version: 66.06
glider: 146
mission: 6
dive: 461
start: 7 6 111 4 51 0
data:
$ID,146
$MISSION,6
$DIVE,461
$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,-279247.06
$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,23
$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
$GPS1,044206,2247.695,-15758.068,37,1.3,37,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-65.0
$GPS2,045008,2247.769,-15758.109,12,1.3,12,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.108,-0.187
$KALMAN_X,-361282.2,-213.0,23.2,359231.5,-822.5
$KALMAN_Y,118867.3,-52.2,-329.4,-111327.9,1168.1
$MHEAD_RNG_PITCHd_Wd,139.8,1520,-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,-97.3,0.0,0.0,0,127,0.00,0.00,-109.20,0.000,2,0.000,0.000,471,1999,3285,0,0,0,0,0,0
$GC,130,-1.48,-97.3,3.6,-5.5,14,156,12.55,2.65,-2.28,0.000,4,0.155,0.054,2842,417,3410,0,0,0,0,0,0
$GC,220,-1.35,-97.3,26.3,-18.3,26,229,0.12,2.47,0.00,0.000,6,0.233,0.015,2872,2023,3412,0,0,0,0,0,0
$GC,554,-1.31,-97.3,74.0,-14.2,58,558,0.00,2.42,0.00,0.000,4,0.000,0.027,2872,3553,3412,0,0,0,0,0,0
$GC,576,-1.31,-97.3,77.4,-14.0,59,580,0.00,2.47,0.00,0.000,6,0.000,0.025,2872,1986,3412,0,0,0,0,0,0
$GC,903,-1.31,-97.3,122.5,-13.6,89,908,0.00,2.47,0.00,0.000,4,0.000,0.026,2872,3559,3412,0,0,0,0,0,0
$GC,935,-1.31,-97.3,127.0,-13.6,91,940,0.00,2.42,0.00,0.000,6,0.000,0.022,2872,2012,3412,0,0,0,0,0,0
$GC,1263,-1.31,-97.3,170.9,-12.7,121,1267,0.00,2.42,0.00,0.000,4,0.000,0.029,2872,3557,3412,0,0,0,0,0,0
$GC,1306,-1.40,-97.3,175.8,-11.6,124,1310,0.00,2.40,0.00,0.000,6,0.000,0.022,2872,2014,3412,0,0,0,0,0,0
$GC,1643,-1.49,-97.3,207.5,-8.8,149,1644,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2014,3413,0,0,0,0,0,0
$GC,1963,-1.58,-97.3,238.0,-9.6,157,1968,0.17,2.45,0.00,0.000,4,0.058,0.036,2813,3552,3414,0,0,0,0,0,0
$GC,1980,-1.64,-97.3,239.8,-9.5,157,1984,0.00,2.40,0.00,0.000,6,0.000,0.024,2813,2022,3414,0,0,0,0,0,0
$GC,2323,-1.64,-97.3,277.9,-11.2,166,2327,0.00,2.45,0.00,0.000,4,0.000,0.031,2813,3549,3414,0,0,0,0,0,0
$GC,2346,-1.64,-97.3,280.3,-10.1,166,2350,0.00,2.40,0.00,0.000,6,0.000,0.028,2813,2037,3414,0,0,0,0,0,0
$GC,2682,-1.64,-97.3,309.8,-9.0,175,2686,0.00,2.42,0.00,0.000,4,0.000,0.038,2813,3547,3414,0,0,0,0,0,0
$GC,2725,-1.70,-97.3,313.4,-9.5,176,2729,0.00,2.42,0.00,0.000,6,0.000,0.033,2813,2036,3414,0,0,0,0,0,0
$GC,3048,-1.70,-97.3,345.5,-10.2,184,3053,0.00,2.45,0.00,0.000,4,0.000,0.040,2813,3544,3412,0,0,0,0,0,0
$GC,3156,-1.77,-97.3,356.3,-10.1,186,3161,0.10,2.45,0.00,0.000,6,0.079,0.038,2768,2056,3412,0,0,0,0,0,0
$GC,3499,-1.72,-97.3,396.4,-12.0,195,3504,0.15,2.95,0.00,0.000,4,0.107,0.091,2800,420,3410,0,0,0,0,0,0
$GC,3571,-1.72,-97.3,404.7,-10.3,196,3576,0.00,2.53,0.00,0.000,6,0.000,0.029,2800,2003,3410,0,0,0,0,0,0
$GC,3904,-1.72,-97.3,434.2,-8.5,204,3905,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2003,3407,0,0,0,0,0,0
$GC,4228,-1.72,-97.3,463.8,-9.3,212,4229,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2003,3404,0,0,0,0,0,0
$GC,4553,-1.77,-97.3,495.5,-10.2,220,4554,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2003,3402,0,0,0,0,0,0
$STATE,4631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4631,begin apogee
$GC,4638,-0.31,0.0,504.4,10.9,222,4723,1.38,0.00,80.70,0.907,6,0.086,0.000,3106,2003,3010,0,0,0,0,0,0
$STATE,4723,end apogee,CONTROL_FINISHED_OK
$STATE,4724,begin climb
$GC,4726,1.48,97.3,507.7,0.0,224,4814,1.65,0.00,83.40,0.888,6,0.037,0.000,3506,2003,2613,0,0,0,0,0,0
$GC,5159,1.40,143.0,488.9,6.9,235,5205,0.12,3.00,39.58,0.871,4,0.129,0.088,3482,414,2426,0,0,0,0,0,0
$GC,5256,1.26,143.0,478.8,12.4,237,5261,0.15,2.62,0.00,0.000,6,0.127,0.031,3453,2003,2422,0,0,0,0,0,0
$GC,5605,1.26,143.0,443.1,10.3,246,5606,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2002,2416,0,0,0,0,0,0
$GC,5929,1.29,167.2,414.4,8.4,254,5957,0.00,2.83,21.12,0.831,4,0.000,0.071,3453,410,2326,0,0,0,0,0,0
$GC,6024,1.26,183.1,406.6,8.9,256,6044,0.00,2.58,15.25,0.802,6,0.000,0.022,3453,2001,2262,0,0,0,0,0,0
$GC,6383,1.32,230.9,381.1,6.7,265,6432,0.00,2.88,42.33,0.829,4,0.000,0.065,3453,409,2067,0,0,0,0,0,0
$GC,6450,1.32,230.9,374.9,10.4,266,6454,0.00,2.58,0.00,0.000,6,0.000,0.026,3453,1996,2065,0,0,0,0,0,0
$GC,6789,1.36,230.9,338.7,11.0,275,6790,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1997,2059,0,0,0,0,0,0
$GC,7112,1.41,230.9,304.4,10.4,283,7117,0.12,2.60,0.00,0.000,4,0.080,0.043,3487,3585,2057,0,0,0,0,0,0
$GC,7207,1.41,230.9,293.1,12.4,285,7211,0.00,2.60,0.00,0.000,6,0.000,0.036,3487,1993,2055,0,0,0,0,0,0
$GC,7521,1.42,241.2,261.5,9.3,293,7535,0.00,2.78,7.97,0.665,4,0.000,0.068,3487,417,2026,0,0,0,0,0,0
$GC,7552,1.42,241.2,258.0,10.3,293,7557,0.00,2.55,0.00,0.000,6,0.000,0.025,3487,2022,2025,0,0,0,0,0,0
$GC,7885,1.42,241.2,223.5,10.1,301,7889,0.00,2.75,0.00,0.000,4,0.000,0.054,3487,406,2024,0,0,0,0,0,0
$GC,7951,1.44,253.6,217.1,9.2,302,7970,0.00,2.47,12.43,0.676,6,0.000,0.019,3487,1991,1974,0,0,0,0,0,0
$GC,8297,1.51,263.8,188.1,9.3,319,8312,0.00,2.60,9.90,0.630,4,0.000,0.038,3487,3555,1933,0,0,0,0,0,0
$GC,8370,1.61,263.8,180.6,10.3,325,8375,0.15,2.55,0.00,0.000,6,0.074,0.031,3526,1993,1931,0,0,0,0,0,0
$GC,8700,1.61,263.8,145.5,10.2,355,8704,0.00,2.65,0.00,0.000,4,0.000,0.054,3526,413,1930,0,0,0,0,0,0
$GC,8735,1.61,263.8,141.4,10.2,357,8741,0.00,2.47,0.00,0.000,6,0.000,0.025,3526,2004,1929,0,0,0,0,0,0
$GC,9062,1.66,304.9,114.1,7.2,388,9099,0.00,0.00,35.45,0.605,6,0.000,0.000,3526,2005,1767,0,0,0,0,0,0
$GC,9418,1.74,328.3,83.5,8.4,421,9444,0.12,0.00,21.00,0.561,6,0.076,0.000,3562,2006,1669,0,0,0,0,0,0
$GC,9768,1.74,328.3,45.7,11.8,454,9773,0.00,2.67,0.00,0.000,4,0.000,0.049,3563,410,1667,0,0,0,0,0,0
$GC,9839,1.69,328.3,35.7,14.8,459,9844,0.00,2.42,0.00,0.000,6,0.000,0.017,3562,1992,1665,0,0,0,0,0,0
$STATE,10108,end climb,SURFACE_DEPTH_REACHED
$STATE,10108,begin surface coast
$FINISH,0.6,0.976443
$STATE,10150,end surface coast,CONTROL_FINISHED_OK
$STATE,10151,begin surface
$SM_CCo,10173,41.10,0.502,0,0,1460,380.21
$SM_GC,1.38,0.00,0.00,41.10,0.000,0.000,0.502,476,1994,1460,-12.42,-0.45,380.21
$IRIDIUM_FIX,2241.69,-15757.16,290900,010126
$TT8_MAMPS,0.026078
$HUMID,63.86
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,21.80
$XPDR_PINGS,38
$24V_AH,23.5,57.097
$10V_AH,10.2,51.145
$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,29.425,92.275,369.125,41.100,0.000,29.041,37.140,278.962,9.500,0.000,14.104,973.492,6836.927,463.398,1814.328,610.289,33.367,1132.876,0.000,1820.206,0.000,0.535,0.000
$DEVICE_MAMPS,233.168,91.273,906.594,501.618,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.146,286.082,380.488,711.754,1076.469,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355456
$DATA_FILE_SIZE,38475,501
$CAP_FILE_SIZE,94340,0
$CFSIZE,260165632,158035968
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060711,074208,2247.408,-15758.157,11,1.9,11,10.1