version: 66.06
glider: 146
mission: 6
dive: 465
start: 7 6 111 17 2 2
data:
$ID,146
$MISSION,6
$DIVE,465
$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,-279327.41
$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,25
$R_STBD_OVSHOOT,63
$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
$GPS1,165255,2248.054,-15802.196,37,1.1,37,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-64.6
$GPS2,170108,2248.112,-15802.252,10,1.2,10,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.012,-0.215
$KALMAN_X,-366211.0,-81.9,84.9,356890.8,-931.6
$KALMAN_Y,125370.4,442.1,-17.6,-118012.9,843.5
$MHEAD_RNG_PITCHd_Wd,166.8,2424,-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,-97.3,0.0,0.0,0,127,0.00,0.00,-109.43,0.000,2,0.000,0.000,476,1947,3317,0,0,0,0,0,0
$GC,130,-1.48,-97.3,4.0,-7.2,14,156,12.38,2.55,-1.65,0.000,4,0.150,0.054,2845,425,3411,0,0,0,0,0,0
$GC,346,-1.38,-97.3,46.7,-15.9,38,351,0.12,2.42,0.00,0.000,6,0.133,0.014,2869,2028,3412,0,0,0,0,0,0
$GC,671,-1.34,-97.3,94.6,-15.2,68,672,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,2029,3411,0,0,0,0,0,0
$GC,991,-1.34,-97.3,140.5,-11.7,98,995,0.00,2.40,0.00,0.000,4,0.000,0.035,2869,3557,3412,0,0,0,0,0,0
$GC,1036,-1.41,-97.3,145.6,-11.9,101,1041,0.00,2.42,0.00,0.000,6,0.000,0.026,2869,1997,3412,0,0,0,0,0,0
$GC,1361,-1.47,-97.3,179.3,-9.8,131,1365,0.00,2.47,0.00,0.000,4,0.000,0.027,2869,3554,3413,0,0,0,0,0,0
$GC,1393,-1.56,-97.3,182.0,-10.2,133,1398,0.15,2.40,0.00,0.000,6,0.060,0.028,2814,2021,3413,0,0,0,0,0,0
$GC,1744,-1.56,-97.3,224.8,-12.2,151,1749,0.10,2.47,0.00,0.000,4,0.116,0.030,2835,3563,3413,0,0,0,0,0,0
$GC,1773,-1.61,-97.3,228.5,-11.1,151,1777,0.00,2.40,0.00,0.000,6,0.000,0.026,2835,2029,3413,0,0,0,0,0,0
$GC,2104,-1.65,-97.3,262.1,-9.5,159,2109,0.00,2.42,0.00,0.000,4,0.000,0.037,2835,3551,3413,0,0,0,0,0,0
$GC,2127,-1.71,-97.3,264.2,-8.7,159,2132,0.15,2.38,0.00,0.000,6,0.062,0.022,2781,2032,3413,0,0,0,0,0,0
$GC,2464,-1.67,-97.3,299.6,-10.6,168,2469,0.12,2.47,0.00,0.000,4,0.110,0.038,2809,3550,3413,0,0,0,0,0,0
$GC,2599,-1.71,-97.3,312.7,-9.9,171,2603,0.00,2.40,0.00,0.000,6,0.000,0.033,2809,2063,3413,0,0,0,0,0,0
$GC,2923,-1.71,-97.3,348.7,-11.4,179,2927,0.00,2.88,0.00,0.000,4,0.000,0.085,2809,431,3412,0,0,0,0,0,0
$GC,2963,-1.71,-97.3,353.2,-10.9,180,2968,0.00,2.47,0.00,0.000,6,0.000,0.032,2809,2004,3412,0,0,0,0,0,0
$GC,3287,-1.75,-97.3,385.7,-9.8,188,3289,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,2004,3411,0,0,0,0,0,0
$GC,3612,-1.80,-97.3,419.9,-11.1,196,3617,0.10,2.67,0.00,0.000,4,0.091,0.059,2775,3586,3408,0,0,0,0,0,0
$GC,3653,-1.80,-97.3,424.7,-12.6,197,3658,0.00,2.53,0.00,0.000,6,0.000,0.049,2775,2065,3408,0,0,0,0,0,0
$GC,3977,-1.80,-97.3,464.5,-11.9,205,3982,0.00,2.53,0.00,0.000,4,0.000,0.057,2775,3581,3406,0,0,0,0,0,0
$GC,4038,-1.80,-97.3,471.7,-11.8,206,4043,0.00,2.55,0.00,0.000,6,0.000,0.051,2775,2065,3405,0,0,0,0,0,0
$STATE,4297,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4297,begin apogee
$GC,4305,-0.31,0.0,500.6,11.1,213,4390,1.48,0.00,80.80,0.896,6,0.091,0.000,3103,2011,3010,0,0,0,0,0,0
$STATE,4390,end apogee,CONTROL_FINISHED_OK
$STATE,4391,begin climb
$GC,4393,1.48,97.3,503.3,0.0,215,4481,1.67,0.00,83.70,0.880,6,0.038,0.000,3507,2011,2613,0,0,0,0,0,0
$GC,4787,1.38,128.6,481.4,7.9,225,4817,0.15,0.00,27.25,0.851,6,0.122,0.000,3478,2011,2485,0,0,0,0,0,0
$GC,5110,1.34,147.9,453.2,8.7,233,5134,0.00,2.72,17.05,0.821,4,0.000,0.044,3478,3577,2406,0,0,0,0,0,0
$GC,5188,1.28,149.8,445.8,9.9,234,5193,0.12,2.67,0.00,0.000,6,0.137,0.043,3455,2000,2404,0,0,0,0,0,0
$GC,5519,1.30,171.9,416.8,8.5,242,5548,0.00,2.72,21.67,0.825,4,0.000,0.039,3455,3577,2308,0,0,0,0,0,0
$GC,5582,1.33,190.5,411.1,8.8,243,5606,0.00,2.65,17.92,0.803,6,0.000,0.040,3455,2002,2232,0,0,0,0,0,0
$GC,5937,1.34,200.0,377.9,9.4,252,5951,0.00,2.90,8.85,0.733,4,0.000,0.087,3455,403,2194,0,0,0,0,0,0
$GC,6065,1.34,200.0,364.6,10.1,254,6071,0.00,2.55,0.00,0.000,6,0.000,0.021,3455,2006,2191,0,0,0,0,0,0
$GC,6398,1.36,216.4,335.3,8.9,263,6419,0.00,2.80,15.32,0.769,4,0.000,0.060,3455,403,2126,0,0,0,0,0,0
$GC,6503,1.36,216.4,323.4,11.7,265,6507,0.00,2.55,0.00,0.000,6,0.000,0.027,3455,1994,2123,0,0,0,0,0,0
$GC,6847,1.43,230.1,289.5,9.1,274,6866,0.12,2.65,12.73,0.728,4,0.079,0.043,3488,3564,2070,0,0,0,0,0,0
$GC,6905,1.43,230.1,282.8,11.2,275,6910,0.00,2.60,0.00,0.000,6,0.000,0.036,3488,1973,2068,0,0,0,0,0,0
$GC,7255,1.44,241.2,249.5,9.3,284,7271,0.00,2.70,10.65,0.680,4,0.000,0.063,3488,411,2025,0,0,0,0,0,0
$GC,7321,1.44,241.2,242.0,12.0,285,7325,0.00,2.50,0.00,0.000,6,0.000,0.024,3488,1987,2023,0,0,0,0,0,0
$GC,7658,1.48,241.2,207.7,10.3,294,7663,0.00,2.67,0.00,0.000,4,0.000,0.052,3488,410,2022,0,0,0,0,0,0
$GC,7710,1.48,241.2,201.9,11.5,295,7714,0.00,2.42,0.00,0.000,6,0.000,0.025,3488,1966,2021,0,0,0,0,0,0
$GC,8035,1.57,262.7,171.3,8.6,324,8063,0.12,2.67,19.27,0.650,4,0.080,0.038,3524,3556,1938,0,0,0,0,0,0
$GC,8131,1.57,262.7,162.0,11.4,332,8135,0.00,2.62,0.00,0.000,6,0.000,0.035,3524,1945,1935,0,0,0,0,0,0
$GC,8456,1.57,267.6,130.5,9.7,362,8470,0.00,2.62,5.25,0.486,4,0.000,0.060,3524,416,1918,0,0,0,0,0,0
$GC,8570,1.57,268.7,118.8,10.0,371,8575,0.00,2.38,0.00,0.000,6,0.000,0.018,3524,1949,1916,0,0,0,0,0,0
$GC,8901,1.68,310.5,91.7,7.1,401,8949,0.00,2.67,37.38,0.583,4,0.000,0.055,3524,404,1742,0,0,0,0,0,0
$GC,9001,1.68,310.5,82.7,10.3,409,9005,0.00,2.38,0.00,0.000,6,0.000,0.024,3524,1944,1740,0,0,0,0,0,0
$GC,9329,1.74,310.5,51.0,10.4,439,9335,0.12,2.60,0.00,0.000,4,0.082,0.049,3560,405,1739,0,0,0,0,0,0
$GC,9400,1.68,310.5,42.3,12.2,444,9405,0.00,2.35,0.00,0.000,6,0.000,0.017,3560,1931,1737,0,0,0,0,0,0
$STATE,9743,end climb,SURFACE_DEPTH_REACHED
$STATE,9743,begin surface coast
$FINISH,0.7,0.979863
$STATE,9793,end surface coast,CONTROL_FINISHED_OK
$STATE,9793,begin surface
$SM_CCo,9815,55.45,0.503,0,0,1460,380.21
$SM_GC,1.41,0.00,0.00,55.45,0.000,0.000,0.503,475,2105,1460,-12.42,2.69,380.21
$IRIDIUM_FIX,2237.01,-15800.20,290900,141427
$TT8_MAMPS,0.025311
$HUMID,63.46
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,21.20
$XPDR_PINGS,46
$24V_AH,23.5,57.607
$10V_AH,10.2,51.604
$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,29.500,102.450,357.850,55.450,0.000,22.881,33.180,301.275,11.500,0.000,12.209,989.164,6363.241,490.207,1896.890,628.218,33.394,1176.860,0.000,1900.920,0.000,0.535,0.000
$DEVICE_MAMPS,149.565,142.662,895.856,503.152,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.686,273.222,382.922,728.605,1101.790,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355420
$DATA_FILE_SIZE,38331,494
$CAP_FILE_SIZE,98521,0
$CFSIZE,260165632,157822976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060711,194743,2247.742,-15803.019,10,1.7,27,10.1