version: 66.06
glider: 146
mission: 6
dive: 598
start: 7 28 111 21 1 17
data:
$ID,146
$MISSION,6
$DIVE,598
$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,-282393.75
$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,15
$R_STBD_OVSHOOT,92
$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
$GPS1,205406,2222.342,-15800.388,46,1.1,46,10.0
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-68.9
$GPS2,210026,2222.350,-15800.455,12,1.3,12,10.0
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.101,-0.192
$KALMAN_X,-596470.1,-165.0,-117.4,590505.7,-1591.3
$KALMAN_Y,251958.4,-371.1,-101.4,-291398.2,1122.4
$MHEAD_RNG_PITCHd_Wd,142.1,41606,-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,-97.3,0.0,0.0,0,88,0.00,0.00,-69.50,0.000,2,0.000,0.000,475,2150,3227,0,0,0,0,0,0
$GC,92,-1.47,-97.3,4.0,-7.8,11,114,12.60,2.75,-3.33,0.000,4,0.156,0.053,2848,505,3406,0,0,0,0,0,0
$GC,196,-1.37,-97.3,28.5,-16.4,29,204,0.10,2.45,0.00,0.000,6,0.107,0.017,2872,2067,3408,0,0,0,0,0,0
$GC,595,-1.33,-97.3,87.3,-14.8,67,599,0.00,2.55,0.00,0.000,4,0.000,0.031,2872,3658,3410,0,0,0,0,0,0
$GC,628,-1.33,-97.3,92.6,-14.6,69,634,0.00,2.50,0.00,0.000,6,0.000,0.023,2872,2084,3410,0,0,0,0,0,0
$GC,1017,-1.37,-97.3,141.2,-10.9,106,1022,0.00,2.53,0.00,0.000,4,0.000,0.035,2872,3668,3411,0,0,0,0,0,0
$GC,1039,-1.43,-97.3,143.6,-10.5,107,1044,0.00,2.47,0.00,0.000,6,0.000,0.021,2872,2097,3411,0,0,0,0,0,0
$GC,1428,-1.50,-97.3,181.2,-9.5,144,1433,0.10,2.53,0.00,0.000,4,0.087,0.035,2833,3660,3412,0,0,0,0,0,0
$GC,1445,-1.56,-97.3,183.1,-10.3,145,1449,0.00,2.45,0.00,0.000,6,0.000,0.021,2833,2104,3412,0,0,0,0,0,0
$GC,1844,-1.56,-97.3,227.6,-10.6,165,1845,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2103,3413,0,0,0,0,0,0
$GC,2210,-1.56,-97.3,263.3,-9.3,174,2214,0.00,2.53,0.00,0.000,4,0.000,0.031,2833,3670,3413,0,0,0,0,0,0
$GC,2254,-1.65,-97.3,267.5,-9.3,175,2258,0.00,2.45,0.00,0.000,6,0.000,0.023,2833,2122,3413,0,0,0,0,0,0
$GC,2655,-1.70,-97.3,307.4,-10.1,185,2660,0.12,2.50,0.00,0.000,4,0.071,0.043,2786,3657,3413,0,0,0,0,0,0
$GC,2689,-1.70,-97.3,311.5,-11.6,185,2695,0.00,2.47,0.00,0.000,6,0.000,0.034,2786,2121,3413,0,0,0,0,0,0
$GC,3061,-1.70,-97.3,353.0,-10.3,195,3065,0.00,2.53,0.00,0.000,4,0.000,0.048,2786,3656,3413,0,0,0,0,0,0
$GC,3128,-1.70,-97.3,359.9,-10.0,196,3133,0.00,2.50,0.00,0.000,6,0.000,0.038,2786,2123,3413,0,0,0,0,0,0
$GC,3505,-1.70,-97.3,396.1,-9.6,206,3510,0.00,2.58,0.00,0.000,4,0.000,0.055,2786,3652,3411,0,0,0,0,0,0
$GC,3555,-1.70,-97.3,401.2,-10.3,207,3559,0.00,2.55,0.00,0.000,6,0.000,0.048,2786,2118,3411,0,0,0,0,0,0
$GC,3956,-1.70,-97.3,440.8,-10.5,217,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2118,3408,0,0,0,0,0,0
$GC,4320,-1.70,-97.3,479.6,-10.4,226,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2119,3406,0,0,0,0,0,0
$GC,4686,-1.70,-97.3,517.0,-10.1,235,4690,0.00,2.67,0.00,0.000,4,0.000,0.073,2786,3648,3403,0,0,0,0,0,0
$GC,4736,-1.70,-97.3,522.5,-10.8,236,4741,0.00,2.60,0.00,0.000,6,0.000,0.057,2786,2115,3403,0,0,0,0,0,0
$GC,5130,-1.70,-97.3,565.5,-11.2,246,5134,0.00,2.67,0.00,0.000,4,0.000,0.077,2786,3645,3400,0,0,0,0,0,0
$GC,5169,-1.70,-97.3,569.8,-11.0,247,5174,0.00,2.65,0.00,0.000,6,0.000,0.067,2786,2118,3399,0,0,0,0,0,0
$GC,5576,-1.70,-97.3,611.7,-10.0,257,5580,0.00,2.72,0.00,0.000,4,0.000,0.083,2786,3650,3397,0,0,0,0,0,0
$GC,5665,-1.75,-97.3,620.6,-9.2,259,5669,0.00,2.72,0.00,0.000,6,0.000,0.086,2786,2127,3396,0,0,0,0,0,0
$GC,6066,-1.75,-97.3,653.6,-8.1,269,6067,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2127,3393,0,0,0,0,0,0
$GC,6430,-1.79,-97.3,683.4,-8.4,278,6436,0.00,3.35,0.00,0.000,4,0.000,0.160,2786,508,3391,0,0,0,0,0,0
$GC,6452,-1.79,-97.3,685.4,-9.0,278,6457,0.00,2.83,0.00,0.000,6,0.000,0.091,2786,2079,3390,0,0,0,0,0,0
$GC,6831,-1.79,-97.3,720.6,-9.7,288,6836,0.00,3.22,0.00,0.000,4,0.000,0.149,2786,3685,3388,0,0,0,0,0,0
$GC,6875,-1.84,-97.3,725.3,-10.6,289,6880,0.00,2.78,0.00,0.000,6,0.000,0.076,2786,2123,3388,0,0,0,0,0,0
$GC,7277,-1.88,-97.3,764.4,-9.8,299,7282,0.00,2.80,0.00,0.000,4,0.000,0.080,2786,3694,3386,0,0,0,0,0,0
$GC,7295,-1.92,-97.3,766.3,-9.8,299,7300,0.12,2.72,0.00,0.000,6,0.071,0.069,2747,2132,3386,0,0,0,0,0,0
$GC,7678,-1.92,-97.3,807.8,-10.6,309,7679,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2131,3383,0,0,0,0,0,0
$GC,8045,-1.92,-97.3,844.3,-9.7,318,8046,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2130,3382,0,0,0,0,0,0
$GC,8409,-1.92,-97.3,879.2,-9.7,327,8410,0.00,0.00,0.00,0.000,6,0.000,0.000,2746,2129,3381,0,0,0,0,0,0
$STATE,8650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8650,begin apogee
$GC,8656,-0.31,0.0,903.0,9.7,333,8743,1.65,0.00,82.90,1.237,6,0.092,0.000,3106,1851,3010,0,0,0,0,0,0
$STATE,8744,end apogee,CONTROL_FINISHED_OK
$STATE,8744,begin climb
$GC,8747,1.47,97.3,904.7,0.0,335,8842,1.65,0.00,91.57,1.218,6,0.036,0.000,3504,1851,2613,0,0,0,0,0,0
$GC,9181,1.31,118.3,876.5,8.6,346,9203,0.20,0.00,19.62,1.133,6,0.123,0.000,3465,1851,2527,0,0,0,0,0,0
$GC,9544,1.24,142.1,845.9,8.4,355,9574,0.00,2.80,23.12,1.136,4,0.000,0.054,3464,3435,2429,0,0,0,0,0,0
$GC,9589,1.18,166.9,842.2,8.3,356,9620,0.17,2.78,25.08,1.135,6,0.132,0.060,3431,1851,2329,0,0,0,0,0,0
$GC,9995,1.18,169.5,802.8,9.8,366,10000,0.00,2.70,0.00,0.000,4,0.000,0.055,3431,3443,2322,0,0,0,0,0,0
$GC,10058,1.18,171.7,796.2,9.9,367,10068,0.00,2.78,4.53,0.784,6,0.000,0.058,3431,1853,2309,0,0,0,0,0,0
$GC,10442,1.20,185.9,760.2,9.0,377,10462,0.00,2.78,14.95,1.071,4,0.000,0.054,3431,3448,2251,0,0,0,0,0,0
$GC,10531,1.21,191.6,751.9,9.6,379,10545,0.00,2.78,7.03,0.923,6,0.000,0.061,3431,1861,2227,0,0,0,0,0,0
$GC,10935,1.23,207.1,715.1,8.9,389,10958,0.00,2.78,16.25,1.051,4,0.000,0.050,3431,3446,2163,0,0,0,0,0,0
$GC,10983,1.24,215.1,710.6,9.5,390,10997,0.00,2.80,8.90,0.956,6,0.000,0.063,3431,1859,2133,0,0,0,0,0,0
$GC,11387,1.24,220.0,671.2,9.7,400,11400,0.00,3.17,6.00,0.854,4,0.000,0.132,3431,261,2111,0,0,0,0,0,0
$GC,11411,1.24,220.0,668.5,10.1,400,11416,0.00,2.67,0.00,0.000,6,0.000,0.037,3431,1878,2111,0,0,0,0,0,0
$GC,11790,1.25,227.1,632.6,9.5,410,11800,0.00,0.00,7.88,0.909,6,0.000,0.000,3431,1878,2084,0,0,0,0,0,0
$GC,12195,1.25,227.1,591.8,10.3,420,12196,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1879,2081,0,0,0,0,0,0
$GC,12562,1.25,229.8,554.7,9.8,429,12567,0.00,2.92,0.00,0.000,4,0.000,0.087,3431,261,2080,0,0,0,0,0,0
$GC,12605,1.25,229.8,549.7,10.6,430,12610,0.00,2.65,0.00,0.000,6,0.000,0.036,3431,1864,2079,0,0,0,0,0,0
$GC,13006,1.30,235.3,511.7,9.6,440,13021,0.12,2.95,8.93,0.875,4,0.089,0.084,3463,259,2050,0,0,0,0,0,0
$GC,13039,1.24,235.3,507.8,11.5,440,13045,0.00,2.65,0.00,0.000,6,0.000,0.036,3463,1860,2048,0,0,0,0,0,0
$GC,13411,1.24,235.3,465.9,11.0,450,13412,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,1860,2047,0,0,0,0,0,0
$GC,13777,1.24,235.3,425.9,11.0,459,13781,0.00,2.85,0.00,0.000,4,0.000,0.075,3463,252,2047,0,0,0,0,0,0
$GC,13811,1.18,235.3,421.9,12.5,459,13817,0.15,2.62,0.00,0.000,6,0.123,0.031,3434,1857,2046,0,0,0,0,0,0
$GC,14183,1.24,246.6,387.3,9.2,469,14202,0.00,2.75,11.90,0.829,4,0.000,0.046,3434,3442,2003,0,0,0,0,0,0
$GC,14232,1.32,246.6,382.3,10.5,470,14238,0.12,2.72,0.00,0.000,6,0.082,0.051,3467,1849,2001,0,0,0,0,0,0
$GC,14632,1.32,246.6,338.3,10.3,480,14634,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,1850,2000,0,0,0,0,0,0
$GC,14998,1.34,265.9,305.7,8.7,489,15022,0.00,2.88,18.90,0.792,4,0.000,0.077,3467,268,1924,0,0,0,0,0,0
$GC,15130,1.34,265.9,289.4,12.2,492,15135,0.00,2.58,0.00,0.000,6,0.000,0.027,3467,1868,1922,0,0,0,0,0,0
$GC,15538,1.41,282.5,251.2,8.9,502,15556,0.00,0.00,16.33,0.735,6,0.000,0.000,3467,1869,1858,0,0,0,0,0,0
$GC,15903,1.48,282.5,213.4,10.9,511,15908,0.12,2.80,0.00,0.000,4,0.084,0.061,3500,265,1855,0,0,0,0,0,0
$GC,15964,1.43,282.5,205.3,13.4,512,15969,0.00,2.53,0.00,0.000,6,0.000,0.021,3500,1855,1854,0,0,0,0,0,0
$GC,16351,1.43,282.5,162.8,10.7,545,16356,0.00,2.75,0.00,0.000,4,0.000,0.061,3500,257,1854,0,0,0,0,0,0
$GC,16380,1.43,282.5,159.5,12.2,547,16384,0.00,2.53,0.00,0.000,6,0.000,0.026,3499,1852,1853,0,0,0,0,0,0
$GC,16770,1.48,282.5,120.2,10.3,583,16771,0.00,0.00,0.00,0.000,6,0.000,0.000,3500,1854,1853,0,0,0,0,0,0
$GC,17154,1.60,305.1,83.6,8.5,619,17184,0.10,2.80,20.85,0.583,4,0.088,0.057,3529,270,1765,0,0,0,0,0,0
$GC,17211,1.62,317.6,78.5,9.2,624,17230,0.00,2.53,12.45,0.550,6,0.000,0.019,3529,1854,1715,0,0,0,0,0,0
$GC,17613,1.67,328.8,43.9,9.2,662,17632,0.00,2.78,11.43,0.515,4,0.000,0.054,3529,266,1668,0,0,0,0,0,0
$GC,17661,1.67,328.8,38.5,11.0,666,17666,0.00,2.47,0.00,0.000,6,0.000,0.019,3529,1839,1667,0,0,0,0,0,0
$STATE,17987,end climb,SURFACE_DEPTH_REACHED
$STATE,17987,begin surface coast
$FINISH,0.8,0.975834
$STATE,18057,end surface coast,CONTROL_FINISHED_OK
$STATE,18057,begin surface
$SM_CCo,18081,42.97,0.512,0,0,1460,380.21
$SM_GC,1.82,0.00,0.00,42.97,0.000,0.000,0.512,474,2184,1460,-12.42,2.37,380.21
$IRIDIUM_FIX,2216.01,-15758.50,211000,151559
$TT8_MAMPS,0.026078
$HUMID,63.62
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,20.70
$XPDR_PINGS,163
$24V_AH,22.9,76.038
$10V_AH,9.8,69.860
$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,29.750,151.750,408.600,42.975,0.000,30.275,35.496,163.712,40.750,0.000,13.606,1419.910,14020.919,547.873,1926.413,582.006,33.383,1428.092,0.000,1916.558,0.000,0.533,0.000
$DEVICE_MAMPS,155.701,160.303,1237.171,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,500.332,339.770,459.919,741.215,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355936
$DATA_FILE_SIZE,54277,733
$CAP_FILE_SIZE,136646,0
$CFSIZE,260165632,149221376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290711,020437,2220.777,-15800.740,33,1.1,33,10.0