version: 66.06
glider: 146
mission: 6
dive: 453
start: 7 5 111 5 13 54
data:
$ID,146
$MISSION,6
$DIVE,453
$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,-279042.5
$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,28
$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
$GPS1,050646,2250.069,-15757.903,7,2.8,26,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.0
$GPS2,051304,2250.139,-15757.911,11,4.1,30,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.163,-0.141
$KALMAN_X,-353674.3,-183.9,73.8,351884.6,-1011.4
$KALMAN_Y,108269.1,-90.2,-360.3,-96270.2,1306.7
$MHEAD_RNG_PITCHd_Wd,120.8,1576,-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,16,-1.48,-97.3,0.0,0.0,0,89,0.00,0.00,-70.57,0.000,2,0.000,0.000,475,1968,3247,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.6,-6.3,9,118,12.70,2.58,-3.00,0.000,4,0.160,0.051,2844,425,3410,0,0,0,0,0,0
$GC,171,-1.37,-97.3,23.7,-17.9,19,180,0.10,2.45,0.00,0.000,6,0.109,0.015,2868,2023,3412,0,0,0,0,0,0
$GC,509,-1.32,-97.3,75.1,-14.7,52,513,0.00,2.40,0.00,0.000,4,0.000,0.033,2868,3555,3412,0,0,0,0,0,0
$GC,532,-1.28,-97.3,78.3,-14.9,53,537,0.12,2.45,0.00,0.000,6,0.115,0.022,2895,2002,3412,0,0,0,0,0,0
$GC,860,-1.28,-97.3,118.7,-11.4,83,865,0.00,2.58,0.00,0.000,4,0.000,0.054,2895,433,3412,0,0,0,0,0,0
$GC,879,-1.28,-97.3,121.1,-11.1,84,883,0.00,2.38,0.00,0.000,6,0.000,0.021,2895,2014,3413,0,0,0,0,0,0
$GC,1204,-1.37,-97.3,152.2,-8.9,114,1208,0.00,2.42,0.00,0.000,4,0.000,0.034,2895,3551,3414,0,0,0,0,0,0
$GC,1247,-1.51,-97.3,155.9,-9.3,117,1252,0.20,2.40,0.00,0.000,6,0.047,0.025,2823,2007,3414,0,0,0,0,0,0
$GC,1571,-1.51,-97.3,194.9,-12.6,147,1573,0.10,0.00,0.00,0.000,6,0.116,0.000,2844,2007,3414,0,0,0,0,0,0
$GC,1911,-1.51,-97.3,228.3,-9.3,159,1915,0.00,2.47,0.00,0.000,4,0.000,0.031,2844,3561,3415,0,0,0,0,0,0
$GC,1972,-1.60,-97.3,234.0,-8.6,160,1976,0.00,2.40,0.00,0.000,6,0.000,0.025,2844,2029,3416,0,0,0,0,0,0
$GC,2315,-1.65,-97.3,264.8,-9.4,169,2320,0.12,2.70,0.00,0.000,4,0.071,0.066,2798,431,3415,0,0,0,0,0,0
$GC,2349,-1.58,-97.3,268.9,-12.1,169,2356,0.15,2.45,0.00,0.000,6,0.110,0.025,2830,2013,3416,0,0,0,0,0,0
$GC,2681,-1.63,-97.3,303.5,-10.1,178,2685,0.00,2.50,0.00,0.000,4,0.000,0.039,2830,3583,3416,0,0,0,0,0,0
$GC,2761,-1.72,-97.3,312.2,-10.9,179,2768,0.12,2.45,0.00,0.000,6,0.069,0.028,2783,2056,3415,0,0,0,0,0,0
$GC,3092,-1.72,-97.3,349.2,-10.8,188,3097,0.00,2.45,0.00,0.000,4,0.000,0.039,2783,3572,3415,0,0,0,0,0,0
$GC,3170,-1.72,-97.3,357.9,-11.3,189,3176,0.00,2.50,0.00,0.000,6,0.000,0.037,2783,2043,3415,0,0,0,0,0,0
$GC,3503,-1.72,-97.3,393.3,-11.0,198,3504,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2043,3413,0,0,0,0,0,0
$GC,3826,-1.72,-97.3,432.4,-12.3,206,3831,0.00,2.58,0.00,0.000,4,0.000,0.058,2783,3575,3412,0,0,0,0,0,0
$GC,3866,-1.72,-97.3,437.4,-12.1,207,3870,0.00,2.55,0.00,0.000,6,0.000,0.051,2783,2055,3412,0,0,0,0,0,0
$GC,4191,-1.72,-97.3,474.0,-11.2,215,4192,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,2055,3409,0,0,0,0,0,0
$STATE,4431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4431,begin apogee
$GC,4437,-0.31,0.0,500.8,11.0,221,4523,1.45,0.00,82.05,0.897,6,0.084,0.000,3107,1984,3010,0,0,0,0,0,0
$STATE,4524,end apogee,CONTROL_FINISHED_OK
$STATE,4524,begin climb
$GC,4526,1.48,97.3,503.1,0.0,223,4617,1.65,2.78,82.70,0.881,4,0.035,0.060,3508,3545,2612,0,0,0,0,0,0
$GC,4649,1.40,164.1,502.6,5.4,226,4714,0.15,2.67,58.08,0.870,6,0.133,0.055,3481,1992,2340,0,0,0,0,0,0
$GC,5046,1.34,164.2,463.8,10.0,236,5047,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,1992,2331,0,0,0,0,0,0
$GC,5371,1.29,172.4,431.7,9.5,244,5385,0.12,2.97,6.43,0.692,4,0.128,0.091,3456,405,2306,0,0,0,0,0,0
$GC,5408,1.24,180.7,428.1,9.5,244,5422,0.00,2.55,9.23,0.750,6,0.000,0.030,3456,1977,2274,0,0,0,0,0,0
$GC,5743,1.27,203.3,399.2,8.5,253,5766,0.00,0.00,21.20,0.818,6,0.000,0.000,3456,1977,2180,0,0,0,0,0,0
$GC,6067,1.27,205.1,366.6,9.9,261,6068,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1977,2175,0,0,0,0,0,0
$GC,6393,1.28,214.9,336.0,9.4,269,6409,0.00,2.72,10.77,0.739,4,0.000,0.058,3456,404,2132,0,0,0,0,0,0
$GC,6465,1.31,233.6,329.4,8.7,270,6490,0.00,2.55,17.90,0.767,6,0.000,0.025,3456,2004,2056,0,0,0,0,0,0
$GC,6808,1.38,247.4,299.9,9.1,279,6827,0.00,2.62,12.95,0.731,4,0.000,0.043,3456,3561,2001,0,0,0,0,0,0
$GC,6877,1.45,247.4,292.2,10.9,280,6883,0.15,2.60,0.00,0.000,6,0.077,0.030,3496,1982,1999,0,0,0,0,0,0
$GC,7214,1.45,247.4,252.2,11.7,289,7218,0.00,2.70,0.00,0.000,4,0.000,0.062,3496,412,1996,0,0,0,0,0,0
$GC,7255,1.39,247.4,248.0,10.9,290,7259,0.00,2.53,0.00,0.000,6,0.000,0.021,3496,2009,1995,0,0,0,0,0,0
$GC,7578,1.42,269.7,219.1,8.5,298,7604,0.00,2.78,20.38,0.696,4,0.000,0.054,3496,411,1909,0,0,0,0,0,0
$GC,7617,1.42,269.7,215.5,10.3,299,7622,0.00,2.53,0.00,0.000,6,0.000,0.024,3496,2002,1907,0,0,0,0,0,0
$GC,7942,1.46,269.7,183.1,10.1,318,7946,0.00,2.70,0.00,0.000,4,0.000,0.057,3496,411,1906,0,0,0,0,0,0
$GC,7970,1.46,269.7,179.6,11.2,320,7975,0.00,2.50,0.00,0.000,6,0.000,0.018,3496,2010,1904,0,0,0,0,0,0
$GC,8295,1.54,284.8,146.6,9.0,350,8318,0.00,2.53,14.10,0.615,4,0.000,0.037,3496,3559,1846,0,0,0,0,0,0
$GC,8359,1.62,295.1,141.2,9.3,355,8375,0.12,2.53,10.07,0.579,6,0.083,0.035,3532,1989,1806,0,0,0,0,0,0
$GC,8694,1.62,295.1,105.3,11.1,386,8695,0.00,0.00,0.00,0.000,6,0.000,0.000,3532,1989,1803,0,0,0,0,0,0
$GC,9020,1.67,302.7,74.3,9.5,416,9035,0.00,2.65,7.97,0.505,4,0.000,0.052,3532,413,1774,0,0,0,0,0,0
$GC,9076,1.67,302.7,68.4,10.5,420,9081,0.00,2.47,0.00,0.000,6,0.000,0.017,3532,2006,1773,0,0,0,0,0,0
$GC,9405,1.72,310.8,37.1,9.5,450,9420,0.00,2.67,8.60,0.479,4,0.000,0.048,3532,416,1741,0,0,0,0,0,0
$GC,9462,1.72,310.8,30.5,11.4,454,9471,0.00,2.45,0.00,0.000,6,0.000,0.018,3532,1986,1740,0,0,0,0,0,0
$STATE,9728,end climb,SURFACE_DEPTH_REACHED
$STATE,9728,begin surface coast
$FINISH,0.6,0.975019
$STATE,9778,end surface coast,CONTROL_FINISHED_OK
$STATE,9778,begin surface
$SM_CCo,9799,56.88,0.506,0,0,1459,380.21
$SM_GC,1.35,0.00,0.00,56.88,0.000,0.000,0.506,474,1987,1459,-12.42,-0.65,380.21
$IRIDIUM_FIX,2241.69,-15757.16,280900,020246
$TT8_MAMPS,0.025311
$HUMID,62.64
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,21.70
$XPDR_PINGS,36
$24V_AH,23.5,56.167
$10V_AH,10.2,50.247
$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,29.700,97.325,362.425,56.875,0.000,31.245,33.544,156.902,9.000,0.000,33.090,975.929,6427.199,466.061,1878.124,484.085,33.371,1117.088,0.000,1864.617,0.000,0.535,0.000
$DEVICE_MAMPS,160.303,210.925,896.623,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,338.162,274.402,386.861,737.901,1116.274,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355428
$DATA_FILE_SIZE,38541,499
$CAP_FILE_SIZE,93997,0
$CFSIZE,260165632,158445568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050711,075922,2250.213,-15757.440,10,99.0,29,10.1