version: 66.06
glider: 146
mission: 6
dive: 394
start: 6 28 111 1 47 22
data:
$ID,146
$MISSION,6
$DIVE,394
$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,-277767.44
$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,3175
$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,27
$R_STBD_OVSHOOT,87
$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
$GPS1,014006,2249.213,-15801.831,30,1.1,40,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.6
$GPS2,014626,2249.276,-15801.886,10,2.0,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.210,-0.105
$KALMAN_X,-273992.4,-214.3,-51.2,265564.2,-1363.7
$KALMAN_Y,46655.0,163.0,-160.8,-36703.4,1164.9
$MHEAD_RNG_PITCHd_Wd,106.5,8447,-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,-71.00,0.000,2,0.000,0.000,479,1945,3259,0,0,0,0,0,0
$GC,94,-1.38,-116.8,3.7,-6.1,9,120,12.57,2.70,-4.18,0.000,4,0.154,0.058,2864,344,3490,0,0,0,0,0,0
$GC,131,-0.44,-116.8,16.9,-33.2,13,141,0.93,2.40,0.00,0.000,6,0.101,0.015,3073,1897,3491,0,0,0,0,0,0
$GC,440,-0.77,-116.8,36.3,-5.6,51,445,0.25,2.47,0.00,0.000,4,0.047,0.028,2990,3468,3493,0,0,0,0,0,0
$GC,475,-0.99,-116.8,39.1,-8.5,53,480,0.12,2.45,0.00,0.000,6,0.069,0.023,2940,1911,3493,0,0,0,0,0,0
$GC,744,-0.99,-116.8,69.1,-11.3,77,748,0.00,2.45,0.00,0.000,4,0.000,0.032,2940,3467,3493,0,0,0,0,0,0
$GC,790,-1.08,-116.8,74.4,-10.3,80,794,0.00,2.42,0.00,0.000,6,0.000,0.023,2940,1921,3493,0,0,0,0,0,0
$GC,1053,-1.17,-116.8,102.1,-10.3,104,1057,0.00,2.45,0.00,0.000,4,0.000,0.029,2940,3476,3493,0,0,0,0,0,0
$GC,1135,-1.30,-116.8,110.5,-10.0,110,1145,0.17,2.47,0.00,0.000,6,0.028,0.025,2871,1925,3494,0,0,0,0,0,0
$GC,1402,-1.26,-116.8,143.0,-12.3,135,1407,0.12,0.00,0.00,0.000,6,0.105,0.000,2900,1925,3494,0,0,0,0,0,0
$GC,1670,-1.31,-116.8,171.3,-10.1,160,1675,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,1925,3495,0,0,0,0,0,0
$GC,1935,-1.38,-116.8,195.0,-8.6,185,1940,0.10,0.00,0.00,0.000,6,0.084,0.000,2858,1925,3495,0,0,0,0,0,0
$GC,2197,-1.38,-116.8,222.9,-10.8,196,2201,0.00,2.45,0.00,0.000,4,0.000,0.034,2858,3479,3495,0,0,0,0,0,0
$GC,2263,-1.42,-116.8,230.5,-10.9,197,2268,0.00,2.42,0.00,0.000,6,0.000,0.023,2858,1926,3496,0,0,0,0,0,0
$GC,2521,-1.42,-116.8,256.2,-9.7,204,2522,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1926,3496,0,0,0,0,0,0
$GC,2763,-1.42,-116.8,278.6,-9.1,210,2767,0.00,2.45,0.00,0.000,4,0.000,0.031,2858,3472,3496,0,0,0,0,0,0
$GC,2847,-1.50,-116.8,286.0,-8.7,212,2852,0.00,2.42,0.00,0.000,6,0.000,0.028,2858,1939,3496,0,0,0,0,0,0
$GC,3133,-1.55,-116.8,311.8,-9.4,219,3137,0.00,2.45,0.00,0.000,4,0.000,0.033,2858,3463,3496,0,0,0,0,0,0
$GC,3194,-1.63,-116.8,318.0,-10.0,220,3199,0.15,2.42,0.00,0.000,6,0.061,0.030,2802,1951,3496,0,0,0,0,0,0
$GC,3457,-1.59,-116.8,348.7,-11.6,227,3462,0.12,2.47,0.00,0.000,4,0.110,0.041,2831,3467,3495,0,0,0,0,0,0
$GC,3479,-1.59,-116.8,351.1,-9.7,227,3483,0.00,2.45,0.00,0.000,6,0.000,0.038,2831,1951,3495,0,0,0,0,0,0
$GC,3734,-1.59,-116.8,374.0,-8.9,234,3738,0.00,2.45,0.00,0.000,4,0.000,0.043,2831,3461,3494,0,0,0,0,0,0
$GC,3775,-1.63,-116.8,377.5,-8.6,235,3779,0.00,2.47,0.00,0.000,6,0.000,0.042,2831,1949,3495,0,0,0,0,0,0
$GC,4058,-1.63,-116.8,401.0,-8.1,242,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1949,3493,0,0,0,0,0,0
$GC,4302,-1.63,-116.8,423.8,-9.4,248,4306,0.00,2.53,0.00,0.000,4,0.000,0.049,2831,3465,3491,0,0,0,0,0,0
$GC,4325,-1.67,-116.8,426.1,-10.6,248,4329,0.00,2.55,0.00,0.000,6,0.000,0.048,2831,1944,3491,0,0,0,0,0,0
$GC,4580,-1.71,-116.8,450.5,-9.4,255,4582,0.12,0.00,0.00,0.000,6,0.071,0.000,2787,1943,3489,0,0,0,0,0,0
$GC,4823,-1.67,-116.8,477.2,-11.0,261,4828,0.12,2.55,0.00,0.000,4,0.113,0.058,2813,3461,3487,0,0,0,0,0,0
$GC,4875,-1.71,-116.8,482.3,-10.0,262,4880,0.00,2.58,0.00,0.000,6,0.000,0.059,2814,1937,3487,0,0,0,0,0,0
$STATE,5064,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5064,begin apogee
$GC,5069,-0.31,0.0,500.8,9.7,267,5172,1.27,0.00,98.53,0.907,6,0.073,0.000,3106,1937,3010,0,0,0,0,0,0
$STATE,5172,end apogee,CONTROL_FINISHED_OK
$STATE,5172,begin climb
$GC,5175,1.38,116.8,502.8,0.0,269,5280,1.55,0.00,100.72,0.888,6,0.044,0.000,3485,1937,2533,0,0,0,0,0,0
$GC,5512,1.27,153.1,486.6,7.9,278,5550,0.15,0.00,31.65,0.863,6,0.225,0.000,3454,1937,2384,0,0,0,0,0,0
$GC,5794,1.22,170.1,461.7,9.1,285,5815,0.00,2.88,15.55,0.821,4,0.000,0.098,3454,404,2315,0,0,0,0,0,0
$GC,5835,1.11,171.6,457.8,10.0,286,5840,0.17,2.55,0.00,0.000,6,0.117,0.034,3420,1960,2313,0,0,0,0,0,0
$GC,6119,1.14,193.2,432.6,8.8,293,6147,0.00,2.78,21.12,0.838,4,0.000,0.052,3419,3576,2221,0,0,0,0,0,0
$GC,6182,1.15,206.6,427.0,9.3,294,6204,0.00,2.67,13.35,0.797,6,0.000,0.046,3420,1992,2166,0,0,0,0,0,0
$GC,6447,1.17,223.6,402.5,9.1,301,6465,0.00,0.00,15.73,0.808,6,0.000,0.000,3420,1992,2098,0,0,0,0,0,0
$GC,6691,1.17,223.6,378.0,10.2,307,6696,0.00,2.85,0.00,0.000,4,0.000,0.087,3419,404,2094,0,0,0,0,0,0
$GC,6736,1.17,223.6,373.1,10.8,308,6740,0.00,2.55,0.00,0.000,6,0.000,0.025,3419,1999,2093,0,0,0,0,0,0
$GC,7014,1.24,238.6,347.5,9.2,315,7034,0.10,2.83,13.95,0.779,4,0.098,0.064,3446,402,2037,0,0,0,0,0,0
$GC,7045,1.24,238.9,344.2,10.0,315,7049,0.00,2.53,0.00,0.000,6,0.000,0.020,3446,1995,2035,0,0,0,0,0,0
$GC,7297,1.24,238.9,317.1,10.8,321,7298,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1995,2033,0,0,0,0,0,0
$GC,7538,1.24,238.9,290.8,10.6,327,7543,0.00,2.55,0.00,0.000,4,0.000,0.038,3446,3557,2031,0,0,0,0,0,0
$GC,7600,1.24,238.9,284.3,10.2,328,7604,0.00,2.60,0.00,0.000,6,0.000,0.033,3446,1965,2030,0,0,0,0,0,0
$GC,7862,1.26,256.1,260.2,9.0,335,7880,0.00,0.00,16.25,0.735,6,0.000,0.000,3446,1965,1965,0,0,0,0,0,0
$GC,8105,1.32,273.5,237.9,9.0,341,8129,0.00,2.72,16.33,0.712,4,0.000,0.067,3446,406,1895,0,0,0,0,0,0
$GC,8168,1.32,273.5,231.6,10.9,342,8172,0.00,2.47,0.00,0.000,6,0.000,0.025,3446,1982,1894,0,0,0,0,0,0
$GC,8431,1.41,298.6,208.8,8.6,349,8460,0.15,2.78,23.23,0.698,4,0.074,0.059,3487,414,1791,0,0,0,0,0,0
$GC,8507,1.37,298.6,199.6,12.8,350,8511,0.00,2.47,0.00,0.000,6,0.000,0.025,3487,1977,1789,0,0,0,0,0,0
$GC,8771,1.37,298.6,169.0,11.4,374,8775,0.00,2.67,0.00,0.000,4,0.000,0.061,3487,410,1788,0,0,0,0,0,0
$GC,8846,1.37,298.6,159.8,11.7,380,8850,0.00,2.42,0.00,0.000,6,0.000,0.018,3488,1968,1786,0,0,0,0,0,0
$GC,9110,1.39,317.3,135.8,9.0,404,9134,0.00,2.67,16.80,0.621,4,0.000,0.055,3487,407,1715,0,0,0,0,0,0
$GC,9205,1.39,317.3,125.6,11.3,412,9209,0.00,2.42,0.00,0.000,6,0.000,0.025,3487,1961,1713,0,0,0,0,0,0
$GC,9470,1.43,317.3,99.8,10.7,436,9474,0.00,2.60,0.00,0.000,4,0.000,0.051,3487,406,1713,0,0,0,0,0,0
$GC,9490,1.43,317.3,97.5,10.6,437,9494,0.00,2.40,0.00,0.000,6,0.000,0.025,3488,1956,1712,0,0,0,0,0,0
$GC,9758,1.52,343.3,72.4,8.5,461,9789,0.00,2.65,23.33,0.568,4,0.000,0.029,3487,3552,1609,0,0,0,0,0,0
$GC,9802,1.62,356.1,67.7,9.3,464,9826,0.12,2.62,12.23,0.529,6,0.042,0.031,3529,1956,1557,0,0,0,0,0,0
$GC,10081,1.62,356.1,35.8,11.1,490,10086,0.00,2.60,0.00,0.000,4,0.000,0.054,3529,411,1554,0,0,0,0,0,0
$GC,10127,1.56,356.1,29.6,14.9,493,10136,0.00,2.40,0.00,0.000,6,0.000,0.018,3529,1940,1553,0,0,0,0,0,0
$STATE,10325,end climb,SURFACE_DEPTH_REACHED
$STATE,10326,begin surface coast
$FINISH,0.6,0.979916
$STATE,10368,end surface coast,CONTROL_FINISHED_OK
$STATE,10368,begin surface
$SM_CCo,10390,19.60,0.503,0,0,1459,380.21
$SM_GC,1.49,0.00,0.00,19.60,0.000,0.000,0.503,474,1942,1459,-12.42,0.59,380.21
$IRIDIUM_FIX,2239.35,-15802.37,200900,222255
$TT8_MAMPS,0.026078
$HUMID,64.92
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.60
$XPDR_PINGS,46
$24V_AH,23.5,49.633
$10V_AH,10.3,43.689
$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,30.825,117.200,418.750,19.600,0.000,30.867,38.679,174.619,11.500,0.000,12.368,1066.288,6692.522,521.120,1970.219,543.932,33.364,1225.081,0.000,1980.968,0.000,0.534,0.000
$DEVICE_MAMPS,225.498,98.176,907.361,503.152,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,357.220,300.887,409.275,794.885,1203.256,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,41459,527
$CAP_FILE_SIZE,109096,0
$CFSIZE,260165632,161488896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280611,044301,2249.455,-15801.262,88,0.9,88,10.1