version: 66.06
glider: 146
mission: 6
dive: 521
start: 7 13 111 20 47 36
data:
$ID,146
$MISSION,6
$DIVE,521
$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,-280933.06
$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,24
$R_STBD_OVSHOOT,59
$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
$GPS1,203801,2249.104,-15758.117,39,1.4,39,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-70.0
$GPS2,204644,2249.076,-15758.177,14,1.0,14,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.156,-0.149
$KALMAN_X,-446921.4,-53.0,48.2,444571.6,-1305.8
$KALMAN_Y,173439.5,-356.2,363.9,-163867.2,0.4
$MHEAD_RNG_PITCHd_Wd,123.6,3899,-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,17,-1.48,-97.3,0.0,0.0,0,89,0.00,0.00,-69.62,0.000,2,0.000,0.000,478,1954,3229,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.6,-6.2,9,118,12.43,2.58,-3.45,0.000,4,0.151,0.054,2844,423,3410,0,0,0,0,0,0
$GC,143,-1.18,-97.3,17.3,-22.5,15,153,0.28,2.47,0.00,0.000,6,0.096,0.015,2907,2021,3411,0,0,0,0,0,0
$GC,499,-1.22,-97.3,59.9,-11.2,53,503,0.00,2.42,0.00,0.000,4,0.000,0.034,2907,3554,3412,0,0,0,0,0,0
$GC,533,-1.30,-97.3,63.9,-11.6,55,537,0.00,2.47,0.00,0.000,6,0.000,0.021,2907,1994,3412,0,0,0,0,0,0
$GC,862,-1.39,-97.3,98.5,-10.3,85,867,0.15,0.00,0.00,0.000,6,0.065,0.000,2854,1993,3412,0,0,0,0,0,0
$GC,1186,-1.39,-97.3,138.0,-11.2,116,1190,0.00,2.50,0.00,0.000,4,0.000,0.031,2854,3564,3413,0,0,0,0,0,0
$GC,1217,-1.45,-97.3,141.3,-11.0,118,1221,0.00,2.42,0.00,0.000,6,0.000,0.021,2854,2014,3413,0,0,0,0,0,0
$GC,1546,-1.50,-97.3,176.8,-10.9,148,1551,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2014,3414,0,0,0,0,0,0
$GC,1871,-1.56,-97.3,208.4,-9.6,173,1875,0.00,2.47,0.00,0.000,4,0.000,0.027,2854,3567,3414,0,0,0,0,0,0
$GC,1920,-1.66,-97.3,213.4,-9.6,174,1925,0.17,2.42,0.00,0.000,6,0.056,0.021,2794,2011,3415,0,0,0,0,0,0
$GC,2235,-1.62,-97.3,247.0,-10.6,182,2237,0.12,0.00,0.00,0.000,6,0.111,0.000,2821,2011,3414,0,0,0,0,0,0
$GC,2559,-1.66,-97.3,277.9,-9.3,190,2563,0.00,2.50,0.00,0.000,4,0.000,0.038,2821,3561,3415,0,0,0,0,0,0
$GC,2592,-1.72,-97.3,281.3,-9.7,190,2597,0.00,2.42,0.00,0.000,6,0.000,0.027,2821,2035,3415,0,0,0,0,0,0
$GC,2925,-1.77,-97.3,310.9,-9.1,199,2930,0.12,2.47,0.00,0.000,4,0.072,0.038,2777,3561,3414,0,0,0,0,0,0
$GC,2986,-1.77,-97.3,317.9,-11.2,200,2990,0.00,2.45,0.00,0.000,6,0.000,0.031,2777,2043,3415,0,0,0,0,0,0
$GC,3329,-1.77,-97.3,355.2,-11.1,209,3333,0.00,2.47,0.00,0.000,4,0.000,0.043,2777,3552,3414,0,0,0,0,0,0
$GC,3369,-1.77,-97.3,360.3,-12.8,210,3373,0.00,2.50,0.00,0.000,6,0.000,0.042,2777,2042,3414,0,0,0,0,0,0
$GC,3692,-1.77,-97.3,400.2,-12.5,218,3696,0.00,2.50,0.00,0.000,4,0.000,0.045,2777,3549,3412,0,0,0,0,0,0
$GC,3727,-1.77,-97.3,404.3,-12.3,218,3732,0.00,2.53,0.00,0.000,6,0.000,0.051,2777,2049,3412,0,0,0,0,0,0
$GC,4057,-1.77,-97.3,441.8,-11.0,227,4059,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2049,3409,0,0,0,0,0,0
$GC,4382,-1.77,-97.3,476.4,-10.6,235,4387,0.00,2.53,0.00,0.000,4,0.000,0.058,2777,3543,3407,0,0,0,0,0,0
$GC,4479,-1.77,-97.3,487.2,-11.2,237,4483,0.00,2.55,0.00,0.000,6,0.000,0.062,2777,2046,3407,0,0,0,0,0,0
$STATE,4626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4626,begin apogee
$GC,4633,-0.31,0.0,503.6,10.9,241,4719,1.45,0.00,82.05,0.911,6,0.081,0.000,3103,1991,3009,0,0,0,0,0,0
$STATE,4719,end apogee,CONTROL_FINISHED_OK
$STATE,4720,begin climb
$GC,4722,1.48,97.3,505.6,0.0,243,4816,1.62,2.70,82.88,0.889,4,0.044,0.058,3504,3533,2613,0,0,0,0,0,0
$GC,4856,1.39,148.9,503.7,6.5,246,4908,0.12,2.65,45.45,0.870,6,0.133,0.055,3480,1997,2402,0,0,0,0,0,0
$GC,5251,1.31,148.9,465.0,10.1,256,5252,0.00,0.00,0.00,0.000,6,0.000,0.000,3480,1997,2392,0,0,0,0,0,0
$GC,5576,1.27,171.0,435.0,8.5,264,5597,0.12,0.00,18.75,0.831,6,0.129,0.000,3455,1997,2312,0,0,0,0,0,0
$GC,5900,1.31,199.7,408.6,8.1,272,5934,0.00,2.95,26.35,0.830,4,0.000,0.092,3454,407,2193,0,0,0,0,0,0
$GC,5981,1.27,199.7,400.7,11.3,273,5987,0.00,2.53,0.00,0.000,6,0.000,0.027,3455,1966,2191,0,0,0,0,0,0
$GC,6312,1.28,202.8,368.0,9.8,282,6317,0.00,2.72,0.00,0.000,4,0.000,0.064,3455,401,2188,0,0,0,0,0,0
$GC,6374,1.28,202.8,361.3,11.2,283,6379,0.00,2.55,0.00,0.000,6,0.000,0.026,3455,2001,2186,0,0,0,0,0,0
$GC,6717,1.31,227.1,330.9,8.4,292,6746,0.00,2.65,23.95,0.790,4,0.000,0.042,3454,3575,2083,0,0,0,0,0,0
$GC,6793,1.39,248.0,324.8,8.6,293,6820,0.10,2.65,20.15,0.769,6,0.092,0.036,3481,1983,1998,0,0,0,0,0,0
$GC,7129,1.40,258.1,294.2,9.3,302,7141,0.00,0.00,9.85,0.705,6,0.000,0.000,3481,1983,1957,0,0,0,0,0,0
$GC,7453,1.45,268.8,263.5,9.3,310,7469,0.00,2.78,10.62,0.699,4,0.000,0.070,3481,409,1912,0,0,0,0,0,0
$GC,7567,1.45,268.8,251.4,11.0,312,7572,0.00,2.55,0.00,0.000,6,0.000,0.025,3481,2010,1910,0,0,0,0,0,0
$GC,7904,1.54,295.2,221.3,8.2,321,7934,0.12,2.83,24.10,0.706,4,0.078,0.064,3516,403,1805,0,0,0,0,0,0
$GC,8007,1.49,295.2,210.7,10.8,323,8011,0.00,2.53,0.00,0.000,6,0.000,0.019,3516,1995,1802,0,0,0,0,0,0
$GC,8326,1.49,295.2,175.2,12.2,344,8330,0.00,2.72,0.00,0.000,4,0.000,0.055,3516,407,1801,0,0,0,0,0,0
$GC,8361,1.45,295.2,170.5,14.3,346,8367,0.12,2.50,0.00,0.000,6,0.121,0.024,3491,2001,1801,0,0,0,0,0,0
$GC,8692,1.54,321.9,136.9,8.2,377,8725,0.00,2.75,24.00,0.628,4,0.000,0.053,3491,408,1695,0,0,0,0,0,0
$GC,8803,1.61,334.3,126.5,9.2,386,8823,0.10,2.50,11.85,0.581,6,0.047,0.022,3526,1984,1645,0,0,0,0,0,0
$GC,9141,1.66,334.3,95.2,10.5,418,9145,0.00,2.65,0.00,0.000,4,0.000,0.058,3526,406,1643,0,0,0,0,0,0
$GC,9197,1.66,334.3,88.5,12.0,422,9207,0.00,2.45,0.00,0.000,6,0.000,0.018,3526,1960,1642,0,0,0,0,0,0
$GC,9527,1.72,334.3,53.7,10.5,453,9532,0.10,2.65,0.00,0.000,4,0.090,0.051,3555,400,1642,0,0,0,0,0,0
$GC,9637,1.72,334.3,39.2,13.0,461,9646,0.00,2.42,0.00,0.000,6,0.000,0.018,3555,1948,1642,0,0,0,0,0,0
$STATE,9947,end climb,SURFACE_DEPTH_REACHED
$STATE,9947,begin surface coast
$FINISH,0.7,0.970089
$STATE,9998,end surface coast,CONTROL_FINISHED_OK
$STATE,9998,begin surface
$SM_CCo,10020,37.75,0.511,0,0,1459,380.21
$SM_GC,1.47,0.00,0.00,37.75,0.000,0.000,0.511,479,1950,1459,-12.40,-1.70,380.21
$IRIDIUM_FIX,2241.69,-15757.16,061000,171724
$TT8_MAMPS,0.026078
$HUMID,65.90
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,20.00
$XPDR_PINGS,51
$24V_AH,23.4,64.643
$10V_AH,10.0,58.195
$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,29.675,97.525,380.000,37.750,0.000,30.208,34.142,317.969,12.750,0.000,16.324,995.603,6522.337,459.569,1940.455,663.722,33.371,1146.487,0.000,1945.025,0.000,0.533,0.000
$DEVICE_MAMPS,151.099,139.594,911.196,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,344.859,284.726,393.608,758.973,1142.881,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,41643,509
$CAP_FILE_SIZE,98366,0
$CFSIZE,260165632,154894336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130711,233626,2248.324,-15758.314,29,1.5,29,10.1