version: 66.06
glider: 146
mission: 6
dive: 467
start: 7 6 111 23 15 36
data:
$ID,146
$MISSION,6
$DIVE,467
$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,-279388.62
$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,27
$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
$GPS1,225707,2247.926,-15803.086,26,1.2,26,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-64.8
$GPS2,231444,2248.132,-15803.208,10,1.6,10,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.088,-0.197
$KALMAN_X,-368798.5,-120.3,-206.1,358174.6,-775.4
$KALMAN_Y,129307.1,199.6,233.7,-121910.1,1340.9
$MHEAD_RNG_PITCHd_Wd,145.7,2127,-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,-97.3,0.0,0.0,0,128,0.00,0.00,-108.35,0.000,2,0.000,0.000,473,1983,3266,0,0,0,0,0,0
$GC,133,-1.48,-97.3,3.4,-5.4,14,159,12.38,2.62,-2.62,0.000,4,0.150,0.061,2841,428,3409,0,0,0,0,0,0
$GC,210,-1.36,-97.3,23.5,-18.0,24,218,0.12,2.45,0.00,0.000,6,0.108,0.015,2871,2022,3410,0,0,0,0,0,0
$GC,553,-1.36,-97.3,70.5,-13.3,58,557,0.00,2.40,0.00,0.000,4,0.000,0.033,2870,3551,3410,0,0,0,0,0,0
$GC,574,-1.36,-97.3,73.7,-13.7,59,578,0.00,2.42,0.00,0.000,6,0.000,0.021,2870,2000,3410,0,0,0,0,0,0
$GC,904,-1.40,-97.3,115.3,-11.6,89,909,0.00,2.58,0.00,0.000,4,0.000,0.054,2871,438,3410,0,0,0,0,0,0
$GC,915,-1.40,-97.3,117.2,-11.3,89,921,0.00,2.38,0.00,0.000,6,0.000,0.019,2871,2028,3410,0,0,0,0,0,0
$GC,1240,-1.46,-97.3,154.5,-10.6,120,1244,0.00,2.40,0.00,0.000,4,0.000,0.028,2871,3547,3410,0,0,0,0,0,0
$GC,1332,-1.57,-97.3,163.4,-9.2,127,1337,0.15,2.40,0.00,0.000,6,0.062,0.022,2816,2015,3410,0,0,0,0,0,0
$GC,1662,-1.57,-97.3,198.4,-10.0,157,1667,0.00,2.40,0.00,0.000,4,0.000,0.026,2816,3541,3410,0,0,0,0,0,0
$GC,1702,-1.57,-97.3,203.0,-9.9,159,1706,0.00,2.38,0.00,0.000,6,0.000,0.026,2816,2021,3410,0,0,0,0,0,0
$GC,2026,-1.57,-97.3,237.2,-10.6,167,2027,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,2021,3410,0,0,0,0,0,0
$GC,2353,-1.57,-97.3,270.7,-10.5,175,2357,0.00,2.45,0.00,0.000,4,0.000,0.031,2816,3542,3411,0,0,0,0,0,0
$GC,2402,-1.63,-97.3,276.3,-11.3,176,2406,0.00,2.40,0.00,0.000,6,0.000,0.025,2816,2034,3410,0,0,0,0,0,0
$GC,2721,-1.63,-97.3,308.4,-9.8,184,2726,0.00,2.75,0.00,0.000,4,0.000,0.072,2815,435,3409,0,0,0,0,0,0
$GC,2744,-1.63,-97.3,310.7,-10.0,184,2748,0.00,2.42,0.00,0.000,6,0.000,0.024,2815,1979,3410,0,0,0,0,0,0
$GC,3081,-1.68,-97.3,340.4,-8.3,193,3082,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1979,3408,0,0,0,0,0,0
$GC,3406,-1.72,-97.3,369.5,-9.1,201,3410,0.00,2.62,0.00,0.000,4,0.000,0.053,2815,3580,3406,0,0,0,0,0,0
$GC,3462,-1.79,-97.3,374.9,-10.1,202,3468,0.12,2.53,0.00,0.000,6,0.071,0.039,2770,2039,3405,0,0,0,0,0,0
$GC,3810,-1.79,-97.3,416.3,-12.4,211,3815,0.00,2.55,0.00,0.000,4,0.000,0.052,2770,3577,3402,0,0,0,0,0,0
$GC,3912,-1.79,-97.3,429.8,-13.2,213,3916,0.00,2.58,0.00,0.000,6,0.000,0.048,2770,2035,3401,0,0,0,0,0,0
$GC,4259,-1.79,-97.3,469.6,-11.0,222,4260,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2035,3398,0,0,0,0,0,0
$STATE,4541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4541,begin apogee
$GC,4547,-0.31,0.0,500.7,10.7,229,4631,1.50,0.00,79.43,0.904,6,0.085,0.000,3105,1993,3010,0,0,0,0,0,0
$STATE,4632,end apogee,CONTROL_FINISHED_OK
$STATE,4632,begin climb
$GC,4636,1.48,97.3,502.6,0.0,231,4729,1.62,3.03,83.00,0.884,4,0.037,0.106,3503,411,2612,0,0,0,0,0,0
$GC,4746,1.39,182.0,502.0,4.2,233,4831,0.12,2.60,73.82,0.868,6,0.133,0.035,3480,1975,2267,0,0,0,0,0,0
$GC,5168,1.33,182.0,454.1,11.6,244,5170,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,1975,2256,0,0,0,0,0,0
$GC,5493,1.29,182.0,418.2,10.8,252,5495,0.12,0.00,0.00,0.000,6,0.127,0.000,3456,1975,2253,0,0,0,0,0,0
$GC,5820,1.30,193.2,386.7,9.3,260,5834,0.00,2.72,8.05,0.723,4,0.000,0.048,3456,3577,2222,0,0,0,0,0,0
$GC,5879,1.32,205.8,380.6,9.2,261,5899,0.00,2.62,13.00,0.771,6,0.000,0.041,3456,1995,2170,0,0,0,0,0,0
$GC,6232,1.32,207.5,346.0,9.9,270,6237,0.00,2.65,0.00,0.000,4,0.000,0.035,3456,3587,2164,0,0,0,0,0,0
$GC,6260,1.32,207.5,342.8,11.3,270,6264,0.00,2.62,0.00,0.000,6,0.000,0.035,3456,1992,2163,0,0,0,0,0,0
$GC,6591,1.33,215.5,310.0,9.5,278,6605,0.00,2.78,8.80,0.703,4,0.000,0.072,3456,409,2131,0,0,0,0,0,0
$GC,6658,1.33,215.5,303.3,10.4,279,6663,0.00,2.55,0.00,0.000,6,0.000,0.025,3455,2016,2128,0,0,0,0,0,0
$GC,7000,1.41,241.5,273.4,8.2,288,7030,0.12,2.83,23.85,0.750,4,0.189,0.061,3488,403,2025,0,0,0,0,0,0
$GC,7091,1.37,241.5,264.5,11.1,290,7095,0.00,2.53,0.00,0.000,6,0.000,0.020,3488,1995,2021,0,0,0,0,0,0
$GC,7414,1.37,241.5,230.5,10.6,298,7418,0.00,2.55,0.00,0.000,4,0.000,0.040,3488,3559,2019,0,0,0,0,0,0
$GC,7455,1.37,241.5,226.3,10.8,299,7460,0.00,2.55,0.00,0.000,6,0.000,0.032,3488,1997,2018,0,0,0,0,0,0
$GC,7781,1.41,276.4,198.7,7.6,307,7819,0.00,2.83,30.62,0.695,4,0.000,0.066,3488,411,1882,0,0,0,0,0,0
$GC,7964,1.41,276.4,180.1,11.2,323,7969,0.00,2.50,0.00,0.000,6,0.000,0.024,3488,2002,1877,0,0,0,0,0,0
$GC,8292,1.48,276.4,147.0,10.1,353,8297,0.00,2.70,0.00,0.000,4,0.000,0.056,3488,405,1876,0,0,0,0,0,0
$GC,8324,1.48,276.4,143.6,11.2,355,8328,0.00,2.47,0.00,0.000,6,0.000,0.019,3488,1992,1875,0,0,0,0,0,0
$GC,8653,1.60,304.3,115.0,8.1,385,8683,0.15,2.72,23.85,0.606,4,0.071,0.051,3528,406,1768,0,0,0,0,0,0
$GC,8700,1.60,304.3,110.5,10.3,389,8705,0.00,2.47,0.00,0.000,6,0.000,0.025,3529,1976,1766,0,0,0,0,0,0
$GC,9029,1.69,332.7,80.0,8.1,419,9060,0.00,2.72,24.90,0.569,4,0.000,0.051,3529,410,1651,0,0,0,0,0,0
$GC,9122,1.69,332.7,71.1,10.6,426,9126,0.00,2.47,0.00,0.000,6,0.000,0.022,3529,1991,1649,0,0,0,0,0,0
$GC,9450,1.74,332.7,38.1,10.2,456,9455,0.10,2.65,0.00,0.000,4,0.094,0.048,3558,412,1648,0,0,0,0,0,0
$GC,9541,1.69,332.7,26.7,12.9,464,9550,0.00,2.42,0.00,0.000,6,0.000,0.018,3558,1964,1647,0,0,0,0,0,0
$STATE,9736,end climb,SURFACE_DEPTH_REACHED
$STATE,9736,begin surface coast
$FINISH,0.6,0.972903
$STATE,9784,end surface coast,CONTROL_FINISHED_OK
$STATE,9784,begin surface
$SM_CCo,9806,37.53,0.507,0,0,1460,380.21
$SM_GC,1.34,0.00,0.00,37.53,0.000,0.000,0.507,480,1965,1460,-12.40,-1.27,380.21
$IRIDIUM_FIX,2237.01,-15758.03,290900,232317
$TT8_MAMPS,0.026078
$HUMID,65.79
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,20.70
$XPDR_PINGS,45
$24V_AH,23.5,57.883
$10V_AH,10.1,51.842
$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,29.075,102.800,369.325,37.525,0.000,93.451,106.588,582.353,11.250,0.000,12.342,971.462,6542.862,440.769,1868.713,1077.069,33.371,1143.383,0.000,1875.894,0.000,0.536,0.000
$DEVICE_MAMPS,188.682,148.798,903.526,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,338.343,285.277,389.862,743.661,1124.779,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355852
$DATA_FILE_SIZE,38221,500
$CAP_FILE_SIZE,102846,0
$CFSIZE,260165632,157712384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070711,020124,2247.843,-15803.334,45,1.3,62,10.1