version: 66.06
glider: 146
mission: 6
dive: 502
start: 7 11 111 10 19 6
data:
$ID,146
$MISSION,6
$DIVE,502
$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,-280469.72
$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,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,14
$R_STBD_OVSHOOT,58
$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
$GPS1,100107,2248.438,-15803.185,50,1.4,50,10.1
$_CALLS,3
$_XMS_NAKs,8
$_XMS_TOUTs,1
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-71.7
$GPS2,101814,2248.505,-15803.347,12,1.4,12,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.165,0.139
$KALMAN_X,-421624.2,-67.0,89.9,410414.5,-1209.3
$KALMAN_Y,161410.2,672.2,-334.5,-153225.7,648.2
$MHEAD_RNG_PITCHd_Wd,39.8,2831,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.48,-97.3,0.0,0.0,0,89,0.00,0.00,-69.60,0.000,2,0.000,0.000,478,1957,3228,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.4,-5.5,9,118,12.50,2.62,-3.45,0.000,4,0.154,0.044,2844,3570,3408,0,0,0,0,0,0
$GC,144,-1.23,-97.3,16.8,-21.0,15,154,0.25,2.55,0.00,0.000,6,0.091,0.025,2902,1983,3409,0,0,0,0,0,0
$GC,496,-1.23,-97.3,60.1,-11.4,52,500,0.00,2.55,0.00,0.000,4,0.000,0.032,2902,3576,3410,0,0,0,0,0,0
$GC,554,-1.33,-97.3,66.8,-10.8,56,558,0.00,2.47,0.00,0.000,6,0.000,0.023,2902,2017,3410,0,0,0,0,0,0
$GC,882,-1.43,-97.3,99.7,-10.0,86,891,0.17,0.00,0.00,0.000,6,0.057,0.000,2843,2017,3410,0,0,0,0,0,0
$GC,1214,-1.43,-97.3,138.0,-11.3,117,1219,0.10,2.47,0.00,0.000,4,0.117,0.031,2864,3570,3411,0,0,0,0,0,0
$GC,1295,-1.51,-97.3,147.0,-11.0,123,1299,0.00,2.42,0.00,0.000,6,0.000,0.025,2864,2015,3411,0,0,0,0,0,0
$GC,1620,-1.58,-97.3,177.0,-9.1,153,1625,0.15,2.62,0.00,0.000,4,0.061,0.054,2811,439,3412,0,0,0,0,0,0
$GC,1646,-1.58,-97.3,179.9,-10.7,154,1652,0.00,2.40,0.00,0.000,6,0.000,0.015,2812,2029,3411,0,0,0,0,0,0
$GC,1995,-1.58,-97.3,217.5,-10.5,176,2000,0.00,2.40,0.00,0.000,4,0.000,0.028,2811,3552,3412,0,0,0,0,0,0
$GC,2080,-1.58,-97.3,226.9,-11.1,178,2084,0.00,2.40,0.00,0.000,6,0.000,0.028,2812,2026,3411,0,0,0,0,0,0
$GC,2405,-1.58,-97.3,263.7,-11.1,186,2409,0.00,2.42,0.00,0.000,4,0.000,0.037,2812,3556,3412,0,0,0,0,0,0
$GC,2506,-1.63,-97.3,274.5,-9.8,188,2510,0.00,2.38,0.00,0.000,6,0.000,0.025,2812,2042,3412,0,0,0,0,0,0
$GC,2854,-1.63,-97.3,306.4,-9.1,197,2859,0.00,2.42,0.00,0.000,4,0.000,0.034,2811,3548,3411,0,0,0,0,0,0
$GC,2877,-1.67,-97.3,308.8,-9.5,197,2881,0.00,2.40,0.00,0.000,6,0.000,0.031,2811,2045,3412,0,0,0,0,0,0
$GC,3213,-1.67,-97.3,340.2,-9.4,206,3217,0.00,2.45,0.00,0.000,4,0.000,0.044,2812,3548,3411,0,0,0,0,0,0
$GC,3315,-1.74,-97.3,349.9,-9.2,208,3320,0.00,2.45,0.00,0.000,6,0.000,0.041,2811,2057,3411,0,0,0,0,0,0
$GC,3664,-1.78,-97.3,382.2,-9.4,217,3669,0.10,2.47,0.00,0.000,4,0.087,0.042,2777,3547,3408,0,0,0,0,0,0
$GC,3682,-1.78,-97.3,384.0,-9.4,217,3686,0.00,2.45,0.00,0.000,6,0.000,0.048,2777,2058,3408,0,0,0,0,0,0
$GC,4023,-1.78,-97.3,422.0,-11.2,226,4027,0.00,2.45,0.00,0.000,4,0.000,0.052,2777,3546,3406,0,0,0,0,0,0
$GC,4056,-1.78,-97.3,425.8,-11.5,226,4062,0.00,2.45,0.00,0.000,6,0.000,0.046,2777,2065,3406,0,0,0,0,0,0
$GC,4389,-1.78,-97.3,461.1,-10.5,235,4390,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2064,3403,0,0,0,0,0,0
$GC,4712,-1.78,-97.3,494.5,-10.5,243,4713,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2065,3401,0,0,0,0,0,0
$STATE,4791,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4791,begin apogee
$GC,4797,-0.31,0.0,503.8,11.1,245,4882,1.45,0.00,80.85,0.909,6,0.082,0.000,3104,1993,3010,0,0,0,0,0,0
$STATE,4883,end apogee,CONTROL_FINISHED_OK
$STATE,4883,begin climb
$GC,4885,1.48,97.3,506.2,0.0,247,4978,1.65,2.72,82.95,0.889,4,0.036,0.058,3504,3518,2612,0,0,0,0,0,0
$GC,5015,1.42,167.6,505.5,5.2,250,5085,0.10,2.62,61.33,0.873,6,0.143,0.051,3487,1994,2326,0,0,0,0,0,0
$GC,5413,1.35,167.6,466.3,10.4,260,5417,0.00,3.00,0.00,0.000,4,0.000,0.114,3487,406,2317,0,0,0,0,0,0
$GC,5485,1.21,167.6,457.8,11.6,261,5490,0.22,2.50,0.00,0.000,6,0.115,0.035,3441,1931,2315,0,0,0,0,0,0
$GC,5818,1.23,183.6,428.3,8.9,269,5837,0.00,2.78,13.50,0.797,4,0.000,0.071,3441,404,2261,0,0,0,0,0,0
$GC,5927,1.23,183.6,416.6,10.4,271,5931,0.00,2.47,0.00,0.000,6,0.000,0.025,3441,1937,2257,0,0,0,0,0,0
$GC,6269,1.23,185.5,383.5,9.9,280,6273,0.00,2.62,0.00,0.000,4,0.000,0.043,3441,3537,2255,0,0,0,0,0,0
$GC,6298,1.27,185.5,380.4,10.9,280,6302,0.00,2.60,0.00,0.000,6,0.000,0.041,3441,1975,2254,0,0,0,0,0,0
$GC,6629,1.33,206.6,350.0,8.6,288,6656,0.10,2.83,20.85,0.797,4,0.097,0.074,3468,403,2167,0,0,0,0,0,0
$GC,6686,1.27,206.6,344.6,10.7,289,6690,0.00,2.47,0.00,0.000,6,0.000,0.025,3468,1956,2164,0,0,0,0,0,0
$GC,7033,1.29,226.3,313.5,8.7,298,7053,0.00,0.00,18.27,0.765,6,0.000,0.000,3468,1956,2087,0,0,0,0,0,0
$GC,7359,1.34,237.2,283.5,9.3,306,7371,0.00,0.00,10.95,0.710,6,0.000,0.000,3468,1957,2042,0,0,0,0,0,0
$GC,7685,1.40,237.2,249.3,10.2,314,7689,0.00,2.65,0.00,0.000,4,0.000,0.063,3468,407,2038,0,0,0,0,0,0
$GC,7728,1.40,237.2,244.4,10.8,315,7733,0.00,2.50,0.00,0.000,6,0.000,0.025,3468,1997,2036,0,0,0,0,0,0
$GC,8049,1.52,276.1,220.0,7.4,323,8091,0.15,2.78,35.25,0.709,4,0.077,0.054,3508,407,1882,0,0,0,0,0,0
$GC,8121,1.48,276.1,211.8,13.5,324,8126,0.00,2.47,0.00,0.000,6,0.000,0.024,3508,1972,1880,0,0,0,0,0,0
$GC,8452,1.48,276.1,175.7,10.7,346,8457,0.00,2.67,0.00,0.000,4,0.000,0.054,3507,404,1878,0,0,0,0,0,0
$GC,8576,1.48,276.1,160.5,12.2,356,8580,0.00,2.42,0.00,0.000,6,0.000,0.017,3508,1969,1876,0,0,0,0,0,0
$GC,8900,1.52,283.5,127.2,9.5,386,8914,0.00,2.65,6.72,0.532,4,0.000,0.056,3508,401,1853,0,0,0,0,0,0
$GC,8950,1.52,283.5,122.0,10.5,390,8954,0.00,2.40,0.00,0.000,6,0.000,0.017,3508,1956,1852,0,0,0,0,0,0
$GC,9274,1.62,312.4,96.5,8.0,420,9312,0.00,2.70,26.00,0.588,4,0.000,0.051,3508,409,1735,0,0,0,0,0,0
$GC,9363,1.62,312.4,88.2,11.1,427,9367,0.00,2.38,0.00,0.000,6,0.000,0.023,3508,1941,1733,0,0,0,0,0,0
$GC,9692,1.74,338.9,60.6,8.2,457,9723,0.20,2.67,23.75,0.547,4,0.060,0.056,3562,400,1627,0,0,0,0,0,0
$GC,9823,1.69,338.9,44.2,14.1,467,9833,0.00,2.40,0.00,0.000,6,0.000,0.017,3562,1930,1625,0,0,0,0,0,0
$STATE,10130,end climb,SURFACE_DEPTH_REACHED
$STATE,10130,begin surface coast
$FINISH,0.8,0.980064
$STATE,10175,end surface coast,CONTROL_FINISHED_OK
$STATE,10175,begin surface
$SM_CCo,10198,33.80,0.504,0,0,1459,380.21
$SM_GC,1.32,0.00,0.00,33.80,0.000,0.000,0.504,470,2078,1459,-12.44,1.92,380.21
$IRIDIUM_FIX,2239.35,-15804.53,041000,101039
$TT8_MAMPS,0.026078
$HUMID,65.75
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,20.60
$XPDR_PINGS,52
$24V_AH,23.4,62.265
$10V_AH,10.1,55.930
$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,29.700,106.800,380.425,33.800,0.000,81.489,112.833,555.910,13.000,0.000,14.086,1008.288,6786.830,458.775,1952.165,1052.702,33.378,1165.746,0.000,1959.028,0.000,0.535,0.000
$DEVICE_MAMPS,154.167,122.720,908.895,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.037,285.064,396.636,755.807,1144.074,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,41512,512
$CAP_FILE_SIZE,107012,0
$CFSIZE,260165632,155897856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110711,131052,2249.645,-15802.882,12,99.0,31,10.1