version: 66.06
glider: 146
mission: 6
dive: 525
start: 7 14 111 12 6 24
data:
$ID,146
$MISSION,6
$DIVE,525
$D_SURF,4
$D_FLARE,3
$D_TGT,700
$D_ABORT,800
$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,260
$T_MISSION,540
$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,-281007.16
$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,27
$R_STBD_OVSHOOT,56
$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
$GPS1,115506,2248.503,-15800.633,39,1.1,45,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.3
$GPS2,120532,2248.526,-15800.757,11,1.1,23,10.1
$SPEED_LIMITS,0.128,0.208
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.091,-0.188
$KALMAN_X,-453090.5,222.4,11.0,446089.5,-1468.4
$KALMAN_Y,177735.5,295.8,-20.9,-169461.5,806.9
$MHEAD_RNG_PITCHd_Wd,195.7,4760,-19.8,-8.974
$D_GRID,700
$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,-1.36,-97.3,0.0,0.0,0,89,0.00,0.00,-71.07,0.000,2,0.000,0.000,474,2082,3296,0,0,0,0,0,0
$GC,92,-1.36,-97.3,4.1,-6.1,9,118,12.68,2.78,-2.03,0.000,4,0.153,0.052,2872,429,3411,0,0,0,0,0,0
$GC,261,-1.24,-97.3,36.5,-13.9,30,266,0.15,2.45,0.00,0.000,6,0.127,0.015,2902,2025,3411,0,0,0,0,0,0
$GC,591,-1.24,-97.3,77.4,-10.3,60,595,0.00,2.45,0.00,0.000,4,0.000,0.030,2902,3560,3413,0,0,0,0,0,0
$GC,624,-1.28,-97.3,80.9,-10.0,62,629,0.00,2.47,0.00,0.000,6,0.000,0.026,2902,1992,3412,0,0,0,0,0,0
$GC,949,-1.33,-97.3,110.6,-9.9,92,954,0.00,2.60,0.00,0.000,4,0.000,0.054,2903,428,3413,0,0,0,0,0,0
$GC,1004,-1.39,-97.3,116.3,-11.1,96,1009,0.12,2.40,0.00,0.000,6,0.071,0.016,2861,2004,3413,0,0,0,0,0,0
$GC,1328,-1.39,-97.3,154.2,-10.9,126,1333,0.00,2.45,0.00,0.000,4,0.000,0.031,2861,3554,3414,0,0,0,0,0,0
$GC,1399,-1.43,-97.3,161.5,-10.5,131,1405,0.00,2.47,0.00,0.000,6,0.000,0.027,2861,1985,3413,0,0,0,0,0,0
$GC,1723,-1.43,-97.3,193.6,-9.6,162,1728,0.00,2.58,0.00,0.000,4,0.000,0.053,2861,432,3414,0,0,0,0,0,0
$GC,1758,-1.43,-97.3,197.2,-10.5,164,1764,0.00,2.38,0.00,0.000,6,0.000,0.015,2861,1992,3414,0,0,0,0,0,0
$GC,2080,-1.43,-97.3,227.1,-9.3,175,2085,0.00,2.50,0.00,0.000,4,0.000,0.030,2861,3561,3414,0,0,0,0,0,0
$GC,2125,-1.49,-97.3,231.4,-9.6,176,2129,0.00,2.45,0.00,0.000,6,0.000,0.026,2861,2005,3414,0,0,0,0,0,0
$GC,2445,-1.53,-97.3,260.0,-9.1,184,2449,0.00,2.50,0.00,0.000,4,0.000,0.038,2861,3562,3414,0,0,0,0,0,0
$GC,2506,-1.61,-97.3,265.8,-8.3,185,2511,0.15,2.42,0.00,0.000,6,0.062,0.026,2806,2018,3415,0,0,0,0,0,0
$GC,2850,-1.56,-97.3,298.9,-9.3,194,2855,0.12,2.50,0.00,0.000,4,0.107,0.034,2833,3554,3415,0,0,0,0,0,0
$GC,2899,-1.56,-97.3,303.7,-9.5,195,2904,0.00,2.40,0.00,0.000,6,0.000,0.025,2833,2037,3415,0,0,0,0,0,0
$GC,3212,-1.56,-97.3,332.4,-9.4,203,3213,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2037,3414,0,0,0,0,0,0
$GC,3539,-1.56,-97.3,364.0,-9.8,211,3543,0.00,2.50,0.00,0.000,4,0.000,0.048,2833,3557,3413,0,0,0,0,0,0
$GC,3571,-1.61,-97.3,367.5,-10.0,211,3577,0.00,2.53,0.00,0.000,6,0.000,0.044,2833,2026,3413,0,0,0,0,0,0
$GC,3902,-1.61,-97.3,395.6,-8.3,220,3904,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2026,3411,0,0,0,0,0,0
$GC,4230,-1.65,-97.3,422.5,-8.3,228,4234,0.00,2.55,0.00,0.000,4,0.000,0.047,2833,3551,3409,0,0,0,0,0,0
$GC,4304,-1.71,-97.3,429.2,-8.6,229,4309,0.12,2.53,0.00,0.000,6,0.071,0.054,2785,2042,3408,0,0,0,0,0,0
$GC,4636,-1.66,-97.3,463.2,-10.5,237,4641,0.12,2.55,0.00,0.000,4,0.114,0.054,2811,3543,3406,0,0,0,0,0,0
$GC,4652,-1.66,-97.3,465.3,-10.2,237,4656,0.00,2.55,0.00,0.000,6,0.000,0.057,2811,2036,3406,0,0,0,0,0,0
$GC,4995,-1.66,-97.3,500.6,-10.7,246,4999,0.00,2.58,0.00,0.000,4,0.000,0.062,2811,3547,3403,0,0,0,0,0,0
$GC,5038,-1.66,-97.3,505.5,-11.3,247,5043,0.00,2.53,0.00,0.000,6,0.000,0.054,2811,2052,3403,0,0,0,0,0,0
$GC,5359,-1.66,-97.3,538.2,-10.2,255,5364,0.00,3.15,0.00,0.000,4,0.000,0.125,2811,424,3401,0,0,0,0,0,0
$GC,5402,-1.66,-97.3,543.1,-10.4,256,5407,0.00,2.62,0.00,0.000,6,0.000,0.044,2811,2002,3400,0,0,0,0,0,0
$GC,5723,-1.66,-97.3,571.7,-8.9,264,5727,0.00,2.88,0.00,0.000,4,0.000,0.097,2810,3592,3399,0,0,0,0,0,0
$GC,5778,-1.66,-97.3,576.9,-8.9,265,5782,0.00,2.67,0.00,0.000,6,0.000,0.064,2811,2049,3398,0,0,0,0,0,0
$GC,6125,-1.66,-97.3,607.6,-8.9,274,6130,0.00,2.75,0.00,0.000,4,0.000,0.081,2811,3596,3395,0,0,0,0,0,0
$GC,6222,-1.70,-97.3,616.1,-8.6,276,6226,0.00,2.72,0.00,0.000,6,0.000,0.081,2811,2062,3395,0,0,0,0,0,0
$GC,6534,-1.70,-97.3,641.3,-8.0,284,6539,0.00,3.25,0.00,0.000,4,0.000,0.137,2811,421,3394,0,0,0,0,0,0
$GC,6563,-1.70,-97.3,643.8,-9.1,284,6568,0.00,2.83,0.00,0.000,6,0.000,0.071,2811,2050,3393,0,0,0,0,0,0
$GC,6894,-1.70,-97.3,671.6,-8.5,292,6895,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,2050,3391,0,0,0,0,0,0
$STATE,7216,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7217,begin apogee
$GC,7223,-0.31,0.0,702.6,9.7,300,7308,1.30,0.00,81.82,1.091,6,0.084,0.000,3103,1999,3010,0,0,0,0,0,0
$STATE,7309,end apogee,CONTROL_FINISHED_OK
$STATE,7309,begin climb
$GC,7313,1.36,97.3,705.9,0.0,302,7408,1.55,3.22,86.55,1.071,4,0.040,0.136,3474,3578,2612,0,0,0,0,0,0
$GC,7444,1.24,163.0,707.1,4.9,305,7511,0.15,3.10,59.45,1.049,6,0.132,0.117,3446,1997,2344,0,0,0,0,0,0
$GC,7828,1.16,163.0,672.9,10.0,315,7829,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,1997,2334,0,0,0,0,0,0
$GC,8152,1.07,163.0,635.9,11.4,323,8158,0.17,3.08,0.00,0.000,4,0.121,0.120,3412,398,2332,0,0,0,0,0,0
$GC,8216,1.00,163.0,628.6,11.7,324,8220,0.00,2.78,0.00,0.000,6,0.000,0.057,3412,2011,2330,0,0,0,0,0,0
$GC,8558,1.02,180.3,597.7,7.9,333,8578,0.00,3.08,14.70,0.959,4,0.000,0.096,3412,397,2273,0,0,0,0,0,0
$GC,8632,0.99,201.4,592.1,7.7,334,8659,0.10,2.70,20.58,0.970,6,0.146,0.044,3392,1998,2189,0,0,0,0,0,0
$GC,8969,1.09,242.5,570.7,6.4,343,9010,0.00,0.00,39.15,0.989,6,0.000,0.000,3392,1998,2021,0,0,0,0,0,0
$GC,9334,1.17,261.8,543.7,7.8,352,9359,0.17,2.97,18.55,0.942,4,0.073,0.092,3435,402,1941,0,0,0,0,0,0
$GC,9428,1.12,261.8,533.6,11.9,354,9433,0.00,2.62,0.00,0.000,6,0.000,0.036,3435,1993,1939,0,0,0,0,0,0
$GC,9746,1.12,261.8,497.7,11.5,362,9750,0.00,2.85,0.00,0.000,4,0.000,0.081,3435,402,1936,0,0,0,0,0,0
$GC,9830,1.07,261.8,486.9,12.6,364,9835,0.12,2.60,0.00,0.000,6,0.126,0.031,3410,1980,1935,0,0,0,0,0,0
$GC,10155,1.12,261.8,455.7,9.1,372,10159,0.00,2.83,0.00,0.000,4,0.000,0.079,3410,398,1934,0,0,0,0,0,0
$GC,10195,1.12,261.8,451.7,10.0,373,10200,0.00,2.55,0.00,0.000,6,0.000,0.028,3410,1970,1933,0,0,0,0,0,0
$GC,10519,1.17,261.8,419.5,10.1,381,10520,0.00,0.00,0.00,0.000,6,0.000,0.000,3410,1971,1933,0,0,0,0,0,0
$GC,10846,1.23,261.8,384.9,10.6,389,10851,0.15,2.75,0.00,0.000,4,0.077,0.072,3450,400,1932,0,0,0,0,0,0
$GC,10913,1.18,261.8,376.7,12.0,390,10917,0.00,2.50,0.00,0.000,6,0.000,0.031,3450,1958,1931,0,0,0,0,0,0
$GC,11249,1.18,261.8,343.9,9.4,399,11250,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1958,1931,0,0,0,0,0,0
$GC,11575,1.18,261.8,310.1,10.5,407,11576,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1958,1930,0,0,0,0,0,0
$GC,11899,1.18,261.8,278.9,9.5,415,11900,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1957,1931,0,0,0,0,0,0
$GC,12224,1.22,261.8,248.9,9.0,423,12225,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1958,1930,0,0,0,0,0,0
$GC,12549,1.28,272.6,221.7,8.3,431,12563,0.00,2.70,9.12,0.660,4,0.000,0.038,3450,3581,1898,0,0,0,0,0,0
$GC,12577,1.34,281.2,219.2,8.4,431,12594,0.00,2.72,9.50,0.653,6,0.000,0.031,3450,1926,1862,0,0,0,0,0,0
$GC,12901,1.40,281.2,190.8,9.1,444,12907,0.12,2.65,0.00,0.000,4,0.083,0.063,3486,395,1861,0,0,0,0,0,0
$GC,12979,1.35,281.2,182.2,11.8,450,12983,0.00,2.45,0.00,0.000,6,0.000,0.018,3486,1971,1859,0,0,0,0,0,0
$GC,13303,1.35,281.2,148.1,9.9,480,13308,0.00,2.67,0.00,0.000,4,0.000,0.061,3486,397,1859,0,0,0,0,0,0
$GC,13362,1.35,281.2,142.2,10.7,484,13371,0.00,2.42,0.00,0.000,6,0.000,0.019,3486,1930,1858,0,0,0,0,0,0
$GC,13692,1.39,314.0,117.5,6.9,515,13729,0.00,2.72,29.77,0.614,4,0.000,0.057,3486,391,1728,0,0,0,0,0,0
$GC,13804,1.39,314.0,107.4,9.7,524,13813,0.00,2.42,0.00,0.000,6,0.000,0.018,3486,1919,1726,0,0,0,0,0,0
$GC,14134,1.46,314.0,76.4,10.8,555,14138,0.00,2.58,0.00,0.000,4,0.000,0.051,3486,394,1726,0,0,0,0,0,0
$GC,14215,1.46,314.0,68.4,9.4,561,14219,0.00,2.35,0.00,0.000,6,0.000,0.018,3486,1921,1726,0,0,0,0,0,0
$GC,14548,1.53,314.0,39.0,9.4,591,14553,0.00,2.58,0.00,0.000,4,0.000,0.051,3486,393,1726,0,0,0,0,0,0
$GC,14593,1.53,317.1,34.5,8.8,594,14608,0.10,2.33,4.28,0.382,6,0.094,0.018,3516,1913,1715,0,0,0,0,0,0
$STATE,14930,end climb,SURFACE_DEPTH_REACHED
$STATE,14930,begin surface coast
$FINISH,0.6,0.973800
$STATE,14995,end surface coast,CONTROL_FINISHED_OK
$STATE,14996,begin surface
$SM_CCo,15018,52.58,0.509,0,0,1459,380.21
$SM_GC,1.26,0.00,0.00,52.58,0.000,0.000,0.509,474,2092,1459,-12.43,2.32,380.21
$IRIDIUM_FIX,2241.69,-15801.49,071000,121223
$TT8_MAMPS,0.026078
$HUMID,63.82
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.30
$XPDR_PINGS,99
$24V_AH,23.1,65.188
$10V_AH,9.9,58.715
$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,29.800,153.425,373.475,52.575,0.000,58.952,72.314,258.618,24.750,0.000,24.474,1308.828,10781.892,511.380,2330.324,757.342,33.377,1373.765,0.000,2322.881,0.000,0.534,0.000
$DEVICE_MAMPS,153.400,151.866,1091.441,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,442.634,346.095,446.697,818.058,1237.079,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355448
$DATA_FILE_SIZE,50980,650
$CAP_FILE_SIZE,134985,0
$CFSIZE,260165632,154611712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140711,161854,2248.176,-15803.002,37,1.2,37,10.1