version: 66.06
glider: 146
mission: 6
dive: 457
start: 7 5 111 16 50 11
data:
$ID,146
$MISSION,6
$DIVE,457
$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,-279172.97
$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,24
$R_STBD_OVSHOOT,72
$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
$GPS1,164307,2248.763,-15757.935,28,1.1,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-67.3
$GPS2,164920,2248.810,-15757.961,19,1.2,19,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.127,-0.174
$KALMAN_X,-357349.6,86.7,79.7,355196.4,-1180.5
$KALMAN_Y,113004.2,311.9,-377.8,-103851.6,716.1
$MHEAD_RNG_PITCHd_Wd,133.9,3364,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-70.78,0.000,2,0.000,0.000,477,2033,3236,0,0,0,0,0,0
$GC,91,-1.48,-97.3,3.4,-5.8,9,117,12.57,2.70,-3.25,0.000,4,0.156,0.060,2844,428,3410,0,0,0,0,0,0
$GC,189,-1.36,-97.3,26.9,-17.0,22,199,0.12,2.45,0.00,0.000,6,0.242,0.015,2873,2017,3412,0,0,0,0,0,0
$GC,527,-1.36,-97.3,75.7,-13.7,54,532,0.00,2.42,0.00,0.000,4,0.000,0.032,2873,3560,3413,0,0,0,0,0,0
$GC,583,-1.36,-97.3,83.5,-13.5,58,587,0.00,2.45,0.00,0.000,6,0.000,0.028,2873,2004,3413,0,0,0,0,0,0
$GC,907,-1.36,-97.3,121.4,-12.1,88,912,0.00,2.45,0.00,0.000,4,0.000,0.031,2873,3555,3414,0,0,0,0,0,0
$GC,943,-1.43,-97.3,125.7,-12.7,90,952,0.00,2.45,0.00,0.000,6,0.000,0.029,2872,2021,3414,0,0,0,0,0,0
$GC,1271,-1.47,-97.3,163.7,-11.5,121,1276,0.00,2.42,0.00,0.000,4,0.000,0.034,2873,3557,3415,0,0,0,0,0,0
$GC,1336,-1.58,-97.3,171.4,-11.5,126,1341,0.17,2.40,0.00,0.000,6,0.054,0.021,2813,2027,3415,0,0,0,0,0,0
$GC,1657,-1.58,-97.3,209.3,-10.6,150,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2026,3415,0,0,0,0,0,0
$GC,1982,-1.58,-97.3,244.4,-11.2,158,1986,0.00,2.45,0.00,0.000,4,0.000,0.034,2813,3561,3416,0,0,0,0,0,0
$GC,2010,-1.58,-97.3,247.4,-11.1,158,2014,0.00,2.40,0.00,0.000,6,0.000,0.028,2813,2039,3416,0,0,0,0,0,0
$GC,2341,-1.58,-97.3,283.1,-11.0,166,2345,0.00,2.45,0.00,0.000,4,0.000,0.034,2813,3562,3416,0,0,0,0,0,0
$GC,2478,-1.63,-97.3,297.8,-10.4,169,2482,0.00,2.40,0.00,0.000,6,0.000,0.034,2813,2063,3416,0,0,0,0,0,0
$GC,2796,-1.67,-97.3,328.9,-9.4,177,2801,0.00,2.80,0.00,0.000,4,0.000,0.075,2813,439,3416,0,0,0,0,0,0
$GC,2851,-1.67,-97.3,334.7,-10.2,178,2856,0.00,2.50,0.00,0.000,6,0.000,0.029,2812,2028,3417,0,0,0,0,0,0
$GC,3202,-1.71,-97.3,366.6,-9.1,187,3206,0.00,2.58,0.00,0.000,4,0.000,0.049,2812,3594,3415,0,0,0,0,0,0
$GC,3229,-1.76,-97.3,369.5,-10.2,187,3233,0.00,2.50,0.00,0.000,6,0.000,0.045,2813,2080,3415,0,0,0,0,0,0
$GC,3560,-1.81,-97.3,401.9,-10.0,195,3565,0.12,2.50,0.00,0.000,4,0.074,0.050,2770,3590,3414,0,0,0,0,0,0
$GC,3622,-1.81,-97.3,409.3,-12.3,196,3626,0.00,2.47,0.00,0.000,6,0.000,0.050,2770,2089,3414,0,0,0,0,0,0
$GC,3964,-1.81,-97.3,448.8,-11.9,205,3968,0.00,2.53,0.00,0.000,4,0.000,0.051,2770,3590,3411,0,0,0,0,0,0
$GC,4009,-1.81,-97.3,454.2,-12.4,206,4013,0.00,2.53,0.00,0.000,6,0.000,0.050,2770,2094,3411,0,0,0,0,0,0
$GC,4326,-1.81,-97.3,491.2,-11.9,214,4328,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,2093,3408,0,0,0,0,0,0
$STATE,4405,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4405,begin apogee
$GC,4412,-0.31,0.0,500.5,11.4,216,4498,1.50,0.00,82.43,0.900,6,0.088,0.000,3105,2011,3009,0,0,0,0,0,0
$STATE,4499,end apogee,CONTROL_FINISHED_OK
$STATE,4499,begin climb
$GC,4503,1.48,97.3,502.9,0.0,218,4594,1.65,2.70,83.18,0.884,4,0.047,0.059,3505,3567,2611,0,0,0,0,0,0
$GC,4612,1.42,175.5,502.1,4.6,221,4689,0.00,2.70,68.20,0.871,6,0.000,0.050,3506,1998,2293,0,0,0,0,0,0
$GC,5014,1.32,175.5,456.8,11.7,231,5020,0.20,2.95,0.00,0.000,4,0.114,0.103,3466,406,2283,0,0,0,0,0,0
$GC,5042,1.23,175.5,453.3,11.3,231,5047,0.10,2.55,0.00,0.000,6,0.142,0.034,3446,1983,2282,0,0,0,0,0,0
$GC,5373,1.25,195.3,423.3,8.7,239,5397,0.00,2.83,16.77,0.808,4,0.000,0.072,3446,400,2211,0,0,0,0,0,0
$GC,5438,1.25,195.3,416.8,10.8,240,5442,0.00,2.60,0.00,0.000,6,0.000,0.029,3446,1997,2209,0,0,0,0,0,0
$GC,5780,1.26,201.9,383.7,9.6,249,5788,0.00,0.00,6.57,0.684,6,0.000,0.000,3445,1998,2186,0,0,0,0,0,0
$GC,6107,1.31,206.9,352.0,9.7,257,6117,0.00,2.60,5.72,0.647,4,0.000,0.039,3445,3577,2165,0,0,0,0,0,0
$GC,6226,1.37,209.8,339.7,9.8,259,6238,0.12,2.65,3.90,0.521,6,0.082,0.038,3478,1972,2154,0,0,0,0,0,0
$GC,6564,1.39,229.4,308.4,8.7,268,6588,0.00,2.75,18.83,0.768,4,0.000,0.072,3478,409,2074,0,0,0,0,0,0
$GC,6698,1.39,229.4,294.9,10.9,271,6702,0.00,2.50,0.00,0.000,6,0.000,0.020,3479,1984,2070,0,0,0,0,0,0
$GC,7021,1.41,246.7,265.9,8.8,279,7039,0.00,0.00,16.20,0.729,6,0.000,0.000,3479,1984,2004,0,0,0,0,0,0
$GC,7347,1.48,260.5,235.1,9.1,287,7366,0.00,2.65,13.30,0.693,4,0.000,0.040,3478,3563,1947,0,0,0,0,0,0
$GC,7383,1.55,270.5,231.5,9.3,287,7400,0.15,2.62,10.50,0.659,6,0.071,0.035,3517,1968,1907,0,0,0,0,0,0
$GC,7718,1.55,270.5,193.1,11.0,299,7722,0.00,2.65,0.00,0.000,4,0.000,0.061,3517,410,1903,0,0,0,0,0,0
$GC,7750,1.50,270.5,189.6,11.6,301,7754,0.00,2.47,0.00,0.000,6,0.000,0.020,3518,1990,1902,0,0,0,0,0,0
$GC,8080,1.51,276.2,156.4,9.6,331,8091,0.00,2.67,5.88,0.533,4,0.000,0.055,3518,410,1883,0,0,0,0,0,0
$GC,8131,1.51,276.2,149.9,12.4,335,8137,0.00,2.42,0.00,0.000,6,0.000,0.024,3517,1970,1882,0,0,0,0,0,0
$GC,8456,1.56,276.2,115.2,10.7,366,8458,0.00,0.00,0.00,0.000,6,0.000,0.000,3518,1972,1882,0,0,0,0,0,0
$GC,8776,1.64,290.9,85.5,9.0,396,8799,0.00,2.62,14.27,0.557,4,0.000,0.037,3518,3551,1823,0,0,0,0,0,0
$GC,8853,1.73,298.0,78.7,9.5,402,8869,0.15,2.58,7.38,0.495,6,0.072,0.029,3559,1962,1795,0,0,0,0,0,0
$GC,9190,1.73,298.0,42.7,10.6,433,9198,0.00,0.00,0.00,0.000,6,0.000,0.000,3559,1962,1793,0,0,0,0,0,0
$STATE,9537,end climb,SURFACE_DEPTH_REACHED
$STATE,9537,begin surface coast
$FINISH,0.6,0.979991
$STATE,9587,end surface coast,CONTROL_FINISHED_OK
$STATE,9587,begin surface
$SM_CCo,9610,67.75,0.509,0,0,1459,380.21
$SM_GC,1.25,0.00,0.00,67.75,0.000,0.000,0.509,474,1960,1459,-12.42,-1.41,380.21
$IRIDIUM_FIX,2239.35,-15757.16,280900,141430
$TT8_MAMPS,0.026078
$HUMID,63.62
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.40
$XPDR_PINGS,43
$24V_AH,23.5,56.588
$10V_AH,10.1,50.692
$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,29.375,97.525,353.125,67.750,0.000,30.262,38.220,161.389,10.750,0.000,20.907,957.742,6274.308,485.347,1841.314,491.796,33.373,1129.566,0.000,1838.433,0.000,0.534,0.000
$DEVICE_MAMPS,241.605,126.555,900.458,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.663,273.056,375.472,722.178,1092.101,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355452
$DATA_FILE_SIZE,38418,485
$CAP_FILE_SIZE,91800,0
$CFSIZE,260165632,158236672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050711,193236,2248.445,-15757.920,9,1.1,25,10.1