version: 66.06
glider: 146
mission: 6
dive: 612
start: 7 31 111 22 49 28
data:
$ID,146
$MISSION,6
$DIVE,612
$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,-282767
$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,23
$R_STBD_OVSHOOT,51
$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
$GPS1,223801,2203.619,-15759.707,66,0.9,66,9.9
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.55
$_SM_ANGLEo,-71.2
$GPS2,224838,2203.682,-15759.735,10,1.3,10,9.9
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAYHM
$TGT_LATLONG,2200.000,-15758.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.147,-0.160
$KALMAN_X,-632018.7,-4.8,-29.0,627029.0,-1620.3
$KALMAN_Y,256333.9,1.3,63.9,-330891.9,522.3
$MHEAD_RNG_PITCHd_Wd,127.5,7442,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.47,-97.3,0.0,0.0,0,89,0.00,0.00,-69.75,0.000,2,0.000,0.000,476,2175,3239,0,0,0,0,0,0
$GC,92,-1.47,-97.3,3.9,-7.3,11,114,12.73,2.78,-3.22,0.000,4,0.158,0.052,2850,509,3406,0,0,0,0,0,0
$GC,196,-1.38,-97.3,27.2,-17.0,29,204,0.08,2.50,0.00,0.000,6,0.112,0.017,2870,2103,3409,0,0,0,0,0,0
$GC,594,-1.38,-97.3,87.0,-14.2,67,599,0.00,2.50,0.00,0.000,4,0.000,0.035,2869,3664,3409,0,0,0,0,0,0
$GC,661,-1.44,-97.3,95.9,-12.3,72,668,0.00,2.50,0.00,0.000,6,0.000,0.023,2869,2102,3410,0,0,0,0,0,0
$GC,1052,-1.48,-97.3,136.0,-9.4,109,1057,0.00,2.60,0.00,0.000,4,0.000,0.050,2869,522,3411,0,0,0,0,0,0
$GC,1083,-1.48,-97.3,139.0,-9.8,111,1088,0.00,2.45,0.00,0.000,6,0.000,0.019,2869,2120,3411,0,0,0,0,0,0
$GC,1472,-1.56,-97.3,172.5,-9.1,147,1474,0.15,0.00,0.00,0.000,6,0.065,0.000,2819,2121,3412,0,0,0,0,0,0
$GC,1880,-1.56,-97.3,220.8,-12.3,174,1884,0.00,2.67,0.00,0.000,4,0.000,0.052,2818,523,3412,0,0,0,0,0,0
$GC,1897,-1.56,-97.3,223.1,-12.3,174,1901,0.00,2.40,0.00,0.000,6,0.000,0.021,2818,2110,3412,0,0,0,0,0,0
$GC,2280,-1.56,-97.3,263.2,-9.8,184,2281,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2113,3412,0,0,0,0,0,0
$GC,2645,-1.56,-97.3,302.1,-11.1,193,2649,0.00,2.47,0.00,0.000,4,0.000,0.035,2818,3646,3412,0,0,0,0,0,0
$GC,2707,-1.61,-97.3,308.8,-11.3,194,2712,0.00,2.47,0.00,0.000,6,0.000,0.026,2818,2106,3412,0,0,0,0,0,0
$GC,3091,-1.66,-97.3,345.0,-8.8,204,3092,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2106,3412,0,0,0,0,0,0
$GC,3457,-1.70,-97.3,377.8,-9.5,213,3461,0.00,2.55,0.00,0.000,4,0.000,0.053,2818,3643,3410,0,0,0,0,0,0
$GC,3480,-1.75,-97.3,380.2,-10.4,213,3485,0.10,2.53,0.00,0.000,6,0.083,0.039,2779,2112,3410,0,0,0,0,0,0
$GC,3857,-1.75,-97.3,422.9,-11.2,223,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2112,3407,0,0,0,0,0,0
$GC,4222,-1.75,-97.3,463.8,-10.6,232,4227,0.00,2.60,0.00,0.000,4,0.000,0.058,2779,3638,3405,0,0,0,0,0,0
$GC,4291,-1.75,-97.3,470.5,-9.8,233,4296,0.00,2.58,0.00,0.000,6,0.000,0.058,2779,2114,3405,0,0,0,0,0,0
$GC,4668,-1.75,-97.3,509.7,-10.7,243,4672,0.00,2.62,0.00,0.000,4,0.000,0.067,2779,3639,3402,0,0,0,0,0,0
$GC,4735,-1.75,-97.3,517.5,-12.0,244,4740,0.00,2.62,0.00,0.000,6,0.000,0.062,2779,2107,3401,0,0,0,0,0,0
$GC,5112,-1.75,-97.3,558.4,-10.4,254,5117,0.00,3.12,0.00,0.000,4,0.000,0.133,2779,509,3399,0,0,0,0,0,0
$GC,5128,-1.75,-97.3,560.1,-10.1,254,5133,0.00,2.62,0.00,0.000,6,0.000,0.054,2779,2070,3398,0,0,0,0,0,0
$GC,5513,-1.75,-97.3,595.3,-8.9,264,5518,0.00,2.95,0.00,0.000,4,0.000,0.100,2779,3684,3396,0,0,0,0,0,0
$GC,5540,-1.75,-97.3,597.9,-9.1,264,5545,0.00,2.75,0.00,0.000,6,0.000,0.073,2779,2117,3396,0,0,0,0,0,0
$GC,5912,-1.75,-97.3,630.6,-8.9,273,5913,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2117,3393,0,0,0,0,0,0
$GC,6279,-1.75,-97.3,663.7,-9.0,282,6281,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2117,3390,0,0,0,0,0,0
$GC,6643,-1.75,-97.3,698.4,-9.7,291,6644,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2116,3388,0,0,0,0,0,0
$GC,7009,-1.75,-97.3,734.1,-9.8,300,7010,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2117,3386,0,0,0,0,0,0
$GC,7374,-1.75,-97.3,769.6,-9.7,309,7380,0.00,3.33,0.00,0.000,4,0.000,0.166,2778,3681,3384,0,0,0,0,0,0
$GC,7409,-1.79,-97.3,773.0,-10.0,309,7415,0.00,2.70,0.00,0.000,6,0.000,0.064,2778,2113,3383,0,0,0,0,0,0
$GC,7781,-1.79,-97.3,808.6,-9.5,319,7782,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2113,3382,0,0,0,0,0,0
$GC,8147,-1.79,-97.3,843.8,-9.5,328,8151,0.00,2.78,0.00,0.000,4,0.000,0.074,2778,3691,3381,0,0,0,0,0,0
$GC,8181,-1.83,-97.3,847.1,-10.4,328,8187,0.00,2.75,0.00,0.000,6,0.000,0.064,2779,2110,3381,0,0,0,0,0,0
$GC,8553,-1.83,-97.3,879.0,-8.2,338,8558,0.00,3.12,0.00,0.000,4,0.000,0.130,2779,509,3379,0,0,0,0,0,0
$GC,8575,-1.83,-97.3,880.9,-8.1,338,8579,0.00,2.75,0.00,0.000,6,0.000,0.054,2778,2116,3379,0,0,0,0,0,0
$STATE,8827,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8827,begin apogee
$GC,8835,-0.31,0.0,900.0,7.5,345,8921,1.48,0.00,82.43,1.244,6,0.088,0.000,3104,1814,3010,0,0,0,0,0,0
$STATE,8922,end apogee,CONTROL_FINISHED_OK
$STATE,8922,begin climb
$GC,8925,1.47,97.3,900.7,0.0,347,9021,1.67,0.00,91.90,1.222,6,0.037,0.000,3506,1814,2613,0,0,0,0,0,0
$GC,9355,1.28,97.3,864.7,10.5,358,9361,0.25,2.80,0.00,0.000,4,0.141,0.066,3454,3414,2601,0,0,0,0,0,0
$GC,9424,1.19,97.3,857.8,10.1,359,9429,0.00,2.75,0.00,0.000,6,0.000,0.058,3454,1826,2600,0,0,0,0,0,0
$GC,9802,1.14,127.5,825.8,7.9,369,9832,0.15,0.00,27.45,1.147,6,0.133,0.000,3426,1827,2490,0,0,0,0,0,0
$GC,10169,1.18,163.2,797.4,7.6,378,10212,0.00,2.75,34.55,1.141,4,0.000,0.051,3425,3410,2343,0,0,0,0,0,0
$GC,10296,1.20,175.4,786.5,9.2,380,10316,0.00,2.75,12.85,1.058,6,0.000,0.055,3425,1830,2294,0,0,0,0,0,0
$GC,10716,1.22,194.1,749.3,8.7,391,10740,0.00,2.80,18.40,1.082,4,0.000,0.055,3425,3416,2217,0,0,0,0,0,0
$GC,10797,1.23,200.4,741.4,9.6,392,10811,0.00,2.78,7.38,0.931,6,0.000,0.060,3425,1833,2192,0,0,0,0,0,0
$GC,11215,1.23,200.4,700.8,10.1,403,11219,0.00,2.70,0.00,0.000,4,0.000,0.054,3425,3418,2188,0,0,0,0,0,0
$GC,11258,1.23,200.4,695.8,10.8,404,11263,0.00,2.78,0.00,0.000,6,0.000,0.060,3426,1837,2187,0,0,0,0,0,0
$GC,11659,1.23,200.4,653.4,10.8,414,11661,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1837,2186,0,0,0,0,0,0
$GC,12023,1.23,200.4,612.0,11.3,423,12025,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1837,2186,0,0,0,0,0,0
$GC,12389,1.25,217.6,576.9,8.8,432,12413,0.10,2.72,16.23,0.983,4,0.095,0.054,3451,3417,2123,0,0,0,0,0,0
$GC,12508,1.25,217.6,565.1,10.2,434,12512,0.00,2.78,0.00,0.000,6,0.000,0.061,3452,1838,2121,0,0,0,0,0,0
$GC,12880,1.26,228.8,530.3,9.2,443,12894,0.00,0.00,11.88,0.924,6,0.000,0.000,3451,1838,2077,0,0,0,0,0,0
$GC,13246,1.27,234.8,495.4,9.6,452,13255,0.00,0.00,7.22,0.828,6,0.000,0.000,3452,1838,2052,0,0,0,0,0,0
$GC,13613,1.27,234.8,456.2,11.0,461,13617,0.00,2.67,0.00,0.000,4,0.000,0.049,3451,3429,2049,0,0,0,0,0,0
$GC,13667,1.27,234.8,449.5,11.6,462,13672,0.00,2.72,0.00,0.000,6,0.000,0.058,3452,1831,2048,0,0,0,0,0,0
$GC,14057,1.27,234.8,404.8,11.3,472,14059,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1831,2047,0,0,0,0,0,0
$GC,14421,1.27,234.8,365.8,10.4,481,14422,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1831,2047,0,0,0,0,0,0
$GC,14787,1.31,237.4,329.0,9.8,490,14789,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1831,2047,0,0,0,0,0,0
$GC,15153,1.36,237.4,293.2,10.1,499,15154,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1831,2047,0,0,0,0,0,0
$GC,15520,1.46,258.4,260.0,8.6,508,15546,0.17,0.00,22.50,0.767,6,0.066,0.000,3498,1830,1955,0,0,0,0,0,0
$GC,15923,1.46,258.4,218.4,10.4,518,15924,0.00,0.00,0.00,0.000,6,0.000,0.000,3499,1831,1951,0,0,0,0,0,0
$GC,16298,1.46,260.9,179.8,9.8,539,16303,0.00,2.78,0.00,0.000,4,0.000,0.070,3499,231,1951,0,0,0,0,0,0
$GC,16319,1.46,260.9,177.1,10.3,540,16325,0.00,2.60,0.00,0.000,6,0.000,0.021,3499,1872,1950,0,0,0,0,0,0
$GC,16710,1.46,260.9,139.0,10.1,577,16714,0.00,2.45,0.00,0.000,4,0.000,0.038,3498,3400,1950,0,0,0,0,0,0
$GC,16743,1.46,260.9,135.3,11.5,580,16748,0.00,2.58,0.00,0.000,6,0.000,0.033,3499,1825,1950,0,0,0,0,0,0
$GC,17134,1.53,276.7,99.7,8.9,616,17157,0.00,2.75,17.15,0.596,4,0.000,0.061,3499,241,1882,0,0,0,0,0,0
$GC,17230,1.53,276.7,87.8,13.5,624,17238,0.00,2.55,0.00,0.000,6,0.000,0.021,3498,1843,1880,0,0,0,0,0,0
$GC,17621,1.70,336.6,56.3,5.9,661,17681,0.20,0.00,53.53,0.570,6,0.059,0.000,3553,1844,1635,0,0,0,0,0,0
$GC,18061,1.70,336.6,10.9,11.7,718,18069,0.00,2.75,0.00,0.000,4,0.000,0.055,3552,248,1632,0,0,0,0,0,0
$STATE,18106,end climb,SURFACE_DEPTH_REACHED
$STATE,18106,begin surface coast
$FINISH,1.3,0.980065
$STATE,18124,end surface coast,CONTROL_FINISHED_OK
$STATE,18124,begin surface
$SM_CCo,18151,35.42,0.512,0,0,1459,380.21
$SM_GC,1.59,0.00,0.00,35.42,0.000,0.000,0.512,475,2121,1459,-12.42,0.59,380.21
$IRIDIUM_FIX,2155.06,-15759.83,241000,222214
$TT8_MAMPS,0.026078
$HUMID,64.60
$INTERNAL_PRESSURE,9.07261
$TCM_TEMP,20.20
$XPDR_PINGS,177
$24V_AH,22.9,78.303
$10V_AH,9.8,71.179
$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,29.600,124.675,403.450,35.425,0.000,57.917,66.874,288.391,44.250,0.000,12.178,1358.149,14355.741,531.543,1795.720,774.445,33.383,1353.209,0.000,1794.353,0.000,0.534,0.000
$DEVICE_MAMPS,158.002,166.439,1244.074,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,496.803,339.114,459.006,705.267,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355944
$DATA_FILE_SIZE,54218,729
$CAP_FILE_SIZE,128196,0
$CFSIZE,260165632,148295680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010811,035406,2202.383,-15759.354,43,1.3,48,9.9