version: 66.06
glider: 146
mission: 6
dive: 186
start: 6 2 111 16 28 45
data:
$ID,146
$MISSION,6
$DIVE,186
$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,120
$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,-272107.88
$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,3150
$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,1800
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,67
$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,3020
$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
$GPS1,161654,2248.240,-15802.709,55,2.0,69,10.1
$_CALLS,2
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-73.1
$GPS2,162752,2248.397,-15802.697,10,99.0,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.007,0.166
$KALMAN_X,-91490.5,184.8,-35.0,81258.9,-584.6
$KALMAN_Y,-123931.7,-371.0,-481.6,133112.1,1312.6
$MHEAD_RNG_PITCHd_Wd,352.3,3013,-28.5,-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,-1.85,-58.1,0.0,0.0,0,80,0.00,0.00,-62.65,0.000,2,0.000,0.000,477,1784,3051,0,0,0,0,0,0
$GC,85,-1.91,-107.1,3.1,-4.4,8,111,11.75,2.47,-7.93,0.000,4,0.152,0.035,2726,3356,3458,0,0,0,0,0,0
$GC,168,-1.86,-107.1,26.5,-24.1,19,177,0.00,2.53,0.00,0.000,6,0.000,0.036,2726,1807,3459,0,0,0,0,0,0
$GC,445,-1.86,-107.1,88.5,-19.3,45,450,0.00,2.70,0.00,0.000,4,0.000,0.059,2726,224,3461,0,0,0,0,0,0
$GC,480,-1.79,-107.1,96.2,-23.0,47,485,0.17,2.40,0.00,0.000,6,0.141,0.021,2757,1825,3461,0,0,0,0,0,0
$GC,747,-1.85,-107.1,145.4,-15.9,71,751,0.00,2.35,0.00,0.000,4,0.000,0.031,2758,3338,3461,0,0,0,0,0,0
$GC,780,-1.92,-107.1,151.2,-17.4,73,785,0.12,2.40,0.00,0.000,6,0.070,0.025,2714,1803,3461,0,0,0,0,0,0
$GC,1046,-1.92,-107.1,200.0,-17.4,97,1051,0.00,2.67,0.00,0.000,4,0.000,0.061,2714,230,3462,0,0,0,0,0,0
$GC,1063,-1.92,-107.1,204.0,-17.8,97,1067,0.00,2.35,0.00,0.000,6,0.000,0.015,2714,1807,3462,0,0,0,0,0,0
$GC,1323,-1.92,-107.1,249.5,-17.6,104,1327,0.00,2.40,0.00,0.000,4,0.000,0.029,2714,3334,3463,0,0,0,0,0,0
$GC,1344,-1.96,-107.1,253.4,-17.9,104,1349,0.00,2.42,0.00,0.000,6,0.000,0.035,2714,1819,3463,0,0,0,0,0,0
$GC,1601,-2.01,-107.1,295.0,-16.1,111,1606,0.00,2.42,0.00,0.000,4,0.000,0.034,2714,3340,3463,0,0,0,0,0,0
$GC,1674,-2.10,-107.1,307.4,-16.2,112,1679,0.10,2.47,0.00,0.000,6,0.081,0.040,2673,1833,3462,0,0,0,0,0,0
$GC,1923,-2.10,-107.1,351.3,-17.8,118,1928,0.00,2.90,0.00,0.000,4,0.000,0.097,2674,219,3463,0,0,0,0,0,0
$GC,1941,-2.06,-107.1,354.5,-18.3,118,1946,0.12,2.45,0.00,0.000,6,0.127,0.034,2697,1772,3462,0,0,0,0,0,0
$GC,2202,-2.10,-107.1,397.5,-16.2,125,2206,0.00,2.67,0.00,0.000,4,0.000,0.059,2697,3377,3462,0,0,0,0,0,0
$GC,2259,-2.18,-107.1,406.8,-15.7,126,2264,0.10,2.62,0.00,0.000,6,0.086,0.055,2660,1840,3462,0,0,0,0,0,0
$GC,2525,-2.18,-107.1,453.8,-17.5,133,2529,0.00,2.55,0.00,0.000,4,0.000,0.051,2660,3374,3460,0,0,0,0,0,0
$GC,2591,-2.18,-107.1,465.3,-16.9,134,2596,0.00,2.60,0.00,0.000,6,0.000,0.061,2660,1848,3460,0,0,0,0,0,0
$STATE,2804,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2804,begin apogee
$GC,2811,-0.31,0.0,501.6,16.9,140,2905,1.95,0.00,89.32,0.898,6,0.103,0.000,3076,1999,3019,0,0,0,0,0,0
$STATE,2906,end apogee,CONTROL_FINISHED_OK
$STATE,2906,begin climb
$GC,2908,1.91,107.1,505.5,0.0,142,3011,2.05,3.12,89.25,0.882,4,0.046,0.111,3571,398,2581,0,0,0,0,0,0
$GC,3028,1.82,132.1,502.5,7.1,144,3058,0.12,2.62,22.12,0.835,6,0.148,0.043,3550,1977,2480,0,0,0,0,0,0
$GC,3321,1.82,132.1,473.1,10.2,152,3326,0.00,2.75,0.00,0.000,4,0.000,0.061,3550,3570,2472,0,0,0,0,0,0
$GC,3343,1.82,132.1,470.4,11.0,152,3348,0.00,2.70,0.00,0.000,6,0.000,0.047,3550,1985,2471,0,0,0,0,0,0
$GC,3598,1.83,134.2,445.1,9.8,159,3603,0.00,2.65,0.00,0.000,4,0.000,0.043,3550,3580,2468,0,0,0,0,0,0
$GC,3788,1.83,134.2,424.5,11.1,163,3792,0.00,2.60,0.00,0.000,6,0.000,0.048,3550,2016,2467,0,0,0,0,0,0
$GC,4056,1.83,135.4,397.2,9.9,170,4061,0.00,2.95,0.00,0.000,4,0.000,0.097,3549,400,2464,0,0,0,0,0,0
$GC,4117,1.78,137.2,390.7,9.8,171,4122,0.00,2.58,0.00,0.000,6,0.000,0.028,3550,2013,2463,0,0,0,0,0,0
$GC,4379,1.80,154.1,369.0,8.1,178,4404,0.00,2.67,17.12,0.808,4,0.000,0.041,3550,3577,2390,0,0,0,0,0,0
$GC,4444,1.80,156.3,362.9,9.8,179,4448,0.00,2.60,0.00,0.000,6,0.000,0.039,3550,2004,2388,0,0,0,0,0,0
$GC,4705,1.84,156.3,337.0,10.1,186,4709,0.00,2.80,0.00,0.000,4,0.000,0.073,3550,408,2385,0,0,0,0,0,0
$GC,4721,1.84,156.3,335.1,10.4,186,4726,0.00,2.55,0.00,0.000,6,0.000,0.025,3550,2013,2384,0,0,0,0,0,0
$GC,4983,1.88,156.3,307.9,10.5,193,4987,0.00,2.75,0.00,0.000,4,0.000,0.059,3550,402,2383,0,0,0,0,0,0
$GC,5095,1.88,156.3,294.3,12.1,195,5099,0.00,2.53,0.00,0.000,6,0.000,0.021,3550,2001,2382,0,0,0,0,0,0
$GC,5350,1.93,166.7,270.8,8.8,202,5366,0.00,2.55,10.80,0.719,4,0.000,0.038,3549,3552,2340,0,0,0,0,0,0
$GC,5484,1.99,176.8,258.9,8.9,205,5500,0.15,2.58,10.30,0.700,6,0.091,0.038,3586,1984,2299,0,0,0,0,0,0
$GC,5765,2.00,178.2,232.3,9.9,212,5769,0.00,2.70,0.00,0.000,4,0.000,0.066,3586,403,2294,0,0,0,0,0,0
$GC,5809,1.93,178.2,227.0,11.5,213,5813,0.00,2.47,0.00,0.000,6,0.000,0.019,3586,1990,2293,0,0,0,0,0,0
$GC,6087,1.93,178.2,197.5,10.8,220,6092,0.00,2.58,0.00,0.000,4,0.000,0.036,3585,3564,2293,0,0,0,0,0,0
$GC,6249,1.93,179.6,180.7,9.9,233,6253,0.00,2.53,0.00,0.000,6,0.000,0.032,3586,2001,2292,0,0,0,0,0,0
$GC,6513,1.93,181.4,153.6,9.8,257,6524,0.00,2.70,4.70,0.503,4,0.000,0.060,3586,415,2280,0,0,0,0,0,0
$GC,6636,1.88,181.4,139.7,11.5,267,6641,0.12,2.47,0.00,0.000,6,0.138,0.021,3563,2006,2279,0,0,0,0,0,0
$GC,6902,1.99,204.3,117.6,7.4,291,6928,0.00,0.00,21.20,0.627,6,0.000,0.000,3563,2008,2185,0,0,0,0,0,0
$GC,7187,2.07,204.3,90.3,10.1,318,7196,0.17,0.00,0.00,0.000,6,0.068,0.000,3607,2008,2183,0,0,0,0,0,0
$GC,7451,2.07,204.3,59.7,11.4,343,7460,0.00,0.00,0.00,0.000,6,0.000,0.000,3607,2009,2183,0,0,0,0,0,0
$GC,7718,2.17,238.8,33.8,6.0,368,7759,0.00,2.75,30.08,0.555,4,0.000,0.049,3607,414,2044,0,0,0,0,0,0
$GC,7802,2.17,238.8,27.3,10.2,376,7811,0.00,2.50,0.00,0.000,6,0.000,0.018,3607,2007,2042,0,0,0,0,0,0
$STATE,8013,end climb,SURFACE_DEPTH_REACHED
$STATE,8013,begin surface coast
$FINISH,0.5,0.970281
$STATE,8055,end surface coast,CONTROL_FINISHED_OK
$STATE,8055,begin surface
$SM_CCo,8079,113.80,0.526,0,0,1470,380.21
$SM_GC,1.21,0.00,0.00,113.80,0.000,0.000,0.526,477,1783,1470,-12.30,-0.48,380.21
$IRIDIUM_FIX,2239.35,-15804.53,260800,161642
$TT8_MAMPS,0.026078
$HUMID,57.99
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.90
$XPDR_PINGS,43
$24V_AH,23.5,23.219
$10V_AH,10.4,20.322
$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,29.600,109.675,294.900,113.800,0.000,53.877,70.475,318.959,10.750,0.000,31.631,873.440,5114.664,468.952,1698.342,697.684,33.360,1109.547,0.000,1682.237,0.000,0.535,0.000
$DEVICE_MAMPS,151.866,111.215,898.157,526.162,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,280.078,234.707,321.283,632.557,956.766,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,31967,413
$CAP_FILE_SIZE,97127,0
$CFSIZE,260165632,172552192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020611,184628,2249.569,-15802.830,9,99.0,28,10.1