version: 66.06
glider: 146
mission: 6
dive: 425
start: 7 1 111 19 59 58
data:
$ID,146
$MISSION,6
$DIVE,425
$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,-278477.12
$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,27
$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
$GPS1,195252,2250.571,-15757.741,9,4.1,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-72.3
$GPS2,195907,2250.629,-15757.793,33,1.4,33,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.157,-0.148
$KALMAN_X,-316804.9,-78.2,-109.2,315292.5,-1011.9
$KALMAN_Y,77081.4,-224.3,416.1,-64817.0,997.5
$MHEAD_RNG_PITCHd_Wd,123.2,1786,-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,-70.70,0.000,2,0.000,0.000,476,1993,3274,0,0,0,0,0,0
$GC,91,-1.48,-97.3,3.8,-6.9,9,117,12.35,2.62,-2.45,0.000,4,0.150,0.058,2844,432,3410,0,0,0,0,0,0
$GC,176,-1.35,-97.3,26.3,-19.1,20,184,0.10,2.45,0.00,0.000,6,0.272,0.015,2868,2010,3412,0,0,0,0,0,0
$GC,515,-1.31,-97.3,80.3,-15.9,52,520,0.10,2.47,0.00,0.000,4,0.139,0.030,2887,3561,3413,0,0,0,0,0,0
$GC,565,-1.37,-97.3,88.0,-13.5,55,570,0.00,2.47,0.00,0.000,6,0.000,0.030,2887,1995,3413,0,0,0,0,0,0
$GC,891,-1.43,-97.3,127.4,-12.1,86,896,0.10,2.60,0.00,0.000,4,0.084,0.050,2847,435,3414,0,0,0,0,0,0
$GC,913,-1.43,-97.3,129.6,-11.6,87,918,0.00,2.40,0.00,0.000,6,0.000,0.018,2847,2033,3414,0,0,0,0,0,0
$GC,1238,-1.43,-97.3,167.0,-10.9,117,1242,0.00,2.40,0.00,0.000,4,0.000,0.031,2847,3555,3415,0,0,0,0,0,0
$GC,1273,-1.48,-97.3,170.7,-10.5,119,1278,0.00,2.42,0.00,0.000,6,0.000,0.026,2847,2013,3415,0,0,0,0,0,0
$GC,1628,-1.52,-97.3,209.0,-10.8,147,1632,0.00,2.42,0.00,0.000,4,0.000,0.028,2847,3550,3415,0,0,0,0,0,0
$GC,1656,-1.57,-97.3,212.5,-11.0,147,1661,0.00,2.40,0.00,0.000,6,0.000,0.027,2847,2025,3415,0,0,0,0,0,0
$GC,1988,-1.63,-97.3,248.3,-10.8,155,1993,0.12,2.45,0.00,0.000,4,0.071,0.029,2804,3556,3416,0,0,0,0,0,0
$GC,2037,-1.63,-97.3,254.1,-11.2,156,2041,0.00,2.40,0.00,0.000,6,0.000,0.030,2804,2036,3416,0,0,0,0,0,0
$GC,2352,-1.63,-97.3,288.0,-10.6,164,2356,0.00,2.72,0.00,0.000,4,0.000,0.072,2804,435,3416,0,0,0,0,0,0
$GC,2373,-1.63,-97.3,290.5,-10.3,164,2377,0.00,2.45,0.00,0.000,6,0.000,0.020,2804,2007,3416,0,0,0,0,0,0
$GC,2709,-1.63,-97.3,326.4,-10.8,173,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2008,3416,0,0,0,0,0,0
$GC,3036,-1.63,-97.3,358.0,-9.3,181,3040,0.00,2.55,0.00,0.000,4,0.000,0.052,2803,3574,3414,0,0,0,0,0,0
$GC,3085,-1.63,-97.3,363.7,-11.0,182,3089,0.00,2.50,0.00,0.000,6,0.000,0.043,2804,2050,3414,0,0,0,0,0,0
$GC,3398,-1.63,-97.3,399.6,-12.4,190,3402,0.00,2.53,0.00,0.000,4,0.000,0.045,2804,3579,3413,0,0,0,0,0,0
$GC,3467,-1.68,-97.3,408.0,-12.4,191,3472,0.00,2.58,0.00,0.000,6,0.000,0.050,2804,2033,3412,0,0,0,0,0,0
$GC,3803,-1.68,-97.3,445.1,-10.7,200,3808,0.00,2.55,0.00,0.000,4,0.000,0.047,2804,3575,3410,0,0,0,0,0,0
$GC,3893,-1.74,-97.3,454.8,-10.3,202,3897,0.00,2.58,0.00,0.000,6,0.000,0.051,2804,2046,3410,0,0,0,0,0,0
$GC,4213,-1.79,-97.3,484.5,-9.2,210,4214,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2045,3408,0,0,0,0,0,0
$STATE,4411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4411,begin apogee
$GC,4418,-0.31,0.0,503.4,9.3,215,4503,1.35,0.00,82.05,0.913,6,0.087,0.000,3107,1991,3010,0,0,0,0,0,0
$STATE,4504,end apogee,CONTROL_FINISHED_OK
$STATE,4504,begin climb
$GC,4508,1.48,97.3,504.8,0.0,217,4601,1.62,2.72,83.00,0.899,4,0.036,0.058,3506,3551,2613,0,0,0,0,0,0
$GC,4641,1.39,152.3,503.0,6.2,220,4696,0.15,2.67,48.38,0.879,6,0.133,0.055,3478,1998,2388,0,0,0,0,0,0
$GC,5039,1.32,152.3,462.9,10.8,230,5040,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,1998,2378,0,0,0,0,0,0
$GC,5364,1.28,159.4,430.8,9.5,238,5375,0.12,2.95,5.35,0.653,4,0.132,0.097,3453,404,2359,0,0,0,0,0,0
$GC,5422,1.22,159.4,424.9,10.5,239,5426,0.00,2.55,0.00,0.000,6,0.000,0.031,3454,1979,2358,0,0,0,0,0,0
$GC,5769,1.24,177.1,393.3,8.8,248,5794,0.00,2.72,17.02,0.814,4,0.000,0.046,3453,3570,2286,0,0,0,0,0,0
$GC,5864,1.24,177.3,384.0,10.0,250,5868,0.00,2.65,0.00,0.000,6,0.000,0.041,3454,1983,2283,0,0,0,0,0,0
$GC,6182,1.27,200.7,355.5,8.4,258,6211,0.00,2.72,21.52,0.806,4,0.000,0.034,3453,3577,2190,0,0,0,0,0,0
$GC,6270,1.27,205.5,347.4,9.7,260,6281,0.00,2.60,5.40,0.626,6,0.000,0.034,3454,2001,2172,0,0,0,0,0,0
$GC,6594,1.27,205.5,314.6,10.2,268,6599,0.00,2.78,0.00,0.000,4,0.000,0.070,3453,411,2168,0,0,0,0,0,0
$GC,6615,1.27,205.5,312.2,11.1,268,6620,0.00,2.55,0.00,0.000,6,0.000,0.024,3454,2026,2167,0,0,0,0,0,0
$GC,6955,1.35,227.1,281.7,8.5,277,6980,0.00,2.85,19.73,0.753,4,0.000,0.061,3454,408,2083,0,0,0,0,0,0
$GC,7120,1.36,239.0,266.0,9.2,280,7139,0.00,2.50,11.68,0.706,6,0.000,0.023,3454,1987,2035,0,0,0,0,0,0
$GC,7457,1.48,266.9,238.1,8.1,289,7491,0.17,2.75,25.80,0.723,4,0.067,0.061,3499,408,1919,0,0,0,0,0,0
$GC,7551,1.44,266.9,228.1,12.1,291,7555,0.00,2.53,0.00,0.000,6,0.000,0.023,3499,1997,1916,0,0,0,0,0,0
$GC,7872,1.45,277.4,196.0,9.3,302,7884,0.00,0.00,9.48,0.631,6,0.000,0.000,3499,1997,1878,0,0,0,0,0,0
$GC,8201,1.49,277.4,161.9,10.6,333,8205,0.00,2.70,0.00,0.000,4,0.000,0.054,3499,410,1876,0,0,0,0,0,0
$GC,8245,1.49,277.4,156.1,12.7,336,8255,0.00,2.50,0.00,0.000,6,0.000,0.025,3499,1987,1875,0,0,0,0,0,0
$GC,8575,1.56,285.8,123.5,9.5,367,8585,0.00,0.00,8.55,0.561,6,0.000,0.000,3499,1988,1843,0,0,0,0,0,0
$GC,8901,1.67,307.7,94.1,8.5,398,8929,0.15,2.75,19.90,0.583,4,0.071,0.054,3541,410,1753,0,0,0,0,0,0
$GC,9002,1.67,307.7,82.6,12.1,406,9012,0.00,2.47,0.00,0.000,6,0.000,0.018,3541,1978,1751,0,0,0,0,0,0
$GC,9332,1.67,307.7,49.8,10.1,437,9337,0.00,2.62,0.00,0.000,4,0.000,0.052,3541,404,1751,0,0,0,0,0,0
$GC,9392,1.67,307.7,42.9,12.0,441,9397,0.00,2.42,0.00,0.000,6,0.000,0.018,3542,1972,1750,0,0,0,0,0,0
$STATE,9758,end climb,SURFACE_DEPTH_REACHED
$STATE,9758,begin surface coast
$FINISH,0.5,0.973239
$STATE,9808,end surface coast,CONTROL_FINISHED_OK
$STATE,9808,begin surface
$SM_CCo,9831,58.47,0.514,0,0,1459,380.21
$SM_GC,1.37,0.00,0.00,58.47,0.000,0.000,0.514,479,1974,1459,-12.41,-1.02,380.21
$IRIDIUM_FIX,2244.02,-15759.32,240900,171704
$TT8_MAMPS,0.026078
$HUMID,63.90
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.80
$XPDR_PINGS,42
$24V_AH,23.5,53.173
$10V_AH,10.2,47.160
$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,28.750,103.100,357.850,58.475,0.000,25.020,35.522,159.151,10.500,0.000,34.667,985.117,6420.908,457.378,1905.814,493.866,33.373,1143.523,0.000,1893.311,0.000,0.534,0.000
$DEVICE_MAMPS,272.285,139.594,912.730,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.983,288.187,382.123,718.075,1086.065,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355428
$DATA_FILE_SIZE,38403,494
$CAP_FILE_SIZE,95904,0
$CFSIZE,260165632,159854592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010711,224607,2250.277,-15757.600,38,1.2,38,10.1