version: 66.06
glider: 146
mission: 6
dive: 421
start: 7 1 111 8 7 18
data:
$ID,146
$MISSION,6
$DIVE,421
$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,-278375.06
$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,65
$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
$GPS1,080006,2250.438,-15758.844,33,1.0,33,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.7
$GPS2,080628,2250.476,-15758.914,9,2.1,28,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.200,-0.080
$KALMAN_X,-311296.8,-90.7,-135.8,307910.7,-773.6
$KALMAN_Y,72352.7,433.9,476.3,-61094.5,468.3
$MHEAD_RNG_PITCHd_Wd,101.6,3384,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.48,-97.3,0.0,0.0,0,90,0.00,0.00,-70.40,0.000,2,0.000,0.000,474,1988,3240,0,0,0,0,0,0
$GC,93,-1.48,-97.3,3.5,-5.8,9,119,12.43,2.62,-3.12,0.000,4,0.152,0.058,2843,424,3410,0,0,0,0,0,0
$GC,171,-1.36,-97.3,25.1,-20.1,19,181,0.12,2.45,0.00,0.000,6,0.110,0.015,2872,2010,3412,0,0,0,0,0,0
$GC,506,-1.36,-97.3,78.9,-14.5,51,511,0.00,2.45,0.00,0.000,4,0.000,0.033,2872,3558,3413,0,0,0,0,0,0
$GC,542,-1.40,-97.3,84.5,-14.1,53,548,0.00,2.45,0.00,0.000,6,0.000,0.023,2872,2005,3413,0,0,0,0,0,0
$GC,869,-1.44,-97.3,124.1,-10.8,84,870,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2004,3415,0,0,0,0,0,0
$GC,1189,-1.51,-97.3,159.4,-11.4,114,1199,0.10,0.00,0.00,0.000,6,0.086,0.000,2832,2004,3415,0,0,0,0,0,0
$GC,1519,-1.51,-97.3,197.1,-10.5,145,1523,0.00,2.45,0.00,0.000,4,0.000,0.028,2832,3562,3415,0,0,0,0,0,0
$GC,1575,-1.57,-97.3,203.0,-9.9,148,1579,0.00,2.40,0.00,0.000,6,0.000,0.026,2832,2012,3416,0,0,0,0,0,0
$GC,1923,-1.57,-97.3,234.8,-9.2,157,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2012,3416,0,0,0,0,0,0
$GC,2249,-1.61,-97.3,271.3,-11.7,165,2254,0.00,2.45,0.00,0.000,4,0.000,0.036,2832,3556,3416,0,0,0,0,0,0
$GC,2344,-1.68,-97.3,282.5,-10.9,167,2349,0.00,2.42,0.00,0.000,6,0.000,0.031,2832,2031,3416,0,0,0,0,0,0
$GC,2658,-1.74,-97.3,313.5,-9.4,175,2663,0.15,2.47,0.00,0.000,4,0.060,0.038,2772,3554,3416,0,0,0,0,0,0
$GC,2681,-1.74,-97.3,315.8,-9.6,175,2686,0.10,2.47,0.00,0.000,6,0.120,0.038,2793,2024,3416,0,0,0,0,0,0
$GC,3018,-1.74,-97.3,350.8,-10.9,184,3019,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2024,3415,0,0,0,0,0,0
$GC,3342,-1.74,-97.3,389.4,-11.9,192,3347,0.00,2.55,0.00,0.000,4,0.000,0.051,2794,3558,3413,0,0,0,0,0,0
$GC,3410,-1.74,-97.3,397.6,-12.1,193,3414,0.00,2.55,0.00,0.000,6,0.000,0.044,2793,2027,3413,0,0,0,0,0,0
$GC,3746,-1.74,-97.3,435.3,-11.1,202,3750,0.00,2.92,0.00,0.000,4,0.000,0.101,2794,415,3411,0,0,0,0,0,0
$GC,3767,-1.74,-97.3,438.1,-12.8,202,3771,0.00,2.55,0.00,0.000,6,0.000,0.038,2794,1986,3411,0,0,0,0,0,0
$GC,4105,-1.74,-97.3,476.4,-11.3,211,4109,0.00,2.75,0.00,0.000,4,0.000,0.065,2793,3591,3408,0,0,0,0,0,0
$GC,4144,-1.79,-97.3,480.8,-10.9,212,4149,0.00,2.62,0.00,0.000,6,0.000,0.051,2794,2034,3408,0,0,0,0,0,0
$STATE,4343,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4343,begin apogee
$GC,4351,-0.31,0.0,500.0,9.5,217,4437,1.40,0.00,82.05,0.907,6,0.084,0.000,3107,1990,3010,0,0,0,0,0,0
$STATE,4438,end apogee,CONTROL_FINISHED_OK
$STATE,4438,begin climb
$GC,4440,1.48,97.3,500.9,0.0,219,4533,1.62,2.75,82.68,0.889,4,0.045,0.057,3506,3579,2612,0,0,0,0,0,0
$GC,4574,1.35,124.1,496.6,8.2,222,4606,0.17,2.67,23.92,0.848,6,0.125,0.053,3472,1998,2504,0,0,0,0,0,0
$GC,4932,1.29,131.2,462.2,9.5,231,4946,0.00,2.95,5.93,0.676,4,0.000,0.098,3472,410,2476,0,0,0,0,0,0
$GC,4987,1.17,136.2,457.1,9.7,232,5001,0.20,2.60,6.38,0.693,6,0.117,0.033,3433,2002,2453,0,0,0,0,0,0
$GC,5346,1.22,176.9,430.5,7.2,241,5390,0.00,2.75,36.78,0.851,4,0.000,0.051,3433,3577,2287,0,0,0,0,0,0
$GC,5414,1.25,201.1,424.9,8.4,242,5444,0.00,2.67,22.50,0.828,6,0.000,0.039,3433,1984,2189,0,0,0,0,0,0
$GC,5760,1.31,205.2,391.3,9.8,251,5770,0.12,2.85,3.88,0.527,4,0.084,0.084,3466,408,2173,0,0,0,0,0,0
$GC,5841,1.26,205.2,381.8,12.3,252,5845,0.00,2.53,0.00,0.000,6,0.000,0.026,3467,2002,2172,0,0,0,0,0,0
$GC,6172,1.26,205.2,344.1,11.8,260,6176,0.00,2.55,0.00,0.000,4,0.000,0.043,3467,3564,2170,0,0,0,0,0,0
$GC,6260,1.26,205.2,332.9,12.7,262,6265,0.00,2.62,0.00,0.000,6,0.000,0.040,3467,1977,2168,0,0,0,0,0,0
$GC,6581,1.27,212.7,299.7,9.5,270,6595,0.00,2.80,7.43,0.683,4,0.000,0.074,3467,406,2141,0,0,0,0,0,0
$GC,6692,1.30,233.8,289.3,8.6,272,6718,0.00,2.47,19.75,0.758,6,0.000,0.022,3467,1996,2057,0,0,0,0,0,0
$GC,7040,1.38,265.5,262.8,7.8,281,7075,0.00,2.80,29.08,0.749,4,0.000,0.061,3467,408,1927,0,0,0,0,0,0
$GC,7092,1.38,265.5,257.1,10.8,281,7096,0.00,2.47,0.00,0.000,6,0.000,0.023,3467,1968,1925,0,0,0,0,0,0
$GC,7441,1.45,265.5,218.2,11.9,290,7446,0.10,2.70,0.00,0.000,4,0.100,0.060,3495,407,1921,0,0,0,0,0,0
$GC,7474,1.41,265.5,213.6,14.0,290,7480,0.00,2.47,0.00,0.000,6,0.000,0.023,3495,1976,1920,0,0,0,0,0,0
$GC,7797,1.42,276.7,180.1,9.3,312,7814,0.00,2.75,10.40,0.640,4,0.000,0.054,3495,406,1880,0,0,0,0,0,0
$GC,7918,1.44,290.7,168.6,9.1,322,7939,0.00,2.45,13.50,0.643,6,0.000,0.021,3495,1966,1823,0,0,0,0,0,0
$GC,8258,1.49,291.8,137.5,10.0,354,8263,0.00,2.65,0.00,0.000,4,0.000,0.052,3495,402,1820,0,0,0,0,0,0
$GC,8315,1.49,291.8,131.1,11.7,358,8324,0.00,2.45,0.00,0.000,6,0.000,0.018,3495,1953,1819,0,0,0,0,0,0
$GC,8643,1.56,291.8,97.6,11.0,389,8648,0.00,0.00,0.00,0.000,6,0.000,0.000,3495,1954,1819,0,0,0,0,0,0
$GC,8974,1.68,305.7,65.5,9.1,420,8998,0.20,2.65,13.82,0.548,4,0.066,0.053,3548,408,1761,0,0,0,0,0,0
$GC,9016,1.68,305.7,61.2,10.6,423,9021,0.00,2.42,0.00,0.000,6,0.000,0.018,3548,1964,1761,0,0,0,0,0,0
$GC,9356,1.68,305.7,24.4,11.0,456,9365,0.00,2.62,0.00,0.000,4,0.000,0.048,3548,408,1760,0,0,0,0,0,0
$GC,9391,1.68,305.7,20.0,13.3,460,9400,0.00,2.40,0.00,0.000,6,0.000,0.017,3548,1947,1760,0,0,0,0,0,0
$STATE,9531,end climb,SURFACE_DEPTH_REACHED
$STATE,9531,begin surface coast
$FINISH,0.6,0.980080
$STATE,9576,end surface coast,CONTROL_FINISHED_OK
$STATE,9576,begin surface
$SM_CCo,9598,60.97,0.520,0,0,1459,380.21
$SM_GC,1.40,0.00,0.00,60.97,0.000,0.000,0.520,476,1948,1459,-12.42,-1.75,380.21
$IRIDIUM_FIX,2239.35,-15759.32,240900,050549
$TT8_MAMPS,0.026078
$HUMID,64.45
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.20
$XPDR_PINGS,45
$24V_AH,23.5,52.708
$10V_AH,10.2,46.707
$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,29.250,103.750,358.075,60.975,0.000,27.394,34.234,171.107,11.250,0.000,30.527,959.708,6225.128,464.861,1881.517,509.779,33.359,1160.250,0.000,1871.993,0.000,0.534,0.000
$DEVICE_MAMPS,151.866,152.633,907.361,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.780,264.264,376.546,702.983,1063.106,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,38449,486
$CAP_FILE_SIZE,95041,0
$CFSIZE,260165632,160063488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010711,104936,2250.426,-15758.350,32,1.2,36,10.1