version: 66.06
glider: 146
mission: 6
dive: 574
start: 7 24 111 0 30 20
data:
$ID,146
$MISSION,6
$DIVE,574
$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,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,-281942.19
$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,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$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
$GPS1,001337,2249.054,-15802.437,33,1.8,33,10.1
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-72.3
$GPS2,002926,2249.174,-15802.612,11,1.8,11,10.1
$SPEED_LIMITS,0.143,0.215
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.182,-0.116
$KALMAN_X,-548713.1,-182.3,-127.8,539093.6,-917.7
$KALMAN_Y,239453.6,-0.9,31.6,-229715.2,1874.4
$MHEAD_RNG_PITCHd_Wd,112.4,9701,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-70.78,0.000,2,0.000,0.000,476,2174,3262,0,0,0,0,0,0
$GC,91,-1.48,-97.3,3.6,-5.5,9,117,12.65,2.78,-2.75,0.000,4,0.158,0.052,2844,511,3410,0,0,0,0,0,0
$GC,194,-1.39,-97.3,26.3,-16.2,23,204,0.10,2.47,0.00,0.000,6,0.130,0.016,2867,2100,3411,0,0,0,0,0,0
$GC,595,-1.35,-97.3,85.1,-14.5,61,599,0.00,2.50,0.00,0.000,4,0.000,0.031,2867,3664,3412,0,0,0,0,0,0
$GC,640,-1.35,-97.3,92.3,-13.2,64,650,0.00,2.50,0.00,0.000,6,0.000,0.022,2867,2099,3412,0,0,0,0,0,0
$GC,1035,-1.40,-97.3,133.6,-9.4,101,1039,0.00,2.50,0.00,0.000,4,0.000,0.032,2868,3659,3412,0,0,0,0,0,0
$GC,1137,-1.47,-97.3,143.5,-9.5,109,1142,0.00,2.40,0.00,0.000,6,0.000,0.028,2868,2117,3412,0,0,0,0,0,0
$GC,1530,-1.56,-97.3,180.9,-8.7,145,1535,0.12,2.47,0.00,0.000,4,0.069,0.036,2821,3658,3413,0,0,0,0,0,0
$GC,1553,-1.60,-97.3,183.5,-9.7,146,1558,0.00,2.38,0.00,0.000,6,0.000,0.028,2821,2122,3413,0,0,0,0,0,0
$GC,1943,-1.60,-97.3,222.4,-11.0,183,1947,0.00,2.42,0.00,0.000,4,0.000,0.037,2821,3657,3413,0,0,0,0,0,0
$GC,2015,-1.65,-97.3,230.9,-11.0,189,2019,0.00,2.38,0.00,0.000,6,0.000,0.021,2821,2124,3414,0,0,0,0,0,0
$GC,2403,-1.65,-97.3,271.8,-10.2,225,2405,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2124,3414,0,0,0,0,0,0
$GC,2786,-1.69,-97.3,306.3,-9.7,261,2788,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2124,3413,0,0,0,0,0,0
$GC,3169,-1.75,-97.3,342.5,-8.4,297,3174,0.12,2.75,0.00,0.000,4,0.074,0.074,2779,533,3412,0,0,0,0,0,0
$GC,3224,-1.69,-97.3,347.6,-10.4,301,3229,0.12,2.53,0.00,0.000,6,0.111,0.025,2805,2118,3412,0,0,0,0,0,0
$GC,3616,-1.74,-97.3,383.7,-9.5,337,3621,0.00,2.58,0.00,0.000,4,0.000,0.054,2804,3678,3410,0,0,0,0,0,0
$GC,3725,-1.80,-97.3,395.6,-10.6,346,3730,0.10,2.47,0.00,0.000,6,0.077,0.046,2760,2165,3409,0,0,0,0,0,0
$GC,4115,-1.80,-97.3,439.7,-11.5,382,4120,0.10,2.55,0.00,0.000,4,0.123,0.058,2780,3677,3407,0,0,0,0,0,0
$GC,4223,-1.80,-97.3,452.0,-11.8,391,4228,0.00,2.53,0.00,0.000,6,0.000,0.055,2780,2175,3406,0,0,0,0,0,0
$GC,4614,-1.80,-97.3,494.1,-11.4,427,4618,0.00,2.55,0.00,0.000,4,0.000,0.060,2780,3674,3403,0,0,0,0,0,0
$GC,4685,-1.84,-97.3,502.9,-11.7,431,4690,0.00,2.53,0.00,0.000,6,0.000,0.052,2780,2171,3403,0,0,0,0,0,0
$GC,5058,-1.84,-97.3,543.3,-10.6,440,5063,0.00,2.62,0.00,0.000,4,0.000,0.077,2780,3673,3400,0,0,0,0,0,0
$GC,5080,-1.84,-97.3,545.9,-10.6,440,5084,0.00,2.53,0.00,0.000,6,0.000,0.062,2780,2177,3400,0,0,0,0,0,0
$GC,5458,-1.84,-97.3,580.6,-9.0,450,5462,0.00,2.62,0.00,0.000,4,0.000,0.079,2780,3674,3397,0,0,0,0,0,0
$GC,5499,-1.88,-97.3,584.3,-9.3,451,5504,0.00,2.58,0.00,0.000,6,0.000,0.070,2780,2179,3397,0,0,0,0,0,0
$GC,5904,-1.88,-97.3,622.2,-9.7,461,5909,0.00,2.65,0.00,0.000,4,0.000,0.085,2780,3670,3394,0,0,0,0,0,0
$GC,5954,-1.92,-97.3,627.6,-10.6,462,5960,0.10,2.62,0.00,0.000,6,0.089,0.085,2745,2188,3394,0,0,0,0,0,0
$GC,6350,-1.92,-97.3,673.5,-11.8,472,6355,0.00,2.78,0.00,0.000,4,0.000,0.111,2745,3673,3391,0,0,0,0,0,0
$GC,6410,-1.92,-97.3,681.1,-11.8,473,6415,0.00,2.75,0.00,0.000,6,0.000,0.102,2745,2196,3390,0,0,0,0,0,0
$STATE,6588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,6588,begin apogee
$GC,6596,-0.31,0.0,701.6,11.5,478,6682,1.65,0.00,81.82,1.087,6,0.091,0.000,3106,1923,3010,0,0,0,0,0,0
$STATE,6682,end apogee,CONTROL_FINISHED_OK
$STATE,6683,begin climb
$GC,6685,1.48,97.3,704.3,0.0,480,6777,1.65,0.00,87.60,1.062,6,0.035,0.000,3506,1923,2613,0,0,0,0,0,0
$GC,7116,1.38,146.4,683.7,6.6,491,7167,0.15,2.97,43.95,1.033,4,0.128,0.104,3478,3475,2412,0,0,0,0,0,0
$GC,7193,1.30,168.4,678.2,8.5,492,7222,0.00,3.03,21.27,0.989,6,0.000,0.107,3478,1891,2323,0,0,0,0,0,0
$GC,7609,1.23,171.3,637.1,9.8,503,7615,0.17,2.83,0.00,0.000,4,0.125,0.080,3444,3471,2313,0,0,0,0,0,0
$GC,7665,1.24,177.2,631.3,9.6,504,7680,0.00,2.88,7.72,0.861,6,0.000,0.081,3444,1887,2288,0,0,0,0,0,0
$GC,8059,1.24,183.0,593.9,9.6,514,8067,0.00,0.00,7.00,0.834,6,0.000,0.000,3444,1887,2263,0,0,0,0,0,0
$GC,8426,1.25,190.0,558.4,9.5,523,8435,0.00,0.00,7.62,0.842,6,0.000,0.000,3444,1887,2234,0,0,0,0,0,0
$GC,8790,1.27,202.6,524.5,9.1,532,8804,0.00,0.00,12.88,0.905,6,0.000,0.000,3444,1886,2184,0,0,0,0,0,0
$GC,9161,1.28,215.1,490.7,9.2,547,9182,0.00,3.03,12.68,0.884,4,0.000,0.100,3444,311,2132,0,0,0,0,0,0
$GC,9222,1.28,215.1,484.2,11.8,552,9229,0.00,2.62,0.00,0.000,6,0.000,0.035,3444,1878,2130,0,0,0,0,0,0
$GC,9614,1.28,215.1,444.9,10.0,589,9618,0.00,2.70,0.00,0.000,4,0.000,0.053,3444,3492,2128,0,0,0,0,0,0
$GC,9635,1.28,216.7,442.3,9.9,590,9641,0.00,2.72,0.00,0.000,6,0.000,0.044,3444,1881,2127,0,0,0,0,0,0
$GC,10026,1.32,216.7,402.8,10.5,627,10030,0.00,2.67,0.00,0.000,4,0.000,0.038,3444,3505,2126,0,0,0,0,0,0
$GC,10099,1.37,216.7,394.5,11.2,633,10105,0.12,2.72,0.00,0.000,6,0.083,0.047,3478,1880,2126,0,0,0,0,0,0
$GC,10489,1.37,216.7,349.6,11.0,669,10494,0.00,2.65,0.00,0.000,4,0.000,0.040,3478,3497,2126,0,0,0,0,0,0
$GC,10533,1.37,216.7,344.5,11.5,672,10541,0.00,2.67,0.00,0.000,6,0.000,0.038,3478,1900,2125,0,0,0,0,0,0
$GC,10925,1.40,241.6,311.1,8.3,709,10958,0.00,2.88,24.12,0.799,4,0.000,0.078,3478,322,2024,0,0,0,0,0,0
$GC,11005,1.37,248.9,303.8,9.5,716,11020,0.00,2.55,8.40,0.705,6,0.000,0.024,3478,1925,1994,0,0,0,0,0,0
$GC,11413,1.37,249.5,263.0,10.0,754,11418,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,1925,1991,0,0,0,0,0,0
$GC,11804,1.47,300.3,232.2,6.5,791,11859,0.00,2.85,46.42,0.736,4,0.000,0.060,3478,322,1785,0,0,0,0,0,0
$GC,11928,1.47,300.3,219.9,11.5,802,11933,0.00,2.53,0.00,0.000,6,0.000,0.021,3478,1908,1782,0,0,0,0,0,0
$GC,12321,1.56,300.3,177.4,10.5,838,12326,0.15,2.75,0.00,0.000,4,0.077,0.057,3517,313,1780,0,0,0,0,0,0
$GC,12373,1.51,300.3,170.2,13.8,842,12378,0.00,2.47,0.00,0.000,6,0.000,0.020,3517,1897,1779,0,0,0,0,0,0
$GC,12761,1.51,300.3,130.2,10.0,878,12763,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,1899,1779,0,0,0,0,0,0
$GC,13144,1.60,315.6,95.6,9.0,914,13163,0.00,0.00,14.12,0.574,6,0.000,0.000,3517,1899,1722,0,0,0,0,0,0
$GC,13552,1.69,321.2,58.4,9.6,952,13566,0.10,2.70,6.53,0.473,4,0.088,0.051,3546,309,1698,0,0,0,0,0,0
$GC,13632,1.69,321.2,48.8,13.1,958,13636,0.00,2.45,0.00,0.000,6,0.000,0.018,3546,1900,1698,0,0,0,0,0,0
$STATE,14035,end climb,SURFACE_DEPTH_REACHED
$STATE,14035,begin surface coast
$FINISH,0.8,0.980019
$STATE,14086,end surface coast,CONTROL_FINISHED_OK
$STATE,14087,begin surface
$SM_CCo,14109,240.90,0.509,0,0,476,621.34
$SM_GC,1.30,0.00,0.00,240.90,0.000,0.000,0.509,475,2152,476,-12.42,1.47,621.34
$IRIDIUM_FIX,2237.01,-15802.37,171000,000006
$TT8_MAMPS,0.025311
$HUMID,59.88
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,20.40
$XPDR_PINGS,111
$24V_AH,23.1,72.410
$10V_AH,9.9,66.566
$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,29.900,121.900,382.150,240.900,0.000,144.585,214.717,165.677,27.750,0.000,13.146,1762.544,8920.426,707.631,2970.634,930.665,33.377,1691.773,0.000,2980.391,0.000,0.534,0.000
$DEVICE_MAMPS,158.002,138.827,1086.839,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,694.790,688.822,947.965,1335.492,1139.306,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355468
$DATA_FILE_SIZE,79508,1014
$CAP_FILE_SIZE,136227,0
$CFSIZE,260165632,150966272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240711,043037,2248.769,-15801.939,24,1.5,24,10.1