version: 66.06
glider: 146
mission: 6
dive: 43
start: 5 16 111 10 16 0
data:
$ID,146
$MISSION,6
$DIVE,43
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,950
$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,200
$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,120
$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,400
$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,-268182.41
$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,3080
$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,1770
$C_ROLL_CLIMB,1820
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,15
$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,3001
$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
$GPS1,100836,2247.829,-15757.341,35,1.8,39,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.5
$GPS2,101507,2247.804,-15757.388,29,1.6,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.133,0.051
$KALMAN_X,-38582.4,521.6,80.2,36968.8,-1053.7
$KALMAN_Y,-72872.3,18.1,-189.5,80270.5,-1624.4
$MHEAD_RNG_PITCHd_Wd,59.0,1647,-32.6,-10.000
$D_GRID,600
$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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-2.09,-44.5,0.0,0.0,0,97,0.00,0.00,-74.35,0.000,6,0.000,0.000,475,1739,3183,0,0,0,0,0,0
$GC,100,-2.12,-69.9,3.5,-6.2,10,126,11.88,2.67,-2.03,0.000,4,0.175,0.038,2609,3378,3290,0,0,0,0,0,0
$GC,177,-2.01,-69.9,27.8,-27.6,20,187,0.12,2.60,0.00,0.000,6,0.141,0.028,2634,1782,3291,0,0,0,0,0,0
$GC,443,-1.96,-69.9,89.5,-21.1,45,448,0.00,2.55,0.00,0.000,4,0.000,0.028,2635,3382,3293,0,0,0,0,0,0
$GC,532,-1.96,-69.9,109.3,-21.8,52,537,0.00,2.60,0.00,0.000,6,0.000,0.032,2635,1769,3293,0,0,0,0,0,0
$GC,797,-1.96,-69.9,164.2,-19.8,76,801,0.00,2.55,0.00,0.000,4,0.000,0.025,2635,3384,3294,0,0,0,0,0,0
$GC,865,-1.96,-69.9,177.9,-17.9,81,874,0.00,2.58,0.00,0.000,6,0.000,0.026,2634,1788,3294,0,0,0,0,0,0
$GC,1120,-1.96,-69.9,222.2,-17.1,97,1124,0.00,2.53,0.00,0.000,4,0.000,0.029,2634,3376,3295,0,0,0,0,0,0
$GC,1140,-1.96,-69.9,225.9,-16.8,97,1145,0.00,2.53,0.00,0.000,6,0.000,0.028,2634,1788,3295,0,0,0,0,0,0
$GC,1397,-1.96,-69.9,266.9,-16.0,104,1402,0.00,2.53,0.00,0.000,4,0.000,0.038,2635,3373,3296,0,0,0,0,0,0
$GC,1453,-2.00,-69.9,276.8,-17.7,105,1458,0.00,2.55,0.00,0.000,6,0.000,0.038,2635,1803,3296,0,0,0,0,0,0
$GC,1719,-2.00,-69.9,319.6,-15.9,112,1723,0.00,2.53,0.00,0.000,4,0.000,0.040,2635,3370,3296,0,0,0,0,0,0
$GC,1753,-2.06,-69.9,325.0,-15.9,112,1758,0.00,2.65,0.00,0.000,6,0.000,0.050,2634,1798,3296,0,0,0,0,0,0
$GC,2003,-2.11,-69.9,365.8,-16.1,119,2007,0.00,2.60,0.00,0.000,4,0.000,0.048,2635,3370,3297,0,0,0,0,0,0
$GC,2162,-2.18,-69.9,392.3,-17.6,122,2167,0.12,2.65,0.00,0.000,6,0.084,0.058,2598,1817,3296,0,0,0,0,0,0
$GC,2417,-2.18,-69.9,436.9,-17.4,129,2421,0.00,2.60,0.00,0.000,4,0.000,0.050,2598,3366,3294,0,0,0,0,0,0
$GC,2483,-2.18,-69.9,447.7,-15.7,130,2487,0.00,2.65,0.00,0.000,6,0.000,0.063,2597,1822,3294,0,0,0,0,0,0
$GC,2740,-2.18,-69.9,487.4,-15.7,137,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2598,1823,3293,0,0,0,0,0,0
$GC,2982,-2.18,-69.9,523.8,-14.8,143,2987,0.00,2.67,0.00,0.000,4,0.000,0.070,2598,3364,3291,0,0,0,0,0,0
$GC,3004,-2.18,-69.9,527.3,-15.1,143,3008,0.00,2.70,0.00,0.000,6,0.000,0.073,2597,1827,3291,0,0,0,0,0,0
$GC,3260,-2.18,-69.9,565.7,-15.1,150,3264,0.00,2.70,0.00,0.000,4,0.000,0.081,2598,3357,3289,0,0,0,0,0,0
$GC,3355,-2.22,-69.9,581.0,-16.4,152,3360,0.00,2.72,0.00,0.000,6,0.000,0.087,2598,1841,3289,0,0,0,0,0,0
$STATE,3506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3506,begin apogee
$GC,3512,-0.31,0.0,604.8,15.6,156,3577,2.03,0.00,59.92,1.004,6,0.128,0.000,3006,1821,3001,0,0,0,0,0,0
$STATE,3578,end apogee,CONTROL_FINISHED_OK
$STATE,3578,begin climb
$GC,3581,2.12,69.9,608.0,0.0,157,3651,2.30,3.30,60.65,0.981,4,0.067,0.141,3542,235,2714,0,0,0,0,0,0
$GC,3675,2.17,108.2,606.3,4.2,159,3715,0.00,2.80,34.62,0.958,6,0.000,0.063,3542,1819,2559,0,0,0,0,0,0
$GC,3991,2.29,115.2,579.2,9.0,167,4000,0.15,0.00,5.85,0.744,6,0.190,0.000,3576,1819,2531,0,0,0,0,0,0
$GC,4232,2.35,116.6,555.7,9.8,173,4237,0.00,2.80,0.00,0.000,4,0.000,0.078,3576,3405,2528,0,0,0,0,0,0
$GC,4451,2.40,116.6,531.3,10.8,178,4456,0.12,2.78,0.00,0.000,6,0.109,0.060,3603,1816,2524,0,0,0,0,0,0
$GC,4735,2.40,116.6,498.3,11.8,185,4739,0.00,2.70,0.00,0.000,4,0.000,0.054,3603,3411,2522,0,0,0,0,0,0
$GC,4904,2.40,116.6,478.0,12.1,188,4910,0.00,2.78,0.00,0.000,6,0.000,0.057,3603,1815,2521,0,0,0,0,0,0
$GC,5154,2.40,116.6,451.2,10.4,195,5158,0.00,2.67,0.00,0.000,4,0.000,0.047,3603,3418,2519,0,0,0,0,0,0
$GC,5169,2.40,116.6,449.4,10.7,195,5174,0.00,2.78,0.00,0.000,6,0.000,0.054,3603,1809,2518,0,0,0,0,0,0
$GC,5432,2.41,122.4,424.4,9.1,202,5442,0.00,2.67,5.43,0.704,4,0.000,0.038,3603,3417,2502,0,0,0,0,0,0
$GC,5562,2.43,134.6,413.3,8.2,205,5582,0.00,2.70,12.55,0.847,6,0.000,0.054,3604,1822,2451,0,0,0,0,0,0
$GC,5851,2.46,134.6,384.6,10.6,212,5855,0.00,2.62,0.00,0.000,4,0.000,0.037,3604,3418,2447,0,0,0,0,0,0
$GC,6098,2.50,134.6,356.5,10.9,217,6103,0.00,2.65,0.00,0.000,6,0.000,0.043,3603,1842,2445,0,0,0,0,0,0
$GC,6354,2.55,138.8,331.5,9.4,224,6364,0.15,2.62,4.03,0.565,4,0.097,0.041,3636,3427,2435,0,0,0,0,0,0
$GC,6618,2.56,143.0,303.3,9.4,229,6629,0.00,2.60,5.53,0.655,6,0.000,0.044,3636,1863,2417,0,0,0,0,0,0
$GC,6909,2.56,143.4,275.3,9.9,237,6913,0.00,2.55,0.00,0.000,4,0.000,0.040,3636,3424,2415,0,0,0,0,0,0
$GC,7010,2.56,143.5,265.1,10.0,239,7014,0.00,2.60,0.00,0.000,6,0.000,0.043,3636,1854,2415,0,0,0,0,0,0
$GC,7276,2.56,143.5,236.3,11.2,246,7280,0.00,2.55,0.00,0.000,4,0.000,0.034,3636,3422,2414,0,0,0,0,0,0
$GC,7297,2.56,143.5,234.0,10.2,246,7301,0.00,2.55,0.00,0.000,6,0.000,0.037,3637,1870,2414,0,0,0,0,0,0
$GC,7558,2.56,143.5,206.5,10.5,253,7563,0.00,2.53,0.00,0.000,4,0.000,0.034,3636,3426,2414,0,0,0,0,0,0
$GC,7693,2.56,147.1,194.6,9.5,259,7704,0.00,2.55,4.43,0.528,6,0.000,0.035,3637,1870,2401,0,0,0,0,0,0
$GC,7959,2.59,164.9,173.4,7.3,284,7984,0.00,2.55,17.58,0.690,4,0.000,0.035,3637,3424,2327,0,0,0,0,0,0
$GC,8232,2.63,164.9,148.3,10.5,307,8237,0.00,2.50,0.00,0.000,6,0.000,0.041,3637,1894,2324,0,0,0,0,0,0
$GC,8499,2.69,169.4,124.5,9.3,331,8511,0.12,2.50,4.82,0.499,4,0.092,0.038,3668,3431,2310,0,0,0,0,0,0
$GC,8588,2.69,169.4,114.6,11.7,338,8597,0.00,2.55,0.00,0.000,6,0.000,0.033,3668,1885,2309,0,0,0,0,0,0
$GC,8852,2.69,169.4,85.7,12.2,363,8856,0.00,2.47,0.00,0.000,4,0.000,0.029,3668,3428,2308,0,0,0,0,0,0
$GC,9032,2.69,169.4,64.5,13.8,377,9036,0.00,2.47,0.00,0.000,6,0.000,0.032,3668,1896,2308,0,0,0,0,0,0
$GC,9299,2.74,181.3,35.0,8.2,401,9316,0.00,2.47,12.27,0.542,4,0.000,0.030,3669,3423,2260,0,0,0,0,0,0
$GC,9459,2.80,182.0,20.8,9.9,420,9468,0.00,2.47,0.00,0.000,6,0.000,0.030,3668,1907,2259,0,0,0,0,0,0
$STATE,9610,end climb,SURFACE_DEPTH_REACHED
$STATE,9610,begin surface coast
$FINISH,0.4,0.974053
$STATE,9660,end surface coast,CONTROL_FINISHED_OK
$STATE,9661,begin surface
$SM_CCo,9685,176.32,0.536,0,0,1369,400.08
$SM_GC,1.10,0.00,0.00,176.32,0.000,0.000,0.536,480,1746,1369,-11.96,-0.68,400.08
$IRIDIUM_FIX,2241.69,-15754.11,090800,070709
$TT8_MAMPS,0.025311
$HUMID,54.52
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,21.70
$XPDR_PINGS,45
$24V_AH,23.4,5.871
$10V_AH,10.4,4.787
$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,30.050,126.225,227.675,176.325,0.000,30.236,34.411,180.321,11.250,0.000,32.333,990.574,6296.181,493.360,1973.154,499.347,33.361,1256.366,0.000,1944.353,0.000,0.534,0.000
$DEVICE_MAMPS,190.216,217.828,1004.003,536.133,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,305.068,242.099,327.275,615.981,932.592,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,35135,449
$CAP_FILE_SIZE,104949,0
$CFSIZE,260165632,179998720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160511,130134,2247.094,-15757.005,12,6.0,31,10.1