version: 66.06
glider: 146
mission: 6
dive: 418
start: 6 30 111 23 17 11
data:
$ID,146
$MISSION,6
$DIVE,418
$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,-278290.47
$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,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
$GPS1,230955,2249.534,-15759.954,36,1.9,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.4
$GPS2,231619,2249.554,-15800.008,11,1.6,16,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.214,-0.024
$KALMAN_X,-307253.0,-305.6,23.1,302049.9,-854.0
$KALMAN_Y,69276.4,22.5,93.6,-58923.6,443.8
$MHEAD_RNG_PITCHd_Wd,86.3,5201,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.48,-97.3,0.0,0.0,0,90,0.00,0.00,-70.78,0.000,2,0.000,0.000,473,1963,3232,0,0,0,0,0,0
$GC,93,-1.48,-97.3,3.3,-4.6,9,119,12.55,0.00,-3.38,0.000,6,0.156,0.000,2843,1963,3411,0,0,0,0,0,0
$GC,466,-1.38,-97.3,71.8,-16.3,50,471,0.15,2.55,0.00,0.000,4,0.136,0.027,2872,3572,3412,0,0,0,0,0,0
$GC,546,-1.38,-97.3,84.8,-15.1,56,550,0.00,2.47,0.00,0.000,6,0.000,0.030,2872,2004,3412,0,0,0,0,0,0
$GC,870,-1.38,-97.3,128.1,-11.4,86,875,0.00,2.47,0.00,0.000,4,0.000,0.027,2872,3563,3414,0,0,0,0,0,0
$GC,904,-1.43,-97.3,131.9,-10.8,88,914,0.00,2.47,0.00,0.000,6,0.000,0.021,2872,2001,3414,0,0,0,0,0,0
$GC,1229,-1.47,-97.3,163.5,-11.3,119,1233,0.00,2.47,0.00,0.000,4,0.000,0.033,2872,3563,3415,0,0,0,0,0,0
$GC,1262,-1.53,-97.3,166.7,-11.7,121,1267,0.12,2.42,0.00,0.000,6,0.070,0.024,2823,2020,3414,0,0,0,0,0,0
$GC,1595,-1.53,-97.3,211.7,-13.2,146,1596,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2019,3415,0,0,0,0,0,0
$GC,1918,-1.53,-97.3,247.7,-10.4,154,1923,0.00,2.65,0.00,0.000,4,0.000,0.065,2823,436,3416,0,0,0,0,0,0
$GC,1939,-1.53,-97.3,250.0,-10.7,154,1944,0.00,2.40,0.00,0.000,6,0.000,0.021,2823,2022,3416,0,0,0,0,0,0
$GC,2278,-1.53,-97.3,284.2,-10.5,163,2282,0.00,2.45,0.00,0.000,4,0.000,0.035,2823,3566,3416,0,0,0,0,0,0
$GC,2333,-1.60,-97.3,290.1,-10.3,164,2337,0.00,2.40,0.00,0.000,6,0.000,0.031,2823,2039,3416,0,0,0,0,0,0
$GC,2682,-1.65,-97.3,325.0,-10.2,173,2686,0.00,2.45,0.00,0.000,4,0.000,0.043,2823,3563,3416,0,0,0,0,0,0
$GC,2709,-1.71,-97.3,328.3,-10.8,173,2714,0.00,2.45,0.00,0.000,6,0.000,0.036,2823,2035,3416,0,0,0,0,0,0
$GC,3040,-1.77,-97.3,364.6,-10.7,181,3042,0.15,0.00,0.00,0.000,6,0.065,0.000,2772,2035,3415,0,0,0,0,0,0
$GC,3367,-1.77,-97.3,406.0,-12.4,189,3371,0.00,2.55,0.00,0.000,4,0.000,0.044,2773,3564,3414,0,0,0,0,0,0
$GC,3416,-1.77,-97.3,412.4,-12.2,190,3420,0.00,2.53,0.00,0.000,6,0.000,0.044,2772,2039,3413,0,0,0,0,0,0
$GC,3734,-1.77,-97.3,444.2,-9.8,198,3735,0.00,0.00,0.00,0.000,6,0.000,0.000,2772,2039,3411,0,0,0,0,0,0
$GC,4060,-1.77,-97.3,477.5,-10.2,206,4065,0.00,2.55,0.00,0.000,4,0.000,0.060,2772,3553,3409,0,0,0,0,0,0
$GC,4172,-1.77,-97.3,489.0,-9.9,208,4177,0.00,2.58,0.00,0.000,6,0.000,0.058,2772,2037,3408,0,0,0,0,0,0
$STATE,4302,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4303,begin apogee
$GC,4309,-0.31,0.0,502.0,9.8,212,4395,1.50,0.00,82.03,0.905,6,0.085,0.000,3106,1982,3010,0,0,0,0,0,0
$STATE,4395,end apogee,CONTROL_FINISHED_OK
$STATE,4396,begin climb
$GC,4400,1.48,97.3,503.1,0.0,214,4492,1.62,2.70,83.00,0.894,4,0.035,0.053,3507,3545,2612,0,0,0,0,0,0
$GC,4545,1.38,146.8,501.0,6.6,217,4595,0.15,2.65,43.33,0.874,6,0.129,0.056,3479,1998,2410,0,0,0,0,0,0
$GC,4933,1.34,166.5,468.1,8.7,227,4957,0.00,3.08,16.98,0.828,4,0.000,0.103,3478,410,2331,0,0,0,0,0,0
$GC,4970,1.25,170.8,464.6,9.7,227,4982,0.15,2.55,5.50,0.649,6,0.124,0.033,3449,1965,2313,0,0,0,0,0,0
$GC,5304,1.27,186.7,434.5,8.9,236,5325,0.00,2.78,15.32,0.815,4,0.000,0.052,3449,3584,2247,0,0,0,0,0,0
$GC,5382,1.27,186.7,426.1,10.8,237,5389,0.00,2.62,0.00,0.000,6,0.000,0.040,3449,2013,2243,0,0,0,0,0,0
$GC,5713,1.27,189.5,391.8,9.8,246,5718,0.00,2.88,0.00,0.000,4,0.000,0.085,3449,403,2241,0,0,0,0,0,0
$GC,5818,1.27,189.5,380.1,11.1,248,5823,0.00,2.60,0.00,0.000,6,0.000,0.027,3449,2030,2239,0,0,0,0,0,0
$GC,6168,1.30,211.5,349.1,8.5,257,6192,0.00,0.00,21.83,0.796,6,0.000,0.000,3449,2032,2147,0,0,0,0,0,0
$GC,6492,1.37,238.0,322.1,8.2,265,6523,0.10,2.88,24.27,0.781,4,0.099,0.065,3476,397,2038,0,0,0,0,0,0
$GC,6552,1.31,238.0,315.6,12.6,266,6557,0.00,2.58,0.00,0.000,6,0.000,0.020,3476,2021,2036,0,0,0,0,0,0
$GC,6895,1.31,238.7,281.5,10.0,275,6899,0.00,2.75,0.00,0.000,4,0.000,0.061,3476,403,2034,0,0,0,0,0,0
$GC,6934,1.31,238.7,277.3,10.8,276,6938,0.00,2.55,0.00,0.000,6,0.000,0.023,3476,2012,2032,0,0,0,0,0,0
$GC,7260,1.37,248.8,245.3,9.3,284,7275,0.00,2.80,9.90,0.673,4,0.000,0.058,3476,400,1995,0,0,0,0,0,0
$GC,7314,1.37,248.8,239.4,11.9,285,7318,0.00,2.53,0.00,0.000,6,0.000,0.023,3476,2010,1993,0,0,0,0,0,0
$GC,7663,1.42,248.8,203.8,10.4,294,7668,0.00,2.72,0.00,0.000,4,0.000,0.058,3476,402,1992,0,0,0,0,0,0
$GC,7707,1.42,248.8,198.4,11.7,295,7713,0.00,2.50,0.00,0.000,6,0.000,0.025,3476,2003,1991,0,0,0,0,0,0
$GC,8035,1.53,276.4,168.6,8.1,326,8069,0.12,2.80,25.20,0.662,4,0.085,0.052,3509,403,1881,0,0,0,0,0,0
$GC,8150,1.53,276.4,156.5,11.3,336,8155,0.00,2.50,0.00,0.000,6,0.000,0.024,3509,1996,1879,0,0,0,0,0,0
$GC,8476,1.59,291.7,125.1,9.0,366,8499,0.00,2.75,14.40,0.597,4,0.000,0.052,3509,396,1819,0,0,0,0,0,0
$GC,8571,1.60,298.5,115.6,9.6,374,8585,0.00,2.47,7.18,0.525,6,0.000,0.018,3509,1984,1792,0,0,0,0,0,0
$GC,8906,1.71,322.6,87.7,8.4,405,8934,0.15,2.72,22.00,0.576,4,0.071,0.054,3550,401,1693,0,0,0,0,0,0
$GC,8984,1.71,322.6,79.1,12.2,411,8989,0.00,2.42,0.00,0.000,6,0.000,0.024,3550,1978,1692,0,0,0,0,0,0
$GC,9312,1.71,322.6,42.0,11.7,441,9317,0.00,2.62,0.00,0.000,4,0.000,0.049,3550,400,1691,0,0,0,0,0,0
$GC,9357,1.67,322.6,36.4,13.3,444,9361,0.00,2.42,0.00,0.000,6,0.000,0.017,3550,1971,1691,0,0,0,0,0,0
$STATE,9632,end climb,SURFACE_DEPTH_REACHED
$STATE,9632,begin surface coast
$FINISH,0.7,0.980048
$STATE,9674,end surface coast,CONTROL_FINISHED_OK
$STATE,9674,begin surface
$SM_CCo,9696,47.65,0.512,0,0,1459,380.21
$SM_GC,1.16,0.00,0.00,47.65,0.000,0.000,0.512,476,1973,1459,-12.42,-1.05,380.21
$IRIDIUM_FIX,2241.69,-15759.32,230900,202035
$TT8_MAMPS,0.025311
$HUMID,63.78
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,21.60
$XPDR_PINGS,42
$24V_AH,23.5,52.377
$10V_AH,10.2,46.366
$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,29.250,103.850,370.925,47.650,0.000,25.378,33.249,179.091,10.500,0.000,17.567,968.023,6357.693,455.289,1835.693,511.474,33.369,1132.169,0.000,1835.110,0.000,0.534,0.000
$DEVICE_MAMPS,156.468,137.293,905.060,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.977,283.233,374.430,699.760,1058.111,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355476
$DATA_FILE_SIZE,38383,487
$CAP_FILE_SIZE,94582,0
$CFSIZE,260165632,160223232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010711,020055,2249.665,-15759.491,37,1.8,37,10.1