version: 66.06
glider: 146
mission: 6
dive: 470
start: 7 7 111 8 26 49
data:
$ID,146
$MISSION,6
$DIVE,470
$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,621.34491
$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,-279468.03
$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,29
$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
$GPS1,081030,2248.920,-15803.134,81,1.0,81,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.3
$GPS2,082555,2249.075,-15803.294,20,1.2,25,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.146,-0.004
$KALMAN_X,-372753.0,-140.5,23.4,361772.0,-956.5
$KALMAN_Y,134087.6,-150.8,-286.5,-124075.6,1753.6
$MHEAD_RNG_PITCHd_Wd,81.3,1786,-32.0,-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,-2.06,-46.4,0.0,0.0,0,87,0.00,0.00,-68.18,0.000,6,0.000,0.000,474,1960,3201,0,0,0,0,0,0
$GC,90,-2.07,-60.5,4.1,-8.0,9,109,11.57,2.53,-1.10,0.000,4,0.146,0.050,2716,419,3259,0,0,0,0,0,0
$GC,127,-1.37,-60.5,16.5,-33.4,13,137,0.75,2.47,0.00,0.000,6,0.112,0.020,2872,2026,3260,0,0,0,0,0,0
$GC,478,-1.64,-60.5,65.3,-12.4,49,483,0.22,2.42,0.00,0.000,4,0.052,0.028,2806,3554,3261,0,0,0,0,0,0
$GC,538,-1.82,-60.5,74.4,-16.1,53,543,0.12,2.42,0.00,0.000,6,0.070,0.023,2759,2003,3261,0,0,0,0,0,0
$GC,867,-1.95,-60.5,127.5,-12.6,83,871,0.00,2.50,0.00,0.000,4,0.000,0.028,2759,3562,3261,0,0,0,0,0,0
$GC,960,-2.08,-60.5,141.3,-14.6,90,970,0.12,2.45,0.00,0.000,6,0.031,0.020,2701,2014,3261,0,0,0,0,0,0
$GC,1291,-2.16,-60.5,189.0,-12.9,121,1295,0.00,2.47,0.00,0.000,4,0.000,0.025,2701,3559,3262,0,0,0,0,0,0
$GC,1337,-2.27,-60.5,194.8,-13.8,124,1342,0.00,2.40,0.00,0.000,6,0.000,0.019,2701,2004,3262,0,0,0,0,0,0
$GC,1660,-2.36,-60.5,238.5,-13.0,134,1665,0.17,2.47,0.00,0.000,4,0.058,0.030,2642,3558,3262,0,0,0,0,0,0
$GC,1894,-2.36,-60.5,273.9,-14.9,139,1899,0.00,2.38,0.00,0.000,6,0.000,0.033,2643,2051,3263,0,0,0,0,0,0
$GC,2207,-2.36,-60.5,317.8,-14.3,147,2212,0.00,2.45,0.00,0.000,4,0.000,0.041,2642,3548,3263,0,0,0,0,0,0
$GC,2361,-2.36,-60.5,338.8,-13.7,150,2366,0.00,2.45,0.00,0.000,6,0.000,0.041,2643,2045,3263,0,0,0,0,0,0
$GC,2704,-2.40,-60.5,386.7,-14.2,159,2708,0.00,2.50,0.00,0.000,4,0.000,0.048,2643,3552,3261,0,0,0,0,0,0
$GC,2842,-2.46,-60.5,406.9,-14.7,162,2847,0.00,2.50,0.00,0.000,6,0.000,0.052,2643,2048,3261,0,0,0,0,0,0
$GC,3161,-2.51,-60.5,451.3,-13.9,170,3165,0.00,2.53,0.00,0.000,4,0.000,0.054,2643,3547,3260,0,0,0,0,0,0
$GC,3177,-2.56,-60.5,453.5,-13.5,170,3182,0.10,2.53,0.00,0.000,6,0.088,0.049,2605,2046,3260,0,0,0,0,0,0
$STATE,3516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3517,begin apogee
$GC,3524,-0.31,0.0,503.1,14.4,179,3581,2.33,0.00,51.58,0.883,6,0.111,0.000,3102,1989,3010,0,0,0,0,0,0
$STATE,3581,end apogee,CONTROL_FINISHED_OK
$STATE,3581,begin climb
$GC,3584,2.07,60.5,505.0,0.0,180,3644,2.17,3.00,51.47,0.865,4,0.042,0.107,3637,410,2763,0,0,0,0,0,0
$GC,3664,2.00,108.7,502.7,3.1,181,3715,0.12,2.53,42.90,0.853,6,0.154,0.039,3615,1949,2565,0,0,0,0,0,0
$GC,4039,2.00,108.7,462.6,11.1,191,4040,0.00,0.00,0.00,0.000,6,0.000,0.000,3615,1948,2555,0,0,0,0,0,0
$GC,4366,2.01,111.4,429.2,9.7,199,4370,0.00,2.75,0.00,0.000,4,0.000,0.057,3615,3579,2551,0,0,0,0,0,0
$GC,4460,2.02,118.8,420.2,9.0,201,4474,0.00,2.62,7.40,0.712,6,0.000,0.041,3615,1997,2524,0,0,0,0,0,0
$GC,4820,2.02,118.8,383.9,10.3,210,4824,0.00,2.80,0.00,0.000,4,0.000,0.084,3615,405,2520,0,0,0,0,0,0
$GC,4852,1.94,118.8,380.1,11.1,210,4858,0.00,2.58,0.00,0.000,6,0.000,0.027,3615,2025,2519,0,0,0,0,0,0
$GC,5183,1.96,134.4,351.5,7.8,219,5202,0.00,2.83,13.98,0.772,4,0.000,0.059,3615,409,2460,0,0,0,0,0,0
$GC,5285,1.91,143.5,342.8,8.7,221,5300,0.12,2.53,9.00,0.715,6,0.150,0.025,3594,2016,2425,0,0,0,0,0,0
$GC,5645,2.00,150.2,310.7,9.1,230,5659,0.00,2.60,7.20,0.670,4,0.000,0.041,3594,3565,2397,0,0,0,0,0,0
$GC,5915,2.06,150.2,282.2,10.2,236,5920,0.12,2.53,0.00,0.000,6,0.094,0.035,3623,2013,2393,0,0,0,0,0,0
$GC,6241,2.14,169.9,255.8,7.2,244,6265,0.00,2.60,18.08,0.724,4,0.000,0.031,3623,3557,2317,0,0,0,0,0,0
$GC,6520,2.20,169.9,228.8,10.2,250,6525,0.12,2.53,0.00,0.000,6,0.099,0.031,3652,2011,2313,0,0,0,0,0,0
$GC,6835,2.20,176.7,198.4,9.1,258,6850,0.00,2.58,6.85,0.597,4,0.000,0.031,3652,3557,2287,0,0,0,0,0,0
$GC,6862,2.22,189.5,196.0,8.2,260,6886,0.00,2.50,12.80,0.653,6,0.000,0.035,3652,2025,2235,0,0,0,0,0,0
$GC,7205,2.27,193.7,164.8,9.4,292,7216,0.00,2.53,4.40,0.474,4,0.000,0.038,3652,3558,2220,0,0,0,0,0,0
$GC,7479,2.36,215.2,141.6,6.9,315,7507,0.15,2.42,20.08,0.623,6,0.081,0.028,3689,2044,2132,0,0,0,0,0,0
$GC,7832,2.36,215.2,106.2,11.0,348,7836,0.00,2.45,0.00,0.000,4,0.000,0.037,3689,3564,2128,0,0,0,0,0,0
$GC,7884,2.42,232.7,101.2,7.5,352,7909,0.00,2.38,16.00,0.575,6,0.000,0.033,3689,2071,2059,0,0,0,0,0,0
$GC,8235,2.47,235.1,68.9,9.7,384,8244,0.10,0.00,0.00,0.000,6,0.094,0.000,3718,2071,2057,0,0,0,0,0,0
$GC,8564,2.47,235.1,31.7,12.7,415,8568,0.00,2.38,0.00,0.000,4,0.000,0.034,3717,3561,2057,0,0,0,0,0,0
$GC,8631,2.47,235.1,23.6,10.4,423,8642,0.00,2.40,0.00,0.000,6,0.000,0.026,3717,2075,2056,0,0,0,0,0,0
$STATE,8792,end climb,SURFACE_DEPTH_REACHED
$STATE,8792,begin surface coast
$FINISH,0.6,0.976186
$STATE,8828,end surface coast,CONTROL_FINISHED_OK
$STATE,8828,begin surface
$SM_CCo,8852,309.08,0.501,0,0,476,621.34
$SM_GC,1.11,0.00,0.00,309.08,0.000,0.000,0.501,478,1976,476,-12.41,-0.96,621.34
$IRIDIUM_FIX,2241.69,-15804.53,300900,080847
$TT8_MAMPS,0.025311
$HUMID,59.13
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,20.70
$XPDR_PINGS,45
$24V_AH,23.5,58.262
$10V_AH,10.1,52.187
$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,31.450,91.175,261.725,309.075,0.000,134.516,400.395,0.000,11.250,0.000,30.091,942.485,5796.604,623.840,1934.871,790.345,33.370,1326.258,0.000,1917.440,0.000,0.535,0.000
$DEVICE_MAMPS,154.167,133.458,882.817,500.851,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,306.106,251.331,354.955,685.458,1031.714,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355704
$DATA_FILE_SIZE,35205,452
$CAP_FILE_SIZE,91852,0
$CFSIZE,260165632,157552640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070711,110043,2249.681,-15802.925,12,1.7,29,10.1