version: 66.06
glider: 146
mission: 6
dive: 571
start: 7 23 111 12 4 49
data:
$ID,146
$MISSION,6
$DIVE,571
$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,233
$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,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,-281867.69
$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,2100
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$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
$GPS1,114424,2247.149,-15803.386,39,1.1,39,10.1
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-69.0
$GPS2,120355,2247.251,-15803.495,12,1.9,12,10.1
$SPEED_LIMITS,0.143,0.215
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.182,0.115
$KALMAN_X,-544452.1,392.1,12.8,532604.2,-2184.6
$KALMAN_Y,236247.3,-158.1,237.2,-230122.9,535.0
$MHEAD_RNG_PITCHd_Wd,47.5,5161,-21.8,-10.014
$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,-1.48,-97.3,0.0,0.0,0,89,0.00,0.00,-71.28,0.000,2,0.000,0.000,473,2171,3301,0,0,0,0,0,0
$GC,94,-1.48,-97.3,3.9,-6.7,9,120,12.30,2.42,-1.95,0.000,4,0.146,0.042,2842,3653,3411,0,0,0,0,0,0
$GC,190,-1.48,-97.3,26.4,-15.7,22,199,0.00,2.50,0.00,0.000,6,0.000,0.024,2843,2096,3411,0,0,0,0,0,0
$GC,586,-1.41,-97.3,90.1,-14.3,60,588,0.10,0.00,0.00,0.000,6,0.137,0.000,2863,2096,3411,0,0,0,0,0,0
$GC,968,-1.45,-97.3,133.3,-9.8,96,973,0.00,2.47,0.00,0.000,4,0.000,0.037,2862,3656,3412,0,0,0,0,0,0
$GC,1004,-1.51,-97.3,137.0,-10.7,98,1013,0.00,2.47,0.00,0.000,6,0.000,0.027,2862,2096,3412,0,0,0,0,0,0
$GC,1393,-1.58,-97.3,177.0,-9.6,135,1398,0.12,2.60,0.00,0.000,4,0.073,0.052,2815,527,3413,0,0,0,0,0,0
$GC,1428,-1.58,-97.3,181.3,-13.0,137,1433,0.00,2.40,0.00,0.000,6,0.000,0.018,2815,2107,3413,0,0,0,0,0,0
$GC,1817,-1.58,-97.3,223.5,-9.3,174,1821,0.00,2.47,0.00,0.000,4,0.000,0.037,2815,3663,3413,0,0,0,0,0,0
$GC,1863,-1.62,-97.3,227.9,-9.8,177,1870,0.00,2.47,0.00,0.000,6,0.000,0.021,2816,2104,3413,0,0,0,0,0,0
$GC,2253,-1.62,-97.3,265.7,-9.8,214,2258,0.00,2.50,0.00,0.000,4,0.000,0.037,2815,3655,3413,0,0,0,0,0,0
$GC,2276,-1.62,-97.3,268.5,-11.2,215,2282,0.00,2.42,0.00,0.000,6,0.000,0.028,2815,2110,3413,0,0,0,0,0,0
$GC,2665,-1.62,-97.3,312.5,-10.0,252,2669,0.00,2.53,0.00,0.000,4,0.000,0.039,2815,3661,3413,0,0,0,0,0,0
$GC,2707,-1.69,-97.3,316.5,-9.8,255,2711,0.00,2.47,0.00,0.000,6,0.000,0.031,2815,2121,3413,0,0,0,0,0,0
$GC,3096,-1.74,-97.3,347.9,-8.5,291,3100,0.00,2.50,0.00,0.000,4,0.000,0.044,2815,3654,3412,0,0,0,0,0,0
$GC,3183,-1.81,-97.3,356.0,-10.2,298,3188,0.15,2.50,0.00,0.000,6,0.061,0.041,2762,2120,3412,0,0,0,0,0,0
$GC,3575,-1.77,-97.3,402.9,-11.4,334,3580,0.12,2.58,0.00,0.000,4,0.114,0.050,2787,3652,3409,0,0,0,0,0,0
$GC,3603,-1.77,-97.3,406.6,-11.3,336,3608,0.00,2.53,0.00,0.000,6,0.000,0.041,2787,2126,3409,0,0,0,0,0,0
$GC,3994,-1.77,-97.3,442.8,-9.2,372,3995,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2127,3406,0,0,0,0,0,0
$GC,4374,-1.77,-97.3,480.4,-10.4,408,4378,0.00,2.60,0.00,0.000,4,0.000,0.067,2787,3645,3403,0,0,0,0,0,0
$GC,4415,-1.80,-97.3,484.7,-11.8,411,4419,0.00,2.53,0.00,0.000,6,0.000,0.048,2787,2131,3403,0,0,0,0,0,0
$GC,4803,-1.80,-97.3,524.9,-9.8,430,4807,0.00,2.62,0.00,0.000,4,0.000,0.064,2787,3651,3400,0,0,0,0,0,0
$GC,4881,-1.85,-97.3,532.5,-9.7,431,4886,0.00,2.58,0.00,0.000,6,0.000,0.061,2787,2140,3399,0,0,0,0,0,0
$GC,5255,-1.85,-97.3,565.8,-8.8,441,5260,0.00,3.17,0.00,0.000,4,0.000,0.130,2787,511,3396,0,0,0,0,0,0
$GC,5271,-1.85,-97.3,567.6,-8.9,441,5275,0.00,2.67,0.00,0.000,6,0.000,0.049,2787,2102,3397,0,0,0,0,0,0
$GC,5655,-1.85,-97.3,605.1,-10.2,451,5659,0.00,2.90,0.00,0.000,4,0.000,0.107,2787,3682,3394,0,0,0,0,0,0
$GC,5721,-1.91,-97.3,612.1,-10.1,452,5726,0.12,2.70,0.00,0.000,6,0.070,0.078,2743,2144,3392,0,0,0,0,0,0
$GC,6099,-1.87,-97.3,652.7,-10.7,462,6104,0.12,2.85,0.00,0.000,4,0.117,0.098,2768,3688,3390,0,0,0,0,0,0
$GC,6123,-1.87,-97.3,655.2,-10.7,462,6127,0.00,2.80,0.00,0.000,6,0.000,0.088,2768,2150,3390,0,0,0,0,0,0
$GC,6499,-1.87,-97.3,689.3,-8.8,472,6501,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2150,3387,0,0,0,0,0,0
$STATE,6618,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6619,begin apogee
$GC,6625,-0.31,0.0,700.6,9.2,475,6710,1.52,0.00,81.28,1.087,6,0.085,0.000,3107,1990,3010,0,0,0,0,0,0
$STATE,6711,end apogee,CONTROL_FINISHED_OK
$STATE,6711,begin climb
$GC,6715,1.48,97.3,701.7,0.0,477,6806,1.65,0.00,87.25,1.062,6,0.035,0.000,3508,1990,2613,0,0,0,0,0,0
$GC,7148,1.33,107.7,671.8,9.3,488,7163,0.20,2.97,9.52,0.907,4,0.120,0.098,3469,3577,2570,0,0,0,0,0,0
$GC,7199,1.24,116.0,667.1,9.4,489,7214,0.10,2.95,8.82,0.891,6,0.155,0.094,3450,1998,2537,0,0,0,0,0,0
$GC,7600,1.23,147.8,633.5,7.8,499,7635,0.00,3.15,29.45,1.003,4,0.000,0.120,3449,405,2406,0,0,0,0,0,0
$GC,7676,1.13,147.8,626.5,10.3,499,7682,0.12,2.75,0.00,0.000,6,0.137,0.057,3426,1997,2403,0,0,0,0,0,0
$GC,8048,1.17,181.9,596.7,7.7,509,8089,0.00,3.08,31.75,0.992,4,0.000,0.095,3425,406,2267,0,0,0,0,0,0
$GC,8128,1.17,181.9,589.3,10.2,510,8134,0.00,2.70,0.00,0.000,6,0.000,0.048,3425,1998,2264,0,0,0,0,0,0
$GC,8501,1.20,201.7,557.2,8.6,520,8525,0.00,2.97,18.62,0.948,4,0.000,0.090,3425,401,2186,0,0,0,0,0,0
$GC,8564,1.20,201.7,550.4,11.6,521,8569,0.00,2.62,0.00,0.000,6,0.000,0.035,3425,1989,2183,0,0,0,0,0,0
$GC,8949,1.25,201.7,512.5,10.2,531,8954,0.00,2.85,0.00,0.000,4,0.000,0.083,3425,404,2181,0,0,0,0,0,0
$GC,8982,1.25,201.7,508.5,11.4,531,8987,0.00,2.60,0.00,0.000,6,0.000,0.032,3425,1983,2179,0,0,0,0,0,0
$GC,9371,1.31,211.5,469.8,9.3,562,9386,0.15,0.00,9.25,0.838,6,0.077,0.000,3464,1983,2147,0,0,0,0,0,0
$GC,9769,1.31,211.5,429.0,10.1,600,9773,0.00,2.80,0.00,0.000,4,0.000,0.077,3464,400,2144,0,0,0,0,0,0
$GC,9869,1.26,211.5,417.3,11.8,608,9874,0.00,2.60,0.00,0.000,6,0.000,0.032,3464,1997,2142,0,0,0,0,0,0
$GC,10257,1.28,224.7,376.9,9.1,645,10279,0.00,2.72,13.10,0.826,4,0.000,0.049,3464,3582,2093,0,0,0,0,0,0
$GC,10306,1.28,224.7,372.5,10.3,649,10311,0.00,2.67,0.00,0.000,6,0.000,0.041,3464,1973,2091,0,0,0,0,0,0
$GC,10698,1.28,224.7,336.2,10.5,685,10703,0.00,2.75,0.00,0.000,4,0.000,0.077,3464,404,2089,0,0,0,0,0,0
$GC,10733,1.28,224.7,331.7,12.5,687,10741,0.00,2.55,0.00,0.000,6,0.000,0.026,3464,1991,2088,0,0,0,0,0,0
$GC,11126,1.34,241.3,290.6,8.9,724,11147,0.00,2.75,15.73,0.773,4,0.000,0.064,3464,408,2025,0,0,0,0,0,0
$GC,11161,1.36,261.6,287.4,8.6,727,11187,0.00,2.55,20.30,0.769,6,0.000,0.027,3464,1997,1942,0,0,0,0,0,0
$GC,11572,1.48,300.2,254.1,7.4,765,11618,0.15,2.83,35.10,0.756,4,0.073,0.057,3505,408,1784,0,0,0,0,0,0
$GC,11701,1.48,300.2,239.1,12.1,776,11706,0.00,2.50,0.00,0.000,6,0.000,0.024,3505,1975,1782,0,0,0,0,0,0
$GC,12089,1.48,300.2,191.8,11.3,813,12091,0.00,0.00,0.00,0.000,6,0.000,0.000,3505,1976,1780,0,0,0,0,0,0
$GC,12472,1.53,300.6,152.3,10.0,849,12477,0.00,2.65,0.00,0.000,4,0.000,0.054,3505,407,1779,0,0,0,0,0,0
$GC,12632,1.53,300.6,134.9,12.0,862,12637,0.00,2.45,0.00,0.000,6,0.000,0.021,3505,1968,1777,0,0,0,0,0,0
$GC,13020,1.60,300.6,91.2,10.6,898,13025,0.00,2.55,0.00,0.000,4,0.000,0.038,3505,3558,1777,0,0,0,0,0,0
$GC,13042,1.69,306.2,89.5,9.6,899,13053,0.15,2.60,5.38,0.472,6,0.073,0.029,3545,1950,1761,0,0,0,0,0,0
$GC,13439,1.73,337.5,56.5,7.8,936,13480,0.00,2.67,28.62,0.563,4,0.000,0.052,3545,413,1633,0,0,0,0,0,0
$GC,13625,1.73,337.5,35.0,12.6,950,13634,0.00,2.42,0.00,0.000,6,0.000,0.018,3545,1959,1631,0,0,0,0,0,0
$STATE,13902,end climb,SURFACE_DEPTH_REACHED
$STATE,13902,begin surface coast
$FINISH,0.7,0.980066
$STATE,13945,end surface coast,CONTROL_FINISHED_OK
$STATE,13945,begin surface
$SM_CCo,13969,35.30,0.514,0,0,1459,380.21
$SM_GC,1.47,0.00,0.00,35.30,0.000,0.000,0.514,477,2189,1459,-12.42,2.52,380.21
$IRIDIUM_FIX,2239.35,-15802.37,161000,121241
$TT8_MAMPS,0.026078
$HUMID,65.12
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,20.10
$XPDR_PINGS,104
$24V_AH,23.1,71.968
$10V_AH,9.9,66.072
$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,29.575,138.500,394.175,35.300,0.000,109.673,160.531,527.343,26.000,0.000,13.948,1726.570,8792.531,515.153,2900.637,1231.014,33.374,1521.991,0.000,2914.933,0.000,0.535,0.000
$DEVICE_MAMPS,154.934,141.895,1086.839,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,680.713,679.362,929.097,1302.586,1084.881,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355428
$DATA_FILE_SIZE,79446,994
$CAP_FILE_SIZE,145606,0
$CFSIZE,260165632,151212032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230711,155957,2248.399,-15802.919,42,3.1,61,10.1