version: 66.06
glider: 146
mission: 6
dive: 555
start: 7 20 111 15 48 21
data:
$ID,146
$MISSION,6
$DIVE,555
$D_SURF,4
$D_FLARE,3
$D_TGT,700
$D_ABORT,800
$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,290
$T_MISSION,600
$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,621.34491
$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,-281577.81
$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,8
$R_STBD_OVSHOOT,54
$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
$GPS1,153107,2248.257,-15801.586,33,1.3,33,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.2
$GPS2,154726,2248.218,-15801.745,13,1.2,13,10.1
$SPEED_LIMITS,0.115,0.201
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.032,-0.151
$KALMAN_X,-514417.6,-87.6,272.6,505783.1,-2705.6
$KALMAN_Y,219573.8,26.3,333.4,-211956.6,387.2
$MHEAD_RNG_PITCHd_Wd,157.9,3112,-24.2,-8.046
$D_GRID,700
$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,-1.58,-55.6,0.0,0.0,0,88,0.00,0.00,-69.47,0.000,6,0.000,0.000,473,2088,3237,0,0,0,0,0,0
$GC,92,-1.63,-92.7,3.9,-4.4,9,118,12.45,2.85,-2.90,0.000,4,0.157,0.062,2811,410,3392,0,0,0,0,0,0
$GC,203,-1.53,-92.7,27.4,-17.0,24,213,0.10,2.50,0.00,0.000,6,0.112,0.015,2834,2041,3393,0,0,0,0,0,0
$GC,601,-1.53,-92.7,85.6,-14.6,62,606,0.00,2.38,0.00,0.000,4,0.000,0.026,2834,3541,3394,0,0,0,0,0,0
$GC,673,-1.59,-92.7,95.7,-13.8,67,679,0.00,2.45,0.00,0.000,6,0.000,0.022,2834,1988,3394,0,0,0,0,0,0
$GC,1062,-1.64,-92.7,145.3,-12.2,104,1066,0.00,2.47,0.00,0.000,4,0.000,0.034,2834,3543,3394,0,0,0,0,0,0
$GC,1132,-1.74,-92.7,153.1,-11.7,109,1137,0.15,2.38,0.00,0.000,6,0.061,0.023,2779,2019,3395,0,0,0,0,0,0
$GC,1526,-1.74,-92.7,200.7,-10.5,145,1530,0.00,2.45,0.00,0.000,4,0.000,0.029,2779,3548,3395,0,0,0,0,0,0
$GC,1615,-1.78,-92.7,211.5,-10.5,152,1622,0.00,2.35,0.00,0.000,6,0.000,0.024,2779,2045,3395,0,0,0,0,0,0
$GC,2005,-1.78,-92.7,258.5,-13.2,189,2009,0.00,2.40,0.00,0.000,4,0.000,0.031,2779,3542,3395,0,0,0,0,0,0
$GC,2091,-1.84,-92.7,269.7,-12.6,196,2095,0.00,2.38,0.00,0.000,6,0.000,0.028,2779,2046,3395,0,0,0,0,0,0
$GC,2483,-1.88,-92.7,310.2,-10.1,232,2487,0.00,2.42,0.00,0.000,4,0.000,0.040,2779,3543,3395,0,0,0,0,0,0
$GC,2559,-1.95,-92.7,318.9,-11.2,238,2565,0.12,2.40,0.00,0.000,6,0.071,0.031,2730,2063,3395,0,0,0,0,0,0
$GC,2947,-1.95,-92.7,365.5,-11.8,275,2952,0.10,2.45,0.00,0.000,4,0.127,0.041,2750,3537,3394,0,0,0,0,0,0
$GC,3046,-1.95,-92.7,377.5,-12.3,283,3051,0.00,2.40,0.00,0.000,6,0.000,0.048,2750,2077,3393,0,0,0,0,0,0
$GC,3434,-1.95,-92.7,419.2,-10.6,320,3438,0.00,2.42,0.00,0.000,4,0.000,0.047,2750,3541,3392,0,0,0,0,0,0
$GC,3485,-1.99,-92.7,425.0,-11.1,324,3489,0.00,2.47,0.00,0.000,6,0.000,0.050,2750,2076,3391,0,0,0,0,0,0
$GC,3873,-1.99,-92.7,470.0,-11.3,360,3878,0.00,2.47,0.00,0.000,4,0.000,0.058,2750,3529,3388,0,0,0,0,0,0
$GC,3969,-2.04,-92.7,480.6,-11.1,368,3974,0.00,2.47,0.00,0.000,6,0.000,0.054,2750,2080,3387,0,0,0,0,0,0
$GC,4359,-2.04,-92.7,523.0,-11.0,390,4363,0.00,2.50,0.00,0.000,4,0.000,0.066,2750,3532,3384,0,0,0,0,0,0
$GC,4391,-2.04,-92.7,526.9,-11.8,390,4397,0.00,2.47,0.00,0.000,6,0.000,0.057,2750,2088,3383,0,0,0,0,0,0
$GC,4765,-2.04,-92.7,570.2,-11.9,400,4769,0.00,2.53,0.00,0.000,4,0.000,0.071,2750,3529,3381,0,0,0,0,0,0
$GC,4876,-2.10,-92.7,583.0,-10.6,402,4881,0.12,2.50,0.00,0.000,6,0.072,0.072,2707,2101,3380,0,0,0,0,0,0
$GC,5255,-2.10,-92.7,625.8,-11.1,412,5260,0.00,3.28,0.00,0.000,4,0.000,0.135,2707,441,3377,0,0,0,0,0,0
$GC,5288,-2.01,-92.7,629.9,-12.3,412,5294,0.12,2.72,0.00,0.000,6,0.124,0.062,2732,2015,3376,0,0,0,0,0,0
$GC,5659,-2.01,-92.7,666.9,-10.1,422,5664,0.00,3.03,0.00,0.000,4,0.000,0.120,2733,3599,3374,0,0,0,0,0,0
$GC,5700,-2.01,-92.7,671.3,-11.6,423,5705,0.00,2.75,0.00,0.000,6,0.000,0.099,2733,2110,3373,0,0,0,0,0,0
$STATE,5980,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5980,begin apogee
$GC,5987,-0.31,0.0,703.8,11.7,430,6069,1.70,0.00,77.90,1.081,6,0.093,0.000,3104,2014,3010,0,0,0,0,0,0
$STATE,6070,end apogee,CONTROL_FINISHED_OK
$STATE,6070,begin climb
$GC,6072,1.63,92.7,706.5,0.0,432,6167,1.77,3.45,82.97,1.057,4,0.036,0.152,3537,402,2631,0,0,0,0,0,0
$GC,6235,1.40,92.7,702.0,8.7,435,6242,0.28,2.97,0.00,0.000,6,0.123,0.089,3483,1998,2625,0,0,0,0,0,0
$GC,6609,1.35,100.0,675.0,7.3,445,6620,0.00,2.97,5.88,0.805,4,0.000,0.106,3483,3584,2602,0,0,0,0,0,0
$GC,6712,1.29,100.0,666.6,8.4,447,6717,0.12,2.95,0.00,0.000,6,0.140,0.095,3460,2002,2600,0,0,0,0,0,0
$GC,7102,1.31,115.6,640.7,6.5,457,7123,0.00,2.95,15.70,0.983,4,0.000,0.089,3460,3585,2537,0,0,0,0,0,0
$GC,7162,1.31,115.6,636.2,8.1,458,7167,0.00,2.88,0.00,0.000,6,0.000,0.085,3460,2002,2535,0,0,0,0,0,0
$GC,7545,1.33,134.9,611.2,6.2,468,7569,0.00,3.17,18.02,0.981,4,0.000,0.115,3459,405,2459,0,0,0,0,0,0
$GC,7695,1.29,134.9,598.3,9.3,471,7699,0.00,2.72,0.00,0.000,6,0.000,0.044,3460,2011,2455,0,0,0,0,0,0
$GC,8083,1.29,136.7,567.4,7.9,481,8088,0.00,2.92,0.00,0.000,4,0.000,0.091,3459,407,2453,0,0,0,0,0,0
$GC,8216,1.25,137.7,556.8,8.0,484,8220,0.00,2.62,0.00,0.000,6,0.000,0.035,3460,1990,2451,0,0,0,0,0,0
$GC,8621,1.27,158.9,532.3,6.0,494,8645,0.00,0.00,22.20,0.960,6,0.000,0.000,3460,1990,2362,0,0,0,0,0,0
$GC,8988,1.32,158.9,500.7,9.1,503,8993,0.00,2.83,0.00,0.000,4,0.000,0.078,3460,407,2357,0,0,0,0,0,0
$GC,9042,1.32,158.9,495.0,9.9,505,9048,0.00,2.60,0.00,0.000,6,0.000,0.036,3460,1986,2356,0,0,0,0,0,0
$GC,9431,1.37,158.9,458.6,9.6,542,9436,0.00,2.80,0.00,0.000,4,0.000,0.074,3460,399,2355,0,0,0,0,0,0
$GC,9536,1.37,158.9,447.2,10.5,551,9541,0.00,2.58,0.00,0.000,6,0.000,0.028,3459,1975,2354,0,0,0,0,0,0
$GC,9925,1.44,165.0,416.0,7.5,587,9937,0.12,2.78,5.88,0.726,4,0.090,0.067,3491,404,2336,0,0,0,0,0,0
$GC,10011,1.38,165.0,408.4,9.3,594,10020,0.00,2.58,0.00,0.000,6,0.000,0.027,3491,1965,2335,0,0,0,0,0,0
$GC,10401,1.39,171.4,376.9,7.4,631,10410,0.00,0.00,7.38,0.758,6,0.000,0.000,3491,1965,2311,0,0,0,0,0,0
$GC,10791,1.41,186.2,348.5,6.6,668,10814,0.00,2.80,15.27,0.815,4,0.000,0.067,3491,403,2249,0,0,0,0,0,0
$GC,10852,1.41,186.2,343.8,8.8,673,10857,0.00,2.53,0.00,0.000,6,0.000,0.023,3491,1969,2246,0,0,0,0,0,0
$GC,11245,1.46,190.4,311.9,7.6,709,11256,0.00,2.72,4.75,0.604,4,0.000,0.065,3492,402,2233,0,0,0,0,0,0
$GC,11408,1.46,190.4,296.1,9.7,723,11416,0.00,2.50,0.00,0.000,6,0.000,0.021,3491,1953,2230,0,0,0,0,0,0
$GC,11801,1.56,213.4,267.4,5.8,760,11835,0.10,2.78,22.05,0.760,4,0.092,0.064,3517,402,2138,0,0,0,0,0,0
$GC,11895,1.57,216.9,260.5,7.7,768,11906,0.00,2.45,4.00,0.504,6,0.000,0.021,3518,1936,2127,0,0,0,0,0,0
$GC,12292,1.61,216.9,227.1,9.6,805,12297,0.00,2.62,0.00,0.000,4,0.000,0.057,3518,401,2124,0,0,0,0,0,0
$GC,12309,1.61,216.9,224.9,10.1,806,12314,0.00,2.42,0.00,0.000,6,0.000,0.025,3519,1934,2123,0,0,0,0,0,0
$GC,12698,1.68,227.4,190.0,7.0,842,12722,0.10,2.62,11.18,0.644,4,0.091,0.058,3544,400,2080,0,0,0,0,0,0
$GC,12770,1.64,227.4,182.7,11.8,848,12774,0.00,2.42,0.00,0.000,6,0.000,0.025,3544,1945,2079,0,0,0,0,0,0
$GC,13158,1.64,227.4,145.4,9.4,884,13159,0.00,0.00,0.00,0.000,6,0.000,0.000,3544,1946,2078,0,0,0,0,0,0
$GC,13542,1.69,227.4,111.7,9.0,920,13547,0.00,2.60,0.00,0.000,4,0.000,0.056,3544,400,2078,0,0,0,0,0,0
$GC,13658,1.69,230.6,101.2,7.7,929,13669,0.00,2.40,4.10,0.416,6,0.000,0.018,3544,1941,2068,0,0,0,0,0,0
$GC,14056,1.81,264.8,79.1,4.7,966,14098,0.10,2.67,31.42,0.574,4,0.087,0.056,3575,401,1930,0,0,0,0,0,0
$GC,14191,1.81,264.8,69.0,9.0,976,14195,0.00,2.40,0.00,0.000,6,0.000,0.018,3575,1939,1927,0,0,0,0,0,0
$GC,14583,1.81,264.8,32.0,9.5,1012,14587,0.00,2.60,0.00,0.000,4,0.000,0.050,3575,396,1927,0,0,0,0,0,0
$GC,14658,1.81,264.8,24.2,10.8,1020,14667,0.00,2.40,0.00,0.000,6,0.000,0.018,3575,1930,1927,0,0,0,0,0,0
$STATE,14858,end climb,SURFACE_DEPTH_REACHED
$STATE,14858,begin surface coast
$FINISH,0.7,0.976482
$STATE,14906,end surface coast,CONTROL_FINISHED_OK
$STATE,14906,begin surface
$SM_CCo,14929,287.23,0.502,0,0,476,621.34
$SM_GC,1.27,0.00,0.00,287.23,0.000,0.000,0.502,471,2068,476,-12.44,1.64,621.34
$IRIDIUM_FIX,2239.35,-15804.53,131000,151527
$TT8_MAMPS,0.026078
$HUMID,58.50
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,21.20
$XPDR_PINGS,111
$24V_AH,23.1,69.613
$10V_AH,9.9,63.376
$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,30.150,152.900,328.700,287.225,0.000,136.688,400.404,0.000,27.750,0.000,14.613,1880.492,9357.419,715.371,3240.995,988.087,33.378,1830.120,0.000,3251.208,0.000,0.533,0.000
$DEVICE_MAMPS,157.235,151.866,1080.703,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,724.361,720.178,985.777,1394.823,1198.411,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,82416,1057
$CAP_FILE_SIZE,145325,0
$CFSIZE,260165632,152412160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200711,200307,2247.666,-15802.975,27,1.4,27,10.1