version: 66.06
glider: 146
mission: 6
dive: 513
start: 7 12 111 20 20 23
data:
$ID,146
$MISSION,6
$DIVE,513
$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,-280775.75
$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,17
$R_STBD_OVSHOOT,77
$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
$GPS1,201037,2250.664,-15758.983,26,1.5,26,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.0
$GPS2,201931,2250.631,-15759.086,9,1.4,14,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.207,-0.060
$KALMAN_X,-435818.2,105.7,66.1,431738.7,-1349.9
$KALMAN_Y,169373.5,-587.6,224.9,-156555.6,364.4
$MHEAD_RNG_PITCHd_Wd,96.0,3748,-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,17,-1.48,-97.3,0.0,0.0,0,96,0.00,0.00,-75.70,0.000,6,0.000,0.000,473,2034,3409,0,0,0,0,0,0
$GC,99,-1.48,-97.3,4.6,-8.9,10,117,12.32,2.65,0.00,0.000,4,0.146,0.037,2843,413,3411,0,0,0,0,0,0
$GC,149,-1.13,-97.3,20.7,-26.9,16,157,0.35,2.47,0.00,0.000,6,0.108,0.015,2922,2004,3412,0,0,0,0,0,0
$GC,492,-1.21,-97.3,57.9,-10.4,52,497,0.00,2.50,0.00,0.000,4,0.000,0.028,2922,3569,3413,0,0,0,0,0,0
$GC,539,-1.34,-97.3,62.9,-10.7,55,544,0.17,2.47,0.00,0.000,6,0.053,0.023,2859,1993,3413,0,0,0,0,0,0
$GC,867,-1.34,-97.3,104.7,-13.3,85,872,0.10,2.53,0.00,0.000,4,0.118,0.029,2880,3559,3414,0,0,0,0,0,0
$GC,889,-1.39,-97.3,108.0,-12.4,86,898,0.00,2.45,0.00,0.000,6,0.000,0.026,2880,2015,3414,0,0,0,0,0,0
$GC,1220,-1.47,-97.3,144.2,-10.7,117,1226,0.10,0.00,0.00,0.000,6,0.085,0.000,2839,2015,3414,0,0,0,0,0,0
$GC,1549,-1.47,-97.3,180.9,-10.5,148,1554,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2015,3415,0,0,0,0,0,0
$GC,1900,-1.51,-97.3,216.3,-9.9,170,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,2015,3416,0,0,0,0,0,0
$GC,2224,-1.56,-97.3,247.2,-9.2,178,2228,0.00,2.47,0.00,0.000,4,0.000,0.034,2840,3559,3415,0,0,0,0,0,0
$GC,2286,-1.67,-97.3,252.8,-8.3,179,2291,0.12,2.42,0.00,0.000,6,0.066,0.022,2788,2018,3416,0,0,0,0,0,0
$GC,2628,-1.67,-97.3,289.2,-11.2,188,2633,0.10,2.50,0.00,0.000,4,0.118,0.032,2809,3559,3416,0,0,0,0,0,0
$GC,2650,-1.67,-97.3,291.9,-12.0,188,2654,0.00,2.42,0.00,0.000,6,0.000,0.031,2809,2019,3416,0,0,0,0,0,0
$GC,2988,-1.67,-97.3,329.5,-11.3,197,2992,0.00,2.50,0.00,0.000,4,0.000,0.037,2809,3559,3415,0,0,0,0,0,0
$GC,3093,-1.72,-97.3,341.1,-10.3,199,3098,0.00,2.47,0.00,0.000,6,0.000,0.041,2809,2033,3416,0,0,0,0,0,0
$GC,3438,-1.77,-97.3,371.9,-8.4,208,3442,0.00,2.53,0.00,0.000,4,0.000,0.048,2809,3552,3414,0,0,0,0,0,0
$GC,3557,-1.84,-97.3,382.6,-8.5,210,3562,0.15,2.55,0.00,0.000,6,0.061,0.044,2759,2022,3413,0,0,0,0,0,0
$GC,3890,-1.79,-97.3,417.2,-10.9,218,3895,0.12,2.58,0.00,0.000,4,0.112,0.048,2785,3554,3412,0,0,0,0,0,0
$GC,3917,-1.79,-97.3,420.6,-11.0,218,3921,0.00,2.55,0.00,0.000,6,0.000,0.051,2786,2034,3412,0,0,0,0,0,0
$GC,4248,-1.79,-97.3,460.9,-12.6,226,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2033,3409,0,0,0,0,0,0
$GC,4573,-1.79,-97.3,497.2,-10.6,234,4578,0.00,2.62,0.00,0.000,4,0.000,0.069,2785,3552,3407,0,0,0,0,0,0
$STATE,4598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4598,begin apogee
$GC,4608,-0.31,0.0,500.4,11.0,234,4694,1.40,0.00,82.12,0.910,6,0.081,0.000,3104,1992,3009,0,0,0,0,0,0
$STATE,4695,end apogee,CONTROL_FINISHED_OK
$STATE,4695,begin climb
$GC,4697,1.48,97.3,502.5,0.0,236,4785,1.62,0.00,83.43,0.886,6,0.047,0.000,3504,1991,2613,0,0,0,0,0,0
$GC,5111,1.39,134.8,481.4,7.4,247,5152,0.12,2.70,32.35,0.864,4,0.130,0.051,3480,3532,2458,0,0,0,0,0,0
$GC,5205,1.31,135.4,473.6,10.0,249,5210,0.10,2.62,0.00,0.000,6,0.143,0.048,3462,1996,2455,0,0,0,0,0,0
$GC,5525,1.31,171.7,448.1,7.5,257,5567,0.00,3.08,32.58,0.859,4,0.000,0.105,3462,412,2309,0,0,0,0,0,0
$GC,5647,1.23,174.9,437.0,9.8,259,5652,0.00,2.53,0.00,0.000,6,0.000,0.028,3462,1950,2305,0,0,0,0,0,0
$GC,5980,1.25,196.6,407.7,8.5,267,6009,0.00,2.80,22.48,0.831,4,0.000,0.070,3462,406,2207,0,0,0,0,0,0
$GC,6049,1.20,196.6,400.4,11.5,268,6054,0.12,2.58,0.00,0.000,6,0.129,0.028,3438,1998,2204,0,0,0,0,0,0
$GC,6388,1.29,231.7,372.8,7.6,277,6429,0.00,2.90,31.70,0.824,4,0.000,0.068,3437,399,2063,0,0,0,0,0,0
$GC,6499,1.29,231.7,362.3,10.5,279,6503,0.00,2.58,0.00,0.000,6,0.000,0.026,3438,2005,2061,0,0,0,0,0,0
$GC,6841,1.37,231.7,329.3,10.2,288,6846,0.15,2.60,0.00,0.000,4,0.076,0.048,3478,3577,2058,0,0,0,0,0,0
$GC,6864,1.37,231.7,326.8,10.9,288,6869,0.00,2.62,0.00,0.000,6,0.000,0.038,3478,1975,2056,0,0,0,0,0,0
$GC,7200,1.37,231.7,287.6,11.1,297,7201,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,1975,2055,0,0,0,0,0,0
$GC,7525,1.39,245.9,257.4,9.1,305,7545,0.00,2.80,12.25,0.711,4,0.000,0.069,3478,397,2006,0,0,0,0,0,0
$GC,7663,1.40,258.2,244.6,9.2,308,7683,0.00,2.58,12.68,0.700,6,0.000,0.018,3478,2021,1955,0,0,0,0,0,0
$GC,8030,1.48,270.6,212.2,9.2,317,8044,0.00,0.00,11.70,0.664,6,0.000,0.000,3478,2022,1907,0,0,0,0,0,0
$GC,8338,1.55,279.0,182.2,9.5,335,8353,0.15,2.80,8.93,0.614,4,0.078,0.060,3517,401,1871,0,0,0,0,0,0
$GC,8510,1.51,279.0,162.4,11.8,350,8515,0.00,2.50,0.00,0.000,6,0.000,0.024,3517,2003,1869,0,0,0,0,0,0
$GC,8835,1.51,281.9,131.8,9.8,380,8850,0.00,2.75,3.70,0.407,4,0.000,0.057,3517,407,1860,0,0,0,0,0,0
$GC,8926,1.51,281.9,122.2,11.3,387,8930,0.00,2.45,0.00,0.000,6,0.000,0.022,3517,1994,1859,0,0,0,0,0,0
$GC,9255,1.57,298.3,89.2,8.9,417,9280,0.00,2.72,15.77,0.576,4,0.000,0.051,3517,416,1792,0,0,0,0,0,0
$GC,9400,1.57,298.3,73.9,11.2,428,9410,0.00,2.45,0.00,0.000,6,0.000,0.018,3517,1970,1791,0,0,0,0,0,0
$GC,9731,1.68,323.8,46.5,8.3,459,9760,0.10,2.65,23.33,0.543,4,0.088,0.048,3546,407,1689,0,0,0,0,0,0
$GC,9828,1.68,323.8,36.1,11.7,466,9832,0.00,2.45,0.00,0.000,6,0.000,0.017,3546,1983,1687,0,0,0,0,0,0
$STATE,10132,end climb,SURFACE_DEPTH_REACHED
$STATE,10132,begin surface coast
$FINISH,0.6,0.978675
$STATE,10181,end surface coast,CONTROL_FINISHED_OK
$STATE,10181,begin surface
$SM_CCo,10203,45.83,0.511,0,0,1459,380.21
$SM_GC,1.31,0.00,0.00,45.83,0.000,0.000,0.511,475,1986,1459,-12.42,-0.68,380.21
$IRIDIUM_FIX,2239.35,-15759.32,051000,171754
$TT8_MAMPS,0.026078
$HUMID,65.27
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,20.30
$XPDR_PINGS,55
$24V_AH,23.4,63.642
$10V_AH,10.1,57.257
$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,29.800,98.550,373.000,45.825,0.000,28.228,36.313,329.152,13.750,0.000,15.849,1008.572,6652.680,478.192,1970.601,672.338,33.372,1166.605,0.000,1980.454,0.000,0.534,0.000
$DEVICE_MAMPS,146.497,105.079,910.429,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.698,290.536,398.073,778.774,1177.899,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,41473,513
$CAP_FILE_SIZE,97790,0
$CFSIZE,260165632,155324416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120711,231231,2250.436,-15758.817,38,1.2,38,10.1