version: 66.06
glider: 146
mission: 6
dive: 491
start: 7 10 111 0 24 21
data:
$ID,146
$MISSION,6
$DIVE,491
$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,-280208.19
$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,21
$R_STBD_OVSHOOT,74
$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
$GPS1,001145,2250.273,-15757.957,51,99.0,70,10.1
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-68.3
$GPS2,002330,2250.378,-15758.044,37,1.6,41,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.131,-0.172
$KALMAN_X,-403468.9,-532.0,-272.2,402147.9,-842.6
$KALMAN_Y,150760.3,101.8,2.7,-138874.3,1528.2
$MHEAD_RNG_PITCHd_Wd,132.6,1914,-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,-70.65,0.000,2,0.000,0.000,479,2038,3272,0,0,0,0,0,0
$GC,91,-1.48,-97.3,3.9,-7.6,9,117,12.25,2.75,-2.47,0.000,4,0.146,0.063,2842,421,3409,0,0,0,0,0,0
$GC,176,-1.38,-97.3,24.8,-16.7,20,185,0.08,2.45,0.00,0.000,6,0.115,0.020,2860,2007,3410,0,0,0,0,0,0
$GC,518,-1.33,-97.3,75.4,-14.5,53,522,0.10,2.47,0.00,0.000,4,0.135,0.035,2880,3561,3410,0,0,0,0,0,0
$GC,579,-1.39,-97.3,83.6,-13.3,57,583,0.00,2.47,0.00,0.000,6,0.000,0.024,2880,1996,3411,0,0,0,0,0,0
$GC,907,-1.44,-97.3,123.8,-10.5,87,911,0.00,2.47,0.00,0.000,4,0.000,0.033,2880,3563,3412,0,0,0,0,0,0
$GC,930,-1.50,-97.3,126.5,-10.7,88,940,0.10,2.45,0.00,0.000,6,0.038,0.023,2831,2023,3412,0,0,0,0,0,0
$GC,1254,-1.50,-97.3,164.4,-11.4,119,1259,0.00,2.65,0.00,0.000,4,0.000,0.056,2831,434,3412,0,0,0,0,0,0
$GC,1277,-1.46,-97.3,167.2,-12.5,120,1285,0.08,2.42,0.00,0.000,6,0.094,0.016,2851,2017,3412,0,0,0,0,0,0
$GC,1634,-1.51,-97.3,204.5,-9.9,151,1638,0.00,2.42,0.00,0.000,4,0.000,0.028,2851,3563,3413,0,0,0,0,0,0
$GC,1710,-1.61,-97.3,211.8,-9.5,152,1715,0.12,2.42,0.00,0.000,6,0.066,0.021,2797,2021,3413,0,0,0,0,0,0
$GC,2041,-1.61,-97.3,248.3,-10.9,160,2046,0.12,2.47,0.00,0.000,4,0.108,0.035,2824,3561,3413,0,0,0,0,0,0
$GC,2057,-1.61,-97.3,249.9,-10.3,160,2061,0.00,2.40,0.00,0.000,6,0.000,0.026,2824,2029,3413,0,0,0,0,0,0
$GC,2402,-1.64,-97.3,281.6,-8.7,169,2406,0.00,2.42,0.00,0.000,4,0.000,0.031,2824,3554,3413,0,0,0,0,0,0
$GC,2486,-1.73,-97.3,289.5,-10.1,171,2491,0.12,2.42,0.00,0.000,6,0.068,0.032,2776,2033,3413,0,0,0,0,0,0
$GC,2812,-1.69,-97.3,327.2,-11.5,179,2817,0.15,2.83,0.00,0.000,4,0.107,0.077,2807,428,3413,0,0,0,0,0,0
$GC,2834,-1.69,-97.3,330.0,-11.1,179,2838,0.00,2.45,0.00,0.000,6,0.000,0.021,2808,2005,3413,0,0,0,0,0,0
$GC,3171,-1.69,-97.3,361.2,-9.1,188,3176,0.00,2.58,0.00,0.000,4,0.000,0.053,2808,3578,3412,0,0,0,0,0,0
$GC,3251,-1.75,-97.3,368.8,-9.6,189,3256,0.00,2.55,0.00,0.000,6,0.000,0.051,2808,2047,3412,0,0,0,0,0,0
$GC,3582,-1.79,-97.3,401.6,-10.2,198,3587,0.10,2.55,0.00,0.000,4,0.091,0.053,2771,3578,3410,0,0,0,0,0,0
$GC,3609,-1.79,-97.3,404.8,-11.9,198,3613,0.00,2.58,0.00,0.000,6,0.000,0.051,2771,2041,3410,0,0,0,0,0,0
$GC,3942,-1.79,-97.3,439.7,-10.4,206,3946,0.00,2.55,0.00,0.000,4,0.000,0.051,2771,3577,3407,0,0,0,0,0,0
$GC,3985,-1.79,-97.3,444.7,-11.1,207,3990,0.00,2.58,0.00,0.000,6,0.000,0.056,2771,2052,3407,0,0,0,0,0,0
$GC,4306,-1.79,-97.3,479.8,-11.2,215,4307,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2052,3405,0,0,0,0,0,0
$STATE,4505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4505,begin apogee
$GC,4511,-0.31,0.0,501.9,10.9,220,4596,1.50,0.00,81.03,0.909,6,0.096,0.000,3106,1990,3010,0,0,0,0,0,0
$STATE,4597,end apogee,CONTROL_FINISHED_OK
$STATE,4597,begin climb
$GC,4599,1.48,97.3,504.7,0.0,222,4687,1.65,0.00,83.30,0.885,6,0.036,0.000,3506,1990,2613,0,0,0,0,0,0
$GC,4995,1.38,128.4,484.1,7.9,232,5024,0.15,0.00,26.85,0.855,6,0.124,0.000,3477,1990,2486,0,0,0,0,0,0
$GC,5358,1.35,164.9,455.2,7.5,241,5395,0.00,0.00,32.65,0.851,6,0.000,0.000,3477,1990,2336,0,0,0,0,0,0
$GC,5723,1.32,172.7,421.6,9.5,250,5732,0.00,0.00,7.05,0.712,6,0.000,0.000,3477,1990,2306,0,0,0,0,0,0
$GC,6046,1.28,175.2,389.8,9.9,258,6052,0.12,2.85,0.00,0.000,4,0.131,0.083,3453,403,2302,0,0,0,0,0,0
$GC,6097,1.23,175.2,384.5,10.2,259,6101,0.00,2.58,0.00,0.000,6,0.000,0.028,3453,2005,2301,0,0,0,0,0,0
$GC,6411,1.24,180.7,354.4,9.7,267,6421,0.00,0.00,8.15,0.720,6,0.000,0.000,3453,2005,2273,0,0,0,0,0,0
$GC,6734,1.27,202.9,324.9,8.5,275,6760,0.00,2.60,20.98,0.783,4,0.000,0.042,3453,3567,2181,0,0,0,0,0,0
$GC,6909,1.35,226.7,309.3,8.4,279,6938,0.00,2.60,21.95,0.769,6,0.000,0.033,3453,1991,2084,0,0,0,0,0,0
$GC,7278,1.47,269.6,283.0,7.1,288,7323,0.17,2.85,38.22,0.761,4,0.067,0.074,3499,416,1911,0,0,0,0,0,0
$GC,7408,1.43,269.6,266.3,14.0,291,7412,0.00,2.53,0.00,0.000,6,0.000,0.025,3499,2005,1907,0,0,0,0,0,0
$GC,7731,1.43,269.6,227.8,12.0,299,7732,0.00,0.00,0.00,0.000,6,0.000,0.000,3499,2005,1905,0,0,0,0,0,0
$GC,8039,1.45,280.7,197.0,9.3,308,8054,0.00,2.72,10.35,0.638,4,0.000,0.058,3498,413,1863,0,0,0,0,0,0
$GC,8113,1.45,280.7,189.4,10.8,314,8118,0.00,2.47,0.00,0.000,6,0.000,0.019,3499,1981,1861,0,0,0,0,0,0
$GC,8439,1.49,282.6,157.2,9.9,344,8443,0.00,2.55,0.00,0.000,4,0.000,0.039,3498,3557,1861,0,0,0,0,0,0
$GC,8456,1.53,282.6,155.4,10.1,345,8460,0.00,2.55,0.00,0.000,6,0.000,0.029,3499,1985,1859,0,0,0,0,0,0
$GC,8786,1.60,283.6,120.8,10.0,375,8791,0.10,2.67,0.00,0.000,4,0.087,0.061,3528,414,1859,0,0,0,0,0,0
$GC,8916,1.60,283.6,105.8,11.6,385,8922,0.00,2.47,0.00,0.000,6,0.000,0.018,3528,2008,1859,0,0,0,0,0,0
$GC,9246,1.64,316.9,77.6,7.7,416,9288,0.00,2.75,31.33,0.574,4,0.000,0.055,3528,421,1717,0,0,0,0,0,0
$GC,9369,1.64,317.9,66.0,10.0,425,9373,0.00,2.42,0.00,0.000,6,0.000,0.018,3528,1971,1715,0,0,0,0,0,0
$GC,9698,1.69,318.9,34.2,10.0,455,9706,0.00,0.00,0.00,0.000,6,0.000,0.000,3528,1973,1715,0,0,0,0,0,0
$STATE,10009,end climb,SURFACE_DEPTH_REACHED
$STATE,10009,begin surface coast
$FINISH,0.7,0.976306
$STATE,10067,end surface coast,CONTROL_FINISHED_OK
$STATE,10067,begin surface
$SM_CCo,10091,51.62,0.508,0,0,1460,380.21
$SM_GC,1.40,0.00,0.00,51.62,0.000,0.000,0.508,480,1973,1460,-12.40,-1.05,380.21
$IRIDIUM_FIX,2241.69,-15759.32,031000,000043
$TT8_MAMPS,0.026078
$HUMID,64.76
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,20.80
$XPDR_PINGS,48
$24V_AH,23.5,60.864
$10V_AH,10.1,54.619
$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,29.375,92.100,361.850,51.625,0.000,54.237,80.474,312.061,12.000,0.000,42.525,997.547,6714.057,480.720,1901.872,750.116,33.370,1129.803,0.000,1880.925,0.000,0.537,0.000
$DEVICE_MAMPS,146.497,134.992,908.895,507.754,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,343.283,285.750,390.957,745.912,1128.412,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355448
$DATA_FILE_SIZE,41321,506
$CAP_FILE_SIZE,97059,0
$CFSIZE,260165632,156487680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100711,031434,2250.350,-15758.035,10,99.0,29,10.1