version: 66.06
glider: 146
mission: 6
dive: 515
start: 7 13 111 2 24 42
data:
$ID,146
$MISSION,6
$DIVE,515
$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,-280803.72
$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,61
$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
$GPS1,021424,2250.448,-15758.664,38,1.8,38,10.1
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.2
$GPS2,022350,2250.531,-15758.763,12,1.6,12,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.135,-0.168
$KALMAN_X,-438536.6,-198.8,-150.3,435525.2,-942.8
$KALMAN_Y,170703.4,235.2,-244.4,-158419.5,1546.6
$MHEAD_RNG_PITCHd_Wd,131.2,3167,-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,-69.55,0.000,2,0.000,0.000,476,2105,3220,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.4,-5.8,9,118,12.57,2.80,-3.55,0.000,4,0.156,0.048,2844,414,3406,0,0,0,0,0,0
$GC,203,-1.42,-97.3,26.5,-15.3,24,212,0.00,2.47,0.00,0.000,6,0.000,0.014,2844,2018,3408,0,0,0,0,0,0
$GC,538,-1.34,-97.3,77.7,-15.5,56,543,0.17,2.45,0.00,0.000,4,0.115,0.030,2880,3559,3408,0,0,0,0,0,0
$GC,587,-1.38,-97.3,84.4,-13.9,59,591,0.00,2.47,0.00,0.000,6,0.000,0.025,2880,1990,3409,0,0,0,0,0,0
$GC,915,-1.43,-97.3,122.9,-10.6,89,919,0.00,2.47,0.00,0.000,4,0.000,0.027,2880,3559,3409,0,0,0,0,0,0
$GC,962,-1.54,-97.3,128.2,-10.5,92,970,0.12,2.45,0.00,0.000,6,0.033,0.025,2824,2019,3410,0,0,0,0,0,0
$GC,1286,-1.54,-97.3,169.6,-12.6,123,1291,0.00,2.42,0.00,0.000,4,0.000,0.034,2824,3558,3410,0,0,0,0,0,0
$GC,1363,-1.54,-97.3,179.1,-12.8,129,1367,0.00,2.38,0.00,0.000,6,0.000,0.027,2824,2026,3410,0,0,0,0,0,0
$GC,1684,-1.54,-97.3,212.8,-10.3,150,1685,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2026,3411,0,0,0,0,0,0
$GC,2007,-1.54,-97.3,247.1,-11.0,158,2011,0.00,2.45,0.00,0.000,4,0.000,0.028,2824,3558,3411,0,0,0,0,0,0
$GC,2069,-1.60,-97.3,253.9,-10.9,159,2074,0.00,2.38,0.00,0.000,6,0.000,0.021,2824,2040,3411,0,0,0,0,0,0
$GC,2412,-1.60,-97.3,287.2,-9.3,168,2416,0.00,2.70,0.00,0.000,4,0.000,0.066,2824,436,3411,0,0,0,0,0,0
$GC,2427,-1.60,-97.3,288.6,-9.2,168,2432,0.00,2.45,0.00,0.000,6,0.000,0.018,2824,2011,3411,0,0,0,0,0,0
$GC,2772,-1.65,-97.3,321.5,-9.7,177,2776,0.00,2.55,0.00,0.000,4,0.000,0.041,2824,3579,3411,0,0,0,0,0,0
$GC,2821,-1.74,-97.3,326.8,-10.4,178,2826,0.12,2.47,0.00,0.000,6,0.070,0.031,2777,2053,3411,0,0,0,0,0,0
$GC,3135,-1.74,-97.3,361.9,-11.2,186,3140,0.00,2.50,0.00,0.000,4,0.000,0.047,2776,3575,3410,0,0,0,0,0,0
$GC,3230,-1.74,-97.3,372.7,-11.1,188,3234,0.00,2.50,0.00,0.000,6,0.000,0.044,2776,2063,3411,0,0,0,0,0,0
$GC,3543,-1.74,-97.3,405.0,-10.8,196,3548,0.00,2.50,0.00,0.000,4,0.000,0.053,2776,3578,3408,0,0,0,0,0,0
$GC,3589,-1.74,-97.3,410.2,-11.5,197,3593,0.00,2.55,0.00,0.000,6,0.000,0.054,2776,2060,3408,0,0,0,0,0,0
$GC,3907,-1.74,-97.3,446.0,-11.4,205,3911,0.00,2.55,0.00,0.000,4,0.000,0.056,2776,3579,3406,0,0,0,0,0,0
$GC,3928,-1.74,-97.3,448.6,-11.7,205,3932,0.00,2.55,0.00,0.000,6,0.000,0.058,2776,2057,3406,0,0,0,0,0,0
$GC,4266,-1.74,-97.3,486.5,-11.1,214,4270,0.00,3.08,0.00,0.000,4,0.000,0.114,2776,423,3403,0,0,0,0,0,0
$GC,4298,-1.68,-97.3,490.6,-11.9,214,4305,0.15,2.65,0.00,0.000,6,0.112,0.046,2808,2036,3403,0,0,0,0,0,0
$STATE,4424,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4424,begin apogee
$GC,4430,-0.31,0.0,502.2,9.1,218,4515,1.30,0.00,81.12,0.904,6,0.077,0.000,3105,1976,3010,0,0,0,0,0,0
$STATE,4516,end apogee,CONTROL_FINISHED_OK
$STATE,4516,begin climb
$GC,4520,1.48,97.3,503.6,0.0,220,4607,1.62,0.00,83.18,0.881,6,0.038,0.000,3501,1976,2613,0,0,0,0,0,0
$GC,4928,1.38,125.6,478.0,8.1,230,4959,0.12,2.85,24.27,0.845,4,0.130,0.062,3477,3591,2498,0,0,0,0,0,0
$GC,5002,1.33,148.1,472.2,8.5,231,5028,0.00,2.70,20.98,0.828,6,0.000,0.051,3478,2007,2406,0,0,0,0,0,0
$GC,5338,1.31,183.8,445.6,7.6,240,5379,0.00,3.08,31.98,0.843,4,0.000,0.105,3478,411,2258,0,0,0,0,0,0
$GC,5429,1.23,195.9,437.8,9.2,242,5448,0.17,2.60,11.88,0.776,6,0.120,0.026,3444,2005,2211,0,0,0,0,0,0
$GC,5760,1.26,225.3,411.2,8.0,250,5794,0.00,2.92,26.60,0.825,4,0.000,0.072,3443,405,2090,0,0,0,0,0,0
$GC,5833,1.26,225.3,403.3,11.3,251,5838,0.00,2.58,0.00,0.000,6,0.000,0.023,3443,1989,2087,0,0,0,0,0,0
$GC,6166,1.32,232.9,371.6,9.5,259,6180,0.00,2.83,7.28,0.700,4,0.000,0.068,3443,405,2059,0,0,0,0,0,0
$GC,6226,1.32,232.9,364.9,11.7,260,6231,0.00,2.53,0.00,0.000,6,0.000,0.027,3443,1993,2057,0,0,0,0,0,0
$GC,6574,1.39,232.9,329.8,10.3,269,6576,0.15,0.00,0.00,0.000,6,0.071,0.000,3485,1993,2056,0,0,0,0,0,0
$GC,6899,1.39,233.2,295.3,10.0,277,6904,0.00,2.72,0.00,0.000,4,0.000,0.064,3485,404,2054,0,0,0,0,0,0
$GC,6922,1.39,238.2,293.2,9.7,277,6932,0.00,2.50,5.12,0.595,6,0.000,0.026,3485,1995,2039,0,0,0,0,0,0
$GC,7258,1.41,255.8,262.6,8.8,285,7283,0.00,2.80,17.40,0.732,4,0.000,0.061,3485,406,1966,0,0,0,0,0,0
$GC,7341,1.41,255.8,254.5,10.4,286,7347,0.00,2.50,0.00,0.000,6,0.000,0.021,3485,1979,1964,0,0,0,0,0,0
$GC,7673,1.48,274.0,224.7,8.8,295,7692,0.00,0.00,17.27,0.696,6,0.000,0.000,3485,1979,1892,0,0,0,0,0,0
$GC,7982,1.53,274.0,194.4,10.1,304,7987,0.10,2.70,0.00,0.000,4,0.097,0.055,3513,402,1889,0,0,0,0,0,0
$GC,8029,1.49,274.0,188.3,12.9,307,8034,0.00,2.50,0.00,0.000,6,0.000,0.024,3513,1993,1886,0,0,0,0,0,0
$GC,8354,1.50,285.0,155.0,9.3,338,8369,0.00,2.72,10.45,0.601,4,0.000,0.053,3513,403,1847,0,0,0,0,0,0
$GC,8436,1.50,285.0,146.5,10.7,344,8445,0.00,2.47,0.00,0.000,6,0.000,0.019,3513,1968,1845,0,0,0,0,0,0
$GC,8764,1.57,310.3,117.7,8.3,375,8793,0.00,2.67,23.08,0.602,4,0.000,0.057,3513,403,1743,0,0,0,0,0,0
$GC,8894,1.57,310.3,105.3,10.6,385,8898,0.00,2.45,0.00,0.000,6,0.000,0.020,3513,1973,1741,0,0,0,0,0,0
$GC,9222,1.67,329.6,74.6,8.7,415,9251,0.10,2.72,17.77,0.554,4,0.094,0.050,3542,399,1665,0,0,0,0,0,0
$GC,9393,1.67,329.6,56.4,11.3,428,9397,0.00,2.40,0.00,0.000,6,0.000,0.017,3542,1942,1664,0,0,0,0,0,0
$GC,9742,1.67,329.6,21.2,10.4,464,9752,0.00,2.60,0.00,0.000,4,0.000,0.054,3542,405,1663,0,0,0,0,0,0
$GC,9859,1.62,329.6,7.3,11.1,480,9868,0.00,2.38,0.00,0.000,6,0.000,0.018,3543,1922,1663,0,0,0,0,0,0
$STATE,9882,end climb,SURFACE_DEPTH_REACHED
$STATE,9882,begin surface coast
$FINISH,0.6,0.970056
$STATE,9925,end surface coast,CONTROL_FINISHED_OK
$STATE,9925,begin surface
$SM_CCo,9949,41.20,0.506,0,0,1460,380.21
$SM_GC,1.56,0.00,0.00,41.20,0.000,0.000,0.506,474,2067,1460,-12.43,1.64,380.21
$IRIDIUM_FIX,2244.02,-15759.32,051000,232354
$TT8_MAMPS,0.026078
$HUMID,65.00
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,20.50
$XPDR_PINGS,70
$24V_AH,23.4,63.894
$10V_AH,10.0,57.487
$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,29.125,114.200,378.375,41.200,0.000,25.546,32.186,371.776,17.500,0.000,13.735,978.923,6546.070,478.111,1847.762,704.630,33.372,1163.872,0.000,1847.661,0.000,0.535,0.000
$DEVICE_MAMPS,155.701,114.283,904.293,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.129,264.120,373.288,705.370,1066.752,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,38550,489
$CAP_FILE_SIZE,101137,0
$CFSIZE,260165632,155217920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130711,051231,2250.260,-15758.624,38,1.6,38,10.1