version: 66.06
glider: 146
mission: 6
dive: 531
start: 7 15 111 15 59 9
data:
$ID,146
$MISSION,6
$DIVE,531
$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,-281140.31
$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,16
$R_STBD_OVSHOOT,59
$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
$GPS1,154436,2249.223,-15800.453,38,1.3,41,10.1
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-68.9
$GPS2,155814,2249.341,-15800.640,12,1.5,12,10.1
$SPEED_LIMITS,0.128,0.208
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.176,-0.112
$KALMAN_X,-464218.9,160.5,50.4,457447.0,-2149.8
$KALMAN_Y,188699.8,-424.1,-179.0,-178020.1,1861.9
$MHEAD_RNG_PITCHd_Wd,112.4,6332,-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,-97.3,0.0,0.0,0,81,0.00,0.00,-63.30,0.000,2,0.000,0.000,474,2078,3049,0,0,0,0,0,0
$GC,86,-1.36,-97.3,3.0,-3.3,8,111,12.52,2.78,-7.10,0.000,4,0.150,0.058,2870,407,3407,0,0,0,0,0,0
$GC,175,-1.24,-97.3,23.0,-17.4,20,185,0.12,2.50,0.00,0.000,6,0.101,0.015,2900,2033,3409,0,0,0,0,0,0
$GC,520,-1.24,-97.3,72.0,-13.7,54,524,0.00,2.40,0.00,0.000,4,0.000,0.033,2900,3543,3409,0,0,0,0,0,0
$GC,565,-1.24,-97.3,77.7,-12.0,57,569,0.00,2.45,0.00,0.000,6,0.000,0.022,2900,1983,3409,0,0,0,0,0,0
$GC,893,-1.24,-97.3,113.6,-10.3,87,897,0.00,2.47,0.00,0.000,4,0.000,0.028,2899,3544,3410,0,0,0,0,0,0
$GC,933,-1.30,-97.3,118.2,-10.4,90,937,0.00,2.40,0.00,0.000,6,0.000,0.028,2900,2022,3410,0,0,0,0,0,0
$GC,1259,-1.36,-97.3,148.4,-8.5,120,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2900,2022,3410,0,0,0,0,0,0
$GC,1579,-1.44,-97.3,173.3,-7.6,150,1584,0.17,2.65,0.00,0.000,4,0.056,0.061,2840,439,3411,0,0,0,0,0,0
$GC,1614,-1.36,-97.3,177.0,-11.0,152,1621,0.17,2.40,0.00,0.000,6,0.101,0.015,2878,2022,3411,0,0,0,0,0,0
$GC,1957,-1.41,-97.3,208.1,-9.1,179,1958,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2023,3411,0,0,0,0,0,0
$GC,2284,-1.47,-97.3,237.1,-8.9,187,2289,0.10,2.47,0.00,0.000,4,0.079,0.038,2834,3557,3411,0,0,0,0,0,0
$GC,2328,-1.47,-97.3,241.8,-10.6,188,2332,0.00,2.40,0.00,0.000,6,0.000,0.025,2834,2024,3411,0,0,0,0,0,0
$GC,2646,-1.47,-97.3,272.2,-9.2,196,2647,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2024,3411,0,0,0,0,0,0
$GC,2972,-1.47,-97.3,302.7,-9.5,204,2977,0.00,2.47,0.00,0.000,4,0.000,0.033,2834,3545,3411,0,0,0,0,0,0
$GC,3033,-1.47,-97.3,308.7,-9.4,205,3038,0.00,2.42,0.00,0.000,6,0.000,0.029,2834,2037,3411,0,0,0,0,0,0
$GC,3376,-1.47,-97.3,338.4,-8.6,214,3380,0.00,2.47,0.00,0.000,4,0.000,0.039,2834,3551,3410,0,0,0,0,0,0
$GC,3399,-1.47,-97.3,340.1,-7.5,214,3403,0.00,2.45,0.00,0.000,6,0.000,0.032,2834,2035,3410,0,0,0,0,0,0
$GC,3735,-1.47,-97.3,366.3,-8.0,223,3740,0.00,2.45,0.00,0.000,4,0.000,0.040,2834,3541,3408,0,0,0,0,0,0
$GC,3838,-1.53,-97.3,374.7,-7.8,225,3842,0.00,2.45,0.00,0.000,6,0.000,0.041,2834,2051,3408,0,0,0,0,0,0
$GC,4185,-1.53,-97.3,404.0,-8.7,234,4187,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2051,3406,0,0,0,0,0,0
$GC,4511,-1.57,-97.3,432.9,-9.1,242,4512,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2051,3404,0,0,0,0,0,0
$GC,4837,-1.61,-97.3,460.1,-8.1,250,4842,0.00,2.50,0.00,0.000,4,0.000,0.052,2834,3543,3401,0,0,0,0,0,0
$GC,4950,-1.69,-97.3,469.1,-7.2,252,4955,0.12,2.50,0.00,0.000,6,0.071,0.057,2785,2054,3401,0,0,0,0,0,0
$GC,5287,-1.65,-97.3,500.4,-9.6,261,5288,0.12,0.00,0.00,0.000,6,0.115,0.000,2812,2055,3398,0,0,0,0,0,0
$GC,5613,-1.65,-97.3,529.3,-9.0,269,5617,0.00,2.58,0.00,0.000,4,0.000,0.067,2812,3537,3396,0,0,0,0,0,0
$GC,5634,-1.65,-97.3,531.5,-9.6,269,5638,0.00,2.55,0.00,0.000,6,0.000,0.058,2812,2052,3396,0,0,0,0,0,0
$GC,5971,-1.65,-97.3,562.5,-9.3,278,5975,0.00,2.58,0.00,0.000,4,0.000,0.074,2812,3533,3394,0,0,0,0,0,0
$GC,5999,-1.65,-97.3,565.2,-10.4,278,6004,0.00,2.55,0.00,0.000,6,0.000,0.064,2812,2060,3394,0,0,0,0,0,0
$GC,6330,-1.65,-97.3,597.5,-9.6,286,6334,0.00,2.60,0.00,0.000,4,0.000,0.076,2812,3535,3391,0,0,0,0,0,0
$GC,6369,-1.65,-97.3,601.3,-9.7,287,6373,0.00,2.60,0.00,0.000,6,0.000,0.077,2812,2058,3391,0,0,0,0,0,0
$GC,6694,-1.65,-97.3,631.5,-9.4,295,6699,0.00,3.25,0.00,0.000,4,0.000,0.139,2812,417,3389,0,0,0,0,0,0
$GC,6721,-1.65,-97.3,634.6,-10.8,295,6726,0.00,2.72,0.00,0.000,6,0.000,0.067,2812,1990,3388,0,0,0,0,0,0
$GC,7053,-1.65,-97.3,664.2,-8.6,303,7057,0.00,3.05,0.00,0.000,4,0.000,0.120,2812,3599,3387,0,0,0,0,0,0
$GC,7075,-1.65,-97.3,666.2,-9.2,303,7080,0.00,2.85,0.00,0.000,6,0.000,0.101,2812,2059,3387,0,0,0,0,0,0
$GC,7412,-1.65,-97.3,694.9,-8.5,312,7413,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,2059,3384,0,0,0,0,0,0
$STATE,7492,end dive,TARGET_DEPTH_EXCEEDED
$STATE,7492,begin apogee
$GC,7498,-0.31,0.0,701.7,8.5,314,7582,1.30,0.00,80.57,1.090,6,0.081,0.000,3105,1989,3011,0,0,0,0,0,0
$STATE,7583,end apogee,CONTROL_FINISHED_OK
$STATE,7583,begin climb
$GC,7587,1.36,97.3,703.4,0.0,316,7679,1.52,0.00,87.65,1.064,6,0.039,0.000,3473,1989,2613,0,0,0,0,0,0
$GC,7996,1.21,113.9,679.9,7.9,326,8018,0.17,3.25,15.27,0.985,4,0.124,0.139,3439,407,2543,0,0,0,0,0,0
$GC,8077,1.05,113.9,672.7,10.0,327,8084,0.17,2.85,0.00,0.000,6,0.130,0.078,3406,1989,2540,0,0,0,0,0,0
$GC,8409,1.08,136.9,647.5,7.5,336,8437,0.00,2.97,20.92,1.006,4,0.000,0.096,3406,3579,2450,0,0,0,0,0,0
$GC,8501,1.09,143.4,640.0,8.6,338,8515,0.00,2.90,7.12,0.848,6,0.000,0.081,3406,1993,2425,0,0,0,0,0,0
$GC,8824,1.12,172.3,615.2,7.2,346,8858,0.00,3.15,27.75,1.005,4,0.000,0.114,3405,406,2306,0,0,0,0,0,0
$GC,8926,1.08,172.3,606.7,9.7,348,8931,0.00,2.70,0.00,0.000,6,0.000,0.050,3405,1993,2302,0,0,0,0,0,0
$GC,9239,1.08,174.9,578.7,8.8,356,9243,0.00,2.95,0.00,0.000,4,0.000,0.094,3405,403,2300,0,0,0,0,0,0
$GC,9278,1.04,174.9,574.6,10.3,357,9283,0.00,2.62,0.00,0.000,6,0.000,0.038,3405,1982,2298,0,0,0,0,0,0
$GC,9602,1.04,180.1,545.7,8.6,365,9611,0.00,0.00,7.43,0.843,6,0.000,0.000,3405,1982,2275,0,0,0,0,0,0
$GC,9927,1.08,207.0,520.8,7.3,373,9960,0.00,2.92,25.92,0.954,4,0.000,0.083,3405,400,2164,0,0,0,0,0,0
$GC,10020,1.09,217.2,513.6,8.3,375,10035,0.00,2.62,10.55,0.871,6,0.000,0.038,3405,1978,2124,0,0,0,0,0,0
$GC,10378,1.12,240.1,486.4,7.6,384,10408,0.00,2.92,22.12,0.920,4,0.000,0.078,3405,410,2030,0,0,0,0,0,0
$GC,10431,1.12,240.1,481.8,9.1,385,10435,0.00,2.60,0.00,0.000,6,0.000,0.035,3405,1977,2028,0,0,0,0,0,0
$GC,10745,1.17,240.1,453.6,9.1,393,10750,0.10,2.80,0.00,0.000,4,0.095,0.074,3432,402,2026,0,0,0,0,0,0
$GC,10785,1.12,240.1,449.1,11.8,394,10790,0.00,2.55,0.00,0.000,6,0.000,0.033,3432,1969,2024,0,0,0,0,0,0
$GC,11111,1.12,240.1,416.2,10.0,402,11115,0.00,2.70,0.00,0.000,4,0.000,0.052,3432,3590,2024,0,0,0,0,0,0
$GC,11126,1.12,240.1,414.4,10.1,402,11131,0.00,2.75,0.00,0.000,6,0.000,0.044,3432,1954,2023,0,0,0,0,0,0
$GC,11469,1.12,240.1,380.3,9.9,411,11473,0.00,2.78,0.00,0.000,4,0.000,0.092,3432,405,2023,0,0,0,0,0,0
$GC,11510,1.08,240.1,376.1,11.5,412,11514,0.00,2.53,0.00,0.000,6,0.000,0.019,3432,1993,2022,0,0,0,0,0,0
$GC,11833,1.08,240.1,342.6,9.7,420,11834,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1994,2022,0,0,0,0,0,0
$GC,12158,1.08,240.1,311.4,9.0,428,12163,0.00,2.75,0.00,0.000,4,0.000,0.061,3432,404,2022,0,0,0,0,0,0
$GC,12209,1.09,245.2,306.9,8.7,429,12218,0.00,2.50,4.38,0.579,6,0.000,0.021,3432,1976,2010,0,0,0,0,0,0
$GC,12527,1.15,258.5,281.8,8.2,437,12546,0.00,2.78,14.07,0.755,4,0.000,0.064,3432,399,1955,0,0,0,0,0,0
$GC,12604,1.16,263.6,274.7,8.7,438,12616,0.00,2.50,6.18,0.641,6,0.000,0.022,3432,1972,1935,0,0,0,0,0,0
$GC,12941,1.23,270.4,245.1,8.5,447,12955,0.00,2.75,7.55,0.660,4,0.000,0.056,3432,407,1906,0,0,0,0,0,0
$GC,13043,1.28,270.4,234.9,9.4,449,13047,0.00,2.45,0.00,0.000,6,0.000,0.025,3432,1967,1905,0,0,0,0,0,0
$GC,13356,1.36,271.5,206.2,8.9,457,13358,0.15,0.00,0.00,0.000,6,0.073,0.000,3472,1968,1905,0,0,0,0,0,0
$GC,13677,1.36,271.5,177.4,9.3,481,13682,0.00,2.65,0.00,0.000,4,0.000,0.059,3472,396,1905,0,0,0,0,0,0
$GC,13733,1.36,271.5,170.6,10.8,485,13739,0.00,2.45,0.00,0.000,6,0.000,0.026,3472,1957,1905,0,0,0,0,0,0
$GC,14061,1.40,275.2,138.0,8.7,516,14075,0.00,2.67,5.32,0.511,4,0.000,0.054,3472,407,1889,0,0,0,0,0,0
$GC,14162,1.40,275.2,127.5,10.1,524,14172,0.00,2.42,0.00,0.000,6,0.000,0.025,3472,1941,1888,0,0,0,0,0,0
$GC,14492,1.49,298.5,101.0,7.5,555,14520,0.12,2.65,22.52,0.598,4,0.075,0.053,3509,399,1792,0,0,0,0,0,0
$GC,14621,1.47,308.2,89.7,8.4,565,14635,0.00,2.38,9.62,0.540,6,0.000,0.018,3509,1933,1753,0,0,0,0,0,0
$GC,14959,1.47,308.2,63.2,9.0,596,14963,0.00,2.62,0.00,0.000,4,0.000,0.032,3509,3559,1751,0,0,0,0,0,0
$GC,15004,1.52,311.8,59.2,8.8,599,15019,0.00,2.67,4.35,0.402,6,0.000,0.029,3509,1912,1739,0,0,0,0,0,0
$GC,15341,1.52,311.8,28.1,10.0,631,15350,0.00,2.58,0.00,0.000,4,0.000,0.054,3509,399,1739,0,0,0,0,0,0
$GC,15396,1.52,311.8,22.1,10.3,638,15405,0.00,2.40,0.00,0.000,6,0.000,0.018,3509,1932,1739,0,0,0,0,0,0
$STATE,15579,end climb,SURFACE_DEPTH_REACHED
$STATE,15579,begin surface coast
$FINISH,0.7,0.980083
$STATE,15635,end surface coast,CONTROL_FINISHED_OK
$STATE,15636,begin surface
$SM_CCo,15658,57.03,0.512,0,0,1459,380.21
$SM_GC,1.54,0.00,0.00,57.03,0.000,0.000,0.512,476,2050,1459,-12.42,1.10,380.21
$IRIDIUM_FIX,2241.69,-15802.37,081000,151556
$TT8_MAMPS,0.026078
$HUMID,63.74
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,20.90
$XPDR_PINGS,85
$24V_AH,23.1,66.058
$10V_AH,9.9,59.564
$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,29.175,164.000,379.325,57.025,0.000,67.760,81.004,444.284,21.250,0.000,13.675,1362.457,11270.175,527.472,2395.740,972.723,33.379,1433.075,0.000,2397.031,0.000,0.533,0.000
$DEVICE_MAMPS,149.565,158.002,1089.907,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,458.080,332.072,456.306,815.006,1231.193,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355748
$DATA_FILE_SIZE,50939,672
$CAP_FILE_SIZE,143438,0
$CFSIZE,260165632,154189824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150711,202254,2249.176,-15759.797,66,1.4,66,10.1