version: 66.06
glider: 146
mission: 6
dive: 223
start: 6 7 111 2 53 4
data:
$ID,146
$MISSION,6
$DIVE,223
$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,-273099.59
$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,39
$R_STBD_OVSHOOT,60
$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
$GPS1,023700,2247.010,-15758.045,37,1.6,42,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.9
$GPS2,025208,2247.082,-15758.036,13,1.8,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.228,-0.056
$KALMAN_X,-89210.4,-391.8,71.8,87416.3,-191.0
$KALMAN_Y,-97033.9,-133.7,76.2,102981.1,513.1
$MHEAD_RNG_PITCHd_Wd,246.1,8477,-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,-116.8,0.0,0.0,0,89,0.00,0.00,-70.97,0.000,2,0.000,0.000,473,1814,3264,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.3,-5.7,9,118,12.25,2.60,-4.43,0.000,4,0.148,0.058,2841,270,3498,0,0,0,0,0,0
$GC,320,-1.20,-116.8,52.3,-20.2,34,325,0.22,2.38,0.00,0.000,6,0.121,0.014,2888,1865,3500,0,0,0,0,0,0
$GC,582,-1.20,-116.8,90.1,-12.7,58,586,0.00,2.33,0.00,0.000,4,0.000,0.026,2888,3367,3501,0,0,0,0,0,0
$GC,641,-1.27,-116.8,97.3,-11.3,62,651,0.00,2.45,0.00,0.000,6,0.000,0.032,2888,1839,3500,0,0,0,0,0,0
$GC,905,-1.27,-116.8,127.3,-11.0,87,910,0.00,2.38,0.00,0.000,4,0.000,0.025,2888,3368,3502,0,0,0,0,0,0
$GC,929,-1.31,-116.8,130.3,-10.9,88,937,0.00,2.42,0.00,0.000,6,0.000,0.025,2888,1846,3502,0,0,0,0,0,0
$GC,1191,-1.35,-116.8,160.1,-11.1,113,1193,0.12,0.00,0.00,0.000,6,0.071,0.000,2840,1846,3502,0,0,0,0,0,0
$GC,1445,-1.35,-116.8,192.5,-13.4,137,1450,0.00,2.67,0.00,0.000,4,0.000,0.061,2841,252,3503,0,0,0,0,0,0
$GC,1478,-1.28,-116.8,196.4,-13.8,139,1483,0.15,2.40,0.00,0.000,6,0.107,0.021,2873,1852,3503,0,0,0,0,0,0
$GC,1750,-1.33,-116.8,228.1,-10.9,147,1753,0.00,2.35,0.00,0.000,4,0.000,0.034,2873,3367,3503,0,0,0,0,0,0
$GC,1790,-1.41,-116.8,232.5,-10.9,147,1796,0.10,2.40,0.00,0.000,6,0.084,0.029,2832,1853,3503,0,0,0,0,0,0
$GC,2039,-1.41,-116.8,262.1,-11.7,154,2044,0.00,2.72,0.00,0.000,4,0.000,0.073,2832,258,3503,0,0,0,0,0,0
$GC,2083,-1.36,-116.8,267.8,-13.3,155,2088,0.12,2.40,0.00,0.000,6,0.115,0.018,2858,1831,3503,0,0,0,0,0,0
$GC,2362,-1.41,-116.8,297.2,-10.3,162,2367,0.00,2.70,0.00,0.000,4,0.000,0.069,2858,258,3503,0,0,0,0,0,0
$GC,2383,-1.41,-116.8,299.6,-10.2,162,2388,0.00,2.47,0.00,0.000,6,0.000,0.024,2858,1847,3503,0,0,0,0,0,0
$GC,2645,-1.47,-116.8,322.8,-8.8,169,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1848,3502,0,0,0,0,0,0
$GC,2891,-1.53,-116.8,344.7,-9.1,175,2896,0.15,2.53,0.00,0.000,4,0.065,0.044,2808,3403,3501,0,0,0,0,0,0
$GC,2930,-1.53,-116.8,349.4,-12.0,176,2934,0.00,2.53,0.00,0.000,6,0.000,0.044,2807,1877,3501,0,0,0,0,0,0
$GC,3213,-1.53,-116.8,383.2,-12.0,183,3217,0.00,2.50,0.00,0.000,4,0.000,0.041,2807,3405,3500,0,0,0,0,0,0
$GC,3246,-1.53,-116.8,387.4,-12.1,183,3252,0.00,2.58,0.00,0.000,6,0.000,0.056,2808,1873,3500,0,0,0,0,0,0
$GC,3496,-1.53,-116.8,417.0,-11.8,190,3500,0.00,2.50,0.00,0.000,4,0.000,0.044,2807,3398,3498,0,0,0,0,0,0
$GC,3535,-1.53,-116.8,421.7,-12.2,191,3539,0.00,2.58,0.00,0.000,6,0.000,0.055,2807,1881,3498,0,0,0,0,0,0
$GC,3819,-1.53,-116.8,454.1,-11.3,198,3824,0.00,3.05,0.00,0.000,4,0.000,0.115,2807,246,3496,0,0,0,0,0,0
$GC,3840,-1.49,-116.8,456.9,-11.3,198,3846,0.10,2.62,0.00,0.000,6,0.127,0.042,2828,1865,3496,0,0,0,0,0,0
$GC,4096,-1.49,-116.8,483.2,-10.2,205,4100,0.00,2.62,0.00,0.000,4,0.000,0.063,2828,3417,3494,0,0,0,0,0,0
$GC,4124,-1.53,-116.8,485.9,-10.1,205,4128,0.00,2.60,0.00,0.000,6,0.000,0.056,2828,1886,3494,0,0,0,0,0,0
$STATE,4290,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4290,begin apogee
$GC,4296,-0.31,0.0,502.2,9.7,209,4395,1.12,0.00,95.38,0.919,6,0.080,0.000,3083,2026,3020,0,0,0,0,0,0
$STATE,4396,end apogee,CONTROL_FINISHED_OK
$STATE,4396,begin climb
$GC,4398,1.38,116.8,504.2,0.0,211,4502,1.60,0.00,98.47,0.898,6,0.054,0.000,3461,2026,2543,0,0,0,0,0,0
$GC,4737,1.31,144.9,485.7,8.4,220,4763,0.00,0.00,23.85,0.857,6,0.000,0.000,3461,2026,2429,0,0,0,0,0,0
$GC,4981,1.25,165.0,464.5,8.9,226,5002,0.15,0.00,18.40,0.841,6,0.117,0.000,3430,2026,2347,0,0,0,0,0,0
$GC,5226,1.29,191.5,444.0,8.5,232,5255,0.00,2.62,24.02,0.852,4,0.000,0.044,3429,3564,2238,0,0,0,0,0,0
$GC,5277,1.30,204.4,439.2,9.3,233,5297,0.00,2.67,13.00,0.798,6,0.000,0.045,3430,1996,2184,0,0,0,0,0,0
$GC,5555,1.31,211.4,412.3,9.6,240,5563,0.00,0.00,6.57,0.700,6,0.000,0.000,3430,1996,2157,0,0,0,0,0,0
$GC,5843,1.31,214.5,384.6,9.9,247,5848,0.00,2.58,0.00,0.000,4,0.000,0.037,3430,3558,2153,0,0,0,0,0,0
$GC,5904,1.31,214.5,377.9,10.5,248,5909,0.00,2.60,0.00,0.000,6,0.000,0.038,3430,1991,2152,0,0,0,0,0,0
$GC,6173,1.32,222.8,351.9,9.6,255,6189,0.00,2.60,10.80,0.764,4,0.000,0.038,3429,3565,2110,0,0,0,0,0,0
$GC,6252,1.33,229.7,344.2,9.6,256,6266,0.00,2.58,7.35,0.699,6,0.000,0.033,3430,2008,2082,0,0,0,0,0,0
$GC,6546,1.36,253.7,319.1,8.7,264,6571,0.00,0.00,22.55,0.789,6,0.000,0.000,3430,2008,1985,0,0,0,0,0,0
$GC,6788,1.37,263.2,296.4,9.5,270,6800,0.10,0.00,9.30,0.706,6,0.217,0.000,3456,2008,1946,0,0,0,0,0,0
$GC,7032,1.37,263.2,271.0,10.7,276,7037,0.00,2.75,0.00,0.000,4,0.000,0.071,3457,411,1943,0,0,0,0,0,0
$GC,7073,1.33,263.2,266.3,13.1,277,7077,0.00,2.55,0.00,0.000,6,0.000,0.021,3456,2019,1942,0,0,0,0,0,0
$GC,7356,1.33,263.2,235.7,10.8,284,7360,0.00,2.72,0.00,0.000,4,0.000,0.059,3456,414,1940,0,0,0,0,0,0
$GC,7423,1.33,263.2,227.1,12.3,285,7427,0.00,2.53,0.00,0.000,6,0.000,0.026,3456,2015,1940,0,0,0,0,0,0
$GC,7680,1.33,263.2,198.2,11.2,292,7681,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,2015,1940,0,0,0,0,0,0
$GC,7939,1.33,263.2,171.6,10.9,316,7943,0.00,2.70,0.00,0.000,4,0.000,0.055,3457,408,1939,0,0,0,0,0,0
$GC,8001,1.33,263.2,163.5,12.1,321,8006,0.00,2.53,0.00,0.000,6,0.000,0.025,3456,2025,1938,0,0,0,0,0,0
$GC,8269,1.37,263.2,136.1,10.3,345,8274,0.00,2.72,0.00,0.000,4,0.000,0.058,3457,407,1938,0,0,0,0,0,0
$GC,8302,1.37,263.2,132.4,10.8,347,8307,0.00,2.50,0.00,0.000,6,0.000,0.022,3456,2015,1938,0,0,0,0,0,0
$GC,8570,1.44,289.6,107.3,8.5,371,8598,0.00,2.50,22.77,0.611,4,0.000,0.038,3456,3556,1838,0,0,0,0,0,0
$GC,8615,1.53,312.8,103.1,8.7,374,8649,0.10,2.55,20.95,0.595,6,0.048,0.035,3491,2005,1743,0,0,0,0,0,0
$GC,8904,1.53,312.8,70.0,11.6,401,8908,0.00,2.67,0.00,0.000,4,0.000,0.055,3491,411,1739,0,0,0,0,0,0
$GC,8936,1.53,312.8,66.2,11.6,403,8940,0.00,2.47,0.00,0.000,6,0.000,0.017,3491,2023,1738,0,0,0,0,0,0
$GC,9205,1.54,315.6,39.3,9.9,427,9209,0.00,2.42,0.00,0.000,4,0.000,0.029,3491,3559,1738,0,0,0,0,0,0
$GC,9307,1.59,315.6,28.0,11.1,435,9316,0.00,2.50,0.00,0.000,6,0.000,0.029,3491,2019,1737,0,0,0,0,0,0
$STATE,9524,end climb,SURFACE_DEPTH_REACHED
$STATE,9524,begin surface coast
$FINISH,0.3,0.970269
$STATE,9575,end surface coast,CONTROL_FINISHED_OK
$STATE,9575,begin surface
$SM_CCo,9597,247.07,0.512,0,0,477,623.80
$SM_GC,1.12,0.00,0.00,247.07,0.000,0.000,0.512,478,1811,477,-12.32,-0.54,623.80
$IRIDIUM_FIX,2237.01,-15757.16,310800,020214
$TT8_MAMPS,0.026078
$HUMID,56.02
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,22.00
$XPDR_PINGS,45
$24V_AH,23.5,27.850
$10V_AH,10.4,24.408
$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,28.550,113.050,373.425,247.075,0.000,137.428,400.438,0.000,11.250,0.000,17.522,971.195,6514.278,688.970,1783.060,800.846,33.370,1348.444,0.000,1786.957,0.000,0.535,0.000
$DEVICE_MAMPS,217.061,115.050,918.866,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,320.730,264.508,360.094,683.735,1034.273,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355660
$DATA_FILE_SIZE,38455,473
$CAP_FILE_SIZE,99329,0
$CFSIZE,260165632,170577920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070611,053820,2247.140,-15759.295,29,1.8,29,10.1