version: 66.06
glider: 146
mission: 6
dive: 322
start: 6 19 111 4 27 26
data:
$ID,146
$MISSION,6
$DIVE,322
$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,-275707.41
$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,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,40
$R_STBD_OVSHOOT,68
$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
$GPS1,041209,2249.795,-15759.654,46,1.3,46,10.1
$_CALLS,2
$_XMS_NAKs,23
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-67.9
$GPS2,042632,2249.927,-15759.743,12,1.5,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.210,-0.105
$KALMAN_X,-184383.3,-203.2,97.1,179456.0,-728.2
$KALMAN_Y,-44843.9,208.6,-406.2,56199.7,1083.2
$MHEAD_RNG_PITCHd_Wd,106.4,4684,-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,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,90,0.00,0.00,-70.57,0.000,2,0.000,0.000,476,1876,3308,0,0,0,0,0,0
$GC,93,-1.38,-116.8,4.1,-8.3,9,119,12.30,2.55,-3.17,0.000,4,0.147,0.048,2853,3431,3490,0,0,0,0,0,0
$GC,165,-1.30,-116.8,25.1,-18.3,18,175,0.10,2.47,0.00,0.000,6,0.099,0.028,2878,1906,3491,0,0,0,0,0,0
$GC,446,-1.21,-116.8,68.7,-15.0,45,451,0.10,2.47,0.00,0.000,4,0.131,0.031,2898,3450,3492,0,0,0,0,0,0
$GC,480,-1.21,-116.8,74.1,-13.2,47,485,0.00,2.47,0.00,0.000,6,0.000,0.024,2898,1883,3492,0,0,0,0,0,0
$GC,747,-1.21,-116.8,107.6,-12.7,71,751,0.00,2.45,0.00,0.000,4,0.000,0.025,2898,3442,3493,0,0,0,0,0,0
$GC,805,-1.28,-116.8,114.1,-11.6,75,809,0.00,2.42,0.00,0.000,6,0.000,0.031,2898,1898,3493,0,0,0,0,0,0
$GC,1071,-1.32,-116.8,143.0,-10.2,99,1075,0.00,2.45,0.00,0.000,4,0.000,0.029,2898,3446,3493,0,0,0,0,0,0
$GC,1129,-1.41,-116.8,148.7,-9.9,103,1134,0.17,2.45,0.00,0.000,6,0.053,0.031,2833,1903,3493,0,0,0,0,0,0
$GC,1394,-1.35,-116.8,181.9,-12.5,127,1399,0.17,2.42,0.00,0.000,4,0.096,0.033,2871,3442,3494,0,0,0,0,0,0
$GC,1474,-1.42,-116.8,190.5,-10.0,133,1479,0.00,2.40,0.00,0.000,6,0.000,0.030,2871,1908,3494,0,0,0,0,0,0
$GC,1728,-1.42,-116.8,218.2,-11.0,145,1729,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1908,3494,0,0,0,0,0,0
$GC,1972,-1.46,-116.8,243.1,-10.1,151,1977,0.10,2.45,0.00,0.000,4,0.085,0.033,2831,3446,3494,0,0,0,0,0,0
$GC,2028,-1.46,-116.8,249.2,-11.4,152,2033,0.00,2.40,0.00,0.000,6,0.000,0.028,2831,1923,3494,0,0,0,0,0,0
$GC,2295,-1.46,-116.8,281.0,-11.9,159,2299,0.00,2.40,0.00,0.000,4,0.000,0.031,2831,3441,3494,0,0,0,0,0,0
$GC,2350,-1.46,-116.8,287.2,-11.1,160,2354,0.00,2.40,0.00,0.000,6,0.000,0.028,2831,1919,3494,0,0,0,0,0,0
$GC,2617,-1.46,-116.8,317.7,-11.8,167,2622,0.00,2.45,0.00,0.000,4,0.000,0.034,2831,3444,3493,0,0,0,0,0,0
$GC,2641,-1.46,-116.8,320.8,-12.3,167,2645,0.00,2.42,0.00,0.000,6,0.000,0.038,2831,1933,3493,0,0,0,0,0,0
$GC,2895,-1.46,-116.8,349.7,-11.1,174,2896,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1933,3493,0,0,0,0,0,0
$GC,3141,-1.46,-116.8,373.7,-9.7,180,3142,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1933,3492,0,0,0,0,0,0
$GC,3383,-1.46,-116.8,396.6,-9.4,186,3387,0.00,2.45,0.00,0.000,4,0.000,0.041,2831,3438,3490,0,0,0,0,0,0
$GC,3455,-1.52,-116.8,403.8,-10.1,187,3459,0.00,2.50,0.00,0.000,6,0.000,0.054,2831,1938,3490,0,0,0,0,0,0
$GC,3706,-1.52,-116.8,428.6,-10.2,193,3707,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1938,3488,0,0,0,0,0,0
$GC,3949,-1.55,-116.8,453.7,-10.3,199,3950,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1938,3486,0,0,0,0,0,0
$GC,4192,-1.59,-116.8,479.6,-10.9,205,4197,0.00,2.47,0.00,0.000,4,0.000,0.048,2831,3429,3484,0,0,0,0,0,0
$GC,4250,-1.66,-116.8,485.9,-10.7,206,4255,0.12,2.55,0.00,0.000,6,0.068,0.057,2784,1937,3484,0,0,0,0,0,0
$STATE,4392,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4392,begin apogee
$GC,4397,-0.31,0.0,502.8,11.7,210,4498,1.38,0.00,96.43,0.914,6,0.082,0.000,3093,1936,3009,0,0,0,0,0,0
$STATE,4498,end apogee,CONTROL_FINISHED_OK
$STATE,4499,begin climb
$GC,4501,1.38,116.8,504.9,0.0,212,4605,1.58,0.00,99.53,0.888,6,0.041,0.000,3470,1936,2533,0,0,0,0,0,0
$GC,4840,1.26,116.8,481.0,10.1,221,4845,0.15,2.70,0.00,0.000,4,0.119,0.050,3441,3537,2523,0,0,0,0,0,0
$GC,4907,1.19,121.8,474.3,9.8,222,4917,0.00,2.60,3.92,0.543,6,0.000,0.051,3441,2003,2512,0,0,0,0,0,0
$GC,5170,1.19,167.0,453.8,7.4,229,5216,0.00,2.62,40.40,0.862,4,0.000,0.046,3441,3541,2327,0,0,0,0,0,0
$GC,5268,1.16,179.1,445.6,9.3,231,5288,0.12,2.60,11.88,0.789,6,0.128,0.046,3417,2016,2278,0,0,0,0,0,0
$GC,5538,1.20,213.2,423.4,8.1,238,5572,0.00,0.00,30.62,0.843,6,0.000,0.000,3417,2016,2139,0,0,0,0,0,0
$GC,5824,1.23,233.4,398.4,8.9,245,5848,0.00,3.03,18.17,0.810,4,0.000,0.093,3417,402,2057,0,0,0,0,0,0
$GC,5866,1.23,233.4,394.2,10.5,246,5870,0.00,2.58,0.00,0.000,6,0.000,0.028,3417,1991,2055,0,0,0,0,0,0
$GC,6151,1.27,239.5,366.6,9.7,253,6160,0.10,0.00,6.25,0.670,6,0.091,0.000,3446,1991,2033,0,0,0,0,0,0
$GC,6393,1.28,246.1,342.1,9.7,259,6402,0.00,0.00,7.30,0.693,6,0.000,0.000,3445,1991,2006,0,0,0,0,0,0
$GC,6638,1.28,249.6,317.7,9.8,265,6647,0.00,2.78,4.40,0.560,4,0.000,0.065,3446,403,1992,0,0,0,0,0,0
$GC,6703,1.28,249.6,309.8,12.5,266,6708,0.00,2.60,0.00,0.000,6,0.000,0.024,3446,2030,1990,0,0,0,0,0,0
$GC,6964,1.28,249.6,282.6,10.4,273,6969,0.00,2.80,0.00,0.000,4,0.000,0.063,3446,399,1989,0,0,0,0,0,0
$GC,6987,1.28,249.6,280.2,10.9,273,6991,0.00,2.55,0.00,0.000,6,0.000,0.025,3446,2019,1988,0,0,0,0,0,0
$GC,7242,1.30,266.0,256.9,9.1,280,7263,0.00,2.83,15.93,0.727,4,0.000,0.061,3445,400,1923,0,0,0,0,0,0
$GC,7291,1.30,266.0,251.6,11.1,281,7295,0.00,2.53,0.00,0.000,6,0.000,0.024,3446,2001,1922,0,0,0,0,0,0
$GC,7565,1.34,266.0,222.9,10.6,288,7567,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,2002,1920,0,0,0,0,0,0
$GC,7809,1.39,266.0,194.6,11.0,297,7811,0.10,0.00,0.00,0.000,6,0.088,0.000,3474,2002,1919,0,0,0,0,0,0
$GC,8065,1.39,266.0,167.1,10.7,321,8067,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,2002,1919,0,0,0,0,0,0
$GC,8323,1.43,296.4,143.4,8.3,345,8357,0.00,2.80,26.60,0.645,4,0.000,0.057,3475,399,1800,0,0,0,0,0,0
$GC,8396,1.43,296.4,136.2,10.7,351,8401,0.00,2.53,0.00,0.000,6,0.000,0.021,3474,1999,1798,0,0,0,0,0,0
$GC,8664,1.47,296.4,109.1,10.1,375,8669,0.00,2.55,0.00,0.000,4,0.000,0.034,3474,3560,1797,0,0,0,0,0,0
$GC,8744,1.55,296.4,100.4,11.5,381,8749,0.12,2.55,0.00,0.000,6,0.078,0.032,3510,1987,1795,0,0,0,0,0,0
$GC,9008,1.55,296.4,71.0,10.3,405,9016,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,1987,1795,0,0,0,0,0,0
$GC,9273,1.56,309.9,44.7,9.3,430,9290,0.00,2.67,12.32,0.526,4,0.000,0.053,3510,412,1745,0,0,0,0,0,0
$GC,9315,1.56,309.9,40.6,11.4,433,9320,0.00,2.50,0.00,0.000,6,0.000,0.018,3510,2023,1744,0,0,0,0,0,0
$GC,9629,1.62,355.5,7.5,7.4,472,9673,0.00,1.02,39.40,0.522,3,0.000,0.041,3509,1419,1559,0,0,0,0,0,0
$STATE,9673,end climb,SURFACE_DEPTH_REACHED
$STATE,9673,begin surface coast
$FINISH,0.6,0.980035
$STATE,9722,end surface coast,CONTROL_FINISHED_OK
$STATE,9722,begin surface
$SM_CCo,9745,19.73,0.501,0,0,1459,380.21
$SM_GC,1.45,0.00,0.00,19.73,0.000,0.000,0.501,479,1945,1459,-12.36,1.55,380.21
$IRIDIUM_FIX,2239.35,-15757.16,120900,040400
$TT8_MAMPS,0.026078
$HUMID,62.28
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.00
$XPDR_PINGS,34
$24V_AH,23.5,40.388
$10V_AH,10.3,35.501
$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,28.975,98.600,413.150,19.725,0.000,53.808,67.304,532.927,8.500,0.000,13.670,974.219,6485.179,469.305,1765.373,935.471,33.371,1126.073,0.000,1774.784,0.000,0.536,0.000
$DEVICE_MAMPS,147.264,92.807,914.264,500.851,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.006,265.144,370.289,706.127,1068.033,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,38331,484
$CAP_FILE_SIZE,106054,0
$CFSIZE,260165632,165367808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190611,071237,2249.848,-15758.770,105,1.4,105,10.1