version: 66.06
glider: 146
mission: 6
dive: 552
start: 7 20 111 0 38 59
data:
$ID,146
$MISSION,6
$DIVE,552
$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,-281516.91
$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,10
$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
$GPS1,002801,2249.662,-15757.294,54,1.0,54,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-65.4
$GPS2,003802,2249.708,-15757.446,12,1.5,12,10.1
$SPEED_LIMITS,0.115,0.201
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.065,-0.190
$KALMAN_X,-507024.1,-311.3,120.8,506108.3,-1464.9
$KALMAN_Y,216370.0,13.1,188.4,-205817.0,559.7
$MHEAD_RNG_PITCHd_Wd,151.1,5051,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.24,-97.3,0.0,0.0,0,127,0.00,0.00,-109.30,0.000,2,0.000,0.000,475,2019,3347,0,0,0,0,0,0
$GC,132,-1.24,-97.3,4.3,-5.6,14,158,12.65,2.70,-1.08,0.000,4,0.149,0.053,2897,413,3411,0,0,0,0,0,0
$GC,242,-1.14,-97.3,28.0,-12.7,29,250,0.10,2.47,0.00,0.000,6,0.097,0.015,2922,2012,3411,0,0,0,0,0,0
$GC,644,-1.14,-97.3,71.9,-10.4,67,648,0.00,2.45,0.00,0.000,4,0.000,0.028,2922,3559,3411,0,0,0,0,0,0
$GC,665,-1.14,-97.3,74.1,-9.6,68,670,0.00,2.50,0.00,0.000,6,0.000,0.023,2922,1978,3412,0,0,0,0,0,0
$GC,1053,-1.14,-97.3,111.9,-9.2,104,1058,0.00,2.53,0.00,0.000,4,0.000,0.027,2922,3569,3412,0,0,0,0,0,0
$GC,1099,-1.21,-97.3,115.9,-10.1,107,1104,0.00,2.45,0.00,0.000,6,0.000,0.022,2922,2007,3412,0,0,0,0,0,0
$GC,1492,-1.28,-97.3,150.5,-8.3,143,1497,0.12,2.50,0.00,0.000,4,0.068,0.035,2875,3560,3412,0,0,0,0,0,0
$GC,1523,-1.28,-97.3,153.6,-9.9,145,1528,0.10,2.45,0.00,0.000,6,0.112,0.028,2897,2006,3412,0,0,0,0,0,0
$GC,1916,-1.28,-97.3,190.2,-7.8,181,1920,0.00,2.62,0.00,0.000,4,0.000,0.058,2897,439,3412,0,0,0,0,0,0
$GC,1960,-1.28,-97.3,193.7,-8.4,184,1964,0.00,2.38,0.00,0.000,6,0.000,0.019,2898,2027,3412,0,0,0,0,0,0
$GC,2353,-1.32,-97.3,224.6,-7.9,220,2357,0.00,2.42,0.00,0.000,4,0.000,0.029,2898,3550,3412,0,0,0,0,0,0
$GC,2419,-1.40,-97.3,230.5,-7.8,225,2427,0.08,2.45,0.00,0.000,6,0.039,0.028,2848,2016,3413,0,0,0,0,0,0
$GC,2810,-1.40,-97.3,265.7,-9.1,262,2814,0.10,2.47,0.00,0.000,4,0.120,0.032,2869,3544,3411,0,0,0,0,0,0
$GC,2853,-1.44,-97.3,269.2,-8.4,265,2857,0.00,2.40,0.00,0.000,6,0.000,0.030,2869,2029,3412,0,0,0,0,0,0
$GC,3245,-1.44,-97.3,299.8,-7.7,301,3250,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2029,3411,0,0,0,0,0,0
$GC,3634,-1.44,-97.3,336.1,-8.9,338,3638,0.00,2.47,0.00,0.000,4,0.000,0.040,2870,3544,3409,0,0,0,0,0,0
$GC,3666,-1.49,-97.3,339.1,-9.4,340,3672,0.00,2.45,0.00,0.000,6,0.000,0.030,2870,2028,3409,0,0,0,0,0,0
$GC,4055,-1.53,-97.3,368.7,-7.9,377,4060,0.12,2.50,0.00,0.000,4,0.074,0.038,2824,3541,3406,0,0,0,0,0,0
$GC,4107,-1.53,-97.3,373.7,-10.3,381,4111,0.00,2.50,0.00,0.000,6,0.000,0.042,2823,2016,3406,0,0,0,0,0,0
$GC,4495,-1.49,-97.3,411.5,-8.4,417,4500,0.12,2.53,0.00,0.000,4,0.107,0.046,2850,3536,3404,0,0,0,0,0,0
$GC,4515,-1.49,-97.3,412.8,-7.8,418,4519,0.00,2.53,0.00,0.000,6,0.000,0.042,2850,2021,3404,0,0,0,0,0,0
$GC,4907,-1.49,-97.3,438.2,-7.2,454,4911,0.00,2.53,0.00,0.000,4,0.000,0.047,2850,3542,3401,0,0,0,0,0,0
$GC,4957,-1.54,-97.3,442.3,-7.5,458,4962,0.00,2.55,0.00,0.000,6,0.000,0.049,2850,2013,3401,0,0,0,0,0,0
$GC,5346,-1.54,-97.3,473.8,-8.0,494,5350,0.00,2.58,0.00,0.000,4,0.000,0.059,2850,3534,3397,0,0,0,0,0,0
$GC,5401,-1.59,-97.3,478.6,-8.6,498,5408,0.08,2.58,0.00,0.000,6,0.041,0.055,2813,2039,3398,0,0,0,0,0,0
$GC,5792,-1.55,-97.3,515.7,-9.1,524,5794,0.10,0.00,0.00,0.000,6,0.122,0.000,2835,2039,3395,0,0,0,0,0,0
$GC,6158,-1.55,-97.3,542.0,-7.1,533,6162,0.00,2.62,0.00,0.000,4,0.000,0.071,2835,3534,3392,0,0,0,0,0,0
$GC,6183,-1.55,-97.3,543.6,-7.2,533,6187,0.00,2.60,0.00,0.000,6,0.000,0.064,2836,2025,3392,0,0,0,0,0,0
$GC,6560,-1.55,-97.3,573.3,-8.0,543,6561,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2025,3389,0,0,0,0,0,0
$GC,6925,-1.55,-97.3,602.1,-7.8,552,6930,0.00,2.67,0.00,0.000,4,0.000,0.080,2835,3529,3387,0,0,0,0,0,0
$GC,7032,-1.55,-97.3,610.7,-8.3,554,7037,0.00,2.62,0.00,0.000,6,0.000,0.077,2835,2048,3386,0,0,0,0,0,0
$GC,7415,-1.55,-97.3,640.5,-7.9,564,7416,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2048,3384,0,0,0,0,0,0
$GC,7780,-1.55,-97.3,670.8,-8.5,573,7785,0.00,2.72,0.00,0.000,4,0.000,0.101,2835,3531,3382,0,0,0,0,0,0
$GC,7815,-1.59,-97.3,673.8,-8.8,573,7821,0.00,2.75,0.00,0.000,6,0.000,0.099,2835,2054,3382,0,0,0,0,0,0
$STATE,8184,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8185,begin apogee
$GC,8191,-0.31,0.0,702.8,7.5,583,8275,1.20,0.00,80.15,1.097,6,0.077,0.000,3107,1996,3010,0,0,0,0,0,0
$STATE,8275,end apogee,CONTROL_FINISHED_OK
$STATE,8275,begin climb
$GC,8278,1.24,97.3,705.0,0.0,585,8371,1.42,0.00,88.80,1.072,6,0.048,0.000,3451,1996,2613,0,0,0,0,0,0
$GC,8715,1.11,135.8,687.3,5.9,596,8757,0.17,3.35,34.50,1.039,4,0.120,0.151,3417,406,2455,0,0,0,0,0,0
$GC,8787,0.94,135.8,682.2,8.3,597,8792,0.17,2.78,0.00,0.000,6,0.120,0.084,3381,1924,2452,0,0,0,0,0,0
$GC,9166,0.96,155.4,655.5,7.0,607,9190,0.00,3.03,18.02,0.996,4,0.000,0.095,3381,3512,2375,0,0,0,0,0,0
$GC,9224,0.96,155.4,650.9,8.3,608,9229,0.00,2.80,0.00,0.000,6,0.000,0.087,3382,1997,2374,0,0,0,0,0,0
$GC,9615,0.99,175.3,622.6,6.9,618,9639,0.00,3.15,19.08,0.993,4,0.000,0.120,3381,407,2295,0,0,0,0,0,0
$GC,9713,0.94,175.3,614.2,9.3,620,9717,0.00,2.60,0.00,0.000,6,0.000,0.046,3381,1930,2291,0,0,0,0,0,0
$GC,10109,0.97,204.3,586.9,6.4,630,10144,0.00,2.92,27.25,0.996,4,0.000,0.078,3381,3512,2176,0,0,0,0,0,0
$GC,10166,1.00,228.0,583.1,6.7,631,10196,0.00,2.67,23.15,0.971,6,0.000,0.060,3381,1988,2079,0,0,0,0,0,0
$GC,10604,1.02,242.5,553.0,7.2,642,10623,0.00,3.10,13.23,0.922,4,0.000,0.110,3381,409,2020,0,0,0,0,0,0
$GC,10716,1.02,242.5,541.4,11.0,644,10720,0.00,2.50,0.00,0.000,6,0.000,0.040,3381,1918,2018,0,0,0,0,0,0
$GC,11100,1.02,242.5,501.1,10.4,654,11104,0.00,2.75,0.00,0.000,4,0.000,0.086,3381,404,2015,0,0,0,0,0,0
$GC,11161,1.02,242.5,494.3,10.7,657,11165,0.00,2.50,0.00,0.000,6,0.000,0.034,3381,1918,2015,0,0,0,0,0,0
$GC,11551,1.02,244.7,461.1,7.9,693,11552,0.00,0.00,0.00,0.000,6,0.000,0.000,3381,1918,2014,0,0,0,0,0,0
$GC,11932,1.06,244.7,426.7,10.3,729,11937,0.10,2.70,0.00,0.000,4,0.090,0.078,3408,406,2013,0,0,0,0,0,0
$GC,11973,1.00,244.7,422.1,12.2,732,11978,0.00,2.45,0.00,0.000,6,0.000,0.028,3408,1911,2012,0,0,0,0,0,0
$GC,12362,1.00,244.7,381.5,8.7,768,12366,0.00,2.62,0.00,0.000,4,0.000,0.066,3408,403,2012,0,0,0,0,0,0
$GC,12402,1.00,244.7,377.8,9.6,771,12407,0.00,2.42,0.00,0.000,6,0.000,0.030,3408,1910,2011,0,0,0,0,0,0
$GC,12791,1.00,244.7,347.7,8.1,807,12795,0.00,2.62,0.00,0.000,4,0.000,0.065,3409,403,2011,0,0,0,0,0,0
$GC,12853,1.00,244.7,342.2,9.4,812,12857,0.00,2.40,0.00,0.000,6,0.000,0.021,3408,1909,2010,0,0,0,0,0,0
$GC,13241,1.00,244.7,309.2,8.5,848,13243,0.00,0.00,0.00,0.000,6,0.000,0.000,3408,1909,2010,0,0,0,0,0,0
$GC,13624,1.06,253.6,280.0,7.6,884,13639,0.00,2.62,9.73,0.719,4,0.000,0.062,3408,400,1976,0,0,0,0,0,0
$GC,13673,1.06,253.6,276.1,8.7,888,13677,0.00,2.42,0.00,0.000,6,0.000,0.020,3408,1922,1974,0,0,0,0,0,0
$GC,14062,1.14,258.7,248.4,7.8,924,14073,0.00,0.00,5.93,0.612,6,0.000,0.000,3408,1922,1955,0,0,0,0,0,0
$GC,14456,1.24,289.3,221.0,6.3,961,14493,0.15,2.70,28.95,0.715,4,0.070,0.058,3451,405,1829,0,0,0,0,0,0
$GC,14538,1.24,289.3,213.9,10.0,968,14544,0.00,2.40,0.00,0.000,6,0.000,0.019,3451,1921,1826,0,0,0,0,0,0
$GC,14927,1.25,295.5,183.5,7.7,1005,14941,0.00,2.65,6.35,0.562,4,0.000,0.058,3451,401,1804,0,0,0,0,0,0
$GC,15015,1.25,295.5,175.6,9.6,1012,15019,0.00,2.40,0.00,0.000,6,0.000,0.019,3451,1932,1803,0,0,0,0,0,0
$GC,15404,1.29,295.5,140.1,8.8,1048,15408,0.00,2.60,0.00,0.000,4,0.000,0.054,3452,401,1803,0,0,0,0,0,0
$GC,15451,1.29,295.5,135.3,10.1,1051,15457,0.00,2.38,0.00,0.000,6,0.000,0.025,3451,1924,1803,0,0,0,0,0,0
$GC,15840,1.36,310.5,104.2,7.2,1088,15864,0.00,2.62,14.55,0.575,4,0.000,0.056,3451,394,1742,0,0,0,0,0,0
$GC,15905,1.36,310.5,99.1,8.8,1093,15909,0.00,2.38,0.00,0.000,6,0.000,0.018,3451,1914,1741,0,0,0,0,0,0
$GC,16299,1.50,351.4,70.5,5.8,1129,16341,0.20,2.62,35.95,0.563,4,0.059,0.051,3508,393,1576,0,0,0,0,0,0
$GC,16397,1.45,351.4,62.1,10.6,1136,16401,0.00,2.38,0.00,0.000,6,0.000,0.019,3508,1909,1572,0,0,0,0,0,0
$GC,16813,1.45,351.4,17.2,11.2,1180,16823,0.00,2.58,0.00,0.000,4,0.000,0.054,3508,404,1571,0,0,0,0,0,0
$STATE,16914,end climb,SURFACE_DEPTH_REACHED
$STATE,16914,begin surface coast
$FINISH,0.7,0.980052
$STATE,16951,end surface coast,CONTROL_FINISHED_OK
$STATE,16951,begin surface
$SM_CCo,16977,23.23,0.499,0,0,1459,380.21
$SM_GC,1.82,0.00,0.00,23.23,0.000,0.000,0.499,471,2008,1459,-12.44,-0.06,380.21
$IRIDIUM_FIX,2241.69,-15759.32,121000,191925
$TT8_MAMPS,0.026078
$HUMID,63.86
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,20.90
$XPDR_PINGS,109
$24V_AH,23.1,69.146
$10V_AH,10.0,62.795
$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,29.300,160.750,405.625,23.225,0.000,22.441,32.821,384.567,27.250,0.000,14.240,2092.461,10636.691,525.708,3435.671,907.780,33.407,1715.729,0.000,3464.396,0.000,0.534,0.000
$DEVICE_MAMPS,148.798,172.575,1096.810,499.317,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,822.069,835.416,1120.852,1540.243,1268.626,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355436
$DATA_FILE_SIZE,95048,1199
$CAP_FILE_SIZE,161194,0
$CFSIZE,260165632,152678400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200711,052338,2248.184,-15758.102,35,1.3,35,10.1