version: 66.06
glider: 146
mission: 6
dive: 530
start: 7 15 111 11 19 20
data:
$ID,146
$MISSION,6
$DIVE,530
$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,-281126
$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,11
$R_STBD_OVSHOOT,53
$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
$GPS1,110936,2249.621,-15801.179,64,0.8,64,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-71.5
$GPS2,111825,2249.560,-15801.246,13,1.2,13,10.1
$SPEED_LIMITS,0.128,0.208
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.192,-0.082
$KALMAN_X,-462331.9,310.3,-37.6,454463.4,-1443.4
$KALMAN_Y,187565.6,-63.9,-281.0,-176739.1,1444.8
$MHEAD_RNG_PITCHd_Wd,102.9,7293,-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,18,-1.36,-97.3,0.0,0.0,0,89,0.00,0.00,-69.55,0.000,2,0.000,0.000,476,2077,3216,0,0,0,0,0,0
$GC,93,-1.36,-97.3,3.4,-4.3,9,119,12.60,2.83,-3.62,0.000,4,0.152,0.061,2872,416,3406,0,0,0,0,0,0
$GC,137,-0.55,-97.3,16.3,-29.0,14,147,0.80,2.50,0.00,0.000,6,0.087,0.020,3052,2046,3408,0,0,0,0,0,0
$GC,502,-0.85,-97.3,43.0,-6.6,56,511,0.25,0.00,0.00,0.000,6,0.046,0.000,2971,2048,3409,0,0,0,0,0,0
$GC,835,-0.98,-97.3,71.3,-7.7,87,843,0.00,0.00,0.00,0.000,6,0.000,0.000,2971,2048,3409,0,0,0,0,0,0
$GC,1161,-1.15,-97.3,94.5,-7.7,118,1167,0.20,2.72,0.00,0.000,4,0.054,0.047,2906,409,3410,0,0,0,0,0,0
$GC,1211,-1.20,-97.3,98.9,-11.3,121,1216,0.00,2.40,0.00,0.000,6,0.000,0.020,2906,1987,3410,0,0,0,0,0,0
$GC,1540,-1.26,-97.3,133.0,-9.1,151,1544,0.00,2.50,0.00,0.000,4,0.000,0.034,2906,3552,3411,0,0,0,0,0,0
$GC,1606,-1.36,-97.3,138.4,-7.6,156,1611,0.12,2.45,0.00,0.000,6,0.067,0.023,2851,1985,3411,0,0,0,0,0,0
$GC,1931,-1.36,-97.3,167.6,-9.6,186,1936,0.12,2.50,0.00,0.000,4,0.104,0.031,2879,3553,3411,0,0,0,0,0,0
$GC,1954,-1.36,-97.3,169.1,-9.4,187,1959,0.00,2.42,0.00,0.000,6,0.000,0.025,2879,1996,3411,0,0,0,0,0,0
$GC,2283,-1.41,-97.3,200.5,-9.2,217,2285,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1996,3412,0,0,0,0,0,0
$GC,2606,-1.47,-97.3,228.5,-8.3,225,2611,0.10,2.53,0.00,0.000,4,0.081,0.035,2835,3561,3412,0,0,0,0,0,0
$GC,2673,-1.47,-97.3,234.9,-9.6,226,2677,0.00,2.42,0.00,0.000,6,0.000,0.025,2835,2005,3412,0,0,0,0,0,0
$GC,3009,-1.47,-97.3,268.9,-10.5,235,3013,0.00,2.50,0.00,0.000,4,0.000,0.039,2835,3555,3412,0,0,0,0,0,0
$GC,3037,-1.47,-97.3,271.9,-10.7,235,3042,0.00,2.42,0.00,0.000,6,0.000,0.022,2835,2020,3412,0,0,0,0,0,0
$GC,3368,-1.47,-97.3,305.2,-9.5,243,3369,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2019,3412,0,0,0,0,0,0
$GC,3693,-1.47,-97.3,328.4,-6.6,251,3698,0.00,2.47,0.00,0.000,4,0.000,0.044,2835,3552,3411,0,0,0,0,0,0
$GC,3757,-1.53,-97.3,333.0,-7.4,252,3761,0.00,2.50,0.00,0.000,6,0.000,0.034,2835,2012,3411,0,0,0,0,0,0
$GC,4098,-1.53,-97.3,365.0,-10.0,261,4103,0.00,2.53,0.00,0.000,4,0.000,0.044,2835,3549,3410,0,0,0,0,0,0
$GC,4223,-1.57,-97.3,378.1,-10.2,263,4229,0.00,2.53,0.00,0.000,6,0.000,0.040,2835,2028,3409,0,0,0,0,0,0
$GC,4556,-1.57,-97.3,408.1,-8.6,272,4557,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2028,3407,0,0,0,0,0,0
$GC,4880,-1.61,-97.3,434.3,-8.0,280,4884,0.00,2.53,0.00,0.000,4,0.000,0.054,2835,3542,3405,0,0,0,0,0,0
$GC,4943,-1.68,-97.3,439.7,-8.6,281,4948,0.10,2.55,0.00,0.000,6,0.087,0.049,2796,2033,3405,0,0,0,0,0,0
$GC,5285,-1.68,-97.3,474.0,-10.4,290,5290,0.00,3.03,0.00,0.000,4,0.000,0.115,2796,421,3402,0,0,0,0,0,0
$GC,5306,-1.63,-97.3,476.6,-11.5,290,5312,0.10,2.55,0.00,0.000,6,0.120,0.037,2817,1984,3401,0,0,0,0,0,0
$GC,5644,-1.63,-97.3,511.3,-10.2,299,5649,0.00,2.80,0.00,0.000,4,0.000,0.075,2817,3599,3399,0,0,0,0,0,0
$GC,5666,-1.63,-97.3,513.7,-9.8,299,5670,0.00,2.65,0.00,0.000,6,0.000,0.057,2818,2036,3399,0,0,0,0,0,0
$GC,6002,-1.63,-97.3,545.0,-9.2,308,6003,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2036,3397,0,0,0,0,0,0
$GC,6329,-1.63,-97.3,572.0,-7.9,316,6333,0.00,2.72,0.00,0.000,4,0.000,0.074,2817,3588,3394,0,0,0,0,0,0
$GC,6396,-1.67,-97.3,577.2,-7.3,317,6400,0.00,2.67,0.00,0.000,6,0.000,0.064,2818,2047,3394,0,0,0,0,0,0
$GC,6732,-1.67,-97.3,601.8,-7.7,326,6733,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2047,3391,0,0,0,0,0,0
$GC,7059,-1.71,-97.3,628.5,-8.6,334,7064,0.00,3.20,0.00,0.000,4,0.000,0.141,2818,418,3389,0,0,0,0,0,0
$GC,7108,-1.71,-97.3,633.9,-10.7,335,7113,0.00,2.80,0.00,0.000,6,0.000,0.066,2817,2034,3388,0,0,0,0,0,0
$GC,7421,-1.75,-97.3,663.2,-9.4,343,7423,0.10,0.00,0.00,0.000,6,0.094,0.000,2786,2035,3387,0,0,0,0,0,0
$GC,7748,-1.75,-97.3,697.5,-10.6,351,7753,0.00,3.08,0.00,0.000,4,0.000,0.136,2786,3597,3385,0,0,0,0,0,0
$STATE,7767,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7767,begin apogee
$GC,7776,-0.31,0.0,700.1,10.8,351,7861,1.40,0.00,81.03,1.088,6,0.084,0.000,3102,1996,3010,0,0,0,0,0,0
$STATE,7861,end apogee,CONTROL_FINISHED_OK
$STATE,7861,begin climb
$GC,7864,1.36,97.3,702.5,0.0,353,7961,1.58,3.20,87.72,1.065,4,0.039,0.120,3479,3578,2612,0,0,0,0,0,0
$GC,7985,1.25,169.9,704.0,4.5,356,8059,0.15,3.10,65.62,1.048,6,0.129,0.114,3451,1994,2316,0,0,0,0,0,0
$GC,8404,1.15,169.9,667.6,9.4,367,8406,0.12,0.00,0.00,0.000,6,0.132,0.000,3426,1994,2306,0,0,0,0,0,0
$GC,8729,1.12,180.8,640.3,8.3,375,8744,0.00,3.15,8.98,0.904,4,0.000,0.123,3426,400,2273,0,0,0,0,0,0
$GC,8837,1.03,180.8,630.3,9.7,377,8843,0.12,2.75,0.00,0.000,6,0.133,0.053,3402,1992,2271,0,0,0,0,0,0
$GC,9185,1.06,210.6,605.2,7.1,386,9220,0.00,3.08,28.65,1.000,4,0.000,0.097,3402,405,2150,0,0,0,0,0,0
$GC,9303,1.06,210.6,594.2,9.8,388,9308,0.00,2.67,0.00,0.000,6,0.000,0.047,3402,1989,2147,0,0,0,0,0,0
$GC,9640,1.07,219.4,564.9,8.4,397,9654,0.00,3.00,8.85,0.879,4,0.000,0.093,3401,403,2115,0,0,0,0,0,0
$GC,9665,1.08,222.1,562.6,8.8,397,9674,0.00,2.65,4.18,0.645,6,0.000,0.035,3402,1985,2104,0,0,0,0,0,0
$GC,10009,1.08,222.1,529.7,9.9,406,10013,0.00,2.88,0.00,0.000,4,0.000,0.084,3402,402,2101,0,0,0,0,0,0
$GC,10138,1.08,222.1,515.9,10.4,409,10142,0.00,2.58,0.00,0.000,6,0.000,0.038,3402,1965,2099,0,0,0,0,0,0
$GC,10463,1.13,225.6,486.8,8.8,417,10473,0.00,2.83,3.95,0.616,4,0.000,0.077,3401,397,2090,0,0,0,0,0,0
$GC,10508,1.13,225.6,482.1,10.1,418,10513,0.00,2.60,0.00,0.000,6,0.000,0.030,3402,1971,2089,0,0,0,0,0,0
$GC,10832,1.19,231.0,453.3,8.6,426,10847,0.12,2.83,6.72,0.778,4,0.087,0.076,3434,400,2067,0,0,0,0,0,0
$GC,10912,1.14,231.0,445.1,10.7,427,10916,0.00,2.58,0.00,0.000,6,0.000,0.028,3433,1968,2066,0,0,0,0,0,0
$GC,11243,1.14,234.4,415.0,8.8,435,11253,0.00,2.75,4.47,0.640,4,0.000,0.053,3434,3590,2054,0,0,0,0,0,0
$GC,11271,1.14,234.4,412.5,9.3,435,11275,0.00,2.75,0.00,0.000,6,0.000,0.040,3434,1944,2054,0,0,0,0,0,0
$GC,11607,1.14,237.3,381.9,8.8,444,11617,0.00,2.83,4.57,0.633,4,0.000,0.086,3434,393,2042,0,0,0,0,0,0
$GC,11646,1.10,237.3,378.3,9.3,445,11651,0.00,2.55,0.00,0.000,6,0.000,0.024,3434,1994,2041,0,0,0,0,0,0
$GC,11971,1.12,250.6,350.6,8.1,453,11991,0.00,2.62,14.07,0.815,4,0.000,0.039,3434,3559,1987,0,0,0,0,0,0
$GC,12048,1.17,252.2,344.0,8.9,454,12052,0.00,2.67,0.00,0.000,6,0.000,0.043,3433,1964,1986,0,0,0,0,0,0
$GC,12381,1.21,252.2,315.3,9.0,462,12385,0.00,2.75,0.00,0.000,4,0.000,0.076,3434,407,1985,0,0,0,0,0,0
$GC,12464,1.21,252.2,306.1,10.9,464,12469,0.00,2.50,0.00,0.000,6,0.000,0.020,3434,1979,1983,0,0,0,0,0,0
$GC,12789,1.27,258.1,276.1,8.6,472,12803,0.00,2.78,8.10,0.693,4,0.000,0.061,3434,406,1956,0,0,0,0,0,0
$GC,12834,1.27,258.1,271.9,9.3,473,12839,0.00,2.50,0.00,0.000,6,0.000,0.021,3433,1975,1955,0,0,0,0,0,0
$GC,13158,1.37,278.6,246.7,7.7,481,13184,0.15,2.75,19.80,0.734,4,0.071,0.061,3475,399,1874,0,0,0,0,0,0
$GC,13227,1.32,278.6,239.8,11.0,482,13231,0.00,2.47,0.00,0.000,6,0.000,0.022,3475,1963,1872,0,0,0,0,0,0
$GC,13563,1.32,278.6,205.2,10.2,491,13564,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,1964,1872,0,0,0,0,0,0
$GC,13880,1.32,278.6,173.8,9.2,515,13884,0.00,2.65,0.00,0.000,4,0.000,0.053,3475,402,1871,0,0,0,0,0,0
$GC,13970,1.32,278.6,164.4,9.9,522,13979,0.00,2.45,0.00,0.000,6,0.000,0.020,3475,1953,1871,0,0,0,0,0,0
$GC,14299,1.35,299.8,137.9,7.7,553,14324,0.00,2.67,19.90,0.626,4,0.000,0.054,3475,400,1787,0,0,0,0,0,0
$GC,14364,1.35,302.8,131.9,8.8,558,14375,0.00,2.47,4.07,0.424,6,0.000,0.024,3475,1956,1775,0,0,0,0,0,0
$GC,14693,1.41,302.8,104.2,9.0,589,14698,0.00,2.62,0.00,0.000,4,0.000,0.057,3475,404,1774,0,0,0,0,0,0
$GC,14774,1.41,302.8,95.8,9.3,595,14780,0.00,2.42,0.00,0.000,6,0.000,0.018,3475,1960,1774,0,0,0,0,0,0
$GC,15103,1.53,337.8,70.5,6.8,626,15145,0.12,2.70,32.00,0.568,4,0.080,0.051,3512,408,1631,0,0,0,0,0,0
$GC,15301,1.53,337.8,50.9,10.7,641,15305,0.00,2.38,0.00,0.000,6,0.000,0.018,3512,1927,1630,0,0,0,0,0,0
$GC,15666,1.53,337.8,12.3,12.1,682,15676,0.00,2.58,0.00,0.000,4,0.000,0.049,3513,407,1629,0,0,0,0,0,0
$GC,15708,1.53,337.8,7.6,11.9,687,15717,0.00,2.38,0.00,0.000,6,0.000,0.018,3513,1919,1629,0,0,0,0,0,0
$STATE,15731,end climb,SURFACE_DEPTH_REACHED
$STATE,15732,begin surface coast
$FINISH,0.9,0.975797
$STATE,15774,end surface coast,CONTROL_FINISHED_OK
$STATE,15775,begin surface
$SM_CCo,15797,35.45,0.507,0,0,1459,380.21
$SM_GC,1.42,0.00,0.00,35.45,0.000,0.000,0.507,475,2078,1459,-12.42,1.92,380.21
$IRIDIUM_FIX,2241.69,-15801.49,081000,070748
$TT8_MAMPS,0.025311
$HUMID,63.38
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,20.80
$XPDR_PINGS,97
$24V_AH,23.1,65.911
$10V_AH,9.9,59.426
$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,30.600,171.100,402.700,35.450,0.000,24.035,37.295,316.779,24.250,0.000,14.990,1404.506,11095.877,520.049,2574.568,763.029,33.398,1479.676,0.000,2578.212,0.000,0.533,0.000
$DEVICE_MAMPS,151.866,141.128,1088.373,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,473.784,340.790,486.150,910.720,1377.260,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,54247,696
$CAP_FILE_SIZE,143108,0
$CFSIZE,260165632,154259456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150711,154436,2249.223,-15800.453,38,1.3,41,10.1