version: 66.06
glider: 146
mission: 6
dive: 483
start: 7 9 111 0 32 10
data:
$ID,146
$MISSION,6
$DIVE,483
$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,-279924.88
$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,27
$R_STBD_OVSHOOT,56
$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
$GPS1,002054,2250.493,-15800.409,31,1.2,48,10.1
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.5
$GPS2,003119,2250.582,-15800.537,12,1.2,29,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.183,-0.114
$KALMAN_X,-392675.1,-372.7,-102.7,386762.5,-963.5
$KALMAN_Y,143836.5,423.0,262.9,-132158.0,979.9
$MHEAD_RNG_PITCHd_Wd,111.7,6134,-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,-70.68,0.000,2,0.000,0.000,473,1946,3238,0,0,0,0,0,0
$GC,93,-1.48,-97.3,3.4,-5.5,9,119,12.32,2.58,-3.15,0.000,4,0.148,0.057,2842,425,3409,0,0,0,0,0,0
$GC,170,-1.38,-97.3,24.0,-17.7,19,180,0.10,2.47,0.00,0.000,6,0.114,0.016,2866,2023,3411,0,0,0,0,0,0
$GC,507,-1.38,-97.3,74.8,-15.3,52,511,0.00,2.45,0.00,0.000,4,0.000,0.032,2866,3569,3411,0,0,0,0,0,0
$GC,540,-1.38,-97.3,79.8,-15.1,54,545,0.00,2.45,0.00,0.000,6,0.000,0.021,2866,2002,3411,0,0,0,0,0,0
$GC,865,-1.38,-97.3,123.4,-12.4,84,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2003,3412,0,0,0,0,0,0
$GC,1187,-1.42,-97.3,156.9,-10.1,114,1191,0.00,2.47,0.00,0.000,4,0.000,0.028,2866,3569,3413,0,0,0,0,0,0
$GC,1223,-1.50,-97.3,160.9,-10.7,116,1228,0.00,2.45,0.00,0.000,6,0.000,0.023,2866,2014,3413,0,0,0,0,0,0
$GC,1548,-1.57,-97.3,194.6,-10.1,147,1550,0.12,0.00,0.00,0.000,6,0.071,0.000,2820,2013,3414,0,0,0,0,0,0
$GC,1886,-1.57,-97.3,231.9,-10.6,159,1891,0.00,2.47,0.00,0.000,4,0.000,0.028,2820,3560,3413,0,0,0,0,0,0
$GC,1975,-1.57,-97.3,242.5,-11.6,161,1980,0.00,2.40,0.00,0.000,6,0.000,0.024,2820,2022,3413,0,0,0,0,0,0
$GC,2294,-1.57,-97.3,274.9,-10.3,169,2295,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,2021,3414,0,0,0,0,0,0
$GC,2621,-1.61,-97.3,305.1,-9.1,177,2626,0.00,2.50,0.00,0.000,4,0.000,0.035,2820,3563,3414,0,0,0,0,0,0
$GC,2649,-1.67,-97.3,308.0,-9.2,177,2654,0.00,2.47,0.00,0.000,6,0.000,0.029,2820,2027,3414,0,0,0,0,0,0
$GC,2981,-1.72,-97.3,337.8,-8.7,185,2985,0.00,2.47,0.00,0.000,4,0.000,0.044,2820,3555,3414,0,0,0,0,0,0
$GC,3077,-1.80,-97.3,345.8,-8.6,187,3083,0.15,2.50,0.00,0.000,6,0.062,0.038,2768,2023,3413,0,0,0,0,0,0
$GC,3390,-1.80,-97.3,378.8,-11.1,195,3395,0.00,2.85,0.00,0.000,4,0.000,0.094,2768,416,3412,0,0,0,0,0,0
$GC,3460,-1.71,-97.3,387.7,-13.3,196,3465,0.15,2.53,0.00,0.000,6,0.110,0.032,2799,1982,3412,0,0,0,0,0,0
$GC,3797,-1.71,-97.3,423.9,-10.8,205,3801,0.00,2.67,0.00,0.000,4,0.000,0.062,2799,3587,3409,0,0,0,0,0,0
$GC,3852,-1.77,-97.3,430.1,-11.4,206,3856,0.00,2.60,0.00,0.000,6,0.000,0.049,2800,2025,3409,0,0,0,0,0,0
$GC,4201,-1.81,-97.3,469.1,-11.5,215,4205,0.00,2.65,0.00,0.000,4,0.000,0.056,2799,3587,3406,0,0,0,0,0,0
$GC,4262,-1.86,-97.3,476.2,-10.9,216,4267,0.12,2.62,0.00,0.000,6,0.073,0.055,2758,2034,3406,0,0,0,0,0,0
$STATE,4479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4480,begin apogee
$GC,4487,-0.31,0.0,501.8,11.7,222,4573,1.55,0.00,81.43,0.908,6,0.086,0.000,3103,1992,3009,0,0,0,0,0,0
$STATE,4574,end apogee,CONTROL_FINISHED_OK
$STATE,4574,begin climb
$GC,4576,1.48,97.3,504.3,0.0,224,4670,1.65,2.78,82.68,0.887,4,0.039,0.056,3504,3573,2612,0,0,0,0,0,0
$GC,4755,1.37,134.5,499.8,7.5,228,4795,0.15,2.70,32.78,0.859,6,0.126,0.058,3476,1999,2460,0,0,0,0,0,0
$GC,5118,1.33,150.7,468.3,8.9,237,5137,0.00,3.05,14.20,0.813,4,0.000,0.106,3476,410,2394,0,0,0,0,0,0
$GC,5177,1.21,150.7,462.2,10.2,238,5182,0.17,2.58,0.00,0.000,6,0.120,0.028,3441,1995,2392,0,0,0,0,0,0
$GC,5519,1.24,173.7,433.0,8.4,247,5542,0.00,0.00,21.20,0.834,6,0.000,0.000,3441,1995,2301,0,0,0,0,0,0
$GC,5846,1.25,187.4,403.5,9.1,255,5861,0.00,0.00,13.15,0.792,6,0.000,0.000,3441,1995,2245,0,0,0,0,0,0
$GC,6169,1.31,197.1,372.2,9.4,263,6181,0.00,0.00,9.50,0.746,6,0.000,0.000,3441,1995,2206,0,0,0,0,0,0
$GC,6494,1.39,223.2,343.9,8.2,271,6525,0.15,2.85,24.08,0.796,4,0.077,0.069,3479,401,2099,0,0,0,0,0,0
$GC,6603,1.34,223.2,331.8,12.0,273,6607,0.00,2.58,0.00,0.000,6,0.000,0.028,3479,2016,2097,0,0,0,0,0,0
$GC,6939,1.34,223.2,298.8,10.2,282,6940,0.00,0.00,0.00,0.000,6,0.000,0.000,3479,2016,2095,0,0,0,0,0,0
$GC,7265,1.35,229.9,266.8,9.6,290,7279,0.00,2.85,6.53,0.635,4,0.000,0.064,3479,403,2070,0,0,0,0,0,0
$GC,7364,1.36,242.7,257.7,9.2,292,7383,0.00,2.58,12.93,0.709,6,0.000,0.026,3479,2025,2019,0,0,0,0,0,0
$GC,7724,1.45,272.4,228.9,8.0,301,7759,0.00,2.90,27.10,0.716,4,0.000,0.061,3479,390,1898,0,0,0,0,0,0
$GC,7798,1.45,272.4,220.8,11.7,302,7802,0.00,2.58,0.00,0.000,6,0.000,0.026,3479,2008,1896,0,0,0,0,0,0
$GC,8114,1.51,272.4,185.0,12.0,317,8119,0.10,2.55,0.00,0.000,4,0.087,0.038,3508,3560,1894,0,0,0,0,0,0
$GC,8170,1.55,272.4,177.5,13.6,321,8179,0.00,2.60,0.00,0.000,6,0.000,0.036,3508,1983,1892,0,0,0,0,0,0
$GC,8495,1.57,286.8,143.6,9.0,352,8514,0.00,2.75,13.07,0.611,4,0.000,0.063,3508,413,1839,0,0,0,0,0,0
$GC,8596,1.57,286.8,133.2,10.6,360,8606,0.00,2.50,0.00,0.000,6,0.000,0.021,3508,1988,1837,0,0,0,0,0,0
$GC,8925,1.65,306.5,103.7,8.7,391,8951,0.10,2.70,17.95,0.585,4,0.087,0.055,3537,406,1759,0,0,0,0,0,0
$GC,9049,1.65,306.5,88.3,14.2,401,9053,0.00,2.45,0.00,0.000,6,0.000,0.024,3537,1972,1756,0,0,0,0,0,0
$GC,9376,1.65,306.5,53.0,10.2,431,9385,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,1972,1756,0,0,0,0,0,0
$GC,9731,1.69,306.5,17.2,10.7,471,9740,0.00,2.65,0.00,0.000,4,0.000,0.053,3537,411,1756,0,0,0,0,0,0
$GC,9828,1.74,345.0,6.3,7.4,485,9854,0.00,2.42,20.70,0.503,2,0.000,0.021,3536,1947,1666,0,0,0,0,0,0
$STATE,9855,end climb,SURFACE_DEPTH_REACHED
$STATE,9855,begin surface coast
$FINISH,0.7,0.976050
$STATE,9904,end surface coast,CONTROL_FINISHED_OK
$STATE,9904,begin surface
$SM_CCo,9928,41.22,0.508,0,0,1459,380.21
$SM_GC,1.71,0.00,0.00,41.22,0.000,0.000,0.508,475,2115,1459,-12.42,2.94,380.21
$IRIDIUM_FIX,2239.35,-15802.37,011000,212157
$TT8_MAMPS,0.025311
$HUMID,64.76
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,20.50
$XPDR_PINGS,47
$24V_AH,23.5,59.948
$10V_AH,10.0,53.710
$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,29.300,93.825,377.275,41.225,0.000,48.228,114.780,237.401,11.750,0.000,30.775,976.599,6606.528,452.399,1878.739,678.067,33.370,1139.411,0.000,1868.269,0.000,0.535,0.000
$DEVICE_MAMPS,148.031,391.937,908.128,507.754,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,335.578,269.463,379.659,725.262,1097.007,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,38346,495
$CAP_FILE_SIZE,95500,0
$CFSIZE,260165632,156889088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090711,031934,2250.831,-15759.965,14,99.0,33,10.1