version: 66.06
glider: 146
mission: 6
dive: 489
start: 7 9 111 18 28 32
data:
$ID,146
$MISSION,6
$DIVE,489
$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,-280128.44
$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,15
$R_STBD_OVSHOOT,90
$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
$GPS1,181837,2250.152,-15757.847,39,0.9,39,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-70.7
$GPS2,182737,2250.134,-15757.948,10,1.2,15,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.210,-0.051
$KALMAN_X,-400433.4,-175.9,95.9,398549.2,-1359.7
$KALMAN_Y,149070.0,-669.5,15.6,-136874.0,399.5
$MHEAD_RNG_PITCHd_Wd,93.7,1638,-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,-70.93,0.000,2,0.000,0.000,475,2051,3276,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.8,-6.6,9,110,12.38,0.00,-2.42,0.000,6,0.150,0.000,2843,2051,3409,0,0,0,0,0,0
$GC,452,-1.39,-97.3,65.4,-15.1,49,457,0.12,2.38,0.00,0.000,4,0.138,0.030,2867,3537,3411,0,0,0,0,0,0
$GC,498,-1.39,-97.3,72.4,-13.7,52,502,0.00,2.42,0.00,0.000,6,0.000,0.029,2867,1989,3411,0,0,0,0,0,0
$GC,822,-1.39,-97.3,110.4,-11.9,82,826,0.00,2.45,0.00,0.000,4,0.000,0.028,2867,3541,3412,0,0,0,0,0,0
$GC,842,-1.39,-97.3,112.4,-11.6,83,846,0.00,2.40,0.00,0.000,6,0.000,0.022,2867,2003,3412,0,0,0,0,0,0
$GC,1168,-1.43,-97.3,152.7,-11.9,113,1172,0.00,2.42,0.00,0.000,4,0.000,0.032,2867,3538,3413,0,0,0,0,0,0
$GC,1201,-1.52,-97.3,156.2,-11.4,115,1206,0.10,2.38,0.00,0.000,6,0.078,0.029,2824,2015,3413,0,0,0,0,0,0
$GC,1530,-1.52,-97.3,196.5,-11.6,145,1534,0.00,2.40,0.00,0.000,4,0.000,0.032,2823,3542,3413,0,0,0,0,0,0
$GC,1592,-1.52,-97.3,204.2,-11.9,148,1596,0.00,2.40,0.00,0.000,6,0.000,0.028,2824,2019,3413,0,0,0,0,0,0
$GC,1933,-1.52,-97.3,243.0,-11.4,157,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2019,3414,0,0,0,0,0,0
$GC,2258,-1.52,-97.3,275.4,-10.1,165,2262,0.00,2.45,0.00,0.000,4,0.000,0.032,2824,3545,3414,0,0,0,0,0,0
$GC,2321,-1.57,-97.3,281.6,-10.1,166,2325,0.00,2.40,0.00,0.000,6,0.000,0.026,2824,2035,3414,0,0,0,0,0,0
$GC,2663,-1.63,-97.3,314.3,-9.6,175,2664,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2035,3414,0,0,0,0,0,0
$GC,2990,-1.69,-97.3,345.8,-9.8,183,2994,0.00,2.45,0.00,0.000,4,0.000,0.038,2824,3530,3414,0,0,0,0,0,0
$GC,3045,-1.77,-97.3,351.7,-10.3,184,3050,0.15,2.45,0.00,0.000,6,0.063,0.045,2770,2045,3414,0,0,0,0,0,0
$GC,3393,-1.77,-97.3,393.4,-12.3,193,3398,0.00,2.92,0.00,0.000,4,0.000,0.100,2770,428,3413,0,0,0,0,0,0
$GC,3416,-1.71,-97.3,396.3,-13.3,193,3421,0.15,2.47,0.00,0.000,6,0.110,0.032,2802,1971,3413,0,0,0,0,0,0
$GC,3752,-1.71,-97.3,433.3,-10.7,202,3757,0.00,2.78,0.00,0.000,4,0.000,0.067,2801,3595,3410,0,0,0,0,0,0
$GC,3792,-1.76,-97.3,438.0,-12.4,203,3796,0.00,2.60,0.00,0.000,6,0.000,0.055,2801,2039,3410,0,0,0,0,0,0
$GC,4117,-1.81,-97.3,473.3,-10.8,211,4118,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2039,3408,0,0,0,0,0,0
$STATE,4356,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4356,begin apogee
$GC,4363,-0.31,0.0,501.2,11.2,217,4448,1.35,0.00,81.50,0.908,6,0.078,0.000,3107,1983,3010,0,0,0,0,0,0
$STATE,4449,end apogee,CONTROL_FINISHED_OK
$STATE,4449,begin climb
$GC,4451,1.48,97.3,504.0,0.0,219,4543,1.65,2.85,82.60,0.887,4,0.034,0.062,3509,3563,2612,0,0,0,0,0,0
$GC,4564,1.44,198.5,505.1,3.0,222,4662,0.00,2.70,87.43,0.874,6,0.000,0.055,3509,1991,2201,0,0,0,0,0,0
$GC,4976,1.34,198.5,454.8,13.9,232,4982,0.20,2.95,0.00,0.000,4,0.117,0.104,3469,407,2192,0,0,0,0,0,0
$GC,5055,1.25,198.5,443.9,13.3,233,5061,0.12,2.58,0.00,0.000,6,0.131,0.034,3446,1986,2189,0,0,0,0,0,0
$GC,5387,1.25,198.5,409.6,10.1,242,5392,0.00,2.80,0.00,0.000,4,0.000,0.072,3446,403,2188,0,0,0,0,0,0
$GC,5437,1.25,201.0,404.6,9.9,243,5441,0.00,2.55,0.00,0.000,6,0.000,0.030,3445,1987,2186,0,0,0,0,0,0
$GC,5749,1.29,234.0,379.8,7.8,251,5785,0.00,2.83,30.27,0.818,4,0.000,0.071,3446,403,2054,0,0,0,0,0,0
$GC,5861,1.29,234.0,368.8,11.3,252,5866,0.00,2.53,0.00,0.000,6,0.000,0.028,3445,1983,2051,0,0,0,0,0,0
$GC,6199,1.35,245.0,337.0,9.3,261,6215,0.10,2.65,10.40,0.740,4,0.091,0.044,3472,3578,2010,0,0,0,0,0,0
$GC,6255,1.35,245.0,331.2,10.8,262,6260,0.00,2.67,0.00,0.000,6,0.000,0.040,3472,1975,2009,0,0,0,0,0,0
$GC,6603,1.37,261.8,299.2,8.9,271,6626,0.00,2.78,16.10,0.752,4,0.000,0.070,3472,406,1941,0,0,0,0,0,0
$GC,6701,1.37,261.8,289.1,10.3,273,6705,0.00,2.53,0.00,0.000,6,0.000,0.025,3472,1995,1939,0,0,0,0,0,0
$GC,7014,1.42,264.3,257.8,9.9,281,7018,0.00,2.55,0.00,0.000,4,0.000,0.036,3472,3555,1937,0,0,0,0,0,0
$GC,7035,1.50,278.4,255.8,9.1,281,7057,0.12,2.60,15.43,0.716,6,0.078,0.035,3507,1962,1875,0,0,0,0,0,0
$GC,7380,1.50,278.4,219.3,10.5,290,7385,0.00,2.67,0.00,0.000,4,0.000,0.068,3508,408,1871,0,0,0,0,0,0
$GC,7482,1.45,278.4,207.0,12.1,292,7487,0.00,2.45,0.00,0.000,6,0.000,0.019,3507,1975,1870,0,0,0,0,0,0
$GC,7815,1.45,278.4,172.0,11.0,319,7819,0.00,2.65,0.00,0.000,4,0.000,0.060,3507,412,1869,0,0,0,0,0,0
$GC,7857,1.45,278.4,166.9,12.6,322,7862,0.00,2.42,0.00,0.000,6,0.000,0.025,3507,1969,1868,0,0,0,0,0,0
$GC,8182,1.51,293.7,135.5,9.0,352,8202,0.00,2.70,13.77,0.604,4,0.000,0.052,3507,415,1811,0,0,0,0,0,0
$GC,8237,1.51,293.7,130.0,10.8,356,8247,0.00,2.45,0.00,0.000,6,0.000,0.022,3507,1953,1810,0,0,0,0,0,0
$GC,8567,1.58,300.6,99.0,9.6,387,8581,0.00,2.67,7.22,0.516,4,0.000,0.052,3507,411,1784,0,0,0,0,0,0
$GC,8714,1.58,300.6,84.7,10.2,399,8718,0.00,2.40,0.00,0.000,6,0.000,0.018,3507,1945,1783,0,0,0,0,0,0
$GC,9042,1.72,335.6,60.5,7.6,429,9084,0.17,2.67,30.90,0.555,4,0.062,0.033,3555,3552,1643,0,0,0,0,0,0
$GC,9114,1.72,335.6,53.6,11.6,434,9119,0.00,2.65,0.00,0.000,6,0.000,0.035,3555,1935,1642,0,0,0,0,0,0
$GC,9483,1.72,335.6,8.0,11.9,476,9492,0.00,2.60,0.00,0.000,4,0.000,0.057,3555,412,1640,0,0,0,0,0,0
$STATE,9520,end climb,SURFACE_DEPTH_REACHED
$STATE,9520,begin surface coast
$FINISH,0.8,0.980031
$STATE,9562,end surface coast,CONTROL_FINISHED_OK
$STATE,9563,begin surface
$SM_CCo,9589,36.55,0.505,0,0,1459,380.21
$SM_GC,1.54,0.00,0.00,36.55,0.000,0.000,0.505,475,2054,1459,-12.42,1.27,380.21
$IRIDIUM_FIX,2241.69,-15759.32,021000,181826
$TT8_MAMPS,0.026845
$HUMID,64.68
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,20.70
$XPDR_PINGS,48
$24V_AH,23.4,60.625
$10V_AH,10.0,54.386
$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,29.125,108.300,375.625,36.550,0.000,50.390,66.894,215.749,12.000,0.000,17.108,970.875,6248.200,445.860,1888.907,615.355,33.377,1127.717,0.000,1890.100,0.000,0.534,0.000
$DEVICE_MAMPS,149.565,134.992,908.128,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.364,273.828,377.447,728.509,1101.764,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355448
$DATA_FILE_SIZE,38368,487
$CAP_FILE_SIZE,97395,0
$CFSIZE,260165632,156594176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090711,211005,2250.184,-15757.728,6,2.1,25,10.1