version: 66.06
glider: 146
mission: 6
dive: 509
start: 7 12 111 8 23 54
data:
$ID,146
$MISSION,6
$DIVE,509
$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,-280688.06
$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,23
$R_STBD_OVSHOOT,57
$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
$GPS1,081227,2249.876,-15800.859,31,2.2,50,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.42
$_SM_ANGLEo,-71.1
$GPS2,082304,2249.846,-15800.979,17,2.5,36,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.213,0.035
$KALMAN_X,-429978.0,-425.3,-29.5,423291.7,-625.5
$KALMAN_Y,166464.4,820.4,-86.1,-156190.9,-289.9
$MHEAD_RNG_PITCHd_Wd,70.5,6799,-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,-70.85,0.000,2,0.000,0.000,473,1956,3264,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.7,-6.3,9,118,12.30,2.62,-2.70,0.000,4,0.146,0.041,2844,3562,3410,0,0,0,0,0,0
$GC,164,-1.43,-97.3,20.9,-15.9,18,173,0.00,2.53,0.00,0.000,6,0.000,0.024,2844,1996,3411,0,0,0,0,0,0
$GC,512,-1.39,-97.3,73.0,-14.3,53,517,0.12,2.55,0.00,0.000,4,0.127,0.031,2869,3577,3411,0,0,0,0,0,0
$GC,572,-1.47,-97.3,80.4,-12.3,57,577,0.00,2.47,0.00,0.000,6,0.000,0.028,2869,2006,3411,0,0,0,0,0,0
$GC,901,-1.51,-97.3,118.7,-11.5,87,906,0.10,2.50,0.00,0.000,4,0.082,0.031,2827,3573,3412,0,0,0,0,0,0
$GC,959,-1.51,-97.3,126.2,-13.2,91,964,0.00,2.42,0.00,0.000,6,0.000,0.023,2827,2022,3412,0,0,0,0,0,0
$GC,1288,-1.51,-97.3,163.0,-10.8,121,1293,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2022,3413,0,0,0,0,0,0
$GC,1616,-1.51,-97.3,197.7,-11.0,152,1620,0.00,2.50,0.00,0.000,4,0.000,0.029,2827,3577,3413,0,0,0,0,0,0
$GC,1704,-1.56,-97.3,208.6,-11.2,155,1708,0.00,2.45,0.00,0.000,6,0.000,0.024,2827,2020,3413,0,0,0,0,0,0
$GC,2023,-1.56,-97.3,243.0,-10.7,163,2028,0.00,2.45,0.00,0.000,4,0.000,0.029,2827,3568,3413,0,0,0,0,0,0
$GC,2052,-1.56,-97.3,246.5,-11.7,163,2057,0.00,2.42,0.00,0.000,6,0.000,0.023,2827,2026,3414,0,0,0,0,0,0
$GC,2384,-1.60,-97.3,280.8,-9.5,171,2388,0.00,2.47,0.00,0.000,4,0.000,0.031,2827,3567,3414,0,0,0,0,0,0
$GC,2447,-1.69,-97.3,286.3,-8.8,172,2451,0.00,2.40,0.00,0.000,6,0.000,0.024,2827,2052,3414,0,0,0,0,0,0
$GC,2789,-1.75,-97.3,314.3,-8.1,181,2791,0.15,0.00,0.00,0.000,6,0.064,0.000,2777,2052,3414,0,0,0,0,0,0
$GC,3113,-1.75,-97.3,349.3,-11.4,189,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2052,3412,0,0,0,0,0,0
$GC,3440,-1.75,-97.3,385.2,-10.4,197,3444,0.00,2.55,0.00,0.000,4,0.000,0.051,2777,3565,3412,0,0,0,0,0,0
$GC,3546,-1.75,-97.3,396.2,-9.5,199,3550,0.00,2.53,0.00,0.000,6,0.000,0.050,2777,2046,3411,0,0,0,0,0,0
$GC,3887,-1.75,-97.3,430.5,-10.4,208,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2046,3408,0,0,0,0,0,0
$GC,4214,-1.75,-97.3,466.6,-11.3,216,4218,0.00,2.55,0.00,0.000,4,0.000,0.058,2777,3559,3406,0,0,0,0,0,0
$GC,4268,-1.75,-97.3,473.4,-11.5,217,4273,0.00,2.58,0.00,0.000,6,0.000,0.055,2777,2042,3406,0,0,0,0,0,0
$STATE,4532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4532,begin apogee
$GC,4539,-0.31,0.0,502.9,11.0,224,4624,1.48,0.00,81.65,0.912,6,0.095,0.000,3107,1987,3010,0,0,0,0,0,0
$STATE,4625,end apogee,CONTROL_FINISHED_OK
$STATE,4625,begin climb
$GC,4629,1.48,97.3,505.5,0.0,226,4717,1.60,0.00,83.05,0.889,6,0.047,0.000,3503,1987,2613,0,0,0,0,0,0
$GC,5036,1.39,132.1,485.3,7.6,236,5069,0.12,0.00,30.33,0.863,6,0.126,0.000,3480,1987,2471,0,0,0,0,0,0
$GC,5362,1.35,153.6,457.2,8.5,244,5387,0.00,3.00,19.33,0.838,4,0.000,0.098,3479,408,2383,0,0,0,0,0,0
$GC,5410,1.25,166.0,452.6,9.2,245,5430,0.15,2.55,12.70,0.799,6,0.124,0.034,3450,1956,2332,0,0,0,0,0,0
$GC,5771,1.29,200.8,422.8,7.6,254,5811,0.00,2.78,31.15,0.852,4,0.000,0.069,3450,403,2190,0,0,0,0,0,0
$GC,5869,1.25,200.8,413.5,10.8,256,5873,0.00,2.58,0.00,0.000,6,0.000,0.028,3450,1985,2188,0,0,0,0,0,0
$GC,6183,1.27,215.0,385.1,9.1,264,6198,0.00,0.00,13.27,0.788,6,0.000,0.000,3450,1985,2133,0,0,0,0,0,0
$GC,6506,1.31,215.0,351.9,10.5,272,6511,0.00,2.65,0.00,0.000,4,0.000,0.044,3450,3585,2128,0,0,0,0,0,0
$GC,6528,1.35,215.0,349.4,10.7,272,6533,0.00,2.67,0.00,0.000,6,0.000,0.042,3450,1980,2127,0,0,0,0,0,0
$GC,6867,1.42,230.5,317.4,9.0,281,6887,0.15,2.80,14.07,0.759,4,0.075,0.077,3489,410,2070,0,0,0,0,0,0
$GC,7029,1.37,230.5,298.8,12.8,284,7033,0.00,2.50,0.00,0.000,6,0.000,0.018,3489,2007,2067,0,0,0,0,0,0
$GC,7360,1.37,235.9,264.8,9.7,292,7371,0.00,2.78,6.00,0.617,4,0.000,0.057,3489,406,2047,0,0,0,0,0,0
$GC,7445,1.37,235.9,255.8,11.1,294,7449,0.00,2.47,0.00,0.000,6,0.000,0.025,3489,1972,2046,0,0,0,0,0,0
$GC,7770,1.39,249.1,226.3,9.1,302,7790,0.00,2.75,12.95,0.686,4,0.000,0.057,3489,410,1993,0,0,0,0,0,0
$GC,7823,1.39,249.1,220.7,11.0,303,7828,0.00,2.47,0.00,0.000,6,0.000,0.025,3489,1986,1992,0,0,0,0,0,0
$GC,8142,1.46,271.5,192.4,8.5,317,8169,0.00,2.72,21.00,0.675,4,0.000,0.056,3489,408,1902,0,0,0,0,0,0
$GC,8207,1.46,271.5,186.3,10.4,322,8212,0.00,2.45,0.00,0.000,6,0.000,0.022,3489,1969,1899,0,0,0,0,0,0
$GC,8536,1.57,320.6,160.9,6.6,352,8585,0.10,2.70,43.28,0.657,4,0.199,0.060,3518,408,1701,0,0,0,0,0,0
$GC,8632,1.57,320.6,150.5,12.2,360,8641,0.00,2.47,0.00,0.000,6,0.000,0.024,3518,1966,1699,0,0,0,0,0,0
$GC,8961,1.61,320.6,111.2,12.9,391,8966,0.00,2.62,0.00,0.000,4,0.000,0.058,3518,406,1697,0,0,0,0,0,0
$GC,9064,1.61,320.6,96.3,15.0,399,9068,0.00,2.42,0.00,0.000,6,0.000,0.020,3518,1961,1696,0,0,0,0,0,0
$GC,9394,1.68,320.6,57.9,10.6,429,9399,0.10,2.65,0.00,0.000,4,0.087,0.056,3549,400,1696,0,0,0,0,0,0
$GC,9513,1.68,320.6,44.1,11.2,438,9517,0.00,2.38,0.00,0.000,6,0.000,0.017,3548,1947,1696,0,0,0,0,0,0
$STATE,9891,end climb,SURFACE_DEPTH_REACHED
$STATE,9891,begin surface coast
$FINISH,0.6,0.980021
$STATE,9940,end surface coast,CONTROL_FINISHED_OK
$STATE,9941,begin surface
$SM_CCo,9963,47.90,0.515,0,0,1459,380.21
$SM_GC,1.35,0.00,0.00,47.90,0.000,0.000,0.515,471,1949,1459,-12.44,-1.72,380.21
$IRIDIUM_FIX,2239.35,-15802.37,051000,080830
$TT8_MAMPS,0.026078
$HUMID,65.90
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,20.00
$XPDR_PINGS,58
$24V_AH,23.4,63.174
$10V_AH,10.0,56.785
$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,28.875,92.525,368.775,47.900,0.000,55.447,67.103,267.049,14.500,0.000,39.305,969.087,6657.664,454.002,1881.339,683.392,33.364,1120.117,0.000,1863.008,0.000,0.534,0.000
$DEVICE_MAMPS,198.653,134.992,911.963,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.956,266.096,375.446,706.209,1067.986,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355452
$DATA_FILE_SIZE,38423,492
$CAP_FILE_SIZE,95108,0
$CFSIZE,260165632,155537408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120711,111224,2249.953,-15800.493,40,1.3,57,10.1