version: 66.06
glider: 146
mission: 6
dive: 582
start: 7 25 111 9 32 52
data:
$ID,146
$MISSION,6
$DIVE,582
$D_SURF,4
$D_FLARE,3
$D_TGT,900
$D_ABORT,1000
$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,300
$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,-282104.91
$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,2100
$C_ROLL_CLIMB,1900
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,9
$R_STBD_OVSHOOT,16
$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
$GPS1,091545,2247.055,-15759.229,70,99.0,89,10.1
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.46
$_SM_ANGLEo,-71.0
$GPS2,093201,2247.082,-15759.378,10,1.5,15,10.1
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.078,-0.202
$KALMAN_X,-560527.3,-230.7,-287.2,556646.2,-1311.1
$KALMAN_Y,244522.6,525.1,125.3,-239293.9,213.6
$MHEAD_RNG_PITCHd_Wd,148.8,87228,-21.6,-10.000
$D_GRID,900
$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,-1.47,-97.3,0.0,0.0,0,89,0.00,0.00,-70.80,0.000,2,0.000,0.000,475,2190,3291,0,0,0,0,0,0
$GC,94,-1.47,-97.3,4.0,-7.3,9,120,12.65,2.85,-2.10,0.000,4,0.158,0.054,2847,496,3410,0,0,0,0,0,0
$GC,197,-1.38,-97.3,27.5,-15.3,23,207,0.08,2.55,0.00,0.000,6,0.111,0.016,2867,2134,3411,0,0,0,0,0,0
$GC,599,-1.38,-97.3,82.1,-12.4,61,603,0.00,2.42,0.00,0.000,4,0.000,0.030,2867,3668,3412,0,0,0,0,0,0
$GC,657,-1.45,-97.3,88.7,-11.2,65,661,0.00,2.53,0.00,0.000,6,0.000,0.026,2867,2070,3413,0,0,0,0,0,0
$GC,1049,-1.45,-97.3,130.0,-9.3,101,1053,0.00,2.55,0.00,0.000,4,0.000,0.035,2866,3660,3413,0,0,0,0,0,0
$GC,1151,-1.54,-97.3,141.2,-11.9,109,1156,0.12,2.40,0.00,0.000,6,0.066,0.024,2817,2118,3413,0,0,0,0,0,0
$GC,1543,-1.54,-97.3,192.5,-13.0,145,1548,0.10,2.47,0.00,0.000,4,0.120,0.030,2838,3668,3414,0,0,0,0,0,0
$GC,1613,-1.59,-97.3,201.2,-12.3,150,1620,0.00,2.40,0.00,0.000,6,0.000,0.028,2838,2151,3414,0,0,0,0,0,0
$GC,2003,-1.63,-97.3,235.8,-8.8,187,2008,0.00,2.70,0.00,0.000,4,0.000,0.061,2838,529,3414,0,0,0,0,0,0
$GC,2033,-1.63,-97.3,238.4,-8.5,189,2037,0.00,2.47,0.00,0.000,6,0.000,0.018,2838,2149,3414,0,0,0,0,0,0
$GC,2422,-1.70,-97.3,270.3,-8.2,225,2427,0.15,2.42,0.00,0.000,4,0.064,0.039,2790,3660,3414,0,0,0,0,0,0
$GC,2467,-1.70,-97.3,274.8,-10.7,228,2475,0.00,2.40,0.00,0.000,6,0.000,0.021,2790,2158,3414,0,0,0,0,0,0
$GC,2858,-1.70,-97.3,315.8,-10.8,265,2862,0.00,2.42,0.00,0.000,4,0.000,0.037,2790,3655,3414,0,0,0,0,0,0
$GC,3016,-1.70,-97.3,333.2,-11.7,278,3022,0.00,2.38,0.00,0.000,6,0.000,0.037,2789,2184,3413,0,0,0,0,0,0
$GC,3406,-1.70,-97.3,374.6,-10.8,315,3407,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2185,3412,0,0,0,0,0,0
$GC,3787,-1.70,-97.3,412.6,-9.0,351,3791,0.00,2.45,0.00,0.000,4,0.000,0.048,2789,3649,3410,0,0,0,0,0,0
$GC,3850,-1.70,-97.3,417.7,-8.3,356,3854,0.00,2.42,0.00,0.000,6,0.000,0.049,2790,2190,3409,0,0,0,0,0,0
$GC,4238,-1.70,-97.3,455.6,-11.4,392,4242,0.00,2.47,0.00,0.000,4,0.000,0.060,2790,3649,3407,0,0,0,0,0,0
$GC,4312,-1.73,-97.3,464.6,-12.8,398,4316,0.00,2.42,0.00,0.000,6,0.000,0.049,2789,2192,3407,0,0,0,0,0,0
$GC,4726,-1.73,-97.3,515.7,-12.4,428,4731,0.00,2.50,0.00,0.000,4,0.000,0.066,2790,3651,3404,0,0,0,0,0,0
$GC,4795,-1.78,-97.3,523.8,-12.3,429,4799,0.00,2.42,0.00,0.000,6,0.000,0.052,2790,2212,3403,0,0,0,0,0,0
$GC,5172,-1.78,-97.3,559.6,-8.7,439,5177,0.00,3.22,0.00,0.000,4,0.000,0.126,2789,540,3400,0,0,0,0,0,0
$GC,5205,-1.78,-97.3,562.9,-9.6,439,5210,0.00,2.72,0.00,0.000,6,0.000,0.052,2789,2151,3399,0,0,0,0,0,0
$GC,5578,-1.78,-97.3,599.5,-10.4,449,5579,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2152,3397,0,0,0,0,0,0
$GC,5942,-1.82,-97.3,637.7,-10.4,458,5943,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2152,3394,0,0,0,0,0,0
$GC,6308,-1.86,-97.3,673.8,-9.5,467,6313,0.00,2.88,0.00,0.000,4,0.000,0.130,2789,3642,3392,0,0,0,0,0,0
$GC,6371,-1.91,-97.3,679.6,-9.3,468,6376,0.12,2.65,0.00,0.000,6,0.077,0.102,2750,2217,3392,0,0,0,0,0,0
$GC,6757,-1.91,-97.3,719.3,-10.4,478,6762,0.00,2.78,0.00,0.000,4,0.000,0.132,2750,3642,3389,0,0,0,0,0,0
$GC,6773,-1.91,-97.3,721.3,-10.1,478,6777,0.00,2.75,0.00,0.000,6,0.000,0.120,2750,2214,3388,0,0,0,0,0,0
$GC,7157,-1.91,-97.3,759.5,-9.9,488,7162,0.00,2.95,0.00,0.000,4,0.000,0.154,2750,3641,3387,0,0,0,0,0,0
$GC,7184,-1.91,-97.3,762.4,-11.2,488,7189,0.00,2.90,0.00,0.000,6,0.000,0.151,2750,2222,3386,0,0,0,0,0,0
$GC,7556,-1.91,-97.3,799.1,-10.0,497,7564,0.00,3.90,0.00,0.000,4,0.000,0.208,2750,543,3384,0,0,0,0,0,0
$GC,7623,-1.86,-97.3,806.4,-11.3,498,7628,0.00,3.38,0.00,0.000,6,0.000,0.167,2750,2137,3383,0,0,0,0,0,0
$GC,8006,-1.86,-97.3,847.1,-10.6,508,8007,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2138,3382,0,0,0,0,0,0
$GC,8371,-1.86,-97.3,886.1,-10.5,517,8372,0.00,0.00,0.00,0.000,6,0.000,0.000,2750,2137,3381,0,0,0,0,0,0
$STATE,8531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8532,begin apogee
$GC,8539,-0.31,0.0,903.0,10.4,521,8626,1.62,0.00,82.45,1.241,6,0.091,0.000,3106,1909,3010,0,0,0,0,0,0
$STATE,8627,end apogee,CONTROL_FINISHED_OK
$STATE,8627,begin climb
$GC,8629,1.47,97.3,905.0,0.0,523,8725,1.65,0.00,91.15,1.221,6,0.042,0.000,3507,1909,2613,0,0,0,0,0,0
$GC,9060,1.30,112.2,875.7,9.0,534,9080,0.22,2.83,13.52,1.095,4,0.140,0.059,3462,3497,2552,0,0,0,0,0,0
$GC,9127,1.21,120.4,869.9,9.4,535,9142,0.12,2.72,9.12,1.017,6,0.142,0.054,3439,1911,2519,0,0,0,0,0,0
$GC,9513,1.19,151.9,838.6,7.9,544,9548,0.00,2.78,30.38,1.150,4,0.000,0.048,3440,3508,2389,0,0,0,0,0,0
$GC,9619,1.22,170.9,829.4,8.7,545,9644,0.00,2.78,19.00,1.107,6,0.000,0.057,3440,1908,2313,0,0,0,0,0,0
$GC,10053,1.23,184.9,789.4,9.0,556,10069,0.00,0.00,13.98,1.062,6,0.000,0.000,3440,1908,2256,0,0,0,0,0,0
$GC,10415,1.25,196.9,755.3,9.2,565,10435,0.00,2.80,12.20,1.039,4,0.000,0.051,3439,3499,2206,0,0,0,0,0,0
$GC,10459,1.26,207.6,751.1,9.3,566,10478,0.00,2.75,11.90,1.026,6,0.000,0.051,3440,1913,2163,0,0,0,0,0,0
$GC,10869,1.26,207.6,709.9,10.1,576,10870,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1913,2157,0,0,0,0,0,0
$GC,11233,1.26,207.6,669.3,11.7,585,11237,0.00,2.70,0.00,0.000,4,0.000,0.053,3440,3501,2157,0,0,0,0,0,0
$GC,11265,1.26,207.6,665.2,12.6,585,11271,0.00,2.72,0.00,0.000,6,0.000,0.052,3440,1916,2156,0,0,0,0,0,0
$GC,11639,1.26,207.6,621.5,11.9,595,11640,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1916,2156,0,0,0,0,0,0
$GC,12003,1.26,207.6,580.2,11.0,604,12004,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1916,2155,0,0,0,0,0,0
$GC,12368,1.26,207.6,542.6,10.1,613,12373,0.00,3.05,0.00,0.000,4,0.000,0.114,3440,311,2154,0,0,0,0,0,0
$GC,12403,1.21,207.6,538.8,11.6,613,12408,0.00,2.67,0.00,0.000,6,0.000,0.031,3439,1939,2153,0,0,0,0,0,0
$GC,12775,1.22,212.6,503.2,9.7,623,12784,0.00,2.65,4.20,0.662,4,0.000,0.061,3439,3484,2143,0,0,0,0,0,0
$GC,12806,1.22,212.6,499.8,10.1,623,12811,0.00,2.65,0.00,0.000,6,0.000,0.047,3439,1924,2143,0,0,0,0,0,0
$GC,13195,1.22,212.6,459.6,10.9,659,13200,0.00,3.03,0.00,0.000,4,0.000,0.107,3439,314,2142,0,0,0,0,0,0
$GC,13225,1.22,212.6,456.2,12.6,661,13229,0.00,2.62,0.00,0.000,6,0.000,0.025,3439,1933,2141,0,0,0,0,0,0
$GC,13615,1.24,227.3,416.8,9.0,697,13636,0.00,2.92,15.50,0.870,4,0.000,0.077,3439,313,2081,0,0,0,0,0,0
$GC,13659,1.24,227.3,412.3,10.2,701,13665,0.00,2.62,0.00,0.000,6,0.000,0.030,3439,1923,2080,0,0,0,0,0,0
$GC,14048,1.31,241.3,378.5,9.0,738,14070,0.00,2.95,14.00,0.832,4,0.000,0.076,3439,313,2025,0,0,0,0,0,0
$GC,14089,1.32,251.6,374.6,9.3,741,14107,0.05,2.65,11.32,0.796,6,0.070,0.030,3460,1920,1984,0,0,0,0,0,0
$GC,14488,1.33,263.1,333.9,9.2,779,14511,0.00,2.67,11.82,0.779,4,0.000,0.043,3460,3477,1936,0,0,0,0,0,0
$GC,14537,1.39,268.5,329.3,9.6,783,14550,0.00,2.62,6.65,0.686,6,0.000,0.044,3460,1913,1915,0,0,0,0,0,0
$GC,14934,1.44,268.5,287.5,11.2,820,14939,0.12,2.83,0.00,0.000,4,0.082,0.075,3496,317,1912,0,0,0,0,0,0
$GC,14967,1.38,268.5,282.5,14.0,822,14975,0.00,2.60,0.00,0.000,6,0.000,0.021,3496,1926,1910,0,0,0,0,0,0
$GC,15359,1.38,268.5,239.1,10.6,859,15364,0.00,2.78,0.00,0.000,4,0.000,0.060,3496,311,1911,0,0,0,0,0,0
$GC,15414,1.33,268.5,231.9,13.0,863,15420,0.15,2.55,0.00,0.000,6,0.118,0.022,3466,1911,1910,0,0,0,0,0,0
$GC,15803,1.41,268.5,195.0,10.0,900,15807,0.00,2.75,0.00,0.000,4,0.000,0.059,3466,315,1910,0,0,0,0,0,0
$GC,15919,1.44,268.8,182.7,10.0,909,15928,0.00,2.53,0.00,0.000,6,0.000,0.023,3466,1894,1910,0,0,0,0,0,0
$GC,16311,1.59,298.4,151.7,8.0,946,16347,0.22,2.60,27.20,0.653,4,0.061,0.035,3525,3465,1794,0,0,0,0,0,0
$GC,16401,1.59,298.4,142.6,11.7,953,16406,0.00,2.60,0.00,0.000,6,0.000,0.038,3524,1881,1792,0,0,0,0,0,0
$GC,16795,1.60,309.0,106.4,9.3,989,16811,0.00,2.70,10.93,0.568,4,0.000,0.061,3524,314,1749,0,0,0,0,0,0
$GC,16830,1.60,309.0,102.9,10.1,991,16835,0.00,2.50,0.00,0.000,6,0.000,0.018,3524,1901,1747,0,0,0,0,0,0
$GC,17223,1.67,318.7,64.7,9.3,1027,17240,0.00,2.78,10.10,0.524,4,0.000,0.053,3524,319,1709,0,0,0,0,0,0
$GC,17290,1.69,335.6,58.7,8.8,1032,17319,0.00,2.45,16.12,0.541,6,0.000,0.018,3524,1886,1640,0,0,0,0,0,0
$GC,17731,1.75,335.6,11.2,12.0,1081,17740,0.12,2.70,0.00,0.000,4,0.077,0.053,3562,321,1638,0,0,0,0,0,0
$STATE,17782,end climb,SURFACE_DEPTH_REACHED
$STATE,17782,begin surface coast
$FINISH,0.8,0.975922
$STATE,17818,end surface coast,CONTROL_FINISHED_OK
$STATE,17818,begin surface
$SM_CCo,17844,37.45,0.510,0,0,1460,380.21
$SM_GC,1.68,0.00,0.00,37.45,0.000,0.000,0.510,474,2109,1460,-12.42,0.25,380.21
$IRIDIUM_FIX,2237.01,-15805.41,181000,090931
$TT8_MAMPS,0.026078
$HUMID,64.96
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,20.10
$XPDR_PINGS,126
$24V_AH,23.0,73.538
$10V_AH,9.8,67.904
$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,30.100,172.575,411.550,37.450,0.000,58.699,83.692,588.267,31.500,0.000,17.372,1940.098,12061.636,554.334,3110.332,1179.091,33.372,1686.086,0.000,3108.456,0.000,0.535,0.000
$DEVICE_MAMPS,158.002,207.857,1241.006,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,749.256,714.575,956.096,1316.969,1106.624,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356132
$DATA_FILE_SIZE,85840,1093
$CAP_FILE_SIZE,164936,0
$CFSIZE,260165632,150335488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250711,143227,2245.332,-15759.994,29,99.0,48,10.1