version: 66.06
glider: 146
mission: 6
dive: 411
start: 6 30 111 2 43 37
data:
$ID,146
$MISSION,6
$DIVE,411
$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,120
$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,-278166.28
$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,25
$R_STBD_OVSHOOT,57
$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
$GPS1,023655,2248.755,-15802.843,40,1.2,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.9
$GPS2,024243,2248.799,-15802.896,9,1.2,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.135,0.048
$KALMAN_X,-298828.2,-86.7,53.1,288441.6,-1357.2
$KALMAN_Y,62716.8,446.3,-491.1,-53606.3,1811.4
$MHEAD_RNG_PITCHd_Wd,60.5,2232,-32.6,-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,18,-2.09,-44.8,0.0,0.0,0,89,0.00,0.00,-69.57,0.000,2,0.000,0.000,476,1951,3181,0,0,0,0,0,0
$GC,92,-2.14,-83.4,3.0,-4.2,9,118,11.62,2.65,-3.45,0.000,4,0.151,0.049,2699,3566,3353,0,0,0,0,0,0
$GC,151,-2.09,-83.4,19.6,-25.3,16,161,0.00,2.53,0.00,0.000,6,0.000,0.025,2699,2000,3354,0,0,0,0,0,0
$GC,429,-2.09,-83.4,85.4,-22.5,44,433,0.00,2.50,0.00,0.000,4,0.000,0.035,2699,3576,3355,0,0,0,0,0,0
$GC,477,-2.09,-83.4,94.8,-21.8,47,481,0.00,2.47,0.00,0.000,6,0.000,0.030,2699,2001,3356,0,0,0,0,0,0
$GC,743,-2.14,-83.4,144.5,-17.5,71,748,0.00,2.50,0.00,0.000,4,0.000,0.028,2699,3579,3356,0,0,0,0,0,0
$GC,765,-2.20,-83.4,149.4,-17.3,72,774,0.00,2.47,0.00,0.000,6,0.000,0.022,2699,2015,3356,0,0,0,0,0,0
$GC,1034,-2.28,-83.4,196.0,-17.8,97,1038,0.00,2.45,0.00,0.000,4,0.000,0.028,2699,3571,3357,0,0,0,0,0,0
$GC,1129,-2.39,-83.4,216.0,-18.1,100,1134,0.20,2.42,0.00,0.000,6,0.053,0.021,2634,2012,3357,0,0,0,0,0,0
$GC,1402,-2.39,-83.4,267.1,-19.1,107,1404,0.10,0.00,0.00,0.000,6,0.133,0.000,2653,2012,3358,0,0,0,0,0,0
$GC,1645,-2.44,-83.4,304.7,-14.8,113,1649,0.00,2.50,0.00,0.000,4,0.000,0.034,2653,3574,3358,0,0,0,0,0,0
$GC,1752,-2.52,-83.4,321.8,-16.2,115,1757,0.10,2.47,0.00,0.000,6,0.086,0.038,2613,2035,3358,0,0,0,0,0,0
$GC,2013,-2.52,-83.4,367.7,-17.9,122,2017,0.00,2.47,0.00,0.000,4,0.000,0.043,2612,3563,3358,0,0,0,0,0,0
$GC,2033,-2.52,-83.4,371.6,-17.9,122,2038,0.00,2.55,0.00,0.000,6,0.000,0.047,2612,2013,3359,0,0,0,0,0,0
$GC,2290,-2.52,-83.4,415.3,-17.1,129,2294,0.00,2.58,0.00,0.000,4,0.000,0.047,2612,3559,3358,0,0,0,0,0,0
$GC,2386,-2.56,-83.4,432.4,-16.3,131,2391,0.00,2.60,0.00,0.000,6,0.000,0.051,2612,2019,3358,0,0,0,0,0,0
$GC,2658,-2.56,-83.4,477.1,-16.4,138,2663,0.00,2.62,0.00,0.000,4,0.000,0.061,2612,3564,3357,0,0,0,0,0,0
$GC,2675,-2.56,-83.4,479.8,-16.2,138,2680,0.00,2.62,0.00,0.000,6,0.000,0.054,2612,2022,3357,0,0,0,0,0,0
$STATE,2811,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2811,begin apogee
$GC,2817,-0.31,0.0,501.3,15.4,142,2894,2.33,0.00,71.65,0.880,6,0.107,0.000,3105,1986,3010,0,0,0,0,0,0
$STATE,2895,end apogee,CONTROL_FINISHED_OK
$STATE,2895,begin climb
$GC,2897,2.14,83.4,503.5,0.0,144,2979,2.20,3.08,70.50,0.867,4,0.038,0.110,3649,410,2668,0,0,0,0,0,0
$GC,3067,1.99,83.4,493.1,10.5,147,3073,0.20,2.58,0.00,0.000,6,0.147,0.034,3612,1962,2664,0,0,0,0,0,0
$GC,3317,1.99,87.0,469.4,9.5,154,3321,0.00,2.78,0.00,0.000,4,0.000,0.067,3612,3580,2661,0,0,0,0,0,0
$GC,3367,2.01,96.1,464.9,8.7,155,3383,0.00,2.67,10.82,0.778,6,0.000,0.046,3612,1991,2618,0,0,0,0,0,0
$GC,3639,2.02,106.5,441.1,8.5,162,3652,0.00,0.00,10.68,0.774,6,0.000,0.000,3612,1991,2575,0,0,0,0,0,0
$GC,3885,2.02,112.1,419.1,9.2,168,3895,0.00,2.65,5.53,0.653,4,0.000,0.038,3611,3585,2553,0,0,0,0,0,0
$GC,3924,2.02,112.1,414.9,10.9,169,3929,0.00,2.65,0.00,0.000,6,0.000,0.044,3612,2003,2551,0,0,0,0,0,0
$GC,4207,2.03,117.1,388.0,9.3,176,4218,0.00,2.88,5.72,0.659,4,0.000,0.087,3612,408,2532,0,0,0,0,0,0
$GC,4270,1.98,117.1,381.5,10.2,177,4275,0.00,2.58,0.00,0.000,6,0.000,0.022,3612,2018,2530,0,0,0,0,0,0
$GC,4532,2.03,131.6,360.3,7.9,184,4552,0.00,2.60,13.70,0.780,4,0.000,0.044,3612,3552,2472,0,0,0,0,0,0
$GC,4709,2.04,133.2,342.2,9.8,188,4714,0.00,2.55,0.00,0.000,6,0.000,0.038,3612,2002,2469,0,0,0,0,0,0
$GC,4993,2.10,141.4,316.9,8.8,195,5008,0.00,2.60,9.45,0.720,4,0.000,0.038,3612,3570,2432,0,0,0,0,0,0
$GC,5170,2.15,141.8,299.4,10.0,199,5175,0.12,2.58,0.00,0.000,6,0.104,0.035,3640,1995,2430,0,0,0,0,0,0
$GC,5448,2.17,161.2,277.2,7.1,206,5472,0.00,2.65,18.30,0.745,4,0.000,0.033,3640,3567,2351,0,0,0,0,0,0
$GC,5676,2.21,161.2,257.2,10.3,211,5681,0.00,2.53,0.00,0.000,6,0.000,0.031,3640,2025,2348,0,0,0,0,0,0
$GC,5956,2.27,163.8,230.3,9.7,218,5961,0.12,2.78,0.00,0.000,4,0.092,0.067,3671,414,2347,0,0,0,0,0,0
$GC,6160,2.20,163.8,208.8,11.3,222,6164,0.00,2.55,0.00,0.000,6,0.000,0.025,3671,2034,2344,0,0,0,0,0,0
$GC,6426,2.22,181.9,187.5,7.3,238,6450,0.00,2.83,18.35,0.670,4,0.000,0.056,3671,411,2267,0,0,0,0,0,0
$GC,6473,2.16,181.9,182.6,10.1,242,6480,0.12,2.55,0.00,0.000,6,0.143,0.024,3649,2020,2265,0,0,0,0,0,0
$GC,6738,2.23,182.4,152.9,10.0,267,6742,0.00,2.50,0.00,0.000,4,0.000,0.040,3650,3567,2263,0,0,0,0,0,0
$GC,6827,2.29,182.4,143.7,10.1,274,6833,0.10,2.47,0.00,0.000,6,0.105,0.029,3674,2033,2262,0,0,0,0,0,0
$GC,7088,2.37,203.6,120.7,6.8,298,7113,0.00,2.55,19.62,0.608,4,0.000,0.035,3674,3555,2178,0,0,0,0,0,0
$GC,7334,2.43,203.7,98.9,10.0,318,7343,0.05,2.45,0.00,0.000,6,0.077,0.035,3693,2056,2175,0,0,0,0,0,0
$GC,7600,2.49,210.0,73.9,9.1,343,7610,0.10,0.00,6.32,0.481,6,0.100,0.000,3722,2055,2153,0,0,0,0,0,0
$GC,7871,2.49,210.7,46.5,9.9,368,7879,0.00,0.00,0.00,0.000,6,0.000,0.000,3722,2055,2153,0,0,0,0,0,0
$GC,8164,2.49,215.0,18.1,9.4,402,8182,0.00,2.45,6.28,0.443,4,0.000,0.031,3722,3554,2132,0,0,0,0,0,0
$GC,8273,2.49,215.0,5.7,12.0,417,8282,0.00,2.42,0.00,0.000,6,0.000,0.034,3722,2058,2132,0,0,0,0,0,0
$STATE,8290,end climb,SURFACE_DEPTH_REACHED
$STATE,8290,begin surface coast
$FINISH,0.6,0.977521
$STATE,8332,end surface coast,CONTROL_FINISHED_OK
$STATE,8332,begin surface
$SM_CCo,8356,135.40,0.515,0,0,1460,380.21
$SM_GC,1.28,0.00,0.00,135.40,0.000,0.000,0.515,475,1967,1460,-12.42,-1.22,380.21
$IRIDIUM_FIX,2239.35,-15804.53,220900,232330
$TT8_MAMPS,0.026078
$HUMID,60.67
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,20.90
$XPDR_PINGS,43
$24V_AH,23.5,51.558
$10V_AH,10.2,45.561
$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,30.575,103.475,266.925,135.400,0.000,24.287,31.973,155.371,10.750,0.000,15.735,913.232,5175.712,468.421,1816.819,468.557,33.370,1158.310,0.000,1811.580,0.000,0.534,0.000
$DEVICE_MAMPS,151.099,166.439,879.749,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,287.416,242.180,330.593,645.451,976.100,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355416
$DATA_FILE_SIZE,32084,425
$CAP_FILE_SIZE,94884,0
$CFSIZE,260165632,160612352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300611,050624,2249.870,-15802.707,29,1.2,33,10.1