version: 66.06
glider: 146
mission: 6
dive: 447
start: 7 4 111 11 42 34
data:
$ID,146
$MISSION,6
$DIVE,447
$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,-278919.44
$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,25
$R_STBD_OVSHOOT,62
$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
$GPS1,113534,2250.108,-15801.226,13,5.5,32,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-72.9
$GPS2,114143,2250.116,-15801.262,13,1.3,18,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.214,-0.023
$KALMAN_X,-348109.4,141.4,-2.5,340339.9,-755.3
$KALMAN_Y,101921.8,390.7,472.5,-91278.5,188.1
$MHEAD_RNG_PITCHd_Wd,86.0,7277,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-69.60,0.000,2,0.000,0.000,474,1959,3186,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.2,-4.8,9,118,12.32,2.58,-4.32,0.000,4,0.149,0.058,2841,424,3408,0,0,0,0,0,0
$GC,137,-0.87,-97.3,16.3,-29.0,14,146,0.62,2.47,0.00,0.000,6,0.104,0.015,2979,2023,3410,0,0,0,0,0,0
$GC,495,-1.05,-97.3,52.6,-9.6,54,505,0.15,0.00,0.00,0.000,6,0.063,0.000,2929,2025,3411,0,0,0,0,0,0
$GC,828,-1.18,-97.3,88.1,-9.9,85,833,0.00,0.00,0.00,0.000,6,0.000,0.000,2929,2025,3412,0,0,0,0,0,0
$GC,1157,-1.33,-97.3,116.6,-8.1,116,1166,0.17,0.00,0.00,0.000,6,0.059,0.000,2870,2025,3413,0,0,0,0,0,0
$GC,1482,-1.39,-97.3,154.0,-11.5,147,1483,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2025,3414,0,0,0,0,0,0
$GC,1804,-1.47,-97.3,187.9,-9.7,177,1812,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2025,3414,0,0,0,0,0,0
$GC,2131,-1.56,-97.3,219.1,-9.4,194,2133,0.15,0.00,0.00,0.000,6,0.065,0.000,2822,2025,3415,0,0,0,0,0,0
$GC,2457,-1.56,-97.3,257.9,-12.5,202,2458,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2025,3415,0,0,0,0,0,0
$GC,2780,-1.56,-97.3,292.3,-9.9,210,2785,0.00,2.72,0.00,0.000,4,0.000,0.067,2821,425,3415,0,0,0,0,0,0
$GC,2802,-1.56,-97.3,294.5,-10.0,210,2806,0.00,2.45,0.00,0.000,6,0.000,0.022,2821,1997,3415,0,0,0,0,0,0
$GC,3140,-1.61,-97.3,324.4,-9.3,219,3144,0.00,2.58,0.00,0.000,4,0.000,0.043,2821,3583,3415,0,0,0,0,0,0
$GC,3162,-1.67,-97.3,326.7,-9.5,219,3166,0.00,2.50,0.00,0.000,6,0.000,0.037,2821,2018,3415,0,0,0,0,0,0
$GC,3498,-1.71,-97.3,359.5,-9.6,228,3503,0.00,2.53,0.00,0.000,4,0.000,0.044,2821,3578,3414,0,0,0,0,0,0
$GC,3623,-1.80,-97.3,372.3,-10.4,230,3629,0.15,2.53,0.00,0.000,6,0.063,0.044,2769,2031,3414,0,0,0,0,0,0
$GC,3954,-1.76,-97.3,413.0,-12.5,239,3956,0.10,0.00,0.00,0.000,6,0.124,0.000,2789,2031,3413,0,0,0,0,0,0
$GC,4278,-1.76,-97.3,450.6,-11.7,247,4280,0.00,0.00,0.00,0.000,6,0.000,0.000,2789,2031,3410,0,0,0,0,0,0
$GC,4605,-1.76,-97.3,487.3,-11.6,255,4609,0.00,2.62,0.00,0.000,4,0.000,0.059,2788,3573,3408,0,0,0,0,0,0
$GC,4683,-1.80,-97.3,496.6,-11.9,256,4688,0.00,2.62,0.00,0.000,6,0.000,0.055,2789,2029,3407,0,0,0,0,0,0
$STATE,4727,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4727,begin apogee
$GC,4734,-0.31,0.0,501.9,11.5,258,4820,1.40,0.00,81.82,0.901,6,0.080,0.000,3104,1990,3010,0,0,0,0,0,0
$STATE,4821,end apogee,CONTROL_FINISHED_OK
$STATE,4821,begin climb
$GC,4823,1.48,97.3,504.6,0.0,260,4911,1.67,0.00,83.40,0.885,6,0.041,0.000,3508,1990,2613,0,0,0,0,0,0
$GC,5215,1.39,137.6,484.1,7.3,270,5257,0.15,2.70,34.40,0.865,4,0.125,0.049,3479,3557,2448,0,0,0,0,0,0
$GC,5277,1.33,159.5,479.3,8.5,271,5303,0.00,2.67,20.80,0.831,6,0.000,0.049,3479,1991,2359,0,0,0,0,0,0
$GC,5628,1.27,159.5,443.2,10.7,280,5634,0.12,2.62,0.00,0.000,4,0.127,0.047,3454,3564,2351,0,0,0,0,0,0
$GC,5663,1.27,159.5,439.6,10.4,280,5668,0.00,2.65,0.00,0.000,6,0.000,0.041,3454,1993,2349,0,0,0,0,0,0
$GC,5994,1.29,172.7,408.7,9.1,289,6007,0.00,0.00,11.05,0.779,6,0.000,0.000,3454,1994,2306,0,0,0,0,0,0
$GC,6319,1.31,193.9,379.3,8.6,297,6344,0.00,2.90,20.12,0.809,4,0.000,0.081,3454,407,2218,0,0,0,0,0,0
$GC,6391,1.27,193.9,372.3,10.7,298,6395,0.00,2.53,0.00,0.000,6,0.000,0.026,3454,1993,2215,0,0,0,0,0,0
$GC,6722,1.30,219.3,344.2,8.3,306,6747,0.00,0.00,23.45,0.798,6,0.000,0.000,3454,1993,2115,0,0,0,0,0,0
$GC,7047,1.35,221.4,314.2,9.9,314,7052,0.00,2.58,0.00,0.000,4,0.000,0.036,3454,3568,2109,0,0,0,0,0,0
$GC,7067,1.39,221.4,312.5,10.1,314,7072,0.10,2.60,0.00,0.000,6,0.093,0.036,3481,1985,2108,0,0,0,0,0,0
$GC,7409,1.39,221.4,274.7,10.6,323,7413,0.00,2.60,0.00,0.000,4,0.000,0.039,3481,3574,2107,0,0,0,0,0,0
$GC,7469,1.39,221.4,268.2,10.3,324,7474,0.00,2.58,0.00,0.000,6,0.000,0.031,3481,1997,2106,0,0,0,0,0,0
$GC,7813,1.42,249.2,238.7,8.1,333,7847,0.00,2.75,26.25,0.726,4,0.000,0.062,3481,415,1992,0,0,0,0,0,0
$GC,7922,1.42,249.2,227.9,11.2,335,7926,0.00,2.53,0.00,0.000,6,0.000,0.019,3481,2008,1989,0,0,0,0,0,0
$GC,8266,1.50,273.8,198.7,8.3,344,8293,0.00,2.78,22.30,0.680,4,0.000,0.060,3481,408,1892,0,0,0,0,0,0
$GC,8346,1.50,273.8,190.9,10.7,351,8350,0.00,2.50,0.00,0.000,6,0.000,0.018,3481,1997,1889,0,0,0,0,0,0
$GC,8671,1.59,277.8,159.1,9.8,381,8687,0.17,2.72,4.38,0.469,4,0.064,0.053,3528,421,1877,0,0,0,0,0,0
$GC,8725,1.53,277.8,153.0,12.8,385,8730,0.00,2.40,0.00,0.000,6,0.000,0.025,3528,1976,1876,0,0,0,0,0,0
$GC,9053,1.53,277.8,118.9,11.1,415,9058,0.00,2.65,0.00,0.000,4,0.000,0.051,3528,404,1876,0,0,0,0,0,0
$GC,9156,1.49,277.8,107.2,10.9,423,9161,0.12,2.42,0.00,0.000,6,0.122,0.018,3502,1968,1875,0,0,0,0,0,0
$GC,9485,1.66,342.3,83.3,5.6,453,9544,0.15,0.00,56.00,0.581,6,0.072,0.000,3542,1969,1613,0,0,0,0,0,0
$GC,9865,1.66,342.3,44.4,10.7,488,9870,0.00,2.60,0.00,0.000,4,0.000,0.050,3543,408,1609,0,0,0,0,0,0
$GC,9948,1.66,342.3,34.2,13.0,494,9952,0.00,2.40,0.00,0.000,6,0.000,0.017,3542,1958,1608,0,0,0,0,0,0
$STATE,10202,end climb,SURFACE_DEPTH_REACHED
$STATE,10202,begin surface coast
$FINISH,0.7,0.973304
$STATE,10245,end surface coast,CONTROL_FINISHED_OK
$STATE,10245,begin surface
$SM_CCo,10267,30.25,0.501,0,0,1459,380.21
$SM_GC,1.07,0.00,0.00,30.25,0.000,0.000,0.501,472,1960,1459,-12.43,-1.44,380.21
$IRIDIUM_FIX,2241.69,-15759.32,270900,080815
$TT8_MAMPS,0.026078
$HUMID,64.45
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.40
$XPDR_PINGS,37
$24V_AH,23.5,55.530
$10V_AH,10.2,49.584
$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,30.050,77.850,383.975,30.250,0.000,23.357,41.614,159.857,9.250,0.000,19.760,1002.836,6798.738,469.071,1903.793,489.308,33.376,1109.160,0.000,1910.094,0.000,0.534,0.000
$DEVICE_MAMPS,148.798,159.536,901.225,500.851,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,361.443,311.619,419.546,801.152,1211.757,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355404
$DATA_FILE_SIZE,41572,534
$CAP_FILE_SIZE,90007,0
$CFSIZE,260165632,158744576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040711,143530,2250.289,-15800.424,37,2.0,37,10.1