version: 66.06
glider: 146
mission: 6
dive: 450
start: 7 4 111 20 29 29
data:
$ID,146
$MISSION,6
$DIVE,450
$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,-278965.25
$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,59
$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
$GPS1,202236,2250.212,-15759.741,36,1.1,41,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.2
$GPS2,202837,2250.277,-15759.767,12,1.1,12,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.177,-0.123
$KALMAN_X,-351012.6,-26.5,-197.0,346165.4,-938.9
$KALMAN_Y,105357.8,-185.6,47.5,-93411.6,1131.9
$MHEAD_RNG_PITCHd_Wd,114.6,4750,-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,-97.3,0.0,0.0,0,89,0.00,0.00,-69.55,0.000,2,0.000,0.000,474,1995,3207,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.3,-5.3,9,118,12.55,2.62,-3.88,0.000,4,0.156,0.055,2840,428,3408,0,0,0,0,0,0
$GC,190,-1.36,-97.3,26.2,-18.2,22,198,0.15,2.45,0.00,0.000,6,0.104,0.015,2875,2017,3410,0,0,0,0,0,0
$GC,528,-1.36,-97.3,75.4,-13.2,54,532,0.00,2.42,0.00,0.000,4,0.000,0.027,2875,3561,3411,0,0,0,0,0,0
$GC,563,-1.36,-97.3,80.1,-13.2,56,568,0.00,2.45,0.00,0.000,6,0.000,0.023,2875,1996,3411,0,0,0,0,0,0
$GC,888,-1.41,-97.3,121.3,-10.9,86,893,0.00,2.47,0.00,0.000,4,0.000,0.027,2875,3565,3412,0,0,0,0,0,0
$GC,924,-1.49,-97.3,125.4,-12.0,88,932,0.08,2.47,0.00,0.000,6,0.041,0.021,2833,2005,3412,0,0,0,0,0,0
$GC,1249,-1.49,-97.3,166.0,-10.4,119,1253,0.00,2.45,0.00,0.000,4,0.000,0.033,2833,3561,3413,0,0,0,0,0,0
$GC,1283,-1.49,-97.3,169.0,-10.7,121,1287,0.00,2.40,0.00,0.000,6,0.000,0.025,2833,2016,3413,0,0,0,0,0,0
$GC,1608,-1.49,-97.3,204.2,-10.2,148,1609,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2016,3414,0,0,0,0,0,0
$GC,1931,-1.49,-97.3,240.7,-11.5,156,1935,0.00,2.45,0.00,0.000,4,0.000,0.032,2833,3555,3414,0,0,0,0,0,0
$GC,1965,-1.56,-97.3,244.4,-10.9,156,1971,0.00,2.45,0.00,0.000,6,0.000,0.022,2833,2005,3414,0,0,0,0,0,0
$GC,2297,-1.61,-97.3,278.1,-9.1,165,2301,0.00,2.65,0.00,0.000,4,0.000,0.062,2832,435,3414,0,0,0,0,0,0
$GC,2324,-1.61,-97.3,280.3,-8.5,165,2328,0.00,2.40,0.00,0.000,6,0.000,0.020,2833,1987,3414,0,0,0,0,0,0
$GC,2657,-1.66,-97.3,305.8,-7.7,173,2662,0.00,2.58,0.00,0.000,4,0.000,0.038,2833,3579,3414,0,0,0,0,0,0
$GC,2769,-1.75,-97.3,315.3,-8.6,175,2774,0.17,2.47,0.00,0.000,6,0.058,0.035,2774,2031,3414,0,0,0,0,0,0
$GC,3107,-1.71,-97.3,352.4,-11.3,184,3112,0.12,2.55,0.00,0.000,4,0.114,0.041,2800,3574,3413,0,0,0,0,0,0
$GC,3129,-1.71,-97.3,354.9,-10.0,184,3133,0.00,2.50,0.00,0.000,6,0.000,0.041,2800,2026,3413,0,0,0,0,0,0
$GC,3466,-1.71,-97.3,389.6,-10.8,193,3470,0.00,2.85,0.00,0.000,4,0.000,0.084,2800,421,3411,0,0,0,0,0,0
$GC,3516,-1.71,-97.3,395.7,-11.6,194,3521,0.00,2.53,0.00,0.000,6,0.000,0.035,2800,1997,3411,0,0,0,0,0,0
$GC,3829,-1.71,-97.3,431.6,-11.5,202,3833,0.00,2.70,0.00,0.000,4,0.000,0.062,2799,3596,3409,0,0,0,0,0,0
$GC,3855,-1.71,-97.3,434.7,-11.6,202,3860,0.00,2.60,0.00,0.000,6,0.000,0.046,2800,2024,3409,0,0,0,0,0,0
$GC,4188,-1.71,-97.3,471.1,-10.6,210,4192,0.00,2.65,0.00,0.000,4,0.000,0.051,2800,3593,3407,0,0,0,0,0,0
$GC,4211,-1.75,-97.3,473.5,-9.9,210,4216,0.00,2.65,0.00,0.000,6,0.000,0.051,2800,2026,3406,0,0,0,0,0,0
$STATE,4504,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4504,begin apogee
$GC,4512,-0.31,0.0,501.3,9.3,218,4597,1.35,0.00,81.47,0.905,6,0.079,0.000,3105,1987,3010,0,0,0,0,0,0
$STATE,4598,end apogee,CONTROL_FINISHED_OK
$STATE,4598,begin climb
$GC,4601,1.48,97.3,502.5,0.0,220,4693,1.62,3.05,82.70,0.885,4,0.037,0.107,3502,406,2612,0,0,0,0,0,0
$GC,4718,1.35,158.3,500.3,5.8,222,4778,0.17,2.60,53.38,0.869,6,0.125,0.038,3469,1993,2363,0,0,0,0,0,0
$GC,5091,1.30,158.3,461.0,10.8,232,5096,0.00,2.72,0.00,0.000,4,0.000,0.062,3469,3587,2354,0,0,0,0,0,0
$GC,5126,1.25,158.3,457.1,11.4,232,5132,0.10,2.67,0.00,0.000,6,0.143,0.046,3451,1995,2353,0,0,0,0,0,0
$GC,5457,1.26,167.9,424.8,9.4,241,5466,0.00,0.00,7.50,0.723,6,0.000,0.000,3451,1996,2325,0,0,0,0,0,0
$GC,5782,1.28,181.7,394.7,9.1,249,5797,0.00,0.00,13.65,0.789,6,0.000,0.000,3451,1995,2269,0,0,0,0,0,0
$GC,6108,1.31,208.8,367.4,8.2,257,6139,0.00,2.88,24.95,0.807,4,0.000,0.077,3451,407,2157,0,0,0,0,0,0
$GC,6228,1.31,208.8,355.6,10.8,259,6234,0.00,2.58,0.00,0.000,6,0.000,0.025,3451,2016,2154,0,0,0,0,0,0
$GC,6562,1.37,226.3,327.0,8.8,268,6580,0.10,0.00,16.12,0.765,6,0.099,0.000,3478,2016,2087,0,0,0,0,0,0
$GC,6884,1.37,226.3,292.3,11.1,276,6889,0.00,2.55,0.00,0.000,4,0.000,0.036,3478,3573,2083,0,0,0,0,0,0
$GC,6990,1.37,226.3,279.7,11.4,278,6994,0.00,2.58,0.00,0.000,6,0.000,0.034,3478,2001,2081,0,0,0,0,0,0
$GC,7334,1.39,240.7,246.3,9.0,287,7353,0.00,2.80,13.25,0.703,4,0.000,0.068,3478,420,2027,0,0,0,0,0,0
$GC,7493,1.40,251.0,230.3,9.3,290,7509,0.00,2.50,10.45,0.668,6,0.000,0.018,3478,2020,1986,0,0,0,0,0,0
$GC,7836,1.46,255.2,199.1,9.7,299,7848,0.00,2.75,4.95,0.529,4,0.000,0.058,3478,411,1968,0,0,0,0,0,0
$GC,7883,1.46,255.2,193.6,11.5,303,7887,0.00,2.50,0.00,0.000,6,0.000,0.019,3478,2000,1968,0,0,0,0,0,0
$GC,8208,1.54,276.1,162.6,8.6,333,8236,0.15,2.80,19.83,0.648,4,0.077,0.058,3517,411,1883,0,0,0,0,0,0
$GC,8303,1.49,276.1,152.0,11.2,341,8307,0.00,2.47,0.00,0.000,6,0.000,0.024,3517,1991,1881,0,0,0,0,0,0
$GC,8631,1.49,276.1,119.5,10.2,371,8635,0.00,0.00,0.00,0.000,6,0.000,0.000,3517,1992,1880,0,0,0,0,0,0
$GC,8959,1.57,295.9,87.9,8.7,402,8983,0.00,2.70,17.88,0.573,4,0.000,0.049,3517,411,1802,0,0,0,0,0,0
$GC,9001,1.59,312.4,84.4,8.9,405,9025,0.00,2.47,15.73,0.558,6,0.000,0.018,3517,1989,1735,0,0,0,0,0,0
$GC,9346,1.68,332.5,54.4,8.7,437,9367,0.10,0.00,18.40,0.538,6,0.088,0.000,3546,1989,1654,0,0,0,0,0,0
$GC,9714,1.68,332.5,14.2,11.2,479,9723,0.00,2.67,0.00,0.000,4,0.000,0.055,3546,412,1651,0,0,0,0,0,0
$STATE,9792,end climb,SURFACE_DEPTH_REACHED
$STATE,9792,begin surface coast
$FINISH,0.7,0.979852
$STATE,9821,end surface coast,CONTROL_FINISHED_OK
$STATE,9821,begin surface
$SM_CCo,9847,39.45,0.508,0,0,1459,380.21
$SM_GC,1.37,0.00,0.00,39.45,0.000,0.000,0.508,477,2033,1459,-12.42,0.65,380.21
$IRIDIUM_FIX,2241.69,-15802.37,270900,171707
$TT8_MAMPS,0.026078
$HUMID,64.21
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.20
$XPDR_PINGS,49
$24V_AH,23.5,55.844
$10V_AH,10.2,49.907
$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,29.200,103.675,380.250,39.450,0.000,25.226,33.690,168.530,12.250,0.000,13.937,965.288,6496.674,459.131,1823.512,504.154,33.368,1124.580,0.000,1836.530,0.000,0.533,0.000
$DEVICE_MAMPS,155.701,164.905,905.060,507.754,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.051,290.785,381.855,723.605,1094.552,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355412
$DATA_FILE_SIZE,38372,494
$CAP_FILE_SIZE,93629,0
$CFSIZE,260165632,158605312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040711,231528,2250.367,-15759.134,11,99.0,30,10.1