version: 66.06
glider: 146
mission: 6
dive: 420
start: 7 1 111 5 12 13
data:
$ID,146
$MISSION,6
$DIVE,420
$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,-278343.91
$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,16
$R_STBD_OVSHOOT,63
$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
$GPS1,050106,2250.195,-15759.124,25,1.7,29,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.4
$GPS2,051119,2250.280,-15759.199,15,1.9,32,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.174,-0.127
$KALMAN_X,-309896.9,-210.3,-184.2,306192.2,-752.5
$KALMAN_Y,71212.5,456.5,-26.2,-59839.6,1136.3
$MHEAD_RNG_PITCHd_Wd,116.1,3789,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-70.45,0.000,2,0.000,0.000,469,1957,3234,0,0,0,0,0,0
$GC,91,-1.48,-97.3,3.3,-5.4,9,117,12.35,2.60,-3.33,0.000,4,0.149,0.057,2842,413,3409,0,0,0,0,0,0
$GC,157,-1.36,-97.3,21.1,-20.1,17,167,0.12,2.47,0.00,0.000,6,0.113,0.022,2871,2012,3411,0,0,0,0,0,0
$GC,498,-1.31,-97.3,72.8,-13.9,51,502,0.00,2.42,0.00,0.000,4,0.000,0.030,2871,3558,3412,0,0,0,0,0,0
$GC,545,-1.31,-97.3,79.1,-12.7,54,549,0.00,2.47,0.00,0.000,6,0.000,0.024,2871,1982,3412,0,0,0,0,0,0
$GC,869,-1.31,-97.3,117.7,-11.5,84,874,0.00,2.50,0.00,0.000,4,0.000,0.034,2871,3566,3412,0,0,0,0,0,0
$GC,890,-1.31,-97.3,119.6,-11.4,85,894,0.00,2.45,0.00,0.000,6,0.000,0.021,2871,2004,3413,0,0,0,0,0,0
$GC,1218,-1.36,-97.3,158.5,-12.1,115,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2004,3413,0,0,0,0,0,0
$GC,1546,-1.44,-97.3,191.8,-8.5,146,1550,0.00,2.47,0.00,0.000,4,0.000,0.031,2871,3559,3414,0,0,0,0,0,0
$GC,1565,-1.52,-97.3,193.5,-8.1,147,1570,0.12,2.40,0.00,0.000,6,0.071,0.028,2822,2014,3414,0,0,0,0,0,0
$GC,1879,-1.52,-97.3,225.2,-10.0,159,1883,0.00,2.45,0.00,0.000,4,0.000,0.034,2823,3557,3414,0,0,0,0,0,0
$GC,1935,-1.56,-97.3,231.3,-10.4,160,1940,0.00,2.42,0.00,0.000,6,0.000,0.028,2822,2012,3415,0,0,0,0,0,0
$GC,2283,-1.56,-97.3,268.9,-11.1,169,2288,0.00,2.47,0.00,0.000,4,0.000,0.038,2823,3555,3415,0,0,0,0,0,0
$GC,2341,-1.61,-97.3,275.6,-11.6,170,2345,0.00,2.40,0.00,0.000,6,0.000,0.029,2822,2038,3415,0,0,0,0,0,0
$GC,2690,-1.66,-97.3,312.9,-10.3,179,2694,0.00,2.45,0.00,0.000,4,0.000,0.036,2823,3552,3415,0,0,0,0,0,0
$GC,2729,-1.72,-97.3,317.2,-10.4,180,2733,0.00,2.42,0.00,0.000,6,0.000,0.036,2822,2031,3415,0,0,0,0,0,0
$GC,3054,-1.77,-97.3,350.5,-10.1,188,3060,0.15,2.85,0.00,0.000,4,0.060,0.087,2765,424,3413,0,0,0,0,0,0
$GC,3077,-1.73,-97.3,353.5,-11.9,188,3082,0.15,2.50,0.00,0.000,6,0.113,0.029,2796,1997,3413,0,0,0,0,0,0
$GC,3413,-1.73,-97.3,392.5,-11.6,197,3417,0.00,2.62,0.00,0.000,4,0.000,0.048,2796,3584,3412,0,0,0,0,0,0
$GC,3469,-1.73,-97.3,399.1,-12.0,198,3474,0.00,2.55,0.00,0.000,6,0.000,0.048,2796,2038,3411,0,0,0,0,0,0
$GC,3817,-1.73,-97.3,437.0,-10.4,207,3822,0.00,2.95,0.00,0.000,4,0.000,0.097,2796,418,3410,0,0,0,0,0,0
$GC,3844,-1.73,-97.3,439.8,-10.4,207,3848,0.00,2.60,0.00,0.000,6,0.000,0.035,2796,2023,3409,0,0,0,0,0,0
$GC,4177,-1.73,-97.3,469.6,-8.8,215,4181,0.00,2.67,0.00,0.000,4,0.000,0.070,2796,3590,3406,0,0,0,0,0,0
$GC,4232,-1.78,-97.3,474.7,-8.5,216,4237,0.00,2.60,0.00,0.000,6,0.000,0.049,2796,2041,3407,0,0,0,0,0,0
$STATE,4536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4537,begin apogee
$GC,4544,-0.31,0.0,500.9,8.8,224,4629,1.38,0.00,81.40,0.909,6,0.086,0.000,3105,1985,3010,0,0,0,0,0,0
$STATE,4630,end apogee,CONTROL_FINISHED_OK
$STATE,4630,begin climb
$GC,4633,1.48,97.3,502.5,0.0,226,4725,1.62,2.78,82.80,0.893,4,0.040,0.054,3504,3584,2612,0,0,0,0,0,0
$GC,4772,1.40,161.4,501.2,5.6,229,4838,0.12,2.72,55.72,0.878,6,0.134,0.051,3480,1994,2350,0,0,0,0,0,0
$GC,5163,1.37,178.1,467.1,8.9,239,5179,0.00,0.00,14.77,0.817,6,0.000,0.000,3481,1994,2283,0,0,0,0,0,0
$GC,5489,1.32,178.1,434.8,10.5,247,5490,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,1994,2277,0,0,0,0,0,0
$GC,5813,1.28,179.4,401.1,10.0,255,5818,0.12,2.88,0.00,0.000,4,0.126,0.083,3456,403,2275,0,0,0,0,0,0
$GC,5893,1.24,179.4,392.6,10.6,256,5898,0.00,2.60,0.00,0.000,6,0.000,0.028,3456,2023,2274,0,0,0,0,0,0
$GC,6226,1.27,199.6,363.6,8.6,265,6250,0.00,2.62,18.48,0.800,4,0.000,0.040,3455,3566,2196,0,0,0,0,0,0
$GC,6360,1.27,204.7,350.3,9.7,268,6371,0.00,2.60,5.95,0.652,6,0.000,0.041,3456,1997,2175,0,0,0,0,0,0
$GC,6688,1.33,218.9,320.3,9.1,276,6707,0.00,2.80,13.90,0.758,4,0.000,0.075,3456,412,2117,0,0,0,0,0,0
$GC,6752,1.33,218.9,313.4,10.9,277,6756,0.00,2.55,0.00,0.000,6,0.000,0.021,3456,2021,2114,0,0,0,0,0,0
$GC,7096,1.39,218.9,280.0,10.1,286,7101,0.00,2.50,0.00,0.000,4,0.000,0.040,3456,3557,2113,0,0,0,0,0,0
$GC,7113,1.44,218.9,278.1,10.3,286,7118,0.15,2.53,0.00,0.000,6,0.076,0.035,3496,2004,2111,0,0,0,0,0,0
$GC,7455,1.44,218.9,240.5,10.8,295,7456,0.00,0.00,0.00,0.000,6,0.000,0.000,3496,2004,2110,0,0,0,0,0,0
$GC,7782,1.50,270.0,216.2,6.5,303,7832,0.00,2.80,44.88,0.713,4,0.000,0.065,3496,409,1908,0,0,0,0,0,0
$GC,7938,1.50,270.0,201.1,10.2,306,7943,0.00,2.53,0.00,0.000,6,0.000,0.025,3496,2009,1904,0,0,0,0,0,0
$GC,8265,1.54,270.0,167.5,11.4,333,8270,0.00,2.70,0.00,0.000,4,0.000,0.058,3496,415,1903,0,0,0,0,0,0
$GC,8288,1.54,270.0,165.3,11.0,334,8292,0.00,2.50,0.00,0.000,6,0.000,0.019,3496,2009,1902,0,0,0,0,0,0
$GC,8613,1.60,277.8,130.7,9.5,364,8628,0.12,2.72,7.40,0.550,4,0.084,0.054,3531,421,1876,0,0,0,0,0,0
$GC,8715,1.55,277.8,119.0,12.4,372,8719,0.00,2.45,0.00,0.000,6,0.000,0.021,3531,1987,1875,0,0,0,0,0,0
$GC,9039,1.55,279.4,85.4,9.9,402,9044,0.00,2.65,0.00,0.000,4,0.000,0.053,3531,407,1875,0,0,0,0,0,0
$GC,9107,1.51,279.4,78.3,11.6,407,9112,0.12,2.45,0.00,0.000,6,0.125,0.018,3507,1986,1874,0,0,0,0,0,0
$GC,9436,1.61,289.1,46.6,9.4,437,9459,0.00,2.67,11.10,0.518,4,0.000,0.054,3507,423,1830,0,0,0,0,0,0
$GC,9477,1.67,289.1,42.7,10.2,440,9482,0.12,2.40,0.00,0.000,6,0.077,0.017,3542,1986,1829,0,0,0,0,0,0
$STATE,9850,end climb,SURFACE_DEPTH_REACHED
$STATE,9850,begin surface coast
$FINISH,0.6,0.980033
$STATE,9901,end surface coast,CONTROL_FINISHED_OK
$STATE,9901,begin surface
$SM_CCo,9925,74.57,0.516,0,0,1459,380.21
$SM_GC,1.23,0.00,0.00,74.57,0.000,0.000,0.516,474,1988,1459,-12.42,-0.62,380.21
$IRIDIUM_FIX,2241.69,-15757.16,240900,050559
$TT8_MAMPS,0.026845
$HUMID,64.17
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.30
$XPDR_PINGS,44
$24V_AH,23.5,52.601
$10V_AH,10.2,46.599
$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,29.100,108.325,336.400,74.575,0.000,52.691,73.824,260.579,11.000,0.000,37.180,989.201,6581.042,460.963,1908.462,674.447,33.368,1135.400,0.000,1892.114,0.000,0.535,0.000
$DEVICE_MAMPS,148.798,133.458,908.895,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,335.261,266.862,379.498,725.341,1096.936,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355404
$DATA_FILE_SIZE,38539,494
$CAP_FILE_SIZE,100027,0
$CFSIZE,260165632,160112640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010711,080006,2250.438,-15758.844,33,1.0,33,10.1