version: 66.06
glider: 146
mission: 6
dive: 344
start: 6 21 111 22 22 50
data:
$ID,146
$MISSION,6
$DIVE,344
$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,380
$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,-276282.34
$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,3165
$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,1890
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,55
$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,3010
$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
$GPS1,221254,2250.567,-15757.478,30,1.4,47,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.6
$GPS2,222156,2250.692,-15757.519,14,1.7,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.146,-0.184
$KALMAN_X,-210905.7,-274.9,-9.7,209959.4,-759.4
$KALMAN_Y,-23997.6,253.7,175.3,36133.2,827.9
$MHEAD_RNG_PITCHd_Wd,131.4,1557,-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,17,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-69.53,0.000,2,0.000,0.000,475,1868,3189,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.2,-5.2,9,117,12.15,2.58,-5.85,0.000,4,0.141,0.056,2853,319,3489,0,0,0,0,0,0
$GC,210,-1.22,-116.8,29.4,-18.9,25,218,0.17,2.45,0.00,0.000,6,0.104,0.015,2894,1901,3490,0,0,0,0,0,0
$GC,476,-1.15,-116.8,71.4,-15.3,50,481,0.00,2.42,0.00,0.000,4,0.000,0.025,2894,3448,3491,0,0,0,0,0,0
$GC,522,-1.15,-116.8,78.4,-13.9,53,526,0.00,2.47,0.00,0.000,6,0.000,0.026,2894,1904,3492,0,0,0,0,0,0
$GC,789,-1.15,-116.8,112.7,-12.4,77,794,0.00,2.45,0.00,0.000,4,0.000,0.026,2894,3447,3492,0,0,0,0,0,0
$GC,853,-1.21,-116.8,120.6,-10.9,82,858,0.00,2.42,0.00,0.000,6,0.000,0.025,2894,1915,3492,0,0,0,0,0,0
$GC,1118,-1.25,-116.8,148.0,-11.0,106,1122,0.00,2.40,0.00,0.000,4,0.000,0.032,2894,3445,3493,0,0,0,0,0,0
$GC,1175,-1.34,-116.8,154.5,-10.4,110,1181,0.00,2.40,0.00,0.000,6,0.000,0.023,2894,1925,3493,0,0,0,0,0,0
$GC,1440,-1.40,-116.8,181.0,-9.6,135,1449,0.15,0.00,0.00,0.000,6,0.063,0.000,2841,1925,3494,0,0,0,0,0,0
$GC,1727,-1.40,-116.8,213.1,-10.7,154,1731,0.00,2.38,0.00,0.000,4,0.000,0.031,2841,3444,3494,0,0,0,0,0,0
$GC,1789,-1.40,-116.8,219.7,-10.3,155,1793,0.00,2.38,0.00,0.000,6,0.000,0.029,2841,1935,3494,0,0,0,0,0,0
$GC,2055,-1.40,-116.8,246.5,-10.1,162,2059,0.00,2.40,0.00,0.000,4,0.000,0.035,2841,3445,3494,0,0,0,0,0,0
$GC,2070,-1.40,-116.8,248.3,-10.3,162,2074,0.00,2.40,0.00,0.000,6,0.000,0.030,2841,1928,3493,0,0,0,0,0,0
$GC,2339,-1.40,-116.8,276.6,-11.2,169,2342,0.00,2.42,0.00,0.000,4,0.000,0.034,2841,3449,3493,0,0,0,0,0,0
$GC,2388,-1.40,-116.8,282.2,-10.6,170,2393,0.00,2.40,0.00,0.000,6,0.000,0.031,2841,1937,3494,0,0,0,0,0,0
$GC,2672,-1.40,-116.8,312.2,-10.6,177,2676,0.00,2.42,0.00,0.000,4,0.000,0.033,2841,3445,3494,0,0,0,0,0,0
$GC,2804,-1.45,-116.8,325.9,-9.6,179,2809,0.00,2.42,0.00,0.000,6,0.000,0.031,2841,1949,3494,0,0,0,0,0,0
$GC,3054,-1.45,-116.8,349.6,-9.4,186,3058,0.00,2.42,0.00,0.000,4,0.000,0.035,2841,3445,3492,0,0,0,0,0,0
$GC,3087,-1.51,-116.8,352.9,-9.5,186,3093,0.00,2.42,0.00,0.000,6,0.000,0.036,2841,1966,3492,0,0,0,0,0,0
$GC,3339,-1.55,-116.8,376.7,-9.7,193,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1966,3491,0,0,0,0,0,0
$GC,3581,-1.59,-116.8,401.1,-10.0,199,3586,0.10,2.42,0.00,0.000,4,0.084,0.048,2805,3434,3490,0,0,0,0,0,0
$GC,3602,-1.59,-116.8,403.6,-10.6,199,3606,0.00,2.45,0.00,0.000,6,0.000,0.048,2804,1970,3490,0,0,0,0,0,0
$GC,3859,-1.59,-116.8,432.8,-11.7,206,3864,0.00,2.40,0.00,0.000,4,0.000,0.052,2804,3432,3488,0,0,0,0,0,0
$GC,3965,-1.59,-116.8,444.9,-10.4,208,3969,0.00,2.45,0.00,0.000,6,0.000,0.054,2805,1987,3488,0,0,0,0,0,0
$GC,4227,-1.59,-116.8,473.6,-11.3,215,4231,0.00,3.12,0.00,0.000,4,0.000,0.109,2804,318,3486,0,0,0,0,0,0
$GC,4244,-1.59,-116.8,475.5,-11.2,215,4248,0.00,2.62,0.00,0.000,6,0.000,0.040,2804,1931,3486,0,0,0,0,0,0
$STATE,4502,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4502,begin apogee
$GC,4508,-0.31,0.0,503.9,10.9,222,4609,1.27,0.00,97.28,0.916,6,0.079,0.000,3093,2005,3010,0,0,0,0,0,0
$STATE,4610,end apogee,CONTROL_FINISHED_OK
$STATE,4610,begin climb
$GC,4612,1.38,116.8,506.8,0.0,224,4717,1.55,0.00,99.93,0.892,6,0.041,0.000,3469,2005,2533,0,0,0,0,0,0
$GC,4941,1.28,136.1,489.2,8.9,232,4966,0.12,2.83,16.38,0.831,4,0.126,0.067,3445,3569,2454,0,0,0,0,0,0
$GC,5014,1.21,143.0,482.3,9.6,233,5030,0.00,2.67,7.35,0.724,6,0.000,0.049,3445,2002,2427,0,0,0,0,0,0
$GC,5274,1.16,155.8,457.2,9.3,240,5290,0.12,0.00,12.52,0.807,6,0.125,0.000,3419,2002,2374,0,0,0,0,0,0
$GC,5518,1.18,176.8,435.7,8.8,246,5543,0.00,3.00,19.58,0.835,4,0.000,0.097,3419,410,2287,0,0,0,0,0,0
$GC,5567,1.15,191.9,431.5,9.2,247,5587,0.00,2.58,14.82,0.806,6,0.000,0.027,3418,1990,2227,0,0,0,0,0,0
$GC,5837,1.19,226.3,409.2,8.1,254,5874,0.00,2.67,30.92,0.841,4,0.000,0.049,3419,3574,2086,0,0,0,0,0,0
$GC,5903,1.23,255.6,404.0,8.3,254,5937,0.00,2.65,27.62,0.823,6,0.000,0.045,3419,1993,1966,0,0,0,0,0,0
$GC,6208,1.28,262.2,375.3,9.7,262,6222,0.10,2.85,6.03,0.659,4,0.097,0.080,3446,403,1939,0,0,0,0,0,0
$GC,6246,1.23,262.2,370.7,12.7,262,6252,0.00,2.58,0.00,0.000,6,0.000,0.025,3446,2009,1938,0,0,0,0,0,0
$GC,6496,1.23,262.2,343.6,10.5,269,6500,0.00,2.78,0.00,0.000,4,0.000,0.067,3446,407,1936,0,0,0,0,0,0
$GC,6551,1.23,262.2,337.4,11.2,270,6555,0.00,2.50,0.00,0.000,6,0.000,0.019,3446,1983,1935,0,0,0,0,0,0
$GC,6819,1.23,262.2,309.5,10.5,277,6820,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1983,1935,0,0,0,0,0,0
$GC,7061,1.23,263.2,284.8,10.0,283,7065,0.00,2.70,0.00,0.000,4,0.000,0.058,3446,406,1933,0,0,0,0,0,0
$GC,7093,1.23,263.2,281.2,11.1,283,7099,0.00,2.47,0.00,0.000,6,0.000,0.025,3447,1973,1932,0,0,0,0,0,0
$GC,7343,1.23,263.2,256.3,10.1,290,7347,0.00,2.60,0.00,0.000,4,0.000,0.038,3446,3565,1932,0,0,0,0,0,0
$GC,7376,1.23,263.2,252.7,11.1,290,7382,0.00,2.62,0.00,0.000,6,0.000,0.037,3446,1961,1930,0,0,0,0,0,0
$GC,7626,1.23,263.2,226.4,10.7,297,7630,0.00,2.65,0.00,0.000,4,0.000,0.068,3446,412,1930,0,0,0,0,0,0
$GC,7658,1.23,263.2,222.8,10.7,297,7664,0.00,2.45,0.00,0.000,6,0.000,0.021,3447,1969,1930,0,0,0,0,0,0
$GC,7910,1.32,296.5,201.7,8.1,304,7942,0.00,0.00,29.65,0.704,6,0.000,0.000,3447,1969,1800,0,0,0,0,0,0
$GC,8167,1.37,296.5,177.6,10.8,325,8171,0.00,2.65,0.00,0.000,4,0.000,0.060,3446,413,1796,0,0,0,0,0,0
$GC,8220,1.37,296.5,170.6,12.9,329,8224,0.00,2.42,0.00,0.000,6,0.000,0.025,3447,1960,1796,0,0,0,0,0,0
$GC,8488,1.43,296.5,141.4,11.6,353,8493,0.12,2.62,0.00,0.000,4,0.080,0.052,3481,404,1795,0,0,0,0,0,0
$GC,8522,1.43,296.5,136.5,14.4,355,8526,0.00,2.42,0.00,0.000,6,0.000,0.018,3481,1958,1795,0,0,0,0,0,0
$GC,8790,1.44,301.7,105.0,9.7,379,8797,0.00,0.00,5.07,0.479,6,0.000,0.000,3481,1958,1781,0,0,0,0,0,0
$GC,9054,1.54,346.1,83.3,7.5,404,9103,0.00,0.00,39.42,0.596,6,0.000,0.000,3481,1958,1598,0,0,0,0,0,0
$GC,9360,1.62,346.1,53.1,10.0,433,9365,0.15,2.60,0.00,0.000,4,0.067,0.054,3524,409,1595,0,0,0,0,0,0
$GC,9433,1.58,346.1,44.0,13.6,438,9437,0.00,2.42,0.00,0.000,6,0.000,0.019,3524,1964,1594,0,0,0,0,0,0
$GC,9743,1.58,346.1,5.5,11.8,476,9752,0.00,2.62,0.00,0.000,4,0.000,0.055,3524,411,1594,0,0,0,0,0,0
$STATE,9760,end climb,SURFACE_DEPTH_REACHED
$STATE,9760,begin surface coast
$FINISH,0.5,0.976555
$STATE,9802,end surface coast,CONTROL_FINISHED_OK
$STATE,9802,begin surface
$SM_CCo,9828,28.40,0.517,0,0,1460,380.21
$SM_GC,1.20,0.00,0.00,28.40,0.000,0.000,0.517,478,1965,1460,-12.36,2.12,380.21
$IRIDIUM_FIX,2244.02,-15759.32,140900,191921
$TT8_MAMPS,0.026078
$HUMID,63.78
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.50
$XPDR_PINGS,42
$24V_AH,23.5,43.340
$10V_AH,10.3,38.026
$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,28.450,121.950,406.575,28.400,0.000,28.293,39.090,340.898,10.500,0.000,15.763,985.164,6393.920,513.627,1809.143,698.663,33.367,1191.064,0.000,1819.315,0.000,0.535,0.000
$DEVICE_MAMPS,141.128,111.215,915.798,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,327.533,269.590,369.410,691.510,1046.229,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,38244,484
$CAP_FILE_SIZE,104718,0
$CFSIZE,260165632,164184064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220611,010816,2250.383,-15757.093,8,99.0,27,10.1