version: 66.06
glider: 146
mission: 6
dive: 486
start: 7 9 111 9 27 21
data:
$ID,146
$MISSION,6
$DIVE,486
$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,-280079.94
$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,61
$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
$GPS1,091534,2250.809,-15758.767,39,5.9,58,10.1
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-68.6
$GPS2,092630,2250.833,-15758.930,57,1.9,57,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.191,-0.100
$KALMAN_X,-396615.1,256.2,-63.4,392782.9,-1200.7
$KALMAN_Y,146961.6,355.7,-363.9,-134122.7,666.5
$MHEAD_RNG_PITCHd_Wd,107.5,3637,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-70.78,0.000,2,0.000,0.000,475,1964,3270,0,0,0,0,0,0
$GC,91,-1.48,-97.3,3.7,-6.0,9,117,12.07,2.62,-2.58,0.000,4,0.140,0.064,2842,421,3409,0,0,0,0,0,0
$GC,176,-1.38,-97.3,23.2,-15.7,20,186,0.10,2.47,0.00,0.000,6,0.107,0.020,2867,2023,3411,0,0,0,0,0,0
$GC,521,-1.38,-97.3,73.1,-12.7,54,525,0.00,2.42,0.00,0.000,4,0.000,0.035,2867,3561,3410,0,0,0,0,0,0
$GC,556,-1.38,-97.3,77.6,-12.7,56,560,0.00,2.47,0.00,0.000,6,0.000,0.023,2867,1998,3411,0,0,0,0,0,0
$GC,880,-1.38,-97.3,118.1,-11.7,86,884,0.00,2.60,0.00,0.000,4,0.000,0.054,2867,438,3412,0,0,0,0,0,0
$GC,902,-1.38,-97.3,120.2,-11.9,87,906,0.00,2.42,0.00,0.000,6,0.000,0.019,2867,2036,3412,0,0,0,0,0,0
$GC,1227,-1.43,-97.3,156.7,-10.4,117,1231,0.00,2.40,0.00,0.000,4,0.000,0.031,2867,3555,3413,0,0,0,0,0,0
$GC,1268,-1.53,-97.3,161.0,-10.3,120,1273,0.10,2.38,0.00,0.000,6,0.079,0.025,2824,2028,3412,0,0,0,0,0,0
$GC,1593,-1.53,-97.3,197.8,-11.2,150,1597,0.00,2.40,0.00,0.000,4,0.000,0.027,2824,3552,3413,0,0,0,0,0,0
$GC,1648,-1.53,-97.3,203.7,-10.5,153,1652,0.00,2.38,0.00,0.000,6,0.000,0.028,2824,2036,3413,0,0,0,0,0,0
$GC,1963,-1.53,-97.3,234.0,-9.3,161,1967,0.00,2.40,0.00,0.000,4,0.000,0.035,2824,3556,3413,0,0,0,0,0,0
$GC,1996,-1.57,-97.3,237.3,-9.4,161,2002,0.00,2.38,0.00,0.000,6,0.000,0.024,2824,2035,3413,0,0,0,0,0,0
$GC,2329,-1.57,-97.3,270.2,-10.4,170,2330,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2035,3413,0,0,0,0,0,0
$GC,2653,-1.61,-97.3,300.4,-8.7,178,2657,0.00,2.45,0.00,0.000,4,0.000,0.036,2824,3551,3413,0,0,0,0,0,0
$GC,2725,-1.68,-97.3,306.5,-8.3,179,2729,0.00,2.40,0.00,0.000,6,0.000,0.030,2824,2047,3413,0,0,0,0,0,0
$GC,3058,-1.74,-97.3,334.3,-8.8,187,3060,0.12,0.00,0.00,0.000,6,0.074,0.000,2779,2047,3413,0,0,0,0,0,0
$GC,3381,-1.74,-97.3,369.2,-10.9,195,3382,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2047,3412,0,0,0,0,0,0
$GC,3706,-1.74,-97.3,406.0,-11.2,203,3710,0.00,2.50,0.00,0.000,4,0.000,0.048,2779,3542,3410,0,0,0,0,0,0
$GC,3740,-1.74,-97.3,409.8,-11.2,203,3745,0.00,2.47,0.00,0.000,6,0.000,0.048,2779,2054,3410,0,0,0,0,0,0
$GC,4070,-1.74,-97.3,446.0,-10.9,212,4075,0.00,2.50,0.00,0.000,4,0.000,0.053,2779,3544,3407,0,0,0,0,0,0
$GC,4120,-1.74,-97.3,452.0,-11.5,213,4125,0.00,2.53,0.00,0.000,6,0.000,0.057,2779,2050,3407,0,0,0,0,0,0
$GC,4435,-1.74,-97.3,488.7,-12.0,221,4436,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2049,3405,0,0,0,0,0,0
$STATE,4553,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4553,begin apogee
$GC,4559,-0.31,0.0,503.6,12.2,224,4645,1.45,0.00,81.72,0.902,6,0.079,0.000,3106,1990,3010,0,0,0,0,0,0
$STATE,4645,end apogee,CONTROL_FINISHED_OK
$STATE,4645,begin climb
$GC,4648,1.48,97.3,506.8,0.0,226,4736,1.65,0.00,83.10,0.882,6,0.034,0.000,3509,1990,2612,0,0,0,0,0,0
$GC,5081,1.39,140.4,486.7,7.1,237,5121,0.15,0.00,37.35,0.867,6,0.127,0.000,3481,1990,2437,0,0,0,0,0,0
$GC,5444,1.32,140.4,451.0,10.1,246,5448,0.00,2.90,0.00,0.000,4,0.000,0.099,3481,412,2429,0,0,0,0,0,0
$GC,5500,1.19,140.4,445.2,10.7,247,5506,0.22,2.50,0.00,0.000,6,0.114,0.029,3436,1953,2428,0,0,0,0,0,0
$GC,5848,1.23,171.2,417.0,7.9,256,5883,0.00,2.83,26.85,0.835,4,0.000,0.049,3436,3576,2311,0,0,0,0,0,0
$GC,5979,1.26,196.6,405.9,8.3,259,6008,0.00,2.65,23.83,0.819,6,0.000,0.039,3435,1991,2207,0,0,0,0,0,0
$GC,6348,1.35,229.3,376.6,7.8,268,6380,0.15,0.00,29.35,0.813,6,0.072,0.000,3476,1991,2075,0,0,0,0,0,0
$GC,6672,1.35,229.3,341.6,11.4,276,6677,0.00,2.80,0.00,0.000,4,0.000,0.077,3476,403,2070,0,0,0,0,0,0
$GC,6802,1.30,229.3,326.2,12.5,279,6807,0.00,2.58,0.00,0.000,6,0.000,0.020,3476,2034,2067,0,0,0,0,0,0
$GC,7128,1.30,229.6,293.0,10.0,287,7129,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,2034,2066,0,0,0,0,0,0
$GC,7451,1.31,238.0,261.6,9.5,295,7465,0.00,2.55,7.50,0.656,4,0.000,0.038,3476,3564,2039,0,0,0,0,0,0
$GC,7516,1.36,239.2,255.6,10.0,296,7521,0.00,2.55,0.00,0.000,6,0.000,0.031,3476,1994,2038,0,0,0,0,0,0
$GC,7860,1.42,242.9,222.4,9.8,305,7871,0.00,2.72,5.97,0.591,4,0.000,0.068,3476,416,2018,0,0,0,0,0,0
$GC,7985,1.42,242.9,208.0,11.0,307,7991,0.00,2.47,0.00,0.000,6,0.000,0.021,3476,1993,2016,0,0,0,0,0,0
$GC,8310,1.52,277.6,179.1,7.6,332,8348,0.12,2.78,31.48,0.673,4,0.084,0.058,3509,418,1877,0,0,0,0,0,0
$GC,8369,1.52,281.8,173.8,9.8,337,8381,0.00,2.47,5.10,0.503,6,0.000,0.020,3509,1980,1861,0,0,0,0,0,0
$GC,8699,1.55,300.8,143.1,8.7,368,8722,0.00,2.70,17.50,0.621,4,0.000,0.053,3509,414,1782,0,0,0,0,0,0
$GC,8751,1.55,300.8,137.2,12.5,372,8761,0.00,2.47,0.00,0.000,6,0.000,0.019,3509,1970,1781,0,0,0,0,0,0
$GC,9080,1.60,301.8,104.2,10.0,403,9084,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,1972,1780,0,0,0,0,0,0
$GC,9410,1.73,329.5,76.5,8.1,434,9442,0.17,2.70,25.65,0.565,4,0.064,0.051,3557,406,1666,0,0,0,0,0,0
$GC,9582,1.67,329.5,54.6,13.7,447,9592,0.00,2.45,0.00,0.000,6,0.000,0.018,3558,1958,1662,0,0,0,0,0,0
$GC,9950,1.67,329.5,8.3,10.9,490,9960,0.00,2.62,0.00,0.000,4,0.000,0.054,3558,414,1662,0,0,0,0,0,0
$STATE,9981,end climb,SURFACE_DEPTH_REACHED
$STATE,9981,begin surface coast
$FINISH,0.6,0.971256
$STATE,10017,end surface coast,CONTROL_FINISHED_OK
$STATE,10017,begin surface
$SM_CCo,10042,40.67,0.509,0,0,1459,380.21
$SM_GC,1.49,0.00,0.00,40.67,0.000,0.000,0.509,477,2051,1459,-12.41,1.16,380.21
$IRIDIUM_FIX,2241.69,-15757.16,021000,090917
$TT8_MAMPS,0.026078
$HUMID,65.55
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,20.30
$XPDR_PINGS,45
$24V_AH,23.4,60.288
$10V_AH,10.0,54.045
$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,28.875,91.575,375.400,40.675,0.000,54.821,72.443,288.365,11.250,0.000,59.123,964.499,6759.970,466.278,1869.275,680.325,33.368,1124.216,0.000,1827.034,0.000,0.535,0.000
$DEVICE_MAMPS,139.594,138.060,901.992,509.288,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,337.846,268.116,380.564,696.610,1053.447,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,38350,499
$CAP_FILE_SIZE,95316,0
$CFSIZE,260165632,156737536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090711,121657,2250.695,-15758.458,30,4.8,49,10.1