version: 66.06
glider: 146
mission: 6
dive: 528
start: 7 15 111 2 13 31
data:
$ID,146
$MISSION,6
$DIVE,528
$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,-281072.69
$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,8
$R_STBD_OVSHOOT,96
$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
$GPS1,020537,2249.440,-15802.951,50,1.6,50,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.4
$GPS2,021237,2249.512,-15803.008,10,1.6,15,10.1
$SPEED_LIMITS,0.128,0.208
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.174,-0.114
$KALMAN_X,-458939.8,-442.3,124.6,448645.5,-1359.5
$KALMAN_Y,184273.1,215.4,-68.6,-174039.4,1905.1
$MHEAD_RNG_PITCHd_Wd,113.2,10294,-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,-71.28,0.000,2,0.000,0.000,471,2057,3286,0,0,0,0,0,0
$GC,94,-1.36,-97.3,3.8,-5.4,9,120,12.57,2.78,-2.22,0.000,4,0.150,0.055,2872,414,3411,0,0,0,0,0,0
$GC,132,-0.34,-97.3,17.2,-31.2,13,142,0.98,2.42,0.00,0.000,6,0.081,0.016,3094,1986,3412,0,0,0,0,0,0
$GC,505,-0.89,-97.3,41.4,-6.1,57,510,0.45,2.50,0.00,0.000,4,0.082,0.028,2968,3558,3414,0,0,0,0,0,0
$GC,540,-1.14,-97.3,44.0,-7.6,59,545,0.17,2.45,0.00,0.000,6,0.053,0.020,2905,1990,3413,0,0,0,0,0,0
$GC,869,-1.14,-97.3,80.9,-10.0,89,875,0.10,0.00,0.00,0.000,6,0.112,0.000,2928,1990,3413,0,0,0,0,0,0
$GC,1196,-1.22,-97.3,114.4,-9.9,120,1197,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,1989,3414,0,0,0,0,0,0
$GC,1516,-1.33,-97.3,142.9,-7.8,150,1521,0.17,2.53,0.00,0.000,4,0.057,0.034,2869,3557,3414,0,0,0,0,0,0
$GC,1550,-1.33,-97.3,146.7,-10.8,152,1559,0.00,2.42,0.00,0.000,6,0.000,0.028,2869,2028,3414,0,0,0,0,0,0
$GC,1875,-1.33,-97.3,180.3,-11.8,183,1879,0.00,2.65,0.00,0.000,4,0.000,0.054,2869,432,3415,0,0,0,0,0,0
$GC,1908,-1.33,-97.3,184.3,-12.1,185,1914,0.00,2.42,0.00,0.000,6,0.000,0.020,2869,2027,3415,0,0,0,0,0,0
$GC,2238,-1.33,-97.3,215.2,-8.7,205,2242,0.00,2.40,0.00,0.000,4,0.000,0.036,2869,3555,3416,0,0,0,0,0,0
$GC,2288,-1.41,-97.3,219.4,-7.7,206,2292,0.00,2.38,0.00,0.000,6,0.000,0.025,2868,2028,3415,0,0,0,0,0,0
$GC,2601,-1.45,-97.3,245.6,-8.7,214,2605,0.00,2.65,0.00,0.000,4,0.000,0.058,2869,439,3416,0,0,0,0,0,0
$GC,2635,-1.45,-97.3,249.0,-10.0,214,2640,0.00,2.42,0.00,0.000,6,0.000,0.015,2869,2017,3415,0,0,0,0,0,0
$GC,2966,-1.51,-97.3,276.2,-7.8,223,2971,0.00,2.47,0.00,0.000,4,0.000,0.037,2869,3573,3416,0,0,0,0,0,0
$GC,3046,-1.61,-97.3,282.5,-7.4,224,3053,0.20,2.42,0.00,0.000,6,0.045,0.023,2794,2035,3416,0,0,0,0,0,0
$GC,3378,-1.55,-97.3,317.0,-10.7,233,3383,0.20,2.47,0.00,0.000,4,0.095,0.035,2838,3569,3415,0,0,0,0,0,0
$GC,3394,-1.55,-97.3,318.7,-10.2,233,3398,0.00,2.42,0.00,0.000,6,0.000,0.028,2838,2047,3415,0,0,0,0,0,0
$GC,3737,-1.55,-97.3,349.7,-9.3,242,3741,0.00,2.47,0.00,0.000,4,0.000,0.041,2838,3559,3415,0,0,0,0,0,0
$GC,3764,-1.59,-97.3,352.6,-9.9,242,3769,0.00,2.47,0.00,0.000,6,0.000,0.036,2837,2039,3415,0,0,0,0,0,0
$GC,4096,-1.63,-97.3,383.0,-9.2,250,4100,0.00,2.53,0.00,0.000,4,0.000,0.049,2838,3561,3414,0,0,0,0,0,0
$GC,4153,-1.71,-97.3,388.1,-8.6,251,4158,0.15,2.50,0.00,0.000,6,0.062,0.044,2787,2047,3414,0,0,0,0,0,0
$GC,4502,-1.66,-97.3,419.8,-8.9,260,4503,0.12,0.00,0.00,0.000,6,0.111,0.000,2814,2047,3411,0,0,0,0,0,0
$GC,4828,-1.66,-97.3,445.7,-8.3,268,4832,0.00,2.53,0.00,0.000,4,0.000,0.048,2814,3552,3409,0,0,0,0,0,0
$GC,4905,-1.66,-97.3,453.2,-9.1,269,4911,0.00,2.55,0.00,0.000,6,0.000,0.058,2813,2049,3408,0,0,0,0,0,0
$GC,5236,-1.66,-97.3,487.0,-10.6,278,5237,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2049,3405,0,0,0,0,0,0
$GC,5563,-1.66,-97.3,521.8,-10.8,286,5564,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2049,3403,0,0,0,0,0,0
$GC,5886,-1.66,-97.3,554.9,-10.1,294,5887,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2049,3401,0,0,0,0,0,0
$GC,6211,-1.66,-97.3,584.9,-8.7,302,6216,0.00,3.17,0.00,0.000,4,0.000,0.134,2813,424,3398,0,0,0,0,0,0
$GC,6233,-1.66,-97.3,587.0,-9.4,302,6237,0.00,2.67,0.00,0.000,6,0.000,0.057,2813,2008,3399,0,0,0,0,0,0
$GC,6571,-1.66,-97.3,615.4,-8.4,311,6576,0.00,2.92,0.00,0.000,4,0.000,0.104,2813,3596,3396,0,0,0,0,0,0
$GC,6598,-1.70,-97.3,618.0,-8.7,311,6603,0.00,2.75,0.00,0.000,6,0.000,0.076,2813,2049,3396,0,0,0,0,0,0
$GC,6930,-1.70,-97.3,644.6,-8.0,319,6934,0.00,2.83,0.00,0.000,4,0.000,0.096,2814,3597,3394,0,0,0,0,0,0
$GC,7009,-1.75,-97.3,651.4,-8.3,320,7017,0.00,2.78,0.00,0.000,6,0.000,0.094,2813,2072,3394,0,0,0,0,0,0
$GC,7340,-1.75,-97.3,678.8,-8.4,329,7346,0.00,3.33,0.00,0.000,4,0.000,0.149,2813,424,3392,0,0,0,0,0,0
$GC,7420,-1.75,-97.3,686.3,-9.4,330,7425,0.00,2.97,0.00,0.000,6,0.000,0.087,2813,2058,3391,0,0,0,0,0,0
$STATE,7586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7586,begin apogee
$GC,7592,-0.31,0.0,701.3,8.9,335,7678,1.27,0.00,82.10,1.089,6,0.074,0.000,3105,1993,3010,0,0,0,0,0,0
$STATE,7678,end apogee,CONTROL_FINISHED_OK
$STATE,7678,begin climb
$GC,7681,1.36,97.3,703.6,0.0,337,7780,1.52,3.22,86.72,1.068,4,0.036,0.124,3478,3576,2612,0,0,0,0,0,0
$GC,7814,1.22,147.0,702.9,5.9,340,7866,0.17,3.10,45.20,1.044,6,0.127,0.114,3444,1993,2409,0,0,0,0,0,0
$GC,8175,1.13,147.0,672.0,9.0,349,8177,0.10,0.00,0.00,0.000,6,0.146,0.000,3425,1993,2400,0,0,0,0,0,0
$GC,8499,1.09,150.2,643.7,8.8,357,8504,0.00,3.10,0.00,0.000,4,0.000,0.123,3425,401,2397,0,0,0,0,0,0
$GC,8588,0.99,150.2,634.5,10.0,359,8594,0.17,2.75,0.00,0.000,6,0.124,0.061,3390,1992,2395,0,0,0,0,0,0
$GC,8910,1.04,189.6,611.9,6.5,367,8955,0.00,3.00,37.35,1.015,4,0.000,0.094,3390,3574,2237,0,0,0,0,0,0
$GC,8986,1.09,191.9,606.2,8.8,368,8990,0.00,2.85,0.00,0.000,6,0.000,0.073,3390,1983,2234,0,0,0,0,0,0
$GC,9319,1.16,210.0,579.7,7.9,376,9344,0.15,3.08,19.05,0.968,4,0.075,0.115,3428,408,2153,0,0,0,0,0,0
$GC,9423,1.10,210.0,568.7,11.2,378,9428,0.00,2.65,0.00,0.000,6,0.000,0.042,3428,1984,2150,0,0,0,0,0,0
$GC,9766,1.10,210.0,537.0,9.3,387,9771,0.00,2.88,0.00,0.000,4,0.000,0.092,3428,408,2148,0,0,0,0,0,0
$GC,9861,1.04,210.0,527.0,10.4,389,9866,0.12,2.58,0.00,0.000,6,0.128,0.038,3404,1968,2147,0,0,0,0,0,0
$GC,10176,1.05,220.4,501.0,8.3,397,10188,0.00,0.00,10.30,0.871,6,0.000,0.000,3404,1968,2111,0,0,0,0,0,0
$GC,10499,1.10,221.8,472.7,8.9,405,10504,0.00,2.80,0.00,0.000,4,0.000,0.078,3404,400,2108,0,0,0,0,0,0
$GC,10554,1.10,221.8,466.9,10.6,406,10558,0.00,2.55,0.00,0.000,6,0.000,0.034,3404,1968,2106,0,0,0,0,0,0
$GC,10904,1.15,221.8,434.9,9.3,415,10906,0.10,0.00,0.00,0.000,6,0.100,0.000,3430,1968,2106,0,0,0,0,0,0
$GC,11227,1.15,221.8,401.0,10.5,423,11232,0.00,2.75,0.00,0.000,4,0.000,0.069,3430,401,2105,0,0,0,0,0,0
$GC,11270,1.15,221.8,395.9,12.1,424,11275,0.00,2.55,0.00,0.000,6,0.000,0.030,3429,1975,2104,0,0,0,0,0,0
$GC,11590,1.17,240.5,369.0,7.8,432,11613,0.00,0.00,19.05,0.840,6,0.000,0.000,3430,1975,2029,0,0,0,0,0,0
$GC,11958,1.22,253.7,339.4,8.2,441,11978,0.00,2.83,13.25,0.793,4,0.000,0.070,3430,404,1975,0,0,0,0,0,0
$GC,12042,1.22,253.7,331.6,9.5,442,12047,0.00,2.50,0.00,0.000,6,0.000,0.026,3430,1949,1973,0,0,0,0,0,0
$GC,12373,1.28,253.7,301.5,9.1,451,12378,0.10,2.70,0.00,0.000,4,0.099,0.046,3457,3575,1971,0,0,0,0,0,0
$GC,12406,1.28,253.7,297.9,10.6,451,12412,0.00,2.70,0.00,0.000,6,0.000,0.038,3457,1939,1970,0,0,0,0,0,0
$GC,12739,1.28,253.7,266.2,9.0,460,12743,0.00,2.67,0.00,0.000,4,0.000,0.068,3458,401,1970,0,0,0,0,0,0
$GC,12771,1.28,253.7,262.8,9.6,460,12777,0.00,2.45,0.00,0.000,6,0.000,0.025,3458,1968,1969,0,0,0,0,0,0
$GC,13102,1.28,253.7,234.0,9.1,469,13107,0.00,2.58,0.00,0.000,4,0.000,0.038,3457,3559,1969,0,0,0,0,0,0
$GC,13133,1.32,253.7,231.2,9.4,469,13138,0.00,2.67,0.00,0.000,6,0.000,0.038,3457,1933,1969,0,0,0,0,0,0
$GC,13464,1.32,253.7,198.5,9.9,477,13469,0.00,2.65,0.00,0.000,4,0.000,0.067,3457,398,1969,0,0,0,0,0,0
$GC,13528,1.32,253.7,191.3,10.6,482,13533,0.00,2.42,0.00,0.000,6,0.000,0.025,3458,1944,1969,0,0,0,0,0,0
$GC,13853,1.39,276.2,165.7,7.6,512,13876,0.00,0.00,20.73,0.657,6,0.000,0.000,3457,1946,1884,0,0,0,0,0,0
$GC,14190,1.46,276.2,137.6,9.4,544,14196,0.15,2.65,0.00,0.000,4,0.072,0.059,3498,400,1881,0,0,0,0,0,0
$GC,14305,1.46,276.2,123.5,11.5,553,14310,0.00,2.42,0.00,0.000,6,0.000,0.025,3498,1950,1882,0,0,0,0,0,0
$GC,14634,1.48,290.8,94.1,8.1,583,14652,0.00,0.00,14.32,0.572,6,0.000,0.000,3498,1951,1824,0,0,0,0,0,0
$GC,14975,1.56,320.1,68.2,7.2,615,15007,0.00,2.65,26.90,0.564,4,0.000,0.050,3498,400,1704,0,0,0,0,0,0
$GC,15085,1.56,320.1,57.8,10.9,623,15089,0.00,2.42,0.00,0.000,6,0.000,0.018,3498,1946,1701,0,0,0,0,0,0
$GC,15423,1.61,320.1,24.9,10.2,656,15433,0.10,2.62,0.00,0.000,4,0.085,0.048,3531,401,1701,0,0,0,0,0,0
$GC,15511,1.56,320.1,15.5,10.7,668,15520,0.00,2.42,0.00,0.000,6,0.000,0.019,3531,1940,1701,0,0,0,0,0,0
$STATE,15618,end climb,SURFACE_DEPTH_REACHED
$STATE,15618,begin surface coast
$FINISH,0.8,0.980067
$STATE,15671,end surface coast,CONTROL_FINISHED_OK
$STATE,15671,begin surface
$SM_CCo,15693,48.85,0.511,0,0,1460,380.21
$SM_GC,1.21,0.00,0.00,48.85,0.000,0.000,0.511,477,2082,1460,-12.41,2.04,380.21
$IRIDIUM_FIX,2237.01,-15802.37,071000,212100
$TT8_MAMPS,0.026078
$HUMID,63.11
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,21.00
$XPDR_PINGS,104
$24V_AH,23.1,65.611
$10V_AH,9.9,59.142
$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,31.500,159.725,374.975,48.850,0.000,27.756,34.802,203.834,26.000,0.000,18.810,1368.933,11157.015,508.742,2489.004,635.265,33.381,1423.990,0.000,2490.084,0.000,0.536,0.000
$DEVICE_MAMPS,150.332,148.798,1089.140,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,469.072,347.349,479.878,894.728,1352.433,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,54262,690
$CAP_FILE_SIZE,138172,0
$CFSIZE,260165632,154394624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150711,063707,2249.680,-15802.275,31,1.5,31,10.1