version: 66.06
glider: 146
mission: 6
dive: 542
start: 7 17 111 22 3 15
data:
$ID,146
$MISSION,6
$DIVE,542
$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,290
$T_MISSION,600
$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,-281312.44
$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,43
$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
$GPS1,215106,2247.567,-15803.243,31,1.6,31,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.44
$_SM_ANGLEo,-70.1
$GPS2,220220,2247.611,-15803.371,11,1.6,11,10.1
$SPEED_LIMITS,0.115,0.201
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.106,0.171
$KALMAN_X,-486320.8,-447.7,-56.0,475593.1,-1292.6
$KALMAN_Y,205092.7,-334.5,497.4,-198388.7,858.9
$MHEAD_RNG_PITCHd_Wd,21.7,4470,-17.9,-8.046
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.24,-97.3,0.0,0.0,0,90,0.00,0.00,-70.35,0.000,2,0.000,0.000,473,2082,3260,0,0,0,0,0,0
$GC,93,-1.24,-97.3,3.7,-4.2,9,119,12.70,2.45,-2.80,0.000,4,0.151,0.043,2897,3582,3411,0,0,0,0,0,0
$GC,204,-1.24,-97.3,24.1,-11.6,24,213,0.00,2.58,0.00,0.000,6,0.000,0.024,2897,1982,3412,0,0,0,0,0,0
$GC,610,-1.19,-97.3,75.6,-11.3,64,614,0.00,2.55,0.00,0.000,4,0.000,0.027,2897,3587,3412,0,0,0,0,0,0
$GC,643,-1.19,-97.3,79.4,-10.7,66,648,0.00,2.47,0.00,0.000,6,0.000,0.022,2897,2015,3413,0,0,0,0,0,0
$GC,1033,-1.19,-97.3,114.8,-9.4,102,1038,0.00,2.47,0.00,0.000,4,0.000,0.034,2897,3584,3413,0,0,0,0,0,0
$GC,1067,-1.19,-97.3,118.5,-10.0,104,1076,0.00,2.47,0.00,0.000,6,0.000,0.021,2897,2026,3414,0,0,0,0,0,0
$GC,1456,-1.19,-97.3,153.7,-8.1,141,1457,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,2026,3414,0,0,0,0,0,0
$GC,1838,-1.19,-97.3,187.8,-9.8,177,1842,0.00,2.50,0.00,0.000,4,0.000,0.031,2897,3586,3414,0,0,0,0,0,0
$GC,1859,-1.23,-97.3,189.5,-10.3,178,1863,0.00,2.42,0.00,0.000,6,0.000,0.021,2897,2024,3414,0,0,0,0,0,0
$GC,2259,-1.27,-97.3,221.0,-6.6,195,2264,0.00,2.53,0.00,0.000,4,0.000,0.036,2897,3587,3414,0,0,0,0,0,0
$GC,2293,-1.36,-97.3,223.6,-7.1,195,2299,0.00,2.45,0.00,0.000,6,0.000,0.028,2897,2029,3414,0,0,0,0,0,0
$GC,2666,-1.41,-97.3,255.0,-8.9,205,2672,0.12,2.70,0.00,0.000,4,0.071,0.067,2846,432,3414,0,0,0,0,0,0
$GC,2717,-1.36,-97.3,260.6,-10.6,206,2722,0.15,2.47,0.00,0.000,6,0.107,0.017,2880,2038,3414,0,0,0,0,0,0
$GC,3113,-1.40,-97.3,290.6,-7.2,216,3117,0.00,2.50,0.00,0.000,4,0.000,0.035,2880,3575,3413,0,0,0,0,0,0
$GC,3154,-1.48,-97.3,293.6,-7.6,217,3159,0.10,2.45,0.00,0.000,6,0.079,0.025,2834,2027,3413,0,0,0,0,0,0
$GC,3562,-1.44,-97.3,326.9,-8.2,227,3567,0.12,2.53,0.00,0.000,4,0.105,0.037,2862,3568,3412,0,0,0,0,0,0
$GC,3630,-1.49,-97.3,332.5,-8.3,228,3634,0.00,2.47,0.00,0.000,6,0.000,0.037,2862,2032,3412,0,0,0,0,0,0
$GC,4007,-1.49,-97.3,361.4,-7.4,238,4008,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2033,3411,0,0,0,0,0,0
$GC,4372,-1.49,-97.3,387.2,-7.5,247,4377,0.00,2.53,0.00,0.000,4,0.000,0.043,2862,3561,3408,0,0,0,0,0,0
$GC,4407,-1.54,-97.3,390.1,-9.1,247,4412,0.00,2.50,0.00,0.000,6,0.000,0.042,2862,2043,3408,0,0,0,0,0,0
$GC,4778,-1.54,-97.3,421.8,-8.8,257,4783,0.00,2.53,0.00,0.000,4,0.000,0.048,2862,3559,3405,0,0,0,0,0,0
$GC,4823,-1.60,-97.3,426.0,-9.3,258,4828,0.15,2.53,0.00,0.000,6,0.066,0.049,2813,2042,3405,0,0,0,0,0,0
$GC,5224,-1.55,-97.3,464.1,-9.1,268,5226,0.10,0.00,0.00,0.000,6,0.117,0.000,2836,2042,3402,0,0,0,0,0,0
$GC,5588,-1.55,-97.3,493.5,-8.2,277,5592,0.00,2.60,0.00,0.000,4,0.000,0.057,2836,3557,3399,0,0,0,0,0,0
$GC,5644,-1.55,-97.3,498.4,-8.6,278,5649,0.00,2.58,0.00,0.000,6,0.000,0.060,2836,2046,3399,0,0,0,0,0,0
$GC,6032,-1.55,-97.3,531.4,-8.7,288,6037,0.00,3.12,0.00,0.000,4,0.000,0.123,2836,424,3397,0,0,0,0,0,0
$GC,6064,-1.55,-97.3,534.5,-9.4,288,6070,0.00,2.60,0.00,0.000,6,0.000,0.041,2836,2009,3397,0,0,0,0,0,0
$GC,6438,-1.55,-97.3,564.5,-7.5,298,6443,0.00,2.83,0.00,0.000,4,0.000,0.087,2836,3591,3394,0,0,0,0,0,0
$GC,6505,-1.55,-97.3,569.3,-6.7,299,6509,0.00,2.65,0.00,0.000,6,0.000,0.059,2836,2044,3394,0,0,0,0,0,0
$GC,6882,-1.55,-97.3,595.2,-7.4,309,6886,0.00,2.72,0.00,0.000,4,0.000,0.079,2836,3594,3391,0,0,0,0,0,0
$GC,6927,-1.55,-97.3,599.1,-9.1,310,6931,0.00,2.70,0.00,0.000,6,0.000,0.067,2835,2052,3391,0,0,0,0,0,0
$GC,7326,-1.55,-97.3,634.7,-9.0,320,7327,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,2051,3389,0,0,0,0,0,0
$GC,7692,-1.55,-97.3,663.8,-7.5,329,7696,0.00,2.85,0.00,0.000,4,0.000,0.106,2836,3590,3387,0,0,0,0,0,0
$GC,7715,-1.55,-97.3,665.5,-7.7,329,7719,0.00,2.85,0.00,0.000,6,0.000,0.095,2836,2045,3387,0,0,0,0,0,0
$GC,8092,-1.55,-97.3,694.3,-7.6,339,8097,0.00,3.35,0.00,0.000,4,0.000,0.160,2836,421,3385,0,0,0,0,0,0
$GC,8113,-1.55,-97.3,696.1,-8.1,339,8118,0.00,2.95,0.00,0.000,6,0.000,0.089,2836,2040,3385,0,0,0,0,0,0
$STATE,8203,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8203,begin apogee
$GC,8211,-0.31,0.0,702.8,7.4,342,8296,1.20,0.00,81.18,1.097,6,0.079,0.000,3107,1988,3010,0,0,0,0,0,0
$STATE,8297,end apogee,CONTROL_FINISHED_OK
$STATE,8297,begin climb
$GC,8299,1.24,97.3,704.3,0.0,344,8398,1.40,3.17,87.35,1.070,4,0.038,0.120,3451,3582,2613,0,0,0,0,0,0
$GC,8428,1.08,131.8,702.7,6.1,347,8470,0.20,3.10,32.08,1.030,6,0.125,0.111,3412,1993,2470,0,0,0,0,0,0
$GC,8837,0.99,133.4,672.0,8.0,357,8842,0.10,3.20,0.00,0.000,4,0.141,0.133,3392,401,2460,0,0,0,0,0,0
$GC,8952,0.87,133.4,661.9,8.7,359,8958,0.15,2.80,0.00,0.000,6,0.124,0.067,3363,1994,2459,0,0,0,0,0,0
$GC,9330,0.91,165.9,636.4,6.2,369,9366,0.00,3.00,30.33,1.019,4,0.000,0.094,3363,3585,2331,0,0,0,0,0,0
$GC,9386,0.94,195.8,632.9,6.4,369,9420,0.00,2.92,28.65,1.003,6,0.000,0.081,3363,1981,2211,0,0,0,0,0,0
$GC,9823,0.97,212.7,601.6,7.1,380,9848,0.10,3.08,16.17,0.963,4,0.095,0.111,3389,401,2141,0,0,0,0,0,0
$GC,9943,0.91,212.7,590.2,9.9,382,9947,0.00,2.65,0.00,0.000,6,0.000,0.042,3389,1981,2137,0,0,0,0,0,0
$GC,10314,0.91,212.7,557.9,8.8,391,10315,0.00,0.00,0.00,0.000,6,0.000,0.000,3389,1982,2136,0,0,0,0,0,0
$GC,10682,0.91,212.7,525.0,8.9,400,10686,0.00,2.88,0.00,0.000,4,0.000,0.084,3389,401,2134,0,0,0,0,0,0
$GC,10714,0.87,212.7,521.6,10.3,400,10721,0.12,2.60,0.00,0.000,6,0.123,0.030,3365,1976,2134,0,0,0,0,0,0
$GC,11087,0.95,231.9,494.0,7.0,410,11111,0.00,2.92,17.58,0.924,4,0.000,0.079,3364,405,2063,0,0,0,0,0,0
$GC,11193,0.95,233.8,486.0,7.9,412,11197,0.00,2.58,0.00,0.000,6,0.000,0.035,3364,1959,2061,0,0,0,0,0,0
$GC,11582,1.04,249.5,458.4,7.2,422,11606,0.15,2.88,17.45,0.898,4,0.076,0.080,3404,405,1991,0,0,0,0,0,0
$GC,11677,1.04,249.5,449.2,10.5,424,11682,0.00,2.53,0.00,0.000,6,0.000,0.032,3404,1954,1990,0,0,0,0,0,0
$GC,12076,1.04,249.5,413.3,8.7,434,12081,0.00,2.75,0.00,0.000,4,0.000,0.074,3404,396,1988,0,0,0,0,0,0
$GC,12121,1.04,249.5,408.9,9.8,435,12126,0.00,2.50,0.00,0.000,6,0.000,0.025,3404,1947,1986,0,0,0,0,0,0
$GC,12520,1.04,249.5,370.9,9.3,445,12525,0.00,2.70,0.00,0.000,4,0.000,0.071,3404,401,1986,0,0,0,0,0,0
$GC,12559,1.04,249.5,367.1,9.7,446,12563,0.00,2.47,0.00,0.000,6,0.000,0.029,3404,1938,1985,0,0,0,0,0,0
$GC,12966,1.09,297.0,341.5,5.4,456,13016,0.00,2.80,43.45,0.837,4,0.000,0.066,3404,398,1798,0,0,0,0,0,0
$GC,13052,1.09,297.0,335.7,8.5,458,13057,0.00,2.50,0.00,0.000,6,0.000,0.026,3404,1942,1796,0,0,0,0,0,0
$GC,13460,1.15,297.0,297.0,10.4,468,13464,0.00,2.65,0.00,0.000,4,0.000,0.062,3404,401,1794,0,0,0,0,0,0
$GC,13499,1.15,297.0,292.5,10.8,469,13503,0.00,2.45,0.00,0.000,6,0.000,0.026,3404,1932,1793,0,0,0,0,0,0
$GC,13906,1.22,297.0,252.9,9.4,479,13911,0.15,2.62,0.00,0.000,4,0.076,0.058,3444,401,1792,0,0,0,0,0,0
$GC,13956,1.18,297.0,247.4,11.1,480,13960,0.00,2.40,0.00,0.000,6,0.000,0.026,3444,1927,1792,0,0,0,0,0,0
$GC,14350,1.18,297.0,214.0,8.4,490,14354,0.00,2.60,0.00,0.000,4,0.000,0.062,3443,397,1792,0,0,0,0,0,0
$GC,14462,1.18,297.0,203.5,9.8,492,14466,0.00,2.40,0.00,0.000,6,0.000,0.025,3444,1921,1792,0,0,0,0,0,0
$GC,14857,1.18,297.0,167.6,8.9,526,14862,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,1923,1792,0,0,0,0,0,0
$GC,15250,1.23,297.0,134.3,8.5,563,15254,0.00,2.58,0.00,0.000,4,0.000,0.054,3444,396,1792,0,0,0,0,0,0
$GC,15354,1.23,300.7,125.6,7.8,571,15358,0.00,2.38,0.00,0.000,6,0.000,0.019,3444,1919,1791,0,0,0,0,0,0
$GC,15746,1.32,312.9,97.5,7.4,607,15771,0.00,2.62,14.60,0.569,4,0.000,0.054,3444,403,1733,0,0,0,0,0,0
$GC,15824,1.37,312.9,91.3,8.7,613,15829,0.12,2.38,0.00,0.000,6,0.074,0.021,3481,1923,1732,0,0,0,0,0,0
$GC,16216,1.38,319.6,57.6,7.7,649,16230,0.00,2.58,7.28,0.480,4,0.000,0.049,3481,398,1707,0,0,0,0,0,0
$GC,16321,1.38,319.6,48.7,8.9,657,16325,0.00,2.33,0.00,0.000,6,0.000,0.018,3481,1913,1706,0,0,0,0,0,0
$GC,16765,1.38,319.6,11.1,9.0,709,16773,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,1916,1706,0,0,0,0,0,0
$STATE,16849,end climb,SURFACE_DEPTH_REACHED
$STATE,16849,begin surface coast
$FINISH,0.7,0.980054
$STATE,16912,end surface coast,CONTROL_FINISHED_OK
$STATE,16912,begin surface
$SM_CCo,16934,51.55,0.507,0,0,1460,380.21
$SM_GC,1.23,0.00,0.00,51.55,0.000,0.000,0.507,475,2107,1460,-12.42,2.77,380.21
$IRIDIUM_FIX,2237.01,-15802.37,101000,222219
$TT8_MAMPS,0.025311
$HUMID,63.19
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.40
$XPDR_PINGS,101
$24V_AH,23.1,67.606
$10V_AH,10.0,61.218
$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,29.300,170.175,376.100,51.550,0.000,69.530,70.026,313.436,25.250,0.000,13.151,1442.265,12235.711,513.135,2626.338,838.044,33.380,1484.129,0.000,2625.796,0.000,0.534,0.000
$DEVICE_MAMPS,151.099,160.303,1096.810,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,497.696,355.728,496.573,897.074,1356.727,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355500
$DATA_FILE_SIZE,57129,730
$CAP_FILE_SIZE,144390,0
$CFSIZE,260165632,153427968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180711,024754,2250.268,-15802.917,49,1.5,49,10.1