version: 66.06
glider: 146
mission: 6
dive: 616
start: 8 1 111 19 4 51
data:
$ID,146
$MISSION,6
$DIVE,616
$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,-282865.81
$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,2120
$C_ROLL_CLIMB,1805
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,24
$R_STBD_OVSHOOT,48
$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
$GPS1,185637,2200.165,-15758.128,38,1.2,38,9.9
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-68.4
$GPS2,190401,2200.162,-15758.248,12,1.6,29,9.9
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAY2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.036,-0.214
$KALMAN_X,-640883.2,-212.5,-374.9,638994.8,-1438.6
$KALMAN_Y,258217.8,-3.4,-280.8,-338943.7,1093.0
$MHEAD_RNG_PITCHd_Wd,160.5,23430,-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,-69.10,0.000,2,0.000,0.000,467,2216,3211,0,0,0,0,0,0
$GC,92,-1.47,-97.3,3.9,-7.4,11,120,12.80,2.83,-3.65,0.000,4,0.161,0.053,2849,525,3407,0,0,0,0,0,0
$GC,176,-1.35,-97.3,25.0,-16.6,25,183,0.10,2.50,0.00,0.000,6,0.109,0.017,2874,2115,3409,0,0,0,0,0,0
$GC,573,-1.35,-97.3,80.6,-14.7,65,574,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2117,3410,0,0,0,0,0,0
$GC,956,-1.41,-97.3,123.1,-9.4,101,960,0.00,2.65,0.00,0.000,4,0.000,0.048,2874,527,3411,0,0,0,0,0,0
$GC,997,-1.47,-97.3,127.0,-9.2,104,1001,0.00,2.45,0.00,0.000,6,0.000,0.015,2874,2133,3411,0,0,0,0,0,0
$GC,1388,-1.56,-97.3,162.3,-9.3,140,1393,0.17,2.67,0.00,0.000,4,0.058,0.050,2815,533,3413,0,0,0,0,0,0
$GC,1432,-1.50,-97.3,168.2,-13.6,143,1438,0.15,2.45,0.00,0.000,6,0.109,0.022,2846,2132,3413,0,0,0,0,0,0
$GC,1819,-1.56,-97.3,207.7,-9.0,174,1824,0.00,2.67,0.00,0.000,4,0.000,0.051,2846,529,3413,0,0,0,0,0,0
$GC,1842,-1.61,-97.3,210.2,-9.2,174,1846,0.00,2.42,0.00,0.000,6,0.000,0.022,2845,2121,3414,0,0,0,0,0,0
$GC,2219,-1.68,-97.3,247.6,-9.6,184,2221,0.15,0.00,0.00,0.000,6,0.062,0.000,2797,2122,3414,0,0,0,0,0,0
$GC,2586,-1.68,-97.3,286.7,-11.1,193,2590,0.00,2.70,0.00,0.000,4,0.000,0.061,2796,535,3414,0,0,0,0,0,0
$GC,2620,-1.64,-97.3,290.9,-12.0,193,2626,0.00,2.45,0.00,0.000,6,0.000,0.022,2797,2082,3413,0,0,0,0,0,0
$GC,2992,-1.64,-97.3,332.8,-10.9,203,2997,0.10,2.67,0.00,0.000,4,0.120,0.074,2817,540,3413,0,0,0,0,0,0
$GC,3020,-1.64,-97.3,335.8,-10.3,203,3025,0.00,2.53,0.00,0.000,6,0.000,0.034,2817,2105,3413,0,0,0,0,0,0
$GC,3393,-1.69,-97.3,369.6,-8.5,212,3397,0.00,2.65,0.00,0.000,4,0.000,0.054,2817,3700,3410,0,0,0,0,0,0
$GC,3409,-1.75,-97.3,371.2,-8.4,212,3414,0.10,2.60,0.00,0.000,6,0.083,0.042,2778,2124,3410,0,0,0,0,0,0
$GC,3793,-1.75,-97.3,412.2,-11.3,222,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2123,3408,0,0,0,0,0,0
$GC,4157,-1.75,-97.3,452.5,-11.3,231,4162,0.00,2.67,0.00,0.000,4,0.000,0.056,2778,3700,3405,0,0,0,0,0,0
$GC,4190,-1.75,-97.3,456.2,-12.1,231,4195,0.00,2.67,0.00,0.000,6,0.000,0.055,2778,2113,3405,0,0,0,0,0,0
$GC,4563,-1.75,-97.3,498.8,-11.8,241,4568,0.00,2.70,0.00,0.000,4,0.000,0.063,2778,3695,3402,0,0,0,0,0,0
$GC,4579,-1.75,-97.3,500.9,-12.0,241,4584,0.00,2.65,0.00,0.000,6,0.000,0.052,2778,2124,3402,0,0,0,0,0,0
$GC,4962,-1.75,-97.3,541.7,-9.4,251,4967,0.00,2.75,0.00,0.000,4,0.000,0.071,2778,3696,3400,0,0,0,0,0,0
$GC,4986,-1.75,-97.3,543.9,-9.6,251,4991,0.00,2.70,0.00,0.000,6,0.000,0.058,2778,2122,3400,0,0,0,0,0,0
$GC,5363,-1.75,-97.3,584.2,-11.0,261,5364,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2121,3397,0,0,0,0,0,0
$GC,5728,-1.75,-97.3,623.0,-10.7,270,5729,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2122,3394,0,0,0,0,0,0
$GC,6095,-1.75,-97.3,663.6,-11.0,279,6100,0.00,2.97,0.00,0.000,4,0.000,0.116,2778,3692,3392,0,0,0,0,0,0
$GC,6111,-1.75,-97.3,665.6,-10.8,279,6116,0.00,2.88,0.00,0.000,6,0.000,0.096,2778,2129,3392,0,0,0,0,0,0
$GC,6494,-1.75,-97.3,703.7,-9.5,289,6495,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2129,3390,0,0,0,0,0,0
$GC,6859,-1.75,-97.3,735.2,-8.4,298,6861,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2129,3387,0,0,0,0,0,0
$GC,7227,-1.75,-97.3,765.5,-8.1,307,7228,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2129,3386,0,0,0,0,0,0
$GC,7590,-1.75,-97.3,794.0,-7.8,316,7592,0.00,0.00,0.00,0.000,6,0.000,0.000,2778,2129,3384,0,0,0,0,0,0
$GC,7956,-1.75,-97.3,825.5,-9.0,325,7961,0.00,3.03,0.00,0.000,4,0.000,0.114,2778,525,3382,0,0,0,0,0,0
$GC,7974,-1.75,-97.3,827.1,-9.0,325,7978,0.00,2.62,0.00,0.000,6,0.000,0.047,2778,2112,3382,0,0,0,0,0,0
$GC,8356,-1.75,-97.3,863.6,-9.6,335,8361,0.00,2.90,0.00,0.000,4,0.000,0.094,2777,526,3381,0,0,0,0,0,0
$GC,8422,-1.75,-97.3,870.9,-10.9,336,8427,0.00,2.67,0.00,0.000,6,0.000,0.054,2778,2117,3381,0,0,0,0,0,0
$STATE,8722,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8722,begin apogee
$GC,8728,-0.31,0.0,900.4,9.8,344,8815,1.48,0.00,82.45,1.249,6,0.090,0.000,3103,1796,3010,0,0,0,0,0,0
$STATE,8815,end apogee,CONTROL_FINISHED_OK
$STATE,8816,begin climb
$GC,8818,1.47,97.3,902.7,0.0,346,8914,1.67,0.00,91.50,1.223,6,0.040,0.000,3502,1796,2613,0,0,0,0,0,0
$GC,9253,1.32,121.8,876.7,8.3,357,9282,0.20,2.95,22.65,1.145,4,0.125,0.080,3463,3392,2512,0,0,0,0,0,0
$GC,9329,1.24,137.7,869.9,8.9,358,9352,0.00,2.75,16.00,1.104,6,0.000,0.064,3463,1811,2448,0,0,0,0,0,0
$GC,9752,1.16,144.8,829.5,9.5,369,9762,0.17,0.00,7.45,0.971,6,0.126,0.000,3429,1811,2418,0,0,0,0,0,0
$GC,10114,1.18,164.4,797.4,8.7,378,10139,0.00,2.78,20.00,1.109,4,0.000,0.049,3429,3403,2338,0,0,0,0,0,0
$GC,10202,1.18,164.4,789.2,10.2,380,10207,0.00,2.80,0.00,0.000,6,0.000,0.060,3429,1800,2335,0,0,0,0,0,0
$GC,10603,1.18,164.4,749.4,10.1,390,10607,0.00,2.72,0.00,0.000,4,0.000,0.051,3429,3399,2332,0,0,0,0,0,0
$GC,10703,1.18,164.4,738.9,11.3,392,10707,0.00,2.75,0.00,0.000,6,0.000,0.061,3429,1808,2332,0,0,0,0,0,0
$GC,11093,1.20,176.6,701.8,9.2,402,11112,0.00,2.80,11.70,1.019,4,0.000,0.054,3429,3396,2289,0,0,0,0,0,0
$GC,11136,1.22,197.1,697.9,8.6,403,11165,0.00,2.78,21.30,1.058,6,0.000,0.059,3429,1814,2205,0,0,0,0,0,0
$GC,11547,1.24,209.1,659.7,9.2,413,11566,0.00,2.80,12.02,0.991,4,0.000,0.054,3429,3397,2156,0,0,0,0,0,0
$GC,11595,1.24,209.2,654.7,10.0,414,11599,0.00,2.78,0.00,0.000,6,0.000,0.064,3429,1818,2156,0,0,0,0,0,0
$GC,11996,1.24,211.1,615.8,9.9,424,12000,0.00,2.67,0.00,0.000,4,0.000,0.050,3429,3403,2153,0,0,0,0,0,0
$GC,12040,1.28,211.1,610.8,10.6,425,12045,0.10,2.78,0.00,0.000,6,0.159,0.060,3453,1818,2152,0,0,0,0,0,0
$GC,12439,1.28,211.1,564.1,11.9,435,12444,0.00,2.67,0.00,0.000,4,0.000,0.048,3453,3406,2151,0,0,0,0,0,0
$GC,12468,1.28,211.1,560.7,11.9,435,12472,0.00,2.75,0.00,0.000,6,0.000,0.059,3453,1828,2151,0,0,0,0,0,0
$GC,12839,1.28,211.1,519.4,10.6,444,12844,0.00,2.65,0.00,0.000,4,0.000,0.052,3453,3400,2150,0,0,0,0,0,0
$GC,12867,1.28,211.1,516.6,11.0,444,12871,0.00,2.72,0.00,0.000,6,0.000,0.062,3453,1834,2150,0,0,0,0,0,0
$GC,13241,1.29,219.3,480.8,9.4,453,13256,0.00,2.65,10.30,0.886,4,0.000,0.044,3453,3400,2114,0,0,0,0,0,0
$GC,13329,1.29,220.6,471.9,9.9,455,13334,0.00,2.67,0.00,0.000,6,0.000,0.058,3453,1840,2112,0,0,0,0,0,0
$GC,13730,1.29,220.6,432.9,10.2,465,13735,0.00,3.05,0.00,0.000,4,0.000,0.106,3453,218,2111,0,0,0,0,0,0
$GC,13751,1.29,220.6,430.2,10.8,465,13756,0.00,2.65,0.00,0.000,6,0.000,0.025,3453,1861,2110,0,0,0,0,0,0
$GC,14129,1.33,248.0,396.1,8.1,475,14163,0.00,2.67,27.50,0.886,4,0.000,0.050,3453,3404,1998,0,0,0,0,0,0
$GC,14189,1.39,274.0,391.3,8.2,476,14221,0.10,2.65,25.88,0.870,6,0.094,0.045,3479,1853,1892,0,0,0,0,0,0
$GC,14621,1.39,274.0,339.7,12.7,487,14626,0.00,2.95,0.00,0.000,4,0.000,0.084,3479,219,1885,0,0,0,0,0,0
$GC,14672,1.34,274.0,332.7,15.2,488,14677,0.00,2.67,0.00,0.000,6,0.000,0.028,3479,1876,1884,0,0,0,0,0,0
$GC,15066,1.34,274.0,286.7,11.0,498,15071,0.00,2.92,0.00,0.000,4,0.000,0.074,3479,217,1884,0,0,0,0,0,0
$GC,15140,1.34,274.0,277.7,12.0,499,15144,0.00,2.65,0.00,0.000,6,0.000,0.028,3479,1866,1882,0,0,0,0,0,0
$GC,15512,1.37,300.1,246.1,8.2,508,15537,0.00,0.00,23.40,0.753,6,0.000,0.000,3479,1867,1786,0,0,0,0,0,0
$GC,15877,1.42,300.1,208.1,10.3,517,15882,0.00,2.53,0.00,0.000,4,0.000,0.038,3479,3413,1782,0,0,0,0,0,0
$GC,15912,1.50,300.1,204.5,10.9,517,15919,0.10,2.62,0.00,0.000,6,0.087,0.039,3508,1829,1780,0,0,0,0,0,0
$GC,16299,1.50,300.1,161.6,10.8,551,16300,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,1829,1780,0,0,0,0,0,0
$GC,16683,1.52,310.3,124.6,9.3,587,16698,0.00,2.60,9.98,0.588,4,0.000,0.034,3507,3411,1743,0,0,0,0,0,0
$GC,16722,1.58,318.3,120.9,9.5,590,16737,0.00,2.60,8.93,0.569,6,0.000,0.035,3507,1836,1711,0,0,0,0,0,0
$GC,17130,1.64,318.3,78.6,10.7,628,17136,0.10,2.78,0.00,0.000,4,0.085,0.061,3537,218,1709,0,0,0,0,0,0
$GC,17239,1.64,318.3,65.9,10.7,637,17243,0.00,2.55,0.00,0.000,6,0.000,0.018,3537,1860,1708,0,0,0,0,0,0
$GC,17630,1.64,318.3,26.3,11.1,676,17637,0.00,2.83,0.00,0.000,4,0.000,0.057,3538,220,1708,0,0,0,0,0,0
$GC,17663,1.64,318.3,22.8,11.5,681,17670,0.00,2.58,0.00,0.000,6,0.000,0.018,3537,1860,1708,0,0,0,0,0,0
$STATE,17839,end climb,SURFACE_DEPTH_REACHED
$STATE,17839,begin surface coast
$FINISH,0.7,0.974741
$STATE,17883,end surface coast,CONTROL_FINISHED_OK
$STATE,17883,begin surface
$SM_CCo,17907,51.75,0.516,0,0,1458,380.21
$SM_GC,1.52,0.00,0.00,51.75,0.000,0.000,0.516,472,2189,1458,-12.43,1.95,380.21
$IRIDIUM_FIX,2150.42,-15758.54,251000,141401
$TT8_MAMPS,0.026078
$HUMID,64.33
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,20.00
$XPDR_PINGS,224
$24V_AH,22.9,78.889
$10V_AH,9.9,71.537
$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,29.950,163.250,391.050,51.750,0.000,29.360,35.881,218.682,56.000,0.000,32.169,1400.391,13907.921,559.304,1895.117,632.731,33.380,1426.808,0.000,1868.683,0.000,0.534,0.000
$DEVICE_MAMPS,161.070,115.817,1248.676,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,492.505,340.877,295.728,714.957,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355996
$DATA_FILE_SIZE,54112,722
$CAP_FILE_SIZE,137045,0
$CFSIZE,260165632,148025344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020811,000531,2158.457,-15758.769,38,1.5,38,9.9