version: 66.06
glider: 146
mission: 6
dive: 340
start: 6 21 111 10 6 12
data:
$ID,146
$MISSION,6
$DIVE,340
$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,-276186.56
$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,36
$R_STBD_OVSHOOT,62
$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
$GPS1,095000,2249.262,-15759.667,49,1.1,49,10.1
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.5
$GPS2,100516,2249.396,-15759.729,13,2.6,32,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.222,-0.076
$KALMAN_X,-206230.5,76.2,-55.1,201204.1,-1000.4
$KALMAN_Y,-27558.4,88.4,-147.5,37798.3,1045.8
$MHEAD_RNG_PITCHd_Wd,98.8,4792,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.62,0.000,2,0.000,0.000,477,1876,3234,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.6,-6.9,9,117,12.32,2.65,-4.68,0.000,4,0.147,0.063,2856,316,3489,0,0,0,0,0,0
$GC,169,-1.23,-116.8,25.8,-21.5,19,178,0.15,2.45,0.00,0.000,6,0.099,0.015,2892,1896,3489,0,0,0,0,0,0
$GC,446,-1.15,-116.8,69.8,-16.3,45,451,0.10,2.47,0.00,0.000,4,0.135,0.029,2912,3442,3490,0,0,0,0,0,0
$GC,522,-1.22,-116.8,82.0,-12.7,50,531,0.00,2.47,0.00,0.000,6,0.000,0.025,2912,1898,3490,0,0,0,0,0,0
$GC,788,-1.27,-116.8,108.8,-9.7,75,793,0.10,2.47,0.00,0.000,4,0.082,0.028,2871,3443,3491,0,0,0,0,0,0
$GC,830,-1.27,-116.8,113.7,-10.6,78,834,0.00,2.47,0.00,0.000,6,0.000,0.031,2871,1884,3491,0,0,0,0,0,0
$GC,1092,-1.27,-116.8,143.0,-11.6,102,1097,0.00,2.45,0.00,0.000,4,0.000,0.025,2871,3449,3491,0,0,0,0,0,0
$GC,1140,-1.27,-116.8,148.8,-12.3,105,1146,0.00,2.45,0.00,0.000,6,0.000,0.026,2871,1895,3491,0,0,0,0,0,0
$GC,1406,-1.27,-116.8,179.4,-11.7,130,1411,0.00,2.42,0.00,0.000,4,0.000,0.032,2871,3445,3492,0,0,0,0,0,0
$GC,1470,-1.33,-116.8,187.4,-11.8,135,1474,0.00,2.40,0.00,0.000,6,0.000,0.028,2871,1908,3492,0,0,0,0,0,0
$GC,1758,-1.33,-116.8,218.7,-10.9,150,1759,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1908,3492,0,0,0,0,0,0
$GC,1999,-1.33,-116.8,244.2,-10.6,156,2003,0.00,2.42,0.00,0.000,4,0.000,0.028,2871,3446,3492,0,0,0,0,0,0
$GC,2059,-1.40,-116.8,250.7,-10.8,157,2064,0.00,2.42,0.00,0.000,6,0.000,0.026,2871,1919,3492,0,0,0,0,0,0
$GC,2322,-1.45,-116.8,278.2,-10.3,164,2327,0.10,2.45,0.00,0.000,4,0.086,0.029,2832,3447,3492,0,0,0,0,0,0
$GC,2343,-1.45,-116.8,280.7,-10.6,164,2348,0.00,2.42,0.00,0.000,6,0.000,0.026,2832,1917,3492,0,0,0,0,0,0
$GC,2605,-1.45,-116.8,308.1,-10.4,171,2609,0.00,2.42,0.00,0.000,4,0.000,0.033,2832,3445,3492,0,0,0,0,0,0
$GC,2661,-1.49,-116.8,313.8,-10.7,172,2666,0.00,2.42,0.00,0.000,6,0.000,0.032,2832,1937,3492,0,0,0,0,0,0
$GC,2928,-1.49,-116.8,341.4,-10.2,179,2932,0.00,2.42,0.00,0.000,4,0.000,0.034,2832,3439,3492,0,0,0,0,0,0
$GC,2954,-1.49,-116.8,344.4,-10.8,179,2959,0.00,2.45,0.00,0.000,6,0.000,0.038,2831,1944,3491,0,0,0,0,0,0
$GC,3206,-1.49,-116.8,370.3,-10.3,185,3210,0.00,2.42,0.00,0.000,4,0.000,0.038,2832,3436,3490,0,0,0,0,0,0
$GC,3245,-1.55,-116.8,374.8,-11.1,186,3250,0.00,2.45,0.00,0.000,6,0.000,0.049,2832,1949,3490,0,0,0,0,0,0
$GC,3531,-1.55,-116.8,403.3,-9.9,193,3535,0.00,2.45,0.00,0.000,4,0.000,0.049,2832,3438,3489,0,0,0,0,0,0
$GC,3609,-1.59,-116.8,411.7,-9.8,194,3615,0.00,2.47,0.00,0.000,6,0.000,0.057,2831,1959,3488,0,0,0,0,0,0
$GC,3859,-1.63,-116.8,437.4,-10.4,201,3863,0.00,2.45,0.00,0.000,4,0.000,0.044,2832,3438,3486,0,0,0,0,0,0
$GC,3888,-1.68,-116.8,440.5,-10.0,201,3893,0.15,2.53,0.00,0.000,6,0.059,0.058,2774,1952,3486,0,0,0,0,0,0
$GC,4138,-1.62,-116.8,471.1,-12.3,207,4143,0.17,2.47,0.00,0.000,4,0.101,0.054,2812,3431,3484,0,0,0,0,0,0
$GC,4182,-1.62,-116.8,476.2,-10.5,208,4186,0.00,2.47,0.00,0.000,6,0.000,0.056,2812,1965,3484,0,0,0,0,0,0
$STATE,4422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4423,begin apogee
$GC,4430,-0.31,0.0,501.2,10.2,214,4530,1.25,0.00,96.45,0.914,6,0.080,0.000,3098,1965,3010,0,0,0,0,0,0
$STATE,4531,end apogee,CONTROL_FINISHED_OK
$STATE,4531,begin climb
$GC,4533,1.38,116.8,503.5,0.0,216,4644,1.52,2.75,99.15,0.890,4,0.038,0.059,3470,3531,2532,0,0,0,0,0,0
$GC,4706,1.28,144.2,498.6,8.5,220,4736,0.12,2.62,23.73,0.848,6,0.127,0.057,3446,2001,2422,0,0,0,0,0,0
$GC,4990,1.21,146.5,471.4,9.9,227,4994,0.00,3.00,0.00,0.000,4,0.000,0.105,3446,410,2413,0,0,0,0,0,0
$GC,5045,1.08,146.5,464.9,11.4,228,5050,0.22,2.53,0.00,0.000,6,0.113,0.029,3400,1950,2412,0,0,0,0,0,0
$GC,5312,1.12,176.8,442.4,8.3,235,5346,0.00,2.83,28.23,0.851,4,0.000,0.056,3400,3567,2288,0,0,0,0,0,0
$GC,5374,1.14,189.3,437.0,9.3,236,5395,0.00,2.65,12.32,0.786,6,0.000,0.043,3400,1993,2237,0,0,0,0,0,0
$GC,5639,1.21,213.3,414.1,8.7,243,5664,0.12,0.00,22.10,0.831,6,0.080,0.000,3433,1993,2139,0,0,0,0,0,0
$GC,5884,1.21,213.3,388.9,10.5,249,5888,0.00,2.62,0.00,0.000,4,0.000,0.038,3433,3581,2135,0,0,0,0,0,0
$GC,5968,1.21,213.3,379.9,10.4,251,5972,0.00,2.65,0.00,0.000,6,0.000,0.043,3433,1994,2133,0,0,0,0,0,0
$GC,6251,1.23,231.6,353.5,9.0,258,6269,0.00,0.00,16.42,0.791,6,0.000,0.000,3433,1994,2065,0,0,0,0,0,0
$GC,6496,1.24,239.8,330.6,9.6,264,6510,0.00,2.88,8.23,0.708,4,0.000,0.079,3433,407,2031,0,0,0,0,0,0
$GC,6534,1.24,242.6,326.8,9.9,264,6543,0.00,2.55,4.40,0.555,6,0.000,0.018,3433,2017,2020,0,0,0,0,0,0
$GC,6827,1.24,242.6,296.4,10.7,272,6828,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,2017,2017,0,0,0,0,0,0
$GC,7072,1.29,250.2,273.0,9.6,278,7086,0.00,2.83,7.72,0.673,4,0.000,0.060,3433,415,1989,0,0,0,0,0,0
$GC,7238,1.29,250.2,256.4,10.4,281,7243,0.00,2.50,0.00,0.000,6,0.000,0.025,3433,1996,1987,0,0,0,0,0,0
$GC,7491,1.36,260.5,233.0,9.4,287,7507,0.12,2.72,10.40,0.683,4,0.081,0.054,3469,407,1947,0,0,0,0,0,0
$GC,7541,1.31,260.5,226.6,13.3,288,7545,0.00,2.50,0.00,0.000,6,0.000,0.021,3469,1997,1945,0,0,0,0,0,0
$GC,7795,1.31,260.5,195.5,12.0,296,7799,0.00,2.70,0.00,0.000,4,0.000,0.053,3469,407,1944,0,0,0,0,0,0
$GC,7895,1.31,260.5,183.0,12.5,304,7900,0.00,2.47,0.00,0.000,6,0.000,0.021,3469,1980,1943,0,0,0,0,0,0
$GC,8162,1.31,260.5,154.6,10.3,328,8166,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,1981,1943,0,0,0,0,0,0
$GC,8428,1.32,267.7,127.8,9.6,353,8437,0.00,0.00,7.35,0.559,6,0.000,0.000,3469,1981,1917,0,0,0,0,0,0
$GC,8690,1.32,267.7,101.6,10.2,378,8694,0.00,2.62,0.00,0.000,4,0.000,0.054,3470,404,1916,0,0,0,0,0,0
$GC,8743,1.32,267.7,95.9,11.3,382,8748,0.00,2.42,0.00,0.000,6,0.000,0.018,3469,1965,1916,0,0,0,0,0,0
$GC,9010,1.41,291.6,71.0,8.7,406,9039,0.00,0.00,22.05,0.575,6,0.000,0.000,3469,1966,1819,0,0,0,0,0,0
$GC,9299,1.53,304.9,46.8,9.3,433,9318,0.12,2.67,12.40,0.527,4,0.077,0.054,3507,399,1766,0,0,0,0,0,0
$GC,9372,1.49,304.9,40.3,11.0,438,9376,0.00,2.42,0.00,0.000,6,0.000,0.017,3507,1976,1765,0,0,0,0,0,0
$GC,9682,1.49,304.9,11.7,11.2,476,9692,0.00,2.65,0.00,0.000,4,0.000,0.049,3507,403,1765,0,0,0,0,0,0
$GC,9736,1.54,348.3,7.1,7.5,483,9771,0.00,2.42,29.88,0.517,2,0.000,0.025,3507,1949,1628,0,0,0,0,0,0
$STATE,9772,end climb,SURFACE_DEPTH_REACHED
$STATE,9772,begin surface coast
$FINISH,0.5,0.974571
$STATE,9821,end surface coast,CONTROL_FINISHED_OK
$STATE,9821,begin surface
$SM_CCo,9845,33.42,0.512,0,0,1459,380.21
$SM_GC,1.39,0.00,0.00,33.42,0.000,0.000,0.512,476,1847,1459,-12.37,-1.22,380.21
$IRIDIUM_FIX,2244.02,-15759.32,140900,101054
$TT8_MAMPS,0.026078
$HUMID,62.32
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.80
$XPDR_PINGS,45
$24V_AH,23.5,42.761
$10V_AH,10.3,37.567
$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,28.950,122.025,400.825,33.425,0.000,55.672,83.410,554.764,11.250,0.000,35.318,1019.369,6353.612,473.583,1968.202,983.566,33.369,1211.847,0.000,1950.464,0.000,0.536,0.000
$DEVICE_MAMPS,147.264,105.079,914.264,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.522,286.083,383.612,746.738,1129.531,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,38400,494
$CAP_FILE_SIZE,114090,0
$CFSIZE,260165632,164392960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210611,125207,2249.356,-15759.169,36,1.9,36,10.1