version: 66.06
glider: 146
mission: 6
dive: 596
start: 7 28 111 10 35 28
data:
$ID,146
$MISSION,6
$DIVE,596
$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,-282363.09
$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,1850
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,23
$R_STBD_OVSHOOT,50
$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
$GPS1,102009,2225.624,-15800.504,48,1.1,48,10.0
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.50
$_SM_ANGLEo,-70.2
$GPS2,103438,2225.633,-15800.633,11,1.8,11,10.0
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.142,-0.164
$KALMAN_X,-592458.0,127.8,98.6,585680.7,-2268.9
$KALMAN_Y,251258.0,134.3,42.4,-285271.1,-168.9
$MHEAD_RNG_PITCHd_Wd,128.9,47688,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.47,-97.3,0.0,0.0,0,90,0.00,0.00,-68.90,0.000,2,0.000,0.000,475,2171,3231,0,0,0,0,0,0
$GC,93,-1.47,-97.3,4.1,-8.5,11,115,12.68,2.78,-3.30,0.000,4,0.157,0.054,2850,511,3406,0,0,0,0,0,0
$GC,130,-0.73,-97.3,16.6,-33.0,16,138,0.73,2.50,0.00,0.000,6,0.109,0.017,3012,2103,3408,0,0,0,0,0,0
$GC,527,-0.99,-97.3,48.5,-9.5,68,529,0.22,0.00,0.00,0.000,6,0.049,0.000,2944,2105,3409,0,0,0,0,0,0
$GC,909,-1.13,-97.3,87.1,-8.8,104,910,0.00,0.00,0.00,0.000,6,0.000,0.000,2944,2105,3410,0,0,0,0,0,0
$GC,1293,-1.32,-97.3,123.8,-8.8,140,1298,0.22,2.67,0.00,0.000,4,0.050,0.054,2872,511,3411,0,0,0,0,0,0
$GC,1356,-1.32,-97.3,131.0,-12.2,145,1361,0.00,2.45,0.00,0.000,6,0.000,0.017,2871,2109,3411,0,0,0,0,0,0
$GC,1747,-1.39,-97.3,171.9,-9.4,181,1751,0.00,2.47,0.00,0.000,4,0.000,0.035,2871,3661,3411,0,0,0,0,0,0
$GC,1769,-1.47,-97.3,174.1,-8.7,182,1774,0.00,2.50,0.00,0.000,6,0.000,0.028,2872,2072,3411,0,0,0,0,0,0
$GC,2184,-1.57,-97.3,210.5,-8.6,213,2186,0.15,0.00,0.00,0.000,6,0.064,0.000,2819,2072,3412,0,0,0,0,0,0
$GC,2549,-1.57,-97.3,247.2,-9.7,222,2554,0.00,2.55,0.00,0.000,4,0.000,0.036,2819,3650,3413,0,0,0,0,0,0
$GC,2577,-1.57,-97.3,249.9,-9.8,222,2581,0.00,2.50,0.00,0.000,6,0.000,0.026,2818,2076,3412,0,0,0,0,0,0
$GC,2950,-1.57,-97.3,289.4,-10.8,231,2954,0.00,2.58,0.00,0.000,4,0.000,0.042,2818,3653,3412,0,0,0,0,0,0
$GC,2973,-1.57,-97.3,292.2,-11.4,231,2977,0.00,2.50,0.00,0.000,6,0.000,0.034,2818,2094,3412,0,0,0,0,0,0
$GC,3350,-1.61,-97.3,331.2,-9.7,241,3351,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2094,3411,0,0,0,0,0,0
$GC,3717,-1.66,-97.3,362.0,-8.1,250,3722,0.00,2.60,0.00,0.000,4,0.000,0.051,2818,3649,3409,0,0,0,0,0,0
$GC,3741,-1.72,-97.3,364.3,-9.4,250,3746,0.00,2.58,0.00,0.000,6,0.000,0.038,2818,2089,3410,0,0,0,0,0,0
$GC,4119,-1.77,-97.3,400.7,-10.0,260,4121,0.12,0.00,0.00,0.000,6,0.075,0.000,2778,2089,3408,0,0,0,0,0,0
$GC,4486,-1.77,-97.3,441.7,-10.9,269,4490,0.00,2.65,0.00,0.000,4,0.000,0.059,2778,3648,3404,0,0,0,0,0,0
$GC,4525,-1.77,-97.3,446.4,-11.6,270,4529,0.00,2.62,0.00,0.000,6,0.000,0.054,2778,2097,3404,0,0,0,0,0,0
$GC,4931,-1.77,-97.3,486.4,-9.6,280,4936,0.00,2.62,0.00,0.000,4,0.000,0.059,2778,3640,3401,0,0,0,0,0,0
$GC,4964,-1.77,-97.3,489.9,-10.2,280,4970,0.00,2.62,0.00,0.000,6,0.000,0.059,2778,2094,3401,0,0,0,0,0,0
$GC,5336,-1.77,-97.3,527.3,-10.4,290,5340,0.00,2.70,0.00,0.000,4,0.000,0.074,2777,3646,3399,0,0,0,0,0,0
$GC,5377,-1.77,-97.3,531.6,-11.1,291,5381,0.00,2.65,0.00,0.000,6,0.000,0.058,2777,2097,3398,0,0,0,0,0,0
$GC,5783,-1.77,-97.3,574.4,-10.4,301,5784,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2097,3395,0,0,0,0,0,0
$GC,6147,-1.77,-97.3,613.1,-10.7,310,6148,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2097,3393,0,0,0,0,0,0
$GC,6513,-1.77,-97.3,655.1,-11.8,319,6517,0.00,2.90,0.00,0.000,4,0.000,0.108,2778,3637,3390,0,0,0,0,0,0
$GC,6563,-1.77,-97.3,661.1,-12.0,320,6568,0.00,2.85,0.00,0.000,6,0.000,0.097,2778,2100,3389,0,0,0,0,0,0
$GC,6957,-1.77,-97.3,703.6,-10.3,330,6962,0.00,2.95,0.00,0.000,4,0.000,0.121,2777,3635,3388,0,0,0,0,0,0
$GC,7001,-1.81,-97.3,708.4,-11.2,331,7006,0.00,2.75,0.00,0.000,6,0.000,0.086,2777,2100,3387,0,0,0,0,0,0
$GC,7402,-1.81,-97.3,746.3,-9.2,341,7407,0.00,3.15,0.00,0.000,4,0.000,0.136,2777,504,3385,0,0,0,0,0,0
$GC,7435,-1.81,-97.3,749.8,-9.6,341,7441,0.00,2.67,0.00,0.000,6,0.000,0.064,2777,2056,3384,0,0,0,0,0,0
$GC,7809,-1.81,-97.3,782.0,-8.5,351,7813,0.00,2.90,0.00,0.000,4,0.000,0.109,2777,510,3382,0,0,0,0,0,0
$GC,7824,-1.81,-97.3,783.8,-8.7,351,7829,0.00,2.72,0.00,0.000,6,0.000,0.059,2777,2101,3382,0,0,0,0,0,0
$GC,8207,-1.81,-97.3,815.9,-8.4,361,8208,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2101,3381,0,0,0,0,0,0
$GC,8574,-1.81,-97.3,845.8,-8.1,370,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2101,3379,0,0,0,0,0,0
$GC,8938,-1.81,-97.3,876.4,-8.6,379,8943,0.00,2.95,0.00,0.000,4,0.000,0.099,2777,506,3377,0,0,0,0,0,0
$GC,8954,-1.81,-97.3,878.0,-8.7,379,8959,0.00,2.70,0.00,0.000,6,0.000,0.051,2777,2096,3377,0,0,0,0,0,0
$STATE,9212,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9212,begin apogee
$GC,9220,-0.31,0.0,901.3,9.0,386,9306,1.48,0.00,81.68,1.242,6,0.086,0.000,3103,1837,3010,0,0,0,0,0,0
$STATE,9307,end apogee,CONTROL_FINISHED_OK
$STATE,9307,begin climb
$GC,9309,1.47,97.3,903.5,0.0,388,9404,1.67,0.00,91.22,1.213,6,0.038,0.000,3504,1837,2613,0,0,0,0,0,0
$GC,9741,1.33,135.2,879.4,7.4,399,9783,0.20,2.92,35.12,1.170,4,0.124,0.074,3466,3446,2456,0,0,0,0,0,0
$GC,9850,1.26,157.1,870.7,8.5,401,9879,0.00,2.78,21.50,1.136,6,0.000,0.062,3466,1860,2368,0,0,0,0,0,0
$GC,10284,1.19,163.6,830.4,9.6,412,10296,0.17,2.70,5.93,0.901,4,0.130,0.049,3432,3440,2344,0,0,0,0,0,0
$GC,10342,1.20,176.4,824.8,9.1,413,10362,0.00,2.72,14.20,1.082,6,0.000,0.060,3432,1855,2291,0,0,0,0,0,0
$GC,10737,1.22,190.8,789.9,9.0,423,10757,0.00,2.78,14.77,1.078,4,0.000,0.051,3432,3440,2231,0,0,0,0,0,0
$GC,10774,1.23,196.1,786.1,9.6,424,10788,0.00,2.75,6.82,0.921,6,0.000,0.061,3432,1856,2209,0,0,0,0,0,0
$GC,11184,1.23,196.1,744.4,10.3,434,11185,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1856,2205,0,0,0,0,0,0
$GC,11551,1.23,196.1,707.1,10.3,443,11552,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1856,2203,0,0,0,0,0,0
$GC,11915,1.23,196.1,668.9,10.3,452,11920,0.00,2.67,0.00,0.000,4,0.000,0.050,3432,3440,2202,0,0,0,0,0,0
$GC,11947,1.23,196.1,665.3,11.3,452,11953,0.00,2.75,0.00,0.000,6,0.000,0.056,3432,1856,2201,0,0,0,0,0,0
$GC,12322,1.23,196.2,628.2,10.0,462,12323,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1856,2201,0,0,0,0,0,0
$GC,12685,1.24,205.4,593.4,9.4,471,12700,0.00,2.75,8.75,0.920,4,0.000,0.048,3433,3435,2172,0,0,0,0,0,0
$GC,12791,1.27,205.4,582.7,10.6,473,12796,0.00,2.75,0.00,0.000,6,0.000,0.062,3432,1860,2170,0,0,0,0,0,0
$GC,13181,1.28,210.0,544.0,9.7,483,13189,0.00,0.00,5.85,0.800,6,0.000,0.000,3432,1860,2153,0,0,0,0,0,0
$GC,13545,1.30,225.9,510.4,8.9,492,13564,0.10,0.00,16.50,0.940,6,0.099,0.000,3459,1860,2088,0,0,0,0,0,0
$GC,13912,1.30,225.9,472.0,10.8,501,13916,0.00,2.67,0.00,0.000,4,0.000,0.048,3459,3449,2085,0,0,0,0,0,0
$GC,13933,1.30,225.9,469.5,10.6,501,13938,0.00,2.75,0.00,0.000,6,0.000,0.051,3459,1850,2084,0,0,0,0,0,0
$GC,14310,1.30,225.9,427.1,11.5,511,14315,0.00,2.97,0.00,0.000,4,0.000,0.110,3459,264,2083,0,0,0,0,0,0
$GC,14352,1.25,225.9,421.8,13.6,512,14356,0.00,2.60,0.00,0.000,6,0.000,0.030,3459,1870,2083,0,0,0,0,0,0
$GC,14756,1.25,225.9,375.5,10.8,522,14761,0.00,2.58,0.00,0.000,4,0.000,0.042,3459,3431,2083,0,0,0,0,0,0
$GC,14817,1.28,226.9,369.1,9.9,523,14822,0.00,2.65,0.00,0.000,6,0.000,0.048,3459,1857,2082,0,0,0,0,0,0
$GC,15202,1.31,250.6,335.3,8.4,533,15231,0.00,2.67,23.35,0.824,4,0.000,0.036,3459,3424,1987,0,0,0,0,0,0
$GC,15249,1.36,258.4,330.8,9.5,534,15263,0.00,2.65,8.68,0.733,6,0.000,0.046,3459,1861,1958,0,0,0,0,0,0
$GC,15656,1.41,258.4,289.9,10.5,544,15658,0.10,0.00,0.00,0.000,6,0.095,0.000,3487,1861,1953,0,0,0,0,0,0
$GC,16018,1.41,258.4,248.5,11.2,553,16022,0.00,2.80,0.00,0.000,4,0.000,0.071,3487,266,1952,0,0,0,0,0,0
$GC,16108,1.37,258.4,237.7,11.5,555,16113,0.00,2.55,0.00,0.000,6,0.000,0.027,3486,1874,1951,0,0,0,0,0,0
$GC,16508,1.37,263.5,197.6,9.7,565,16519,0.00,2.80,5.82,0.585,4,0.000,0.060,3487,261,1933,0,0,0,0,0,0
$GC,16569,1.37,263.5,191.0,11.4,570,16575,0.00,2.55,0.00,0.000,6,0.000,0.027,3487,1864,1933,0,0,0,0,0,0
$GC,16959,1.45,276.7,156.3,9.1,607,16980,0.00,2.85,13.32,0.640,4,0.000,0.061,3487,264,1881,0,0,0,0,0,0
$GC,17051,1.45,276.7,146.4,12.7,615,17056,0.00,2.53,0.00,0.000,6,0.000,0.027,3487,1860,1879,0,0,0,0,0,0
$GC,17443,1.57,311.3,112.0,7.6,651,17481,0.12,2.83,31.70,0.619,4,0.085,0.063,3521,261,1739,0,0,0,0,0,0
$GC,17621,1.57,311.3,92.2,11.1,666,17628,0.00,2.47,0.00,0.000,6,0.000,0.020,3522,1816,1737,0,0,0,0,0,0
$GC,18015,1.64,322.4,56.0,9.2,703,18031,0.00,2.70,10.85,0.523,4,0.000,0.056,3521,260,1694,0,0,0,0,0,0
$GC,18055,1.64,322.4,51.6,10.7,706,18060,0.00,2.45,0.00,0.000,6,0.000,0.019,3522,1826,1694,0,0,0,0,0,0
$GC,18443,1.68,322.4,8.3,12.3,760,18451,0.00,2.70,0.00,0.000,4,0.000,0.055,3522,262,1693,0,0,0,0,0,0
$STATE,18477,end climb,SURFACE_DEPTH_REACHED
$STATE,18477,begin surface coast
$FINISH,1.8,0.980038
$STATE,18494,end surface coast,CONTROL_FINISHED_OK
$STATE,18495,begin surface
$SM_CCo,18521,47.88,0.515,0,0,1460,380.21
$SM_GC,1.42,0.00,0.00,47.88,0.000,0.000,0.515,474,2112,1460,-12.42,0.34,380.21
$IRIDIUM_FIX,2218.34,-15800.66,211000,101021
$TT8_MAMPS,0.026078
$HUMID,64.53
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,20.10
$XPDR_PINGS,163
$24V_AH,22.9,75.747
$10V_AH,9.8,69.678
$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,30.400,156.850,396.075,47.875,0.000,89.840,107.122,389.762,40.750,0.000,12.549,1469.591,14448.322,553.099,1999.892,959.290,33.386,1447.653,0.000,1990.829,0.000,0.533,0.000
$DEVICE_MAMPS,157.235,135.759,1241.773,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,524.358,369.601,496.096,802.000,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355964
$DATA_FILE_SIZE,57215,769
$CAP_FILE_SIZE,145540,0
$CFSIZE,260165632,149348352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280711,154636,2224.031,-15800.297,43,1.2,56,10.0