version: 66.06
glider: 146
mission: 6
dive: 221
start: 6 6 111 20 54 28
data:
$ID,146
$MISSION,6
$DIVE,221
$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,623.79791
$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,-273049.12
$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,3155
$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,1830
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,49
$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,3020
$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
$GPS1,203954,2248.678,-15757.952,25,1.1,42,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-67.4
$GPS2,205332,2248.852,-15757.889,10,1.6,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.019,-0.234
$KALMAN_X,-88694.4,-16.0,-120.7,86966.1,-144.9
$KALMAN_Y,-98044.7,-261.1,-174.0,107647.1,1289.0
$MHEAD_RNG_PITCHd_Wd,165.2,3433,-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,-116.8,0.0,0.0,0,128,0.00,0.00,-110.00,0.000,2,0.000,0.000,475,1814,3337,0,0,0,0,0,0
$GC,131,-1.38,-116.8,3.9,-7.3,14,157,12.48,2.62,-2.92,0.000,4,0.155,0.064,2845,275,3501,0,0,0,0,0,0
$GC,236,-1.23,-116.8,32.8,-19.1,28,246,0.15,2.42,0.00,0.000,6,0.226,0.015,2880,1859,3501,0,0,0,0,0,0
$GC,502,-1.18,-116.8,71.9,-12.6,53,506,0.00,2.38,0.00,0.000,4,0.000,0.028,2880,3382,3501,0,0,0,0,0,0
$GC,536,-1.18,-116.8,75.9,-11.1,55,541,0.00,2.45,0.00,0.000,6,0.000,0.025,2880,1844,3501,0,0,0,0,0,0
$GC,801,-1.18,-116.8,110.5,-12.2,79,806,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1845,3502,0,0,0,0,0,0
$GC,1062,-1.18,-116.8,141.3,-12.2,104,1063,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1844,3502,0,0,0,0,0,0
$GC,1318,-1.18,-116.8,170.7,-10.7,128,1319,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1845,3502,0,0,0,0,0,0
$GC,1574,-1.23,-116.8,198.6,-12.4,152,1578,0.00,2.42,0.00,0.000,4,0.000,0.031,2880,3377,3502,0,0,0,0,0,0
$GC,1630,-1.32,-116.8,205.7,-12.7,154,1635,0.00,2.42,0.00,0.000,6,0.000,0.028,2880,1838,3502,0,0,0,0,0,0
$GC,1897,-1.39,-116.8,232.9,-9.7,161,1902,0.12,2.45,0.00,0.000,4,0.077,0.028,2836,3385,3502,0,0,0,0,0,0
$GC,1914,-1.42,-116.8,234.7,-9.4,161,1919,0.00,2.45,0.00,0.000,6,0.000,0.024,2835,1839,3502,0,0,0,0,0,0
$GC,2175,-1.42,-116.8,264.9,-11.9,168,2176,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1839,3502,0,0,0,0,0,0
$GC,2419,-1.42,-116.8,291.9,-10.8,174,2423,0.00,2.45,0.00,0.000,4,0.000,0.035,2835,3384,3501,0,0,0,0,0,0
$GC,2446,-1.42,-116.8,294.8,-10.4,174,2450,0.00,2.45,0.00,0.000,6,0.000,0.032,2835,1850,3501,0,0,0,0,0,0
$GC,2697,-1.42,-116.8,321.2,-10.8,180,2698,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1850,3500,0,0,0,0,0,0
$GC,2939,-1.42,-116.8,347.7,-10.8,186,2944,0.00,2.47,0.00,0.000,4,0.000,0.043,2835,3377,3499,0,0,0,0,0,0
$GC,2961,-1.42,-116.8,350.2,-10.8,186,2965,0.00,2.47,0.00,0.000,6,0.000,0.041,2835,1863,3499,0,0,0,0,0,0
$GC,3218,-1.42,-116.8,377.3,-10.7,193,3222,0.00,2.45,0.00,0.000,4,0.000,0.039,2835,3369,3498,0,0,0,0,0,0
$GC,3273,-1.49,-116.8,383.3,-10.4,194,3277,0.00,2.50,0.00,0.000,6,0.000,0.051,2835,1865,3497,0,0,0,0,0,0
$GC,3540,-1.53,-116.8,409.5,-9.8,201,3545,0.00,2.97,0.00,0.000,4,0.000,0.104,2835,246,3495,0,0,0,0,0,0
$GC,3568,-1.53,-116.8,412.6,-11.0,201,3572,0.00,2.53,0.00,0.000,6,0.000,0.036,2836,1822,3495,0,0,0,0,0,0
$GC,3818,-1.58,-116.8,437.7,-10.1,207,3823,0.10,2.67,0.00,0.000,4,0.088,0.059,2800,3417,3493,0,0,0,0,0,0
$GC,3857,-1.58,-116.8,442.3,-12.1,208,3862,0.00,2.60,0.00,0.000,6,0.000,0.053,2801,1879,3493,0,0,0,0,0,0
$GC,4141,-1.58,-116.8,475.4,-11.8,215,4142,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,1878,3491,0,0,0,0,0,0
$STATE,4382,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4382,begin apogee
$GC,4388,-0.31,0.0,503.1,11.2,221,4488,1.27,0.00,95.97,0.915,6,0.086,0.000,3085,2016,3020,0,0,0,0,0,0
$STATE,4488,end apogee,CONTROL_FINISHED_OK
$STATE,4489,begin climb
$GC,4491,1.38,116.8,505.8,0.0,223,4595,1.58,0.00,100.22,0.896,6,0.047,0.000,3459,2015,2543,0,0,0,0,0,0
$GC,4819,1.33,158.8,489.2,7.6,231,4861,0.00,2.70,36.22,0.869,4,0.000,0.059,3459,3560,2371,0,0,0,0,0,0
$GC,4958,1.25,158.8,475.8,10.0,234,4963,0.15,2.67,0.00,0.000,6,0.121,0.051,3430,1993,2365,0,0,0,0,0,0
$GC,5236,1.29,192.7,453.3,8.1,241,5267,0.00,0.00,29.77,0.861,6,0.000,0.000,3430,1993,2234,0,0,0,0,0,0
$GC,5479,1.30,196.6,430.2,9.8,247,5485,0.00,0.00,4.07,0.562,6,0.000,0.000,3430,1992,2217,0,0,0,0,0,0
$GC,5724,1.30,196.6,404.2,10.9,253,5728,0.00,2.60,0.00,0.000,4,0.000,0.045,3429,3561,2214,0,0,0,0,0,0
$GC,5790,1.30,196.6,396.5,11.3,254,5794,0.00,2.65,0.00,0.000,6,0.000,0.047,3430,1981,2214,0,0,0,0,0,0
$GC,6046,1.30,196.6,370.1,10.2,261,6050,0.00,2.83,0.00,0.000,4,0.000,0.084,3430,408,2212,0,0,0,0,0,0
$GC,6108,1.25,196.6,363.6,11.2,262,6112,0.00,2.50,0.00,0.000,6,0.000,0.023,3430,1973,2211,0,0,0,0,0,0
$GC,6368,1.29,230.0,341.7,8.1,269,6403,0.00,2.70,29.40,0.822,4,0.000,0.045,3430,3575,2081,0,0,0,0,0,0
$GC,6475,1.30,237.2,332.2,9.6,270,6489,0.00,2.62,7.57,0.699,6,0.000,0.039,3430,1980,2052,0,0,0,0,0,0
$GC,6740,1.30,239.6,306.3,9.9,277,6744,0.00,2.62,0.00,0.000,4,0.000,0.040,3430,3573,2048,0,0,0,0,0,0
$GC,6761,1.30,239.6,304.0,10.4,277,6765,0.00,2.60,0.00,0.000,6,0.000,0.038,3430,1988,2047,0,0,0,0,0,0
$GC,7023,1.30,239.6,274.6,11.5,284,7027,0.00,2.72,0.00,0.000,4,0.000,0.067,3430,415,2045,0,0,0,0,0,0
$GC,7072,1.30,239.6,268.7,10.9,285,7076,0.00,2.50,0.00,0.000,6,0.000,0.024,3430,2004,2044,0,0,0,0,0,0
$GC,7345,1.38,269.5,245.1,8.3,292,7376,0.10,0.00,28.67,0.749,6,0.098,0.000,3459,2005,1921,0,0,0,0,0,0
$GC,7590,1.38,269.5,216.3,12.6,298,7594,0.00,2.72,0.00,0.000,4,0.000,0.064,3459,406,1914,0,0,0,0,0,0
$GC,7619,1.38,269.5,212.0,14.6,298,7623,0.00,2.47,0.00,0.000,6,0.000,0.020,3459,1987,1914,0,0,0,0,0,0
$GC,7878,1.38,269.5,183.0,10.4,313,7884,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1987,1913,0,0,0,0,0,0
$GC,8141,1.39,276.1,156.4,9.7,338,8152,0.00,2.70,5.85,0.550,4,0.000,0.054,3459,409,1893,0,0,0,0,0,0
$GC,8180,1.39,276.1,152.0,11.2,341,8186,0.00,2.45,0.00,0.000,6,0.000,0.018,3459,1986,1892,0,0,0,0,0,0
$GC,8445,1.43,278.3,127.4,9.9,366,8449,0.00,2.50,0.00,0.000,4,0.000,0.031,3459,3554,1892,0,0,0,0,0,0
$GC,8514,1.50,278.3,119.6,12.5,371,8519,0.10,2.53,0.00,0.000,6,0.093,0.036,3489,1978,1891,0,0,0,0,0,0
$GC,8780,1.50,278.3,87.7,10.9,395,8784,0.00,2.55,0.00,0.000,4,0.000,0.035,3489,3564,1890,0,0,0,0,0,0
$GC,8858,1.50,278.3,79.1,10.2,401,8863,0.00,2.50,0.00,0.000,6,0.000,0.028,3489,1988,1890,0,0,0,0,0,0
$GC,9126,1.54,312.4,55.8,8.1,425,9168,0.00,2.60,31.85,0.571,4,0.000,0.030,3489,3550,1744,0,0,0,0,0,0
$GC,9247,1.59,312.4,44.5,10.2,434,9251,0.00,2.45,0.00,0.000,6,0.000,0.029,3489,2024,1741,0,0,0,0,0,0
$GC,9552,1.63,312.4,11.7,11.0,470,9562,0.00,2.72,0.00,0.000,4,0.000,0.060,3489,415,1739,0,0,0,0,0,0
$GC,9599,1.63,312.4,6.2,12.3,476,9608,0.00,2.50,0.00,0.000,6,0.000,0.018,3489,2017,1739,0,0,0,0,0,0
$STATE,9622,end climb,SURFACE_DEPTH_REACHED
$STATE,9623,begin surface coast
$FINISH,0.5,0.976484
$STATE,9672,end surface coast,CONTROL_FINISHED_OK
$STATE,9672,begin surface
$SM_CCo,9696,246.30,0.515,0,0,477,623.80
$SM_GC,0.97,0.00,0.00,246.30,0.000,0.000,0.515,477,1819,477,-12.32,-0.31,623.80
$IRIDIUM_FIX,2241.69,-15757.16,300800,202031
$TT8_MAMPS,0.026078
$HUMID,55.98
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,22.20
$XPDR_PINGS,38
$24V_AH,23.5,27.582
$10V_AH,10.4,24.187
$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,28.275,108.125,369.625,246.300,0.000,153.253,296.610,0.000,9.500,0.000,12.171,973.285,6548.042,708.869,1822.040,712.874,33.365,1382.124,0.000,1832.175,0.000,0.536,0.000
$DEVICE_MAMPS,226.265,150.332,915.031,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.234,269.073,376.628,725.298,1096.977,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,38298,486
$CAP_FILE_SIZE,96991,0
$CFSIZE,260165632,170676224
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060611,234121,2247.947,-15757.995,10,3.3,29,10.1