version: 66.06
glider: 146
mission: 6
dive: 73
start: 5 20 111 6 49 56
data:
$ID,146
$MISSION,6
$DIVE,73
$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,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,-268884.94
$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,3090
$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,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,57
$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
$GPS1,064255,2246.941,-15758.955,6,1.6,11,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-70.0
$GPS2,064903,2247.005,-15758.954,10,2.1,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.234,0.018
$KALMAN_X,-52670.9,174.4,-198.1,49006.5,160.5
$KALMAN_Y,-99977.1,664.0,-230.5,105287.9,-182.9
$MHEAD_RNG_PITCHd_Wd,264.3,6908,-19.8,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-79.03,0.000,2,0.000,0.000,474,1744,3372,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.7,-7.0,10,127,12.35,2.62,-1.95,0.000,4,0.161,0.069,2781,211,3481,0,0,0,0,0,0
$GC,315,-1.11,-116.8,58.2,-22.0,32,320,0.30,2.40,0.00,0.000,6,0.117,0.014,2841,1785,3482,0,0,0,0,0,0
$GC,579,-1.06,-116.8,100.3,-13.7,56,587,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1787,3483,0,0,0,0,0,0
$GC,843,-1.01,-116.8,134.9,-12.2,81,848,0.12,2.70,0.00,0.000,4,0.127,0.065,2867,218,3484,0,0,0,0,0,0
$GC,889,-1.01,-116.8,141.2,-12.6,84,899,0.00,2.38,0.00,0.000,6,0.000,0.016,2867,1793,3484,0,0,0,0,0,0
$GC,1155,-1.01,-116.8,169.5,-11.0,109,1160,0.00,2.70,0.00,0.000,4,0.000,0.064,2867,218,3485,0,0,0,0,0,0
$GC,1198,-1.01,-116.8,174.6,-11.8,112,1202,0.00,2.30,0.00,0.000,6,0.000,0.015,2866,1764,3485,0,0,0,0,0,0
$GC,1482,-1.05,-116.8,204.2,-9.6,135,1486,0.00,2.45,0.00,0.000,4,0.000,0.028,2866,3303,3485,0,0,0,0,0,0
$GC,1587,-1.12,-116.8,215.5,-10.2,137,1592,0.00,2.42,0.00,0.000,6,0.000,0.028,2867,1777,3486,0,0,0,0,0,0
$GC,1849,-1.18,-116.8,242.0,-10.4,144,1855,0.15,2.75,0.00,0.000,4,0.067,0.076,2817,196,3486,0,0,0,0,0,0
$GC,1889,-1.10,-116.8,247.5,-13.8,145,1894,0.15,2.35,0.00,0.000,6,0.113,0.022,2848,1715,3486,0,0,0,0,0,0
$GC,2174,-1.10,-116.8,279.7,-10.9,152,2178,0.00,2.55,0.00,0.000,4,0.000,0.041,2848,3301,3485,0,0,0,0,0,0
$GC,2260,-1.16,-116.8,288.0,-9.3,154,2264,0.00,2.50,0.00,0.000,6,0.000,0.032,2848,1765,3486,0,0,0,0,0,0
$GC,2543,-1.20,-116.8,314.5,-9.6,161,2548,0.00,2.50,0.00,0.000,4,0.000,0.035,2848,3298,3486,0,0,0,0,0,0
$GC,2589,-1.28,-116.8,319.4,-10.6,162,2594,0.15,2.53,0.00,0.000,6,0.064,0.046,2799,1772,3485,0,0,0,0,0,0
$GC,2867,-1.24,-116.8,354.9,-12.7,169,2869,0.10,0.00,0.00,0.000,6,0.124,0.000,2819,1773,3484,0,0,0,0,0,0
$GC,3112,-1.24,-116.8,380.2,-10.1,175,3116,0.00,2.47,0.00,0.000,4,0.000,0.041,2819,3294,3483,0,0,0,0,0,0
$GC,3161,-1.24,-116.8,385.2,-9.6,176,3165,0.00,2.55,0.00,0.000,6,0.000,0.055,2819,1789,3483,0,0,0,0,0,0
$GC,3433,-1.24,-116.8,409.2,-8.7,183,3437,0.00,2.50,0.00,0.000,4,0.000,0.044,2819,3300,3481,0,0,0,0,0,0
$GC,3484,-1.28,-116.8,414.1,-9.6,184,3489,0.00,2.58,0.00,0.000,6,0.000,0.058,2819,1798,3481,0,0,0,0,0,0
$GC,3756,-1.28,-116.8,440.8,-10.3,191,3760,0.00,2.50,0.00,0.000,4,0.000,0.054,2819,3298,3480,0,0,0,0,0,0
$GC,3811,-1.34,-116.8,446.7,-10.7,192,3815,0.00,2.58,0.00,0.000,6,0.000,0.063,2819,1801,3479,0,0,0,0,0,0
$GC,4078,-1.34,-116.8,477.8,-11.9,199,4079,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1801,3478,0,0,0,0,0,0
$STATE,4318,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4318,begin apogee
$GC,4324,-0.31,0.0,503.3,10.2,205,4423,0.90,0.00,95.40,0.937,6,0.090,0.000,3018,1871,3001,0,0,0,0,0,0
$STATE,4424,end apogee,CONTROL_FINISHED_OK
$STATE,4424,begin climb
$GC,4426,1.38,116.8,506.3,0.0,207,4536,1.60,3.05,97.97,0.905,4,0.071,0.120,3384,334,2523,0,0,0,0,0,0
$GC,4586,1.44,160.7,499.8,7.5,210,4632,0.00,2.62,38.00,0.873,6,0.000,0.042,3384,1903,2343,0,0,0,0,0,0
$GC,4879,1.51,178.3,474.2,9.0,218,4901,0.15,2.83,15.50,0.828,4,0.078,0.059,3423,3513,2273,0,0,0,0,0,0
$GC,4970,1.51,178.3,464.8,11.0,220,4974,0.00,2.75,0.00,0.000,6,0.000,0.056,3423,1923,2270,0,0,0,0,0,0
$GC,5248,1.53,192.0,438.4,9.2,227,5263,0.00,0.00,12.38,0.810,6,0.000,0.000,3423,1923,2218,0,0,0,0,0,0
$GC,5491,1.55,206.9,416.0,9.2,233,5510,0.00,2.72,14.05,0.820,4,0.000,0.048,3422,3517,2157,0,0,0,0,0,0
$GC,5572,1.56,213.9,408.1,9.6,234,5586,0.00,2.70,7.45,0.730,6,0.000,0.051,3422,1930,2129,0,0,0,0,0,0
$GC,5867,1.57,226.9,380.6,9.3,242,5886,0.00,2.70,12.48,0.795,4,0.000,0.039,3423,3513,2075,0,0,0,0,0,0
$GC,5921,1.57,226.9,374.6,11.6,243,5925,0.00,2.65,0.00,0.000,6,0.000,0.039,3423,1934,2073,0,0,0,0,0,0
$GC,6194,1.57,226.9,344.8,10.9,250,6195,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,1933,2071,0,0,0,0,0,0
$GC,6437,1.59,238.3,321.2,9.4,256,6449,0.00,0.00,10.75,0.758,6,0.000,0.000,3422,1933,2029,0,0,0,0,0,0
$GC,6680,1.61,260.3,299.6,8.8,262,6703,0.00,0.00,20.73,0.787,6,0.000,0.000,3422,1933,1940,0,0,0,0,0,0
$GC,6925,1.66,260.3,273.2,11.2,268,6930,0.12,2.62,0.00,0.000,4,0.091,0.034,3455,3520,1936,0,0,0,0,0,0
$GC,6965,1.66,260.3,267.8,13.4,269,6969,0.00,2.62,0.00,0.000,6,0.000,0.037,3454,1930,1934,0,0,0,0,0,0
$GC,7249,1.66,260.3,231.1,12.8,276,7253,0.00,2.58,0.00,0.000,4,0.000,0.037,3455,3517,1933,0,0,0,0,0,0
$GC,7327,1.66,260.3,221.6,11.4,277,7333,0.00,2.55,0.00,0.000,6,0.000,0.034,3455,1962,1931,0,0,0,0,0,0
$GC,7577,1.66,260.3,195.7,10.4,284,7581,0.00,2.80,0.00,0.000,4,0.000,0.070,3454,342,1931,0,0,0,0,0,0
$GC,7598,1.66,260.3,193.0,12.1,285,7607,0.00,2.62,0.00,0.000,6,0.000,0.026,3455,1991,1930,0,0,0,0,0,0
$GC,7864,1.66,260.3,162.1,12.6,310,7868,0.00,2.45,0.00,0.000,4,0.000,0.034,3455,3515,1930,0,0,0,0,0,0
$GC,7896,1.66,260.3,156.8,13.8,312,7907,0.00,2.55,0.00,0.000,6,0.000,0.033,3454,1962,1929,0,0,0,0,0,0
$GC,8164,1.66,260.3,126.2,10.4,337,8169,0.00,2.53,0.00,0.000,4,0.000,0.033,3455,3525,1929,0,0,0,0,0,0
$GC,8197,1.66,260.3,122.6,11.5,339,8202,0.00,2.53,0.00,0.000,6,0.000,0.038,3454,1971,1929,0,0,0,0,0,0
$GC,8464,1.70,260.6,95.7,10.0,363,8468,0.00,2.78,0.00,0.000,4,0.000,0.061,3455,338,1930,0,0,0,0,0,0
$GC,8529,1.70,260.6,88.0,11.9,368,8533,0.00,2.60,0.00,0.000,6,0.000,0.018,3455,2011,1930,0,0,0,0,0,0
$GC,8795,1.76,260.6,60.1,11.1,392,8799,0.00,2.38,0.00,0.000,4,0.000,0.031,3455,3517,1929,0,0,0,0,0,0
$GC,8818,1.83,260.6,57.6,11.5,393,8824,0.15,2.50,0.00,0.000,6,0.071,0.028,3497,1960,1929,0,0,0,0,0,0
$GC,9093,1.83,260.6,25.1,11.5,420,9103,0.00,2.53,0.00,0.000,4,0.000,0.031,3497,3520,1929,0,0,0,0,0,0
$GC,9163,1.83,260.6,17.8,11.1,429,9172,0.00,2.50,0.00,0.000,6,0.000,0.029,3497,1978,1929,0,0,0,0,0,0
$STATE,9302,end climb,SURFACE_DEPTH_REACHED
$STATE,9302,begin surface coast
$FINISH,0.5,0.974769
$STATE,9353,end surface coast,CONTROL_FINISHED_OK
$STATE,9353,begin surface
$SM_CCo,9375,112.18,0.529,0,0,1369,400.08
$SM_GC,1.22,0.00,0.00,112.18,0.000,0.000,0.529,483,1758,1369,-12.00,-0.34,400.08
$IRIDIUM_FIX,2237.01,-15802.37,130800,040444
$TT8_MAMPS,0.026078
$HUMID,56.73
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.60
$XPDR_PINGS,40
$24V_AH,23.5,9.424
$10V_AH,10.4,8.004
$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,28.575,113.900,324.700,112.175,0.000,28.883,33.075,160.260,10.000,0.000,31.866,950.899,6118.564,520.145,1794.452,474.015,33.366,1197.487,0.000,1777.857,0.000,0.536,0.000
$DEVICE_MAMPS,161.070,243.139,936.507,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,309.484,242.947,343.655,648.632,981.071,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,35214,456
$CAP_FILE_SIZE,99027,0
$CFSIZE,260165632,178417664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200511,092855,2246.829,-15800.344,5,1.5,10,10.1