version: 66.06
glider: 146
mission: 6
dive: 137
start: 5 27 111 20 0 2
data:
$ID,146
$MISSION,6
$DIVE,137
$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,-270548.91
$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,3130
$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,1970
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,22
$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
$GPS1,194707,2250.244,-15759.021,30,1.0,30,10.1
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-69.8
$GPS2,195908,2250.220,-15759.072,14,1.4,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.232,0.039
$KALMAN_X,-83627.8,74.3,142.7,79519.2,-340.8
$KALMAN_Y,-137171.9,-92.1,53.1,148909.8,-615.9
$MHEAD_RNG_PITCHd_Wd,70.3,3561,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-78.95,0.000,2,0.000,0.000,475,1750,3372,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.5,-6.3,10,127,12.48,2.62,-1.88,0.000,4,0.160,0.042,2819,3367,3480,0,0,0,0,0,0
$GC,178,-1.27,-116.8,24.4,-16.0,20,188,0.12,2.58,0.00,0.000,6,0.102,0.032,2848,1783,3481,0,0,0,0,0,0
$GC,461,-1.20,-116.8,66.4,-13.6,47,465,0.00,2.70,0.00,0.000,4,0.000,0.061,2848,194,3482,0,0,0,0,0,0
$GC,482,-1.11,-116.8,70.2,-14.1,48,487,0.17,2.47,0.00,0.000,6,0.118,0.013,2885,1849,3482,0,0,0,0,0,0
$GC,746,-1.11,-116.8,100.7,-10.8,72,747,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1850,3483,0,0,0,0,0,0
$GC,997,-1.11,-116.8,130.1,-11.7,96,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1850,3483,0,0,0,0,0,0
$GC,1253,-1.16,-116.8,157.6,-9.4,120,1257,0.00,2.38,0.00,0.000,4,0.000,0.025,2884,3374,3484,0,0,0,0,0,0
$GC,1275,-1.21,-116.8,159.2,-9.4,121,1280,0.00,2.58,0.00,0.000,6,0.000,0.025,2885,1761,3484,0,0,0,0,0,0
$GC,1542,-1.27,-116.8,181.1,-8.1,145,1548,0.12,0.00,0.00,0.000,6,0.071,0.000,2841,1761,3484,0,0,0,0,0,0
$GC,1831,-1.27,-116.8,217.3,-13.6,164,1832,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1761,3484,0,0,0,0,0,0
$GC,2073,-1.27,-116.8,247.8,-12.4,170,2077,0.00,2.55,0.00,0.000,4,0.000,0.028,2841,3371,3484,0,0,0,0,0,0
$GC,2094,-1.27,-116.8,250.5,-12.1,170,2098,0.00,2.55,0.00,0.000,6,0.000,0.031,2841,1769,3484,0,0,0,0,0,0
$GC,2351,-1.27,-116.8,278.7,-10.9,177,2355,0.00,2.58,0.00,0.000,4,0.000,0.035,2841,3374,3484,0,0,0,0,0,0
$GC,2417,-1.32,-116.8,285.7,-10.2,178,2422,0.00,2.60,0.00,0.000,6,0.000,0.037,2841,1781,3484,0,0,0,0,0,0
$GC,2673,-1.32,-116.8,310.6,-9.7,185,2677,0.00,2.55,0.00,0.000,4,0.000,0.035,2841,3365,3483,0,0,0,0,0,0
$GC,2696,-1.32,-116.8,312.6,-8.8,185,2700,0.00,2.60,0.00,0.000,6,0.000,0.040,2841,1774,3483,0,0,0,0,0,0
$GC,2951,-1.32,-116.8,336.8,-9.6,192,2955,0.00,2.58,0.00,0.000,4,0.000,0.038,2841,3365,3482,0,0,0,0,0,0
$GC,3023,-1.38,-116.8,344.5,-10.5,193,3027,0.00,2.60,0.00,0.000,6,0.000,0.049,2841,1795,3482,0,0,0,0,0,0
$GC,3274,-1.42,-116.8,372.0,-11.2,199,3278,0.00,2.55,0.00,0.000,4,0.000,0.038,2841,3361,3480,0,0,0,0,0,0
$GC,3295,-1.46,-116.8,374.7,-11.7,199,3300,0.12,2.62,0.00,0.000,6,0.074,0.052,2797,1785,3480,0,0,0,0,0,0
$GC,3551,-1.42,-116.8,406.7,-12.7,206,3553,0.10,0.00,0.00,0.000,6,0.121,0.000,2818,1785,3479,0,0,0,0,0,0
$GC,3795,-1.42,-116.8,434.8,-11.4,212,3797,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1785,3478,0,0,0,0,0,0
$GC,4038,-1.42,-116.8,461.5,-10.9,218,4042,0.00,2.65,0.00,0.000,4,0.000,0.053,2818,3362,3477,0,0,0,0,0,0
$GC,4078,-1.42,-116.8,465.9,-11.7,219,4083,0.00,2.67,0.00,0.000,6,0.000,0.064,2818,1805,3476,0,0,0,0,0,0
$GC,4362,-1.42,-116.8,497.4,-10.9,226,4367,0.00,2.62,0.00,0.000,4,0.000,0.060,2818,3362,3474,0,0,0,0,0,0
$STATE,4382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4382,begin apogee
$GC,4390,-0.31,0.0,500.1,11.4,226,4489,1.05,0.00,95.88,0.925,6,0.085,0.000,3056,1968,3000,0,0,0,0,0,0
$STATE,4490,end apogee,CONTROL_FINISHED_OK
$STATE,4490,begin climb
$GC,4493,1.38,116.8,503.8,0.0,229,4596,1.62,0.00,99.18,0.900,6,0.052,0.000,3434,1968,2524,0,0,0,0,0,0
$GC,4812,1.39,168.6,487.8,7.0,237,4858,0.00,0.00,44.25,0.889,6,0.000,0.000,3434,1968,2313,0,0,0,0,0,0
$GC,5094,1.40,180.7,462.2,9.3,244,5110,0.00,2.70,11.02,0.801,4,0.000,0.047,3434,3552,2262,0,0,0,0,0,0
$GC,5134,1.40,180.7,458.2,10.5,245,5139,0.00,2.72,0.00,0.000,6,0.000,0.049,3434,1968,2261,0,0,0,0,0,0
$GC,5418,1.40,180.7,428.5,10.3,252,5422,0.00,2.65,0.00,0.000,4,0.000,0.047,3434,3564,2257,0,0,0,0,0,0
$GC,5478,1.40,180.7,422.3,10.1,253,5483,0.00,2.70,0.00,0.000,6,0.000,0.048,3434,1969,2257,0,0,0,0,0,0
$GC,5741,1.42,190.8,397.2,9.5,260,5755,0.00,2.92,8.68,0.771,4,0.000,0.091,3434,382,2222,0,0,0,0,0,0
$GC,5785,1.34,190.8,392.8,10.3,261,5789,0.00,2.60,0.00,0.000,6,0.000,0.025,3434,1993,2221,0,0,0,0,0,0
$GC,6068,1.39,226.3,369.2,8.0,268,6102,0.00,0.00,32.33,0.853,6,0.000,0.000,3434,1994,2077,0,0,0,0,0,0
$GC,6313,1.39,229.7,346.3,9.8,274,6317,0.00,2.55,0.00,0.000,4,0.000,0.044,3434,3547,2071,0,0,0,0,0,0
$GC,6361,1.39,229.7,340.8,10.9,275,6366,0.00,2.62,0.00,0.000,6,0.000,0.041,3434,1964,2070,0,0,0,0,0,0
$GC,6634,1.39,229.7,310.4,11.2,282,6638,0.00,2.58,0.00,0.000,4,0.000,0.039,3434,3548,2069,0,0,0,0,0,0
$GC,6690,1.39,229.7,303.9,11.5,283,6694,0.00,2.58,0.00,0.000,6,0.000,0.039,3434,1983,2067,0,0,0,0,0,0
$GC,6955,1.39,229.7,273.8,11.3,290,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1983,2067,0,0,0,0,0,0
$GC,7199,1.39,229.7,248.8,10.0,296,7204,0.00,2.55,0.00,0.000,4,0.000,0.039,3434,3546,2066,0,0,0,0,0,0
$GC,7261,1.39,229.7,242.4,10.5,297,7266,0.00,2.55,0.00,0.000,6,0.000,0.038,3434,1984,2065,0,0,0,0,0,0
$GC,7523,1.43,229.7,215.1,10.5,304,7528,0.00,2.55,0.00,0.000,4,0.000,0.035,3434,3549,2064,0,0,0,0,0,0
$GC,7568,1.48,229.7,210.2,10.6,305,7572,0.00,2.53,0.00,0.000,6,0.000,0.031,3434,2001,2063,0,0,0,0,0,0
$GC,7838,1.52,229.7,181.5,11.0,322,7844,0.10,0.00,0.00,0.000,6,0.087,0.000,3465,2001,2063,0,0,0,0,0,0
$GC,8099,1.52,229.7,153.6,10.2,347,8103,0.00,2.53,0.00,0.000,4,0.000,0.034,3465,3558,2063,0,0,0,0,0,0
$GC,8183,1.52,231.6,145.0,9.9,353,8188,0.00,2.53,0.00,0.000,6,0.000,0.033,3465,1999,2063,0,0,0,0,0,0
$GC,8445,1.53,242.0,119.9,9.4,378,8460,0.00,0.00,12.55,0.626,6,0.000,0.000,3465,1999,2013,0,0,0,0,0,0
$GC,8718,1.53,242.0,92.0,11.6,403,8722,0.00,2.50,0.00,0.000,4,0.000,0.038,3465,3549,2011,0,0,0,0,0,0
$GC,8758,1.53,242.0,86.7,11.4,406,8762,0.00,2.50,0.00,0.000,6,0.000,0.029,3465,1999,2011,0,0,0,0,0,0
$GC,9025,1.58,282.2,62.4,7.7,430,9063,0.00,0.00,35.12,0.601,6,0.000,0.000,3465,2000,1850,0,0,0,0,0,0
$GC,9320,1.66,300.2,35.6,9.0,457,9338,0.10,0.00,15.90,0.549,6,0.091,0.000,3496,2000,1776,0,0,0,0,0,0
$STATE,9616,end climb,SURFACE_DEPTH_REACHED
$STATE,9616,begin surface coast
$FINISH,0.5,0.980169
$STATE,9660,end surface coast,CONTROL_FINISHED_OK
$STATE,9660,begin surface
$SM_CCo,9682,80.22,0.541,0,0,1369,400.08
$SM_GC,1.19,0.00,0.00,80.22,0.000,0.000,0.541,475,1751,1369,-12.22,-0.51,400.08
$IRIDIUM_FIX,2239.35,-15757.16,200800,191902
$TT8_MAMPS,0.026078
$HUMID,58.15
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.40
$XPDR_PINGS,38
$24V_AH,23.5,17.340
$10V_AH,10.4,14.916
$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,28.200,98.675,354.900,80.225,0.000,57.956,83.066,380.252,9.500,0.000,15.917,993.600,6370.654,513.149,1820.327,790.181,33.366,1143.972,0.000,1831.103,0.000,0.536,0.000
$DEVICE_MAMPS,159.536,91.273,925.002,540.735,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,341.659,306.131,393.679,755.679,1138.199,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,41523,503
$CAP_FILE_SIZE,99082,0
$CFSIZE,260165632,175104000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270511,224430,2250.364,-15757.916,63,1.6,63,10.1