version: 66.06
glider: 146
mission: 6
dive: 480
start: 7 8 111 15 32 14
data:
$ID,146
$MISSION,6
$DIVE,480
$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,-279831
$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,27
$R_STBD_OVSHOOT,62
$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
$GPS1,151747,2249.862,-15800.764,12,2.2,31,10.1
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-70.6
$GPS2,153122,2249.814,-15800.929,19,2.4,38,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.215,0.022
$KALMAN_X,-387793.8,-38.4,-127.6,380906.8,-1054.3
$KALMAN_Y,141661.9,-482.4,357.2,-130587.3,-168.4
$MHEAD_RNG_PITCHd_Wd,73.9,6714,-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,16,-1.48,-97.3,0.0,0.0,0,89,0.00,0.00,-71.22,0.000,2,0.000,0.000,471,1953,3281,0,0,0,0,0,0
$GC,94,-1.48,-97.3,4.0,-7.2,9,120,12.43,2.62,-2.22,0.000,4,0.152,0.041,2841,3563,3411,0,0,0,0,0,0
$GC,171,-1.43,-97.3,25.8,-18.2,19,180,0.00,2.50,0.00,0.000,6,0.000,0.022,2842,2004,3411,0,0,0,0,0,0
$GC,514,-1.35,-97.3,77.4,-15.7,52,519,0.17,2.50,0.00,0.000,4,0.118,0.030,2878,3570,3412,0,0,0,0,0,0
$GC,561,-1.39,-97.3,84.1,-13.9,55,565,0.00,2.45,0.00,0.000,6,0.000,0.027,2878,2019,3412,0,0,0,0,0,0
$GC,893,-1.43,-97.3,123.5,-12.7,85,897,0.00,2.65,0.00,0.000,4,0.000,0.057,2878,427,3413,0,0,0,0,0,0
$GC,948,-1.49,-97.3,130.5,-11.3,89,954,0.12,2.40,0.00,0.000,6,0.073,0.018,2834,2030,3413,0,0,0,0,0,0
$GC,1273,-1.49,-97.3,169.6,-12.2,119,1277,0.00,2.38,0.00,0.000,4,0.000,0.026,2834,3548,3414,0,0,0,0,0,0
$GC,1304,-1.49,-97.3,173.2,-13.4,121,1309,0.00,2.40,0.00,0.000,6,0.000,0.025,2834,2005,3414,0,0,0,0,0,0
$GC,1658,-1.49,-97.3,213.5,-10.5,145,1663,0.00,2.47,0.00,0.000,4,0.000,0.034,2834,3554,3414,0,0,0,0,0,0
$GC,1703,-1.55,-97.3,218.3,-9.9,146,1708,0.00,2.40,0.00,0.000,6,0.000,0.028,2834,2009,3415,0,0,0,0,0,0
$GC,2024,-1.55,-97.3,247.0,-8.9,154,2028,0.00,2.45,0.00,0.000,4,0.000,0.035,2834,3553,3415,0,0,0,0,0,0
$GC,2047,-1.61,-97.3,249.2,-8.9,154,2052,0.00,2.40,0.00,0.000,6,0.000,0.029,2834,2028,3415,0,0,0,0,0,0
$GC,2384,-1.66,-97.3,281.7,-9.8,163,2386,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2028,3415,0,0,0,0,0,0
$GC,2710,-1.73,-97.3,310.2,-8.6,171,2715,0.15,2.47,0.00,0.000,4,0.067,0.035,2785,3548,3415,0,0,0,0,0,0
$GC,2777,-1.73,-97.3,317.4,-10.4,172,2782,0.00,2.42,0.00,0.000,6,0.000,0.035,2785,2032,3415,0,0,0,0,0,0
$GC,3113,-1.73,-97.3,352.0,-10.6,181,3118,0.00,2.47,0.00,0.000,4,0.000,0.037,2785,3547,3413,0,0,0,0,0,0
$GC,3180,-1.73,-97.3,359.7,-11.4,182,3184,0.00,2.47,0.00,0.000,6,0.000,0.045,2785,2032,3413,0,0,0,0,0,0
$GC,3518,-1.73,-97.3,398.5,-11.6,191,3520,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2032,3412,0,0,0,0,0,0
$GC,3842,-1.73,-97.3,434.7,-10.6,199,3846,0.00,2.53,0.00,0.000,4,0.000,0.053,2785,3535,3409,0,0,0,0,0,0
$GC,3919,-1.73,-97.3,442.7,-9.9,200,3925,0.00,2.47,0.00,0.000,6,0.000,0.057,2785,2049,3408,0,0,0,0,0,0
$GC,4252,-1.73,-97.3,475.5,-9.8,209,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2050,3406,0,0,0,0,0,0
$STATE,4492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4492,begin apogee
$GC,4498,-0.31,0.0,500.4,10.2,215,4583,1.42,0.00,81.25,0.907,6,0.084,0.000,3103,1991,3010,0,0,0,0,0,0
$STATE,4584,end apogee,CONTROL_FINISHED_OK
$STATE,4584,begin climb
$GC,4588,1.48,97.3,502.6,0.0,217,4680,1.65,2.67,82.50,0.891,4,0.047,0.063,3506,3519,2612,0,0,0,0,0,0
$GC,4770,1.38,134.7,497.5,7.5,221,4811,0.15,2.60,32.88,0.862,6,0.126,0.051,3478,1998,2459,0,0,0,0,0,0
$GC,5124,1.31,144.6,465.3,9.4,230,5139,0.00,3.05,8.75,0.758,4,0.000,0.110,3478,403,2420,0,0,0,0,0,0
$GC,5203,1.18,144.6,456.9,10.7,231,5208,0.22,2.50,0.00,0.000,6,0.116,0.031,3433,1941,2416,0,0,0,0,0,0
$GC,5534,1.23,184.3,430.3,7.3,239,5574,0.00,0.00,36.12,0.853,6,0.000,0.000,3433,1941,2258,0,0,0,0,0,0
$GC,5900,1.32,228.9,404.7,7.0,248,5946,0.12,2.70,39.60,0.842,4,0.084,0.050,3467,3528,2076,0,0,0,0,0,0
$GC,5983,1.32,228.9,396.8,11.1,250,5988,0.00,2.58,0.00,0.000,6,0.000,0.038,3467,1990,2072,0,0,0,0,0,0
$GC,6307,1.32,228.9,360.6,11.0,258,6311,0.00,2.80,0.00,0.000,4,0.000,0.078,3467,407,2068,0,0,0,0,0,0
$GC,6380,1.28,228.9,351.6,12.5,259,6385,0.00,2.47,0.00,0.000,6,0.000,0.025,3467,1965,2066,0,0,0,0,0,0
$GC,6711,1.29,240.0,318.1,9.3,267,6726,0.00,2.65,9.40,0.721,4,0.000,0.038,3467,3566,2031,0,0,0,0,0,0
$GC,6754,1.30,251.3,314.2,9.3,268,6773,0.00,2.60,11.77,0.734,6,0.000,0.038,3467,1990,1984,0,0,0,0,0,0
$GC,7120,1.37,265.8,281.6,9.0,277,7139,0.00,2.80,13.75,0.729,4,0.000,0.068,3467,412,1925,0,0,0,0,0,0
$GC,7156,1.37,265.8,277.6,10.7,277,7164,0.00,2.50,0.00,0.000,6,0.000,0.024,3467,1999,1924,0,0,0,0,0,0
$GC,7489,1.45,274.0,246.5,9.5,286,7504,0.10,2.78,8.48,0.661,4,0.098,0.061,3495,413,1891,0,0,0,0,0,0
$GC,7589,1.45,274.0,234.8,11.7,288,7594,0.00,2.47,0.00,0.000,6,0.000,0.020,3495,1977,1889,0,0,0,0,0,0
$GC,7902,1.45,274.0,202.0,10.3,296,7903,0.00,0.00,0.00,0.000,6,0.000,0.000,3495,1979,1888,0,0,0,0,0,0
$GC,8223,1.52,290.6,171.6,8.9,323,8248,0.00,2.72,15.12,0.644,4,0.000,0.052,3495,406,1824,0,0,0,0,0,0
$GC,8299,1.52,290.6,163.5,10.9,329,8305,0.00,2.47,0.00,0.000,6,0.000,0.025,3495,1983,1822,0,0,0,0,0,0
$GC,8625,1.62,311.0,135.0,8.6,360,8650,0.15,2.67,18.77,0.612,4,0.076,0.051,3534,410,1741,0,0,0,0,0,0
$GC,8691,1.62,311.0,128.0,12.9,365,8695,0.00,2.45,0.00,0.000,6,0.000,0.018,3534,1973,1739,0,0,0,0,0,0
$GC,9020,1.67,324.1,93.9,9.1,395,9045,0.00,2.70,12.65,0.555,4,0.000,0.048,3534,411,1687,0,0,0,0,0,0
$GC,9233,1.67,324.1,68.0,12.1,412,9238,0.00,2.38,0.00,0.000,6,0.000,0.017,3534,1951,1685,0,0,0,0,0,0
$GC,9562,1.67,324.1,32.6,12.0,442,9571,0.00,0.00,0.00,0.000,6,0.000,0.000,3534,1954,1685,0,0,0,0,0,0
$STATE,9854,end climb,SURFACE_DEPTH_REACHED
$STATE,9854,begin surface coast
$FINISH,0.6,0.980050
$STATE,9890,end surface coast,CONTROL_FINISHED_OK
$STATE,9890,begin surface
$SM_CCo,9912,45.58,0.507,0,0,1460,380.21
$SM_GC,1.40,0.00,0.00,45.58,0.000,0.000,0.507,473,1953,1460,-12.43,-1.58,380.21
$IRIDIUM_FIX,2241.69,-15757.16,011000,151549
$TT8_MAMPS,0.026078
$HUMID,64.96
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,21.10
$XPDR_PINGS,44
$24V_AH,23.5,59.607
$10V_AH,10.0,53.367
$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,29.100,97.150,371.050,45.575,0.000,57.115,81.966,442.727,11.000,0.000,40.457,961.073,6607.860,460.503,1874.984,868.955,33.373,1135.086,0.000,1853.929,0.000,0.536,0.000
$DEVICE_MAMPS,151.866,136.526,907.361,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.688,272.843,372.753,707.741,1065.563,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,38558,488
$CAP_FILE_SIZE,98651,0
$CFSIZE,260165632,157040640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080711,181954,2250.066,-15800.638,42,1.2,60,10.1