version: 66.06
glider: 146
mission: 6
dive: 477
start: 7 8 111 6 7 52
data:
$ID,146
$MISSION,6
$DIVE,477
$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,100
$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,-279664.31
$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,3175
$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,2010
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,32
$R_STBD_OVSHOOT,62
$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
$GPS1,054620,2250.278,-15801.451,36,1.6,36,10.1
$_CALLS,4
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-68.6
$GPS2,060700,2250.255,-15801.700,13,99.0,32,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.209,-0.054
$KALMAN_X,-382891.7,-226.8,-95.4,374841.7,-708.1
$KALMAN_Y,140528.5,299.9,-348.1,-128714.5,452.3
$MHEAD_RNG_PITCHd_Wd,94.3,8037,-21.8,-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,-1.48,-97.3,0.0,0.0,0,89,0.00,0.00,-69.57,0.000,2,0.000,0.000,474,1997,3280,0,0,0,0,0,0
$GC,92,-1.48,-97.3,4.3,-8.5,9,118,12.20,2.62,-2.33,0.000,4,0.143,0.054,2844,432,3410,0,0,0,0,0,0
$GC,169,-1.37,-97.3,24.5,-20.0,19,179,0.10,2.45,0.00,0.000,6,0.272,0.015,2868,2025,3410,0,0,0,0,0,0
$GC,510,-1.37,-97.3,76.5,-15.6,52,514,0.00,2.42,0.00,0.000,4,0.000,0.026,2868,3556,3411,0,0,0,0,0,0
$GC,556,-1.37,-97.3,83.5,-14.6,55,560,0.00,2.42,0.00,0.000,6,0.000,0.022,2868,2002,3411,0,0,0,0,0,0
$GC,884,-1.37,-97.3,126.6,-11.7,85,889,0.00,2.47,0.00,0.000,4,0.000,0.033,2868,3557,3411,0,0,0,0,0,0
$GC,901,-1.37,-97.3,129.1,-12.0,86,906,0.00,2.42,0.00,0.000,6,0.000,0.028,2868,2010,3411,0,0,0,0,0,0
$GC,1226,-1.42,-97.3,168.7,-11.7,116,1231,0.00,2.47,0.00,0.000,4,0.000,0.035,2868,3561,3412,0,0,0,0,0,0
$GC,1259,-1.48,-97.3,171.8,-11.3,118,1263,0.00,2.40,0.00,0.000,6,0.000,0.027,2868,2011,3412,0,0,0,0,0,0
$GC,1605,-1.56,-97.3,207.1,-8.7,144,1610,0.15,2.50,0.00,0.000,4,0.057,0.032,2808,3567,3413,0,0,0,0,0,0
$GC,1627,-1.56,-97.3,209.7,-9.8,144,1632,0.12,2.40,0.00,0.000,6,0.104,0.021,2835,2016,3413,0,0,0,0,0,0
$GC,1963,-1.56,-97.3,240.8,-9.5,153,1968,0.00,2.45,0.00,0.000,4,0.000,0.036,2835,3554,3413,0,0,0,0,0,0
$GC,2014,-1.62,-97.3,246.3,-10.9,154,2018,0.00,2.38,0.00,0.000,6,0.000,0.021,2835,2028,3413,0,0,0,0,0,0
$GC,2326,-1.68,-97.3,279.6,-10.4,162,2331,0.10,2.47,0.00,0.000,4,0.084,0.031,2796,3555,3413,0,0,0,0,0,0
$GC,2439,-1.68,-97.3,293.2,-12.4,164,2443,0.00,2.42,0.00,0.000,6,0.000,0.027,2796,2043,3413,0,0,0,0,0,0
$GC,2775,-1.68,-97.3,326.3,-8.8,173,2780,0.00,2.80,0.00,0.000,4,0.000,0.075,2796,429,3412,0,0,0,0,0,0
$GC,2797,-1.68,-97.3,328.2,-8.3,173,2801,0.00,2.47,0.00,0.000,6,0.000,0.027,2796,2004,3412,0,0,0,0,0,0
$GC,3135,-1.68,-97.3,356.0,-8.4,182,3139,0.00,2.60,0.00,0.000,4,0.000,0.046,2795,3582,3411,0,0,0,0,0,0
$GC,3178,-1.68,-97.3,360.5,-9.7,183,3183,0.00,2.53,0.00,0.000,6,0.000,0.041,2796,2041,3411,0,0,0,0,0,0
$GC,3497,-1.68,-97.3,397.5,-12.4,191,3501,0.00,2.55,0.00,0.000,4,0.000,0.053,2796,3577,3409,0,0,0,0,0,0
$GC,3650,-1.68,-97.3,416.2,-12.2,194,3655,0.00,2.58,0.00,0.000,6,0.000,0.050,2796,2050,3408,0,0,0,0,0,0
$GC,3993,-1.68,-97.3,452.1,-9.3,203,3998,0.00,2.97,0.00,0.000,4,0.000,0.105,2795,418,3405,0,0,0,0,0,0
$GC,4016,-1.68,-97.3,454.2,-9.3,203,4020,0.00,2.62,0.00,0.000,6,0.000,0.035,2796,2033,3405,0,0,0,0,0,0
$GC,4352,-1.68,-97.3,485.3,-9.3,212,4353,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2033,3402,0,0,0,0,0,0
$STATE,4512,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4512,begin apogee
$GC,4518,-0.31,0.0,501.6,10.0,216,4602,1.38,0.00,80.50,0.901,6,0.078,0.000,3107,1973,3010,0,0,0,0,0,0
$STATE,4603,end apogee,CONTROL_FINISHED_OK
$STATE,4603,begin climb
$GC,4607,1.48,97.3,503.9,0.0,218,4695,1.62,0.00,83.07,0.879,6,0.038,0.000,3505,1973,2613,0,0,0,0,0,0
$GC,5016,1.43,165.6,489.1,5.3,228,5077,0.00,0.00,59.22,0.871,6,0.000,0.000,3505,1973,2335,0,0,0,0,0,0
$GC,5380,1.33,165.6,454.2,10.5,237,5386,0.20,2.78,0.00,0.000,4,0.114,0.075,3465,421,2326,0,0,0,0,0,0
$GC,5436,1.24,165.6,447.9,10.8,238,5441,0.00,2.55,0.00,0.000,6,0.000,0.028,3465,1998,2324,0,0,0,0,0,0
$GC,5784,1.27,193.0,417.3,8.1,247,5814,0.00,2.85,23.62,0.828,4,0.000,0.069,3465,414,2222,0,0,0,0,0,0
$GC,5866,1.21,193.0,409.4,11.0,248,5873,0.12,2.55,0.00,0.000,6,0.132,0.024,3441,2001,2219,0,0,0,0,0,0
$GC,6198,1.28,218.7,380.8,8.3,257,6227,0.00,2.67,23.40,0.813,4,0.000,0.046,3441,3560,2118,0,0,0,0,0,0
$GC,6252,1.34,228.7,376.1,9.3,258,6268,0.12,2.60,10.25,0.739,6,0.087,0.037,3472,1990,2077,0,0,0,0,0,0
$GC,6605,1.34,228.7,333.6,12.6,267,6606,0.00,0.00,0.00,0.000,6,0.000,0.000,3472,1990,2071,0,0,0,0,0,0
$GC,6932,1.34,228.7,293.9,11.3,275,6936,0.00,2.75,0.00,0.000,4,0.000,0.067,3472,404,2069,0,0,0,0,0,0
$GC,7031,1.34,228.7,282.3,11.5,277,7036,0.00,2.53,0.00,0.000,6,0.000,0.021,3472,2002,2068,0,0,0,0,0,0
$GC,7380,1.42,255.6,251.6,8.2,286,7410,0.00,2.62,23.55,0.730,4,0.000,0.036,3472,3556,1968,0,0,0,0,0,0
$GC,7446,1.51,270.4,245.7,9.0,287,7468,0.12,2.60,14.45,0.693,6,0.078,0.034,3507,1974,1906,0,0,0,0,0,0
$GC,7792,1.51,270.4,206.7,11.6,296,7797,0.00,2.67,0.00,0.000,4,0.000,0.067,3507,404,1902,0,0,0,0,0,0
$GC,7820,1.51,270.4,203.1,13.8,296,7825,0.00,2.50,0.00,0.000,6,0.000,0.024,3507,1994,1900,0,0,0,0,0,0
$GC,8143,1.52,283.3,168.4,9.1,323,8167,0.00,2.72,11.48,0.624,4,0.000,0.051,3507,403,1854,0,0,0,0,0,0
$GC,8185,1.52,283.3,164.2,10.4,326,8191,0.00,2.50,0.00,0.000,6,0.000,0.020,3507,1996,1854,0,0,0,0,0,0
$GC,8514,1.59,292.1,134.2,9.4,357,8529,0.00,2.70,9.02,0.572,4,0.000,0.054,3507,406,1818,0,0,0,0,0,0
$GC,8578,1.59,292.1,127.0,10.8,362,8587,0.00,2.45,0.00,0.000,6,0.000,0.021,3507,1959,1816,0,0,0,0,0,0
$GC,8907,1.69,301.4,95.8,9.4,393,8923,0.15,2.65,9.27,0.538,4,0.068,0.051,3549,404,1780,0,0,0,0,0,0
$GC,8996,1.69,301.4,85.6,11.8,400,9000,0.00,2.40,0.00,0.000,6,0.000,0.018,3549,1966,1779,0,0,0,0,0,0
$GC,9324,1.69,301.4,52.4,10.7,430,9328,0.00,2.60,0.00,0.000,4,0.000,0.048,3549,410,1779,0,0,0,0,0,0
$GC,9360,1.65,301.4,48.3,11.5,432,9369,0.00,2.40,0.00,0.000,6,0.000,0.017,3549,1949,1779,0,0,0,0,0,0
$GC,9733,1.65,301.4,12.7,11.7,477,9742,0.00,2.58,0.00,0.000,4,0.000,0.044,3549,406,1779,0,0,0,0,0,0
$STATE,9811,end climb,SURFACE_DEPTH_REACHED
$STATE,9811,begin surface coast
$FINISH,3.0,0.980025
$STATE,9819,end surface coast,CONTROL_FINISHED_OK
$STATE,9820,begin surface
$SM_CCo,9846,64.40,0.509,0,0,1460,380.21
$SM_GC,1.46,0.00,0.00,64.40,0.000,0.000,0.509,476,2009,1460,-12.42,-0.03,380.21
$IRIDIUM_FIX,2244.02,-15759.32,011000,060633
$TT8_MAMPS,0.025311
$HUMID,63.58
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,21.00
$XPDR_PINGS,45
$24V_AH,23.5,59.208
$10V_AH,10.1,53.016
$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,29.225,112.750,347.850,64.400,0.000,110.610,150.400,614.037,11.250,0.000,36.618,969.757,6668.800,490.504,1848.816,1172.021,33.374,1140.803,0.000,1832.807,0.000,0.535,0.000
$DEVICE_MAMPS,271.518,111.982,901.225,509.288,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.593,265.429,373.427,709.377,1072.878,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355760
$DATA_FILE_SIZE,38403,489
$CAP_FILE_SIZE,105819,0
$CFSIZE,260165632,157196288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080711,085528,2249.987,-15801.176,84,99.0,103,10.1