version: 66.06
glider: 146
mission: 6
dive: 323
start: 6 19 111 7 29 37
data:
$ID,146
$MISSION,6
$DIVE,323
$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,-275724.75
$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,30
$R_STBD_OVSHOOT,66
$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
$GPS1,071237,2249.848,-15758.770,105,1.4,105,10.1
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.4
$GPS2,072843,2250.051,-15758.812,10,1.4,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.207,-0.110
$KALMAN_X,-184973.3,-47.3,21.9,181554.4,-501.1
$KALMAN_Y,-44280.2,616.7,-111.0,55160.1,1048.9
$MHEAD_RNG_PITCHd_Wd,107.8,3094,-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,-70.53,0.000,2,0.000,0.000,478,1946,3292,0,0,0,0,0,0
$GC,95,-1.38,-116.8,4.0,-7.8,9,121,12.23,2.78,-3.45,0.000,4,0.144,0.061,2853,315,3490,0,0,0,0,0,0
$GC,139,-0.70,-116.8,20.5,-34.7,14,149,0.68,2.42,0.00,0.000,6,0.115,0.014,3005,1901,3492,0,0,0,0,0,0
$GC,419,-0.88,-116.8,50.5,-9.3,43,424,0.15,2.42,0.00,0.000,4,0.060,0.025,2952,3439,3492,0,0,0,0,0,0
$GC,453,-1.01,-116.8,54.2,-11.4,45,458,0.00,2.45,0.00,0.000,6,0.000,0.025,2952,1884,3492,0,0,0,0,0,0
$GC,723,-1.13,-116.8,80.2,-9.1,69,728,0.15,2.45,0.00,0.000,4,0.062,0.026,2897,3435,3493,0,0,0,0,0,0
$GC,781,-1.16,-116.8,87.8,-11.8,73,786,0.00,2.42,0.00,0.000,6,0.000,0.024,2897,1899,3493,0,0,0,0,0,0
$GC,1042,-1.16,-116.8,117.1,-11.2,98,1046,0.00,2.42,0.00,0.000,4,0.000,0.026,2897,3443,3493,0,0,0,0,0,0
$GC,1135,-1.23,-116.8,127.2,-11.9,105,1139,0.00,2.40,0.00,0.000,6,0.000,0.028,2897,1924,3493,0,0,0,0,0,0
$GC,1398,-1.28,-116.8,157.1,-11.4,129,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1924,3494,0,0,0,0,0,0
$GC,1654,-1.34,-116.8,183.7,-9.7,153,1659,0.10,2.42,0.00,0.000,4,0.083,0.029,2851,3446,3494,0,0,0,0,0,0
$GC,1713,-1.34,-116.8,190.7,-11.0,157,1720,0.10,2.38,0.00,0.000,6,0.110,0.025,2875,1919,3494,0,0,0,0,0,0
$GC,1980,-1.38,-116.8,216.1,-9.4,171,1984,0.00,2.38,0.00,0.000,4,0.000,0.026,2875,3435,3494,0,0,0,0,0,0
$GC,2007,-1.44,-116.8,219.1,-10.3,171,2011,0.10,2.38,0.00,0.000,6,0.081,0.028,2832,1929,3494,0,0,0,0,0,0
$GC,2258,-1.40,-116.8,248.2,-11.9,177,2263,0.12,2.40,0.00,0.000,4,0.104,0.035,2860,3441,3494,0,0,0,0,0,0
$GC,2336,-1.47,-116.8,256.9,-10.4,178,2342,0.00,2.35,0.00,0.000,6,0.000,0.027,2860,1946,3494,0,0,0,0,0,0
$GC,2586,-1.47,-116.8,282.5,-10.4,185,2590,0.00,2.38,0.00,0.000,4,0.000,0.037,2860,3432,3494,0,0,0,0,0,0
$GC,2603,-1.52,-116.8,284.1,-9.5,185,2608,0.10,2.33,0.00,0.000,6,0.079,0.029,2817,1957,3493,0,0,0,0,0,0
$GC,2864,-1.47,-116.8,315.4,-12.5,192,2869,0.12,2.40,0.00,0.000,4,0.104,0.039,2844,3439,3493,0,0,0,0,0,0
$GC,2914,-1.54,-116.8,321.4,-10.9,193,2918,0.00,2.35,0.00,0.000,6,0.000,0.038,2844,1974,3493,0,0,0,0,0,0
$GC,3188,-1.57,-116.8,348.5,-9.8,200,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1975,3492,0,0,0,0,0,0
$GC,3430,-1.62,-116.8,371.7,-9.2,206,3435,0.15,2.40,0.00,0.000,4,0.064,0.038,2796,3436,3491,0,0,0,0,0,0
$GC,3446,-1.62,-116.8,373.4,-9.5,206,3450,0.00,2.40,0.00,0.000,6,0.000,0.044,2796,1982,3491,0,0,0,0,0,0
$GC,3708,-1.58,-116.8,404.5,-12.2,213,3713,0.12,2.38,0.00,0.000,4,0.106,0.046,2823,3425,3489,0,0,0,0,0,0
$GC,3758,-1.62,-116.8,410.6,-10.9,214,3762,0.00,2.40,0.00,0.000,6,0.000,0.054,2823,1989,3489,0,0,0,0,0,0
$GC,4031,-1.62,-116.8,440.3,-11.1,221,4035,0.00,2.38,0.00,0.000,4,0.000,0.051,2823,3427,3487,0,0,0,0,0,0
$GC,4081,-1.67,-116.8,446.0,-10.7,222,4085,0.00,2.40,0.00,0.000,6,0.000,0.051,2823,1993,3486,0,0,0,0,0,0
$GC,4353,-1.67,-116.8,474.4,-10.6,229,4358,0.00,2.38,0.00,0.000,4,0.000,0.054,2823,3424,3484,0,0,0,0,0,0
$GC,4377,-1.71,-116.8,476.7,-10.0,229,4382,0.12,2.40,0.00,0.000,6,0.072,0.060,2778,1998,3485,0,0,0,0,0,0
$STATE,4589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4589,begin apogee
$GC,4595,-0.31,0.0,501.6,11.7,235,4695,1.40,0.00,96.35,0.910,6,0.076,0.000,3097,1998,3010,0,0,0,0,0,0
$STATE,4696,end apogee,CONTROL_FINISHED_OK
$STATE,4696,begin climb
$GC,4698,1.38,116.8,503.3,0.0,237,4805,1.55,2.67,99.75,0.887,4,0.037,0.061,3472,3525,2533,0,0,0,0,0,0
$GC,4830,1.28,154.6,500.3,7.9,240,4870,0.15,2.60,33.30,0.856,6,0.122,0.049,3444,2016,2378,0,0,0,0,0,0
$GC,5122,1.22,156.8,471.1,9.9,248,5126,0.00,2.53,0.00,0.000,4,0.000,0.046,3444,3527,2369,0,0,0,0,0,0
$GC,5163,1.16,156.8,466.9,10.4,249,5168,0.12,2.62,0.00,0.000,6,0.125,0.055,3419,1995,2368,0,0,0,0,0,0
$GC,5446,1.23,210.0,445.6,7.0,256,5501,0.00,2.65,47.65,0.864,4,0.000,0.041,3419,3531,2152,0,0,0,0,0,0
$GC,5544,1.27,244.0,438.1,8.1,258,5581,0.10,2.62,30.80,0.841,6,0.099,0.051,3445,1996,2015,0,0,0,0,0,0
$GC,5859,1.27,244.0,402.9,11.9,266,5863,0.00,2.55,0.00,0.000,4,0.000,0.044,3445,3532,2007,0,0,0,0,0,0
$GC,5881,1.27,244.0,400.1,12.7,266,5886,0.00,2.60,0.00,0.000,6,0.000,0.042,3445,1992,2006,0,0,0,0,0,0
$GC,6136,1.27,244.0,367.4,12.8,273,6137,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1993,2004,0,0,0,0,0,0
$GC,6380,1.27,244.0,337.1,12.2,279,6384,0.00,2.53,0.00,0.000,4,0.000,0.039,3445,3533,2003,0,0,0,0,0,0
$GC,6420,1.27,244.0,332.7,11.1,280,6425,0.00,2.55,0.00,0.000,6,0.000,0.038,3445,1994,2002,0,0,0,0,0,0
$GC,6705,1.27,245.0,303.4,10.0,287,6709,0.00,2.78,0.00,0.000,4,0.000,0.076,3445,404,2001,0,0,0,0,0,0
$GC,6793,1.27,245.0,293.4,11.4,289,6797,0.00,2.45,0.00,0.000,6,0.000,0.025,3445,1967,1999,0,0,0,0,0,0
$GC,7079,1.27,245.0,264.5,10.4,296,7080,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1968,1998,0,0,0,0,0,0
$GC,7321,1.27,245.0,239.4,10.6,302,7325,0.00,2.65,0.00,0.000,4,0.000,0.058,3445,403,1998,0,0,0,0,0,0
$GC,7375,1.27,245.0,232.9,11.8,303,7380,0.00,2.47,0.00,0.000,6,0.000,0.025,3445,1994,1997,0,0,0,0,0,0
$GC,7644,1.28,251.0,206.9,9.7,310,7650,0.00,0.00,4.45,0.515,6,0.000,0.000,3445,1994,1985,0,0,0,0,0,0
$GC,7898,1.34,271.3,182.8,8.9,328,7926,0.00,0.00,19.58,0.680,6,0.000,0.000,3445,1994,1902,0,0,0,0,0,0
$GC,8186,1.43,295.7,157.1,8.6,355,8222,0.12,2.80,22.05,0.654,4,0.077,0.053,3481,404,1803,0,0,0,0,0,0
$GC,8238,1.38,295.7,151.0,11.6,359,8244,0.00,2.53,0.00,0.000,6,0.000,0.025,3481,2001,1801,0,0,0,0,0,0
$GC,8502,1.38,295.7,121.1,11.0,384,8507,0.00,2.67,0.00,0.000,4,0.000,0.054,3481,406,1800,0,0,0,0,0,0
$GC,8583,1.38,295.7,110.7,12.6,390,8593,0.00,2.47,0.00,0.000,6,0.000,0.021,3481,1977,1799,0,0,0,0,0,0
$GC,8851,1.42,324.5,87.0,8.4,415,8882,0.00,0.00,25.42,0.595,6,0.000,0.000,3480,1978,1685,0,0,0,0,0,0
$GC,9142,1.52,348.1,60.3,8.7,442,9170,0.00,2.60,20.80,0.560,4,0.000,0.035,3471,3549,1589,0,0,0,0,0,0
$GC,9263,1.65,348.1,47.9,12.1,451,9273,0.15,2.60,0.00,0.000,6,0.037,0.029,3530,1966,1587,0,0,0,0,0,0
$GC,9556,1.65,348.1,12.9,14.0,485,9565,0.00,0.00,0.00,0.000,6,0.000,0.000,3530,1966,1586,0,0,0,0,0,0
$STATE,9620,end climb,SURFACE_DEPTH_REACHED
$STATE,9620,begin surface coast
$FINISH,0.5,0.974977
$STATE,9656,end surface coast,CONTROL_FINISHED_OK
$STATE,9656,begin surface
$SM_CCo,9680,26.67,0.517,0,0,1459,380.21
$SM_GC,1.34,0.00,0.00,26.67,0.000,0.000,0.517,477,1866,1459,-12.36,-0.68,380.21
$IRIDIUM_FIX,2241.69,-15728.92,120900,070736
$TT8_MAMPS,0.026078
$HUMID,63.66
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.60
$XPDR_PINGS,43
$24V_AH,23.5,40.530
$10V_AH,10.3,35.622
$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,30.250,114.725,400.150,26.675,0.000,56.740,73.528,627.335,10.750,0.000,16.717,1007.043,6208.653,496.136,1910.837,1050.732,33.377,1198.899,0.000,1914.218,0.000,0.536,0.000
$DEVICE_MAMPS,144.196,76.700,909.662,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,337.218,280.420,391.664,747.192,1130.852,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,38376,499
$CAP_FILE_SIZE,113525,0
$CFSIZE,260165632,165306368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190611,101356,2250.253,-15757.901,91,2.1,110,10.1