version: 66.06
glider: 146
mission: 6
dive: 403
start: 6 29 111 3 57 2
data:
$ID,146
$MISSION,6
$DIVE,403
$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,-278015.34
$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,1990
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,92
$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
$GPS1,034553,2249.885,-15757.904,13,99.0,32,10.1
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.2
$GPS2,035606,2249.973,-15758.016,34,1.4,34,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.119,-0.203
$KALMAN_X,-286481.8,-139.0,-132.8,284673.2,-1134.0
$KALMAN_Y,54302.2,281.5,-3.3,-43340.4,1287.3
$MHEAD_RNG_PITCHd_Wd,139.5,5519,-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,-70.95,0.000,2,0.000,0.000,474,2023,3238,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.2,-4.9,9,118,12.68,0.00,-4.72,0.000,6,0.157,0.000,2863,2023,3489,0,0,0,0,0,0
$GC,400,-1.26,-116.8,59.5,-16.5,44,410,0.17,0.00,0.00,0.000,6,0.121,0.000,2898,2023,3491,0,0,0,0,0,0
$GC,665,-1.26,-116.8,97.3,-13.6,69,670,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2023,3491,0,0,0,0,0,0
$GC,927,-1.26,-116.8,129.5,-11.1,94,928,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2023,3492,0,0,0,0,0,0
$GC,1185,-1.30,-116.8,159.1,-11.0,118,1190,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,2024,3493,0,0,0,0,0,0
$GC,1450,-1.36,-116.8,185.2,-9.3,143,1454,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,2023,3493,0,0,0,0,0,0
$GC,1738,-1.43,-116.8,210.9,-8.8,162,1743,0.15,2.72,0.00,0.000,4,0.064,0.054,2848,405,3494,0,0,0,0,0,0
$GC,1765,-1.43,-116.8,213.9,-11.2,162,1769,0.00,2.38,0.00,0.000,6,0.000,0.021,2848,1980,3494,0,0,0,0,0,0
$GC,2022,-1.43,-116.8,241.1,-10.7,169,2026,0.00,2.50,0.00,0.000,4,0.000,0.036,2848,3544,3494,0,0,0,0,0,0
$GC,2049,-1.43,-116.8,244.5,-12.1,169,2053,0.00,2.47,0.00,0.000,6,0.000,0.031,2848,1979,3494,0,0,0,0,0,0
$GC,2299,-1.43,-116.8,273.0,-11.1,175,2303,0.00,2.67,0.00,0.000,4,0.000,0.067,2848,413,3494,0,0,0,0,0,0
$GC,2321,-1.43,-116.8,275.4,-10.8,175,2325,0.00,2.40,0.00,0.000,6,0.000,0.025,2848,1977,3494,0,0,0,0,0,0
$GC,2576,-1.43,-116.8,301.9,-10.4,182,2580,0.00,2.53,0.00,0.000,4,0.000,0.043,2848,3551,3494,0,0,0,0,0,0
$GC,2648,-1.50,-116.8,309.6,-10.6,183,2652,0.00,2.47,0.00,0.000,6,0.000,0.033,2848,2010,3494,0,0,0,0,0,0
$GC,2899,-1.50,-116.8,333.7,-9.7,189,2900,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2010,3493,0,0,0,0,0,0
$GC,3142,-1.55,-116.8,358.1,-10.0,195,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2011,3492,0,0,0,0,0,0
$GC,3386,-1.60,-116.8,381.2,-9.2,201,3387,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2011,3491,0,0,0,0,0,0
$GC,3631,-1.66,-116.8,402.8,-8.9,207,3636,0.15,2.58,0.00,0.000,4,0.063,0.050,2799,3554,3490,0,0,0,0,0,0
$GC,3675,-1.66,-116.8,407.6,-11.1,208,3679,0.00,2.55,0.00,0.000,6,0.000,0.051,2799,2013,3489,0,0,0,0,0,0
$GC,3958,-1.66,-116.8,437.7,-10.5,215,3959,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2014,3487,0,0,0,0,0,0
$GC,4203,-1.66,-116.8,463.2,-10.5,221,4208,0.00,2.97,0.00,0.000,4,0.000,0.107,2799,405,3485,0,0,0,0,0,0
$GC,4230,-1.60,-116.8,466.4,-10.7,221,4235,0.12,2.55,0.00,0.000,6,0.113,0.041,2824,1980,3485,0,0,0,0,0,0
$GC,4480,-1.60,-116.8,489.9,-9.5,227,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1980,3484,0,0,0,0,0,0
$STATE,4599,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4599,begin apogee
$GC,4606,-0.31,0.0,502.2,10.0,230,4708,1.25,0.00,97.62,0.906,6,0.079,0.000,3107,1980,3010,0,0,0,0,0,0
$STATE,4709,end apogee,CONTROL_FINISHED_OK
$STATE,4709,begin climb
$GC,4711,1.38,116.8,504.7,0.0,232,4823,1.55,2.90,99.75,0.889,4,0.046,0.073,3482,3577,2532,0,0,0,0,0,0
$GC,4926,1.25,137.8,498.1,8.8,237,4951,0.17,2.70,18.40,0.834,6,0.122,0.048,3448,1996,2448,0,0,0,0,0,0
$GC,5225,1.20,161.2,472.2,8.7,245,5249,0.00,0.00,21.25,0.841,6,0.000,0.000,3448,1997,2352,0,0,0,0,0,0
$GC,5469,1.16,174.0,449.6,9.3,251,5483,0.00,0.00,12.25,0.795,6,0.000,0.000,3448,1996,2300,0,0,0,0,0,0
$GC,5711,1.12,175.7,425.8,9.9,257,5717,0.15,2.90,0.00,0.000,4,0.120,0.094,3418,402,2295,0,0,0,0,0,0
$GC,5778,1.08,175.7,418.8,10.4,258,5783,0.00,2.58,0.00,0.000,6,0.000,0.030,3418,2009,2293,0,0,0,0,0,0
$GC,6035,1.12,204.7,397.2,8.4,265,6069,0.00,2.67,27.70,0.833,4,0.000,0.049,3417,3569,2175,0,0,0,0,0,0
$GC,6166,1.12,204.7,384.7,10.1,268,6170,0.00,2.62,0.00,0.000,6,0.000,0.041,3418,1991,2170,0,0,0,0,0,0
$GC,6451,1.18,226.1,359.2,8.8,275,6475,0.00,2.67,19.33,0.796,4,0.000,0.042,3418,3580,2088,0,0,0,0,0,0
$GC,6498,1.25,247.4,354.8,8.8,276,6525,0.12,2.65,20.62,0.786,6,0.084,0.041,3452,1994,2001,0,0,0,0,0,0
$GC,6769,1.25,247.4,326.4,10.6,282,6774,0.00,2.78,0.00,0.000,4,0.000,0.079,3451,410,1995,0,0,0,0,0,0
$GC,6835,1.25,247.4,318.4,11.6,283,6840,0.00,2.55,0.00,0.000,6,0.000,0.027,3451,2010,1994,0,0,0,0,0,0
$GC,7091,1.26,255.1,293.3,9.6,290,7105,0.00,2.85,7.15,0.663,4,0.000,0.066,3451,408,1970,0,0,0,0,0,0
$GC,7130,1.26,255.1,289.1,11.0,290,7136,0.00,2.47,0.00,0.000,6,0.000,0.025,3451,1984,1968,0,0,0,0,0,0
$GC,7380,1.26,260.8,264.8,9.7,297,7388,0.00,0.00,6.78,0.639,6,0.000,0.000,3451,1986,1945,0,0,0,0,0,0
$GC,7623,1.29,283.7,243.0,8.7,303,7652,0.00,2.83,21.73,0.725,4,0.000,0.063,3452,401,1850,0,0,0,0,0,0
$GC,7699,1.29,283.7,235.0,11.2,304,7704,0.00,2.50,0.00,0.000,6,0.000,0.021,3451,1974,1848,0,0,0,0,0,0
$GC,7949,1.34,283.7,208.7,10.5,310,7954,0.00,2.67,0.00,0.000,4,0.000,0.057,3451,409,1847,0,0,0,0,0,0
$GC,7972,1.34,283.7,206.1,10.8,310,7976,0.00,2.47,0.00,0.000,6,0.000,0.025,3451,1984,1846,0,0,0,0,0,0
$GC,8237,1.42,303.2,181.3,8.9,329,8262,0.15,2.72,17.23,0.665,4,0.071,0.054,3493,403,1773,0,0,0,0,0,0
$GC,8311,1.37,303.2,172.7,13.3,335,8315,0.00,2.45,0.00,0.000,6,0.000,0.021,3493,1958,1771,0,0,0,0,0,0
$GC,8577,1.37,303.2,142.7,12.4,359,8581,0.00,2.55,0.00,0.000,4,0.000,0.031,3493,3556,1770,0,0,0,0,0,0
$GC,8587,1.37,303.2,140.8,12.3,359,8593,0.00,2.60,0.00,0.000,6,0.000,0.028,3493,1946,1769,0,0,0,0,0,0
$GC,8851,1.37,303.2,109.3,11.4,384,8855,0.00,2.60,0.00,0.000,4,0.000,0.058,3492,411,1769,0,0,0,0,0,0
$GC,8931,1.37,303.2,99.6,11.1,390,8941,0.00,2.42,0.00,0.000,6,0.000,0.025,3493,1957,1768,0,0,0,0,0,0
$GC,9200,1.47,341.4,76.8,7.8,415,9241,0.00,2.67,33.20,0.579,4,0.000,0.055,3492,417,1618,0,0,0,0,0,0
$GC,9271,1.48,345.0,70.0,9.8,420,9281,0.00,2.42,4.88,0.426,6,0.000,0.018,3492,1948,1602,0,0,0,0,0,0
$GC,9541,1.53,345.7,44.8,10.0,445,9545,0.00,2.58,0.00,0.000,4,0.000,0.050,3493,405,1601,0,0,0,0,0,0
$GC,9586,1.53,345.7,39.1,11.6,448,9590,0.00,2.38,0.00,0.000,6,0.000,0.018,3493,1951,1600,0,0,0,0,0,0
$GC,9903,1.53,345.7,4.9,11.2,488,9912,0.00,2.60,0.00,0.000,4,0.000,0.051,3493,416,1600,0,0,0,0,0,0
$STATE,9920,end climb,SURFACE_DEPTH_REACHED
$STATE,9920,begin surface coast
$FINISH,0.6,0.979862
$STATE,9942,end surface coast,CONTROL_FINISHED_OK
$STATE,9942,begin surface
$SM_CCo,9966,29.75,0.512,0,0,1459,380.21
$SM_GC,1.20,0.00,0.00,29.75,0.000,0.000,0.512,476,2022,1459,-12.42,0.88,380.21
$IRIDIUM_FIX,2239.35,-15757.16,220900,030340
$TT8_MAMPS,0.026078
$HUMID,64.49
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.60
$XPDR_PINGS,38
$24V_AH,23.5,50.687
$10V_AH,10.2,44.703
$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,28.900,104.100,407.875,29.750,0.000,51.852,74.923,240.897,9.500,0.000,38.984,984.804,6605.313,486.966,1865.443,672.812,33.373,1178.928,0.000,1847.029,0.000,0.534,0.000
$DEVICE_MAMPS,157.235,106.613,905.827,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.926,280.763,378.543,715.818,1082.493,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355428
$DATA_FILE_SIZE,38268,493
$CAP_FILE_SIZE,102967,0
$CFSIZE,260165632,161017856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290611,064531,2249.536,-15757.930,70,0.9,70,10.1