version: 66.06
glider: 146
mission: 6
dive: 557
start: 7 21 111 1 0 3
data:
$ID,146
$MISSION,6
$DIVE,557
$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,621.34491
$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,-281611.97
$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,26
$R_STBD_OVSHOOT,57
$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
$GPS1,004300,2249.751,-15802.185,68,1.6,68,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.2
$GPS2,005908,2249.804,-15802.374,14,1.3,14,10.1
$SPEED_LIMITS,0.115,0.201
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.190,-0.066
$KALMAN_X,-518305.8,178.6,396.8,508195.7,-2401.8
$KALMAN_Y,222809.9,260.8,12.1,-212150.8,1179.2
$MHEAD_RNG_PITCHd_Wd,99.0,9180,-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,16,-1.24,-97.3,0.0,0.0,0,89,0.00,0.00,-70.88,0.000,2,0.000,0.000,474,1962,3286,0,0,0,0,0,0
$GC,92,-1.24,-97.3,3.9,-4.7,9,118,12.90,2.60,-2.28,0.000,4,0.157,0.055,2897,423,3410,0,0,0,0,0,0
$GC,158,-0.95,-97.3,19.9,-19.5,17,168,0.28,2.47,0.00,0.000,6,0.089,0.021,2961,2026,3411,0,0,0,0,0,0
$GC,572,-0.99,-97.3,61.8,-9.9,60,577,0.00,2.45,0.00,0.000,4,0.000,0.028,2961,3569,3412,0,0,0,0,0,0
$GC,610,-1.08,-97.3,65.9,-10.2,62,619,0.00,2.50,0.00,0.000,6,0.000,0.031,2961,2004,3413,0,0,0,0,0,0
$GC,1002,-1.17,-97.3,101.4,-8.6,99,1007,0.17,0.00,0.00,0.000,6,0.053,0.000,2898,2004,3412,0,0,0,0,0,0
$GC,1390,-1.17,-97.3,138.8,-8.4,136,1395,0.10,2.50,0.00,0.000,4,0.113,0.028,2920,3561,3413,0,0,0,0,0,0
$GC,1458,-1.25,-97.3,144.0,-7.8,141,1463,0.00,2.42,0.00,0.000,6,0.000,0.028,2920,2008,3413,0,0,0,0,0,0
$GC,1847,-1.31,-97.3,175.8,-8.7,177,1852,0.12,2.50,0.00,0.000,4,0.068,0.028,2872,3567,3413,0,0,0,0,0,0
$GC,1887,-1.31,-97.3,180.1,-11.2,180,1891,0.00,2.45,0.00,0.000,6,0.000,0.029,2872,2008,3413,0,0,0,0,0,0
$GC,2277,-1.31,-97.3,219.0,-9.9,216,2281,0.00,2.60,0.00,0.000,4,0.000,0.056,2871,440,3414,0,0,0,0,0,0
$GC,2297,-1.31,-97.3,221.3,-9.9,217,2303,0.00,2.42,0.00,0.000,6,0.000,0.015,2871,2039,3413,0,0,0,0,0,0
$GC,2686,-1.31,-97.3,255.9,-8.5,254,2690,0.00,2.40,0.00,0.000,4,0.000,0.037,2871,3561,3413,0,0,0,0,0,0
$GC,2702,-1.31,-97.3,257.2,-8.0,255,2707,0.00,2.40,0.00,0.000,6,0.000,0.029,2872,2027,3414,0,0,0,0,0,0
$GC,3091,-1.31,-97.3,287.1,-6.9,291,3095,0.00,2.45,0.00,0.000,4,0.000,0.035,2871,3561,3413,0,0,0,0,0,0
$GC,3119,-1.35,-97.3,289.3,-8.0,293,3123,0.00,2.42,0.00,0.000,6,0.000,0.023,2871,2029,3414,0,0,0,0,0,0
$GC,3507,-1.35,-97.3,320.1,-8.6,329,3512,0.00,2.47,0.00,0.000,4,0.000,0.041,2871,3554,3413,0,0,0,0,0,0
$GC,3551,-1.41,-97.3,324.1,-9.3,332,3557,0.00,2.45,0.00,0.000,6,0.000,0.028,2872,2034,3412,0,0,0,0,0,0
$GC,3940,-1.45,-97.3,356.8,-8.1,369,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2034,3410,0,0,0,0,0,0
$GC,4322,-1.50,-97.3,386.3,-7.0,405,4327,0.10,2.50,0.00,0.000,4,0.088,0.044,2834,3548,3408,0,0,0,0,0,0
$GC,4366,-1.50,-97.3,389.9,-8.4,408,4374,0.00,2.50,0.00,0.000,6,0.000,0.038,2834,2039,3408,0,0,0,0,0,0
$GC,4757,-1.50,-97.3,417.1,-7.7,445,4758,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2039,3405,0,0,0,0,0,0
$GC,5139,-1.50,-97.3,450.2,-9.4,481,5143,0.00,2.53,0.00,0.000,4,0.000,0.055,2834,3544,3402,0,0,0,0,0,0
$GC,5249,-1.50,-97.3,459.9,-8.8,490,5253,0.00,2.55,0.00,0.000,6,0.000,0.053,2834,2033,3402,0,0,0,0,0,0
$GC,5643,-1.50,-97.3,492.7,-8.0,526,5647,0.00,2.55,0.00,0.000,4,0.000,0.061,2834,3541,3399,0,0,0,0,0,0
$GC,5675,-1.50,-97.3,495.8,-9.2,528,5683,0.00,2.55,0.00,0.000,6,0.000,0.051,2834,2048,3399,0,0,0,0,0,0
$GC,6060,-1.50,-97.3,525.2,-7.7,542,6061,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2047,3396,0,0,0,0,0,0
$GC,6427,-1.50,-97.3,554.2,-8.0,551,6428,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2047,3394,0,0,0,0,0,0
$GC,6790,-1.50,-97.3,584.4,-8.4,560,6795,0.00,2.67,0.00,0.000,4,0.000,0.083,2834,3544,3392,0,0,0,0,0,0
$GC,6839,-1.50,-97.3,588.9,-9.2,561,6844,0.00,2.62,0.00,0.000,6,0.000,0.070,2834,2037,3391,0,0,0,0,0,0
$GC,7235,-1.50,-97.3,623.7,-9.0,571,7239,0.00,2.67,0.00,0.000,4,0.000,0.079,2834,3541,3388,0,0,0,0,0,0
$GC,7301,-1.54,-97.3,630.3,-9.8,572,7306,0.00,2.67,0.00,0.000,6,0.000,0.085,2834,2046,3388,0,0,0,0,0,0
$GC,7678,-1.54,-97.3,663.6,-8.5,582,7683,0.00,2.70,0.00,0.000,4,0.000,0.099,2834,3538,3386,0,0,0,0,0,0
$GC,7797,-1.58,-97.3,673.3,-8.2,584,7802,0.00,2.75,0.00,0.000,6,0.000,0.097,2834,2053,3385,0,0,0,0,0,0
$GC,8169,-1.58,-97.3,700.0,-6.9,593,8170,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2053,3383,0,0,0,0,0,0
$STATE,8207,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8207,begin apogee
$GC,8213,-0.31,0.0,702.7,6.8,594,8297,1.17,0.00,80.72,1.093,6,0.073,0.000,3104,1995,3010,0,0,0,0,0,0
$STATE,8298,end apogee,CONTROL_FINISHED_OK
$STATE,8298,begin climb
$GC,8302,1.24,97.3,704.0,0.0,596,8399,1.40,3.03,87.53,1.069,4,0.037,0.112,3448,3528,2612,0,0,0,0,0,0
$GC,8422,1.11,152.2,703.0,5.0,598,8479,0.15,2.97,50.25,1.040,6,0.130,0.110,3421,1996,2389,0,0,0,0,0,0
$GC,8873,1.02,152.2,665.3,8.5,610,8879,0.12,3.20,0.00,0.000,4,0.133,0.137,3397,403,2377,0,0,0,0,0,0
$GC,8971,0.91,152.2,656.9,8.8,612,8976,0.10,2.70,0.00,0.000,6,0.130,0.071,3376,1940,2375,0,0,0,0,0,0
$GC,9365,0.96,191.0,631.5,5.9,622,9404,0.00,0.00,34.88,1.020,6,0.000,0.000,3376,1940,2230,0,0,0,0,0,0
$GC,9770,0.99,214.6,605.1,6.7,632,9794,0.00,0.00,22.17,0.991,6,0.000,0.000,3376,1940,2135,0,0,0,0,0,0
$GC,10137,0.99,214.6,575.6,8.3,641,10139,0.00,0.00,0.00,0.000,6,0.000,0.000,3376,1940,2129,0,0,0,0,0,0
$GC,10502,0.99,214.8,546.3,8.0,650,10506,0.00,2.83,0.00,0.000,4,0.000,0.094,3376,402,2127,0,0,0,0,0,0
$GC,10573,0.99,214.8,539.6,9.1,651,10578,0.00,2.55,0.00,0.000,6,0.000,0.034,3376,1953,2125,0,0,0,0,0,0
$GC,10947,0.99,214.8,508.8,8.1,660,10951,0.00,2.78,0.00,0.000,4,0.000,0.087,3376,404,2125,0,0,0,0,0,0
$GC,11046,0.99,214.8,499.5,9.4,662,11051,0.00,2.60,0.00,0.000,6,0.000,0.037,3376,1984,2123,0,0,0,0,0,0
$GC,11442,0.99,215.3,467.6,8.0,698,11446,0.00,2.80,0.00,0.000,4,0.000,0.077,3375,404,2123,0,0,0,0,0,0
$GC,11480,0.99,215.3,464.2,8.9,701,11484,0.00,2.58,0.00,0.000,6,0.000,0.035,3376,1991,2122,0,0,0,0,0,0
$GC,11869,1.05,228.0,434.2,7.3,737,11892,0.12,2.90,11.85,0.854,4,0.087,0.074,3407,403,2079,0,0,0,0,0,0
$GC,11911,1.00,228.0,430.8,8.9,740,11916,0.00,2.58,0.00,0.000,6,0.000,0.031,3407,1985,2078,0,0,0,0,0,0
$GC,12299,1.00,228.0,397.9,8.5,777,12304,0.00,2.78,0.00,0.000,4,0.000,0.067,3407,401,2076,0,0,0,0,0,0
$GC,12387,0.96,228.0,389.7,9.5,784,12392,0.12,2.53,0.00,0.000,6,0.120,0.025,3382,1976,2075,0,0,0,0,0,0
$GC,12778,1.02,232.8,359.4,7.8,820,12789,0.00,2.75,5.20,0.660,4,0.000,0.066,3382,401,2060,0,0,0,0,0,0
$GC,12840,1.02,232.8,354.1,8.2,825,12848,0.00,2.55,0.00,0.000,6,0.000,0.026,3382,1968,2059,0,0,0,0,0,0
$GC,13235,1.13,265.2,327.0,6.2,862,13273,0.17,2.72,31.33,0.820,4,0.067,0.041,3427,3573,1928,0,0,0,0,0,0
$GC,13289,1.13,265.2,322.2,8.4,867,13297,0.00,2.72,0.00,0.000,6,0.000,0.033,3427,1955,1926,0,0,0,0,0,0
$GC,13680,1.13,265.2,286.5,9.9,904,13684,0.00,2.70,0.00,0.000,4,0.000,0.073,3427,407,1923,0,0,0,0,0,0
$GC,13712,1.13,265.2,282.8,10.2,906,13720,0.00,2.53,0.00,0.000,6,0.000,0.025,3427,1979,1921,0,0,0,0,0,0
$GC,14105,1.13,265.2,248.9,8.0,943,14109,0.00,2.70,0.00,0.000,4,0.000,0.061,3427,409,1921,0,0,0,0,0,0
$GC,14132,1.13,265.2,246.3,8.9,945,14137,0.00,2.45,0.00,0.000,6,0.000,0.020,3427,1968,1920,0,0,0,0,0,0
$GC,14521,1.19,279.7,216.7,7.2,981,14543,0.00,2.75,13.57,0.683,4,0.000,0.062,3427,407,1867,0,0,0,0,0,0
$GC,14638,1.19,279.7,206.7,9.3,991,14642,0.00,2.40,0.00,0.000,6,0.000,0.019,3427,1946,1866,0,0,0,0,0,0
$GC,15031,1.25,279.7,173.3,8.2,1027,15035,0.00,2.62,0.00,0.000,4,0.000,0.054,3427,403,1866,0,0,0,0,0,0
$GC,15153,1.25,279.7,162.4,9.0,1037,15157,0.00,2.38,0.00,0.000,6,0.000,0.025,3427,1936,1865,0,0,0,0,0,0
$GC,15546,1.34,286.7,132.8,7.7,1073,15561,0.15,2.65,7.43,0.546,4,0.071,0.054,3470,408,1841,0,0,0,0,0,0
$GC,15622,1.34,286.7,125.1,9.9,1079,15627,0.00,2.38,0.00,0.000,6,0.000,0.018,3470,1942,1840,0,0,0,0,0,0
$GC,16010,1.34,289.4,93.0,7.9,1116,16025,0.00,2.65,4.15,0.408,4,0.000,0.058,3470,407,1830,0,0,0,0,0,0
$GC,16101,1.34,289.4,85.9,8.3,1123,16105,0.00,2.38,0.00,0.000,6,0.000,0.018,3471,1935,1829,0,0,0,0,0,0
$GC,16495,1.43,323.8,60.5,6.1,1159,16536,0.00,2.65,31.35,0.554,4,0.000,0.051,3471,410,1688,0,0,0,0,0,0
$GC,16637,1.43,323.8,49.7,8.4,1170,16641,0.00,2.35,0.00,0.000,6,0.000,0.017,3470,1921,1686,0,0,0,0,0,0
$GC,17066,1.47,323.8,17.0,8.1,1217,17076,0.10,2.58,0.00,0.000,4,0.087,0.049,3503,407,1686,0,0,0,0,0,0
$STATE,17186,end climb,SURFACE_DEPTH_REACHED
$STATE,17186,begin surface coast
$FINISH,0.8,0.980033
$STATE,17211,end surface coast,CONTROL_FINISHED_OK
$STATE,17211,begin surface
$SM_CCo,17236,239.18,0.502,0,0,477,621.34
$SM_GC,1.18,0.00,0.00,239.18,0.000,0.000,0.502,473,2023,477,-12.43,0.37,621.34
$IRIDIUM_FIX,2239.35,-15804.53,141000,010107
$TT8_MAMPS,0.026078
$HUMID,58.82
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,21.40
$XPDR_PINGS,126
$24V_AH,23.1,69.922
$10V_AH,9.9,63.766
$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,29.525,161.150,380.425,239.175,0.000,144.389,400.411,0.000,31.500,0.000,16.272,2147.496,10895.826,718.077,3665.564,1003.314,33.384,1940.897,0.000,3668.313,0.000,0.534,0.000
$DEVICE_MAMPS,157.235,164.905,1092.975,501.618,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,847.758,843.297,1159.659,1650.893,1408.741,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,98213,1237
$CAP_FILE_SIZE,159129,0
$CFSIZE,260165632,152227840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210711,055236,2249.376,-15801.464,35,1.0,35,10.1