version: 66.06
glider: 146
mission: 6
dive: 445
start: 7 4 111 5 47 41
data:
$ID,146
$MISSION,6
$DIVE,445
$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,-278880.38
$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,30
$R_STBD_OVSHOOT,76
$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
$GPS1,054037,2249.820,-15801.967,36,1.6,36,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.5
$GPS2,054649,2249.893,-15801.999,9,1.6,14,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.127,-0.174
$KALMAN_X,-346179.1,-46.7,41.4,337299.4,-1223.0
$KALMAN_Y,99643.4,141.3,-362.8,-88327.2,1737.3
$MHEAD_RNG_PITCHd_Wd,133.8,8535,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-70.47,0.000,2,0.000,0.000,473,2030,3238,0,0,0,0,0,0
$GC,91,-1.48,-97.3,3.6,-5.7,9,117,12.52,2.67,-3.20,0.000,4,0.155,0.058,2844,435,3409,0,0,0,0,0,0
$GC,234,-1.36,-97.3,34.8,-17.3,27,239,0.15,2.40,0.00,0.000,6,0.130,0.015,2874,2007,3411,0,0,0,0,0,0
$GC,563,-1.36,-97.3,85.7,-14.1,57,567,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2008,3412,0,0,0,0,0,0
$GC,891,-1.36,-97.3,123.3,-9.9,88,895,0.00,2.42,0.00,0.000,4,0.000,0.027,2874,3552,3413,0,0,0,0,0,0
$GC,936,-1.43,-97.3,127.7,-10.1,91,941,0.00,2.45,0.00,0.000,6,0.000,0.030,2874,1996,3414,0,0,0,0,0,0
$GC,1265,-1.50,-97.3,158.5,-9.4,121,1270,0.10,0.00,0.00,0.000,6,0.083,0.000,2833,1996,3414,0,0,0,0,0,0
$GC,1591,-1.50,-97.3,199.0,-12.4,152,1595,0.00,2.45,0.00,0.000,4,0.000,0.034,2833,3554,3415,0,0,0,0,0,0
$GC,1640,-1.54,-97.3,205.3,-12.3,154,1644,0.00,2.40,0.00,0.000,6,0.000,0.027,2833,2005,3415,0,0,0,0,0,0
$GC,1952,-1.54,-97.3,238.8,-10.3,162,1953,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2005,3415,0,0,0,0,0,0
$GC,2279,-1.58,-97.3,270.3,-9.2,170,2284,0.00,2.45,0.00,0.000,4,0.000,0.037,2833,3551,3416,0,0,0,0,0,0
$GC,2330,-1.64,-97.3,275.4,-9.3,171,2334,0.00,2.45,0.00,0.000,6,0.000,0.030,2833,2005,3416,0,0,0,0,0,0
$GC,2643,-1.70,-97.3,303.2,-9.4,179,2648,0.12,2.53,0.00,0.000,4,0.073,0.039,2787,3558,3416,0,0,0,0,0,0
$GC,2735,-1.70,-97.3,314.3,-12.2,181,2739,0.00,2.47,0.00,0.000,6,0.000,0.036,2787,2009,3416,0,0,0,0,0,0
$GC,3052,-1.70,-97.3,351.8,-11.6,189,3057,0.00,2.78,0.00,0.000,4,0.000,0.083,2787,430,3415,0,0,0,0,0,0
$GC,3081,-1.64,-97.3,355.2,-12.5,189,3086,0.15,2.42,0.00,0.000,6,0.110,0.026,2818,1972,3415,0,0,0,0,0,0
$GC,3413,-1.69,-97.3,386.8,-9.2,197,3417,0.00,2.67,0.00,0.000,4,0.000,0.055,2818,3584,3413,0,0,0,0,0,0
$GC,3434,-1.74,-97.3,389.0,-9.1,197,3440,0.10,2.60,0.00,0.000,6,0.084,0.043,2779,2001,3414,0,0,0,0,0,0
$GC,3773,-1.74,-97.3,428.6,-12.2,206,3777,0.00,2.62,0.00,0.000,4,0.000,0.051,2779,3587,3412,0,0,0,0,0,0
$GC,3850,-1.74,-97.3,438.4,-12.0,207,3856,0.00,2.65,0.00,0.000,6,0.000,0.052,2779,2014,3411,0,0,0,0,0,0
$GC,4181,-1.74,-97.3,477.1,-11.9,216,4185,0.00,2.62,0.00,0.000,4,0.000,0.058,2779,3579,3408,0,0,0,0,0,0
$GC,4254,-1.74,-97.3,485.8,-11.5,217,4259,0.00,2.65,0.00,0.000,6,0.000,0.061,2779,2022,3408,0,0,0,0,0,0
$STATE,4379,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4380,begin apogee
$GC,4386,-0.31,0.0,500.6,11.5,220,4472,1.45,0.00,81.93,0.897,6,0.089,0.000,3105,1993,3010,0,0,0,0,0,0
$STATE,4472,end apogee,CONTROL_FINISHED_OK
$STATE,4473,begin climb
$GC,4476,1.48,97.3,502.9,0.0,222,4567,1.65,2.75,82.78,0.881,4,0.041,0.053,3506,3563,2612,0,0,0,0,0,0
$GC,4597,1.38,151.8,501.5,6.3,225,4652,0.15,2.70,47.58,0.865,6,0.130,0.054,3478,1991,2390,0,0,0,0,0,0
$GC,4989,1.32,151.8,457.7,11.7,235,4994,0.00,2.92,0.00,0.000,4,0.000,0.104,3478,404,2381,0,0,0,0,0,0
$GC,5034,1.20,151.8,451.9,12.9,236,5039,0.20,2.58,0.00,0.000,6,0.117,0.031,3439,1984,2379,0,0,0,0,0,0
$GC,5354,1.22,169.9,421.6,8.8,244,5371,0.00,0.00,15.35,0.800,6,0.000,0.000,3439,1984,2317,0,0,0,0,0,0
$GC,5677,1.25,195.4,393.8,8.3,252,5703,0.00,0.00,23.55,0.815,6,0.000,0.000,3439,1984,2213,0,0,0,0,0,0
$GC,6003,1.32,214.7,365.8,8.7,260,6027,0.10,2.72,17.88,0.784,4,0.097,0.047,3465,3581,2134,0,0,0,0,0,0
$GC,6057,1.32,214.7,360.1,11.1,261,6061,0.00,2.67,0.00,0.000,6,0.000,0.034,3465,1973,2132,0,0,0,0,0,0
$GC,6369,1.32,214.7,328.4,10.1,269,6373,0.00,2.75,0.00,0.000,4,0.000,0.071,3465,403,2128,0,0,0,0,0,0
$GC,6482,1.28,214.7,314.4,13.3,271,6486,0.00,2.55,0.00,0.000,6,0.000,0.020,3465,2004,2127,0,0,0,0,0,0
$GC,6818,1.28,217.8,279.1,9.8,280,6822,0.00,2.70,0.00,0.000,4,0.000,0.062,3465,409,2126,0,0,0,0,0,0
$GC,6890,1.28,217.8,271.5,10.9,281,6894,0.00,2.45,0.00,0.000,6,0.000,0.019,3465,1968,2125,0,0,0,0,0,0
$GC,7223,1.38,256.7,246.3,7.4,289,7265,0.00,2.65,37.22,0.732,4,0.000,0.035,3465,3556,1961,0,0,0,0,0,0
$GC,7300,1.44,262.1,239.5,9.7,291,7312,0.10,2.65,5.95,0.580,6,0.094,0.032,3493,1948,1941,0,0,0,0,0,0
$GC,7629,1.44,262.1,206.1,10.6,299,7630,0.00,0.00,0.00,0.000,6,0.000,0.000,3493,1948,1936,0,0,0,0,0,0
$GC,7940,1.44,262.1,172.0,10.6,323,7945,0.00,2.62,0.00,0.000,4,0.000,0.036,3493,3560,1935,0,0,0,0,0,0
$GC,7973,1.44,262.1,168.9,11.8,325,7978,0.00,2.62,0.00,0.000,6,0.000,0.035,3493,1948,1934,0,0,0,0,0,0
$GC,8302,1.49,263.7,137.6,9.9,355,8307,0.00,0.00,0.00,0.000,6,0.000,0.000,3493,1947,1933,0,0,0,0,0,0
$GC,8630,1.57,271.5,106.2,9.5,386,8646,0.10,2.60,8.55,0.551,4,0.093,0.060,3523,408,1901,0,0,0,0,0,0
$GC,8673,1.57,271.5,101.9,10.6,389,8678,0.00,2.42,0.00,0.000,6,0.000,0.017,3523,1966,1901,0,0,0,0,0,0
$GC,9001,1.63,288.4,70.0,8.9,419,9029,0.00,2.62,16.00,0.555,4,0.000,0.036,3523,3551,1833,0,0,0,0,0,0
$GC,9060,1.72,301.4,64.1,9.1,423,9083,0.08,2.62,12.68,0.532,6,0.057,0.029,3550,1954,1780,0,0,0,0,0,0
$GC,9403,1.73,310.2,33.3,9.4,455,9417,0.00,2.60,8.85,0.486,4,0.000,0.050,3550,403,1743,0,0,0,0,0,0
$GC,9466,1.69,310.2,26.3,11.9,461,9476,0.00,2.40,0.00,0.000,6,0.000,0.017,3550,1938,1742,0,0,0,0,0,0
$STATE,9665,end climb,SURFACE_DEPTH_REACHED
$STATE,9665,begin surface coast
$FINISH,0.8,0.980003
$STATE,9708,end surface coast,CONTROL_FINISHED_OK
$STATE,9708,begin surface
$SM_CCo,9730,57.08,0.511,0,0,1460,380.21
$SM_GC,1.27,0.00,0.00,57.08,0.000,0.000,0.511,474,1940,1460,-12.42,-1.98,380.21
$IRIDIUM_FIX,2244.02,-15803.66,270900,030341
$TT8_MAMPS,0.026078
$HUMID,64.41
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,20.90
$XPDR_PINGS,39
$24V_AH,23.5,55.309
$10V_AH,10.2,49.352
$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,29.500,98.400,358.300,57.075,0.000,25.629,50.811,167.757,9.750,0.000,15.692,980.629,6348.826,477.982,1845.059,507.862,33.373,1130.168,0.000,1852.172,0.000,0.534,0.000
$DEVICE_MAMPS,154.934,200.187,896.623,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,335.388,284.114,387.026,734.859,1110.411,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355428
$DATA_FILE_SIZE,38391,495
$CAP_FILE_SIZE,93747,0
$CFSIZE,260165632,158846976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040711,083207,2249.925,-15801.867,38,1.3,38,10.1