version: 66.06
glider: 146
mission: 6
dive: 377
start: 6 25 111 23 18 27
data:
$ID,146
$MISSION,6
$DIVE,377
$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,-277297.81
$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,3170
$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,27
$R_STBD_OVSHOOT,91
$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
$GPS1,225953,2247.864,-15758.412,10,2.7,29,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.7
$GPS2,231734,2248.125,-15758.509,15,4.7,34,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.109,-0.208
$KALMAN_X,-251770.3,-83.6,-232.1,249166.2,-938.1
$KALMAN_Y,22581.0,-165.2,-277.5,-14321.7,1826.3
$MHEAD_RNG_PITCHd_Wd,142.4,2410,-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,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,90,0.00,0.00,-71.00,0.000,2,0.000,0.000,473,1927,3298,0,0,0,0,0,0
$GC,93,-1.38,-116.8,4.1,-8.4,9,119,12.62,2.72,-3.38,0.000,4,0.156,0.058,2859,319,3489,0,0,0,0,0,0
$GC,225,-1.23,-116.8,35.2,-18.1,26,233,0.15,2.38,0.00,0.000,6,0.103,0.015,2893,1870,3490,0,0,0,0,0,0
$GC,494,-1.17,-116.8,74.8,-14.8,51,499,0.10,2.47,0.00,0.000,4,0.136,0.026,2914,3442,3490,0,0,0,0,0,0
$GC,561,-1.17,-116.8,84.8,-11.8,56,566,0.00,2.45,0.00,0.000,6,0.000,0.028,2914,1884,3490,0,0,0,0,0,0
$GC,825,-1.17,-116.8,114.9,-11.2,80,829,0.00,2.45,0.00,0.000,4,0.000,0.032,2914,3446,3491,0,0,0,0,0,0
$GC,870,-1.24,-116.8,119.3,-9.8,83,874,0.00,2.42,0.00,0.000,6,0.000,0.028,2914,1908,3491,0,0,0,0,0,0
$GC,1137,-1.30,-116.8,145.2,-9.7,107,1142,0.12,2.42,0.00,0.000,4,0.068,0.033,2863,3446,3491,0,0,0,0,0,0
$GC,1183,-1.30,-116.8,151.3,-12.2,110,1190,0.10,2.40,0.00,0.000,6,0.114,0.025,2885,1922,3491,0,0,0,0,0,0
$GC,1446,-1.30,-116.8,179.1,-9.4,135,1450,0.00,2.38,0.00,0.000,4,0.000,0.025,2886,3441,3492,0,0,0,0,0,0
$GC,1477,-1.36,-116.8,182.4,-10.2,137,1481,0.00,2.38,0.00,0.000,6,0.000,0.026,2886,1931,3492,0,0,0,0,0,0
$GC,1736,-1.40,-116.8,208.1,-9.7,155,1737,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1931,3492,0,0,0,0,0,0
$GC,1980,-1.45,-116.8,230.0,-9.0,161,1985,0.15,2.40,0.00,0.000,4,0.061,0.035,2830,3440,3492,0,0,0,0,0,0
$GC,2076,-1.45,-116.8,241.7,-12.9,163,2081,0.10,2.40,0.00,0.000,6,0.117,0.031,2851,1926,3492,0,0,0,0,0,0
$GC,2347,-1.45,-116.8,273.9,-11.6,170,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1925,3492,0,0,0,0,0,0
$GC,2593,-1.45,-116.8,297.8,-9.7,176,2597,0.00,2.40,0.00,0.000,4,0.000,0.031,2851,3442,3492,0,0,0,0,0,0
$GC,2672,-1.52,-116.8,305.5,-9.2,177,2677,0.00,2.38,0.00,0.000,6,0.000,0.028,2851,1948,3492,0,0,0,0,0,0
$GC,2922,-1.52,-116.8,329.4,-9.7,184,2926,0.00,2.38,0.00,0.000,4,0.000,0.035,2851,3439,3492,0,0,0,0,0,0
$GC,2973,-1.59,-116.8,334.3,-9.6,185,2978,0.12,2.40,0.00,0.000,6,0.073,0.037,2803,1948,3492,0,0,0,0,0,0
$GC,3245,-1.59,-116.8,365.1,-11.5,192,3249,0.00,2.45,0.00,0.000,4,0.000,0.039,2803,3441,3490,0,0,0,0,0,0
$GC,3380,-1.59,-116.8,381.1,-12.0,195,3384,0.00,2.42,0.00,0.000,6,0.000,0.049,2803,1976,3490,0,0,0,0,0,0
$GC,3657,-1.59,-116.8,413.0,-11.6,202,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1976,3488,0,0,0,0,0,0
$GC,3901,-1.59,-116.8,439.4,-10.7,208,3905,0.00,2.40,0.00,0.000,4,0.000,0.051,2803,3435,3487,0,0,0,0,0,0
$GC,3929,-1.59,-116.8,442.7,-11.7,208,3933,0.00,2.45,0.00,0.000,6,0.000,0.049,2803,1979,3487,0,0,0,0,0,0
$GC,4178,-1.59,-116.8,472.5,-11.9,214,4182,0.00,2.40,0.00,0.000,4,0.000,0.049,2803,3431,3484,0,0,0,0,0,0
$GC,4245,-1.59,-116.8,480.3,-10.7,215,4249,0.00,2.42,0.00,0.000,6,0.000,0.062,2803,1998,3484,0,0,0,0,0,0
$STATE,4422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4423,begin apogee
$GC,4430,-0.31,0.0,500.4,11.3,220,4531,1.33,0.00,97.18,0.907,6,0.082,0.000,3101,1998,3010,0,0,0,0,0,0
$STATE,4531,end apogee,CONTROL_FINISHED_OK
$STATE,4531,begin climb
$GC,4534,1.38,116.8,503.5,0.0,222,4638,1.58,0.00,99.78,0.888,6,0.038,0.000,3481,1998,2533,0,0,0,0,0,0
$GC,4871,1.28,149.9,487.7,8.1,231,4903,0.15,0.00,28.98,0.855,6,0.123,0.000,3452,1998,2397,0,0,0,0,0,0
$GC,5115,1.23,173.2,467.4,8.7,237,5138,0.00,0.00,21.12,0.838,6,0.000,0.000,3451,1998,2303,0,0,0,0,0,0
$GC,5357,1.19,186.5,445.0,9.3,243,5372,0.10,0.00,12.90,0.798,6,0.133,0.000,3432,1998,2249,0,0,0,0,0,0
$GC,5602,1.20,191.5,421.8,9.8,249,5612,0.00,2.88,5.50,0.652,4,0.000,0.091,3431,422,2228,0,0,0,0,0,0
$GC,5646,1.14,191.5,416.8,11.2,250,5651,0.00,2.45,0.00,0.000,6,0.000,0.031,3431,1950,2226,0,0,0,0,0,0
$GC,5924,1.16,209.8,391.3,9.0,257,5948,0.00,2.75,17.45,0.808,4,0.000,0.071,3431,422,2152,0,0,0,0,0,0
$GC,6047,1.13,214.3,379.8,9.8,259,6058,0.00,2.53,5.12,0.618,6,0.000,0.025,3431,1992,2136,0,0,0,0,0,0
$GC,6302,1.18,250.3,358.9,8.0,266,6341,0.00,0.00,33.70,0.813,6,0.000,0.000,3431,1992,1988,0,0,0,0,0,0
$GC,6587,1.18,250.3,330.9,10.4,273,6588,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1992,1983,0,0,0,0,0,0
$GC,6830,1.22,250.3,305.9,10.1,279,6834,0.00,2.67,0.00,0.000,4,0.000,0.059,3431,420,1981,0,0,0,0,0,0
$GC,6869,1.22,250.3,301.3,11.8,280,6873,0.00,2.47,0.00,0.000,6,0.000,0.025,3431,1994,1980,0,0,0,0,0,0
$GC,7154,1.28,259.5,273.7,9.5,287,7164,0.00,0.00,8.20,0.673,6,0.000,0.000,3431,1994,1951,0,0,0,0,0,0
$GC,7396,1.36,271.2,250.7,9.4,293,7416,0.15,2.78,11.88,0.696,4,0.077,0.060,3470,420,1903,0,0,0,0,0,0
$GC,7510,1.36,271.2,238.6,10.5,295,7514,0.00,2.42,0.00,0.000,6,0.000,0.019,3470,1970,1900,0,0,0,0,0,0
$GC,7766,1.41,310.0,217.7,7.8,302,7805,0.00,0.00,35.15,0.709,6,0.000,0.000,3470,1971,1744,0,0,0,0,0,0
$GC,8053,1.41,310.0,188.2,11.3,315,8058,0.00,2.65,0.00,0.000,4,0.000,0.054,3470,411,1741,0,0,0,0,0,0
$GC,8084,1.41,310.0,184.7,12.9,317,8089,0.00,2.47,0.00,0.000,6,0.000,0.018,3470,1989,1739,0,0,0,0,0,0
$GC,8347,1.46,310.0,153.7,12.3,341,8351,0.00,2.53,0.00,0.000,4,0.000,0.037,3470,3557,1738,0,0,0,0,0,0
$GC,8364,1.50,310.0,151.6,11.9,342,8369,0.10,2.55,0.00,0.000,6,0.088,0.035,3501,1979,1737,0,0,0,0,0,0
$GC,8625,1.50,310.0,119.8,11.9,366,8629,0.00,2.65,0.00,0.000,4,0.000,0.056,3501,408,1737,0,0,0,0,0,0
$GC,8654,1.47,310.0,116.2,12.8,368,8658,0.00,2.45,0.00,0.000,6,0.000,0.018,3501,1992,1737,0,0,0,0,0,0
$GC,8918,1.47,310.0,88.0,10.5,392,8922,0.00,2.65,0.00,0.000,4,0.000,0.054,3501,414,1737,0,0,0,0,0,0
$GC,8951,1.47,310.0,83.9,11.1,394,8960,0.00,2.42,0.00,0.000,6,0.000,0.017,3501,1970,1737,0,0,0,0,0,0
$GC,9219,1.51,317.3,57.5,9.6,419,9228,0.00,0.00,6.60,0.479,6,0.000,0.000,3501,1972,1716,0,0,0,0,0,0
$GC,9486,1.53,327.0,31.7,9.5,444,9502,0.00,2.62,10.27,0.499,4,0.000,0.049,3501,412,1675,0,0,0,0,0,0
$GC,9599,1.53,327.0,19.4,10.6,459,9608,0.00,2.40,0.00,0.000,6,0.000,0.017,3501,1966,1675,0,0,0,0,0,0
$STATE,9740,end climb,SURFACE_DEPTH_REACHED
$STATE,9740,begin surface coast
$FINISH,0.5,0.980054
$STATE,9798,end surface coast,CONTROL_FINISHED_OK
$STATE,9798,begin surface
$SM_CCo,9822,43.47,0.516,0,0,1459,380.21
$SM_GC,1.36,0.00,0.00,43.47,0.000,0.000,0.516,475,1869,1459,-12.40,-0.59,380.21
$IRIDIUM_FIX,2239.35,-15800.20,180900,232344
$TT8_MAMPS,0.026078
$HUMID,63.46
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.90
$XPDR_PINGS,36
$24V_AH,23.5,47.438
$10V_AH,10.2,41.748
$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,29.100,99.850,393.825,43.475,0.000,117.923,216.178,367.489,9.000,0.000,37.189,993.984,6577.790,517.123,1832.134,1006.012,33.370,1164.792,0.000,1820.215,0.000,0.536,0.000
$DEVICE_MAMPS,156.468,91.273,906.594,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.294,285.016,373.435,711.524,1076.480,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,38323,487
$CAP_FILE_SIZE,107715,0
$CFSIZE,260165632,162414592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260611,020506,2247.950,-15758.677,92,1.4,92,10.1