version: 66.06
glider: 146
mission: 6
dive: 423
start: 7 1 111 14 1 58
data:
$ID,146
$MISSION,6
$DIVE,423
$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,621.34491
$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,-278428.81
$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,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,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
$GPS1,134616,2250.369,-15757.825,10,7.4,29,10.1
$_CALLS,5
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-70.3
$GPS2,140107,2250.404,-15758.026,36,2.0,36,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.194,-0.095
$KALMAN_X,-314178.7,52.3,18.0,312011.4,-1301.8
$KALMAN_Y,74550.0,33.0,-323.0,-62223.0,676.4
$MHEAD_RNG_PITCHd_Wd,106.0,1905,-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,-70.60,0.000,2,0.000,0.000,473,1987,3269,0,0,0,0,0,0
$GC,91,-1.48,-97.3,3.7,-7.0,9,117,12.52,2.62,-2.58,0.000,4,0.156,0.062,2844,435,3410,0,0,0,0,0,0
$GC,157,-1.33,-97.3,21.8,-20.7,17,167,0.15,2.45,0.00,0.000,6,0.105,0.015,2878,2016,3411,0,0,0,0,0,0
$GC,501,-1.33,-97.3,74.3,-14.6,51,506,0.00,2.45,0.00,0.000,4,0.000,0.027,2878,3560,3412,0,0,0,0,0,0
$GC,524,-1.33,-97.3,78.5,-14.8,52,534,0.00,2.50,0.00,0.000,6,0.000,0.028,2878,1997,3411,0,0,0,0,0,0
$GC,856,-1.36,-97.3,120.3,-11.9,83,861,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1997,3412,0,0,0,0,0,0
$GC,1185,-1.43,-97.3,154.3,-9.2,114,1195,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1997,3413,0,0,0,0,0,0
$GC,1515,-1.52,-97.3,185.9,-10.2,145,1520,0.15,2.53,0.00,0.000,4,0.061,0.030,2823,3573,3413,0,0,0,0,0,0
$GC,1579,-1.52,-97.3,193.8,-12.1,150,1584,0.10,2.47,0.00,0.000,6,0.113,0.025,2845,1994,3413,0,0,0,0,0,0
$GC,1923,-1.56,-97.3,233.0,-11.3,162,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1994,3414,0,0,0,0,0,0
$GC,2248,-1.62,-97.3,265.5,-9.6,170,2253,0.00,2.53,0.00,0.000,4,0.000,0.035,2845,3569,3414,0,0,0,0,0,0
$GC,2278,-1.71,-97.3,268.2,-8.9,170,2283,0.17,2.45,0.00,0.000,6,0.056,0.028,2786,2006,3413,0,0,0,0,0,0
$GC,2609,-1.71,-97.3,305.7,-11.4,178,2613,0.00,2.67,0.00,0.000,4,0.000,0.073,2786,435,3414,0,0,0,0,0,0
$GC,2658,-1.64,-97.3,312.2,-13.5,179,2663,0.15,2.40,0.00,0.000,6,0.107,0.025,2817,1976,3413,0,0,0,0,0,0
$GC,2973,-1.68,-97.3,346.7,-11.0,187,2977,0.00,2.62,0.00,0.000,4,0.000,0.072,2817,439,3413,0,0,0,0,0,0
$GC,2999,-1.68,-97.3,350.1,-11.6,187,3004,0.00,2.47,0.00,0.000,6,0.000,0.031,2817,1987,3413,0,0,0,0,0,0
$GC,3333,-1.73,-97.3,385.3,-10.4,195,3337,0.00,2.67,0.00,0.000,4,0.000,0.054,2817,3596,3411,0,0,0,0,0,0
$GC,3377,-1.80,-97.3,390.4,-11.1,196,3382,0.15,2.60,0.00,0.000,6,0.063,0.048,2767,2013,3411,0,0,0,0,0,0
$GC,3696,-1.76,-97.3,429.4,-11.5,204,3701,0.10,2.65,0.00,0.000,4,0.121,0.051,2789,3594,3410,0,0,0,0,0,0
$GC,3713,-1.76,-97.3,431.3,-10.9,204,3718,0.00,2.67,0.00,0.000,6,0.000,0.047,2789,1995,3409,0,0,0,0,0,0
$GC,4055,-1.76,-97.3,467.0,-10.5,213,4060,0.00,2.67,0.00,0.000,4,0.000,0.058,2789,3585,3406,0,0,0,0,0,0
$GC,4071,-1.76,-97.3,468.8,-11.1,213,4075,0.00,2.67,0.00,0.000,6,0.000,0.049,2789,1996,3406,0,0,0,0,0,0
$STATE,4375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4375,begin apogee
$GC,4382,-0.31,0.0,500.0,10.1,221,4468,1.40,0.00,81.30,0.904,6,0.082,0.000,3104,1996,3010,0,0,0,0,0,0
$STATE,4468,end apogee,CONTROL_FINISHED_OK
$STATE,4468,begin climb
$GC,4471,1.48,97.3,502.0,0.0,223,4565,1.65,3.08,82.62,0.890,4,0.040,0.110,3505,410,2612,0,0,0,0,0,0
$GC,4595,1.31,146.6,500.0,6.6,226,4645,0.22,2.62,43.15,0.870,6,0.118,0.037,3462,1995,2410,0,0,0,0,0,0
$GC,4964,1.28,147.9,464.3,10.0,235,4969,0.00,2.72,0.00,0.000,4,0.000,0.064,3462,3582,2401,0,0,0,0,0,0
$GC,4982,1.24,147.9,462.4,10.5,235,4987,0.00,2.67,0.00,0.000,6,0.000,0.043,3462,1991,2400,0,0,0,0,0,0
$GC,5324,1.27,174.7,432.6,8.2,244,5350,0.00,0.00,23.90,0.838,6,0.000,0.000,3462,1991,2296,0,0,0,0,0,0
$GC,5649,1.27,174.7,401.2,10.1,252,5650,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1991,2291,0,0,0,0,0,0
$GC,5975,1.28,179.5,370.1,9.7,260,5982,0.00,0.00,4.35,0.574,6,0.000,0.000,3462,1991,2278,0,0,0,0,0,0
$GC,6299,1.31,203.8,342.0,8.4,268,6328,0.00,2.70,22.73,0.798,4,0.000,0.035,3461,3579,2178,0,0,0,0,0,0
$GC,6508,1.31,205.8,321.4,9.9,272,6512,0.00,2.60,0.00,0.000,6,0.000,0.034,3462,1991,2175,0,0,0,0,0,0
$GC,6839,1.35,237.4,294.1,7.9,280,6874,0.00,2.80,30.00,0.769,4,0.000,0.065,3461,414,2042,0,0,0,0,0,0
$GC,6928,1.35,239.0,286.0,9.9,281,6933,0.00,2.58,0.00,0.000,6,0.000,0.023,3461,2035,2038,0,0,0,0,0,0
$GC,7247,1.43,252.5,257.0,9.1,289,7267,0.10,2.85,14.15,0.709,4,0.090,0.063,3490,409,1979,0,0,0,0,0,0
$GC,7337,1.43,252.5,247.6,11.2,291,7342,0.00,2.53,0.00,0.000,6,0.000,0.018,3490,1999,1977,0,0,0,0,0,0
$GC,7656,1.45,266.3,218.2,9.1,299,7676,0.00,2.60,13.05,0.676,4,0.000,0.038,3489,3552,1924,0,0,0,0,0,0
$GC,7744,1.50,266.3,209.2,10.3,301,7749,0.00,2.55,0.00,0.000,6,0.000,0.031,3489,1993,1922,0,0,0,0,0,0
$GC,8066,1.55,268.1,177.7,9.9,323,8071,0.10,2.70,0.00,0.000,4,0.089,0.060,3518,408,1921,0,0,0,0,0,0
$GC,8099,1.50,268.1,174.4,11.6,325,8103,0.00,2.53,0.00,0.000,6,0.000,0.021,3518,2018,1919,0,0,0,0,0,0
$GC,8427,1.50,268.1,139.1,10.8,355,8431,0.00,2.70,0.00,0.000,4,0.000,0.057,3518,414,1919,0,0,0,0,0,0
$GC,8443,1.50,268.1,136.7,10.9,356,8447,0.00,2.47,0.00,0.000,6,0.000,0.025,3518,2000,1919,0,0,0,0,0,0
$GC,8768,1.52,283.6,105.6,9.0,386,8787,0.00,0.00,16.00,0.588,6,0.000,0.000,3518,2002,1852,0,0,0,0,0,0
$GC,9112,1.61,301.7,76.5,8.8,418,9132,0.00,0.00,16.70,0.559,6,0.000,0.000,3518,2002,1779,0,0,0,0,0,0
$GC,9452,1.68,312.6,45.5,9.3,450,9470,0.10,2.75,10.60,0.508,4,0.088,0.048,3547,403,1734,0,0,0,0,0,0
$GC,9532,1.68,312.6,36.6,12.5,456,9536,0.00,2.47,0.00,0.000,6,0.000,0.017,3547,2006,1733,0,0,0,0,0,0
$STATE,9816,end climb,SURFACE_DEPTH_REACHED
$STATE,9816,begin surface coast
$FINISH,0.6,0.971958
$STATE,9865,end surface coast,CONTROL_FINISHED_OK
$STATE,9866,begin surface
$SM_CCo,9889,245.68,0.509,0,0,476,621.34
$SM_GC,1.22,0.00,0.00,245.68,0.000,0.000,0.509,473,2008,476,-12.43,-0.06,621.34
$IRIDIUM_FIX,2237.01,-16127.24,240900,141433
$TT8_MAMPS,0.026078
$HUMID,59.05
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,21.50
$XPDR_PINGS,35
$24V_AH,23.5,52.954
$10V_AH,10.2,46.936
$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,29.550,94.050,358.550,245.675,0.000,151.359,178.906,141.648,8.750,0.000,37.697,978.964,6743.998,639.997,1900.629,762.228,33.371,1311.516,0.000,1884.627,0.000,0.537,0.000
$DEVICE_MAMPS,156.468,109.681,903.526,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.897,285.398,390.865,741.357,1121.107,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355432
$DATA_FILE_SIZE,38357,501
$CAP_FILE_SIZE,96825,0
$CFSIZE,260165632,159940608
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010711,165204,2250.516,-15757.701,10,2.2,29,10.1