.6,314,8009,0.00,2.62,7.03,0.599,4,0.000,0.035,3470,3571,1913,0,0,0,0,0,0
$GC,8028,1.37,271.5,163.0,11.4,316,8033,0.00,2.65,0.00,0.000,6,0.000,0.038,3470,1953,1912,0,0,0,0,0,0
$GC,8294,1.37,271.5,134.4,11.0,341,8298,0.00,2.60,0.00,0.000,4,0.000,0.057,3470,415,1911,0,0,0,0,0,0
$GC,8383,1.37,271.5,123.2,12.9,348,8387,0.00,2.40,0.00,0.000,6,0.000,0.019,3470,1955,1911,0,0,0,0,0,0
$GC,8645,1.37,271.5,96.1,10.6,372,8649,0.00,2.60,0.00,0.000,4,0.000,0.059,3470,408,1910,0,0,0,0,0,0
$GC,8665,1.37,271.5,94.0,11.1,373,8669,0.00,2.38,0.00,0.000,6,0.000,0.018,3470,1943,1910,0,0,0,0,0,0
$GC,8933,1.43,289.6,67.4,9.0,397,8961,0.00,2.65,16.77,0.580,4,0.000,0.031,3469,3553,1838,0,0,0,0,0,0
$GC,9028,1.52,289.6,58.1,10.2,404,9033,0.00,2.62,0.00,0.000,6,0.000,0.035,3470,1935,1837,0,0,0,0,0,0
$GC,9295,1.63,318.9,35.8,8.4,428,9325,0.15,0.00,25.90,0.554,6,0.067,0.000,3515,1935,1719,0,0,0,0,0,0
$STATE,9588,end climb,SURFACE_DEPTH_REACHED
$STATE,9588,begin surface coast
$FINISH,0.5,0.975405
$STATE,9637,end surface coast,CONTROL_FINISHED_OK
$STATE,9637,begin surface
$SM_CCo,9659,49.35,0.529,0,0,1469,380.21
$SM_GC,1.33,0.00,0.00,49.35,0.000,0.000,0.529,476,1798,1469,-12.32,-0.90,380.21
$IRIDIUM_FIX,2237.01,-15758.03,290800,161626
$TT8_MAMPS,0.026078
$HUMID,59.17
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.20
$XPDR_PINGS,40
$24V_AH,23.5,26.514
$10V_AH,10.4,23.192
$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,28.825,103.125,384.350,49.350,0.000,28.183,33.993,193.327,10.000,0.000,31.121,963.665,6357.881,480.712,1792.920,517.990,33.367,1135.378,0.000,1780.368,0.000,0.536,0.000
$DEVICE_MAMPS,153.400,105.079,913.497,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.968,268.314,363.098,709.303,1072.767,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,38384,476
$CAP_FILE_SIZE,98091,0
$CFSIZE,260165632,171184128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050611,215928,2247.149,-15802.749,9,3.1,28,10.1