version: 66.06
glider: 146
mission: 6
dive: 180
start: 6 1 111 23 32 18
data:
$ID,146
$MISSION,6
$DIVE,180
$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,-271917.19
$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,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,29
$R_STBD_OVSHOOT,59
$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
$GPS1,232004,2247.922,-15757.977,51,99.0,70,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.0
$GPS2,233125,2248.016,-15758.035,81,0.9,81,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.079,-0.199
$KALMAN_X,-90410.5,-637.0,245.5,88688.4,-391.4
$KALMAN_Y,-128463.7,239.1,79.0,135762.9,97.6
$MHEAD_RNG_PITCHd_Wd,148.1,1924,-22.0,-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,15,begin dive
$GC,18,-1.49,-95.8,0.0,0.0,0,90,0.00,0.00,-69.62,0.000,2,0.000,0.000,474,1758,3238,0,0,0,0,0,0
$GC,93,-1.52,-116.8,3.4,-5.2,9,118,12.02,0.00,-4.75,0.000,6,0.145,0.000,2812,1759,3496,0,0,0,0,0,0
$GC,396,-1.44,-116.8,67.1,-16.1,42,406,0.12,0.00,0.00,0.000,6,0.135,0.000,2836,1758,3498,0,0,0,0,0,0
$GC,661,-1.44,-116.8,106.5,-13.9,67,665,0.00,2.53,0.00,0.000,4,0.000,0.032,2836,3364,3499,0,0,0,0,0,0
$GC,683,-1.44,-116.8,110.3,-14.0,68,692,0.00,2.53,0.00,0.000,6,0.000,0.025,2836,1793,3499,0,0,0,0,0,0
$GC,950,-1.44,-116.8,146.8,-13.7,93,954,0.00,2.47,0.00,0.000,4,0.000,0.031,2836,3372,3500,0,0,0,0,0,0
$GC,1030,-1.50,-116.8,157.8,-12.3,99,1039,0.00,2.50,0.00,0.000,6,0.000,0.025,2836,1815,3500,0,0,0,0,0,0
$GC,1297,-1.50,-116.8,191.1,-12.7,124,1301,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1816,3500,0,0,0,0,0,0
$GC,1570,-1.55,-116.8,225.6,-12.3,136,1574,0.00,2.47,0.00,0.000,4,0.000,0.031,2836,3366,3501,0,0,0,0,0,0
$GC,1632,-1.63,-116.8,232.7,-11.0,137,1637,0.17,2.50,0.00,0.000,6,0.058,0.032,2779,1808,3501,0,0,0,0,0,0
$GC,1893,-1.59,-116.8,266.7,-13.0,144,1898,0.12,2.47,0.00,0.000,4,0.112,0.029,2805,3359,3501,0,0,0,0,0,0
$GC,1921,-1.59,-116.8,270.4,-12.6,144,1926,0.00,2.47,0.00,0.000,6,0.000,0.036,2805,1818,3501,0,0,0,0,0,0
$GC,2171,-1.59,-116.8,301.4,-12.5,150,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1817,3501,0,0,0,0,0,0
$GC,2414,-1.59,-116.8,333.1,-13.0,156,2419,0.00,2.50,0.00,0.000,4,0.000,0.036,2805,3356,3501,0,0,0,0,0,0
$GC,2442,-1.63,-116.8,336.8,-13.7,156,2446,0.00,2.55,0.00,0.000,6,0.000,0.050,2805,1825,3500,0,0,0,0,0,0
$GC,2693,-1.67,-116.8,368.6,-12.6,162,2698,0.00,2.47,0.00,0.000,4,0.000,0.038,2805,3354,3499,0,0,0,0,0,0
$GC,2733,-1.74,-116.8,373.4,-11.4,163,2738,0.15,2.55,0.00,0.000,6,0.060,0.052,2752,1835,3499,0,0,0,0,0,0
$GC,3018,-1.69,-116.8,413.1,-14.2,170,3020,0.15,0.00,0.00,0.000,6,0.110,0.000,2783,1836,3497,0,0,0,0,0,0
$GC,3260,-1.69,-116.8,442.6,-11.8,176,3261,0.00,0.00,0.00,0.000,6,0.000,0.000,2783,1835,3496,0,0,0,0,0,0
$GC,3504,-1.69,-116.8,471.4,-11.8,182,3508,0.00,2.55,0.00,0.000,4,0.000,0.056,2783,3352,3494,0,0,0,0,0,0
$GC,3548,-1.73,-116.8,476.7,-12.0,183,3553,0.00,2.62,0.00,0.000,6,0.000,0.068,2783,1834,3494,0,0,0,0,0,0
$STATE,3741,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3742,begin apogee
$GC,3749,-0.31,0.0,500.4,12.1,188,3850,1.33,0.00,96.82,0.915,6,0.090,0.000,3078,1984,3019,0,0,0,0,0,0
$STATE,3850,end apogee,CONTROL_FINISHED_OK
$STATE,3851,begin climb
$GC,3853,1.52,116.8,503.2,0.0,190,3957,1.73,0.00,100.12,0.895,6,0.056,0.000,3484,1984,2542,0,0,0,0,0,0
$GC,4190,1.46,134.1,482.6,8.8,199,4206,0.00,0.00,14.75,0.825,6,0.000,0.000,3484,1984,2473,0,0,0,0,0,0
$GC,4432,1.41,148.8,460.8,9.0,205,4452,0.12,2.70,13.73,0.820,4,0.124,0.054,3459,3550,2412,0,0,0,0,0,0
$GC,4545,1.42,157.2,450.8,9.4,207,4559,0.00,2.67,9.05,0.766,6,0.000,0.051,3459,1982,2377,0,0,0,0,0,0
$GC,4810,1.43,163.4,425.2,9.6,214,4823,0.00,2.95,6.25,0.697,4,0.000,0.099,3459,400,2352,0,0,0,0,0,0
$GC,4840,1.37,163.4,421.8,10.6,214,4845,0.00,2.55,0.00,0.000,6,0.000,0.031,3459,1965,2351,0,0,0,0,0,0
$GC,5092,1.39,183.6,399.5,8.6,220,5113,0.00,0.00,19.25,0.830,6,0.000,0.000,3458,1965,2271,0,0,0,0,0,0
$GC,5334,1.42,202.9,378.4,8.7,226,5358,0.00,2.75,17.80,0.811,4,0.000,0.047,3458,3570,2191,0,0,0,0,0,0
$GC,5386,1.42,202.9,373.2,10.4,227,5391,0.00,2.67,0.00,0.000,6,0.000,0.042,3459,1969,2190,0,0,0,0,0,0
$GC,5660,1.42,202.9,345.1,10.6,234,5661,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1969,2186,0,0,0,0,0,0
$GC,5902,1.42,202.9,319.0,10.4,240,5903,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1969,2186,0,0,0,0,0,0
$GC,6146,1.43,211.4,295.7,9.4,246,6160,0.00,2.67,7.53,0.690,4,0.000,0.035,3459,3565,2157,0,0,0,0,0,0
$GC,6191,1.43,211.4,291.1,10.1,247,6196,0.00,2.62,0.00,0.000,6,0.000,0.038,3459,1969,2156,0,0,0,0,0,0
$GC,6475,1.49,231.1,264.8,8.7,254,6495,0.00,0.00,18.65,0.756,6,0.000,0.000,3459,1969,2077,0,0,0,0,0,0
$GC,6719,1.55,238.0,242.1,9.6,260,6733,0.12,2.70,7.07,0.643,4,0.208,0.033,3491,3574,2049,0,0,0,0,0,0
$GC,6790,1.55,238.0,233.3,12.2,261,6795,0.00,2.62,0.00,0.000,6,0.000,0.035,3491,1978,2048,0,0,0,0,0,0
$GC,7045,1.55,238.0,204.6,10.9,268,7049,0.00,2.60,0.00,0.000,4,0.000,0.039,3492,3574,2046,0,0,0,0,0,0
$GC,7090,1.55,238.0,199.5,11.3,269,7094,0.00,2.60,0.00,0.000,6,0.000,0.034,3491,1983,2045,0,0,0,0,0,0
$GC,7361,1.55,238.0,169.8,11.4,292,7365,0.00,2.58,0.00,0.000,4,0.000,0.033,3492,3575,2045,0,0,0,0,0,0
$GC,7494,1.55,238.0,153.8,11.9,303,7498,0.00,2.53,0.00,0.000,6,0.000,0.031,3492,2002,2045,0,0,0,0,0,0
$GC,7760,1.56,247.4,126.7,9.4,327,7779,0.00,0.00,9.02,0.590,6,0.000,0.000,3491,2002,2010,0,0,0,0,0,0
$GC,8038,1.60,247.4,98.9,10.8,353,8042,0.00,2.55,0.00,0.000,4,0.000,0.031,3492,3582,2009,0,0,0,0,0,0
$GC,8082,1.65,247.4,92.9,11.3,356,8092,0.00,2.55,0.00,0.000,6,0.000,0.036,3492,2016,2008,0,0,0,0,0,0
$GC,8351,1.72,254.4,66.5,9.6,381,8361,0.12,0.00,7.45,0.512,6,0.077,0.000,3526,2016,1982,0,0,0,0,0,0
$GC,8619,1.77,269.3,39.0,9.0,406,8646,0.00,2.55,14.65,0.538,4,0.000,0.029,3526,3577,1920,0,0,0,0,0,0
$GC,8814,1.82,282.0,19.0,9.1,428,8833,0.00,2.50,12.32,0.509,6,0.000,0.031,3526,2049,1869,0,0,0,0,0,0
$STATE,8952,end climb,SURFACE_DEPTH_REACHED
$STATE,8952,begin surface coast
$FINISH,0.4,0.975378
$STATE,9010,end surface coast,CONTROL_FINISHED_OK
$STATE,9010,begin surface
$SM_CCo,9033,79.32,0.526,0,0,1469,380.21
$SM_GC,1.46,0.00,0.00,79.32,0.000,0.000,0.526,476,1790,1469,-12.30,-0.28,380.21
$IRIDIUM_FIX,2239.35,-15800.20,250800,202025
$TT8_MAMPS,0.026078
$HUMID,58.19
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,22.20
$XPDR_PINGS,33
$24V_AH,23.5,22.528
$10V_AH,10.4,19.675
$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,28.475,83.200,354.475,79.325,0.000,29.740,38.562,405.455,8.250,0.000,82.597,910.356,5892.194,511.265,1747.084,733.915,33.352,1115.655,0.000,1692.775,0.000,0.535,0.000
$DEVICE_MAMPS,207.857,133.458,915.031,526.162,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,308.992,272.605,353.285,690.142,1043.848,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,35310,456
$CAP_FILE_SIZE,92287,0
$CFSIZE,260165632,172863488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020611,020608,2247.027,-15757.662,68,1.0,76,10.1