version: 66.06
glider: 146
mission: 6
dive: 500
start: 7 11 111 4 17 7
data:
$ID,146
$MISSION,6
$DIVE,500
$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,-280442.44
$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,54
$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
$GPS1,040600,2247.873,-15802.458,40,1.7,40,10.1
$_CALLS,1
$_XMS_NAKs,14
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-70.1
$GPS2,041617,2247.915,-15802.536,13,99.0,32,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.003,-0.207
$KALMAN_X,-418240.6,-317.3,-256.2,409018.2,-774.0
$KALMAN_Y,158974.5,766.2,461.4,-152773.1,370.9
$MHEAD_RNG_PITCHd_Wd,170.6,1870,-22.8,-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,17,-1.53,-89.7,0.0,0.0,0,89,0.00,0.00,-69.57,0.000,2,0.000,0.000,474,1973,3219,0,0,0,0,0,0
$GC,92,-1.54,-97.3,3.4,-5.3,9,118,12.30,2.60,-3.65,0.000,4,0.149,0.054,2828,425,3409,0,0,0,0,0,0
$GC,236,-1.46,-97.3,32.7,-16.4,28,241,0.12,2.42,0.00,0.000,6,0.133,0.015,2853,2025,3410,0,0,0,0,0,0
$GC,561,-1.46,-97.3,83.0,-15.0,58,565,0.00,2.40,0.00,0.000,4,0.000,0.034,2853,3557,3410,0,0,0,0,0,0
$GC,583,-1.46,-97.3,85.5,-14.2,59,588,0.00,2.45,0.00,0.000,6,0.000,0.027,2853,1994,3411,0,0,0,0,0,0
$GC,912,-1.46,-97.3,126.8,-11.6,89,916,0.00,2.47,0.00,0.000,4,0.000,0.027,2853,3561,3411,0,0,0,0,0,0
$GC,1001,-1.55,-97.3,137.0,-10.8,96,1005,0.00,2.40,0.00,0.000,6,0.000,0.021,2853,2022,3412,0,0,0,0,0,0
$GC,1326,-1.63,-97.3,171.9,-10.1,126,1328,0.15,0.00,0.00,0.000,6,0.063,0.000,2803,2022,3412,0,0,0,0,0,0
$GC,1666,-1.63,-97.3,209.3,-10.9,152,1670,0.00,2.47,0.00,0.000,4,0.000,0.028,2803,3562,3413,0,0,0,0,0,0
$GC,1732,-1.67,-97.3,217.8,-11.9,153,1737,0.00,2.40,0.00,0.000,6,0.000,0.028,2803,2025,3413,0,0,0,0,0,0
$GC,2069,-1.67,-97.3,256.8,-11.7,162,2073,0.00,2.45,0.00,0.000,4,0.000,0.029,2803,3557,3413,0,0,0,0,0,0
$GC,2099,-1.67,-97.3,259.7,-10.4,162,2103,0.00,2.38,0.00,0.000,6,0.000,0.029,2803,2041,3413,0,0,0,0,0,0
$GC,2430,-1.67,-97.3,293.3,-10.0,170,2434,0.00,2.45,0.00,0.000,4,0.000,0.037,2803,3563,3413,0,0,0,0,0,0
$GC,2516,-1.73,-97.3,302.7,-11.3,172,2520,0.00,2.40,0.00,0.000,6,0.000,0.028,2803,2055,3413,0,0,0,0,0,0
$GC,2840,-1.78,-97.3,336.6,-9.9,180,2841,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2055,3413,0,0,0,0,0,0
$GC,3165,-1.84,-97.3,367.6,-9.5,188,3167,0.12,0.00,0.00,0.000,6,0.073,0.000,2761,2055,3412,0,0,0,0,0,0
$GC,3491,-1.84,-97.3,407.2,-12.5,196,3495,0.00,2.50,0.00,0.000,4,0.000,0.054,2762,3552,3410,0,0,0,0,0,0
$GC,3590,-1.84,-97.3,420.5,-12.8,198,3595,0.00,2.50,0.00,0.000,6,0.000,0.054,2761,2045,3410,0,0,0,0,0,0
$GC,3938,-1.84,-97.3,463.0,-11.9,207,3943,0.00,2.55,0.00,0.000,4,0.000,0.054,2761,3552,3407,0,0,0,0,0,0
$GC,4024,-1.84,-97.3,472.7,-11.6,209,4028,0.00,2.53,0.00,0.000,6,0.000,0.058,2761,2051,3407,0,0,0,0,0,0
$STATE,4264,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4264,begin apogee
$GC,4270,-0.31,0.0,500.2,11.3,215,4356,1.55,0.00,81.90,0.902,6,0.091,0.000,3107,1993,3010,0,0,0,0,0,0
$STATE,4357,end apogee,CONTROL_FINISHED_OK
$STATE,4357,begin climb
$GC,4361,1.54,97.3,502.5,0.0,217,4452,1.70,2.67,83.38,0.884,4,0.044,0.054,3524,3532,2612,0,0,0,0,0,0
$GC,4487,1.47,166.8,502.5,4.8,220,4554,0.15,2.62,60.42,0.867,6,0.135,0.056,3497,2000,2330,0,0,0,0,0,0
$GC,4877,1.40,166.8,463.7,10.5,230,4882,0.00,3.00,0.00,0.000,4,0.000,0.109,3497,408,2320,0,0,0,0,0,0
$GC,4918,1.28,166.8,459.1,12.2,231,4923,0.20,2.55,0.00,0.000,6,0.119,0.036,3457,1958,2318,0,0,0,0,0,0
$GC,5244,1.29,177.4,428.9,9.2,239,5258,0.00,2.80,8.68,0.744,4,0.000,0.055,3457,3578,2286,0,0,0,0,0,0
$GC,5309,1.29,177.4,422.0,10.8,240,5313,0.00,2.65,0.00,0.000,6,0.000,0.044,3457,1997,2284,0,0,0,0,0,0
$GC,5651,1.29,177.4,387.4,10.3,249,5652,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1997,2282,0,0,0,0,0,0
$GC,5978,1.34,183.0,355.4,9.6,257,5985,0.00,0.00,5.93,0.658,6,0.000,0.000,3457,1996,2263,0,0,0,0,0,0
$GC,6301,1.42,208.8,327.6,8.1,265,6332,0.12,2.85,24.05,0.788,4,0.084,0.074,3489,410,2157,0,0,0,0,0,0
$GC,6477,1.37,208.8,306.8,13.0,269,6482,0.00,2.55,0.00,0.000,6,0.000,0.025,3489,2030,2154,0,0,0,0,0,0
$GC,6796,1.38,215.3,275.1,9.6,277,6804,0.00,0.00,6.28,0.632,6,0.000,0.000,3489,2031,2132,0,0,0,0,0,0
$GC,7122,1.44,231.2,246.6,8.8,285,7144,0.00,2.85,15.80,0.719,4,0.000,0.062,3489,402,2065,0,0,0,0,0,0
$GC,7216,1.44,231.2,237.0,10.0,287,7220,0.00,2.53,0.00,0.000,6,0.000,0.023,3489,1997,2063,0,0,0,0,0,0
$GC,7532,1.51,242.4,207.4,9.2,295,7548,0.00,2.75,10.98,0.657,4,0.000,0.058,3489,407,2020,0,0,0,0,0,0
$GC,7676,1.51,245.3,192.9,9.8,302,7681,0.00,2.45,0.00,0.000,6,0.000,0.022,3489,1979,2017,0,0,0,0,0,0
$GC,8001,1.61,264.6,166.9,8.6,332,8029,0.15,2.65,20.35,0.655,4,0.071,0.036,3529,3555,1931,0,0,0,0,0,0
$GC,8040,1.61,264.6,162.9,10.1,335,8046,0.00,2.62,0.00,0.000,6,0.000,0.035,3529,1962,1929,0,0,0,0,0,0
$GC,8364,1.62,267.4,128.5,9.8,366,8369,0.00,2.62,0.00,0.000,4,0.000,0.062,3529,413,1928,0,0,0,0,0,0
$GC,8411,1.63,277.4,124.0,9.3,369,8431,0.00,2.42,12.00,0.588,6,0.000,0.018,3529,1972,1880,0,0,0,0,0,0
$GC,8749,1.71,306.5,97.0,7.9,401,8778,0.00,0.00,26.45,0.589,6,0.000,0.000,3529,1972,1759,0,0,0,0,0,0
$GC,9100,1.80,316.7,65.4,9.3,434,9118,0.15,2.72,10.25,0.518,4,0.073,0.050,3570,403,1716,0,0,0,0,0,0
$GC,9229,1.76,316.7,49.1,12.5,444,9238,0.00,2.45,0.00,0.000,6,0.000,0.017,3570,1967,1715,0,0,0,0,0,0
$STATE,9605,end climb,SURFACE_DEPTH_REACHED
$STATE,9605,begin surface coast
$FINISH,0.7,0.980008
$STATE,9648,end surface coast,CONTROL_FINISHED_OK
$STATE,9648,begin surface
$SM_CCo,9670,52.50,0.512,0,0,1459,380.21
$SM_GC,1.30,0.00,0.00,52.50,0.000,0.000,0.512,476,1969,1459,-12.42,-1.16,380.21
$IRIDIUM_FIX,2241.69,-15854.90,041000,010145
$TT8_MAMPS,0.026078
$HUMID,64.60
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,20.40
$XPDR_PINGS,48
$24V_AH,23.4,62.015
$10V_AH,10.1,55.695
$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,29.350,87.250,366.450,52.500,0.000,30.340,34.694,385.815,12.000,0.000,34.386,975.273,6271.288,458.309,1913.080,719.904,33.368,1117.920,0.000,1893.893,0.000,0.536,0.000
$DEVICE_MAMPS,148.798,136.526,901.992,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.344,278.714,387.647,718.930,1087.284,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,38307,496
$CAP_FILE_SIZE,94347,0
$CFSIZE,260165632,156012544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110711,070036,2247.400,-15803.395,37,1.1,43,10.1