version: 66.06
glider: 146
mission: 6
dive: 510
start: 7 12 111 11 21 42
data:
$ID,146
$MISSION,6
$DIVE,510
$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,-280703.12
$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,19
$R_STBD_OVSHOOT,62
$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
$GPS1,111224,2249.953,-15800.493,40,1.3,57,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.2
$GPS2,112050,2249.958,-15800.604,12,1.8,12,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.215,-0.022
$KALMAN_X,-431463.5,-222.1,-187.8,425379.0,-719.2
$KALMAN_Y,166939.5,492.4,-384.9,-155832.9,234.9
$MHEAD_RNG_PITCHd_Wd,85.7,6151,-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,15,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-70.40,0.000,2,0.000,0.000,471,1949,3238,0,0,0,0,0,0
$GC,93,-1.48,-97.3,3.5,-5.3,9,118,12.40,0.00,-3.22,0.000,6,0.150,0.000,2842,1949,3410,0,0,0,0,0,0
$GC,467,-1.41,-97.3,70.3,-16.1,50,472,0.10,2.58,0.00,0.000,4,0.143,0.026,2862,3565,3411,0,0,0,0,0,0
$GC,525,-1.47,-97.3,79.3,-14.2,54,530,0.00,2.50,0.00,0.000,6,0.000,0.023,2862,1990,3412,0,0,0,0,0,0
$GC,851,-1.47,-97.3,116.4,-10.4,84,855,0.00,2.53,0.00,0.000,4,0.000,0.028,2862,3563,3413,0,0,0,0,0,0
$GC,898,-1.54,-97.3,121.8,-11.3,87,903,0.00,2.42,0.00,0.000,6,0.000,0.021,2862,2021,3413,0,0,0,0,0,0
$GC,1228,-1.60,-97.3,156.7,-9.9,118,1234,0.15,0.00,0.00,0.000,6,0.064,0.000,2810,2022,3413,0,0,0,0,0,0
$GC,1553,-1.60,-97.3,196.6,-11.4,149,1557,0.00,2.47,0.00,0.000,4,0.000,0.032,2810,3573,3414,0,0,0,0,0,0
$GC,1643,-1.60,-97.3,207.3,-11.8,153,1648,0.00,2.40,0.00,0.000,6,0.000,0.020,2810,2035,3414,0,0,0,0,0,0
$GC,1963,-1.60,-97.3,241.3,-10.7,161,1968,0.00,2.45,0.00,0.000,4,0.000,0.028,2809,3565,3415,0,0,0,0,0,0
$GC,1987,-1.60,-97.3,244.2,-11.6,161,1991,0.00,2.40,0.00,0.000,6,0.000,0.027,2810,2042,3414,0,0,0,0,0,0
$GC,2323,-1.60,-97.3,280.3,-10.5,170,2327,0.00,2.42,0.00,0.000,4,0.000,0.036,2810,3562,3414,0,0,0,0,0,0
$GC,2374,-1.60,-97.3,285.4,-9.9,171,2378,0.00,2.38,0.00,0.000,6,0.000,0.022,2810,2051,3414,0,0,0,0,0,0
$GC,2686,-1.60,-97.3,314.9,-9.4,179,2690,0.00,2.42,0.00,0.000,4,0.000,0.034,2810,3565,3415,0,0,0,0,0,0
$GC,2713,-1.64,-97.3,317.8,-10.4,179,2717,0.00,2.40,0.00,0.000,6,0.000,0.031,2810,2062,3414,0,0,0,0,0,0
$GC,3046,-1.64,-97.3,350.6,-10.0,187,3051,0.00,2.85,0.00,0.000,4,0.000,0.080,2809,431,3414,0,0,0,0,0,0
$GC,3061,-1.64,-97.3,352.5,-10.3,187,3066,0.00,2.53,0.00,0.000,6,0.000,0.025,2809,2030,3413,0,0,0,0,0,0
$GC,3406,-1.68,-97.3,384.4,-8.9,196,3411,0.00,2.58,0.00,0.000,4,0.000,0.054,2809,3583,3412,0,0,0,0,0,0
$GC,3502,-1.74,-97.3,393.0,-8.6,198,3506,0.00,2.50,0.00,0.000,6,0.000,0.042,2809,2075,3413,0,0,0,0,0,0
$GC,3815,-1.79,-97.3,419.9,-8.8,206,3820,0.10,2.53,0.00,0.000,4,0.089,0.048,2774,3584,3410,0,0,0,0,0,0
$GC,3905,-1.79,-97.3,429.2,-10.3,208,3910,0.00,2.53,0.00,0.000,6,0.000,0.053,2774,2077,3409,0,0,0,0,0,0
$GC,4224,-1.79,-97.3,466.2,-12.2,216,4225,0.00,0.00,0.00,0.000,6,0.000,0.000,2774,2077,3408,0,0,0,0,0,0
$STATE,4506,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4506,begin apogee
$GC,4514,-0.31,0.0,502.2,12.7,223,4599,1.48,0.00,81.80,0.910,6,0.084,0.000,3104,2004,3010,0,0,0,0,0,0
$STATE,4600,end apogee,CONTROL_FINISHED_OK
$STATE,4600,begin climb
$GC,4603,1.48,97.3,505.4,0.0,225,4693,1.67,2.78,82.95,0.885,4,0.038,0.064,3509,3569,2613,0,0,0,0,0,0
$GC,4723,1.41,177.7,505.6,4.5,228,4800,0.12,2.67,69.88,0.874,6,0.133,0.048,3484,1999,2284,0,0,0,0,0,0
$GC,5117,1.34,177.7,461.1,12.2,238,5121,0.00,3.00,0.00,0.000,4,0.000,0.104,3484,403,2275,0,0,0,0,0,0
$GC,5132,1.25,177.7,458.9,12.4,238,5138,0.17,2.60,0.00,0.000,6,0.121,0.032,3450,1994,2274,0,0,0,0,0,0
$GC,5477,1.26,184.4,424.7,9.6,247,5487,0.00,2.83,5.03,0.617,4,0.000,0.070,3449,408,2257,0,0,0,0,0,0
$GC,5590,1.22,184.4,412.5,10.7,249,5594,0.00,2.58,0.00,0.000,6,0.000,0.031,3449,1991,2255,0,0,0,0,0,0
$GC,5928,1.24,198.5,382.3,9.1,258,5943,0.00,0.00,13.70,0.778,6,0.000,0.000,3449,1991,2200,0,0,0,0,0,0
$GC,6250,1.24,198.5,349.6,10.4,266,6255,0.00,2.60,0.00,0.000,4,0.000,0.044,3449,3580,2196,0,0,0,0,0,0
$GC,6266,1.28,198.5,347.8,10.9,266,6271,0.00,2.65,0.00,0.000,6,0.000,0.041,3449,1985,2195,0,0,0,0,0,0
$GC,6610,1.36,219.6,316.4,8.6,275,6635,0.00,2.83,19.42,0.769,4,0.000,0.071,3450,402,2113,0,0,0,0,0,0
$GC,6784,1.37,228.4,300.1,9.4,279,6799,0.10,2.53,8.82,0.691,6,0.099,0.023,3476,2014,2078,0,0,0,0,0,0
$GC,7114,1.37,232.6,268.6,9.7,287,7124,0.00,2.80,4.97,0.568,4,0.000,0.063,3477,406,2060,0,0,0,0,0,0
$GC,7185,1.37,232.6,261.0,10.9,288,7190,0.00,2.47,0.00,0.000,6,0.000,0.018,3477,1989,2059,0,0,0,0,0,0
$GC,7525,1.45,255.8,231.4,8.4,297,7549,0.00,0.00,22.10,0.709,6,0.000,0.000,3477,1990,1966,0,0,0,0,0,0
$GC,7848,1.53,275.9,203.3,8.7,305,7873,0.12,2.72,18.62,0.676,4,0.085,0.055,3509,408,1884,0,0,0,0,0,0
$GC,7954,1.49,275.9,192.6,11.0,311,7958,0.00,2.45,0.00,0.000,6,0.000,0.023,3509,1985,1882,0,0,0,0,0,0
$GC,8278,1.49,275.9,160.3,10.6,341,8283,0.00,2.67,0.00,0.000,4,0.000,0.053,3510,406,1881,0,0,0,0,0,0
$GC,8346,1.49,275.9,153.6,11.1,346,8351,0.00,2.45,0.00,0.000,6,0.000,0.024,3510,1979,1879,0,0,0,0,0,0
$GC,8671,1.54,276.9,122.4,10.0,376,8673,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,1980,1879,0,0,0,0,0,0
$GC,8993,1.63,304.3,92.6,8.1,406,9031,0.00,2.75,25.00,0.583,4,0.000,0.054,3510,404,1768,0,0,0,0,0,0
$GC,9083,1.63,306.4,84.3,9.9,413,9088,0.00,2.45,0.00,0.000,6,0.000,0.020,3510,1976,1766,0,0,0,0,0,0
$GC,9412,1.75,332.6,57.6,8.2,443,9443,0.20,2.67,25.25,0.548,4,0.061,0.051,3563,405,1653,0,0,0,0,0,0
$GC,9557,1.70,332.6,40.6,12.8,454,9561,0.00,2.40,0.00,0.000,6,0.000,0.017,3563,1962,1651,0,0,0,0,0,0
$STATE,9849,end climb,SURFACE_DEPTH_REACHED
$STATE,9849,begin surface coast
$FINISH,0.6,0.980090
$STATE,9892,end surface coast,CONTROL_FINISHED_OK
$STATE,9892,begin surface
$SM_CCo,9915,38.72,0.506,0,0,1460,380.21
$SM_GC,1.48,0.00,0.00,38.72,0.000,0.000,0.506,475,1964,1460,-12.42,-1.30,380.21
$IRIDIUM_FIX,2241.69,-15801.49,051000,080824
$TT8_MAMPS,0.026078
$HUMID,65.23
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,20.70
$XPDR_PINGS,51
$24V_AH,23.4,63.288
$10V_AH,10.1,56.897
$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,29.100,97.900,377.550,38.725,0.000,29.262,34.081,308.516,12.750,0.000,14.448,989.987,6478.430,464.122,1887.516,640.311,33.369,1132.354,0.000,1887.006,0.000,0.534,0.000
$DEVICE_MAMPS,150.332,117.351,910.429,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,337.206,278.708,382.653,718.958,1087.273,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,38563,497
$CAP_FILE_SIZE,96027,0
$CFSIZE,260165632,155484160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120711,140906,2250.001,-15759.989,38,1.2,49,10.1