version: 66.06
glider: 146
mission: 6
dive: 448
start: 7 4 111 14 42 5
data:
$ID,146
$MISSION,6
$DIVE,448
$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,-278933.09
$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,26
$R_STBD_OVSHOOT,62
$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
$GPS1,143530,2250.289,-15800.424,37,2.0,37,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.3
$GPS2,144113,2250.296,-15800.459,11,1.8,11,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.210,-0.048
$KALMAN_X,-349036.8,159.4,145.9,342476.1,-993.0
$KALMAN_Y,103161.1,261.6,-84.0,-91501.5,377.4
$MHEAD_RNG_PITCHd_Wd,92.8,5929,-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,13,begin dive
$GC,15,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-70.45,0.000,2,0.000,0.000,472,1960,3229,0,0,0,0,0,0
$GC,91,-1.48,-97.3,3.5,-5.3,9,116,12.45,0.00,-3.42,0.000,6,0.152,0.000,2844,1960,3410,0,0,0,0,0,0
$GC,463,-1.38,-97.3,70.7,-16.2,50,469,0.15,2.58,0.00,0.000,4,0.129,0.031,2874,3572,3412,0,0,0,0,0,0
$GC,497,-1.38,-97.3,76.4,-15.7,52,501,0.00,2.50,0.00,0.000,6,0.000,0.023,2874,1993,3412,0,0,0,0,0,0
$GC,821,-1.38,-97.3,119.0,-12.6,82,825,0.00,2.50,0.00,0.000,4,0.000,0.031,2874,3565,3413,0,0,0,0,0,0
$GC,866,-1.46,-97.3,123.9,-11.7,85,871,0.00,2.45,0.00,0.000,6,0.000,0.029,2874,2007,3413,0,0,0,0,0,0
$GC,1197,-1.52,-97.3,159.6,-9.7,115,1203,0.12,0.00,0.00,0.000,6,0.070,0.000,2828,2007,3414,0,0,0,0,0,0
$GC,1522,-1.52,-97.3,198.7,-12.1,146,1526,0.00,2.45,0.00,0.000,4,0.000,0.031,2827,3568,3414,0,0,0,0,0,0
$GC,1550,-1.52,-97.3,202.1,-12.5,147,1555,0.00,2.40,0.00,0.000,6,0.000,0.021,2827,2015,3415,0,0,0,0,0,0
$GC,1881,-1.52,-97.3,238.7,-10.4,155,1886,0.00,2.47,0.00,0.000,4,0.000,0.028,2827,3573,3415,0,0,0,0,0,0
$GC,1903,-1.52,-97.3,241.1,-10.2,155,1907,0.00,2.40,0.00,0.000,6,0.000,0.021,2827,2028,3415,0,0,0,0,0,0
$GC,2242,-1.57,-97.3,276.3,-10.1,164,2243,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2028,3415,0,0,0,0,0,0
$GC,2565,-1.62,-97.3,304.6,-8.2,172,2570,0.00,2.47,0.00,0.000,4,0.000,0.038,2827,3559,3415,0,0,0,0,0,0
$GC,2599,-1.69,-97.3,307.9,-9.9,172,2605,0.00,2.42,0.00,0.000,6,0.000,0.028,2827,2035,3415,0,0,0,0,0,0
$GC,2932,-1.75,-97.3,337.8,-9.1,181,2937,0.15,2.50,0.00,0.000,4,0.065,0.038,2778,3558,3415,0,0,0,0,0,0
$GC,3017,-1.75,-97.3,347.7,-12.0,183,3021,0.00,2.47,0.00,0.000,6,0.000,0.038,2778,2038,3415,0,0,0,0,0,0
$GC,3342,-1.75,-97.3,384.6,-11.2,191,3346,0.00,2.50,0.00,0.000,4,0.000,0.043,2779,3556,3413,0,0,0,0,0,0
$GC,3402,-1.75,-97.3,391.8,-10.9,192,3406,0.00,2.50,0.00,0.000,6,0.000,0.048,2778,2037,3413,0,0,0,0,0,0
$GC,3745,-1.75,-97.3,430.3,-11.8,201,3749,0.00,2.53,0.00,0.000,4,0.000,0.047,2778,3553,3411,0,0,0,0,0,0
$GC,3806,-1.75,-97.3,438.1,-12.3,202,3811,0.00,2.55,0.00,0.000,6,0.000,0.055,2779,2043,3411,0,0,0,0,0,0
$GC,4148,-1.75,-97.3,479.0,-12.1,211,4152,0.00,2.55,0.00,0.000,4,0.000,0.054,2779,3550,3408,0,0,0,0,0,0
$GC,4187,-1.75,-97.3,484.0,-12.6,212,4191,0.00,2.53,0.00,0.000,6,0.000,0.052,2778,2046,3408,0,0,0,0,0,0
$STATE,4347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4347,begin apogee
$GC,4355,-0.31,0.0,503.1,12.0,216,4441,1.45,0.00,81.97,0.908,6,0.081,0.000,3104,1993,3009,0,0,0,0,0,0
$STATE,4441,end apogee,CONTROL_FINISHED_OK
$STATE,4441,begin climb
$GC,4444,1.48,97.3,506.0,0.0,218,4532,1.67,0.00,83.75,0.887,6,0.038,0.000,3507,1993,2612,0,0,0,0,0,0
$GC,4834,1.41,153.9,489.2,6.1,228,4885,0.12,0.00,49.28,0.875,6,0.129,0.000,3484,1993,2382,0,0,0,0,0,0
$GC,5200,1.36,168.7,458.2,9.0,237,5219,0.00,2.67,13.18,0.811,4,0.000,0.048,3484,3536,2321,0,0,0,0,0,0
$GC,5232,1.31,185.9,455.0,8.9,237,5255,0.10,2.62,16.83,0.818,6,0.144,0.050,3464,1999,2251,0,0,0,0,0,0
$GC,5571,1.34,203.9,424.7,8.8,246,5595,0.00,3.03,16.48,0.816,4,0.000,0.093,3463,400,2177,0,0,0,0,0,0
$GC,5607,1.30,203.9,420.6,10.5,246,5613,0.00,2.53,0.00,0.000,6,0.000,0.029,3464,1964,2176,0,0,0,0,0,0
$GC,5940,1.30,203.9,383.8,11.6,255,5941,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,1964,2173,0,0,0,0,0,0
$GC,6264,1.30,205.4,349.5,9.9,263,6265,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,1964,2171,0,0,0,0,0,0
$GC,6589,1.34,237.9,323.5,7.8,271,6620,0.00,0.00,30.15,0.792,6,0.000,0.000,3464,1964,2039,0,0,0,0,0,0
$GC,6916,1.38,243.2,292.5,9.7,279,6927,0.00,2.67,5.80,0.622,4,0.000,0.041,3463,3580,2017,0,0,0,0,0,0
$GC,6979,1.47,253.6,286.3,9.3,280,6996,0.12,2.65,10.68,0.709,6,0.079,0.033,3497,1975,1976,0,0,0,0,0,0
$GC,7320,1.47,253.6,251.3,10.1,288,7325,0.00,2.70,0.00,0.000,4,0.000,0.070,3497,411,1972,0,0,0,0,0,0
$GC,7427,1.47,253.6,238.8,11.9,290,7431,0.00,2.53,0.00,0.000,6,0.000,0.018,3497,2013,1970,0,0,0,0,0,0
$GC,7769,1.49,269.9,205.5,8.9,299,7786,0.00,0.00,15.18,0.679,6,0.000,0.000,3497,2015,1909,0,0,0,0,0,0
$GC,8087,1.53,269.9,176.7,10.6,323,8091,0.00,2.70,0.00,0.000,4,0.000,0.054,3497,410,1906,0,0,0,0,0,0
$GC,8127,1.53,269.9,171.6,12.3,326,8131,0.00,2.45,0.00,0.000,6,0.000,0.018,3497,1995,1904,0,0,0,0,0,0
$GC,8452,1.58,269.9,133.8,11.3,356,8453,0.10,0.00,0.00,0.000,6,0.091,0.000,3525,1996,1904,0,0,0,0,0,0
$GC,8770,1.58,269.9,99.2,10.2,386,8774,0.00,2.50,0.00,0.000,4,0.000,0.034,3526,3550,1904,0,0,0,0,0,0
$GC,8817,1.64,271.7,95.2,9.9,389,8821,0.00,2.55,0.00,0.000,6,0.000,0.031,3526,1959,1903,0,0,0,0,0,0
$GC,9146,1.73,311.3,67.7,7.3,419,9188,0.10,2.67,36.22,0.566,4,0.091,0.031,3555,3550,1739,0,0,0,0,0,0
$GC,9245,1.75,324.4,58.7,9.1,426,9263,0.00,2.53,12.62,0.522,6,0.000,0.028,3555,1983,1686,0,0,0,0,0,0
$GC,9606,1.75,324.4,18.5,11.6,464,9615,0.00,2.65,0.00,0.000,4,0.000,0.051,3555,414,1683,0,0,0,0,0,0
$GC,9662,1.71,324.4,11.5,12.4,471,9671,0.00,2.45,0.00,0.000,6,0.000,0.019,3555,1979,1682,0,0,0,0,0,0
$STATE,9726,end climb,SURFACE_DEPTH_REACHED
$STATE,9726,begin surface coast
$FINISH,0.6,0.980045
$STATE,9769,end surface coast,CONTROL_FINISHED_OK
$STATE,9769,begin surface
$SM_CCo,9791,45.97,0.507,0,0,1459,380.21
$SM_GC,1.20,0.00,0.00,45.97,0.000,0.000,0.507,474,1980,1459,-12.42,-0.85,380.21
$IRIDIUM_FIX,2241.69,-15759.32,270900,111132
$TT8_MAMPS,0.026078
$HUMID,64.37
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.30
$XPDR_PINGS,36
$24V_AH,23.5,55.635
$10V_AH,10.2,49.689
$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,29.250,86.775,372.125,45.975,0.000,27.841,32.617,156.417,9.000,0.000,13.038,946.662,6569.358,484.084,1710.225,470.594,33.369,1082.511,0.000,1724.359,0.000,0.533,0.000
$DEVICE_MAMPS,151.866,256.178,908.128,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.562,285.675,372.998,703.011,1063.121,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355384
$DATA_FILE_SIZE,38401,486
$CAP_FILE_SIZE,86979,0
$CFSIZE,260165632,158703616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040711,172713,2250.467,-15759.829,21,1.4,28,10.1