version: 66.06
glider: 146
mission: 6
dive: 386
start: 6 27 111 2 47 32
data:
$ID,146
$MISSION,6
$DIVE,386
$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,-277604.09
$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,1920
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,88
$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
$GPS1,024001,2247.837,-15803.045,36,1.5,36,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.1
$GPS2,024638,2247.929,-15803.105,11,1.3,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.079,-0.221
$KALMAN_X,-262393.6,-329.5,-208.8,252158.6,-760.1
$KALMAN_Y,38573.2,324.6,-52.7,-31390.6,1960.9
$MHEAD_RNG_PITCHd_Wd,150.3,1730,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-71.07,0.000,2,0.000,0.000,474,1956,3298,0,0,0,0,0,0
$GC,94,-1.38,-116.8,4.2,-8.1,9,120,12.65,2.75,-3.35,0.000,4,0.157,0.058,2862,340,3491,0,0,0,0,0,0
$GC,151,-1.12,-116.8,22.8,-23.3,16,161,0.25,2.42,0.00,0.000,6,0.102,0.015,2918,1915,3492,0,0,0,0,0,0
$GC,431,-1.12,-116.8,62.8,-13.1,44,436,0.00,2.42,0.00,0.000,4,0.000,0.026,2918,3462,3493,0,0,0,0,0,0
$GC,465,-1.17,-116.8,67.2,-13.2,46,469,0.00,2.45,0.00,0.000,6,0.000,0.025,2919,1911,3493,0,0,0,0,0,0
$GC,727,-1.17,-116.8,97.1,-11.2,70,732,0.00,2.45,0.00,0.000,4,0.000,0.027,2919,3468,3494,0,0,0,0,0,0
$GC,758,-1.23,-116.8,100.6,-11.4,72,763,0.00,2.42,0.00,0.000,6,0.000,0.030,2918,1926,3494,0,0,0,0,0,0
$GC,1021,-1.28,-116.8,130.5,-11.3,96,1026,0.12,2.42,0.00,0.000,4,0.071,0.026,2871,3462,3495,0,0,0,0,0,0
$GC,1052,-1.28,-116.8,134.4,-12.8,98,1056,0.00,2.42,0.00,0.000,6,0.000,0.025,2870,1931,3495,0,0,0,0,0,0
$GC,1314,-1.28,-116.8,166.2,-11.3,122,1315,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1931,3495,0,0,0,0,0,0
$GC,1569,-1.28,-116.8,192.0,-8.7,146,1573,0.00,2.42,0.00,0.000,4,0.000,0.029,2871,3463,3495,0,0,0,0,0,0
$GC,1610,-1.34,-116.8,195.6,-9.3,149,1615,0.00,2.38,0.00,0.000,6,0.000,0.030,2870,1941,3495,0,0,0,0,0,0
$GC,1873,-1.34,-116.8,219.9,-9.5,159,1874,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1941,3496,0,0,0,0,0,0
$GC,2119,-1.38,-116.8,243.9,-9.7,165,2123,0.00,2.40,0.00,0.000,4,0.000,0.029,2871,3460,3496,0,0,0,0,0,0
$GC,2146,-1.45,-116.8,246.9,-10.3,165,2150,0.00,2.38,0.00,0.000,6,0.000,0.027,2870,1960,3496,0,0,0,0,0,0
$GC,2402,-1.51,-116.8,269.9,-9.1,172,2407,0.12,2.40,0.00,0.000,4,0.074,0.038,2823,3461,3496,0,0,0,0,0,0
$GC,2453,-1.51,-116.8,275.4,-10.8,173,2457,0.00,2.38,0.00,0.000,6,0.000,0.031,2823,1968,3496,0,0,0,0,0,0
$GC,2724,-1.51,-116.8,308.0,-12.2,180,2728,0.00,2.38,0.00,0.000,4,0.000,0.032,2823,3458,3496,0,0,0,0,0,0
$GC,2751,-1.51,-116.8,311.3,-11.9,180,2755,0.00,2.40,0.00,0.000,6,0.000,0.033,2823,1973,3496,0,0,0,0,0,0
$GC,3002,-1.51,-116.8,338.0,-10.4,186,3007,0.00,2.38,0.00,0.000,4,0.000,0.035,2823,3456,3495,0,0,0,0,0,0
$GC,3046,-1.51,-116.8,342.8,-10.4,187,3051,0.00,2.42,0.00,0.000,6,0.000,0.039,2823,1975,3495,0,0,0,0,0,0
$GC,3325,-1.51,-116.8,369.0,-9.7,194,3329,0.00,2.42,0.00,0.000,4,0.000,0.041,2823,3464,3494,0,0,0,0,0,0
$GC,3348,-1.51,-116.8,371.2,-9.9,194,3352,0.00,2.42,0.00,0.000,6,0.000,0.043,2823,1984,3494,0,0,0,0,0,0
$GC,3603,-1.51,-116.8,396.8,-10.2,201,3608,0.00,2.95,0.00,0.000,4,0.000,0.095,2823,345,3492,0,0,0,0,0,0
$GC,3618,-1.51,-116.8,398.6,-10.3,201,3623,0.00,2.53,0.00,0.000,6,0.000,0.035,2823,1939,3492,0,0,0,0,0,0
$GC,3881,-1.51,-116.8,425.9,-10.5,208,3882,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1939,3491,0,0,0,0,0,0
$GC,4123,-1.51,-116.8,450.9,-10.2,214,4127,0.00,2.65,0.00,0.000,4,0.000,0.058,2823,3501,3489,0,0,0,0,0,0
$GC,4163,-1.56,-116.8,455.1,-10.6,215,4167,0.00,2.53,0.00,0.000,6,0.000,0.050,2823,1994,3489,0,0,0,0,0,0
$GC,4446,-1.56,-116.8,484.4,-10.3,222,4450,0.00,2.50,0.00,0.000,4,0.000,0.054,2823,3494,3487,0,0,0,0,0,0
$GC,4480,-1.60,-116.8,487.7,-10.2,222,4485,0.00,2.53,0.00,0.000,6,0.000,0.057,2823,2000,3487,0,0,0,0,0,0
$STATE,4605,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4605,begin apogee
$GC,4611,-0.31,0.0,500.0,9.6,226,4713,1.23,0.00,98.68,0.908,6,0.077,0.000,3102,1999,3010,0,0,0,0,0,0
$STATE,4714,end apogee,CONTROL_FINISHED_OK
$STATE,4714,begin climb
$GC,4716,1.38,116.8,501.7,0.0,228,4829,1.52,2.80,100.05,0.890,4,0.038,0.058,3471,3571,2532,0,0,0,0,0,0
$GC,4852,1.31,183.2,500.5,6.2,231,4917,0.00,2.67,58.38,0.878,6,0.000,0.054,3472,2001,2261,0,0,0,0,0,0
$GC,5168,1.21,183.2,465.7,11.6,239,5173,0.17,2.97,0.00,0.000,4,0.113,0.106,3435,410,2253,0,0,0,0,0,0
$GC,5201,1.12,183.2,462.0,10.8,239,5207,0.00,2.60,0.00,0.000,6,0.000,0.033,3435,1997,2251,0,0,0,0,0,0
$GC,5453,1.14,194.8,438.2,9.4,246,5468,0.00,2.85,9.80,0.769,4,0.000,0.078,3435,408,2214,0,0,0,0,0,0
$GC,5496,1.06,194.8,433.4,11.2,247,5501,0.17,2.58,0.00,0.000,6,0.118,0.025,3400,1984,2212,0,0,0,0,0,0
$GC,5774,1.14,216.3,409.2,8.8,254,5796,0.00,0.00,20.02,0.822,6,0.000,0.000,3401,1984,2128,0,0,0,0,0,0
$GC,6020,1.22,230.4,386.7,9.2,260,6039,0.15,2.83,13.73,0.786,4,0.077,0.069,3440,400,2069,0,0,0,0,0,0
$GC,6067,1.16,230.4,381.3,11.8,261,6072,0.00,2.58,0.00,0.000,6,0.000,0.029,3441,1983,2068,0,0,0,0,0,0
$GC,6346,1.18,245.6,354.3,9.2,268,6367,0.00,2.78,14.73,0.780,4,0.000,0.069,3440,404,2008,0,0,0,0,0,0
$GC,6395,1.13,245.6,349.3,10.3,269,6400,0.12,2.55,0.00,0.000,6,0.126,0.021,3416,1987,2006,0,0,0,0,0,0
$GC,6669,1.22,272.6,325.8,8.5,276,6696,0.00,0.00,25.38,0.787,6,0.000,0.000,3416,1987,1898,0,0,0,0,0,0
$GC,6911,1.30,276.8,302.5,9.8,282,6922,0.15,2.78,4.68,0.568,4,0.074,0.063,3456,403,1881,0,0,0,0,0,0
$GC,7000,1.30,276.8,290.7,14.0,284,7004,0.00,2.53,0.00,0.000,6,0.000,0.025,3456,1987,1880,0,0,0,0,0,0
$GC,7280,1.30,276.8,259.8,10.8,291,7284,0.00,2.58,0.00,0.000,4,0.000,0.041,3455,3568,1878,0,0,0,0,0,0
$GC,7324,1.34,276.8,254.6,11.2,292,7328,0.00,2.62,0.00,0.000,6,0.000,0.033,3456,1965,1877,0,0,0,0,0,0
$GC,7601,1.34,276.8,225.4,10.4,299,7605,0.00,2.65,0.00,0.000,4,0.000,0.068,3456,413,1876,0,0,0,0,0,0
$GC,7668,1.34,276.8,217.6,11.8,300,7673,0.00,2.47,0.00,0.000,6,0.000,0.020,3456,1985,1875,0,0,0,0,0,0
$GC,7931,1.35,281.6,190.8,9.8,313,7943,0.00,2.70,4.82,0.526,4,0.000,0.057,3456,412,1861,0,0,0,0,0,0
$GC,7996,1.35,281.6,183.5,10.7,318,8005,0.00,2.47,0.00,0.000,6,0.000,0.019,3456,1968,1861,0,0,0,0,0,0
$GC,8263,1.46,318.1,161.2,7.9,343,8302,0.12,2.62,33.42,0.666,4,0.081,0.032,3490,3557,1711,0,0,0,0,0,0
$GC,8327,1.46,318.1,154.2,11.2,348,8331,0.00,2.60,0.00,0.000,6,0.000,0.037,3490,1974,1710,0,0,0,0,0,0
$GC,8589,1.46,318.1,125.7,11.6,372,8594,0.00,2.65,0.00,0.000,4,0.000,0.058,3490,414,1708,0,0,0,0,0,0
$GC,8671,1.46,318.1,115.4,12.7,378,8680,0.00,2.47,0.00,0.000,6,0.000,0.021,3490,1984,1706,0,0,0,0,0,0
$GC,8937,1.46,318.1,86.5,10.7,403,8941,0.00,2.65,0.00,0.000,4,0.000,0.057,3490,410,1706,0,0,0,0,0,0
$GC,8970,1.46,318.1,82.5,12.4,405,8974,0.00,2.42,0.00,0.000,6,0.000,0.018,3490,1974,1706,0,0,0,0,0,0
$GC,9238,1.53,325.2,54.7,9.6,429,9253,0.00,2.67,6.88,0.484,4,0.000,0.050,3490,410,1683,0,0,0,0,0,0
$GC,9282,1.53,325.2,49.8,11.0,432,9287,0.00,2.40,0.00,0.000,6,0.000,0.018,3490,1975,1682,0,0,0,0,0,0
$GC,9566,1.64,363.1,23.1,7.9,461,9611,0.15,2.70,33.40,0.533,4,0.068,0.050,3534,418,1528,0,0,0,0,0,0
$GC,9697,1.56,363.1,7.8,14.3,478,9707,0.08,2.38,0.00,0.000,6,0.092,0.019,3513,1931,1527,0,0,0,0,0,0
$STATE,9722,end climb,SURFACE_DEPTH_REACHED
$STATE,9722,begin surface coast
$FINISH,0.6,0.975731
$STATE,9764,end surface coast,CONTROL_FINISHED_OK
$STATE,9764,begin surface
$SM_CCo,9786,14.10,0.492,0,0,1459,380.21
$SM_GC,1.13,0.00,0.00,14.10,0.000,0.000,0.492,475,1933,1459,-12.40,0.37,380.21
$IRIDIUM_FIX,2241.69,-15804.53,190900,232314
$TT8_MAMPS,0.026078
$HUMID,64.29
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.60
$XPDR_PINGS,52
$24V_AH,23.5,48.710
$10V_AH,10.2,42.799
$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,29.350,137.800,423.950,14.100,0.000,30.451,33.884,196.395,13.000,0.000,14.136,1009.365,6287.822,483.572,1865.104,551.308,33.366,1216.221,0.000,1872.319,0.000,0.534,0.000
$DEVICE_MAMPS,157.235,105.846,908.128,491.647,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.622,268.481,374.462,709.399,1072.825,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,38325,487
$CAP_FILE_SIZE,109906,0
$CFSIZE,260165632,161918976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270611,053204,2247.420,-15803.453,11,4.4,30,10.1