version: 66.06
glider: 146
mission: 6
dive: 265
start: 6 12 111 6 46 36
data:
$ID,146
$MISSION,6
$DIVE,265
$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,-274357.16
$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,42
$R_STBD_OVSHOOT,64
$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,3010
$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
$GPS1,063625,2249.465,-15801.936,74,1.4,74,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.2
$GPS2,064543,2249.550,-15801.987,38,1.4,42,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,0.030
$KALMAN_X,-109288.2,143.7,0.8,100272.2,-615.0
$KALMAN_Y,-66043.0,92.5,469.9,75945.8,-137.7
$MHEAD_RNG_PITCHd_Wd,72.5,8554,-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,17,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-69.53,0.000,2,0.000,0.000,475,1817,3236,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.8,-7.3,9,118,12.00,2.65,-4.60,0.000,4,0.136,0.065,2852,264,3488,0,0,0,0,0,0
$GC,149,-1.13,-116.8,21.7,-24.7,16,159,0.22,2.42,0.00,0.000,6,0.087,0.017,2906,1831,3490,0,0,0,0,0,0
$GC,429,-1.13,-116.8,63.7,-15.8,44,433,0.00,2.45,0.00,0.000,4,0.000,0.033,2906,3384,3491,0,0,0,0,0,0
$GC,537,-1.20,-116.8,77.2,-10.4,52,546,0.00,2.45,0.00,0.000,6,0.000,0.028,2906,1867,3491,0,0,0,0,0,0
$GC,805,-1.24,-116.8,107.5,-11.8,77,809,0.00,2.70,0.00,0.000,4,0.000,0.062,2906,253,3492,0,0,0,0,0,0
$GC,845,-1.24,-116.8,113.7,-13.7,80,849,0.00,2.42,0.00,0.000,6,0.000,0.017,2906,1870,3491,0,0,0,0,0,0
$GC,1109,-1.32,-116.8,143.2,-10.5,104,1114,0.15,2.38,0.00,0.000,4,0.063,0.034,2851,3378,3492,0,0,0,0,0,0
$GC,1143,-1.32,-116.8,148.0,-13.4,106,1152,0.00,2.45,0.00,0.000,6,0.000,0.025,2851,1843,3492,0,0,0,0,0,0
$GC,1406,-1.32,-116.8,180.9,-12.8,131,1411,0.10,2.67,0.00,0.000,4,0.115,0.059,2874,261,3493,0,0,0,0,0,0
$GC,1423,-1.32,-116.8,183.4,-12.6,132,1428,0.00,2.38,0.00,0.000,6,0.000,0.015,2874,1857,3492,0,0,0,0,0,0
$GC,1700,-1.37,-116.8,213.2,-10.7,149,1704,0.00,2.38,0.00,0.000,4,0.000,0.033,2874,3370,3493,0,0,0,0,0,0
$GC,1763,-1.45,-116.8,219.6,-10.2,150,1768,0.12,2.40,0.00,0.000,6,0.068,0.033,2825,1850,3493,0,0,0,0,0,0
$GC,2030,-1.45,-116.8,251.8,-11.9,157,2034,0.00,2.72,0.00,0.000,4,0.000,0.072,2825,253,3493,0,0,0,0,0,0
$GC,2051,-1.40,-116.8,254.4,-11.6,157,2056,0.12,2.40,0.00,0.000,6,0.113,0.023,2853,1813,3493,0,0,0,0,0,0
$GC,2308,-1.44,-116.8,279.9,-10.0,164,2309,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1813,3493,0,0,0,0,0,0
$GC,2551,-1.48,-116.8,303.7,-9.6,170,2555,0.00,2.53,0.00,0.000,4,0.000,0.042,2853,3393,3493,0,0,0,0,0,0
$GC,2578,-1.54,-116.8,306.5,-9.9,170,2583,0.12,2.47,0.00,0.000,6,0.074,0.035,2806,1855,3493,0,0,0,0,0,0
$GC,2829,-1.54,-116.8,335.0,-11.6,176,2833,0.00,2.47,0.00,0.000,4,0.000,0.037,2806,3394,3492,0,0,0,0,0,0
$GC,2844,-1.54,-116.8,337.2,-11.6,176,2849,0.00,2.53,0.00,0.000,6,0.000,0.044,2806,1856,3492,0,0,0,0,0,0
$GC,3106,-1.54,-116.8,370.3,-13.0,183,3110,0.00,2.50,0.00,0.000,4,0.000,0.043,2806,3393,3491,0,0,0,0,0,0
$GC,3151,-1.54,-116.8,376.3,-13.6,184,3155,0.00,2.58,0.00,0.000,6,0.000,0.048,2806,1851,3491,0,0,0,0,0,0
$GC,3428,-1.54,-116.8,409.4,-11.6,191,3429,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1850,3489,0,0,0,0,0,0
$GC,3671,-1.54,-116.8,437.7,-11.8,197,3676,0.00,2.53,0.00,0.000,4,0.000,0.048,2806,3391,3488,0,0,0,0,0,0
$GC,3700,-1.54,-116.8,441.1,-12.2,197,3704,0.00,2.60,0.00,0.000,6,0.000,0.053,2806,1856,3488,0,0,0,0,0,0
$GC,3949,-1.54,-116.8,469.3,-11.1,203,3951,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1855,3486,0,0,0,0,0,0
$GC,4193,-1.54,-116.8,496.7,-11.4,209,4194,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1856,3484,0,0,0,0,0,0
$STATE,4233,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4233,begin apogee
$GC,4239,-0.31,0.0,501.4,11.5,210,4340,1.25,0.00,97.10,0.911,6,0.078,0.000,3089,1994,3010,0,0,0,0,0,0
$STATE,4341,end apogee,CONTROL_FINISHED_OK
$STATE,4341,begin climb
$GC,4345,1.38,116.8,504.7,0.0,212,4449,1.58,0.00,99.68,0.893,6,0.042,0.000,3464,1994,2533,0,0,0,0,0,0
$GC,4678,1.34,173.6,491.5,6.8,221,4729,0.00,0.00,49.12,0.877,6,0.000,0.000,3464,1994,2301,0,0,0,0,0,0
$GC,4963,1.26,173.6,462.9,11.0,228,4965,0.15,0.00,0.00,0.000,6,0.123,0.000,3435,1994,2294,0,0,0,0,0,0
$GC,5205,1.26,173.6,435.8,11.1,234,5209,0.00,2.60,0.00,0.000,4,0.000,0.051,3435,3554,2292,0,0,0,0,0,0
$GC,5232,1.26,173.6,432.5,11.5,234,5236,0.00,2.65,0.00,0.000,6,0.000,0.048,3435,1990,2291,0,0,0,0,0,0
$GC,5482,1.26,173.6,406.1,10.3,240,5483,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1990,2289,0,0,0,0,0,0
$GC,5727,1.29,194.7,383.8,8.8,246,5746,0.00,0.00,17.77,0.813,6,0.000,0.000,3435,1990,2216,0,0,0,0,0,0
$GC,5969,1.32,223.6,363.2,8.4,252,6003,0.00,2.70,26.52,0.816,4,0.000,0.036,3434,3558,2097,0,0,0,0,0,0
$GC,6042,1.32,223.6,356.3,10.3,253,6047,0.00,2.65,0.00,0.000,6,0.000,0.043,3435,1977,2095,0,0,0,0,0,0
$GC,6294,1.33,228.4,332.0,9.8,259,6304,0.00,2.62,5.05,0.608,4,0.000,0.039,3434,3558,2078,0,0,0,0,0,0
$GC,6321,1.33,228.4,329.0,10.5,259,6325,0.00,2.58,0.00,0.000,6,0.000,0.040,3435,1996,2077,0,0,0,0,0,0
$GC,6571,1.33,233.3,304.6,9.8,265,6578,0.00,0.00,5.65,0.627,6,0.000,0.000,3435,1996,2058,0,0,0,0,0,0
$GC,6816,1.35,246.0,281.6,9.3,271,6835,0.00,2.62,12.73,0.733,4,0.000,0.038,3434,3552,2006,0,0,0,0,0,0
$GC,6869,1.39,246.0,276.0,10.5,272,6874,0.12,2.55,0.00,0.000,6,0.078,0.031,3469,2001,2005,0,0,0,0,0,0
$GC,7143,1.39,246.0,244.2,11.8,279,7148,0.00,2.75,0.00,0.000,4,0.000,0.067,3469,410,2002,0,0,0,0,0,0
$GC,7218,1.33,246.0,235.4,11.3,280,7222,0.00,2.50,0.00,0.000,6,0.000,0.025,3470,1999,2001,0,0,0,0,0,0
$GC,7468,1.36,266.8,212.5,8.8,286,7489,0.00,0.00,19.23,0.706,6,0.000,0.000,3469,2001,1922,0,0,0,0,0,0
$GC,7720,1.38,281.4,189.7,9.2,298,7736,0.00,0.00,13.93,0.667,6,0.000,0.000,3470,2001,1862,0,0,0,0,0,0
$GC,7993,1.38,281.4,160.3,11.2,324,7997,0.00,2.50,0.00,0.000,4,0.000,0.034,3470,3556,1858,0,0,0,0,0,0
$GC,8069,1.42,281.4,151.2,11.9,330,8074,0.00,2.55,0.00,0.000,6,0.000,0.035,3470,1987,1857,0,0,0,0,0,0
$GC,8332,1.46,281.4,121.4,11.8,354,8337,0.00,2.67,0.00,0.000,4,0.000,0.057,3469,409,1857,0,0,0,0,0,0
$GC,8402,1.46,281.4,113.5,11.1,359,8406,0.00,2.47,0.00,0.000,6,0.000,0.018,3470,2002,1856,0,0,0,0,0,0
$GC,8668,1.56,317.6,89.4,7.9,383,8706,0.12,2.75,31.38,0.601,4,0.077,0.055,3507,422,1714,0,0,0,0,0,0
$GC,8756,1.56,317.6,80.0,12.5,390,8765,0.00,2.45,0.00,0.000,6,0.000,0.018,3507,1977,1712,0,0,0,0,0,0
$GC,9022,1.56,318.4,49.5,10.0,415,9026,0.00,2.53,0.00,0.000,4,0.000,0.037,3507,3550,1711,0,0,0,0,0,0
$GC,9094,1.61,318.4,41.6,11.5,420,9098,0.00,2.53,0.00,0.000,6,0.000,0.029,3507,1977,1710,0,0,0,0,0,0
$GC,9405,1.61,318.4,7.9,11.6,459,9414,0.00,2.55,0.00,0.000,4,0.000,0.035,3507,3553,1710,0,0,0,0,0,0
$STATE,9442,end climb,SURFACE_DEPTH_REACHED
$STATE,9442,begin surface coast
$FINISH,0.5,0.979721
$STATE,9493,end surface coast,CONTROL_FINISHED_OK
$STATE,9493,begin surface
$SM_CCo,9520,50.47,0.522,0,0,1459,380.21
$SM_GC,1.24,0.00,0.00,50.47,0.000,0.000,0.522,476,1817,1459,-12.35,-0.37,380.21
$IRIDIUM_FIX,2244.02,-15801.49,050900,030317
$TT8_MAMPS,0.026078
$HUMID,60.90
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.60
$XPDR_PINGS,41
$24V_AH,23.5,33.512
$10V_AH,10.3,29.120
$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,28.325,107.300,378.150,50.475,0.000,25.172,42.900,328.489,10.250,0.000,43.628,946.160,6277.160,520.702,1725.736,660.285,33.369,1124.830,0.000,1706.482,0.000,0.535,0.000
$DEVICE_MAMPS,135.759,84.370,911.196,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,319.332,254.997,363.114,696.554,1053.419,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,38461,471
$CAP_FILE_SIZE,96634,0
$CFSIZE,260165632,168382464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120611,092723,2249.677,-15800.893,36,1.9,36,10.1