version: 66.06
glider: 146
mission: 6
dive: 444
start: 7 4 111 2 55 33
data:
$ID,146
$MISSION,6
$DIVE,444
$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,-278864.06
$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,18
$R_STBD_OVSHOOT,63
$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
$GPS1,024525,2249.905,-15802.143,38,1.6,38,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-72.1
$GPS2,025438,2249.965,-15802.244,14,1.6,14,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.170,-0.133
$KALMAN_X,-344910.4,-87.0,88.2,335605.6,-1188.8
$KALMAN_Y,98704.7,-131.9,-338.7,-87005.2,1323.7
$MHEAD_RNG_PITCHd_Wd,117.8,8951,-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,-70.97,0.000,2,0.000,0.000,478,2104,3275,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.8,-6.6,9,110,12.45,0.00,-2.47,0.000,6,0.153,0.000,2842,2104,3409,0,0,0,0,0,0
$GC,450,-1.38,-97.3,74.0,-18.2,48,459,0.15,0.00,0.00,0.000,6,0.127,0.000,2872,2104,3412,0,0,0,0,0,0
$GC,779,-1.38,-97.3,119.9,-11.2,79,784,0.00,2.33,0.00,0.000,4,0.000,0.034,2872,3572,3413,0,0,0,0,0,0
$GC,801,-1.38,-97.3,123.6,-13.2,80,811,0.00,2.53,0.00,0.000,6,0.000,0.028,2872,1987,3413,0,0,0,0,0,0
$GC,1127,-1.42,-97.3,160.4,-11.1,111,1131,0.00,2.50,0.00,0.000,4,0.000,0.032,2872,3564,3414,0,0,0,0,0,0
$GC,1149,-1.48,-97.3,162.2,-10.4,112,1153,0.00,2.42,0.00,0.000,6,0.000,0.025,2872,2012,3414,0,0,0,0,0,0
$GC,1479,-1.56,-97.3,193.3,-8.2,142,1484,0.15,2.50,0.00,0.000,4,0.064,0.028,2818,3576,3414,0,0,0,0,0,0
$GC,1524,-1.56,-97.3,198.0,-11.6,145,1528,0.00,2.42,0.00,0.000,6,0.000,0.024,2818,2009,3415,0,0,0,0,0,0
$GC,1867,-1.56,-97.3,238.6,-12.0,154,1869,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2009,3415,0,0,0,0,0,0
$GC,2191,-1.56,-97.3,271.8,-9.3,162,2195,0.00,2.47,0.00,0.000,4,0.000,0.036,2818,3563,3415,0,0,0,0,0,0
$GC,2231,-1.62,-97.3,275.5,-9.3,163,2235,0.00,2.45,0.00,0.000,6,0.000,0.024,2818,2020,3415,0,0,0,0,0,0
$GC,2556,-1.62,-97.3,307.1,-9.8,171,2560,0.00,2.50,0.00,0.000,4,0.000,0.041,2818,3566,3415,0,0,0,0,0,0
$GC,2641,-1.67,-97.3,315.2,-9.2,173,2645,0.00,2.47,0.00,0.000,6,0.000,0.029,2818,2028,3415,0,0,0,0,0,0
$GC,2966,-1.71,-97.3,346.2,-9.7,181,2971,0.00,2.78,0.00,0.000,4,0.000,0.084,2818,431,3415,0,0,0,0,0,0
$GC,3027,-1.71,-97.3,353.0,-11.7,182,3031,0.00,2.47,0.00,0.000,6,0.000,0.031,2818,2006,3414,0,0,0,0,0,0
$GC,3377,-1.77,-97.3,387.3,-9.4,191,3382,0.12,2.62,0.00,0.000,4,0.076,0.054,2778,3582,3412,0,0,0,0,0,0
$GC,3404,-1.77,-97.3,390.5,-11.1,191,3408,0.00,2.55,0.00,0.000,6,0.000,0.044,2778,2031,3412,0,0,0,0,0,0
$GC,3740,-1.77,-97.3,430.8,-12.3,200,3744,0.00,2.60,0.00,0.000,4,0.000,0.048,2778,3580,3410,0,0,0,0,0,0
$GC,3826,-1.77,-97.3,440.3,-11.0,202,3830,0.00,2.60,0.00,0.000,6,0.000,0.050,2778,2034,3410,0,0,0,0,0,0
$GC,4149,-1.77,-97.3,474.8,-10.7,210,4153,0.00,2.60,0.00,0.000,4,0.000,0.052,2778,3581,3407,0,0,0,0,0,0
$GC,4170,-1.77,-97.3,477.0,-9.7,210,4175,0.00,2.62,0.00,0.000,6,0.000,0.057,2778,2034,3407,0,0,0,0,0,0
$STATE,4423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4423,begin apogee
$GC,4430,-0.31,0.0,501.6,9.5,217,4516,1.48,0.00,81.80,0.902,6,0.084,0.000,3107,1993,3010,0,0,0,0,0,0
$STATE,4517,end apogee,CONTROL_FINISHED_OK
$STATE,4517,begin climb
$GC,4519,1.48,97.3,503.2,0.0,219,4607,1.65,0.00,83.65,0.887,6,0.044,0.000,3508,1993,2613,0,0,0,0,0,0
$GC,4912,1.42,161.0,486.3,5.6,229,4974,0.12,2.70,54.85,0.874,4,0.137,0.051,3486,3563,2353,0,0,0,0,0,0
$GC,5137,1.35,161.0,466.5,10.2,234,5141,0.00,2.65,0.00,0.000,6,0.000,0.052,3486,2009,2347,0,0,0,0,0,0
$GC,5451,1.29,161.0,433.5,11.4,242,5453,0.15,0.00,0.00,0.000,6,0.126,0.000,3457,2009,2343,0,0,0,0,0,0
$GC,5774,1.32,184.4,402.8,8.4,250,5800,0.00,2.95,20.33,0.818,4,0.000,0.090,3456,400,2256,0,0,0,0,0,0
$GC,5819,1.29,201.1,398.9,8.9,251,5840,0.00,2.60,16.00,0.793,6,0.000,0.023,3456,2013,2190,0,0,0,0,0,0
$GC,6177,1.32,226.7,368.5,8.3,260,6207,0.00,2.65,23.08,0.804,4,0.000,0.045,3456,3567,2086,0,0,0,0,0,0
$GC,6260,1.36,226.7,360.9,10.0,261,6265,0.00,2.60,0.00,0.000,6,0.000,0.038,3456,2003,2083,0,0,0,0,0,0
$GC,6591,1.40,226.7,327.5,10.5,270,6596,0.10,2.80,0.00,0.000,4,0.095,0.078,3483,407,2079,0,0,0,0,0,0
$GC,6699,1.35,226.7,313.0,13.6,272,6703,0.00,2.58,0.00,0.000,6,0.000,0.025,3483,2020,2078,0,0,0,0,0,0
$GC,7041,1.36,240.2,278.8,9.1,281,7055,0.00,0.00,12.30,0.721,6,0.000,0.000,3483,2022,2030,0,0,0,0,0,0
$GC,7366,1.38,254.1,249.0,9.1,289,7381,0.00,0.00,13.60,0.706,6,0.000,0.000,3483,2022,1974,0,0,0,0,0,0
$GC,7691,1.43,254.1,216.7,10.3,297,7695,0.00,2.72,0.00,0.000,4,0.000,0.055,3483,411,1970,0,0,0,0,0,0
$GC,7747,1.43,254.1,210.4,11.4,298,7752,0.00,2.55,0.00,0.000,6,0.000,0.024,3483,2027,1968,0,0,0,0,0,0
$GC,8078,1.51,278.4,180.7,8.4,319,8113,0.00,2.58,22.30,0.667,4,0.000,0.040,3483,3556,1873,0,0,0,0,0,0
$GC,8127,1.62,309.3,176.6,7.9,323,8162,0.20,2.55,27.67,0.658,6,0.064,0.031,3533,1998,1748,0,0,0,0,0,0
$GC,8481,1.62,309.3,139.2,11.0,356,8486,0.00,2.70,0.00,0.000,4,0.000,0.060,3533,412,1743,0,0,0,0,0,0
$GC,8538,1.58,309.3,132.5,11.8,360,8547,0.00,2.55,0.00,0.000,6,0.000,0.021,3533,2020,1742,0,0,0,0,0,0
$GC,8867,1.58,309.3,95.7,12.4,391,8872,0.00,0.00,0.00,0.000,6,0.000,0.000,3533,2022,1743,0,0,0,0,0,0
$GC,9198,1.64,317.9,59.8,9.4,422,9213,0.00,2.70,8.48,0.502,4,0.000,0.049,3533,414,1711,0,0,0,0,0,0
$GC,9320,1.64,317.9,47.1,10.5,431,9324,0.00,2.47,0.00,0.000,6,0.000,0.017,3533,2011,1710,0,0,0,0,0,0
$GC,9697,1.69,317.9,7.8,11.5,476,9706,0.00,2.70,0.00,0.000,4,0.000,0.050,3533,413,1710,0,0,0,0,0,0
$STATE,9728,end climb,SURFACE_DEPTH_REACHED
$STATE,9728,begin surface coast
$FINISH,1.3,0.979998
$STATE,9750,end surface coast,CONTROL_FINISHED_OK
$STATE,9750,begin surface
$SM_CCo,9776,50.90,0.508,0,0,1459,380.21
$SM_GC,1.29,0.00,0.00,50.90,0.000,0.000,0.508,474,2030,1459,-12.43,0.57,380.21
$IRIDIUM_FIX,2241.69,-15804.53,270900,020215
$TT8_MAMPS,0.026078
$HUMID,63.97
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,21.50
$XPDR_PINGS,38
$24V_AH,23.5,55.204
$10V_AH,10.1,49.242
$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,28.925,93.075,364.050,50.900,0.000,50.027,72.018,226.005,9.500,0.000,15.753,954.167,6543.907,476.998,1793.253,614.194,33.369,1119.101,0.000,1796.261,0.000,0.534,0.000
$DEVICE_MAMPS,153.400,158.769,901.992,507.754,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,327.159,266.725,366.841,683.834,1034.177,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355396
$DATA_FILE_SIZE,38362,483
$CAP_FILE_SIZE,93119,0
$CFSIZE,260165632,158892032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040711,054037,2249.820,-15801.967,36,1.6,36,10.1