version: 66.06
glider: 146
mission: 6
dive: 487
start: 7 9 111 12 28 17
data:
$ID,146
$MISSION,6
$DIVE,487
$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,-280095.53
$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,26
$R_STBD_OVSHOOT,93
$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
$GPS1,121657,2250.695,-15758.458,30,4.8,49,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-68.0
$GPS2,122725,2250.733,-15758.580,13,1.3,13,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.182,-0.116
$KALMAN_X,-397849.4,294.3,-174.6,394684.3,-1094.4
$KALMAN_Y,147888.6,-124.6,-1.3,-135114.4,793.9
$MHEAD_RNG_PITCHd_Wd,112.4,3019,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.48,-97.3,0.0,0.0,0,89,0.00,0.00,-70.93,0.000,2,0.000,0.000,476,2051,3257,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.6,-6.2,9,118,12.32,2.75,-2.92,0.000,4,0.149,0.061,2844,432,3410,0,0,0,0,0,0
$GC,164,-1.39,-97.3,20.0,-14.7,18,172,0.10,2.40,0.00,0.000,6,0.110,0.015,2867,1989,3412,0,0,0,0,0,0
$GC,514,-1.39,-97.3,68.1,-14.1,55,519,0.00,2.47,0.00,0.000,4,0.000,0.033,2867,3562,3412,0,0,0,0,0,0
$GC,564,-1.39,-97.3,75.5,-13.4,58,573,0.00,2.50,0.00,0.000,6,0.000,0.027,2867,1998,3412,0,0,0,0,0,0
$GC,894,-1.39,-97.3,118.6,-13.6,89,898,0.00,2.50,0.00,0.000,4,0.000,0.033,2867,3569,3413,0,0,0,0,0,0
$GC,925,-1.43,-97.3,123.0,-13.3,91,929,0.00,2.42,0.00,0.000,6,0.000,0.028,2867,2022,3413,0,0,0,0,0,0
$GC,1254,-1.49,-97.3,163.1,-11.1,121,1258,0.00,2.45,0.00,0.000,4,0.000,0.026,2867,3564,3413,0,0,0,0,0,0
$GC,1271,-1.56,-97.3,165.3,-10.7,122,1276,0.15,2.42,0.00,0.000,6,0.061,0.021,2813,2019,3413,0,0,0,0,0,0
$GC,1615,-1.56,-97.3,204.8,-10.9,151,1620,0.10,2.47,0.00,0.000,4,0.121,0.035,2834,3562,3414,0,0,0,0,0,0
$GC,1676,-1.62,-97.3,211.3,-10.7,152,1680,0.00,2.42,0.00,0.000,6,0.000,0.026,2834,2019,3414,0,0,0,0,0,0
$GC,2020,-1.66,-97.3,244.3,-9.8,161,2024,0.00,2.65,0.00,0.000,4,0.000,0.060,2834,439,3415,0,0,0,0,0,0
$GC,2035,-1.66,-97.3,246.1,-9.9,161,2040,0.00,2.42,0.00,0.000,6,0.000,0.016,2834,2024,3415,0,0,0,0,0,0
$GC,2380,-1.72,-97.3,274.8,-8.1,170,2385,0.15,2.47,0.00,0.000,4,0.071,0.040,2787,3564,3415,0,0,0,0,0,0
$GC,2446,-1.72,-97.3,281.6,-10.4,171,2451,0.00,2.42,0.00,0.000,6,0.000,0.031,2787,2030,3415,0,0,0,0,0,0
$GC,2789,-1.72,-97.3,314.1,-10.0,180,2793,0.00,2.47,0.00,0.000,4,0.000,0.035,2787,3559,3415,0,0,0,0,0,0
$GC,2868,-1.72,-97.3,322.7,-10.4,181,2874,0.00,2.45,0.00,0.000,6,0.000,0.033,2787,2041,3415,0,0,0,0,0,0
$GC,3199,-1.72,-97.3,359.0,-11.0,190,3201,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2041,3414,0,0,0,0,0,0
$GC,3524,-1.72,-97.3,396.0,-11.4,198,3525,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2041,3412,0,0,0,0,0,0
$GC,3851,-1.72,-97.3,431.4,-10.6,206,3855,0.00,2.53,0.00,0.000,4,0.000,0.058,2787,3552,3410,0,0,0,0,0,0
$GC,3962,-1.75,-97.3,443.8,-10.7,208,3967,0.00,2.58,0.00,0.000,6,0.000,0.053,2787,2034,3409,0,0,0,0,0,0
$GC,4298,-1.75,-97.3,479.8,-10.7,217,4299,0.00,0.00,0.00,0.000,6,0.000,0.000,2787,2034,3407,0,0,0,0,0,0
$STATE,4499,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4499,begin apogee
$GC,4507,-0.31,0.0,500.7,10.2,222,4592,1.42,0.00,81.75,0.907,6,0.083,0.000,3106,1993,3010,0,0,0,0,0,0
$STATE,4593,end apogee,CONTROL_FINISHED_OK
$STATE,4593,begin climb
$GC,4595,1.48,97.3,502.4,0.0,224,4683,1.62,0.00,83.00,0.886,6,0.039,0.000,3507,1993,2613,0,0,0,0,0,0
$GC,5005,1.37,122.3,476.6,8.3,234,5030,0.17,0.00,21.75,0.847,6,0.118,0.000,3473,1992,2511,0,0,0,0,0,0
$GC,5327,1.35,153.2,450.6,7.9,242,5357,0.00,0.00,27.58,0.851,6,0.000,0.000,3472,1993,2385,0,0,0,0,0,0
$GC,5652,1.34,180.2,423.4,8.2,250,5681,0.00,0.00,24.50,0.833,6,0.000,0.000,3472,1993,2275,0,0,0,0,0,0
$GC,6021,1.34,180.2,387.1,10.3,259,6025,0.00,2.58,0.00,0.000,4,0.000,0.044,3471,3549,2269,0,0,0,0,0,0
$GC,6087,1.34,180.2,379.8,10.8,260,6091,0.00,2.60,0.00,0.000,6,0.000,0.044,3472,1987,2267,0,0,0,0,0,0
$GC,6431,1.36,195.7,348.5,9.0,269,6450,0.00,2.88,13.70,0.769,4,0.000,0.084,3472,407,2211,0,0,0,0,0,0
$GC,6495,1.31,195.7,341.5,11.2,270,6500,0.00,2.50,0.00,0.000,6,0.000,0.019,3472,1977,2208,0,0,0,0,0,0
$GC,6839,1.35,225.2,311.4,8.0,279,6873,0.00,2.83,27.00,0.783,4,0.000,0.067,3472,407,2089,0,0,0,0,0,0
$GC,6969,1.35,225.2,298.1,11.4,282,6974,0.00,2.53,0.00,0.000,6,0.000,0.026,3472,1995,2086,0,0,0,0,0,0
$GC,7293,1.38,248.2,269.8,8.4,290,7322,0.00,2.60,21.20,0.742,4,0.000,0.038,3472,3562,1996,0,0,0,0,0,0
$GC,7364,1.44,248.2,262.9,11.3,291,7368,0.00,2.62,0.00,0.000,6,0.000,0.034,3472,1974,1993,0,0,0,0,0,0
$GC,7700,1.52,262.8,231.2,9.0,300,7720,0.12,2.78,13.45,0.688,4,0.078,0.064,3508,415,1937,0,0,0,0,0,0
$GC,7767,1.47,262.8,224.5,10.7,301,7771,0.00,2.50,0.00,0.000,6,0.000,0.025,3508,1984,1935,0,0,0,0,0,0
$GC,8084,1.48,275.8,194.3,9.1,313,8105,0.00,2.75,12.45,0.651,4,0.000,0.060,3508,418,1884,0,0,0,0,0,0
$GC,8166,1.44,276.6,186.1,10.0,320,8170,0.00,2.45,0.00,0.000,6,0.000,0.018,3508,1980,1883,0,0,0,0,0,0
$GC,8490,1.44,276.6,153.3,10.1,350,8491,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,1980,1881,0,0,0,0,0,0
$GC,8813,1.51,290.4,123.1,9.1,380,8831,0.00,2.67,13.45,0.591,4,0.000,0.054,3508,410,1826,0,0,0,0,0,0
$GC,8867,1.51,290.4,117.2,10.7,384,8871,0.00,2.45,0.00,0.000,6,0.000,0.025,3508,1966,1824,0,0,0,0,0,0
$GC,9192,1.61,307.4,88.7,8.9,414,9216,0.00,2.70,15.85,0.565,4,0.000,0.056,3508,414,1756,0,0,0,0,0,0
$GC,9281,1.67,313.3,80.8,9.6,421,9295,0.12,2.42,6.82,0.488,6,0.075,0.022,3543,1961,1731,0,0,0,0,0,0
$GC,9625,1.67,313.3,45.8,10.5,453,9629,0.00,2.62,0.00,0.000,4,0.000,0.052,3543,407,1730,0,0,0,0,0,0
$GC,9658,1.67,313.3,41.5,12.4,455,9662,0.00,2.38,0.00,0.000,6,0.000,0.018,3543,1947,1729,0,0,0,0,0,0
$STATE,9996,end climb,SURFACE_DEPTH_REACHED
$STATE,9996,begin surface coast
$FINISH,0.6,0.975282
$STATE,10052,end surface coast,CONTROL_FINISHED_OK
$STATE,10052,begin surface
$SM_CCo,10074,53.97,0.509,0,0,1459,380.21
$SM_GC,1.79,0.00,0.00,53.97,0.000,0.000,0.509,476,1949,1459,-12.42,-1.70,380.21
$IRIDIUM_FIX,2244.02,-15759.32,021000,121243
$TT8_MAMPS,0.026078
$HUMID,64.53
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,20.70
$XPDR_PINGS,43
$24V_AH,23.4,60.404
$10V_AH,10.1,54.159
$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,28.775,91.750,362.500,53.975,0.000,57.393,79.500,290.326,10.750,0.000,14.967,986.980,6742.969,471.719,1863.739,693.222,33.368,1116.781,0.000,1867.788,0.000,0.534,0.000
$DEVICE_MAMPS,148.798,154.934,906.594,509.288,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,343.555,293.904,389.732,743.570,1124.729,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355420
$DATA_FILE_SIZE,38347,506
$CAP_FILE_SIZE,95049,0
$CFSIZE,260165632,156688384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090711,151822,2250.420,-15758.229,14,2.2,33,10.1