version: 66.06
glider: 146
mission: 6
dive: 485
start: 7 9 111 6 31 32
data:
$ID,146
$MISSION,6
$DIVE,485
$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,-280020.19
$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,59
$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
$GPS1,062407,2250.928,-15759.242,65,1.0,65,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-67.2
$GPS2,063038,2250.907,-15759.328,12,1.1,12,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.211,-0.047
$KALMAN_X,-395174.7,72.1,80.4,390697.4,-937.6
$KALMAN_Y,145931.8,690.9,8.3,-133663.2,-20.3
$MHEAD_RNG_PITCHd_Wd,92.5,4314,-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,-70.88,0.000,2,0.000,0.000,474,1953,3276,0,0,0,0,0,0
$GC,91,-1.48,-97.3,4.1,-7.8,9,117,12.02,2.62,-2.45,0.000,4,0.137,0.038,2844,3573,3409,0,0,0,0,0,0
$GC,215,-1.48,-97.3,29.3,-16.2,26,224,0.00,2.53,0.00,0.000,6,0.000,0.025,2844,2004,3411,0,0,0,0,0,0
$GC,546,-1.40,-97.3,81.5,-16.6,57,551,0.12,0.00,0.00,0.000,6,0.130,0.000,2869,2003,3412,0,0,0,0,0,0
$GC,872,-1.40,-97.3,122.7,-10.7,88,877,0.00,2.47,0.00,0.000,4,0.000,0.033,2869,3568,3413,0,0,0,0,0,0
$GC,930,-1.49,-97.3,129.3,-10.2,92,940,0.00,2.47,0.00,0.000,6,0.000,0.026,2869,2018,3413,0,0,0,0,0,0
$GC,1259,-1.55,-97.3,162.5,-10.2,123,1268,0.12,0.00,0.00,0.000,6,0.068,0.000,2817,2018,3413,0,0,0,0,0,0
$GC,1589,-1.55,-97.3,200.4,-11.3,154,1594,0.10,2.50,0.00,0.000,4,0.117,0.028,2838,3577,3414,0,0,0,0,0,0
$GC,1633,-1.60,-97.3,205.7,-10.5,155,1637,0.00,2.42,0.00,0.000,6,0.000,0.024,2838,2023,3414,0,0,0,0,0,0
$GC,1951,-1.60,-97.3,238.8,-10.2,163,1955,0.00,2.47,0.00,0.000,4,0.000,0.028,2838,3577,3414,0,0,0,0,0,0
$GC,1992,-1.69,-97.3,242.9,-10.5,164,1997,0.12,2.42,0.00,0.000,6,0.067,0.021,2790,2027,3415,0,0,0,0,0,0
$GC,2316,-1.69,-97.3,281.4,-12.1,172,2320,0.00,2.47,0.00,0.000,4,0.000,0.032,2790,3568,3415,0,0,0,0,0,0
$GC,2337,-1.69,-97.3,284.2,-12.0,172,2341,0.00,2.42,0.00,0.000,6,0.000,0.026,2790,2033,3415,0,0,0,0,0,0
$GC,2675,-1.69,-97.3,319.8,-10.8,181,2679,0.00,2.50,0.00,0.000,4,0.000,0.043,2790,3572,3415,0,0,0,0,0,0
$GC,2752,-1.69,-97.3,328.6,-11.0,182,2758,0.00,2.50,0.00,0.000,6,0.000,0.041,2789,2038,3415,0,0,0,0,0,0
$GC,3085,-1.69,-97.3,363.2,-10.7,191,3089,0.00,2.88,0.00,0.000,4,0.000,0.091,2789,427,3414,0,0,0,0,0,0
$GC,3105,-1.69,-97.3,365.8,-11.0,191,3110,0.00,2.55,0.00,0.000,6,0.000,0.028,2790,2018,3415,0,0,0,0,0,0
$GC,3442,-1.69,-97.3,401.7,-10.8,200,3446,0.00,2.67,0.00,0.000,4,0.000,0.061,2790,3596,3414,0,0,0,0,0,0
$GC,3491,-1.69,-97.3,407.2,-10.7,201,3496,0.00,2.58,0.00,0.000,6,0.000,0.048,2790,2048,3413,0,0,0,0,0,0
$GC,3806,-1.69,-97.3,441.5,-11.0,209,3810,0.00,2.60,0.00,0.000,4,0.000,0.051,2789,3589,3412,0,0,0,0,0,0
$GC,3821,-1.69,-97.3,443.6,-11.0,209,3825,0.00,2.60,0.00,0.000,6,0.000,0.058,2790,2046,3411,0,0,0,0,0,0
$GC,4164,-1.69,-97.3,482.4,-11.7,218,4165,0.00,0.00,0.00,0.000,6,0.000,0.000,2790,2046,3409,0,0,0,0,0,0
$STATE,4323,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4324,begin apogee
$GC,4331,-0.31,0.0,500.8,11.3,222,4417,1.40,0.00,82.12,0.903,6,0.084,0.000,3103,1989,3010,0,0,0,0,0,0
$STATE,4418,end apogee,CONTROL_FINISHED_OK
$STATE,4418,begin climb
$GC,4421,1.48,97.3,503.2,0.0,224,4512,1.67,2.78,82.88,0.881,4,0.046,0.056,3507,3578,2612,0,0,0,0,0,0
$GC,4543,1.39,159.8,502.2,5.7,227,4605,0.15,2.72,54.55,0.864,6,0.124,0.053,3479,1990,2358,0,0,0,0,0,0
$GC,4930,1.33,159.8,463.8,10.3,236,4931,0.00,0.00,0.00,0.000,6,0.000,0.000,3479,1990,2348,0,0,0,0,0,0
$GC,5257,1.28,164.7,431.8,9.7,244,5262,0.12,2.95,0.00,0.000,4,0.127,0.100,3454,408,2345,0,0,0,0,0,0
$GC,5302,1.22,172.7,427.1,9.5,245,5318,0.00,2.55,10.50,0.767,6,0.000,0.030,3454,1994,2305,0,0,0,0,0,0
$GC,5662,1.25,194.7,396.2,8.5,254,5688,0.00,2.65,20.58,0.809,4,0.000,0.044,3454,3577,2214,0,0,0,0,0,0
$GC,5755,1.25,194.7,386.8,10.1,256,5760,0.00,2.62,0.00,0.000,6,0.000,0.043,3454,1989,2212,0,0,0,0,0,0
$GC,6067,1.26,204.4,356.6,9.4,264,6079,0.00,0.00,9.40,0.732,6,0.000,0.000,3454,1989,2176,0,0,0,0,0,0
$GC,6394,1.28,221.5,326.5,8.9,272,6418,0.00,2.90,16.45,0.766,4,0.000,0.077,3454,407,2105,0,0,0,0,0,0
$GC,6521,1.28,221.5,313.2,10.4,274,6526,0.00,2.53,0.00,0.000,6,0.000,0.023,3454,2009,2103,0,0,0,0,0,0
$GC,6854,1.37,245.0,283.7,8.4,283,6882,0.00,2.62,21.50,0.746,4,0.000,0.034,3454,3556,2010,0,0,0,0,0,0
$GC,6943,1.48,259.5,276.2,9.0,285,6963,0.17,2.58,14.60,0.718,6,0.066,0.038,3501,1984,1951,0,0,0,0,0,0
$GC,7311,1.48,259.5,238.4,10.5,294,7315,0.00,2.70,0.00,0.000,4,0.000,0.071,3500,414,1944,0,0,0,0,0,0
$GC,7427,1.48,259.5,224.1,12.1,296,7432,0.00,2.47,0.00,0.000,6,0.000,0.020,3500,1988,1943,0,0,0,0,0,0
$GC,7743,1.51,278.3,194.0,8.7,308,7764,0.00,0.00,16.70,0.664,6,0.000,0.000,3500,1989,1875,0,0,0,0,0,0
$GC,8084,1.55,284.2,162.1,9.6,340,8096,0.00,2.70,6.28,0.542,4,0.000,0.056,3500,412,1850,0,0,0,0,0,0
$GC,8137,1.55,284.2,156.0,11.6,344,8143,0.00,2.47,0.00,0.000,6,0.000,0.019,3500,1991,1849,0,0,0,0,0,0
$GC,8466,1.64,304.3,127.4,8.6,375,8491,0.12,2.70,18.85,0.604,4,0.078,0.053,3535,412,1768,0,0,0,0,0,0
$GC,8569,1.59,304.3,115.9,11.8,383,8574,0.00,2.42,0.00,0.000,6,0.000,0.020,3535,1973,1766,0,0,0,0,0,0
$GC,8898,1.59,304.3,79.6,10.7,413,8902,0.00,2.60,0.00,0.000,4,0.000,0.058,3535,411,1765,0,0,0,0,0,0
$GC,9031,1.59,304.3,65.4,10.5,423,9036,0.00,2.40,0.00,0.000,6,0.000,0.018,3535,1955,1765,0,0,0,0,0,0
$GC,9361,1.59,304.3,32.4,10.3,453,9366,0.00,2.60,0.00,0.000,4,0.000,0.051,3535,409,1765,0,0,0,0,0,0
$GC,9400,1.59,304.3,27.7,12.6,456,9409,0.00,2.42,0.00,0.000,6,0.000,0.018,3535,1961,1765,0,0,0,0,0,0
$STATE,9609,end climb,SURFACE_DEPTH_REACHED
$STATE,9609,begin surface coast
$FINISH,0.5,0.971302
$STATE,9656,end surface coast,CONTROL_FINISHED_OK
$STATE,9656,begin surface
$SM_CCo,9680,62.00,0.509,0,0,1460,380.21
$SM_GC,1.42,0.00,0.00,62.00,0.000,0.000,0.509,476,1963,1460,-12.42,-1.33,380.21
$IRIDIUM_FIX,2244.02,-15759.32,021000,030354
$TT8_MAMPS,0.025311
$HUMID,64.09
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,20.90
$XPDR_PINGS,51
$24V_AH,23.4,60.172
$10V_AH,10.1,53.934
$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,28.600,98.200,354.400,62.000,0.000,28.193,34.248,188.780,12.750,0.000,14.481,965.198,6321.640,469.544,1853.164,525.071,33.378,1137.792,0.000,1855.384,0.000,0.533,0.000
$DEVICE_MAMPS,137.293,136.526,902.759,509.288,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.613,270.878,384.691,722.197,1091.222,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,38535,494
$CAP_FILE_SIZE,92177,0
$CFSIZE,260165632,156786688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090711,091534,2250.809,-15758.767,39,5.9,58,10.1