version: 66.06
glider: 146
mission: 6
dive: 246
start: 6 9 111 22 49 57
data:
$ID,146
$MISSION,6
$DIVE,246
$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,-273743.16
$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,3160
$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,53
$R_STBD_OVSHOOT,57
$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
$GPS1,223930,2247.610,-15757.986,36,1.4,41,10.1
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,3
$_SM_DEPTHo,1.02
$_SM_ANGLEo,-64.6
$GPS2,224902,2247.677,-15758.059,12,1.4,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.184,-0.146
$KALMAN_X,-95218.0,-208.7,-27.8,93303.3,-627.7
$KALMAN_Y,-77953.7,-462.2,-371.1,85778.7,1086.1
$MHEAD_RNG_PITCHd_Wd,221.5,8531,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,16,-1.38,-116.8,0.0,0.0,0,129,0.00,0.00,-110.12,0.000,2,0.000,0.000,480,1794,3347,0,0,0,0,0,0
$GC,134,-1.38,-116.8,4.4,-9.3,14,160,12.05,2.58,-2.60,0.000,4,0.138,0.059,2852,279,3500,0,0,0,0,0,0
$GC,407,-1.28,-116.8,66.2,-16.8,41,412,0.12,2.40,0.00,0.000,6,0.278,0.014,2877,1859,3501,0,0,0,0,0,0
$GC,675,-1.24,-116.8,103.7,-14.3,65,680,0.00,2.65,0.00,0.000,4,0.000,0.052,2877,273,3501,0,0,0,0,0,0
$GC,698,-1.18,-116.8,108.1,-14.5,66,706,0.08,2.38,0.00,0.000,6,0.098,0.015,2897,1837,3501,0,0,0,0,0,0
$GC,966,-1.22,-116.8,139.1,-11.0,91,971,0.00,2.60,0.00,0.000,4,0.000,0.057,2897,280,3501,0,0,0,0,0,0
$GC,1021,-1.26,-116.8,145.9,-12.1,95,1026,0.00,2.30,0.00,0.000,6,0.000,0.021,2897,1817,3502,0,0,0,0,0,0
$GC,1286,-1.34,-116.8,174.8,-10.7,119,1291,0.12,0.00,0.00,0.000,6,0.072,0.000,2850,1818,3502,0,0,0,0,0,0
$GC,1564,-1.34,-116.8,210.2,-12.3,140,1569,0.00,2.60,0.00,0.000,4,0.000,0.062,2849,273,3502,0,0,0,0,0,0
$GC,1599,-1.30,-116.8,214.6,-13.6,140,1605,0.12,2.28,0.00,0.000,6,0.113,0.015,2877,1788,3502,0,0,0,0,0,0
$GC,1849,-1.36,-116.8,241.6,-10.8,147,1853,0.00,2.47,0.00,0.000,4,0.000,0.035,2877,3367,3502,0,0,0,0,0,0
$GC,1898,-1.45,-116.8,247.2,-11.1,148,1904,0.15,2.47,0.00,0.000,6,0.060,0.035,2822,1824,3502,0,0,0,0,0,0
$GC,2172,-1.45,-116.8,280.1,-11.5,155,2177,0.10,2.47,0.00,0.000,4,0.116,0.031,2844,3367,3502,0,0,0,0,0,0
$GC,2216,-1.51,-116.8,285.2,-10.4,156,2221,0.00,2.53,0.00,0.000,6,0.000,0.038,2844,1806,3501,0,0,0,0,0,0
$GC,2493,-1.51,-116.8,315.5,-11.2,163,2494,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1806,3500,0,0,0,0,0,0
$GC,2738,-1.51,-116.8,343.4,-11.4,169,2743,0.00,2.50,0.00,0.000,4,0.000,0.038,2844,3362,3500,0,0,0,0,0,0
$GC,2823,-1.58,-116.8,353.0,-11.2,171,2828,0.12,2.55,0.00,0.000,6,0.071,0.043,2799,1825,3500,0,0,0,0,0,0
$GC,3108,-1.55,-116.8,386.2,-11.6,178,3110,0.10,0.00,0.00,0.000,6,0.120,0.000,2820,1825,3498,0,0,0,0,0,0
$GC,3350,-1.55,-116.8,412.8,-10.8,184,3355,0.00,2.50,0.00,0.000,4,0.000,0.045,2821,3363,3496,0,0,0,0,0,0
$GC,3406,-1.59,-116.8,418.6,-10.2,185,3410,0.00,2.60,0.00,0.000,6,0.000,0.057,2821,1831,3496,0,0,0,0,0,0
$GC,3674,-1.59,-116.8,444.9,-9.9,192,3678,0.00,2.50,0.00,0.000,4,0.000,0.051,2820,3358,3494,0,0,0,0,0,0
$GC,3695,-1.59,-116.8,447.2,-9.9,192,3699,0.00,2.58,0.00,0.000,6,0.000,0.053,2820,1839,3494,0,0,0,0,0,0
$GC,3950,-1.59,-116.8,473.7,-10.6,199,3954,0.00,2.53,0.00,0.000,4,0.000,0.052,2820,3356,3493,0,0,0,0,0,0
$GC,3984,-1.64,-116.8,477.6,-12.0,199,3989,0.00,2.60,0.00,0.000,6,0.000,0.063,2821,1842,3492,0,0,0,0,0,0
$STATE,4190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4190,begin apogee
$GC,4197,-0.31,0.0,500.8,11.0,205,4297,1.17,0.00,96.60,0.904,6,0.077,0.000,3089,1964,3020,0,0,0,0,0,0
$STATE,4298,end apogee,CONTROL_FINISHED_OK
$STATE,4298,begin climb
$GC,4300,1.38,116.8,503.5,0.0,207,4404,1.58,0.00,100.30,0.884,6,0.042,0.000,3465,1964,2542,0,0,0,0,0,0
$GC,4639,1.31,151.0,486.3,8.1,216,4674,0.00,2.78,29.23,0.854,4,0.000,0.054,3465,3551,2403,0,0,0,0,0,0
$GC,4702,1.22,161.6,480.7,9.4,216,4719,0.20,2.65,10.62,0.772,6,0.112,0.054,3425,2008,2360,0,0,0,0,0,0
$GC,4963,1.26,199.1,459.6,7.9,223,5001,0.00,0.00,33.88,0.854,6,0.000,0.000,3425,2008,2206,0,0,0,0,0,0
$GC,5246,1.28,214.6,434.8,9.1,230,5265,0.00,2.65,13.93,0.800,4,0.000,0.042,3425,3562,2144,0,0,0,0,0,0
$GC,5315,1.28,214.6,427.4,10.4,231,5320,0.00,2.65,0.00,0.000,6,0.000,0.049,3425,2006,2142,0,0,0,0,0,0
$GC,5571,1.28,214.6,400.4,10.6,238,5575,0.00,2.90,0.00,0.000,4,0.000,0.092,3425,410,2138,0,0,0,0,0,0
$GC,5586,1.28,214.6,398.7,10.2,238,5591,0.00,2.58,0.00,0.000,6,0.000,0.030,3425,2008,2137,0,0,0,0,0,0
$GC,5847,1.30,225.7,374.0,9.4,245,5863,0.00,2.62,10.00,0.755,4,0.000,0.044,3425,3573,2099,0,0,0,0,0,0
$GC,5909,1.31,234.4,368.3,9.5,246,5923,0.00,2.60,9.27,0.736,6,0.000,0.038,3425,2015,2064,0,0,0,0,0,0
$GC,6174,1.32,248.1,343.8,9.2,253,6194,0.10,2.92,13.38,0.765,4,0.091,0.081,3452,410,2007,0,0,0,0,0,0
$GC,6212,1.27,248.1,339.9,10.6,253,6218,0.00,2.60,0.00,0.000,6,0.000,0.026,3453,2030,2006,0,0,0,0,0,0
$GC,6462,1.27,248.1,313.0,10.7,260,6466,0.00,2.53,0.00,0.000,4,0.000,0.040,3453,3571,2003,0,0,0,0,0,0
$GC,6517,1.27,248.1,306.8,11.1,261,6521,0.00,2.53,0.00,0.000,6,0.000,0.032,3453,2033,2001,0,0,0,0,0,0
$GC,6784,1.27,248.1,279.2,10.4,268,6789,0.00,2.80,0.00,0.000,4,0.000,0.067,3453,405,2000,0,0,0,0,0,0
$GC,6856,1.27,248.1,270.6,11.8,269,6860,0.00,2.58,0.00,0.000,6,0.000,0.027,3453,2026,1999,0,0,0,0,0,0
$GC,7106,1.27,248.1,245.4,10.2,275,7107,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2026,1999,0,0,0,0,0,0
$GC,7351,1.29,261.6,221.6,9.3,281,7365,0.00,0.00,12.00,0.683,6,0.000,0.000,3453,2026,1953,0,0,0,0,0,0
$GC,7593,1.29,261.6,197.9,10.2,287,7597,0.00,2.75,0.00,0.000,4,0.000,0.059,3453,406,1949,0,0,0,0,0,0
$GC,7626,1.29,261.6,193.6,12.9,289,7632,0.00,2.53,0.00,0.000,6,0.000,0.023,3453,2019,1948,0,0,0,0,0,0
$GC,7891,1.34,267.4,164.8,9.7,314,7904,0.00,2.70,5.75,0.543,4,0.000,0.058,3454,412,1930,0,0,0,0,0,0
$GC,7928,1.34,267.4,161.1,10.2,317,7932,0.00,2.53,0.00,0.000,6,0.000,0.020,3453,2019,1929,0,0,0,0,0,0
$GC,8196,1.40,269.2,136.3,9.9,341,8201,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2020,1928,0,0,0,0,0,0
$GC,8458,1.50,290.2,111.9,8.8,366,8485,0.15,2.78,21.42,0.606,4,0.071,0.056,3496,406,1835,0,0,0,0,0,0
$GC,8570,1.47,290.2,99.8,12.2,375,8574,0.00,2.53,0.00,0.000,6,0.000,0.024,3496,2018,1832,0,0,0,0,0,0
$GC,8836,1.47,292.0,71.8,9.9,399,8844,0.00,0.00,0.00,0.000,6,0.000,0.000,3496,2018,1831,0,0,0,0,0,0
$GC,9102,1.51,323.7,47.5,8.2,424,9136,0.00,0.00,28.62,0.551,6,0.000,0.000,3496,2019,1700,0,0,0,0,0,0
$GC,9420,1.51,323.7,13.6,11.8,462,9430,0.00,2.75,0.00,0.000,4,0.000,0.057,3496,403,1696,0,0,0,0,0,0
$STATE,9500,end climb,SURFACE_DEPTH_REACHED
$STATE,9500,begin surface coast
$FINISH,2.6,0.980050
$STATE,9508,end surface coast,CONTROL_FINISHED_OK
$STATE,9509,begin surface
$SM_CCo,9534,44.97,0.515,0,0,1469,380.21
$SM_GC,1.41,0.00,0.00,44.97,0.000,0.000,0.515,482,1849,1469,-12.32,0.54,380.21
$IRIDIUM_FIX,2239.35,-15800.20,020900,191912
$TT8_MAMPS,0.026078
$HUMID,60.15
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.00
$XPDR_PINGS,44
$24V_AH,23.5,30.969
$10V_AH,10.4,26.984
$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,28.450,108.425,385.000,44.975,0.000,24.463,37.026,377.652,11.000,0.000,13.491,946.921,6246.517,523.333,1736.090,702.076,33.376,1189.443,0.000,1740.818,0.000,0.535,0.000
$DEVICE_MAMPS,277.654,92.040,904.293,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,320.041,269.620,363.124,682.800,1032.993,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355588
$DATA_FILE_SIZE,38403,474
$CAP_FILE_SIZE,101365,0
$CFSIZE,260165632,169385984
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100611,013107,2247.377,-15759.555,50,1.5,50,10.1