version: 66.06
glider: 146
mission: 6
dive: 63
start: 5 19 111 3 34 1
data:
$ID,146
$MISSION,6
$DIVE,63
$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,400
$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,-268647.5
$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,3090
$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,1770
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,47
$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,3001
$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
$GPS1,032736,2249.108,-15803.280,25,1.5,25,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-72.4
$GPS2,033307,2249.161,-15803.277,9,2.0,9,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.059,0.190
$KALMAN_X,-47519.9,-204.5,-252.2,36907.9,-117.7
$KALMAN_Y,-94590.3,756.0,-337.3,103906.1,-329.5
$MHEAD_RNG_PITCHd_Wd,7.3,1624,-23.8,-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,-1.59,-82.2,0.0,0.0,0,97,0.00,0.00,-79.00,0.000,2,0.000,0.000,479,1748,3336,0,0,0,0,0,0
$GC,100,-1.63,-116.8,3.6,-7.0,10,126,12.12,2.60,-2.62,0.000,4,0.163,0.044,2724,3340,3481,0,0,0,0,0,0
$GC,216,-1.47,-116.8,36.9,-23.9,24,221,0.22,2.50,0.00,0.000,6,0.128,0.029,2766,1781,3482,0,0,0,0,0,0
$GC,478,-1.38,-116.8,94.2,-20.5,48,480,0.10,0.00,0.00,0.000,6,0.153,0.000,2784,1781,3483,0,0,0,0,0,0
$GC,733,-1.38,-116.8,139.4,-16.2,72,738,0.00,2.70,0.00,0.000,4,0.000,0.068,2784,197,3484,0,0,0,0,0,0
$GC,755,-1.32,-116.8,143.4,-16.3,73,761,0.00,2.40,0.00,0.000,6,0.000,0.021,2784,1807,3485,0,0,0,0,0,0
$GC,1017,-1.32,-116.8,179.5,-12.4,98,1018,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1809,3485,0,0,0,0,0,0
$GC,1297,-1.32,-116.8,218.8,-14.3,116,1299,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,1808,3486,0,0,0,0,0,0
$GC,1541,-1.32,-116.8,255.3,-15.1,122,1545,0.00,2.38,0.00,0.000,4,0.000,0.031,2784,3301,3486,0,0,0,0,0,0
$GC,1575,-1.37,-116.8,260.4,-15.2,122,1580,0.00,2.47,0.00,0.000,6,0.000,0.033,2784,1769,3486,0,0,0,0,0,0
$GC,1825,-1.41,-116.8,296.9,-14.3,129,1829,0.00,2.83,0.00,0.000,4,0.000,0.090,2784,192,3486,0,0,0,0,0,0
$GC,1868,-1.41,-116.8,303.7,-14.8,130,1872,0.00,2.35,0.00,0.000,6,0.000,0.028,2784,1702,3486,0,0,0,0,0,0
$GC,2154,-1.46,-116.8,339.3,-12.3,137,2158,0.00,2.60,0.00,0.000,4,0.000,0.043,2784,3301,3486,0,0,0,0,0,0
$GC,2284,-1.54,-116.8,355.1,-12.3,140,2290,0.12,2.58,0.00,0.000,6,0.074,0.052,2744,1770,3486,0,0,0,0,0,0
$GC,2569,-1.54,-116.8,395.3,-14.2,147,2573,0.00,2.53,0.00,0.000,4,0.000,0.047,2744,3291,3485,0,0,0,0,0,0
$GC,2584,-1.54,-116.8,397.9,-14.5,147,2589,0.00,2.60,0.00,0.000,6,0.000,0.059,2744,1770,3485,0,0,0,0,0,0
$GC,2845,-1.54,-116.8,434.0,-13.7,154,2850,0.00,2.53,0.00,0.000,4,0.000,0.054,2743,3290,3483,0,0,0,0,0,0
$GC,2874,-1.54,-116.8,437.9,-13.5,154,2878,0.00,2.62,0.00,0.000,6,0.000,0.059,2744,1764,3483,0,0,0,0,0,0
$GC,3123,-1.54,-116.8,472.1,-13.5,160,3128,0.00,2.58,0.00,0.000,4,0.000,0.056,2744,3288,3482,0,0,0,0,0,0
$GC,3145,-1.54,-116.8,475.4,-14.1,160,3149,0.00,2.60,0.00,0.000,6,0.000,0.067,2744,1776,3482,0,0,0,0,0,0
$STATE,3357,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3358,begin apogee
$GC,3365,-0.31,0.0,503.7,13.2,166,3467,1.30,0.00,98.18,0.917,6,0.107,0.000,3019,1873,3000,0,0,0,0,0,0
$STATE,3468,end apogee,CONTROL_FINISHED_OK
$STATE,3468,begin climb
$GC,3470,1.63,116.8,507.3,0.0,168,3582,1.85,3.10,99.32,0.895,4,0.060,0.114,3443,334,2522,0,0,0,0,0,0
$GC,3595,1.69,163.7,504.0,6.2,171,3642,0.00,2.65,40.85,0.873,6,0.000,0.041,3443,1905,2332,0,0,0,0,0,0
$GC,3920,1.77,177.1,475.2,8.9,179,3940,0.12,2.88,12.00,0.805,4,0.082,0.066,3477,3508,2277,0,0,0,0,0,0
$GC,4057,1.77,177.1,460.2,10.8,182,4062,0.00,2.72,0.00,0.000,6,0.000,0.056,3477,1930,2273,0,0,0,0,0,0
$GC,4335,1.77,177.1,429.7,11.1,189,4339,0.00,2.65,0.00,0.000,4,0.000,0.049,3477,3512,2271,0,0,0,0,0,0
$GC,4361,1.77,177.1,426.6,10.8,189,4366,0.00,2.67,0.00,0.000,6,0.000,0.052,3477,1939,2270,0,0,0,0,0,0
$GC,4612,1.77,177.1,399.9,10.5,195,4617,0.00,2.62,0.00,0.000,4,0.000,0.041,3477,3520,2269,0,0,0,0,0,0
$GC,4734,1.77,177.1,386.3,11.4,197,4740,0.00,2.62,0.00,0.000,6,0.000,0.043,3477,1961,2268,0,0,0,0,0,0
$GC,4986,1.77,177.1,360.4,10.1,204,4987,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,1960,2266,0,0,0,0,0,0
$GC,5228,1.77,180.8,336.7,9.7,210,5233,0.00,2.55,0.00,0.000,4,0.000,0.036,3477,3514,2265,0,0,0,0,0,0
$GC,5318,1.78,187.9,328.2,9.5,212,5332,0.00,2.58,8.52,0.732,6,0.000,0.041,3477,1957,2234,0,0,0,0,0,0
$GC,5601,1.84,202.2,302.8,8.9,219,5620,0.00,2.60,14.00,0.765,4,0.000,0.038,3477,3517,2175,0,0,0,0,0,0
$GC,5650,1.89,208.9,298.0,9.5,220,5665,0.10,2.60,7.45,0.680,6,0.104,0.039,3504,1954,2148,0,0,0,0,0,0
$GC,5933,1.89,209.7,269.0,10.0,227,5934,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,1954,2144,0,0,0,0,0,0
$GC,6175,1.90,215.1,245.4,9.6,233,6189,0.00,2.55,6.40,0.634,4,0.000,0.039,3504,3513,2123,0,0,0,0,0,0
$GC,6218,1.90,215.1,241.0,10.9,234,6223,0.00,2.53,0.00,0.000,6,0.000,0.033,3504,1967,2122,0,0,0,0,0,0
$GC,6502,1.90,215.1,210.9,10.6,241,6507,0.00,2.53,0.00,0.000,4,0.000,0.034,3504,3516,2121,0,0,0,0,0,0
$GC,6524,1.90,215.1,208.2,11.6,241,6528,0.00,2.53,0.00,0.000,6,0.000,0.032,3503,1973,2120,0,0,0,0,0,0
$GC,6787,1.90,215.1,178.9,11.8,260,6791,0.00,2.50,0.00,0.000,4,0.000,0.034,3503,3514,2119,0,0,0,0,0,0
$GC,6934,1.94,215.1,161.1,12.2,272,6939,0.00,2.47,0.00,0.000,6,0.000,0.035,3503,1982,2118,0,0,0,0,0,0
$GC,7197,1.98,215.1,130.7,10.4,296,7201,0.00,2.47,0.00,0.000,4,0.000,0.034,3504,3522,2119,0,0,0,0,0,0
$GC,7266,2.03,215.1,123.4,10.5,301,7271,0.12,2.50,0.00,0.000,6,0.086,0.036,3535,1981,2118,0,0,0,0,0,0
$GC,7532,2.03,215.1,95.5,10.5,325,7537,0.00,2.80,0.00,0.000,4,0.000,0.061,3536,336,2118,0,0,0,0,0,0
$GC,7566,1.98,215.1,91.6,12.0,327,7570,0.00,2.62,0.00,0.000,6,0.000,0.025,3536,2031,2117,0,0,0,0,0,0
$GC,7832,1.98,215.1,62.8,10.7,351,7840,0.00,0.00,0.00,0.000,6,0.000,0.000,3536,2033,2117,0,0,0,0,0,0
$GC,8097,1.98,217.5,34.7,9.8,376,8102,0.00,2.38,0.00,0.000,4,0.000,0.032,3536,3517,2117,0,0,0,0,0,0
$GC,8262,1.98,217.5,17.3,11.2,397,8272,0.00,2.50,0.00,0.000,6,0.000,0.030,3536,1978,2117,0,0,0,0,0,0
$STATE,8388,end climb,SURFACE_DEPTH_REACHED
$STATE,8388,begin surface coast
$FINISH,0.3,0.974948
$STATE,8446,end surface coast,CONTROL_FINISHED_OK
$STATE,8446,begin surface
$SM_CCo,8469,149.73,0.534,0,0,1370,400.08
$SM_GC,1.08,0.00,0.00,149.73,0.000,0.000,0.534,475,1750,1370,-12.03,-0.57,400.08
$IRIDIUM_FIX,2241.69,-15802.37,120800,000013
$TT8_MAMPS,0.026845
$HUMID,55.43
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,21.40
$XPDR_PINGS,39
$24V_AH,23.4,8.318
$10V_AH,10.4,6.948
$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,28.575,103.950,286.725,149.725,0.000,24.544,36.400,148.027,9.750,0.000,10.978,878.637,5456.222,509.048,1667.558,440.553,33.357,1132.080,0.000,1672.112,0.000,0.534,0.000
$DEVICE_MAMPS,163.371,114.283,916.565,533.832,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,287.349,238.288,325.274,632.602,956.866,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,32038,423
$CAP_FILE_SIZE,89359,0
$CFSIZE,260165632,178933760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190511,055851,2250.208,-15803.371,12,2.0,31,10.1