version: 66.06
glider: 146
mission: 6
dive: 424
start: 7 1 111 17 1 8
data:
$ID,146
$MISSION,6
$DIVE,424
$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,-278441.84
$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,28
$R_STBD_OVSHOOT,60
$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
$GPS1,165204,2250.516,-15757.701,10,2.2,29,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-66.7
$GPS2,170014,2250.614,-15757.777,10,1.4,10,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.136,-0.167
$KALMAN_X,-315512.4,4.2,-102.6,313937.8,-1192.9
$KALMAN_Y,75942.2,-174.7,-188.7,-63155.0,1524.0
$MHEAD_RNG_PITCHd_Wd,130.7,1748,-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,-97.3,0.0,0.0,0,127,0.00,0.00,-109.65,0.000,2,0.000,0.000,473,2009,3309,0,0,0,0,0,0
$GC,130,-1.48,-97.3,3.7,-6.2,14,148,12.45,0.00,-1.80,0.000,6,0.153,0.000,2841,2008,3410,0,0,0,0,0,0
$GC,488,-1.38,-97.3,71.5,-17.2,53,493,0.15,2.47,0.00,0.000,4,0.130,0.027,2871,3566,3412,0,0,0,0,0,0
$GC,534,-1.38,-97.3,79.3,-15.5,56,538,0.00,2.47,0.00,0.000,6,0.000,0.023,2871,1998,3412,0,0,0,0,0,0
$GC,859,-1.38,-97.3,122.9,-11.7,86,860,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1998,3412,0,0,0,0,0,0
$GC,1181,-1.44,-97.3,155.9,-10.0,116,1186,0.00,2.50,0.00,0.000,4,0.000,0.030,2871,3569,3413,0,0,0,0,0,0
$GC,1217,-1.51,-97.3,159.1,-10.1,118,1222,0.10,2.47,0.00,0.000,6,0.083,0.021,2829,1992,3412,0,0,0,0,0,0
$GC,1545,-1.51,-97.3,197.2,-11.3,148,1549,0.00,2.50,0.00,0.000,4,0.000,0.026,2829,3567,3413,0,0,0,0,0,0
$GC,1596,-1.51,-97.3,203.2,-11.3,151,1600,0.00,2.45,0.00,0.000,6,0.000,0.021,2829,2008,3413,0,0,0,0,0,0
$GC,1908,-1.51,-97.3,233.4,-9.3,159,1913,0.00,2.47,0.00,0.000,4,0.000,0.031,2829,3573,3413,0,0,0,0,0,0
$GC,1976,-1.55,-97.3,240.2,-10.0,160,1980,0.00,2.45,0.00,0.000,6,0.000,0.028,2829,2022,3413,0,0,0,0,0,0
$GC,2313,-1.55,-97.3,273.3,-9.6,169,2315,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2022,3413,0,0,0,0,0,0
$GC,2637,-1.60,-97.3,301.3,-8.4,177,2638,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2022,3412,0,0,0,0,0,0
$GC,2962,-1.65,-97.3,330.5,-9.2,185,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,2022,3411,0,0,0,0,0,0
$GC,3289,-1.71,-97.3,359.4,-8.9,193,3294,0.12,2.55,0.00,0.000,4,0.073,0.045,2787,3560,3410,0,0,0,0,0,0
$GC,3310,-1.71,-97.3,361.8,-9.8,193,3315,0.00,2.50,0.00,0.000,6,0.000,0.041,2787,2030,3410,0,0,0,0,0,0
$GC,3647,-1.71,-97.3,398.2,-11.1,202,3651,0.00,2.50,0.00,0.000,4,0.000,0.043,2787,3559,3407,0,0,0,0,0,0
$GC,3732,-1.71,-97.3,407.6,-10.5,204,3736,0.00,2.53,0.00,0.000,6,0.000,0.042,2787,2038,3406,0,0,0,0,0,0
$GC,4055,-1.71,-97.3,441.2,-10.6,212,4060,0.00,2.53,0.00,0.000,4,0.000,0.051,2787,3565,3404,0,0,0,0,0,0
$GC,4101,-1.71,-97.3,446.4,-11.2,213,4105,0.00,2.58,0.00,0.000,6,0.000,0.054,2787,2040,3404,0,0,0,0,0,0
$GC,4419,-1.71,-97.3,480.0,-10.5,221,4424,0.00,3.00,0.00,0.000,4,0.000,0.113,2787,424,3401,0,0,0,0,0,0
$GC,4479,-1.71,-97.3,487.2,-12.7,222,4484,0.00,2.58,0.00,0.000,6,0.000,0.043,2787,1998,3401,0,0,0,0,0,0
$STATE,4622,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4622,begin apogee
$GC,4629,-0.31,0.0,503.6,11.4,226,4713,1.42,0.00,80.57,0.913,6,0.086,0.000,3106,2000,3010,0,0,0,0,0,0
$STATE,4714,end apogee,CONTROL_FINISHED_OK
$STATE,4714,begin climb
$GC,4717,1.48,97.3,506.3,0.0,228,4805,1.65,0.00,84.05,0.897,6,0.040,0.000,3506,1999,2613,0,0,0,0,0,0
$GC,5112,1.38,126.4,484.9,8.0,238,5144,0.15,2.75,25.55,0.858,4,0.240,0.063,3477,3579,2493,0,0,0,0,0,0
$GC,5240,1.30,126.4,471.9,10.3,241,5244,0.00,2.67,0.00,0.000,6,0.000,0.050,3477,1996,2488,0,0,0,0,0,0
$GC,5564,1.25,139.2,441.3,9.2,249,5583,0.15,2.92,11.10,0.793,4,0.126,0.091,3449,408,2441,0,0,0,0,0,0
$GC,5613,1.19,146.9,436.9,9.5,250,5628,0.00,2.60,8.52,0.748,6,0.000,0.031,3449,2009,2410,0,0,0,0,0,0
$GC,5936,1.22,175.6,410.4,8.0,258,5969,0.00,2.70,26.45,0.840,4,0.000,0.048,3448,3568,2292,0,0,0,0,0,0
$GC,6041,1.23,183.9,401.2,9.5,260,6056,0.00,2.65,8.35,0.736,6,0.000,0.038,3448,1987,2260,0,0,0,0,0,0
$GC,6394,1.28,223.7,374.2,7.3,269,6435,0.00,2.85,35.58,0.827,4,0.000,0.079,3448,408,2096,0,0,0,0,0,0
$GC,6453,1.29,227.9,369.0,9.7,270,6464,0.00,2.58,5.10,0.604,6,0.000,0.026,3448,2010,2080,0,0,0,0,0,0
$GC,6803,1.34,233.9,335.0,9.6,279,6814,0.00,2.58,5.97,0.648,4,0.000,0.035,3448,3569,2055,0,0,0,0,0,0
$GC,6924,1.41,233.9,322.3,10.6,281,6929,0.15,2.60,0.00,0.000,6,0.081,0.037,3487,1992,2053,0,0,0,0,0,0
$GC,7255,1.41,233.9,284.6,11.2,289,7260,0.00,2.75,0.00,0.000,4,0.000,0.067,3487,411,2052,0,0,0,0,0,0
$GC,7306,1.35,233.9,278.4,12.6,290,7310,0.00,2.53,0.00,0.000,6,0.000,0.024,3487,2013,2050,0,0,0,0,0,0
$GC,7618,1.35,233.9,246.3,10.2,298,7623,0.00,2.75,0.00,0.000,4,0.000,0.061,3487,408,2049,0,0,0,0,0,0
$GC,7673,1.35,233.9,239.7,12.5,299,7677,0.00,2.47,0.00,0.000,6,0.000,0.025,3487,1984,2048,0,0,0,0,0,0
$GC,8023,1.36,238.5,204.1,9.7,308,8032,0.00,2.58,4.30,0.505,4,0.000,0.039,3487,3559,2036,0,0,0,0,0,0
$GC,8102,1.41,240.3,196.3,9.9,312,8107,0.00,2.55,0.00,0.000,6,0.000,0.031,3487,1986,2035,0,0,0,0,0,0
$GC,8428,1.47,254.2,167.1,9.1,342,8452,0.00,2.78,15.43,0.651,4,0.000,0.061,3487,411,1972,0,0,0,0,0,0
$GC,8479,1.47,254.2,162.3,10.2,346,8483,0.00,2.47,0.00,0.000,6,0.000,0.020,3487,2006,1969,0,0,0,0,0,0
$GC,8804,1.56,271.1,130.3,8.9,376,8824,0.12,0.00,15.65,0.614,6,0.085,0.000,3522,2008,1903,0,0,0,0,0,0
$GC,9144,1.57,284.4,99.8,9.1,408,9162,0.00,2.72,12.48,0.571,4,0.000,0.051,3522,414,1849,0,0,0,0,0,0
$GC,9249,1.57,284.4,88.5,12.0,416,9259,0.00,2.47,0.00,0.000,6,0.000,0.022,3522,1980,1847,0,0,0,0,0,0
$GC,9577,1.64,291.2,55.5,9.6,447,9592,0.00,2.67,7.03,0.486,4,0.000,0.055,3522,415,1821,0,0,0,0,0,0
$GC,9610,1.64,295.1,52.4,9.8,449,9625,0.00,2.45,4.90,0.423,6,0.000,0.018,3522,1990,1806,0,0,0,0,0,0
$GC,9970,1.71,305.7,18.3,9.3,489,9987,0.10,2.65,10.40,0.490,4,0.097,0.048,3550,414,1763,0,0,0,0,0,0
$GC,10005,1.71,305.7,14.5,10.1,493,10014,0.00,2.47,0.00,0.000,6,0.000,0.018,3550,1990,1762,0,0,0,0,0,0
$STATE,10097,end climb,SURFACE_DEPTH_REACHED
$STATE,10097,begin surface coast
$FINISH,0.8,0.980072
$STATE,10151,end surface coast,CONTROL_FINISHED_OK
$STATE,10151,begin surface
$SM_CCo,10174,60.40,0.515,0,0,1459,380.21
$SM_GC,1.40,0.00,0.00,60.40,0.000,0.000,0.515,477,1992,1459,-12.41,-0.51,380.21
$IRIDIUM_FIX,2241.69,-15757.16,240900,141404
$TT8_MAMPS,0.026078
$HUMID,63.86
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.20
$XPDR_PINGS,40
$24V_AH,23.5,53.067
$10V_AH,10.2,47.051
$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,29.100,103.775,361.425,60.400,0.000,30.821,37.474,288.221,10.000,0.000,12.399,1015.835,6659.500,487.529,1924.867,639.058,33.369,1199.358,0.000,1935.833,0.000,0.535,0.000
$DEVICE_MAMPS,240.071,112.749,912.730,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.557,301.630,396.218,749.979,1134.380,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355372
$DATA_FILE_SIZE,41578,513
$CAP_FILE_SIZE,100843,0
$CFSIZE,260165632,159899648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010711,195252,2250.571,-15757.741,9,4.1,28,10.1