version: 66.06
glider: 146
mission: 6
dive: 387
start: 6 27 111 5 39 47
data:
$ID,146
$MISSION,6
$DIVE,387
$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,-277637.72
$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,25
$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
$GPS1,053204,2247.420,-15803.453,11,4.4,30,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-71.2
$GPS2,053852,2247.504,-15803.516,11,2.6,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.144,0.186
$KALMAN_X,-263899.7,-411.9,-83.7,252925.1,-859.8
$KALMAN_Y,39805.9,352.8,124.8,-33607.8,1174.1
$MHEAD_RNG_PITCHd_Wd,27.6,4705,-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,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.43,0.000,2,0.000,0.000,474,1933,3224,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.7,-6.2,9,117,12.68,2.47,-4.85,0.000,4,0.159,0.043,2858,3468,3488,0,0,0,0,0,0
$GC,182,-1.31,-116.8,25.4,-15.5,21,191,0.08,2.50,0.00,0.000,6,0.107,0.025,2878,1915,3489,0,0,0,0,0,0
$GC,463,-1.24,-116.8,67.3,-13.3,48,468,0.10,2.50,0.00,0.000,4,0.132,0.031,2897,3474,3491,0,0,0,0,0,0
$GC,522,-1.28,-116.8,75.6,-11.8,52,526,0.00,2.47,0.00,0.000,6,0.000,0.024,2897,1914,3491,0,0,0,0,0,0
$GC,784,-1.28,-116.8,107.9,-12.5,76,788,0.00,2.45,0.00,0.000,4,0.000,0.031,2897,3472,3491,0,0,0,0,0,0
$GC,806,-1.28,-116.8,110.2,-12.6,77,810,0.00,2.45,0.00,0.000,6,0.000,0.025,2897,1925,3492,0,0,0,0,0,0
$GC,1072,-1.28,-116.8,141.7,-11.6,101,1076,0.00,2.42,0.00,0.000,4,0.000,0.026,2897,3472,3492,0,0,0,0,0,0
$GC,1114,-1.34,-116.8,147.1,-11.7,104,1118,0.00,2.40,0.00,0.000,6,0.000,0.023,2897,1941,3492,0,0,0,0,0,0
$GC,1383,-1.39,-116.8,176.6,-9.6,129,1388,0.12,2.42,0.00,0.000,4,0.068,0.033,2842,3478,3493,0,0,0,0,0,0
$GC,1519,-1.39,-116.8,192.7,-11.9,140,1524,0.10,2.40,0.00,0.000,6,0.112,0.028,2866,1952,3493,0,0,0,0,0,0
$GC,1792,-1.39,-116.8,223.8,-11.1,151,1796,0.00,2.40,0.00,0.000,4,0.000,0.034,2866,3480,3493,0,0,0,0,0,0
$GC,1864,-1.45,-116.8,231.3,-10.4,152,1868,0.00,2.38,0.00,0.000,6,0.000,0.022,2866,1961,3493,0,0,0,0,0,0
$GC,2115,-1.45,-116.8,256.0,-9.9,158,2120,0.00,2.42,0.00,0.000,4,0.000,0.035,2866,3478,3493,0,0,0,0,0,0
$GC,2155,-1.52,-116.8,260.4,-10.8,159,2160,0.12,2.40,0.00,0.000,6,0.067,0.025,2818,1964,3494,0,0,0,0,0,0
$GC,2441,-1.47,-116.8,296.6,-12.8,166,2442,0.12,0.00,0.00,0.000,6,0.107,0.000,2847,1963,3493,0,0,0,0,0,0
$GC,2682,-1.47,-116.8,324.2,-11.2,172,2686,0.00,2.42,0.00,0.000,4,0.000,0.035,2847,3467,3493,0,0,0,0,0,0
$GC,2721,-1.52,-116.8,328.3,-10.5,173,2726,0.00,2.42,0.00,0.000,6,0.000,0.035,2847,1966,3493,0,0,0,0,0,0
$GC,3007,-1.56,-116.8,352.7,-7.9,180,3008,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1966,3493,0,0,0,0,0,0
$GC,3249,-1.61,-116.8,373.0,-8.6,186,3254,0.12,2.45,0.00,0.000,4,0.071,0.040,2805,3469,3492,0,0,0,0,0,0
$GC,3289,-1.61,-116.8,377.5,-11.7,187,3293,0.00,2.50,0.00,0.000,6,0.000,0.046,2805,1961,3492,0,0,0,0,0,0
$GC,3573,-1.61,-116.8,410.7,-11.9,194,3577,0.00,2.47,0.00,0.000,4,0.000,0.046,2805,3468,3490,0,0,0,0,0,0
$GC,3605,-1.61,-116.8,414.9,-12.0,194,3612,0.00,2.50,0.00,0.000,6,0.000,0.048,2805,1963,3490,0,0,0,0,0,0
$GC,3855,-1.61,-116.8,443.5,-11.5,201,3856,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1963,3488,0,0,0,0,0,0
$GC,4101,-1.61,-116.8,472.9,-12.0,207,4102,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1963,3487,0,0,0,0,0,0
$STATE,4340,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4341,begin apogee
$GC,4346,-0.31,0.0,500.7,11.2,213,4448,1.30,0.00,98.32,0.909,6,0.076,0.000,3101,1963,3010,0,0,0,0,0,0
$STATE,4449,end apogee,CONTROL_FINISHED_OK
$STATE,4449,begin climb
$GC,4452,1.38,116.8,503.1,0.0,215,4557,1.52,0.00,100.82,0.893,6,0.038,0.000,3474,1963,2532,0,0,0,0,0,0
$GC,4780,1.28,146.4,487.0,8.3,223,4812,0.12,2.72,25.35,0.855,4,0.127,0.053,3450,3533,2412,0,0,0,0,0,0
$GC,4842,1.22,162.6,481.6,9.1,224,4863,0.00,2.62,15.65,0.820,6,0.000,0.053,3450,1995,2347,0,0,0,0,0,0
$GC,5108,1.16,162.6,455.2,10.2,231,5114,0.12,3.00,0.00,0.000,4,0.127,0.112,3424,406,2341,0,0,0,0,0,0
$GC,5159,1.09,162.6,449.7,10.5,232,5163,0.00,2.53,0.00,0.000,6,0.000,0.028,3424,1950,2339,0,0,0,0,0,0
$GC,5431,1.15,204.8,428.2,7.6,239,5470,0.00,0.00,38.00,0.858,6,0.000,0.000,3424,1950,2174,0,0,0,0,0,0
$GC,5716,1.18,231.3,404.7,8.5,246,5745,0.00,2.78,24.08,0.828,4,0.000,0.075,3424,403,2065,0,0,0,0,0,0
$GC,5779,1.18,231.3,398.2,10.9,247,5783,0.00,2.55,0.00,0.000,6,0.000,0.028,3424,1993,2063,0,0,0,0,0,0
$GC,6035,1.20,250.4,375.2,8.9,254,6055,0.00,0.00,17.98,0.803,6,0.000,0.000,3424,1993,1988,0,0,0,0,0,0
$GC,6278,1.24,250.4,350.0,10.6,260,6283,0.00,2.78,0.00,0.000,4,0.000,0.065,3424,401,1984,0,0,0,0,0,0
$GC,6366,1.24,250.4,339.5,11.6,262,6371,0.00,2.50,0.00,0.000,6,0.000,0.026,3424,1972,1983,0,0,0,0,0,0
$GC,6652,1.31,260.6,311.2,9.5,269,6665,0.12,0.00,9.80,0.725,6,0.081,0.000,3460,1972,1947,0,0,0,0,0,0
$GC,6894,1.32,269.7,288.1,9.5,275,6909,0.00,2.75,9.38,0.706,4,0.000,0.059,3460,398,1909,0,0,0,0,0,0
$GC,7007,1.28,269.7,276.2,11.4,277,7012,0.00,2.45,0.00,0.000,6,0.000,0.020,3460,1956,1907,0,0,0,0,0,0
$GC,7262,1.28,269.7,249.5,10.3,284,7263,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1957,1907,0,0,0,0,0,0
$GC,7506,1.28,274.9,225.7,9.7,290,7517,0.00,2.67,5.72,0.589,4,0.000,0.061,3460,400,1888,0,0,0,0,0,0
$GC,7557,1.28,274.9,220.2,10.8,291,7562,0.00,2.45,0.00,0.000,6,0.000,0.018,3460,1955,1887,0,0,0,0,0,0
$GC,7811,1.30,284.5,195.9,9.5,299,7823,0.00,0.00,10.00,0.645,6,0.000,0.000,3460,1956,1850,0,0,0,0,0,0
$GC,8078,1.35,284.5,170.3,10.2,324,8079,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1956,1847,0,0,0,0,0,0
$GC,8335,1.44,316.1,147.3,8.2,348,8368,0.10,0.00,28.73,0.647,6,0.094,0.000,3489,1957,1720,0,0,0,0,0,0
$GC,8626,1.44,318.8,118.5,9.9,375,8630,0.00,2.58,0.00,0.000,4,0.000,0.036,3489,3555,1718,0,0,0,0,0,0
$GC,8690,1.52,333.7,111.9,9.2,380,8714,0.00,2.62,16.38,0.591,6,0.000,0.030,3489,1936,1647,0,0,0,0,0,0
$GC,8971,1.56,334.5,84.6,10.0,406,8976,0.00,2.58,0.00,0.000,4,0.000,0.055,3489,401,1645,0,0,0,0,0,0
$GC,9053,1.56,334.5,75.1,12.8,412,9058,0.00,2.38,0.00,0.000,6,0.000,0.025,3489,1954,1645,0,0,0,0,0,0
$GC,9321,1.62,334.5,46.6,10.1,436,9327,0.15,2.62,0.00,0.000,4,0.068,0.049,3533,396,1645,0,0,0,0,0,0
$GC,9354,1.62,334.5,42.2,13.5,438,9358,0.00,2.38,0.00,0.000,6,0.000,0.017,3533,1939,1644,0,0,0,0,0,0
$STATE,9652,end climb,SURFACE_DEPTH_REACHED
$STATE,9653,begin surface coast
$FINISH,0.7,0.980035
$STATE,9695,end surface coast,CONTROL_FINISHED_OK
$STATE,9695,begin surface
$SM_CCo,9718,37.92,0.516,0,0,1460,380.21
$SM_GC,1.42,0.00,0.00,37.92,0.000,0.000,0.516,475,1941,1460,-12.40,0.59,380.21
$IRIDIUM_FIX,2237.01,-15805.41,200900,020258
$TT8_MAMPS,0.026078
$HUMID,63.19
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.40
$XPDR_PINGS,39
$24V_AH,23.5,48.825
$10V_AH,10.3,42.905
$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,29.250,95.825,400.200,37.925,0.000,31.015,36.668,182.384,9.750,0.000,32.996,977.098,6378.526,497.396,1785.409,528.685,33.364,1132.469,0.000,1775.478,0.000,0.534,0.000
$DEVICE_MAMPS,158.769,111.982,908.895,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,327.565,285.340,370.519,689.305,1041.676,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355492
$DATA_FILE_SIZE,38199,483
$CAP_FILE_SIZE,96809,0
$CFSIZE,260165632,161878016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270611,082336,2248.923,-15803.130,31,2.0,31,10.1