version: 66.06
glider: 146
mission: 6
dive: 429
start: 7 2 111 7 34 0
data:
$ID,146
$MISSION,6
$DIVE,429
$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,100
$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,-278536
$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,2010
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,61
$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
$GPS1,072725,2249.300,-15758.415,12,1.6,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.3
$GPS2,073308,2249.340,-15758.476,11,1.1,11,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.125,-0.176
$KALMAN_X,-323030.0,-203.4,-145.3,320513.8,-1041.0
$KALMAN_Y,81021.9,269.9,319.2,-71541.4,994.4
$MHEAD_RNG_PITCHd_Wd,134.6,4485,-21.8,-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,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-70.43,0.000,2,0.000,0.000,476,2008,3230,0,0,0,0,0,0
$GC,91,-1.48,-97.3,3.3,-4.9,9,117,12.43,2.65,-3.40,0.000,4,0.153,0.054,2842,426,3410,0,0,0,0,0,0
$GC,195,-1.36,-97.3,27.6,-17.3,23,205,0.15,2.45,0.00,0.000,6,0.222,0.015,2875,2021,3412,0,0,0,0,0,0
$GC,534,-1.36,-97.3,77.1,-13.2,55,538,0.00,2.42,0.00,0.000,4,0.000,0.032,2876,3554,3413,0,0,0,0,0,0
$GC,558,-1.36,-97.3,80.7,-12.8,56,567,0.00,2.50,0.00,0.000,6,0.000,0.025,2876,1991,3413,0,0,0,0,0,0
$GC,889,-1.39,-97.3,118.3,-11.1,87,893,0.00,2.47,0.00,0.000,4,0.000,0.028,2875,3561,3414,0,0,0,0,0,0
$GC,921,-1.46,-97.3,122.2,-11.1,89,925,0.00,2.45,0.00,0.000,6,0.000,0.029,2876,2005,3414,0,0,0,0,0,0
$GC,1246,-1.54,-97.3,157.3,-10.2,119,1247,0.15,0.00,0.00,0.000,6,0.064,0.000,2824,2005,3414,0,0,0,0,0,0
$GC,1563,-1.54,-97.3,194.5,-10.8,149,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2005,3415,0,0,0,0,0,0
$GC,1871,-1.54,-97.3,227.5,-11.1,161,1875,0.00,2.47,0.00,0.000,4,0.000,0.034,2824,3555,3416,0,0,0,0,0,0
$GC,1914,-1.59,-97.3,232.4,-11.4,162,1919,0.00,2.45,0.00,0.000,6,0.000,0.028,2823,2001,3415,0,0,0,0,0,0
$GC,2234,-1.59,-97.3,265.8,-10.3,170,2235,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2001,3416,0,0,0,0,0,0
$GC,2558,-1.63,-97.3,296.7,-9.2,178,2563,0.00,2.47,0.00,0.000,4,0.000,0.038,2823,3548,3416,0,0,0,0,0,0
$GC,2638,-1.71,-97.3,304.5,-9.8,179,2644,0.00,2.45,0.00,0.000,6,0.000,0.037,2823,2018,3416,0,0,0,0,0,0
$GC,2970,-1.76,-97.3,338.4,-10.5,188,2975,0.12,2.47,0.00,0.000,4,0.074,0.041,2778,3544,3414,0,0,0,0,0,0
$GC,3094,-1.76,-97.3,353.3,-12.1,190,3100,0.00,2.50,0.00,0.000,6,0.000,0.042,2778,2015,3414,0,0,0,0,0,0
$GC,3426,-1.76,-97.3,392.1,-11.7,199,3431,0.00,2.88,0.00,0.000,4,0.000,0.097,2778,426,3413,0,0,0,0,0,0
$GC,3448,-1.71,-97.3,394.9,-11.4,199,3453,0.12,2.47,0.00,0.000,6,0.114,0.032,2804,1968,3412,0,0,0,0,0,0
$GC,3784,-1.71,-97.3,432.3,-11.3,208,3789,0.00,2.75,0.00,0.000,4,0.000,0.063,2803,3595,3410,0,0,0,0,0,0
$GC,3841,-1.77,-97.3,438.4,-10.2,209,3845,0.00,2.65,0.00,0.000,6,0.000,0.057,2804,2023,3410,0,0,0,0,0,0
$GC,4189,-1.81,-97.3,471.7,-9.6,218,4190,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2023,3407,0,0,0,0,0,0
$STATE,4511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4511,begin apogee
$GC,4518,-0.31,0.0,502.2,9.6,226,4604,1.35,0.00,81.60,0.912,6,0.083,0.000,3107,1994,3010,0,0,0,0,0,0
$STATE,4604,end apogee,CONTROL_FINISHED_OK
$STATE,4605,begin climb
$GC,4607,1.48,97.3,504.1,0.0,228,4700,1.62,3.08,82.78,0.899,4,0.035,0.110,3507,405,2611,0,0,0,0,0,0
$GC,4741,1.33,157.3,503.1,5.9,231,4801,0.20,2.62,52.35,0.881,6,0.120,0.037,3468,1993,2368,0,0,0,0,0,0
$GC,5139,1.29,169.1,468.2,9.2,241,5155,0.00,2.78,10.73,0.783,4,0.000,0.065,3468,3582,2319,0,0,0,0,0,0
$GC,5225,1.29,169.1,459.0,10.9,243,5229,0.00,2.67,0.00,0.000,6,0.000,0.045,3468,1999,2317,0,0,0,0,0,0
$GC,5548,1.29,169.1,423.9,10.9,251,5549,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,1999,2314,0,0,0,0,0,0
$GC,5875,1.30,175.4,391.5,9.6,259,5883,0.00,0.00,5.62,0.660,6,0.000,0.000,3468,1999,2294,0,0,0,0,0,0
$GC,6198,1.32,194.2,362.5,8.7,267,6223,0.00,2.92,18.00,0.802,4,0.000,0.084,3467,404,2217,0,0,0,0,0,0
$GC,6342,1.27,197.6,349.2,9.8,270,6351,0.00,2.60,4.22,0.553,6,0.000,0.022,3468,2034,2203,0,0,0,0,0,0
$GC,6659,1.29,218.0,321.9,8.6,278,6684,0.00,2.58,19.48,0.783,4,0.000,0.039,3467,3570,2120,0,0,0,0,0,0
$GC,6700,1.29,218.0,317.8,10.4,279,6705,0.00,2.60,0.00,0.000,6,0.000,0.038,3468,1999,2119,0,0,0,0,0,0
$GC,7020,1.29,218.0,285.8,10.1,287,7021,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,2000,2116,0,0,0,0,0,0
$GC,7344,1.34,230.0,255.5,9.2,295,7361,0.00,2.58,11.20,0.701,4,0.000,0.035,3468,3567,2071,0,0,0,0,0,0
$GC,7465,1.39,230.0,243.2,10.8,297,7469,0.00,2.55,0.00,0.000,6,0.000,0.036,3467,2008,2069,0,0,0,0,0,0
$GC,7796,1.48,255.9,214.5,8.3,305,7826,0.12,2.78,23.77,0.706,4,0.086,0.064,3500,417,1965,0,0,0,0,0,0
$GC,7887,1.43,255.9,205.5,10.7,307,7891,0.00,2.53,0.00,0.000,6,0.000,0.019,3500,2011,1963,0,0,0,0,0,0
$GC,8211,1.45,275.3,174.3,8.7,332,8236,0.00,2.75,17.88,0.660,4,0.000,0.057,3500,416,1886,0,0,0,0,0,0
$GC,8325,1.46,278.1,163.8,9.8,341,8331,0.00,2.50,0.00,0.000,6,0.000,0.019,3500,2002,1883,0,0,0,0,0,0
$GC,8650,1.50,282.1,133.0,9.8,372,8665,0.00,2.75,7.05,0.548,4,0.000,0.052,3500,410,1858,0,0,0,0,0,0
$GC,8778,1.50,282.1,119.4,10.8,382,8787,0.00,2.47,0.00,0.000,6,0.000,0.018,3500,1977,1856,0,0,0,0,0,0
$GC,9106,1.58,297.0,89.0,9.0,413,9131,0.00,2.70,13.90,0.569,4,0.000,0.051,3500,417,1797,0,0,0,0,0,0
$GC,9207,1.58,297.0,79.0,11.1,421,9211,0.00,2.42,0.00,0.000,6,0.000,0.019,3500,1969,1796,0,0,0,0,0,0
$GC,9538,1.71,319.4,50.3,8.5,451,9566,0.20,2.65,20.77,0.543,4,0.061,0.048,3552,414,1705,0,0,0,0,0,0
$GC,9608,1.71,319.4,42.4,12.4,456,9612,0.00,2.42,0.00,0.000,6,0.000,0.018,3552,1970,1703,0,0,0,0,0,0
$STATE,9942,end climb,SURFACE_DEPTH_REACHED
$STATE,9942,begin surface coast
$FINISH,0.5,0.975162
$STATE,9991,end surface coast,CONTROL_FINISHED_OK
$STATE,9991,begin surface
$SM_CCo,10013,49.88,0.514,0,0,1459,380.21
$SM_GC,1.25,0.00,0.00,49.88,0.000,0.000,0.514,482,1973,1459,-12.39,-1.05,380.21
$IRIDIUM_FIX,2241.69,-15757.16,250900,040423
$TT8_MAMPS,0.026078
$HUMID,64.56
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.20
$XPDR_PINGS,41
$24V_AH,23.5,53.591
$10V_AH,10.2,47.602
$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,29.050,93.525,369.350,49.875,0.000,31.012,33.716,148.066,10.250,0.000,12.631,988.647,6550.824,447.929,1944.097,474.184,33.368,1145.731,0.000,1949.776,0.000,0.533,0.000
$DEVICE_MAMPS,221.663,197.886,911.963,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,342.161,275.067,390.850,741.047,1121.074,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355468
$DATA_FILE_SIZE,38415,505
$CAP_FILE_SIZE,93678,0
$CFSIZE,260165632,159662080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020711,102300,2248.942,-15758.513,35,1.5,35,10.1