version: 66.06
glider: 146
mission: 6
dive: 140
start: 5 28 111 4 38 32
data:
$ID,146
$MISSION,6
$DIVE,140
$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,-270611.69
$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,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,37
$R_STBD_OVSHOOT,65
$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
$GPS1,042036,2249.007,-15757.267,27,1.4,27,10.1
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.8
$GPS2,043738,2249.106,-15757.329,14,1.5,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.027,-0.233
$KALMAN_X,-84087.3,61.2,146.4,82972.6,-239.0
$KALMAN_Y,-136762.7,154.2,370.9,145873.4,-140.4
$MHEAD_RNG_PITCHd_Wd,176.5,3983,-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,-78.93,0.000,2,0.000,0.000,473,1762,3400,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.9,-7.7,10,127,12.30,2.67,-1.33,0.000,4,0.154,0.067,2818,207,3481,0,0,0,0,0,0
$GC,337,-1.24,-116.8,64.8,-19.9,33,343,0.20,2.38,0.00,0.000,6,0.120,0.014,2858,1793,3482,0,0,0,0,0,0
$GC,605,-1.20,-116.8,101.1,-13.4,57,610,0.00,2.67,0.00,0.000,4,0.000,0.062,2858,204,3483,0,0,0,0,0,0
$GC,651,-1.14,-116.8,108.2,-13.8,60,660,0.08,2.35,0.00,0.000,6,0.103,0.015,2877,1755,3483,0,0,0,0,0,0
$GC,919,-1.14,-116.8,137.7,-10.0,85,923,0.00,2.45,0.00,0.000,4,0.000,0.026,2877,3312,3484,0,0,0,0,0,0
$GC,976,-1.21,-116.8,144.8,-11.0,89,982,0.00,2.45,0.00,0.000,6,0.000,0.032,2877,1771,3483,0,0,0,0,0,0
$GC,1239,-1.25,-116.8,174.4,-10.8,114,1243,0.00,2.40,0.00,0.000,4,0.000,0.027,2877,3310,3484,0,0,0,0,0,0
$GC,1268,-1.31,-116.8,177.4,-10.1,116,1273,0.12,2.42,0.00,0.000,6,0.065,0.032,2824,1770,3484,0,0,0,0,0,0
$GC,1549,-1.26,-116.8,210.5,-12.1,136,1551,0.15,0.00,0.00,0.000,6,0.104,0.000,2856,1771,3484,0,0,0,0,0,0
$GC,1790,-1.26,-116.8,235.4,-10.2,142,1791,0.00,0.00,0.00,0.000,6,0.000,0.000,2856,1771,3485,0,0,0,0,0,0
$GC,2034,-1.30,-116.8,261.4,-10.4,148,2038,0.00,2.45,0.00,0.000,4,0.000,0.036,2856,3301,3484,0,0,0,0,0,0
$GC,2113,-1.36,-116.8,268.9,-9.0,149,2120,0.10,2.42,0.00,0.000,6,0.083,0.035,2818,1789,3484,0,0,0,0,0,0
$GC,2363,-1.36,-116.8,297.9,-12.0,156,2364,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1789,3483,0,0,0,0,0,0
$GC,2607,-1.36,-116.8,323.5,-10.1,162,2611,0.00,2.45,0.00,0.000,4,0.000,0.034,2817,3303,3482,0,0,0,0,0,0
$GC,2647,-1.36,-116.8,327.9,-11.1,163,2651,0.00,2.47,0.00,0.000,6,0.000,0.042,2817,1795,3482,0,0,0,0,0,0
$GC,2930,-1.36,-116.8,360.0,-11.4,170,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1796,3480,0,0,0,0,0,0
$GC,3173,-1.36,-116.8,386.5,-10.7,176,3177,0.00,2.47,0.00,0.000,4,0.000,0.041,2818,3304,3479,0,0,0,0,0,0
$GC,3213,-1.36,-116.8,390.6,-10.6,177,3218,0.00,2.53,0.00,0.000,6,0.000,0.052,2818,1802,3479,0,0,0,0,0,0
$GC,3497,-1.36,-116.8,422.3,-11.4,184,3501,0.00,2.45,0.00,0.000,4,0.000,0.048,2817,3298,3477,0,0,0,0,0,0
$GC,3529,-1.36,-116.8,426.1,-11.2,184,3535,0.00,2.55,0.00,0.000,6,0.000,0.058,2817,1802,3477,0,0,0,0,0,0
$GC,3780,-1.36,-116.8,452.4,-10.3,191,3781,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1802,3475,0,0,0,0,0,0
$GC,4023,-1.36,-116.8,477.3,-10.3,197,4027,0.00,2.50,0.00,0.000,4,0.000,0.058,2817,3292,3473,0,0,0,0,0,0
$GC,4078,-1.41,-116.8,483.6,-11.3,198,4082,0.00,2.55,0.00,0.000,6,0.000,0.065,2818,1802,3473,0,0,0,0,0,0
$STATE,4260,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4260,begin apogee
$GC,4267,-0.31,0.0,504.2,11.2,203,4367,1.08,0.00,95.90,0.927,6,0.085,0.000,3059,1926,3001,0,0,0,0,0,0
$STATE,4368,end apogee,CONTROL_FINISHED_OK
$STATE,4368,begin climb
$GC,4370,1.38,116.8,507.5,0.0,205,4474,1.58,0.00,99.15,0.905,6,0.051,0.000,3430,1926,2524,0,0,0,0,0,0
$GC,4697,1.41,173.8,492.7,6.7,213,4752,0.00,2.80,48.92,0.889,4,0.000,0.058,3430,3530,2291,0,0,0,0,0,0
$GC,4770,1.41,208.7,487.2,8.0,214,4809,0.00,2.70,31.25,0.867,6,0.000,0.058,3430,1976,2149,0,0,0,0,0,0
$GC,5068,1.43,219.9,459.4,9.4,222,5080,0.00,0.00,10.10,0.785,6,0.000,0.000,3429,1976,2104,0,0,0,0,0,0
$GC,5309,1.43,219.9,434.2,10.7,228,5310,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1976,2100,0,0,0,0,0,0
$GC,5552,1.43,219.9,408.2,10.4,234,5557,0.00,2.58,0.00,0.000,4,0.000,0.041,3430,3538,2098,0,0,0,0,0,0
$GC,5596,1.43,219.9,403.3,10.8,235,5601,0.00,2.60,0.00,0.000,6,0.000,0.042,3430,1983,2097,0,0,0,0,0,0
$GC,5875,1.43,227.0,376.5,9.6,242,5889,0.00,2.90,6.32,0.697,4,0.000,0.084,3430,377,2075,0,0,0,0,0,0
$GC,5900,1.44,229.4,373.7,9.9,242,5910,0.00,2.58,4.12,0.558,6,0.000,0.027,3430,1983,2064,0,0,0,0,0,0
$GC,6162,1.44,229.4,347.4,10.2,249,6166,0.00,2.58,0.00,0.000,4,0.000,0.045,3430,3549,2061,0,0,0,0,0,0
$GC,6239,1.44,229.4,338.9,10.9,250,6245,0.00,2.58,0.00,0.000,6,0.000,0.041,3429,1985,2060,0,0,0,0,0,0
$GC,6490,1.45,237.3,314.2,9.6,257,6504,0.00,2.60,7.82,0.713,4,0.000,0.038,3430,3534,2032,0,0,0,0,0,0
$GC,6555,1.45,237.3,307.8,10.1,258,6560,0.00,2.50,0.00,0.000,6,0.000,0.039,3429,2017,2031,0,0,0,0,0,0
$GC,6817,1.48,264.0,285.3,8.5,265,6848,0.10,2.90,25.17,0.785,4,0.097,0.071,3458,388,1923,0,0,0,0,0,0
$GC,6885,1.42,264.0,277.9,12.7,266,6889,0.00,2.62,0.00,0.000,6,0.000,0.023,3458,2023,1920,0,0,0,0,0,0
$GC,7139,1.42,264.0,245.8,12.8,273,7143,0.00,2.50,0.00,0.000,4,0.000,0.040,3458,3551,1918,0,0,0,0,0,0
$GC,7183,1.42,264.0,239.5,13.8,274,7188,0.00,2.53,0.00,0.000,6,0.000,0.037,3458,2006,1917,0,0,0,0,0,0
$GC,7463,1.42,264.0,206.4,11.5,281,7467,0.00,2.50,0.00,0.000,4,0.000,0.040,3458,3542,1916,0,0,0,0,0,0
$GC,7473,1.42,264.0,204.8,11.4,281,7477,0.00,2.45,0.00,0.000,6,0.000,0.029,3458,2017,1916,0,0,0,0,0,0
$GC,7738,1.42,264.0,172.9,12.0,301,7742,0.00,2.75,0.00,0.000,4,0.000,0.061,3458,393,1915,0,0,0,0,0,0
$GC,7760,1.42,264.0,169.7,12.4,302,7765,0.00,2.58,0.00,0.000,6,0.000,0.024,3458,2033,1915,0,0,0,0,0,0
$GC,8026,1.42,264.0,142.6,11.3,327,8030,0.00,2.42,0.00,0.000,4,0.000,0.036,3458,3544,1915,0,0,0,0,0,0
$GC,8118,1.42,264.0,131.7,11.2,334,8127,0.05,2.45,0.00,0.000,6,0.107,0.028,3444,2039,1914,0,0,0,0,0,0
$GC,8386,1.49,274.6,107.6,9.4,359,8406,0.00,2.85,9.10,0.580,4,0.000,0.063,3444,393,1880,0,0,0,0,0,0
$GC,8422,1.49,274.6,102.7,11.4,362,8432,0.00,2.60,0.00,0.000,6,0.000,0.025,3443,2040,1879,0,0,0,0,0,0
$GC,8691,1.55,275.4,75.0,10.0,387,8696,0.10,2.78,0.00,0.000,4,0.085,0.052,3475,392,1879,0,0,0,0,0,0
$GC,8737,1.55,275.4,69.1,11.4,390,8746,0.00,2.58,0.00,0.000,6,0.000,0.023,3475,2034,1879,0,0,0,0,0,0
$GC,9005,1.56,282.9,43.4,9.6,415,9019,0.00,2.78,8.88,0.521,4,0.000,0.049,3475,384,1846,0,0,0,0,0,0
$GC,9060,1.56,282.9,37.6,11.0,419,9065,0.00,2.53,0.00,0.000,6,0.000,0.018,3475,2027,1844,0,0,0,0,0,0
$GC,9381,1.58,295.7,5.5,9.3,461,9400,0.00,2.72,11.82,0.508,4,0.000,0.044,3475,389,1795,0,0,0,0,0,0
$STATE,9410,end climb,SURFACE_DEPTH_REACHED
$STATE,9410,begin surface coast
$FINISH,0.5,0.973007
$STATE,9459,end surface coast,CONTROL_FINISHED_OK
$STATE,9459,begin surface
$SM_CCo,9484,85.12,0.536,0,0,1369,400.08
$SM_GC,1.21,0.00,0.00,85.12,0.000,0.000,0.536,474,1858,1369,-12.22,2.49,400.08
$IRIDIUM_FIX,2239.35,-15757.16,210800,040414
$TT8_MAMPS,0.026078
$HUMID,57.16
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.90
$XPDR_PINGS,43
$24V_AH,23.5,17.720
$10V_AH,10.4,15.246
$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,28.050,117.950,358.575,85.125,0.000,118.746,146.440,413.819,10.750,0.000,15.795,956.438,6370.815,512.989,1781.439,972.392,33.365,1191.340,0.000,1777.329,0.000,0.536,0.000
$DEVICE_MAMPS,154.167,83.603,927.303,536.133,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,319.233,255.542,359.820,676.614,1018.764,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,38331,471
$CAP_FILE_SIZE,108158,0
$CFSIZE,260165632,174940160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280511,071850,2247.587,-15757.686,7,1.8,7,10.1