version: 66.06
glider: 146
mission: 6
dive: 319
start: 6 18 111 19 17 33
data:
$ID,146
$MISSION,6
$DIVE,319
$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,-275645.16
$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,3165
$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,1890
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,51
$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
$GPS1,190143,2250.027,-15801.820,23,2.0,29,10.1
$_CALLS,2
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-72.0
$GPS2,191637,2250.213,-15801.933,14,1.2,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,-0.093
$KALMAN_X,-181705.8,42.3,-56.2,172944.8,-1311.5
$KALMAN_Y,-46457.6,-652.4,-4.9,58794.9,884.0
$MHEAD_RNG_PITCHd_Wd,103.1,8429,-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,-70.53,0.000,2,0.000,0.000,474,1878,3320,0,0,0,0,0,0
$GC,91,-1.38,-116.8,4.3,-8.0,9,117,12.48,2.65,-2.95,0.000,4,0.153,0.062,2854,326,3491,0,0,0,0,0,0
$GC,129,-0.39,-116.8,19.5,-40.0,13,139,0.98,2.45,0.00,0.000,6,0.091,0.021,3073,1924,3491,0,0,0,0,0,0
$GC,422,-0.68,-116.8,43.2,-6.3,45,431,0.22,0.00,0.00,0.000,6,0.048,0.000,2998,1926,3493,0,0,0,0,0,0
$GC,691,-0.83,-116.8,68.3,-9.5,70,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2998,1926,3493,0,0,0,0,0,0
$GC,956,-1.04,-116.8,89.6,-6.9,95,961,0.25,2.38,0.00,0.000,4,0.046,0.031,2915,3441,3493,0,0,0,0,0,0
$GC,1015,-1.14,-116.8,94.9,-10.1,99,1019,0.00,2.47,0.00,0.000,6,0.000,0.033,2915,1887,3494,0,0,0,0,0,0
$GC,1281,-1.20,-116.8,121.7,-9.2,123,1286,0.00,0.00,0.00,0.000,6,0.000,0.000,2915,1887,3494,0,0,0,0,0,0
$GC,1546,-1.29,-116.8,145.3,-9.1,148,1551,0.12,2.45,0.00,0.000,4,0.070,0.027,2862,3438,3494,0,0,0,0,0,0
$GC,1635,-1.29,-116.8,156.2,-12.2,155,1640,0.10,2.45,0.00,0.000,6,0.112,0.025,2885,1890,3494,0,0,0,0,0,0
$GC,1896,-1.33,-116.8,180.7,-9.4,179,1901,0.00,2.42,0.00,0.000,4,0.000,0.032,2885,3438,3495,0,0,0,0,0,0
$GC,1999,-1.42,-116.8,189.7,-9.7,187,2004,0.12,2.40,0.00,0.000,6,0.067,0.029,2835,1912,3495,0,0,0,0,0,0
$GC,2254,-1.38,-116.8,219.6,-11.7,199,2256,0.12,0.00,0.00,0.000,6,0.107,0.000,2864,1912,3495,0,0,0,0,0,0
$GC,2496,-1.38,-116.8,245.6,-10.5,205,2497,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1912,3495,0,0,0,0,0,0
$GC,2740,-1.42,-116.8,270.3,-10.1,211,2744,0.00,2.42,0.00,0.000,4,0.000,0.031,2863,3428,3495,0,0,0,0,0,0
$GC,2864,-1.51,-116.8,282.7,-10.1,213,2870,0.12,2.42,0.00,0.000,6,0.070,0.028,2817,1918,3495,0,0,0,0,0,0
$GC,3114,-1.51,-116.8,313.9,-12.7,220,3115,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1918,3494,0,0,0,0,0,0
$GC,3357,-1.51,-116.8,343.3,-12.1,226,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1918,3493,0,0,0,0,0,0
$GC,3602,-1.51,-116.8,372.5,-12.0,232,3607,0.00,2.47,0.00,0.000,4,0.000,0.040,2816,3429,3492,0,0,0,0,0,0
$GC,3630,-1.51,-116.8,376.1,-13.1,232,3634,0.00,2.50,0.00,0.000,6,0.000,0.050,2816,1928,3492,0,0,0,0,0,0
$GC,3880,-1.51,-116.8,406.6,-12.3,238,3881,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1928,3490,0,0,0,0,0,0
$GC,4123,-1.51,-116.8,437.4,-12.5,244,4127,0.00,2.50,0.00,0.000,4,0.000,0.053,2816,3422,3488,0,0,0,0,0,0
$GC,4166,-1.51,-116.8,442.1,-11.8,245,4170,0.00,2.53,0.00,0.000,6,0.000,0.054,2816,1922,3488,0,0,0,0,0,0
$GC,4449,-1.51,-116.8,472.7,-10.4,252,4453,0.00,2.50,0.00,0.000,4,0.000,0.048,2816,3421,3486,0,0,0,0,0,0
$GC,4475,-1.51,-116.8,475.6,-10.4,252,4480,0.00,2.58,0.00,0.000,6,0.000,0.063,2816,1917,3486,0,0,0,0,0,0
$STATE,4723,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4723,begin apogee
$GC,4730,-0.31,0.0,500.2,9.9,258,4831,1.23,0.00,96.82,0.910,6,0.075,0.000,3097,1916,3009,0,0,0,0,0,0
$STATE,4831,end apogee,CONTROL_FINISHED_OK
$STATE,4831,begin climb
$GC,4834,1.38,116.8,502.4,0.0,260,4938,1.58,0.00,99.70,0.887,6,0.044,0.000,3474,1917,2533,0,0,0,0,0,0
$GC,5171,1.29,146.2,484.7,8.3,269,5199,0.15,0.00,25.00,0.853,6,0.120,0.000,3445,1916,2413,0,0,0,0,0,0
$GC,5413,1.23,152.3,461.6,9.7,275,5427,0.00,2.72,6.35,0.696,4,0.000,0.043,3445,3529,2388,0,0,0,0,0,0
$GC,5444,1.17,163.7,458.6,9.4,275,5464,0.12,2.60,11.82,0.794,6,0.127,0.051,3421,1994,2342,0,0,0,0,0,0
$GC,5745,1.19,186.6,432.1,8.7,283,5771,0.00,2.60,21.12,0.837,4,0.000,0.038,3421,3526,2247,0,0,0,0,0,0
$GC,5788,1.22,207.2,427.8,8.8,284,5813,0.00,2.62,19.27,0.818,6,0.000,0.044,3421,1987,2164,0,0,0,0,0,0
$GC,6070,1.23,214.9,401.1,9.6,291,6080,0.00,0.00,7.65,0.723,6,0.000,0.000,3421,1987,2133,0,0,0,0,0,0
$GC,6313,1.25,231.1,378.2,9.1,297,6331,0.00,0.00,15.15,0.795,6,0.000,0.000,3421,1987,2067,0,0,0,0,0,0
$GC,6600,1.27,248.4,352.5,9.0,304,6624,0.00,2.92,16.52,0.788,4,0.000,0.081,3421,403,1995,0,0,0,0,0,0
$GC,6648,1.27,248.4,347.4,11.7,305,6652,0.00,2.47,0.00,0.000,6,0.000,0.023,3421,1956,1994,0,0,0,0,0,0
$GC,6925,1.31,248.4,316.1,11.4,312,6930,0.12,2.65,0.00,0.000,4,0.086,0.042,3453,3573,1991,0,0,0,0,0,0
$GC,6958,1.31,248.4,311.9,12.5,312,6964,0.00,2.62,0.00,0.000,6,0.000,0.034,3453,1988,1990,0,0,0,0,0,0
$GC,7210,1.32,255.1,286.1,9.7,319,7224,0.00,2.75,6.57,0.653,4,0.000,0.073,3454,411,1968,0,0,0,0,0,0
$GC,7235,1.32,255.1,283.1,10.6,319,7240,0.00,2.53,0.00,0.000,6,0.000,0.020,3453,2013,1967,0,0,0,0,0,0
$GC,7491,1.32,255.1,256.8,10.3,326,7495,0.00,2.53,0.00,0.000,4,0.000,0.041,3453,3562,1966,0,0,0,0,0,0
$GC,7541,1.32,255.1,251.7,10.9,327,7545,0.00,2.55,0.00,0.000,6,0.000,0.033,3453,2004,1965,0,0,0,0,0,0
$GC,7812,1.32,255.1,224.0,10.1,334,7817,0.00,2.55,0.00,0.000,4,0.000,0.035,3453,3567,1964,0,0,0,0,0,0
$GC,7834,1.32,255.1,221.5,11.1,334,7839,0.00,2.53,0.00,0.000,6,0.000,0.031,3453,2013,1963,0,0,0,0,0,0
$GC,8093,1.32,255.1,194.6,10.4,344,8098,0.00,2.72,0.00,0.000,4,0.000,0.069,3453,414,1963,0,0,0,0,0,0
$GC,8207,1.32,255.1,181.1,11.3,353,8213,0.00,2.50,0.00,0.000,6,0.000,0.021,3453,2017,1962,0,0,0,0,0,0
$GC,8472,1.36,283.0,157.3,8.4,378,8505,0.00,2.83,24.62,0.664,4,0.000,0.054,3453,414,1855,0,0,0,0,0,0
$GC,8523,1.36,287.7,152.9,9.8,382,8534,0.00,2.50,5.72,0.525,6,0.000,0.025,3453,1998,1836,0,0,0,0,0,0
$GC,8793,1.41,287.7,125.4,10.2,407,8798,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1998,1833,0,0,0,0,0,0
$GC,9054,1.50,295.3,98.1,9.6,432,9070,0.15,2.67,7.50,0.537,4,0.070,0.050,3496,415,1805,0,0,0,0,0,0
$GC,9087,1.50,295.3,94.4,11.6,434,9097,0.00,2.50,0.00,0.000,6,0.000,0.025,3497,1990,1804,0,0,0,0,0,0
$GC,9354,1.51,304.1,66.4,9.5,459,9369,0.00,2.53,9.23,0.535,4,0.000,0.031,3496,3552,1769,0,0,0,0,0,0
$GC,9398,1.51,304.1,61.7,10.9,462,9403,0.00,2.53,0.00,0.000,6,0.000,0.033,3497,1980,1768,0,0,0,0,0,0
$GC,9667,1.57,313.6,39.3,9.5,486,9682,0.00,2.65,9.62,0.512,4,0.000,0.052,3496,414,1730,0,0,0,0,0,0
$GC,9723,1.57,313.6,33.1,11.5,490,9727,0.00,2.45,0.00,0.000,6,0.000,0.018,3497,1985,1728,0,0,0,0,0,0
$STATE,10007,end climb,SURFACE_DEPTH_REACHED
$STATE,10007,begin surface coast
$FINISH,0.6,0.980045
$STATE,10050,end surface coast,CONTROL_FINISHED_OK
$STATE,10050,begin surface
$SM_CCo,10072,53.92,0.528,0,0,1459,380.21
$SM_GC,1.23,0.00,0.00,53.92,0.000,0.000,0.528,475,1853,1459,-12.37,-1.07,380.21
$IRIDIUM_FIX,2239.35,-15804.53,110900,191931
$TT8_MAMPS,0.025311
$HUMID,62.44
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.30
$XPDR_PINGS,40
$24V_AH,23.5,39.980
$10V_AH,10.3,35.154
$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,30.125,102.275,382.700,53.925,0.000,53.808,76.885,536.831,10.000,0.000,33.051,1047.664,6470.091,519.373,2033.413,955.211,33.391,1196.259,0.000,2018.967,0.000,0.536,0.000
$DEVICE_MAMPS,152.633,81.302,909.662,527.696,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,362.454,298.832,428.295,848.286,1278.263,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355660
$DATA_FILE_SIZE,41584,535
$CAP_FILE_SIZE,107615,0
$CFSIZE,260165632,165519360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180611,220806,2250.191,-15801.194,64,1.1,64,10.1