version: 66.06
glider: 146
mission: 6
dive: 484
start: 7 9 111 3 32 21
data:
$ID,146
$MISSION,6
$DIVE,484
$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,-280005.09
$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,26
$R_STBD_OVSHOOT,43
$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
$GPS1,031934,2250.831,-15759.965,14,99.0,33,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.2
$GPS2,033127,2250.834,-15800.101,78,2.0,78,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,-0.040
$KALMAN_X,-394022.7,-219.7,14.5,388585.0,-861.8
$KALMAN_Y,144869.0,728.3,508.1,-133274.4,37.9
$MHEAD_RNG_PITCHd_Wd,90.7,5514,-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,12,begin dive
$GC,15,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-70.57,0.000,2,0.000,0.000,474,2115,3236,0,0,0,0,0,0
$GC,91,-1.48,-97.3,3.5,-5.6,9,109,12.07,0.00,-3.28,0.000,6,0.140,0.000,2844,2115,3408,0,0,0,0,0,0
$GC,451,-1.41,-97.3,64.4,-14.4,49,461,0.12,0.00,0.00,0.000,6,0.133,0.000,2868,2115,3412,0,0,0,0,0,0
$GC,777,-1.41,-97.3,106.5,-11.5,80,781,0.00,2.33,0.00,0.000,4,0.000,0.032,2868,3587,3413,0,0,0,0,0,0
$GC,788,-1.41,-97.3,108.1,-11.5,80,797,0.00,2.53,0.00,0.000,6,0.000,0.021,2868,1990,3413,0,0,0,0,0,0
$GC,1117,-1.46,-97.3,143.9,-11.0,111,1122,0.00,2.58,0.00,0.000,4,0.000,0.054,2868,440,3413,0,0,0,0,0,0
$GC,1149,-1.46,-97.3,147.6,-12.0,113,1153,0.00,2.42,0.00,0.000,6,0.000,0.015,2868,2041,3413,0,0,0,0,0,0
$GC,1474,-1.53,-97.3,183.4,-11.1,143,1476,0.12,0.00,0.00,0.000,6,0.068,0.000,2822,2043,3414,0,0,0,0,0,0
$GC,1785,-1.53,-97.3,217.5,-10.1,161,1789,0.00,2.40,0.00,0.000,4,0.000,0.036,2822,3560,3414,0,0,0,0,0,0
$GC,1864,-1.59,-97.3,225.1,-9.3,162,1870,0.00,2.45,0.00,0.000,6,0.000,0.025,2822,2009,3414,0,0,0,0,0,0
$GC,2195,-1.59,-97.3,256.7,-10.1,171,2196,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2009,3414,0,0,0,0,0,0
$GC,2522,-1.63,-97.3,289.9,-9.6,179,2523,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2009,3414,0,0,0,0,0,0
$GC,2846,-1.68,-97.3,317.3,-8.1,187,2850,0.00,2.50,0.00,0.000,4,0.000,0.044,2822,3551,3414,0,0,0,0,0,0
$GC,2873,-1.74,-97.3,319.8,-8.8,187,2878,0.12,2.47,0.00,0.000,6,0.064,0.041,2768,2026,3414,0,0,0,0,0,0
$GC,3206,-1.69,-97.3,357.2,-12.0,195,3211,0.17,2.53,0.00,0.000,4,0.100,0.044,2805,3548,3413,0,0,0,0,0,0
$GC,3228,-1.69,-97.3,360.2,-11.9,195,3232,0.00,2.53,0.00,0.000,6,0.000,0.044,2805,2019,3413,0,0,0,0,0,0
$GC,3570,-1.69,-97.3,396.9,-10.3,204,3574,0.00,2.53,0.00,0.000,4,0.000,0.050,2805,3548,3411,0,0,0,0,0,0
$GC,3604,-1.74,-97.3,400.1,-10.0,204,3610,0.00,2.53,0.00,0.000,6,0.000,0.055,2805,2032,3411,0,0,0,0,0,0
$GC,3936,-1.78,-97.3,432.2,-9.4,213,3940,0.00,2.50,0.00,0.000,4,0.000,0.050,2805,3542,3408,0,0,0,0,0,0
$GC,4021,-1.85,-97.3,440.4,-9.5,215,4026,0.15,2.53,0.00,0.000,6,0.064,0.059,2759,2039,3408,0,0,0,0,0,0
$GC,4347,-1.81,-97.3,477.2,-12.0,223,4352,0.10,2.55,0.00,0.000,4,0.125,0.054,2779,3540,3405,0,0,0,0,0,0
$GC,4386,-1.81,-97.3,482.0,-11.4,224,4390,0.00,2.53,0.00,0.000,6,0.000,0.058,2780,2043,3405,0,0,0,0,0,0
$STATE,4585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4585,begin apogee
$GC,4593,-0.31,0.0,504.8,11.3,229,4679,1.45,0.00,81.57,0.910,6,0.085,0.000,3104,1988,3010,0,0,0,0,0,0
$STATE,4679,end apogee,CONTROL_FINISHED_OK
$STATE,4680,begin climb
$GC,4682,1.48,97.3,508.0,0.0,231,4770,1.62,0.00,83.50,0.891,6,0.045,0.000,3499,1988,2613,0,0,0,0,0,0
$GC,5092,1.42,152.8,492.2,6.2,241,5146,0.00,2.70,47.95,0.880,4,0.000,0.054,3499,3522,2385,0,0,0,0,0,0
$GC,5316,1.31,152.8,470.7,10.3,246,5321,0.17,2.58,0.00,0.000,6,0.121,0.054,3464,2013,2379,0,0,0,0,0,0
$GC,5636,1.33,164.4,441.4,9.2,254,5652,0.00,3.08,10.00,0.779,4,0.000,0.107,3463,404,2338,0,0,0,0,0,0
$GC,5676,1.25,170.2,437.7,9.6,255,5690,0.00,2.55,6.88,0.707,6,0.000,0.025,3463,1965,2316,0,0,0,0,0,0
$GC,6006,1.27,188.0,408.1,8.8,263,6025,0.00,0.00,17.05,0.817,6,0.000,0.000,3464,1965,2242,0,0,0,0,0,0
$GC,6329,1.29,202.5,377.2,9.0,271,6348,0.00,2.75,13.62,0.786,4,0.000,0.048,3463,3573,2183,0,0,0,0,0,0
$GC,6440,1.29,202.5,366.4,10.6,273,6444,0.00,2.62,0.00,0.000,6,0.000,0.041,3463,2000,2180,0,0,0,0,0,0
$GC,6781,1.29,202.5,331.4,10.3,282,6783,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2000,2178,0,0,0,0,0,0
$GC,7106,1.31,220.6,301.3,8.8,290,7130,0.00,2.85,16.48,0.760,4,0.000,0.073,3463,404,2109,0,0,0,0,0,0
$GC,7229,1.31,220.6,288.4,10.8,292,7233,0.00,2.60,0.00,0.000,6,0.000,0.021,3464,2035,2107,0,0,0,0,0,0
$GC,7561,1.43,268.2,262.9,6.7,300,7606,0.10,0.00,43.28,0.755,6,0.090,0.000,3491,2037,1916,0,0,0,0,0,0
$GC,7926,1.43,268.2,228.9,10.1,309,7931,0.00,2.78,0.00,0.000,4,0.000,0.064,3491,411,1909,0,0,0,0,0,0
$GC,7970,1.43,268.2,223.8,11.7,310,7974,0.00,2.55,0.00,0.000,6,0.000,0.019,3491,2019,1907,0,0,0,0,0,0
$GC,8291,1.50,287.2,195.3,8.7,321,8315,0.00,2.58,16.58,0.667,4,0.000,0.040,3491,3558,1838,0,0,0,0,0,0
$GC,8344,1.56,292.6,190.8,9.7,325,8356,0.10,2.53,6.15,0.556,6,0.087,0.035,3518,2002,1817,0,0,0,0,0,0
$GC,8674,1.56,292.6,152.1,12.3,356,8678,0.00,2.70,0.00,0.000,4,0.000,0.064,3519,411,1813,0,0,0,0,0,0
$GC,8803,1.56,292.6,135.9,13.7,366,8812,0.00,2.53,0.00,0.000,6,0.000,0.025,3519,2005,1812,0,0,0,0,0,0
$GC,9133,1.56,292.6,101.9,10.3,397,9137,0.00,2.67,0.00,0.000,4,0.000,0.058,3518,416,1812,0,0,0,0,0,0
$GC,9201,1.56,292.6,93.7,11.3,402,9210,0.00,2.50,0.00,0.000,6,0.000,0.026,3519,1995,1812,0,0,0,0,0,0
$GC,9534,1.66,321.3,65.9,8.1,433,9565,0.00,2.70,25.50,0.559,4,0.000,0.052,3518,417,1700,0,0,0,0,0,0
$GC,9613,1.66,321.3,57.5,10.8,439,9623,0.00,2.47,0.00,0.000,6,0.000,0.025,3519,1980,1697,0,0,0,0,0,0
$GC,9959,1.73,321.3,23.4,10.4,474,9969,0.15,2.65,0.00,0.000,4,0.071,0.048,3561,418,1697,0,0,0,0,0,0
$GC,10061,1.64,321.3,8.3,15.8,488,10070,0.10,2.40,0.00,0.000,6,0.096,0.025,3536,1951,1697,0,0,0,0,0,0
$STATE,10092,end climb,SURFACE_DEPTH_REACHED
$STATE,10092,begin surface coast
$FINISH,0.6,0.972605
$STATE,10128,end surface coast,CONTROL_FINISHED_OK
$STATE,10128,begin surface
$SM_CCo,10152,47.85,0.509,0,0,1460,380.21
$SM_GC,1.21,0.00,0.00,47.85,0.000,0.000,0.509,474,1952,1460,-12.42,-1.64,380.21
$IRIDIUM_FIX,2241.69,-15814.95,021000,030327
$TT8_MAMPS,0.026078
$HUMID,64.25
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,20.60
$XPDR_PINGS,41
$24V_AH,23.4,60.066
$10V_AH,10.0,53.824
$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,29.050,92.750,368.550,47.850,0.000,49.460,81.014,312.283,10.250,0.000,79.593,976.347,6814.990,474.132,1930.296,719.338,33.364,1143.645,0.000,1869.585,0.000,0.533,0.000
$DEVICE_MAMPS,140.361,135.759,909.662,509.288,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.842,276.447,377.548,721.262,1090.930,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,38484,497
$CAP_FILE_SIZE,96168,0
$CFSIZE,260165632,156839936
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090711,062407,2250.928,-15759.242,65,1.0,65,10.1