version: 66.06
glider: 146
mission: 6
dive: 476
start: 7 8 111 3 2 56
data:
$ID,146
$MISSION,6
$DIVE,476
$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,-279627.06
$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,22
$R_STBD_OVSHOOT,61
$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
$GPS1,024131,2250.455,-15801.922,59,1.1,59,10.1
$_CALLS,4
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-68.7
$GPS2,030202,2250.421,-15802.194,16,1.9,16,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.214,-0.028
$KALMAN_X,-381537.2,-337.8,-69.1,372724.9,-878.8
$KALMAN_Y,139844.2,355.5,302.1,-128432.8,165.5
$MHEAD_RNG_PITCHd_Wd,87.3,8901,-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,15,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-70.32,0.000,2,0.000,0.000,479,1967,3286,0,0,0,0,0,0
$GC,91,-1.48,-97.3,4.2,-8.6,9,109,12.05,0.00,-2.17,0.000,6,0.139,0.000,2843,1967,3409,0,0,0,0,0,0
$GC,450,-1.39,-97.3,70.3,-15.9,48,455,0.12,2.55,0.00,0.000,4,0.136,0.034,2867,3569,3412,0,0,0,0,0,0
$GC,528,-1.39,-97.3,81.8,-12.7,54,533,0.00,2.45,0.00,0.000,6,0.000,0.021,2867,1996,3412,0,0,0,0,0,0
$GC,852,-1.39,-97.3,117.1,-10.3,84,853,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1996,3412,0,0,0,0,0,0
$GC,1175,-1.44,-97.3,151.3,-10.7,114,1184,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1995,3413,0,0,0,0,0,0
$GC,1506,-1.51,-97.3,185.1,-9.8,145,1510,0.00,2.47,0.00,0.000,4,0.000,0.026,2867,3566,3414,0,0,0,0,0,0
$GC,1575,-1.64,-97.3,192.1,-8.9,150,1585,0.17,2.47,0.00,0.000,6,0.030,0.028,2799,2007,3414,0,0,0,0,0,0
$GC,1899,-1.59,-97.3,227.2,-10.8,164,1904,0.12,2.62,0.00,0.000,4,0.111,0.060,2825,431,3414,0,0,0,0,0,0
$GC,1916,-1.55,-97.3,229.1,-11.2,164,1920,0.00,2.42,0.00,0.000,6,0.000,0.016,2826,2023,3414,0,0,0,0,0,0
$GC,2259,-1.55,-97.3,266.2,-10.8,173,2263,0.00,2.42,0.00,0.000,4,0.000,0.033,2825,3558,3414,0,0,0,0,0,0
$GC,2308,-1.61,-97.3,272.0,-11.1,174,2313,0.00,2.45,0.00,0.000,6,0.000,0.031,2826,2012,3414,0,0,0,0,0,0
$GC,2624,-1.65,-97.3,303.0,-9.6,182,2628,0.00,2.50,0.00,0.000,4,0.000,0.038,2826,3558,3413,0,0,0,0,0,0
$GC,2691,-1.75,-97.3,309.4,-9.2,183,2696,0.15,2.45,0.00,0.000,6,0.064,0.035,2774,2022,3413,0,0,0,0,0,0
$GC,3028,-1.75,-97.3,343.3,-10.0,192,3029,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2022,3412,0,0,0,0,0,0
$GC,3354,-1.75,-97.3,376.3,-10.4,200,3358,0.00,2.55,0.00,0.000,4,0.000,0.047,2774,3558,3411,0,0,0,0,0,0
$GC,3483,-1.75,-97.3,390.1,-10.7,203,3487,0.00,2.55,0.00,0.000,6,0.000,0.051,2774,2029,3411,0,0,0,0,0,0
$GC,3808,-1.75,-97.3,426.3,-11.7,211,3812,0.00,2.53,0.00,0.000,4,0.000,0.048,2774,3552,3407,0,0,0,0,0,0
$GC,3851,-1.75,-97.3,431.6,-11.4,212,3855,0.00,2.58,0.00,0.000,6,0.000,0.054,2774,2020,3407,0,0,0,0,0,0
$GC,4175,-1.75,-97.3,469.8,-12.3,220,4180,0.00,2.92,0.00,0.000,4,0.000,0.107,2774,420,3405,0,0,0,0,0,0
$GC,4197,-1.71,-97.3,472.7,-13.4,220,4202,0.12,2.55,0.00,0.000,6,0.121,0.040,2799,1982,3404,0,0,0,0,0,0
$STATE,4450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4450,begin apogee
$GC,4457,-0.31,0.0,502.6,11.5,227,4542,1.38,0.00,80.85,0.904,6,0.085,0.000,3106,1982,3010,0,0,0,0,0,0
$STATE,4542,end apogee,CONTROL_FINISHED_OK
$STATE,4542,begin climb
$GC,4545,1.48,97.3,505.7,0.0,229,4639,1.62,2.90,82.72,0.884,4,0.043,0.085,3506,412,2612,0,0,0,0,0,0
$GC,4651,1.42,196.7,506.6,3.2,231,4749,0.10,2.62,86.25,0.872,6,0.140,0.033,3487,2001,2207,0,0,0,0,0,0
$GC,5074,1.36,196.7,459.1,12.5,242,5078,0.00,2.83,0.00,0.000,4,0.000,0.077,3487,410,2198,0,0,0,0,0,0
$GC,5123,1.25,196.7,451.8,14.5,243,5128,0.20,2.58,0.00,0.000,6,0.117,0.028,3448,1991,2196,0,0,0,0,0,0
$GC,5438,1.25,196.7,417.9,10.5,251,5442,0.00,2.80,0.00,0.000,4,0.000,0.075,3447,401,2194,0,0,0,0,0,0
$GC,5521,1.25,196.7,408.5,11.2,253,5526,0.00,2.58,0.00,0.000,6,0.000,0.025,3447,1995,2192,0,0,0,0,0,0
$GC,5845,1.25,197.3,376.5,10.0,261,5850,0.00,2.62,0.00,0.000,4,0.000,0.049,3447,3578,2190,0,0,0,0,0,0
$GC,5887,1.25,200.2,372.5,9.8,262,5891,0.00,2.62,0.00,0.000,6,0.000,0.035,3447,1977,2190,0,0,0,0,0,0
$GC,6211,1.31,217.0,342.1,8.9,270,6232,0.00,2.65,15.70,0.776,4,0.000,0.037,3447,3577,2126,0,0,0,0,0,0
$GC,6303,1.36,218.4,333.9,9.9,272,6308,0.10,2.60,0.00,0.000,6,0.098,0.031,3473,1988,2124,0,0,0,0,0,0
$GC,6622,1.37,222.0,303.1,9.8,280,6633,0.00,2.75,5.88,0.636,4,0.000,0.071,3472,407,2103,0,0,0,0,0,0
$GC,6742,1.37,222.0,289.6,11.4,282,6747,0.00,2.53,0.00,0.000,6,0.000,0.018,3473,2004,2102,0,0,0,0,0,0
$GC,7074,1.45,249.1,259.7,8.2,290,7104,0.00,2.58,24.95,0.742,4,0.000,0.035,3473,3554,1993,0,0,0,0,0,0
$GC,7218,1.51,249.1,245.3,11.1,293,7223,0.12,2.55,0.00,0.000,6,0.080,0.035,3506,1987,1989,0,0,0,0,0,0
$GC,7566,1.54,274.0,212.3,8.3,302,7595,0.00,2.78,22.45,0.693,4,0.000,0.066,3507,422,1891,0,0,0,0,0,0
$GC,7694,1.54,274.0,199.7,10.8,304,7700,0.00,2.47,0.00,0.000,6,0.000,0.018,3506,1998,1888,0,0,0,0,0,0
$GC,8019,1.59,274.0,166.6,10.5,335,8023,0.00,2.53,0.00,0.000,4,0.000,0.038,3506,3555,1887,0,0,0,0,0,0
$GC,8054,1.64,274.0,163.5,10.6,337,8059,0.10,2.53,0.00,0.000,6,0.090,0.034,3534,1993,1885,0,0,0,0,0,0
$GC,8382,1.64,274.0,125.5,11.7,367,8387,0.00,2.65,0.00,0.000,4,0.000,0.061,3534,418,1885,0,0,0,0,0,0
$GC,8448,1.60,274.0,117.3,12.1,372,8452,0.00,2.45,0.00,0.000,6,0.000,0.021,3534,2000,1884,0,0,0,0,0,0
$GC,8773,1.69,319.0,86.9,6.9,402,8820,0.00,2.72,38.40,0.581,4,0.000,0.053,3534,425,1707,0,0,0,0,0,0
$GC,8862,1.70,323.8,79.8,9.7,409,8877,0.00,2.45,5.15,0.437,6,0.000,0.020,3534,2000,1690,0,0,0,0,0,0
$GC,9197,1.74,323.8,49.0,10.8,440,9202,0.00,2.65,0.00,0.000,4,0.000,0.047,3534,416,1689,0,0,0,0,0,0
$GC,9306,1.74,323.8,36.5,10.9,448,9311,0.00,2.42,0.00,0.000,6,0.000,0.018,3534,1995,1687,0,0,0,0,0,0
$STATE,9615,end climb,SURFACE_DEPTH_REACHED
$STATE,9615,begin surface coast
$FINISH,0.7,0.978366
$STATE,9657,end surface coast,CONTROL_FINISHED_OK
$STATE,9658,begin surface
$SM_CCo,9681,45.85,0.504,0,0,1460,380.21
$SM_GC,1.20,0.00,0.00,45.85,0.000,0.000,0.504,475,1997,1460,-12.42,-0.40,380.21
$IRIDIUM_FIX,2241.69,-15804.53,011000,030309
$TT8_MAMPS,0.026078
$HUMID,63.74
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,21.30
$XPDR_PINGS,45
$24V_AH,23.5,59.068
$10V_AH,10.1,52.899
$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,28.750,103.350,362.350,45.850,0.000,102.291,139.410,642.133,11.250,0.000,20.885,992.073,6379.074,442.153,1960.760,1185.321,33.372,1152.495,0.000,1957.420,0.000,0.536,0.000
$DEVICE_MAMPS,139.594,107.380,904.293,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,335.843,288.568,385.656,733.343,1104.448,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,38412,495
$CAP_FILE_SIZE,108897,0
$CFSIZE,260165632,157241344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080711,054620,2250.278,-15801.451,36,1.6,36,10.1