version: 66.06
glider: 146
mission: 6
dive: 506
start: 7 11 111 23 0 5
data:
$ID,146
$MISSION,6
$DIVE,506
$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,-280578.41
$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,20
$R_STBD_OVSHOOT,86
$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
$GPS1,224601,2249.832,-15801.465,79,1.4,79,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-72.1
$GPS2,225913,2249.960,-15801.644,12,1.3,12,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.137,-0.167
$KALMAN_X,-426459.2,-69.3,-108.9,418366.6,-1120.8
$KALMAN_Y,164988.9,-546.7,-396.7,-152828.4,1664.5
$MHEAD_RNG_PITCHd_Wd,130.6,7926,-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,15,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-70.32,0.000,2,0.000,0.000,474,2040,3260,0,0,0,0,0,0
$GC,93,-1.48,-97.3,3.7,-6.2,9,119,12.40,2.75,-2.72,0.000,4,0.150,0.062,2841,420,3411,0,0,0,0,0,0
$GC,150,-1.32,-97.3,19.7,-19.4,16,158,0.17,2.42,0.00,0.000,6,0.100,0.022,2883,1986,3412,0,0,0,0,0,0
$GC,493,-1.32,-97.3,65.8,-13.5,52,498,0.00,2.50,0.00,0.000,4,0.000,0.033,2883,3565,3412,0,0,0,0,0,0
$GC,527,-1.32,-97.3,70.8,-13.9,54,532,0.00,2.50,0.00,0.000,6,0.000,0.023,2883,1990,3412,0,0,0,0,0,0
$GC,854,-1.36,-97.3,112.5,-11.0,84,858,0.00,2.50,0.00,0.000,4,0.000,0.031,2883,3558,3412,0,0,0,0,0,0
$GC,874,-1.42,-97.3,114.5,-11.2,85,879,0.00,2.42,0.00,0.000,6,0.000,0.021,2883,2015,3412,0,0,0,0,0,0
$GC,1206,-1.50,-97.3,148.8,-9.9,115,1211,0.15,0.00,0.00,0.000,6,0.062,0.000,2832,2015,3413,0,0,0,0,0,0
$GC,1530,-1.50,-97.3,187.1,-11.4,146,1531,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2015,3413,0,0,0,0,0,0
$GC,1850,-1.50,-97.3,221.1,-10.2,162,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2015,3414,0,0,0,0,0,0
$GC,2177,-1.50,-97.3,253.5,-10.0,170,2181,0.00,2.50,0.00,0.000,4,0.000,0.030,2832,3563,3414,0,0,0,0,0,0
$GC,2277,-1.59,-97.3,263.6,-9.3,172,2282,0.00,2.42,0.00,0.000,6,0.000,0.028,2831,2024,3414,0,0,0,0,0,0
$GC,2628,-1.64,-97.3,293.9,-8.6,181,2632,0.00,2.45,0.00,0.000,4,0.000,0.031,2832,3558,3414,0,0,0,0,0,0
$GC,2678,-1.73,-97.3,298.7,-9.2,182,2683,0.15,2.42,0.00,0.000,6,0.058,0.028,2770,2039,3414,0,0,0,0,0,0
$GC,2992,-1.69,-97.3,333.1,-11.1,190,2997,0.17,2.45,0.00,0.000,4,0.097,0.041,2807,3551,3414,0,0,0,0,0,0
$GC,3061,-1.74,-97.3,340.0,-9.4,191,3066,0.00,2.45,0.00,0.000,6,0.000,0.038,2808,2051,3414,0,0,0,0,0,0
$GC,3398,-1.78,-97.3,369.9,-8.8,200,3399,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,2051,3413,0,0,0,0,0,0
$GC,3724,-1.82,-97.3,401.0,-10.0,208,3730,0.12,2.97,0.00,0.000,4,0.077,0.097,2768,421,3411,0,0,0,0,0,0
$GC,3765,-1.75,-97.3,405.9,-12.5,209,3770,0.12,2.55,0.00,0.000,6,0.113,0.034,2794,2004,3410,0,0,0,0,0,0
$GC,4091,-1.75,-97.3,439.7,-9.8,217,4095,0.00,2.70,0.00,0.000,4,0.000,0.059,2794,3597,3409,0,0,0,0,0,0
$GC,4118,-1.79,-97.3,442.6,-9.8,217,4123,0.00,2.60,0.00,0.000,6,0.000,0.051,2794,2052,3408,0,0,0,0,0,0
$GC,4449,-1.79,-97.3,474.6,-9.6,225,4450,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2052,3405,0,0,0,0,0,0
$STATE,4731,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4731,begin apogee
$GC,4739,-0.31,0.0,500.8,9.1,232,4824,1.38,0.00,81.25,0.911,6,0.077,0.000,3105,1985,3010,0,0,0,0,0,0
$STATE,4824,end apogee,CONTROL_FINISHED_OK
$STATE,4825,begin climb
$GC,4827,1.48,97.3,502.4,0.0,234,4915,1.65,0.00,83.68,0.889,6,0.038,0.000,3506,1985,2613,0,0,0,0,0,0
$GC,5219,1.41,152.0,483.9,6.3,244,5274,0.12,2.80,46.97,0.876,4,0.129,0.051,3483,3574,2389,0,0,0,0,0,0
$GC,5331,1.35,161.3,475.0,9.4,246,5348,0.00,2.72,9.30,0.760,6,0.000,0.048,3483,1988,2352,0,0,0,0,0,0
$GC,5675,1.30,172.2,443.7,9.3,255,5687,0.12,0.00,10.18,0.776,6,0.131,0.000,3459,1987,2308,0,0,0,0,0,0
$GC,5998,1.32,188.0,414.1,8.9,263,6016,0.00,0.00,15.32,0.811,6,0.000,0.000,3459,1987,2243,0,0,0,0,0,0
$GC,6326,1.34,210.2,385.7,8.5,271,6351,0.00,2.92,20.23,0.818,4,0.000,0.092,3459,399,2153,0,0,0,0,0,0
$GC,6423,1.31,213.5,376.9,9.8,273,6432,0.00,2.58,4.38,0.570,6,0.000,0.028,3459,2004,2138,0,0,0,0,0,0
$GC,6775,1.33,230.1,345.4,8.9,282,6796,0.00,2.80,15.93,0.784,4,0.000,0.062,3459,403,2071,0,0,0,0,0,0
$GC,6865,1.33,230.1,336.1,11.0,284,6870,0.00,2.53,0.00,0.000,6,0.000,0.025,3459,1984,2068,0,0,0,0,0,0
$GC,7184,1.38,231.0,304.3,10.0,292,7189,0.00,2.58,0.00,0.000,4,0.000,0.038,3459,3571,2066,0,0,0,0,0,0
$GC,7253,1.46,239.0,297.6,9.5,293,7269,0.15,2.60,8.73,0.705,6,0.077,0.033,3497,1989,2034,0,0,0,0,0,0
$GC,7594,1.47,249.5,265.4,9.3,302,7607,0.00,0.00,10.68,0.706,6,0.000,0.000,3498,1989,1992,0,0,0,0,0,0
$GC,7919,1.47,249.5,232.0,10.2,310,7923,0.00,2.72,0.00,0.000,4,0.000,0.062,3498,403,1988,0,0,0,0,0,0
$GC,7964,1.44,249.5,227.7,10.1,311,7969,0.00,2.53,0.00,0.000,6,0.000,0.024,3498,2012,1987,0,0,0,0,0,0
$GC,8282,1.44,254.5,198.0,9.7,319,8294,0.00,2.72,5.50,0.556,4,0.000,0.053,3498,407,1971,0,0,0,0,0,0
$GC,8321,1.44,254.5,194.4,11.3,322,8325,0.00,2.47,0.00,0.000,6,0.000,0.018,3498,1989,1969,0,0,0,0,0,0
$GC,8649,1.46,273.4,162.3,8.7,352,8673,0.00,2.75,17.88,0.644,4,0.000,0.058,3498,413,1894,0,0,0,0,0,0
$GC,8758,1.47,279.0,151.8,9.7,361,8770,0.00,2.45,6.32,0.537,6,0.000,0.018,3498,1975,1872,0,0,0,0,0,0
$GC,9088,1.58,306.7,122.9,8.1,392,9126,0.00,2.75,25.17,0.613,4,0.000,0.051,3498,404,1757,0,0,0,0,0,0
$GC,9155,1.58,309.4,117.7,9.9,397,9160,0.00,2.47,0.00,0.000,6,0.000,0.023,3498,1984,1756,0,0,0,0,0,0
$GC,9486,1.69,316.1,87.7,9.6,427,9501,0.20,2.70,9.32,0.530,4,0.060,0.054,3552,401,1719,0,0,0,0,0,0
$GC,9593,1.65,316.1,75.1,11.9,435,9597,0.00,2.45,0.00,0.000,6,0.000,0.022,3551,1975,1718,0,0,0,0,0,0
$GC,9923,1.65,316.1,39.3,10.5,465,9927,0.00,2.60,0.00,0.000,4,0.000,0.048,3552,408,1718,0,0,0,0,0,0
$GC,9959,1.61,316.1,34.4,11.8,467,9969,0.10,2.42,0.00,0.000,6,0.092,0.017,3527,1962,1718,0,0,0,0,0,0
$STATE,10271,end climb,SURFACE_DEPTH_REACHED
$STATE,10271,begin surface coast
$FINISH,0.6,0.979953
$STATE,10327,end surface coast,CONTROL_FINISHED_OK
$STATE,10327,begin surface
$SM_CCo,10351,53.35,0.512,0,0,1459,380.21
$SM_GC,1.30,0.00,0.00,53.35,0.000,0.000,0.512,473,1964,1459,-12.43,-1.30,380.21
$IRIDIUM_FIX,2239.35,-15802.37,041000,222258
$TT8_MAMPS,0.026078
$HUMID,65.08
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,20.60
$XPDR_PINGS,48
$24V_AH,23.4,62.794
$10V_AH,10.0,56.424
$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,29.450,93.325,370.825,53.350,0.000,52.780,75.579,451.955,12.000,0.000,14.007,1011.780,6938.367,483.602,1887.760,873.833,33.372,1137.956,0.000,1897.801,0.000,0.535,0.000
$DEVICE_MAMPS,150.332,134.992,911.196,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,351.197,289.928,397.072,753.245,1139.266,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355724
$DATA_FILE_SIZE,41468,518
$CAP_FILE_SIZE,101577,0
$CFSIZE,260165632,155688960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120711,015436,2249.887,-15801.528,9,1.8,25,10.1