version: 66.06
glider: 146
mission: 6
dive: 460
start: 7 6 111 1 52 46
data:
$ID,146
$MISSION,6
$DIVE,460
$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,621.34491
$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,-279232.34
$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,29
$R_STBD_OVSHOOT,76
$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
$GPS1,013616,2248.278,-15758.090,10,2.1,29,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.5
$GPS2,015152,2248.355,-15758.225,10,99.0,29,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.117,-0.181
$KALMAN_X,-360290.1,-235.9,23.7,358067.8,-757.5
$KALMAN_Y,117471.4,-176.5,480.7,-109532.2,373.5
$MHEAD_RNG_PITCHd_Wd,137.0,2613,-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,-70.75,0.000,2,0.000,0.000,476,2028,3259,0,0,0,0,0,0
$GC,91,-1.48,-97.3,3.6,-5.8,9,117,12.60,2.67,-2.85,0.000,4,0.158,0.054,2847,424,3410,0,0,0,0,0,0
$GC,202,-1.39,-97.3,28.2,-16.7,24,212,0.08,2.42,0.00,0.000,6,0.114,0.015,2866,2003,3412,0,0,0,0,0,0
$GC,530,-1.39,-97.3,78.0,-14.0,55,534,0.00,2.45,0.00,0.000,4,0.000,0.025,2866,3554,3413,0,0,0,0,0,0
$GC,553,-1.39,-97.3,82.0,-14.4,56,563,0.00,2.47,0.00,0.000,6,0.000,0.028,2866,2000,3413,0,0,0,0,0,0
$GC,884,-1.39,-97.3,125.5,-12.7,87,889,0.00,2.45,0.00,0.000,4,0.000,0.031,2866,3555,3413,0,0,0,0,0,0
$GC,919,-1.45,-97.3,130.9,-13.0,89,924,0.00,2.42,0.00,0.000,6,0.000,0.027,2866,2006,3413,0,0,0,0,0,0
$GC,1244,-1.50,-97.3,165.0,-10.2,120,1248,0.00,2.58,0.00,0.000,4,0.000,0.051,2866,436,3414,0,0,0,0,0,0
$GC,1277,-1.54,-97.3,168.7,-11.0,122,1284,0.12,2.38,0.00,0.000,6,0.073,0.021,2827,2012,3414,0,0,0,0,0,0
$GC,1611,-1.54,-97.3,205.2,-11.8,151,1615,0.00,2.40,0.00,0.000,4,0.000,0.035,2827,3547,3415,0,0,0,0,0,0
$GC,1651,-1.54,-97.3,209.9,-11.5,152,1655,0.00,2.40,0.00,0.000,6,0.000,0.028,2827,2000,3415,0,0,0,0,0,0
$GC,1976,-1.54,-97.3,249.0,-11.4,160,1977,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2000,3415,0,0,0,0,0,0
$GC,2300,-1.58,-97.3,282.6,-9.9,168,2301,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2000,3415,0,0,0,0,0,0
$GC,2625,-1.63,-97.3,311.7,-9.1,176,2626,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,2000,3415,0,0,0,0,0,0
$GC,2950,-1.69,-97.3,342.4,-9.7,184,2954,0.00,2.55,0.00,0.000,4,0.000,0.041,2826,3551,3413,0,0,0,0,0,0
$GC,3002,-1.79,-97.3,347.2,-9.2,185,3007,0.17,2.47,0.00,0.000,6,0.058,0.043,2769,2027,3413,0,0,0,0,0,0
$GC,3315,-1.75,-97.3,382.8,-11.5,193,3320,0.12,2.50,0.00,0.000,4,0.111,0.048,2796,3540,3411,0,0,0,0,0,0
$GC,3424,-1.80,-97.3,394.4,-11.0,195,3428,0.00,2.53,0.00,0.000,6,0.000,0.048,2796,2026,3411,0,0,0,0,0,0
$GC,3765,-1.80,-97.3,431.6,-10.6,204,3770,0.00,2.88,0.00,0.000,4,0.000,0.097,2796,424,3408,0,0,0,0,0,0
$GC,3798,-1.80,-97.3,435.4,-11.9,204,3803,0.00,2.53,0.00,0.000,6,0.000,0.039,2796,1971,3408,0,0,0,0,0,0
$GC,4130,-1.80,-97.3,471.3,-10.7,213,4135,0.00,2.75,0.00,0.000,4,0.000,0.084,2796,421,3406,0,0,0,0,0,0
$GC,4174,-1.80,-97.3,477.1,-13.0,214,4178,0.00,2.62,0.00,0.000,6,0.000,0.043,2796,2018,3406,0,0,0,0,0,0
$STATE,4368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4368,begin apogee
$GC,4375,-0.31,0.0,500.3,11.9,219,4461,1.38,0.00,81.28,0.900,6,0.078,0.000,3107,2018,3009,0,0,0,0,0,0
$STATE,4461,end apogee,CONTROL_FINISHED_OK
$STATE,4462,begin climb
$GC,4464,1.48,97.3,503.6,0.0,221,4552,1.62,0.00,83.35,0.881,6,0.035,0.000,3507,2018,2613,0,0,0,0,0,0
$GC,4872,1.40,140.6,485.5,7.0,231,4917,0.15,2.78,37.55,0.865,4,0.239,0.067,3479,3576,2434,0,0,0,0,0,0
$GC,4961,1.31,140.6,477.4,10.4,233,4966,0.00,2.70,0.00,0.000,6,0.000,0.045,3478,1992,2431,0,0,0,0,0,0
$GC,5285,1.25,140.6,441.9,10.8,241,5290,0.15,2.90,0.00,0.000,4,0.122,0.094,3449,407,2426,0,0,0,0,0,0
$GC,5419,1.18,142.1,428.6,9.9,244,5423,0.00,2.55,0.00,0.000,6,0.000,0.030,3449,2000,2424,0,0,0,0,0,0
$GC,5742,1.24,194.9,405.7,6.4,252,5797,0.00,2.90,46.88,0.847,4,0.000,0.071,3449,406,2213,0,0,0,0,0,0
$GC,5845,1.24,194.9,397.0,11.1,254,5850,0.00,2.55,0.00,0.000,6,0.000,0.026,3449,1996,2210,0,0,0,0,0,0
$GC,6193,1.26,212.3,365.3,8.8,263,6214,0.00,2.80,15.52,0.785,4,0.000,0.064,3449,402,2143,0,0,0,0,0,0
$GC,6227,1.26,212.3,362.1,10.2,263,6232,0.00,2.55,0.00,0.000,6,0.000,0.025,3449,1986,2141,0,0,0,0,0,0
$GC,6558,1.32,226.2,331.2,9.1,272,6573,0.00,0.00,13.12,0.758,6,0.000,0.000,3449,1986,2087,0,0,0,0,0,0
$GC,6883,1.39,233.5,300.4,9.5,280,6898,0.12,2.65,7.47,0.678,4,0.206,0.043,3480,3563,2056,0,0,0,0,0,0
$GC,7010,1.39,233.5,286.4,11.3,282,7016,0.00,2.62,0.00,0.000,6,0.000,0.034,3481,1966,2055,0,0,0,0,0,0
$GC,7341,1.39,233.5,250.8,10.5,291,7345,0.00,2.67,0.00,0.000,4,0.000,0.069,3481,411,2053,0,0,0,0,0,0
$GC,7381,1.39,233.5,246.5,11.7,292,7386,0.00,2.50,0.00,0.000,6,0.000,0.025,3480,2005,2053,0,0,0,0,0,0
$GC,7706,1.48,272.6,219.5,7.3,300,7748,0.00,2.80,34.88,0.717,4,0.000,0.054,3481,404,1896,0,0,0,0,0,0
$GC,7771,1.50,285.1,214.3,9.2,301,7792,0.00,2.53,12.18,0.658,6,0.000,0.025,3481,1990,1846,0,0,0,0,0,0
$GC,8106,1.59,295.6,183.5,9.3,320,8118,0.17,0.00,9.77,0.621,6,0.064,0.000,3527,1991,1804,0,0,0,0,0,0
$GC,8433,1.63,325.7,151.7,8.0,351,8468,0.00,2.72,26.77,0.637,4,0.000,0.057,3526,405,1681,0,0,0,0,0,0
$GC,8497,1.63,325.7,145.6,10.4,356,8507,0.00,2.53,0.00,0.000,6,0.000,0.021,3526,1992,1679,0,0,0,0,0,0
$GC,8826,1.69,339.2,115.8,9.1,387,8845,0.00,0.00,12.43,0.570,6,0.000,0.000,3527,1994,1625,0,0,0,0,0,0
$GC,9167,1.75,339.2,82.4,10.5,419,9172,0.12,0.00,0.00,0.000,6,0.077,0.000,3562,1994,1624,0,0,0,0,0,0
$GC,9495,1.75,339.2,42.5,12.9,450,9500,0.00,2.62,0.00,0.000,4,0.000,0.049,3562,410,1624,0,0,0,0,0,0
$GC,9576,1.70,339.2,31.1,15.0,456,9581,0.00,2.42,0.00,0.000,6,0.000,0.017,3562,1997,1624,0,0,0,0,0,0
$STATE,9790,end climb,SURFACE_DEPTH_REACHED
$STATE,9790,begin surface coast
$FINISH,0.7,0.976724
$STATE,9833,end surface coast,CONTROL_FINISHED_OK
$STATE,9833,begin surface
$SM_CCo,9855,224.48,0.501,0,0,477,621.34
$SM_GC,1.15,0.00,0.00,224.48,0.000,0.000,0.501,472,1999,477,-12.43,-0.31,621.34
$IRIDIUM_FIX,2237.01,-15800.20,290900,010139
$TT8_MAMPS,0.025311
$HUMID,60.08
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,21.80
$XPDR_PINGS,38
$24V_AH,23.5,56.985
$10V_AH,10.1,51.036
$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,29.350,93.275,381.200,224.475,0.000,147.869,400.406,0.000,9.500,0.000,31.515,960.428,6747.430,663.690,1836.872,809.694,33.374,1327.028,0.000,1820.997,0.000,0.535,0.000
$DEVICE_MAMPS,238.537,96.642,899.691,500.851,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.474,276.586,377.392,690.205,1043.884,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,38350,493
$CAP_FILE_SIZE,91567,0
$CFSIZE,260165632,158072832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060711,044206,2247.695,-15758.068,37,1.3,37,10.1