version: 66.06
glider: 146
mission: 6
dive: 554
start: 7 20 111 10 44 8
data:
$ID,146
$MISSION,6
$DIVE,554
$D_SURF,4
$D_FLARE,3
$D_TGT,700
$D_ABORT,800
$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,290
$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,-281562.56
$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,2010
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,10
$R_STBD_OVSHOOT,69
$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
$GPS1,102706,2247.142,-15758.531,65,1.0,65,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-66.1
$GPS2,104313,2247.196,-15758.611,11,1.3,16,10.1
$SPEED_LIMITS,0.115,0.201
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.201,-0.002
$KALMAN_X,-512037.7,-61.5,-282.2,509290.3,-1414.2
$KALMAN_Y,217677.6,166.0,207.6,-211950.5,-205.5
$MHEAD_RNG_PITCHd_Wd,259.4,7503,-17.9,-8.046
$D_GRID,700
$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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.24,-97.3,0.0,0.0,0,130,0.00,0.00,-109.93,0.000,2,0.000,0.000,474,2047,3343,0,0,0,0,0,0
$GC,133,-1.24,-97.3,4.2,-5.0,14,160,12.73,2.78,-1.15,0.000,4,0.151,0.055,2898,409,3408,0,0,0,0,0,0
$GC,272,-1.17,-97.3,27.6,-11.3,33,282,0.00,2.47,0.00,0.000,6,0.000,0.016,2899,1997,3410,0,0,0,0,0,0
$GC,675,-1.08,-97.3,75.6,-12.1,71,680,0.17,2.50,0.00,0.000,4,0.109,0.029,2936,3562,3409,0,0,0,0,0,0
$GC,760,-1.14,-97.3,84.6,-10.2,77,765,0.00,2.47,0.00,0.000,6,0.000,0.021,2936,1993,3409,0,0,0,0,0,0
$GC,1153,-1.19,-97.3,120.7,-7.8,113,1158,0.00,0.00,0.00,0.000,6,0.000,0.000,2936,1993,3409,0,0,0,0,0,0
$GC,1542,-1.27,-97.3,155.1,-9.8,150,1547,0.15,2.53,0.00,0.000,4,0.063,0.034,2882,3563,3409,0,0,0,0,0,0
$GC,1619,-1.27,-97.3,163.7,-10.8,156,1623,0.00,2.42,0.00,0.000,6,0.000,0.021,2882,2019,3410,0,0,0,0,0,0
$GC,2007,-1.27,-97.3,198.4,-8.1,192,2008,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,2019,3410,0,0,0,0,0,0
$GC,2390,-1.27,-97.3,226.7,-7.8,228,2394,0.00,2.45,0.00,0.000,4,0.000,0.035,2882,3563,3409,0,0,0,0,0,0
$GC,2466,-1.33,-97.3,233.2,-8.6,234,2474,0.00,2.47,0.00,0.000,6,0.000,0.025,2882,2017,3409,0,0,0,0,0,0
$GC,2857,-1.37,-97.3,262.6,-7.0,271,2861,0.00,2.50,0.00,0.000,4,0.000,0.037,2883,3570,3409,0,0,0,0,0,0
$GC,2903,-1.44,-97.3,266.5,-7.7,274,2909,0.00,2.45,0.00,0.000,6,0.000,0.030,2882,2025,3409,0,0,0,0,0,0
$GC,3294,-1.49,-97.3,293.5,-7.6,311,3296,0.15,0.00,0.00,0.000,6,0.063,0.000,2832,2025,3407,0,0,0,0,0,0
$GC,3676,-1.45,-97.3,327.3,-8.9,347,3681,0.12,2.53,0.00,0.000,4,0.105,0.041,2859,3559,3406,0,0,0,0,0,0
$GC,3766,-1.50,-97.3,334.6,-7.9,354,3774,0.00,2.47,0.00,0.000,6,0.000,0.036,2859,2049,3404,0,0,0,0,0,0
$GC,4157,-1.50,-97.3,364.4,-7.3,391,4158,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2049,3402,0,0,0,0,0,0
$GC,4540,-1.50,-97.3,392.5,-8.7,427,4545,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,2049,3400,0,0,0,0,0,0
$GC,4928,-1.50,-97.3,425.6,-8.5,464,4933,0.00,2.50,0.00,0.000,4,0.000,0.044,2858,3554,3397,0,0,0,0,0,0
$GC,4996,-1.55,-97.3,431.6,-8.9,469,5002,0.00,2.55,0.00,0.000,6,0.000,0.045,2859,2037,3396,0,0,0,0,0,0
$GC,5385,-1.55,-97.3,459.9,-6.7,506,5389,0.00,2.97,0.00,0.000,4,0.000,0.104,2859,421,3394,0,0,0,0,0,0
$GC,5425,-1.55,-97.3,462.7,-7.3,509,5430,0.00,2.58,0.00,0.000,6,0.000,0.039,2859,2002,3393,0,0,0,0,0,0
$GC,5816,-1.59,-97.3,489.2,-7.2,545,5821,0.12,2.72,0.00,0.000,4,0.072,0.068,2817,3595,3391,0,0,0,0,0,0
$GC,5915,-1.59,-97.3,497.9,-9.2,553,5919,0.00,2.62,0.00,0.000,6,0.000,0.050,2817,2042,3390,0,0,0,0,0,0
$GC,6308,-1.59,-97.3,535.2,-9.4,564,6312,0.00,2.65,0.00,0.000,4,0.000,0.068,2817,3592,3388,0,0,0,0,0,0
$GC,6346,-1.59,-97.3,538.9,-9.8,565,6351,0.00,2.62,0.00,0.000,6,0.000,0.061,2817,2050,3387,0,0,0,0,0,0
$GC,6753,-1.59,-97.3,571.9,-7.2,575,6758,0.00,2.67,0.00,0.000,4,0.000,0.074,2817,3594,3385,0,0,0,0,0,0
$GC,6781,-1.59,-97.3,574.1,-7.3,575,6785,0.00,2.65,0.00,0.000,6,0.000,0.061,2817,2060,3384,0,0,0,0,0,0
$GC,7154,-1.59,-97.3,600.8,-7.9,584,7159,0.00,2.67,0.00,0.000,4,0.000,0.072,2817,3588,3382,0,0,0,0,0,0
$GC,7209,-1.59,-97.3,606.0,-8.9,585,7214,0.00,2.67,0.00,0.000,6,0.000,0.072,2817,2064,3382,0,0,0,0,0,0
$GC,7598,-1.59,-97.3,639.4,-8.3,595,7603,0.00,2.75,0.00,0.000,4,0.000,0.090,2817,3592,3380,0,0,0,0,0,0
$GC,7716,-1.59,-97.3,648.7,-8.4,597,7721,0.00,2.75,0.00,0.000,6,0.000,0.086,2817,2076,3379,0,0,0,0,0,0
$GC,8088,-1.59,-97.3,674.6,-6.9,606,8089,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,2076,3378,0,0,0,0,0,0
$STATE,8410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,8411,begin apogee
$GC,8417,-0.31,0.0,701.6,8.8,614,8500,1.27,0.00,79.38,1.094,6,0.094,0.000,3104,1995,3010,0,0,0,0,0,0
$STATE,8501,end apogee,CONTROL_FINISHED_OK
$STATE,8501,begin climb
$GC,8505,1.24,97.3,704.7,0.0,616,8603,1.42,3.15,88.12,1.073,4,0.040,0.121,3450,3570,2612,0,0,0,0,0,0
$GC,8622,1.17,198.9,706.6,2.4,618,8723,0.00,3.10,91.57,1.058,6,0.000,0.114,3450,1991,2199,0,0,0,0,0,0
$GC,9118,1.04,198.9,657.1,11.5,631,9124,0.22,3.22,0.00,0.000,4,0.114,0.137,3404,400,2186,0,0,0,0,0,0
$GC,9234,0.94,198.9,644.2,11.1,633,9239,0.10,2.78,0.00,0.000,6,0.139,0.066,3383,1983,2184,0,0,0,0,0,0
$GC,9611,0.94,198.9,610.9,8.5,643,9616,0.00,2.95,0.00,0.000,4,0.000,0.102,3383,404,2183,0,0,0,0,0,0
$GC,9640,0.90,198.9,608.2,9.8,643,9645,0.00,2.67,0.00,0.000,6,0.000,0.046,3383,1979,2182,0,0,0,0,0,0
$GC,10012,0.90,198.9,575.1,9.3,652,10016,0.00,2.92,0.00,0.000,4,0.000,0.092,3383,397,2180,0,0,0,0,0,0
$GC,10051,0.86,198.9,570.9,10.9,653,10056,0.00,2.62,0.00,0.000,6,0.000,0.043,3383,1968,2179,0,0,0,0,0,0
$GC,10458,0.86,198.9,534.0,8.5,663,10463,0.00,2.83,0.00,0.000,4,0.000,0.084,3383,403,2179,0,0,0,0,0,0
$GC,10520,0.86,198.9,528.1,9.2,664,10524,0.00,2.58,0.00,0.000,6,0.000,0.037,3383,1961,2178,0,0,0,0,0,0
$GC,10904,0.88,217.0,499.4,7.0,674,10927,0.00,2.92,14.12,0.910,4,0.000,0.089,3383,400,2123,0,0,0,0,0,0
$GC,10990,0.88,219.3,492.8,7.9,681,10998,0.00,2.60,0.00,0.000,6,0.000,0.037,3383,1947,2121,0,0,0,0,0,0
$GC,11382,0.89,228.8,467.7,7.5,718,11401,0.00,2.88,11.85,0.874,4,0.000,0.077,3383,401,2077,0,0,0,0,0,0
$GC,11419,0.89,228.8,464.4,8.2,722,11423,0.00,2.58,0.00,0.000,6,0.000,0.028,3383,1957,2075,0,0,0,0,0,0
$GC,11807,0.93,228.8,430.8,8.4,758,11812,0.00,2.75,0.00,0.000,4,0.000,0.077,3383,400,2073,0,0,0,0,0,0
$GC,11884,0.93,228.8,423.6,9.8,764,11890,0.00,2.53,0.00,0.000,6,0.000,0.026,3383,1944,2072,0,0,0,0,0,0
$GC,12273,1.00,248.5,391.6,6.9,801,12294,0.00,0.00,19.02,0.860,6,0.000,0.000,3383,1944,1997,0,0,0,0,0,0
$GC,12677,1.06,248.5,363.1,9.3,839,12682,0.10,2.72,0.00,0.000,4,0.095,0.072,3409,400,1992,0,0,0,0,0,0
$GC,12720,1.06,248.5,358.0,11.3,842,12726,0.00,2.50,0.00,0.000,6,0.000,0.027,3409,1947,1991,0,0,0,0,0,0
$GC,13111,1.07,255.1,322.5,7.7,879,13124,0.00,2.72,6.97,0.707,4,0.000,0.063,3409,396,1968,0,0,0,0,0,0
$GC,13164,1.07,255.1,318.4,8.3,883,13169,0.00,2.50,0.00,0.000,6,0.000,0.022,3410,1951,1967,0,0,0,0,0,0
$GC,13557,1.13,277.1,289.5,6.8,919,13584,0.00,0.00,21.17,0.779,6,0.000,0.000,3409,1951,1880,0,0,0,0,0,0
$GC,13969,1.19,277.1,249.5,9.2,958,13974,0.10,2.70,0.00,0.000,4,0.094,0.061,3437,399,1876,0,0,0,0,0,0
$GC,13986,1.19,277.1,247.5,9.4,959,13991,0.00,2.45,0.00,0.000,6,0.000,0.018,3437,1946,1875,0,0,0,0,0,0
$GC,14376,1.19,277.1,215.9,8.3,995,14380,0.00,2.65,0.00,0.000,4,0.000,0.061,3437,389,1875,0,0,0,0,0,0
$GC,14406,1.19,277.1,213.1,9.6,997,14410,0.00,2.45,0.00,0.000,6,0.000,0.019,3437,1945,1874,0,0,0,0,0,0
$GC,14800,1.19,277.1,182.0,8.1,1033,14804,0.00,2.65,0.00,0.000,4,0.000,0.057,3437,392,1874,0,0,0,0,0,0
$GC,14896,1.19,277.1,172.4,9.8,1041,14901,0.00,2.38,0.00,0.000,6,0.000,0.020,3437,1914,1874,0,0,0,0,0,0
$GC,15289,1.26,285.8,141.5,7.6,1077,15300,0.00,0.00,8.55,0.577,6,0.000,0.000,3437,1916,1844,0,0,0,0,0,0
$GC,15683,1.33,286.4,109.4,8.0,1114,15688,0.12,2.60,0.00,0.000,4,0.077,0.055,3473,390,1843,0,0,0,0,0,0
$GC,15736,1.33,286.4,104.8,8.8,1118,15740,0.00,2.35,0.00,0.000,6,0.000,0.025,3473,1904,1843,0,0,0,0,0,0
$GC,16130,1.40,303.4,76.2,7.1,1154,16158,0.00,2.62,17.00,0.561,4,0.000,0.052,3473,396,1771,0,0,0,0,0,0
$GC,16213,1.41,310.0,69.7,7.7,1160,16225,0.00,2.38,7.07,0.484,6,0.000,0.018,3473,1901,1745,0,0,0,0,0,0
$GC,16619,1.44,310.0,35.3,8.2,1198,16624,0.00,2.55,0.00,0.000,4,0.000,0.052,3473,392,1744,0,0,0,0,0,0
$GC,16704,1.44,310.0,27.8,8.5,1206,16714,0.00,2.35,0.00,0.000,6,0.000,0.018,3473,1897,1743,0,0,0,0,0,0
$STATE,16999,end climb,SURFACE_DEPTH_REACHED
$STATE,16999,begin surface coast
$FINISH,0.6,0.970872
$STATE,17062,end surface coast,CONTROL_FINISHED_OK
$STATE,17062,begin surface
$SM_CCo,17084,57.53,0.510,0,0,1460,380.21
$SM_GC,1.41,0.00,0.00,57.53,0.000,0.000,0.510,473,2087,1460,-12.43,2.18,380.21
$IRIDIUM_FIX,2239.35,-15759.32,131000,101050
$TT8_MAMPS,0.026078
$HUMID,62.52
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.40
$XPDR_PINGS,100
$24V_AH,23.1,69.461
$10V_AH,9.9,63.199
$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,28.950,153.400,364.850,57.525,0.000,53.704,74.012,584.086,25.000,0.000,17.649,2165.758,10509.321,516.406,3718.796,1186.919,33.380,1766.126,0.000,3725.484,0.000,0.535,0.000
$DEVICE_MAMPS,151.099,159.536,1093.742,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,861.911,879.269,1188.919,1683.120,1413.483,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355360
$DATA_FILE_SIZE,98481,1257
$CAP_FILE_SIZE,168602,0
$CFSIZE,260165632,152498176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200711,153107,2248.257,-15801.586,33,1.3,33,10.1