version: 66.06
glider: 146
mission: 6
dive: 291
start: 6 15 111 9 37 46
data:
$ID,146
$MISSION,6
$DIVE,291
$D_SURF,4
$D_FLARE,3
$D_TGT,500
$D_ABORT,750
$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,166
$T_MISSION,400
$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,120
$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,-274928.56
$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,3160
$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,1890
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,60
$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
$GPS1,093024,2247.132,-15801.813,29,1.1,33,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.9
$GPS2,093650,2247.115,-15801.875,11,1.9,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.093,0.109
$KALMAN_X,-139280.8,190.4,155.1,130258.9,-1451.0
$KALMAN_Y,-58165.1,288.3,473.4,63353.1,-760.5
$MHEAD_RNG_PITCHd_Wd,309.3,1933,-32.6,-10.040
$D_GRID,500
$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,-2.09,-44.8,0.0,0.0,0,87,0.00,0.00,-68.90,0.000,6,0.000,0.000,475,1875,3194,0,0,0,0,0,0
$GC,92,-2.12,-69.7,3.6,-6.3,9,110,11.15,2.53,-1.92,0.000,4,0.135,0.040,2688,3455,3296,0,0,0,0,0,0
$GC,254,-2.12,-69.7,47.7,-20.9,28,264,0.00,2.50,0.00,0.000,6,0.000,0.026,2688,1908,3298,0,0,0,0,0,0
$GC,520,-2.12,-69.7,99.7,-20.6,53,525,0.00,2.45,0.00,0.000,4,0.000,0.029,2688,3450,3299,0,0,0,0,0,0
$GC,609,-2.18,-69.7,119.2,-21.4,60,613,0.00,2.50,0.00,0.000,6,0.000,0.031,2688,1883,3300,0,0,0,0,0,0
$GC,873,-2.24,-69.7,164.2,-15.9,84,877,0.00,2.45,0.00,0.000,4,0.000,0.025,2688,3449,3300,0,0,0,0,0,0
$GC,937,-2.34,-69.7,176.7,-18.2,89,942,0.15,2.45,0.00,0.000,6,0.061,0.022,2634,1895,3300,0,0,0,0,0,0
$GC,1222,-2.34,-69.7,233.7,-20.1,104,1227,0.00,2.47,0.00,0.000,4,0.000,0.028,2634,3453,3301,0,0,0,0,0,0
$GC,1279,-2.38,-69.7,243.9,-17.8,105,1284,0.00,2.45,0.00,0.000,6,0.000,0.032,2634,1910,3301,0,0,0,0,0,0
$GC,1546,-2.38,-69.7,289.0,-16.8,112,1550,0.00,2.47,0.00,0.000,4,0.000,0.035,2634,3454,3302,0,0,0,0,0,0
$GC,1642,-2.43,-69.7,304.9,-16.7,114,1646,0.00,2.53,0.00,0.000,6,0.000,0.038,2634,1917,3302,0,0,0,0,0,0
$GC,1913,-2.43,-69.7,348.3,-15.7,121,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2634,1917,3302,0,0,0,0,0,0
$GC,2158,-2.48,-69.7,386.5,-15.6,127,2162,0.00,2.47,0.00,0.000,4,0.000,0.045,2634,3442,3302,0,0,0,0,0,0
$GC,2322,-2.54,-69.7,413.6,-17.1,130,2328,0.12,2.58,0.00,0.000,6,0.074,0.055,2589,1933,3302,0,0,0,0,0,0
$GC,2572,-2.54,-69.7,457.8,-17.4,136,2576,0.00,2.50,0.00,0.000,4,0.000,0.050,2589,3440,3300,0,0,0,0,0,0
$GC,2594,-2.54,-69.7,462.1,-18.3,136,2598,0.00,2.60,0.00,0.000,6,0.000,0.061,2588,1924,3300,0,0,0,0,0,0
$STATE,2806,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2806,begin apogee
$GC,2813,-0.31,0.0,500.5,17.8,142,2878,2.35,0.00,59.83,0.890,6,0.106,0.000,3088,1976,3010,0,0,0,0,0,0
$STATE,2879,end apogee,CONTROL_FINISHED_OK
$STATE,2879,begin climb
$GC,2881,2.12,69.7,503.6,0.0,143,2951,2.22,3.00,59.10,0.873,4,0.045,0.103,3633,408,2724,0,0,0,0,0,0
$GC,2967,2.10,120.6,502.8,2.4,145,3017,0.00,2.62,44.95,0.864,6,0.000,0.039,3633,1987,2518,0,0,0,0,0,0
$GC,3290,2.10,120.6,465.1,12.4,153,3294,0.00,2.72,0.00,0.000,4,0.000,0.068,3633,3574,2508,0,0,0,0,0,0
$GC,3546,2.10,120.6,433.4,12.9,158,3551,0.00,2.65,0.00,0.000,6,0.000,0.048,3634,2004,2504,0,0,0,0,0,0
$GC,3796,2.10,120.6,404.6,11.5,165,3800,0.00,2.60,0.00,0.000,4,0.000,0.038,3633,3591,2502,0,0,0,0,0,0
$GC,3926,2.10,120.6,390.7,10.8,168,3930,0.00,2.62,0.00,0.000,6,0.000,0.047,3634,2011,2501,0,0,0,0,0,0
$GC,4209,2.11,130.7,365.6,8.5,175,4223,0.00,2.65,6.80,0.681,4,0.000,0.039,3633,3584,2475,0,0,0,0,0,0
$GC,4479,2.11,130.7,338.0,10.4,181,4484,0.00,2.58,0.00,0.000,6,0.000,0.043,3633,2029,2473,0,0,0,0,0,0
$GC,4764,2.11,135.4,311.3,9.3,188,4774,0.00,2.85,5.10,0.604,4,0.000,0.073,3633,409,2457,0,0,0,0,0,0
$GC,4813,2.04,135.4,305.9,10.6,189,4818,0.15,2.60,0.00,0.000,6,0.150,0.025,3607,2050,2455,0,0,0,0,0,0
$GC,5086,2.12,146.9,283.5,8.3,196,5105,0.00,2.83,11.55,0.728,4,0.000,0.054,3607,406,2409,0,0,0,0,0,0
$GC,5130,2.12,146.9,279.0,11.0,197,5134,0.00,2.62,0.00,0.000,6,0.000,0.027,3607,2043,2407,0,0,0,0,0,0
$GC,5413,2.20,146.9,250.7,10.2,204,5415,0.12,0.00,0.00,0.000,6,0.093,0.000,3638,2042,2406,0,0,0,0,0,0
$GC,5656,2.20,154.2,227.4,9.0,210,5670,0.00,2.58,7.00,0.634,4,0.000,0.038,3638,3572,2380,0,0,0,0,0,0
$GC,5712,2.21,157.6,222.6,9.5,211,5722,0.00,2.55,4.78,0.542,6,0.000,0.038,3638,2023,2367,0,0,0,0,0,0
$GC,5984,2.27,171.2,200.7,8.0,218,6003,0.00,2.60,13.20,0.678,4,0.000,0.038,3638,3571,2311,0,0,0,0,0,0
$GC,6093,2.32,171.2,189.5,10.8,224,6099,0.10,2.53,0.00,0.000,6,0.106,0.032,3663,2034,2310,0,0,0,0,0,0
$GC,6355,2.32,175.6,161.6,9.4,249,6367,0.00,0.00,5.03,0.521,6,0.000,0.000,3663,2034,2293,0,0,0,0,0,0
$GC,6622,2.34,190.4,137.4,7.8,274,6645,0.00,2.55,14.55,0.627,4,0.000,0.031,3662,3580,2231,0,0,0,0,0,0
$GC,6898,2.38,191.3,109.1,9.9,297,6902,0.00,2.55,0.00,0.000,6,0.000,0.035,3663,2016,2229,0,0,0,0,0,0
$GC,7165,2.44,196.9,82.7,9.2,321,7179,0.12,2.60,6.57,0.506,4,0.081,0.036,3696,3580,2206,0,0,0,0,0,0
$GC,7226,2.44,196.9,76.1,11.2,326,7230,0.00,2.53,0.00,0.000,6,0.000,0.033,3696,2025,2205,0,0,0,0,0,0
$GC,7493,2.44,197.8,46.3,9.9,350,7497,0.00,2.50,0.00,0.000,4,0.000,0.030,3696,3574,2205,0,0,0,0,0,0
$GC,7784,2.44,197.8,19.8,10.3,381,7793,0.00,2.47,0.00,0.000,6,0.000,0.030,3696,2057,2204,0,0,0,0,0,0
$STATE,7943,end climb,SURFACE_DEPTH_REACHED
$STATE,7943,begin surface coast
$FINISH,0.5,0.975053
$STATE,7994,end surface coast,CONTROL_FINISHED_OK
$STATE,7994,begin surface
$SM_CCo,8017,150.30,0.524,0,0,1460,380.21
$SM_GC,1.42,0.00,0.00,150.30,0.000,0.000,0.524,474,1874,1460,-12.36,-0.48,380.21
$IRIDIUM_FIX,2237.01,-15758.03,080900,060624
$TT8_MAMPS,0.026078
$HUMID,59.52
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.40
$XPDR_PINGS,37
$24V_AH,23.5,36.579
$10V_AH,10.4,31.983
$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,29.750,93.100,238.450,150.300,0.000,28.422,32.451,189.666,9.250,0.000,12.588,881.407,4934.753,450.695,1794.137,495.284,33.362,1105.306,0.000,1794.177,0.000,0.534,0.000
$DEVICE_MAMPS,149.565,128.089,889.720,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,279.522,230.159,324.671,642.168,971.220,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,32098,412
$CAP_FILE_SIZE,89692,0
$CFSIZE,260165632,167030784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150611,115524,2247.124,-15803.095,48,1.9,48,10.1