version: 66.06
glider: 146
mission: 6
dive: 455
start: 7 5 111 11 4 54
data:
$ID,146
$MISSION,6
$DIVE,455
$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,-279119.16
$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,71
$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
$GPS1,105746,2250.313,-15757.656,14,2.2,33,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.8
$GPS2,110404,2250.371,-15757.653,9,2.2,28,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.038,-0.212
$KALMAN_X,-355357.7,51.1,-147.2,353992.9,-428.6
$KALMAN_Y,110838.0,377.7,514.3,-99755.8,891.8
$MHEAD_RNG_PITCHd_Wd,159.7,6249,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.48,-97.3,0.0,0.0,0,89,0.00,0.00,-70.97,0.000,2,0.000,0.000,476,2029,3230,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.2,-4.9,9,118,12.70,2.67,-3.38,0.000,4,0.161,0.051,2844,428,3408,0,0,0,0,0,0
$GC,236,-1.37,-97.3,35.4,-17.4,27,246,0.10,2.42,0.00,0.000,6,0.106,0.015,2868,2008,3410,0,0,0,0,0,0
$GC,562,-1.33,-97.3,84.1,-14.3,58,566,0.00,2.45,0.00,0.000,4,0.000,0.034,2869,3553,3411,0,0,0,0,0,0
$GC,615,-1.38,-97.3,92.3,-14.3,62,620,0.00,2.42,0.00,0.000,6,0.000,0.029,2868,2008,3411,0,0,0,0,0,0
$GC,940,-1.43,-97.3,131.3,-11.0,92,941,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2008,3412,0,0,0,0,0,0
$GC,1263,-1.49,-97.3,163.4,-9.0,122,1267,0.00,2.47,0.00,0.000,4,0.000,0.027,2868,3559,3413,0,0,0,0,0,0
$GC,1319,-1.60,-97.3,168.7,-8.3,126,1328,0.15,2.42,0.00,0.000,6,0.027,0.022,2803,2032,3413,0,0,0,0,0,0
$GC,1673,-1.60,-97.3,210.9,-12.4,154,1678,0.10,2.42,0.00,0.000,4,0.122,0.028,2824,3558,3414,0,0,0,0,0,0
$GC,1706,-1.60,-97.3,215.3,-12.3,154,1712,0.00,2.40,0.00,0.000,6,0.000,0.020,2824,2026,3414,0,0,0,0,0,0
$GC,2039,-1.60,-97.3,251.1,-10.4,163,2040,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2026,3414,0,0,0,0,0,0
$GC,2363,-1.60,-97.3,280.9,-8.8,171,2367,0.00,2.45,0.00,0.000,4,0.000,0.038,2824,3560,3414,0,0,0,0,0,0
$GC,2452,-1.66,-97.3,289.6,-10.0,173,2456,0.00,2.38,0.00,0.000,6,0.000,0.027,2824,2053,3414,0,0,0,0,0,0
$GC,2772,-1.71,-97.3,319.4,-9.3,181,2776,0.00,2.42,0.00,0.000,4,0.000,0.036,2824,3550,3414,0,0,0,0,0,0
$GC,2800,-1.77,-97.3,322.2,-9.6,181,2805,0.15,2.40,0.00,0.000,6,0.061,0.036,2770,2050,3414,0,0,0,0,0,0
$GC,3133,-1.73,-97.3,359.8,-11.4,189,3138,0.12,2.85,0.00,0.000,4,0.111,0.085,2796,429,3413,0,0,0,0,0,0
$GC,3166,-1.73,-97.3,363.9,-11.2,189,3172,0.00,2.50,0.00,0.000,6,0.000,0.030,2796,2012,3413,0,0,0,0,0,0
$GC,3497,-1.73,-97.3,396.6,-10.1,198,3501,0.00,2.62,0.00,0.000,4,0.000,0.055,2796,3584,3412,0,0,0,0,0,0
$GC,3519,-1.73,-97.3,399.1,-11.3,198,3524,0.00,2.53,0.00,0.000,6,0.000,0.042,2796,2050,3412,0,0,0,0,0,0
$GC,3855,-1.73,-97.3,434.2,-10.5,207,3860,0.00,2.55,0.00,0.000,4,0.000,0.050,2796,3588,3409,0,0,0,0,0,0
$GC,3895,-1.78,-97.3,438.2,-10.5,208,3900,0.00,2.60,0.00,0.000,6,0.000,0.051,2796,2042,3409,0,0,0,0,0,0
$GC,4221,-1.78,-97.3,473.0,-10.8,216,4225,0.00,2.60,0.00,0.000,4,0.000,0.053,2796,3585,3407,0,0,0,0,0,0
$GC,4253,-1.82,-97.3,476.8,-11.3,216,4259,0.00,2.58,0.00,0.000,6,0.000,0.059,2796,2054,3406,0,0,0,0,0,0
$STATE,4501,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4501,begin apogee
$GC,4507,-0.31,0.0,502.5,10.2,223,4592,1.38,0.00,81.50,0.907,6,0.080,0.000,3106,1988,3009,0,0,0,0,0,0
$STATE,4593,end apogee,CONTROL_FINISHED_OK
$STATE,4593,begin climb
$GC,4597,1.48,97.3,504.4,0.0,225,4688,1.65,2.78,82.82,0.887,4,0.041,0.058,3507,3571,2611,0,0,0,0,0,0
$GC,4702,1.46,201.0,504.5,2.9,228,4802,0.00,2.70,89.75,0.878,6,0.000,0.049,3506,1991,2190,0,0,0,0,0,0
$GC,5111,1.37,201.0,454.3,13.2,238,5113,0.15,0.00,0.00,0.000,6,0.125,0.000,3475,1991,2180,0,0,0,0,0,0
$GC,5434,1.37,201.0,415.9,11.6,246,5439,0.00,2.85,0.00,0.000,4,0.000,0.094,3475,406,2177,0,0,0,0,0,0
$GC,5479,1.28,201.0,410.5,12.3,247,5484,0.10,2.55,0.00,0.000,6,0.142,0.029,3456,1998,2176,0,0,0,0,0,0
$GC,5797,1.28,201.0,375.7,10.8,255,5802,0.00,2.60,0.00,0.000,4,0.000,0.041,3455,3574,2175,0,0,0,0,0,0
$GC,5831,1.28,201.0,371.9,11.6,255,5837,0.00,2.62,0.00,0.000,6,0.000,0.037,3456,1990,2173,0,0,0,0,0,0
$GC,6162,1.29,208.7,338.3,9.5,264,6173,0.00,2.78,4.88,0.601,4,0.000,0.075,3455,406,2159,0,0,0,0,0,0
$GC,6262,1.30,221.4,329.3,9.2,266,6282,0.00,2.55,13.20,0.766,6,0.000,0.024,3455,2010,2107,0,0,0,0,0,0
$GC,6616,1.37,237.8,300.4,8.9,275,6637,0.00,2.80,15.62,0.754,4,0.000,0.058,3455,401,2039,0,0,0,0,0,0
$GC,6681,1.37,237.8,292.9,11.5,276,6686,0.00,2.53,0.00,0.000,6,0.000,0.025,3455,1994,2038,0,0,0,0,0,0
$GC,7020,1.47,261.0,263.1,8.4,285,7050,0.17,2.67,21.67,0.737,4,0.070,0.042,3501,3567,1945,0,0,0,0,0,0
$GC,7134,1.47,261.0,250.9,11.0,287,7138,0.00,2.58,0.00,0.000,6,0.000,0.032,3501,1987,1941,0,0,0,0,0,0
$GC,7472,1.47,261.0,216.9,10.3,296,7476,0.00,2.67,0.00,0.000,4,0.000,0.061,3500,414,1940,0,0,0,0,0,0
$GC,7511,1.47,261.0,212.2,12.3,297,7515,0.00,2.50,0.00,0.000,6,0.000,0.021,3500,2006,1938,0,0,0,0,0,0
$GC,7838,1.49,279.1,180.0,8.8,319,7860,0.00,2.72,16.00,0.657,4,0.000,0.052,3500,413,1872,0,0,0,0,0,0
$GC,7945,1.49,279.1,169.2,11.0,328,7949,0.00,2.45,0.00,0.000,6,0.000,0.019,3501,1988,1870,0,0,0,0,0,0
$GC,8270,1.53,279.1,137.0,10.2,358,8271,0.00,0.00,0.00,0.000,6,0.000,0.000,3500,1990,1870,0,0,0,0,0,0
$GC,8590,1.62,296.1,107.1,8.9,388,8609,0.12,0.00,16.12,0.584,6,0.080,0.000,3534,1990,1801,0,0,0,0,0,0
$GC,8931,1.65,317.4,73.0,8.6,420,8959,0.00,2.72,18.98,0.560,4,0.000,0.050,3534,412,1716,0,0,0,0,0,0
$GC,9027,1.65,317.4,63.4,10.1,427,9036,0.00,2.47,0.00,0.000,6,0.000,0.017,3534,1988,1715,0,0,0,0,0,0
$GC,9355,1.69,326.4,33.8,9.4,458,9370,0.00,2.67,9.75,0.489,4,0.000,0.048,3534,407,1677,0,0,0,0,0,0
$GC,9446,1.69,326.4,23.7,11.9,468,9456,0.00,2.47,0.00,0.000,6,0.000,0.017,3534,1988,1676,0,0,0,0,0,0
$STATE,9629,end climb,SURFACE_DEPTH_REACHED
$STATE,9630,begin surface coast
$FINISH,0.5,0.970933
$STATE,9679,end surface coast,CONTROL_FINISHED_OK
$STATE,9679,begin surface
$SM_CCo,9701,43.53,0.506,0,0,1459,380.21
$SM_GC,1.43,0.00,0.00,43.53,0.000,0.000,0.506,478,1991,1459,-12.41,-0.54,380.21
$IRIDIUM_FIX,2244.02,-15756.28,280900,080819
$TT8_MAMPS,0.026078
$HUMID,64.76
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.20
$XPDR_PINGS,39
$24V_AH,23.5,56.378
$10V_AH,10.2,50.473
$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,29.300,103.000,370.300,43.525,0.000,31.104,42.989,148.401,9.750,0.000,31.302,975.213,6272.632,453.942,1926.222,492.362,33.369,1137.507,0.000,1914.660,0.000,0.534,0.000
$DEVICE_MAMPS,161.070,130.390,906.594,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.072,278.320,390.845,749.977,1134.407,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355404
$DATA_FILE_SIZE,38491,501
$CAP_FILE_SIZE,94231,0
$CFSIZE,260165632,158339072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050711,134834,2249.672,-15757.804,13,2.7,32,10.1