version: 66.06
glider: 146
mission: 6
dive: 610
start: 7 31 111 12 7 41
data:
$ID,146
$MISSION,6
$DIVE,610
$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,-282720
$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,1825
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$R_STBD_OVSHOOT,55
$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
$GPS1,114437,2205.272,-15800.694,48,1.5,48,10.0
$_CALLS,4
$_XMS_NAKs,19
$_XMS_TOUTs,1
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-69.9
$GPS2,120650,2205.272,-15800.944,11,1.8,11,10.0
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.198,-0.089
$KALMAN_X,-627225.4,-73.0,61.2,620162.1,-2666.1
$KALMAN_Y,255541.4,27.4,106.8,-327219.2,-132.1
$MHEAD_RNG_PITCHd_Wd,104.3,10995,-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,-69.57,0.000,2,0.000,0.000,470,2197,3236,0,0,0,0,0,0
$GC,93,-1.47,-97.3,3.7,-6.7,11,114,12.75,2.83,-3.28,0.000,4,0.159,0.051,2848,493,3407,0,0,0,0,0,0
$GC,130,-0.73,-97.3,16.0,-30.5,16,138,0.73,2.50,0.00,0.000,6,0.110,0.016,3009,2098,3409,0,0,0,0,0,0
$GC,522,-0.99,-97.3,44.4,-7.1,68,527,0.22,2.65,0.00,0.000,4,0.050,0.044,2941,493,3409,0,0,0,0,0,0
$GC,556,-1.09,-97.3,48.2,-11.2,70,563,0.00,2.47,0.00,0.000,6,0.000,0.016,2941,2088,3410,0,0,0,0,0,0
$GC,947,-1.23,-97.3,88.2,-9.8,107,949,0.15,0.00,0.00,0.000,6,0.059,0.000,2887,2090,3411,0,0,0,0,0,0
$GC,1331,-1.31,-97.3,129.5,-11.2,143,1335,0.00,2.62,0.00,0.000,4,0.000,0.051,2886,494,3411,0,0,0,0,0,0
$GC,1348,-1.38,-97.3,131.6,-10.2,144,1352,0.00,2.45,0.00,0.000,6,0.000,0.018,2887,2100,3411,0,0,0,0,0,0
$GC,1738,-1.49,-97.3,166.0,-8.5,180,1744,0.15,2.65,0.00,0.000,4,0.057,0.055,2823,503,3412,0,0,0,0,0,0
$GC,1762,-1.49,-97.3,168.5,-9.9,181,1768,0.12,2.42,0.00,0.000,6,0.112,0.015,2849,2091,3412,0,0,0,0,0,0
$GC,2181,-1.54,-97.3,207.9,-9.2,215,2182,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2092,3412,0,0,0,0,0,0
$GC,2545,-1.60,-97.3,241.0,-9.0,224,2550,0.10,2.50,0.00,0.000,4,0.081,0.038,2809,3650,3412,0,0,0,0,0,0
$GC,2566,-1.60,-97.3,243.4,-10.3,224,2571,0.00,2.47,0.00,0.000,6,0.000,0.022,2809,2063,3412,0,0,0,0,0,0
$GC,2945,-1.60,-97.3,282.3,-10.0,234,2950,0.00,2.55,0.00,0.000,4,0.000,0.041,2809,3653,3411,0,0,0,0,0,0
$GC,3068,-1.60,-97.3,295.0,-10.2,236,3074,0.00,2.45,0.00,0.000,6,0.000,0.031,2809,2098,3411,0,0,0,0,0,0
$GC,3441,-1.60,-97.3,330.6,-9.3,246,3446,0.00,2.55,0.00,0.000,4,0.000,0.042,2809,3656,3410,0,0,0,0,0,0
$GC,3458,-1.64,-97.3,332.3,-8.9,246,3462,0.00,2.50,0.00,0.000,6,0.000,0.038,2809,2095,3410,0,0,0,0,0,0
$GC,3841,-1.68,-97.3,368.5,-9.6,256,3845,0.00,2.55,0.00,0.000,4,0.000,0.043,2809,3643,3408,0,0,0,0,0,0
$GC,3909,-1.74,-97.3,375.3,-10.1,257,3913,0.00,2.53,0.00,0.000,6,0.000,0.041,2809,2103,3408,0,0,0,0,0,0
$GC,4286,-1.78,-97.3,412.3,-9.7,267,4287,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2103,3406,0,0,0,0,0,0
$GC,4651,-1.83,-97.3,450.4,-10.5,276,4657,0.15,2.62,0.00,0.000,4,0.064,0.058,2762,3642,3403,0,0,0,0,0,0
$GC,4675,-1.83,-97.3,453.0,-11.4,276,4679,0.00,2.60,0.00,0.000,6,0.000,0.055,2762,2100,3402,0,0,0,0,0,0
$GC,5052,-1.79,-97.3,495.7,-11.0,286,5057,0.10,2.65,0.00,0.000,4,0.127,0.061,2781,3638,3399,0,0,0,0,0,0
$GC,5138,-1.79,-97.3,504.5,-10.3,288,5142,0.00,2.60,0.00,0.000,6,0.000,0.062,2781,2107,3399,0,0,0,0,0,0
$GC,5543,-1.79,-97.3,545.6,-10.2,298,5547,0.00,2.67,0.00,0.000,4,0.000,0.073,2781,3642,3395,0,0,0,0,0,0
$GC,5586,-1.79,-97.3,550.3,-11.2,299,5591,0.00,2.62,0.00,0.000,6,0.000,0.060,2781,2113,3396,0,0,0,0,0,0
$GC,5988,-1.79,-97.3,590.9,-10.3,309,5989,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2113,3392,0,0,0,0,0,0
$GC,6352,-1.79,-97.3,627.4,-10.3,318,6353,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2113,3389,0,0,0,0,0,0
$GC,6717,-1.79,-97.3,664.5,-10.3,327,6722,0.00,2.88,0.00,0.000,4,0.000,0.114,2781,3640,3387,0,0,0,0,0,0
$GC,6738,-1.79,-97.3,666.7,-9.6,327,6743,0.00,2.80,0.00,0.000,6,0.000,0.098,2781,2117,3387,0,0,0,0,0,0
$GC,7115,-1.79,-97.3,705.0,-10.2,337,7120,0.00,2.92,0.00,0.000,4,0.000,0.123,2781,3631,3384,0,0,0,0,0,0
$GC,7159,-1.84,-97.3,709.7,-11.2,338,7164,0.00,2.70,0.00,0.000,6,0.000,0.075,2781,2105,3384,0,0,0,0,0,0
$GC,7560,-1.84,-97.3,746.5,-8.7,348,7565,0.00,2.72,0.00,0.000,4,0.000,0.084,2781,3635,3382,0,0,0,0,0,0
$GC,7622,-1.89,-97.3,752.0,-8.6,349,7627,0.00,2.65,0.00,0.000,6,0.000,0.074,2781,2117,3382,0,0,0,0,0,0
$GC,8005,-1.89,-97.3,782.1,-7.9,359,8006,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2117,3380,0,0,0,0,0,0
$GC,8372,-1.89,-97.3,812.1,-8.4,368,8373,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2117,3378,0,0,0,0,0,0
$GC,8736,-1.92,-97.3,844.6,-9.0,377,8741,0.12,2.70,0.00,0.000,4,0.081,0.077,2744,3638,3376,0,0,0,0,0,0
$GC,8803,-1.92,-97.3,852.1,-11.9,378,8807,0.00,2.65,0.00,0.000,6,0.000,0.066,2744,2112,3375,0,0,0,0,0,0
$GC,9181,-1.92,-97.3,893.8,-11.2,388,9186,0.00,2.67,0.00,0.000,4,0.000,0.079,2744,3637,3373,0,0,0,0,0,0
$GC,9198,-1.92,-97.3,895.9,-11.2,388,9203,0.00,2.65,0.00,0.000,6,0.000,0.072,2744,2108,3374,0,0,0,0,0,0
$STATE,9254,end dive,TARGET_DEPTH_EXCEEDED
$STATE,9254,begin apogee
$GC,9260,-0.31,0.0,902.4,11.3,390,9346,1.65,0.00,81.75,1.239,6,0.093,0.000,3104,1820,3010,0,0,0,0,0,0
$STATE,9347,end apogee,CONTROL_FINISHED_OK
$STATE,9347,begin climb
$GC,9351,1.47,97.3,904.9,0.0,392,9447,1.67,0.00,91.70,1.223,6,0.039,0.000,3506,1820,2613,0,0,0,0,0,0
$GC,9783,1.32,127.1,879.8,8.0,403,9817,0.20,3.20,27.70,1.159,4,0.123,0.123,3466,240,2490,0,0,0,0,0,0
$GC,9862,1.14,127.1,872.8,10.7,404,9867,0.20,2.60,0.00,0.000,6,0.127,0.043,3427,1777,2487,0,0,0,0,0,0
$GC,10234,1.17,154.0,841.9,8.2,413,10267,0.00,2.97,25.85,1.146,4,0.000,0.072,3427,3418,2380,0,0,0,0,0,0
$GC,10349,1.17,154.1,831.4,10.0,415,10354,0.00,2.75,0.00,0.000,6,0.000,0.054,3427,1832,2377,0,0,0,0,0,0
$GC,10726,1.17,154.1,794.0,10.1,425,10731,0.00,2.67,0.00,0.000,4,0.000,0.051,3427,3421,2374,0,0,0,0,0,0
$GC,10747,1.17,154.1,791.6,10.6,425,10752,0.00,2.75,0.00,0.000,6,0.000,0.058,3427,1836,2373,0,0,0,0,0,0
$GC,11127,1.18,158.4,754.5,9.7,435,11128,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1836,2372,0,0,0,0,0,0
$GC,11491,1.19,170.0,720.4,9.2,444,11511,0.00,2.75,15.12,1.059,4,0.000,0.050,3427,3418,2316,0,0,0,0,0,0
$GC,11522,1.21,185.8,717.4,8.9,444,11546,0.00,2.78,16.70,1.050,6,0.000,0.059,3426,1833,2251,0,0,0,0,0,0
$GC,11939,1.22,190.2,677.1,9.7,455,11949,0.00,2.70,4.85,0.783,4,0.000,0.051,3426,3414,2233,0,0,0,0,0,0
$GC,11971,1.22,190.4,673.4,10.0,455,11977,0.00,2.78,0.00,0.000,6,0.000,0.064,3427,1825,2233,0,0,0,0,0,0
$GC,12343,1.22,190.4,636.3,10.1,465,12344,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1825,2231,0,0,0,0,0,0
$GC,12708,1.22,190.4,598.3,10.2,474,12713,0.00,2.67,0.00,0.000,4,0.000,0.048,3426,3420,2230,0,0,0,0,0,0
$GC,12735,1.22,192.3,595.4,9.9,474,12740,0.00,2.72,0.00,0.000,6,0.000,0.063,3427,1837,2229,0,0,0,0,0,0
$GC,13109,1.22,196.3,558.4,9.7,483,13123,0.00,3.22,6.82,0.848,4,0.000,0.127,3426,236,2208,0,0,0,0,0,0
$GC,13146,1.19,196.3,554.3,10.9,483,13152,0.00,2.67,0.00,0.000,6,0.000,0.036,3426,1849,2207,0,0,0,0,0,0
$GC,13518,1.20,203.9,518.6,9.5,493,13532,0.00,3.03,8.77,0.876,4,0.000,0.085,3426,234,2177,0,0,0,0,0,0
$GC,13563,1.20,203.9,514.1,10.3,494,13567,0.00,2.67,0.00,0.000,6,0.000,0.036,3426,1845,2176,0,0,0,0,0,0
$GC,13968,1.24,210.6,474.8,9.5,504,13978,0.00,0.00,7.62,0.828,6,0.000,0.000,3426,1846,2151,0,0,0,0,0,0
$GC,14335,1.29,210.6,437.0,10.5,513,14341,0.12,2.92,0.00,0.000,4,0.083,0.084,3460,229,2149,0,0,0,0,0,0
$GC,14369,1.22,210.6,432.3,13.2,513,14374,0.00,2.65,0.00,0.000,6,0.000,0.034,3460,1843,2148,0,0,0,0,0,0
$GC,14740,1.22,210.6,390.8,10.3,523,14742,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1844,2148,0,0,0,0,0,0
$GC,15108,1.25,234.6,358.6,8.4,532,15133,0.00,0.00,23.60,0.851,6,0.000,0.000,3460,1844,2053,0,0,0,0,0,0
$GC,15472,1.25,238.1,324.9,9.8,541,15478,0.00,0.00,4.03,0.562,6,0.000,0.000,3460,1845,2039,0,0,0,0,0,0
$GC,15838,1.29,238.1,284.2,11.3,550,15842,0.00,2.83,0.00,0.000,4,0.000,0.067,3460,233,2038,0,0,0,0,0,0
$GC,15859,1.29,238.1,281.4,11.9,550,15863,0.00,2.58,0.00,0.000,6,0.000,0.026,3460,1853,2036,0,0,0,0,0,0
$GC,16238,1.37,254.1,243.9,8.9,560,16256,0.00,0.00,16.40,0.744,6,0.000,0.000,3460,1854,1973,0,0,0,0,0,0
$GC,16602,1.47,278.4,213.4,8.4,569,16632,0.15,2.92,23.23,0.721,4,0.074,0.064,3499,235,1874,0,0,0,0,0,0
$GC,16674,1.42,278.4,205.3,14.8,570,16679,0.00,2.58,0.00,0.000,6,0.000,0.026,3500,1846,1872,0,0,0,0,0,0
$GC,17068,1.42,278.4,161.6,10.9,604,17072,0.00,2.80,0.00,0.000,4,0.000,0.061,3499,231,1871,0,0,0,0,0,0
$GC,17118,1.42,278.4,155.2,12.6,608,17122,0.00,2.55,0.00,0.000,6,0.000,0.026,3499,1845,1870,0,0,0,0,0,0
$GC,17509,1.48,289.5,116.9,9.2,644,17525,0.00,2.80,10.88,0.593,4,0.000,0.058,3500,231,1829,0,0,0,0,0,0
$GC,17552,1.48,289.5,111.9,10.7,647,17558,0.00,2.53,0.00,0.000,6,0.000,0.021,3500,1828,1827,0,0,0,0,0,0
$GC,17945,1.60,307.1,78.8,8.8,684,17970,0.10,2.80,16.67,0.578,4,0.087,0.058,3528,233,1757,0,0,0,0,0,0
$GC,17984,1.61,317.8,74.9,9.3,687,18000,0.00,2.50,11.02,0.545,6,0.000,0.019,3528,1829,1714,0,0,0,0,0,0
$GC,18388,1.65,317.8,28.8,12.1,724,18394,0.00,0.00,0.00,0.000,6,0.000,0.000,3528,1830,1712,0,0,0,0,0,0
$STATE,18603,end climb,SURFACE_DEPTH_REACHED
$STATE,18603,begin surface coast
$FINISH,0.9,0.980066
$STATE,18636,end surface coast,CONTROL_FINISHED_OK
$STATE,18636,begin surface
$SM_CCo,18660,52.30,0.522,0,0,1459,380.21
$SM_GC,1.64,0.00,0.00,52.30,0.000,0.000,0.522,475,2171,1459,-12.42,2.01,380.21
$IRIDIUM_FIX,2157.39,-15801.98,241000,121205
$TT8_MAMPS,0.026078
$HUMID,66.30
$INTERNAL_PRESSURE,9.06285
$TCM_TEMP,20.10
$XPDR_PINGS,156
$24V_AH,22.9,77.999
$10V_AH,9.9,70.995
$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,31.175,162.175,392.725,52.300,0.000,115.288,153.259,689.835,39.000,0.000,12.924,1481.696,14635.532,566.498,1986.028,1367.428,33.380,1456.322,0.000,1976.714,0.000,0.534,0.000
$DEVICE_MAMPS,158.769,127.322,1238.705,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,526.034,370.572,494.982,814.536,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,356116
$DATA_FILE_SIZE,57251,771
$CAP_FILE_SIZE,154505,0
$CFSIZE,260165632,148406272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310711,172107,2204.358,-15800.421,51,1.1,51,10.0