version: 66.06
glider: 146
mission: 6
dive: 422
start: 7 1 111 10 56 56
data:
$ID,146
$MISSION,6
$DIVE,422
$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,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,-278390.5
$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,18
$R_STBD_OVSHOOT,61
$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
$GPS1,104936,2250.426,-15758.350,32,1.2,36,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.9
$GPS2,105602,2250.435,-15758.429,13,1.3,13,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.213,-0.034
$KALMAN_X,-312710.4,13.8,15.6,309896.4,-1080.7
$KALMAN_Y,73414.6,283.8,281.8,-61884.2,0.5
$MHEAD_RNG_PITCHd_Wd,89.1,2569,-21.8,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-70.88,0.000,2,0.000,0.000,475,1948,3269,0,0,0,0,0,0
$GC,91,-1.48,-97.3,4.0,-7.7,9,117,12.50,2.58,-2.50,0.000,4,0.155,0.060,2842,422,3410,0,0,0,0,0,0
$GC,130,-0.56,-97.3,17.7,-35.3,13,139,0.93,2.45,0.00,0.000,6,0.094,0.017,3046,2009,3410,0,0,0,0,0,0
$GC,493,-0.89,-97.3,45.1,-6.7,54,498,0.25,2.45,0.00,0.000,4,0.048,0.028,2968,3558,3412,0,0,0,0,0,0
$GC,527,-1.12,-97.3,48.4,-9.2,56,533,0.15,2.47,0.00,0.000,6,0.059,0.023,2908,1980,3412,0,0,0,0,0,0
$GC,854,-1.20,-97.3,90.7,-12.2,86,855,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1980,3413,0,0,0,0,0,0
$GC,1174,-1.32,-97.3,123.0,-9.1,116,1178,0.00,2.53,0.00,0.000,4,0.000,0.028,2908,3566,3414,0,0,0,0,0,0
$GC,1221,-1.48,-97.3,126.5,-8.4,119,1226,0.22,2.42,0.00,0.000,6,0.049,0.023,2834,2009,3414,0,0,0,0,0,0
$GC,1545,-1.48,-97.3,166.8,-12.4,149,1550,0.00,2.47,0.00,0.000,4,0.000,0.034,2834,3566,3415,0,0,0,0,0,0
$GC,1581,-1.48,-97.3,171.3,-13.6,151,1586,0.00,2.40,0.00,0.000,6,0.000,0.024,2833,2025,3415,0,0,0,0,0,0
$GC,1924,-1.48,-97.3,209.2,-10.7,178,1926,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2025,3415,0,0,0,0,0,0
$GC,2248,-1.48,-97.3,243.5,-10.6,186,2252,0.00,2.45,0.00,0.000,4,0.000,0.030,2834,3560,3416,0,0,0,0,0,0
$GC,2282,-1.54,-97.3,247.2,-11.3,186,2288,0.00,2.38,0.00,0.000,6,0.000,0.027,2834,2035,3415,0,0,0,0,0,0
$GC,2614,-1.58,-97.3,281.3,-10.1,195,2615,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2035,3416,0,0,0,0,0,0
$GC,2939,-1.64,-97.3,312.8,-9.8,203,2940,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2035,3416,0,0,0,0,0,0
$GC,3266,-1.72,-97.3,345.5,-9.7,211,3267,0.15,0.00,0.00,0.000,6,0.065,0.000,2786,2035,3415,0,0,0,0,0,0
$GC,3588,-1.72,-97.3,379.6,-10.5,219,3592,0.00,2.55,0.00,0.000,4,0.000,0.048,2786,3557,3413,0,0,0,0,0,0
$GC,3666,-1.72,-97.3,389.0,-11.6,220,3672,0.00,2.50,0.00,0.000,6,0.000,0.041,2786,2046,3413,0,0,0,0,0,0
$GC,3999,-1.72,-97.3,429.0,-11.9,229,4000,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2046,3411,0,0,0,0,0,0
$GC,4322,-1.72,-97.3,467.9,-11.8,237,4326,0.00,2.55,0.00,0.000,4,0.000,0.055,2786,3544,3409,0,0,0,0,0,0
$GC,4365,-1.72,-97.3,473.1,-12.0,238,4370,0.00,2.55,0.00,0.000,6,0.000,0.054,2786,2034,3408,0,0,0,0,0,0
$STATE,4641,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4641,begin apogee
$GC,4648,-0.31,0.0,501.5,10.4,245,4734,1.42,0.00,81.75,0.906,6,0.083,0.000,3106,1991,3010,0,0,0,0,0,0
$STATE,4735,end apogee,CONTROL_FINISHED_OK
$STATE,4735,begin climb
$GC,4737,1.48,97.3,503.6,0.0,247,4825,1.65,0.00,83.30,0.893,6,0.036,0.000,3506,1991,2613,0,0,0,0,0,0
$GC,5129,1.38,129.1,481.3,7.8,257,5164,0.15,2.70,27.38,0.857,4,0.125,0.052,3478,3530,2482,0,0,0,0,0,0
$GC,5201,1.30,138.7,475.5,9.4,258,5217,0.00,2.62,9.68,0.767,6,0.000,0.048,3478,1994,2444,0,0,0,0,0,0
$GC,5542,1.27,155.5,443.9,8.9,267,5560,0.12,0.00,15.38,0.821,6,0.131,0.000,3454,1995,2376,0,0,0,0,0,0
$GC,5868,1.28,167.4,414.5,9.2,275,5887,0.00,2.60,11.57,0.785,4,0.000,0.041,3454,3538,2325,0,0,0,0,0,0
$GC,5937,1.28,167.4,407.6,10.1,276,5942,0.00,2.58,0.00,0.000,6,0.000,0.044,3454,1995,2324,0,0,0,0,0,0
$GC,6275,1.34,213.8,383.6,6.8,285,6324,0.00,2.65,41.53,0.834,4,0.000,0.036,3454,3539,2137,0,0,0,0,0,0
$GC,6366,1.35,224.3,375.9,9.3,287,6382,0.00,2.58,10.62,0.747,6,0.000,0.036,3454,1996,2095,0,0,0,0,0,0
$GC,6727,1.39,224.3,336.4,12.1,296,6728,0.10,0.00,0.00,0.000,6,0.091,0.000,3481,1996,2089,0,0,0,0,0,0
$GC,7049,1.39,224.3,299.6,10.7,304,7054,0.00,2.78,0.00,0.000,4,0.000,0.067,3481,403,2087,0,0,0,0,0,0
$GC,7138,1.33,224.3,289.6,11.1,306,7143,0.00,2.47,0.00,0.000,6,0.000,0.023,3481,1987,2085,0,0,0,0,0,0
$GC,7459,1.35,238.7,260.4,9.0,314,7478,0.00,2.78,12.48,0.710,4,0.000,0.062,3481,410,2036,0,0,0,0,0,0
$GC,7540,1.35,238.7,251.7,11.0,315,7545,0.00,2.47,0.00,0.000,6,0.000,0.023,3481,1974,2033,0,0,0,0,0,0
$GC,7873,1.41,258.8,221.8,8.6,324,7894,0.00,0.00,19.10,0.703,6,0.000,0.000,3481,1975,1953,0,0,0,0,0,0
$GC,8179,1.47,266.1,193.8,9.5,336,8193,0.00,2.72,6.88,0.588,4,0.000,0.058,3481,406,1925,0,0,0,0,0,0
$GC,8286,1.47,266.1,181.8,10.8,345,8291,0.00,2.50,0.00,0.000,6,0.000,0.022,3480,1998,1925,0,0,0,0,0,0
$GC,8611,1.55,266.1,149.8,10.1,375,8616,0.12,2.70,0.00,0.000,4,0.077,0.057,3516,407,1924,0,0,0,0,0,0
$GC,8656,1.51,266.1,144.2,12.8,378,8665,0.00,2.50,0.00,0.000,6,0.000,0.024,3517,1990,1924,0,0,0,0,0,0
$GC,8985,1.55,301.6,115.1,7.6,409,9023,0.00,2.58,32.05,0.614,4,0.000,0.038,3516,3557,1779,0,0,0,0,0,0
$GC,9037,1.61,313.3,110.3,9.2,413,9057,0.00,2.55,11.68,0.563,6,0.000,0.029,3516,1992,1731,0,0,0,0,0,0
$GC,9375,1.70,322.7,76.1,9.4,445,9391,0.12,2.67,9.25,0.525,4,0.077,0.058,3551,415,1693,0,0,0,0,0,0
$GC,9510,1.70,322.7,60.0,12.6,455,9514,0.00,2.45,0.00,0.000,6,0.000,0.018,3551,2003,1692,0,0,0,0,0,0
$GC,9861,1.70,322.7,18.7,11.2,492,9870,0.00,2.67,0.00,0.000,4,0.000,0.048,3551,419,1691,0,0,0,0,0,0
$GC,9903,1.65,322.7,13.5,14.0,497,9912,0.00,2.45,0.00,0.000,6,0.000,0.018,3551,1984,1691,0,0,0,0,0,0
$STATE,9974,end climb,SURFACE_DEPTH_REACHED
$STATE,9974,begin surface coast
$FINISH,0.6,0.980043
$STATE,10018,end surface coast,CONTROL_FINISHED_OK
$STATE,10018,begin surface
$SM_CCo,10041,46.88,0.516,0,0,1459,380.21
$SM_GC,1.15,0.00,0.00,46.88,0.000,0.000,0.516,474,1987,1459,-12.42,-0.68,380.21
$IRIDIUM_FIX,2239.35,-15757.16,240900,080858
$TT8_MAMPS,0.025311
$HUMID,64.13
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.40
$XPDR_PINGS,36
$24V_AH,23.5,52.815
$10V_AH,10.2,46.820
$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,30.400,86.850,372.625,46.875,0.000,30.127,32.887,189.151,9.000,0.000,14.819,981.349,6652.783,481.573,1844.479,517.459,33.367,1115.088,0.000,1853.103,0.000,0.534,0.000
$DEVICE_MAMPS,154.934,157.235,905.827,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.198,295.540,398.038,766.084,1158.585,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355440
$DATA_FILE_SIZE,41576,513
$CAP_FILE_SIZE,90750,0
$CFSIZE,260165632,160010240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010711,134616,2250.369,-15757.825,10,7.4,29,10.1