version: 66.06
glider: 146
mission: 6
dive: 617
start: 8 2 111 0 20 34
data:
$ID,146
$MISSION,6
$DIVE,617
$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,-282880.22
$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,22
$R_STBD_OVSHOOT,14
$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
$GPS1,000531,2158.457,-15758.769,38,1.5,38,9.9
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.52
$_SM_ANGLEo,-70.8
$GPS2,001944,2158.543,-15758.818,12,1.5,12,9.9
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAY2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.071,-0.205
$KALMAN_X,-643293.8,30.3,163.2,639648.7,-2195.4
$KALMAN_Y,258631.7,62.3,93.4,-342791.9,407.2
$MHEAD_RNG_PITCHd_Wd,150.9,20278,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.47,-97.3,0.0,0.0,0,87,0.00,0.00,-69.15,0.000,2,0.000,0.000,471,2190,3223,0,0,0,0,0,0
$GC,92,-1.47,-97.3,3.9,-7.2,11,114,12.73,2.75,-3.47,0.000,4,0.160,0.054,2848,526,3406,0,0,0,0,0,0
$GC,197,-1.37,-97.3,27.2,-16.3,29,205,0.10,2.55,0.00,0.000,6,0.107,0.016,2872,2159,3408,0,0,0,0,0,0
$GC,596,-1.37,-97.3,83.2,-13.5,67,600,0.00,2.42,0.00,0.000,4,0.000,0.032,2872,3685,3409,0,0,0,0,0,0
$GC,627,-1.37,-97.3,87.3,-12.7,69,632,0.00,2.50,0.00,0.000,6,0.000,0.022,2872,2106,3409,0,0,0,0,0,0
$GC,1018,-1.43,-97.3,130.6,-10.0,105,1022,0.00,2.60,0.00,0.000,4,0.000,0.054,2872,538,3410,0,0,0,0,0,0
$GC,1070,-1.47,-97.3,136.2,-10.8,109,1074,0.00,2.42,0.00,0.000,6,0.000,0.018,2872,2125,3410,0,0,0,0,0,0
$GC,1459,-1.55,-97.3,178.2,-9.3,145,1464,0.15,2.47,0.00,0.000,4,0.064,0.037,2822,3678,3411,0,0,0,0,0,0
$GC,1481,-1.55,-97.3,180.5,-9.7,146,1486,0.00,2.47,0.00,0.000,6,0.000,0.021,2822,2104,3411,0,0,0,0,0,0
$GC,1895,-1.55,-97.3,225.2,-12.2,171,1899,0.00,2.50,0.00,0.000,4,0.000,0.034,2822,3673,3411,0,0,0,0,0,0
$GC,1922,-1.55,-97.3,229.4,-13.6,171,1926,0.00,2.42,0.00,0.000,6,0.000,0.025,2822,2115,3411,0,0,0,0,0,0
$GC,2295,-1.55,-97.3,268.8,-10.0,180,2300,0.00,2.53,0.00,0.000,4,0.000,0.034,2822,3678,3411,0,0,0,0,0,0
$GC,2381,-1.61,-97.3,277.2,-9.2,182,2385,0.00,2.45,0.00,0.000,6,0.000,0.022,2822,2130,3411,0,0,0,0,0,0
$GC,2786,-1.65,-97.3,317.2,-10.1,192,2790,0.00,2.78,0.00,0.000,4,0.000,0.077,2822,538,3411,0,0,0,0,0,0
$GC,2814,-1.65,-97.3,320.5,-11.3,192,2818,0.00,2.45,0.00,0.000,6,0.000,0.025,2822,2088,3411,0,0,0,0,0,0
$GC,3186,-1.71,-97.3,358.3,-9.5,201,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2089,3410,0,0,0,0,0,0
$GC,3552,-1.77,-97.3,387.3,-8.1,210,3557,0.15,2.72,0.00,0.000,4,0.061,0.057,2768,3701,3407,0,0,0,0,0,0
$GC,3615,-1.77,-97.3,394.1,-11.4,211,3619,0.00,2.60,0.00,0.000,6,0.000,0.047,2768,2130,3407,0,0,0,0,0,0
$GC,3997,-1.77,-97.3,433.8,-10.0,221,4001,0.00,2.62,0.00,0.000,4,0.000,0.053,2768,3693,3404,0,0,0,0,0,0
$GC,4042,-1.77,-97.3,438.3,-9.8,222,4047,0.00,2.62,0.00,0.000,6,0.000,0.052,2768,2123,3404,0,0,0,0,0,0
$GC,4441,-1.77,-97.3,477.0,-10.4,232,4443,0.10,0.00,0.00,0.000,6,0.121,0.000,2789,2123,3401,0,0,0,0,0,0
$GC,4807,-1.77,-97.3,515.7,-10.9,241,4812,0.00,2.72,0.00,0.000,4,0.000,0.075,2789,3694,3398,0,0,0,0,0,0
$GC,4876,-1.82,-97.3,523.1,-11.0,242,4881,0.00,2.67,0.00,0.000,6,0.000,0.061,2789,2126,3398,0,0,0,0,0,0
$GC,5253,-1.82,-97.3,561.9,-10.1,252,5258,0.00,3.12,0.00,0.000,4,0.000,0.131,2789,527,3395,0,0,0,0,0,0
$GC,5307,-1.82,-97.3,567.7,-10.4,253,5312,0.00,2.67,0.00,0.000,6,0.000,0.055,2789,2110,3394,0,0,0,0,0,0
$GC,5697,-1.82,-97.3,603.1,-9.1,263,5702,0.00,2.92,0.00,0.000,4,0.000,0.100,2789,3708,3392,0,0,0,0,0,0
$GC,5719,-1.82,-97.3,605.3,-9.1,263,5724,0.00,2.78,0.00,0.000,6,0.000,0.070,2788,2126,3392,0,0,0,0,0,0
$GC,6096,-1.86,-97.3,639.6,-8.9,273,6101,0.00,3.12,0.00,0.000,4,0.000,0.133,2789,529,3388,0,0,0,0,0,0
$GC,6131,-1.86,-97.3,642.7,-9.2,273,6136,0.00,2.78,0.00,0.000,6,0.000,0.071,2789,2127,3388,0,0,0,0,0,0
$GC,6503,-1.90,-97.3,675.6,-9.1,283,6509,0.12,3.15,0.00,0.000,4,0.083,0.130,2752,528,3387,0,0,0,0,0,0
$GC,6533,-1.84,-97.3,678.8,-11.0,283,6538,0.10,2.88,0.00,0.000,6,0.129,0.087,2770,2122,3386,0,0,0,0,0,0
$GC,6904,-1.84,-97.3,718.1,-10.6,292,6909,0.00,3.28,0.00,0.000,4,0.000,0.153,2770,529,3383,0,0,0,0,0,0
$GC,6931,-1.84,-97.3,721.2,-11.1,292,6936,0.00,3.00,0.00,0.000,6,0.000,0.106,2770,2124,3383,0,0,0,0,0,0
$GC,7305,-1.84,-97.3,762.2,-11.3,301,7310,0.00,3.38,0.00,0.000,4,0.000,0.173,2770,3707,3381,0,0,0,0,0,0
$GC,7344,-1.84,-97.3,766.9,-11.8,302,7349,0.00,2.70,0.00,0.000,6,0.000,0.059,2770,2128,3382,0,0,0,0,0,0
$GC,7750,-1.84,-97.3,811.5,-11.0,312,7755,0.00,3.08,0.00,0.000,4,0.000,0.127,2770,533,3380,0,0,0,0,0,0
$GC,7791,-1.84,-97.3,815.9,-11.2,313,7795,0.00,2.70,0.00,0.000,6,0.000,0.055,2770,2135,3379,0,0,0,0,0,0
$GC,8196,-1.84,-97.3,854.7,-9.0,323,8200,0.00,2.95,0.00,0.000,4,0.000,0.097,2770,530,3377,0,0,0,0,0,0
$GC,8245,-1.84,-97.3,859.2,-9.1,324,8250,0.00,2.72,0.00,0.000,6,0.000,0.053,2770,2125,3377,0,0,0,0,0,0
$GC,8641,-1.84,-97.3,891.8,-8.1,334,8646,0.00,2.95,0.00,0.000,4,0.000,0.100,2770,523,3375,0,0,0,0,0,0
$GC,8691,-1.84,-97.3,896.6,-9.7,335,8695,0.00,2.72,0.00,0.000,6,0.000,0.052,2770,2116,3375,0,0,0,0,0,0
$STATE,8757,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8757,begin apogee
$GC,8765,-0.31,0.0,902.6,8.8,337,8850,1.52,0.00,81.70,1.239,6,0.092,0.000,3104,1799,3010,0,0,0,0,0,0
$STATE,8851,end apogee,CONTROL_FINISHED_OK
$STATE,8851,begin climb
$GC,8854,1.47,97.3,904.1,0.0,339,8950,1.67,0.00,91.35,1.222,6,0.039,0.000,3502,1799,2613,0,0,0,0,0,0
$GC,9287,1.32,125.6,876.8,8.1,350,9322,0.20,2.97,26.35,1.159,4,0.126,0.077,3464,3403,2496,0,0,0,0,0,0
$GC,9341,1.24,139.4,872.3,9.1,351,9361,0.00,2.80,14.30,1.095,6,0.000,0.061,3464,1814,2441,0,0,0,0,0,0
$GC,9741,1.15,142.2,833.9,9.8,361,9746,0.17,2.72,0.00,0.000,4,0.127,0.056,3428,3403,2433,0,0,0,0,0,0
$GC,9765,1.11,147.0,831.5,9.7,361,9781,0.00,2.78,7.28,0.967,6,0.000,0.061,3428,1807,2410,0,0,0,0,0,0
$GC,10146,1.11,147.0,794.2,10.1,371,10151,0.00,2.70,0.00,0.000,4,0.000,0.054,3428,3397,2408,0,0,0,0,0,0
$GC,10187,1.11,147.0,790.2,10.2,372,10192,0.00,2.75,0.00,0.000,6,0.000,0.058,3428,1803,2406,0,0,0,0,0,0
$GC,10592,1.11,147.0,747.3,10.3,382,10596,0.00,2.72,0.00,0.000,4,0.000,0.050,3428,3406,2405,0,0,0,0,0,0
$GC,10658,1.11,147.1,740.7,10.0,383,10663,0.00,2.78,0.00,0.000,6,0.000,0.063,3428,1810,2404,0,0,0,0,0,0
$GC,11037,1.14,176.3,708.9,8.0,393,11071,0.00,2.80,28.40,1.086,4,0.000,0.054,3428,3393,2290,0,0,0,0,0,0
$GC,11178,1.14,178.1,695.7,9.9,396,11183,0.00,2.75,0.00,0.000,6,0.000,0.059,3428,1821,2286,0,0,0,0,0,0
$GC,11574,1.17,196.6,662.1,8.7,406,11596,0.00,0.00,20.02,1.041,6,0.000,0.000,3428,1821,2208,0,0,0,0,0,0
$GC,11938,1.17,196.6,625.8,10.1,415,11942,0.00,2.67,0.00,0.000,4,0.000,0.049,3428,3406,2202,0,0,0,0,0,0
$GC,11964,1.17,196.6,622.8,10.2,415,11969,0.00,2.78,0.00,0.000,6,0.000,0.064,3428,1819,2202,0,0,0,0,0,0
$GC,12338,1.17,196.6,583.4,10.6,424,12343,0.00,2.67,0.00,0.000,4,0.000,0.054,3428,3399,2201,0,0,0,0,0,0
$GC,12387,1.17,196.6,577.7,11.2,425,12392,0.00,2.72,0.00,0.000,6,0.000,0.062,3428,1828,2200,0,0,0,0,0,0
$GC,12781,1.17,196.6,536.9,10.3,435,12783,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1828,2199,0,0,0,0,0,0
$GC,13149,1.17,200.8,501.1,9.7,444,13150,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1829,2199,0,0,0,0,0,0
$GC,13513,1.20,223.7,468.1,8.4,453,13540,0.00,0.00,25.40,0.934,6,0.000,0.000,3428,1828,2098,0,0,0,0,0,0
$GC,13879,1.27,241.7,436.1,8.8,462,13904,0.10,2.72,17.73,0.891,4,0.146,0.043,3453,3399,2023,0,0,0,0,0,0
$GC,13928,1.27,241.7,431.0,10.5,463,13932,0.00,2.72,0.00,0.000,6,0.000,0.055,3453,1826,2022,0,0,0,0,0,0
$GC,14327,1.27,241.7,388.2,10.7,473,14331,0.00,2.97,0.00,0.000,4,0.000,0.100,3454,216,2020,0,0,0,0,0,0
$GC,14384,1.23,241.7,381.4,13.1,474,14388,0.00,2.65,0.00,0.000,6,0.000,0.029,3453,1851,2018,0,0,0,0,0,0
$GC,14772,1.23,241.7,339.3,10.6,484,14773,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1851,2019,0,0,0,0,0,0
$GC,15138,1.28,248.6,303.3,9.5,493,15152,0.00,2.95,6.95,0.704,4,0.000,0.067,3453,219,1996,0,0,0,0,0,0
$GC,15193,1.28,248.6,297.4,10.6,494,15198,0.00,2.62,0.00,0.000,6,0.000,0.025,3453,1844,1995,0,0,0,0,0,0
$GC,15587,1.35,248.6,257.4,10.5,504,15588,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1845,1994,0,0,0,0,0,0
$GC,15953,1.47,290.6,227.8,7.1,513,15999,0.17,2.90,39.28,0.751,4,0.067,0.070,3499,219,1824,0,0,0,0,0,0
$GC,16044,1.42,290.6,217.6,13.9,515,16048,0.00,2.60,0.00,0.000,6,0.000,0.022,3499,1832,1822,0,0,0,0,0,0
$GC,16425,1.42,290.6,173.3,12.1,538,16430,0.00,2.80,0.00,0.000,4,0.000,0.067,3499,212,1819,0,0,0,0,0,0
$GC,16446,1.42,290.6,170.3,14.4,539,16452,0.00,2.58,0.00,0.000,6,0.000,0.021,3499,1835,1818,0,0,0,0,0,0
$GC,16835,1.46,290.6,125.7,10.9,576,16836,0.00,0.00,0.00,0.000,6,0.000,0.000,3499,1837,1818,0,0,0,0,0,0
$GC,17218,1.52,290.6,88.9,10.4,612,17219,0.00,0.00,0.00,0.000,6,0.000,0.000,3499,1837,1818,0,0,0,0,0,0
$GC,17602,1.66,331.4,55.1,7.2,648,17650,0.15,2.90,35.67,0.570,4,0.173,0.057,3541,211,1658,0,0,0,0,0,0
$GC,17693,1.66,331.4,46.1,13.5,655,17700,0.00,2.58,0.00,0.000,6,0.000,0.019,3541,1823,1657,0,0,0,0,0,0
$GC,18081,1.66,334.7,4.6,9.8,715,18090,0.00,2.60,3.67,0.344,3,0.000,0.055,3541,334,1644,0,0,0,0,0,0
$STATE,18091,end climb,SURFACE_DEPTH_REACHED
$STATE,18091,begin surface coast
$FINISH,0.9,0.970352
$STATE,18129,end surface coast,CONTROL_FINISHED_OK
$STATE,18129,begin surface
$SM_CCo,18154,37.83,0.516,0,0,1460,380.21
$SM_GC,1.56,0.00,0.00,37.83,0.000,0.000,0.516,477,2125,1460,-12.41,0.14,380.21
$IRIDIUM_FIX,2150.42,-15757.67,261000,000048
$TT8_MAMPS,0.026078
$HUMID,65.31
$INTERNAL_PRESSURE,9.05308
$TCM_TEMP,19.70
$XPDR_PINGS,242
$24V_AH,22.9,79.050
$10V_AH,9.8,71.631
$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,29.950,181.850,398.100,37.825,0.000,91.038,154.815,327.898,60.500,0.000,13.781,1423.723,14137.911,547.344,1977.838,950.320,33.390,1468.317,0.000,1964.607,0.000,0.532,0.000
$DEVICE_MAMPS,173.342,173.342,1239.472,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,493.561,324.423,293.694,725.586,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355956
$DATA_FILE_SIZE,54256,723
$CAP_FILE_SIZE,147250,0
$CFSIZE,260165632,147951616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020811,052507,2156.775,-15759.656,38,1.0,38,9.9