version: 66.06
glider: 146
mission: 6
dive: 342
start: 6 21 111 16 20 2
data:
$ID,146
$MISSION,6
$DIVE,342
$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,-276249.78
$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,47
$R_STBD_OVSHOOT,58
$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
$GPS1,155334,2249.776,-15758.383,6,3.4,25,10.1
$_CALLS,4
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.1
$GPS2,161907,2249.768,-15758.713,13,1.2,30,10.1
$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,-208695.5,-218.1,-96.3,205739.5,-876.5
$KALMAN_Y,-26649.1,227.4,164.0,37118.6,-83.3
$MHEAD_RNG_PITCHd_Wd,72.6,2955,-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,-71.00,0.000,2,0.000,0.000,475,1852,3265,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.5,-6.1,9,119,12.38,2.58,-4.03,0.000,4,0.150,0.041,2853,3449,3487,0,0,0,0,0,0
$GC,176,-1.31,-116.8,24.7,-15.4,20,186,0.08,2.50,0.00,0.000,6,0.103,0.025,2873,1901,3488,0,0,0,0,0,0
$GC,458,-1.20,-116.8,66.8,-15.3,47,462,0.12,2.47,0.00,0.000,4,0.123,0.027,2899,3449,3489,0,0,0,0,0,0
$GC,480,-1.15,-116.8,70.4,-14.4,48,484,0.00,2.47,0.00,0.000,6,0.000,0.025,2899,1893,3489,0,0,0,0,0,0
$GC,744,-1.15,-116.8,103.1,-11.8,72,752,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1892,3489,0,0,0,0,0,0
$GC,1009,-1.20,-116.8,131.8,-10.2,97,1013,0.00,2.45,0.00,0.000,4,0.000,0.031,2899,3453,3489,0,0,0,0,0,0
$GC,1088,-1.31,-116.8,139.6,-9.0,103,1092,0.00,2.45,0.00,0.000,6,0.000,0.024,2899,1885,3490,0,0,0,0,0,0
$GC,1357,-1.38,-116.8,162.8,-8.7,127,1362,0.15,2.47,0.00,0.000,4,0.063,0.028,2844,3454,3490,0,0,0,0,0,0
$GC,1374,-1.38,-116.8,165.2,-9.2,128,1378,0.00,2.47,0.00,0.000,6,0.000,0.024,2844,1884,3490,0,0,0,0,0,0
$GC,1638,-1.38,-116.8,197.9,-14.0,152,1642,0.00,2.45,0.00,0.000,4,0.000,0.026,2844,3452,3490,0,0,0,0,0,0
$GC,1698,-1.38,-116.8,206.3,-12.9,154,1702,0.00,2.42,0.00,0.000,6,0.000,0.028,2844,1896,3490,0,0,0,0,0,0
$GC,1961,-1.38,-116.8,238.2,-12.1,161,1962,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1896,3490,0,0,0,0,0,0
$GC,2203,-1.38,-116.8,263.1,-10.0,167,2208,0.00,2.47,0.00,0.000,4,0.000,0.035,2844,3458,3490,0,0,0,0,0,0
$GC,2248,-1.41,-116.8,267.3,-8.9,168,2253,0.00,2.45,0.00,0.000,6,0.000,0.025,2844,1907,3490,0,0,0,0,0,0
$GC,2528,-1.41,-116.8,292.0,-8.9,175,2532,0.00,2.45,0.00,0.000,4,0.000,0.038,2844,3452,3489,0,0,0,0,0,0
$GC,2659,-1.46,-116.8,303.9,-8.3,178,2664,0.00,2.47,0.00,0.000,6,0.000,0.029,2844,1914,3489,0,0,0,0,0,0
$GC,2944,-1.46,-116.8,331.2,-10.0,185,2948,0.00,2.45,0.00,0.000,4,0.000,0.033,2844,3446,3488,0,0,0,0,0,0
$GC,2976,-1.52,-116.8,334.8,-10.6,185,2982,0.00,2.50,0.00,0.000,6,0.000,0.039,2844,1916,3488,0,0,0,0,0,0
$GC,3226,-1.56,-116.8,361.6,-10.7,192,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1916,3486,0,0,0,0,0,0
$GC,3470,-1.61,-116.8,387.3,-10.3,198,3472,0.12,0.00,0.00,0.000,6,0.074,0.000,2803,1916,3485,0,0,0,0,0,0
$GC,3715,-1.61,-116.8,415.9,-11.6,204,3719,0.00,2.50,0.00,0.000,4,0.000,0.047,2803,3444,3483,0,0,0,0,0,0
$GC,3781,-1.61,-116.8,423.1,-10.6,205,3785,0.00,2.55,0.00,0.000,6,0.000,0.054,2803,1933,3483,0,0,0,0,0,0
$GC,4042,-1.61,-116.8,448.2,-9.4,212,4046,0.00,2.50,0.00,0.000,4,0.000,0.050,2803,3439,3481,0,0,0,0,0,0
$GC,4093,-1.61,-116.8,453.0,-9.8,213,4097,0.00,2.58,0.00,0.000,6,0.000,0.055,2803,1928,3480,0,0,0,0,0,0
$GC,4365,-1.61,-116.8,479.4,-10.0,220,4369,0.00,2.53,0.00,0.000,4,0.000,0.049,2803,3438,3478,0,0,0,0,0,0
$GC,4416,-1.61,-116.8,484.5,-9.6,221,4420,0.00,2.55,0.00,0.000,6,0.000,0.057,2803,1931,3478,0,0,0,0,0,0
$STATE,4603,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4603,begin apogee
$GC,4609,-0.31,0.0,502.7,9.4,226,4709,1.27,0.00,95.78,0.915,6,0.079,0.000,3094,1931,3010,0,0,0,0,0,0
$STATE,4709,end apogee,CONTROL_FINISHED_OK
$STATE,4709,begin climb
$GC,4712,1.38,116.8,504.2,0.0,228,4816,1.55,0.00,99.65,0.891,6,0.040,0.000,3470,1931,2533,0,0,0,0,0,0
$GC,5041,1.28,136.9,484.8,8.9,236,5065,0.12,2.85,16.92,0.835,4,0.125,0.050,3446,3541,2451,0,0,0,0,0,0
$GC,5200,1.23,165.3,471.0,8.4,239,5231,0.00,2.62,26.08,0.855,6,0.000,0.051,3446,2001,2335,0,0,0,0,0,0
$GC,5502,1.20,186.2,445.0,8.8,247,5523,0.00,0.00,19.17,0.837,6,0.000,0.000,3446,2001,2249,0,0,0,0,0,0
$GC,5742,1.15,186.2,420.9,10.1,253,5744,0.15,0.00,0.00,0.000,6,0.119,0.000,3416,2001,2244,0,0,0,0,0,0
$GC,5988,1.17,197.9,397.8,9.4,259,6000,0.00,0.00,10.57,0.774,6,0.000,0.000,3416,2001,2203,0,0,0,0,0,0
$GC,6230,1.19,217.6,375.5,8.9,265,6250,0.00,0.00,18.73,0.808,6,0.000,0.000,3416,2001,2121,0,0,0,0,0,0
$GC,6512,1.25,231.0,349.3,9.3,272,6532,0.10,2.90,12.52,0.769,4,0.091,0.082,3444,413,2067,0,0,0,0,0,0
$GC,6604,1.21,231.0,339.2,12.4,274,6608,0.00,2.55,0.00,0.000,6,0.000,0.020,3444,2016,2065,0,0,0,0,0,0
$GC,6887,1.21,231.0,307.4,10.9,281,6888,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2016,2063,0,0,0,0,0,0
$GC,7132,1.22,244.2,284.4,9.3,287,7147,0.00,0.00,12.65,0.733,6,0.000,0.000,3444,2017,2013,0,0,0,0,0,0
$GC,7374,1.22,244.2,260.3,10.1,293,7378,0.00,2.53,0.00,0.000,4,0.000,0.036,3444,3567,2010,0,0,0,0,0,0
$GC,7406,1.22,244.2,256.8,10.5,293,7412,0.00,2.55,0.00,0.000,6,0.000,0.031,3444,1998,2010,0,0,0,0,0,0
$GC,7658,1.27,250.8,232.5,9.7,300,7667,0.00,0.00,6.78,0.624,6,0.000,0.000,3444,1998,1987,0,0,0,0,0,0
$GC,7901,1.32,254.7,209.2,9.8,306,7911,0.00,2.75,5.05,0.551,4,0.000,0.064,3444,415,1970,0,0,0,0,0,0
$GC,7996,1.33,261.6,199.5,9.6,308,8011,0.00,2.50,7.93,0.623,6,0.000,0.024,3444,2014,1941,0,0,0,0,0,0
$GC,8274,1.43,301.9,177.1,7.7,332,8317,0.12,2.83,35.95,0.684,4,0.077,0.060,3480,417,1778,0,0,0,0,0,0
$GC,8336,1.38,301.9,171.3,10.4,338,8340,0.00,2.55,0.00,0.000,6,0.000,0.018,3480,2022,1777,0,0,0,0,0,0
$GC,8600,1.38,301.9,141.4,11.8,362,8604,0.00,2.72,0.00,0.000,4,0.000,0.057,3480,416,1774,0,0,0,0,0,0
$GC,8633,1.38,301.9,136.8,12.4,364,8643,0.00,2.53,0.00,0.000,6,0.000,0.019,3480,2005,1774,0,0,0,0,0,0
$GC,8901,1.38,301.9,107.4,11.1,389,8906,0.00,2.70,0.00,0.000,4,0.000,0.056,3480,404,1774,0,0,0,0,0,0
$GC,8941,1.38,301.9,101.8,12.2,392,8946,0.00,2.53,0.00,0.000,6,0.000,0.021,3480,2015,1773,0,0,0,0,0,0
$GC,9210,1.46,318.9,75.5,9.1,416,9229,0.00,0.00,15.48,0.566,6,0.000,0.000,3480,2015,1708,0,0,0,0,0,0
$GC,9488,1.56,338.4,51.3,8.9,442,9516,0.10,2.78,17.60,0.547,4,0.087,0.050,3510,411,1628,0,0,0,0,0,0
$GC,9547,1.56,338.4,44.7,11.5,446,9551,0.00,2.50,0.00,0.000,6,0.000,0.018,3510,2009,1628,0,0,0,0,0,0
$GC,9851,1.56,338.4,9.4,12.0,482,9860,0.00,2.70,0.00,0.000,4,0.000,0.051,3510,417,1627,0,0,0,0,0,0
$GC,9892,1.56,338.4,5.0,11.5,487,9902,0.00,2.45,0.00,0.000,6,0.000,0.018,3510,1983,1626,0,0,0,0,0,0
$STATE,9909,end climb,SURFACE_DEPTH_REACHED
$STATE,9909,begin surface coast
$FINISH,0.6,0.980053
$STATE,9959,end surface coast,CONTROL_FINISHED_OK
$STATE,9959,begin surface
$SM_CCo,9981,33.85,0.518,0,0,1460,380.21
$SM_GC,1.29,0.00,0.00,33.85,0.000,0.000,0.518,477,1876,1460,-12.36,-0.40,380.21
$IRIDIUM_FIX,2241.69,-15759.32,140900,161644
$TT8_MAMPS,0.025311
$HUMID,62.79
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.90
$XPDR_PINGS,39
$24V_AH,23.5,43.075
$10V_AH,10.3,37.803
$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,28.525,102.425,400.850,33.850,0.000,112.563,187.326,875.993,9.750,0.000,31.990,1000.501,6678.912,499.229,1880.589,1491.911,33.372,1187.004,0.000,1872.822,0.000,0.536,0.000
$DEVICE_MAMPS,149.565,82.069,915.031,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.004,278.467,380.812,718.964,1087.270,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,38448,496
$CAP_FILE_SIZE,114245,0
$CFSIZE,260165632,164282368
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210611,190855,2250.476,-15757.802,77,1.1,77,10.1