version: 66.06
glider: 146
mission: 6
dive: 501
start: 7 11 111 7 9 41
data:
$ID,146
$MISSION,6
$DIVE,501
$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,-280455
$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,25
$R_STBD_OVSHOOT,63
$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
$GPS1,070036,2247.400,-15803.395,37,1.1,43,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-70.6
$GPS2,070849,2247.375,-15803.468,10,1.3,10,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.146,0.159
$KALMAN_X,-420096.1,-204.3,-53.3,408965.6,-1142.3
$KALMAN_Y,160291.4,1010.6,-63.5,-154814.2,317.0
$MHEAD_RNG_PITCHd_Wd,32.4,4927,-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,-71.30,0.000,2,0.000,0.000,476,1969,3257,0,0,0,0,0,0
$GC,94,-1.48,-97.3,3.5,-5.4,9,120,12.45,2.60,-2.85,0.000,4,0.153,0.041,2843,3559,3411,0,0,0,0,0,0
$GC,183,-1.48,-97.3,24.0,-15.2,21,192,0.00,2.50,0.00,0.000,6,0.000,0.025,2843,2002,3412,0,0,0,0,0,0
$GC,527,-1.40,-97.3,74.9,-14.7,55,532,0.12,2.50,0.00,0.000,4,0.136,0.028,2867,3565,3413,0,0,0,0,0,0
$GC,594,-1.40,-97.3,84.8,-12.6,60,598,0.00,2.47,0.00,0.000,6,0.000,0.029,2867,2003,3413,0,0,0,0,0,0
$GC,918,-1.40,-97.3,123.4,-12.0,90,919,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2003,3414,0,0,0,0,0,0
$GC,1239,-1.46,-97.3,156.8,-9.0,120,1243,0.00,2.47,0.00,0.000,4,0.000,0.028,2867,3576,3414,0,0,0,0,0,0
$GC,1264,-1.54,-97.3,159.2,-9.4,121,1270,0.12,2.42,0.00,0.000,6,0.066,0.022,2817,2019,3414,0,0,0,0,0,0
$GC,1588,-1.54,-97.3,194.0,-10.1,152,1593,0.10,2.62,0.00,0.000,4,0.119,0.054,2838,434,3415,0,0,0,0,0,0
$GC,1625,-1.54,-97.3,197.0,-10.4,154,1629,0.00,2.42,0.00,0.000,6,0.000,0.015,2838,2033,3415,0,0,0,0,0,0
$GC,1937,-1.58,-97.3,226.8,-9.3,163,1942,0.00,2.42,0.00,0.000,4,0.000,0.034,2838,3563,3416,0,0,0,0,0,0
$GC,2057,-1.66,-97.3,238.6,-9.8,165,2062,0.10,2.38,0.00,0.000,6,0.081,0.027,2796,2034,3416,0,0,0,0,0,0
$GC,2389,-1.66,-97.3,275.6,-11.3,173,2394,0.00,2.42,0.00,0.000,4,0.000,0.035,2796,3554,3416,0,0,0,0,0,0
$GC,2456,-1.66,-97.3,283.8,-11.4,174,2460,0.00,2.40,0.00,0.000,6,0.000,0.029,2796,2032,3416,0,0,0,0,0,0
$GC,2795,-1.66,-97.3,318.6,-10.0,183,2796,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2032,3416,0,0,0,0,0,0
$GC,3118,-1.66,-97.3,351.4,-10.6,191,3122,0.00,2.50,0.00,0.000,4,0.000,0.046,2796,3555,3415,0,0,0,0,0,0
$GC,3292,-1.70,-97.3,370.9,-11.4,195,3296,0.00,2.53,0.00,0.000,6,0.000,0.041,2796,2032,3415,0,0,0,0,0,0
$GC,3617,-1.70,-97.3,406.1,-10.7,203,3618,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2032,3413,0,0,0,0,0,0
$GC,3941,-1.70,-97.3,438.2,-9.9,211,3945,0.00,2.53,0.00,0.000,4,0.000,0.053,2796,3544,3411,0,0,0,0,0,0
$GC,3973,-1.74,-97.3,441.6,-11.0,211,3979,0.00,2.55,0.00,0.000,6,0.000,0.050,2796,2033,3410,0,0,0,0,0,0
$GC,4306,-1.74,-97.3,474.3,-9.9,220,4307,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,2033,3408,0,0,0,0,0,0
$STATE,4586,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4586,begin apogee
$GC,4592,-0.31,0.0,501.2,9.4,227,4678,1.38,0.00,82.03,0.907,6,0.079,0.000,3107,1989,3010,0,0,0,0,0,0
$STATE,4679,end apogee,CONTROL_FINISHED_OK
$STATE,4679,begin climb
$GC,4682,1.48,97.3,503.2,0.0,229,4769,1.62,0.00,82.62,0.887,6,0.035,0.000,3507,1989,2613,0,0,0,0,0,0
$GC,5090,1.39,140.7,483.0,7.0,239,5136,0.15,2.72,37.40,0.864,4,0.124,0.055,3478,3531,2435,0,0,0,0,0,0
$GC,5214,1.33,144.2,472.3,9.8,241,5223,0.00,2.62,3.95,0.537,6,0.000,0.051,3478,1991,2422,0,0,0,0,0,0
$GC,5550,1.30,171.7,444.0,8.1,250,5582,0.00,2.97,25.50,0.844,4,0.000,0.103,3478,408,2308,0,0,0,0,0,0
$GC,5658,1.19,171.7,433.5,10.4,252,5663,0.20,2.50,0.00,0.000,6,0.119,0.031,3438,1941,2305,0,0,0,0,0,0
$GC,6000,1.22,193.3,404.5,8.5,261,6025,0.00,2.72,19.50,0.815,4,0.000,0.071,3438,406,2221,0,0,0,0,0,0
$GC,6145,1.22,193.3,390.1,10.1,264,6149,0.00,2.47,0.00,0.000,6,0.000,0.021,3438,1945,2217,0,0,0,0,0,0
$GC,6493,1.31,223.4,361.2,8.0,273,6527,0.00,2.78,27.23,0.815,4,0.000,0.063,3438,405,2098,0,0,0,0,0,0
$GC,6562,1.31,223.4,354.5,10.3,274,6567,0.00,2.50,0.00,0.000,6,0.000,0.025,3438,1976,2096,0,0,0,0,0,0
$GC,6900,1.40,248.0,324.8,8.3,283,6925,0.17,0.00,22.75,0.782,6,0.073,0.000,3483,1976,1999,0,0,0,0,0,0
$GC,7225,1.40,248.0,289.7,11.8,291,7230,0.00,2.70,0.00,0.000,4,0.000,0.058,3482,404,1993,0,0,0,0,0,0
$GC,7286,1.40,248.0,281.3,13.2,292,7291,0.00,2.50,0.00,0.000,6,0.000,0.018,3483,1995,1992,0,0,0,0,0,0
$GC,7635,1.45,257.2,246.0,9.4,301,7649,0.00,2.80,8.52,0.663,4,0.000,0.063,3483,400,1961,0,0,0,0,0,0
$GC,7747,1.45,257.2,234.3,10.9,303,7751,0.00,2.50,0.00,0.000,6,0.000,0.018,3483,1986,1959,0,0,0,0,0,0
$GC,8089,1.53,274.5,203.1,8.8,312,8109,0.10,0.00,16.80,0.680,6,0.094,0.000,3510,1987,1889,0,0,0,0,0,0
$GC,8405,1.53,277.7,170.5,9.8,339,8410,0.00,2.67,0.00,0.000,4,0.000,0.058,3509,398,1885,0,0,0,0,0,0
$GC,8549,1.53,277.7,155.3,10.1,351,8554,0.00,2.45,0.00,0.000,6,0.000,0.020,3509,1982,1884,0,0,0,0,0,0
$GC,8878,1.57,309.4,129.7,7.8,381,8916,0.00,2.75,30.40,0.625,4,0.000,0.055,3510,407,1748,0,0,0,0,0,0
$GC,8951,1.57,309.4,121.8,11.5,387,8957,0.00,2.45,0.00,0.000,6,0.000,0.018,3509,1968,1746,0,0,0,0,0,0
$GC,9276,1.63,309.4,88.3,10.1,418,9281,0.00,2.65,0.00,0.000,4,0.000,0.054,3510,399,1746,0,0,0,0,0,0
$GC,9333,1.63,309.4,82.3,10.3,422,9343,0.00,2.45,0.00,0.000,6,0.000,0.021,3510,1949,1745,0,0,0,0,0,0
$GC,9663,1.74,329.5,54.9,8.6,453,9691,0.17,2.67,18.67,0.538,4,0.065,0.049,3559,398,1664,0,0,0,0,0,0
$GC,9745,1.69,329.5,45.5,13.3,459,9749,0.00,2.42,0.00,0.000,6,0.000,0.017,3559,1955,1664,0,0,0,0,0,0
$STATE,10093,end climb,SURFACE_DEPTH_REACHED
$STATE,10094,begin surface coast
$FINISH,0.7,0.980040
$STATE,10129,end surface coast,CONTROL_FINISHED_OK
$STATE,10130,begin surface
$SM_CCo,10152,41.67,0.508,0,0,1460,380.21
$SM_GC,1.31,0.00,0.00,41.67,0.000,0.000,0.508,479,1957,1460,-12.40,-1.50,380.21
$IRIDIUM_FIX,2239.35,-15804.53,041000,040406
$TT8_MAMPS,0.025311
$HUMID,65.79
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,20.30
$XPDR_PINGS,54
$24V_AH,23.4,62.130
$10V_AH,10.0,55.808
$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,29.325,92.150,375.375,41.675,0.000,30.177,33.516,291.681,13.500,0.000,11.937,1000.400,6649.206,455.743,1950.104,633.355,33.365,1149.401,0.000,1957.906,0.000,0.533,0.000
$DEVICE_MAMPS,152.633,153.400,907.361,507.754,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,343.874,275.578,389.839,734.909,1111.450,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,38405,507
$CAP_FILE_SIZE,95174,0
$CFSIZE,260165632,155963392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110711,100107,2248.438,-15803.185,50,1.4,50,10.1