version: 66.06
glider: 146
mission: 6
dive: 591
start: 7 27 111 8 53 24
data:
$ID,146
$MISSION,6
$DIVE,591
$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,-282280.28
$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,16
$R_STBD_OVSHOOT,80
$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
$GPS1,084307,2233.150,-15800.771,65,1.1,65,10.0
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-70.4
$GPS2,085231,2233.164,-15800.864,10,1.9,10,10.0
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.122,-0.179
$KALMAN_X,-581624.6,120.4,-18.4,574575.2,-1945.3
$KALMAN_Y,249266.2,87.5,26.2,-269268.0,35.4
$MHEAD_RNG_PITCHd_Wd,135.7,61616,-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,15,-1.47,-97.3,0.0,0.0,0,87,0.00,0.00,-68.88,0.000,2,0.000,0.000,476,2121,3181,0,0,0,0,0,0
$GC,90,-1.47,-97.3,3.3,-4.6,11,118,12.65,2.70,-4.62,0.000,4,0.157,0.051,2849,511,3409,0,0,0,0,0,0
$GC,135,-1.03,-97.3,15.0,-25.1,17,143,0.43,2.45,0.00,0.000,6,0.095,0.016,2944,2079,3409,0,0,0,0,0,0
$GC,528,-1.14,-97.3,59.1,-10.9,67,533,0.00,2.50,0.00,0.000,4,0.000,0.030,2944,3656,3412,0,0,0,0,0,0
$GC,562,-1.28,-97.3,62.5,-10.7,69,567,0.20,2.50,0.00,0.000,6,0.051,0.023,2877,2076,3412,0,0,0,0,0,0
$GC,952,-1.28,-97.3,111.9,-10.5,105,956,0.00,2.53,0.00,0.000,4,0.000,0.029,2877,3657,3412,0,0,0,0,0,0
$GC,997,-1.39,-97.3,116.9,-10.4,108,1005,0.00,2.47,0.00,0.000,6,0.000,0.027,2877,2109,3412,0,0,0,0,0,0
$GC,1386,-1.47,-97.3,154.2,-11.4,145,1390,0.00,2.47,0.00,0.000,4,0.000,0.029,2877,3659,3413,0,0,0,0,0,0
$GC,1405,-1.56,-97.3,156.2,-11.7,146,1410,0.17,2.45,0.00,0.000,6,0.049,0.028,2808,2090,3413,0,0,0,0,0,0
$GC,1791,-1.56,-97.3,204.8,-10.7,179,1793,0.12,0.00,0.00,0.000,6,0.107,0.000,2835,2089,3414,0,0,0,0,0,0
$GC,2159,-1.60,-97.3,240.1,-10.3,188,2163,0.00,2.50,0.00,0.000,4,0.000,0.031,2835,3657,3414,0,0,0,0,0,0
$GC,2243,-1.68,-97.3,250.3,-11.6,190,2248,0.10,2.42,0.00,0.000,6,0.082,0.021,2794,2120,3415,0,0,0,0,0,0
$GC,2650,-1.68,-97.3,299.1,-11.6,200,2651,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2120,3415,0,0,0,0,0,0
$GC,3014,-1.68,-97.3,338.0,-10.2,209,3018,0.00,2.53,0.00,0.000,4,0.000,0.045,2794,3652,3414,0,0,0,0,0,0
$GC,3042,-1.68,-97.3,341.0,-11.2,209,3047,0.00,2.47,0.00,0.000,6,0.000,0.032,2794,2125,3415,0,0,0,0,0,0
$GC,3415,-1.68,-97.3,379.6,-10.3,218,3420,0.00,2.55,0.00,0.000,4,0.000,0.050,2794,3654,3413,0,0,0,0,0,0
$GC,3450,-1.68,-97.3,383.3,-10.9,218,3455,0.00,2.50,0.00,0.000,6,0.000,0.038,2794,2128,3413,0,0,0,0,0,0
$GC,3822,-1.68,-97.3,418.2,-9.0,228,3826,0.00,2.53,0.00,0.000,4,0.000,0.055,2794,3648,3411,0,0,0,0,0,0
$GC,3946,-1.72,-97.3,431.3,-10.5,230,3952,0.00,2.55,0.00,0.000,6,0.000,0.046,2794,2131,3410,0,0,0,0,0,0
$GC,4318,-1.72,-97.3,468.2,-10.1,240,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2131,3407,0,0,0,0,0,0
$GC,4683,-1.72,-97.3,507.1,-10.9,249,4684,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2131,3405,0,0,0,0,0,0
$GC,5050,-1.72,-97.3,547.3,-10.8,258,5055,0.00,3.12,0.00,0.000,4,0.000,0.124,2793,512,3402,0,0,0,0,0,0
$GC,5066,-1.72,-97.3,549.3,-10.7,258,5071,0.00,2.67,0.00,0.000,6,0.000,0.050,2793,2110,3402,0,0,0,0,0,0
$GC,5450,-1.76,-97.3,589.0,-10.3,268,5454,0.00,2.90,0.00,0.000,4,0.000,0.105,2794,3684,3399,0,0,0,0,0,0
$GC,5501,-1.82,-97.3,594.3,-10.6,269,5505,0.00,2.65,0.00,0.000,6,0.000,0.071,2794,2150,3399,0,0,0,0,0,0
$GC,5895,-1.86,-97.3,634.5,-10.2,279,5900,0.10,2.78,0.00,0.000,4,0.088,0.091,2761,3682,3395,0,0,0,0,0,0
$GC,5928,-1.86,-97.3,638.4,-11.5,279,5933,0.00,2.75,0.00,0.000,6,0.000,0.082,2761,2152,3395,0,0,0,0,0,0
$GC,6301,-1.86,-97.3,675.4,-9.6,289,6303,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2152,3393,0,0,0,0,0,0
$GC,6666,-1.86,-97.3,708.7,-9.0,298,6667,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2152,3391,0,0,0,0,0,0
$GC,7031,-1.86,-97.3,741.6,-9.0,307,7036,0.00,3.08,0.00,0.000,4,0.000,0.143,2761,3678,3388,0,0,0,0,0,0
$GC,7054,-1.86,-97.3,743.7,-9.4,307,7059,0.00,2.62,0.00,0.000,6,0.000,0.065,2761,2153,3388,0,0,0,0,0,0
$GC,7431,-1.86,-97.3,779.5,-9.8,317,7436,0.00,3.17,0.00,0.000,4,0.000,0.127,2761,513,3386,0,0,0,0,0,0
$GC,7464,-1.81,-97.3,783.2,-11.1,317,7470,0.00,2.78,0.00,0.000,6,0.000,0.055,2760,2149,3386,0,0,0,0,0,0
$GC,7838,-1.81,-97.3,820.9,-10.4,327,7839,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,2149,3384,0,0,0,0,0,0
$GC,8201,-1.81,-97.3,859.3,-10.5,336,8206,0.00,3.03,0.00,0.000,4,0.000,0.097,2761,507,3382,0,0,0,0,0,0
$GC,8234,-1.78,-97.3,863.2,-11.5,336,8243,0.10,2.78,0.00,0.000,6,0.093,0.049,2785,2149,3382,0,0,0,0,0,0
$GC,8608,-1.83,-97.3,898.9,-9.6,346,8613,0.00,3.00,0.00,0.000,4,0.000,0.094,2785,512,3381,0,0,0,0,0,0
$STATE,8616,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8616,begin apogee
$GC,8625,-0.31,0.0,900.3,9.5,346,8712,1.40,0.00,83.30,1.237,6,0.086,0.000,3099,1911,3010,0,0,0,0,0,0
$STATE,8713,end apogee,CONTROL_FINISHED_OK
$STATE,8713,begin climb
$GC,8716,1.47,97.3,902.7,0.0,348,8819,1.65,2.85,90.93,1.214,4,0.037,0.074,3498,3482,2612,0,0,0,0,0,0
$GC,8836,1.38,176.2,903.0,4.6,350,8920,0.12,2.75,74.00,1.201,6,0.137,0.054,3476,1891,2291,0,0,0,0,0,0
$GC,9283,1.28,176.2,856.5,11.0,361,9285,0.10,0.00,0.00,0.000,6,0.144,0.000,3457,1892,2279,0,0,0,0,0,0
$GC,9650,1.22,176.6,819.5,10.0,370,9654,0.00,3.03,0.00,0.000,4,0.000,0.120,3456,314,2277,0,0,0,0,0,0
$GC,9673,1.12,176.6,817.0,10.7,370,9678,0.17,2.62,0.00,0.000,6,0.125,0.036,3422,1904,2276,0,0,0,0,0,0
$GC,10052,1.15,197.0,784.0,8.6,380,10072,0.00,0.00,18.48,1.096,6,0.000,0.000,3422,1904,2206,0,0,0,0,0,0
$GC,10417,1.15,197.0,747.6,10.2,389,10418,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1905,2201,0,0,0,0,0,0
$GC,10785,1.15,197.0,710.5,10.0,398,10786,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1905,2199,0,0,0,0,0,0
$GC,11149,1.15,197.5,673.9,10.0,407,11150,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1906,2199,0,0,0,0,0,0
$GC,11514,1.16,205.7,639.0,9.4,416,11525,0.00,0.00,8.52,0.938,6,0.000,0.000,3422,1906,2171,0,0,0,0,0,0
$GC,11882,1.17,213.8,604.2,9.4,425,11893,0.00,0.00,9.15,0.930,6,0.000,0.000,3422,1906,2138,0,0,0,0,0,0
$GC,12246,1.23,232.5,570.8,8.7,434,12271,0.00,2.95,19.15,0.986,4,0.000,0.091,3421,314,2061,0,0,0,0,0,0
$GC,12293,1.24,237.7,566.1,9.6,435,12307,0.10,2.62,6.53,0.821,6,0.102,0.037,3447,1893,2040,0,0,0,0,0,0
$GC,12694,1.24,237.7,524.6,10.7,445,12698,0.00,2.88,0.00,0.000,4,0.000,0.085,3447,313,2036,0,0,0,0,0,0
$GC,12733,1.19,237.7,519.5,12.1,446,12738,0.00,2.60,0.00,0.000,6,0.000,0.036,3447,1885,2036,0,0,0,0,0,0
$GC,13140,1.20,248.4,479.4,9.3,456,13153,0.00,0.00,11.15,0.890,6,0.000,0.000,3448,1887,1997,0,0,0,0,0,0
$GC,13504,1.20,248.4,442.9,10.2,465,13509,0.00,2.80,0.00,0.000,4,0.000,0.078,3447,309,1994,0,0,0,0,0,0
$GC,13548,1.20,248.4,437.9,12.2,466,13552,0.00,2.58,0.00,0.000,6,0.000,0.030,3447,1885,1993,0,0,0,0,0,0
$GC,13950,1.26,263.2,400.1,9.0,476,13967,0.00,0.00,15.18,0.863,6,0.000,0.000,3447,1886,1936,0,0,0,0,0,0
$GC,14313,1.30,263.2,360.3,11.5,485,14314,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,1887,1932,0,0,0,0,0,0
$GC,14681,1.37,268.5,321.2,9.6,494,14695,0.10,2.78,6.00,0.685,4,0.097,0.067,3475,308,1913,0,0,0,0,0,0
$GC,14711,1.37,272.5,318.0,9.7,494,14723,0.00,2.58,5.32,0.644,6,0.000,0.032,3475,1898,1899,0,0,0,0,0,0
$GC,15088,1.41,298.7,285.9,8.2,504,15120,0.00,2.83,25.65,0.790,4,0.000,0.066,3474,305,1790,0,0,0,0,0,0
$GC,15164,1.41,298.7,276.4,13.2,505,15169,0.00,2.53,0.00,0.000,6,0.000,0.031,3475,1879,1788,0,0,0,0,0,0
$GC,15536,1.46,298.7,232.6,10.5,515,15540,0.00,2.72,0.00,0.000,4,0.000,0.070,3475,310,1786,0,0,0,0,0,0
$GC,15577,1.46,298.7,228.2,11.4,516,15581,0.00,2.47,0.00,0.000,6,0.000,0.029,3475,1876,1785,0,0,0,0,0,0
$GC,15955,1.56,319.2,193.7,8.6,529,15980,0.17,2.78,18.80,0.690,4,0.070,0.061,3520,309,1707,0,0,0,0,0,0
$GC,16058,1.52,319.2,180.4,13.6,538,16062,0.00,2.47,0.00,0.000,6,0.000,0.028,3520,1867,1705,0,0,0,0,0,0
$GC,16446,1.52,319.2,132.3,11.2,574,16451,0.00,2.65,0.00,0.000,4,0.000,0.058,3520,308,1705,0,0,0,0,0,0
$GC,16532,1.52,319.2,122.4,12.6,581,16537,0.00,2.45,0.00,0.000,6,0.000,0.025,3520,1871,1704,0,0,0,0,0,0
$GC,16925,1.60,330.4,84.8,9.2,617,16948,0.00,2.67,11.27,0.558,4,0.000,0.054,3519,308,1660,0,0,0,0,0,0
$GC,16983,1.60,330.4,78.8,10.5,622,16988,0.00,2.45,0.00,0.000,6,0.000,0.019,3520,1876,1660,0,0,0,0,0,0
$GC,17376,1.66,330.4,36.5,11.8,658,17383,0.00,0.00,0.00,0.000,6,0.000,0.000,3520,1877,1660,0,0,0,0,0,0
$STATE,17725,end climb,SURFACE_DEPTH_REACHED
$STATE,17725,begin surface coast
$FINISH,0.8,0.974370
$STATE,17776,end surface coast,CONTROL_FINISHED_OK
$STATE,17776,begin surface
$SM_CCo,17799,41.12,0.518,0,0,1460,380.21
$SM_GC,1.71,0.00,0.00,41.12,0.000,0.000,0.518,473,2170,1460,-12.43,2.01,380.21
$IRIDIUM_FIX,2227.67,-15801.95,201000,030357
$TT8_MAMPS,0.026078
$HUMID,64.09
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,20.90
$XPDR_PINGS,153
$24V_AH,22.9,74.994
$10V_AH,9.8,69.222
$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,30.075,139.150,403.425,41.125,0.000,30.274,40.624,340.369,38.250,0.000,12.005,1379.092,13829.928,531.180,1897.902,757.660,33.382,1389.648,0.000,1891.960,0.000,0.534,0.000
$DEVICE_MAMPS,157.235,142.662,1237.171,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,496.291,339.037,461.405,795.746,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356120
$DATA_FILE_SIZE,54294,728
$CAP_FILE_SIZE,133850,0
$CFSIZE,260165632,149684224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270711,135207,2231.243,-15800.911,40,1.0,40,10.0