version: 66.06
glider: 146
mission: 6
dive: 426
start: 7 1 111 22 52 48
data:
$ID,146
$MISSION,6
$DIVE,426
$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,-278494.22
$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,22
$R_STBD_OVSHOOT,64
$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
$GPS1,224607,2250.277,-15757.600,38,1.2,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-72.3
$GPS2,225156,2250.308,-15757.640,14,1.7,14,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.105,-0.189
$KALMAN_X,-318134.3,-163.8,8.8,316851.8,-1106.6
$KALMAN_Y,77979.3,-123.5,300.4,-66291.8,430.7
$MHEAD_RNG_PITCHd_Wd,140.9,6133,-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,16,-1.48,-97.3,0.0,0.0,0,89,0.00,0.00,-71.22,0.000,2,0.000,0.000,479,1975,3251,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.4,-5.3,9,118,12.35,2.60,-2.97,0.000,4,0.150,0.054,2843,427,3410,0,0,0,0,0,0
$GC,211,-1.36,-97.3,31.7,-17.5,25,221,0.12,2.45,0.00,0.000,6,0.110,0.015,2871,2019,3411,0,0,0,0,0,0
$GC,540,-1.32,-97.3,78.5,-14.0,56,544,0.00,2.47,0.00,0.000,4,0.000,0.034,2871,3559,3411,0,0,0,0,0,0
$GC,599,-1.32,-97.3,86.6,-12.2,60,608,0.00,2.47,0.00,0.000,6,0.000,0.024,2872,2002,3412,0,0,0,0,0,0
$GC,928,-1.32,-97.3,120.6,-10.7,91,933,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2002,3413,0,0,0,0,0,0
$GC,1257,-1.38,-97.3,156.0,-10.7,122,1261,0.00,2.45,0.00,0.000,4,0.000,0.027,2871,3559,3414,0,0,0,0,0,0
$GC,1274,-1.44,-97.3,158.2,-10.8,123,1278,0.00,2.45,0.00,0.000,6,0.000,0.028,2872,1996,3414,0,0,0,0,0,0
$GC,1599,-1.52,-97.3,195.9,-11.1,153,1604,0.12,2.47,0.00,0.000,4,0.074,0.035,2825,3563,3415,0,0,0,0,0,0
$GC,1630,-1.52,-97.3,199.7,-12.9,155,1634,0.00,2.40,0.00,0.000,6,0.000,0.024,2824,2015,3414,0,0,0,0,0,0
$GC,1962,-1.52,-97.3,236.4,-10.3,163,1967,0.00,2.42,0.00,0.000,4,0.000,0.035,2824,3554,3415,0,0,0,0,0,0
$GC,2012,-1.57,-97.3,242.2,-10.8,164,2017,0.00,2.42,0.00,0.000,6,0.000,0.024,2824,2017,3415,0,0,0,0,0,0
$GC,2325,-1.57,-97.3,275.8,-10.8,172,2329,0.00,2.45,0.00,0.000,4,0.000,0.037,2824,3563,3415,0,0,0,0,0,0
$GC,2347,-1.57,-97.3,278.3,-11.0,172,2352,0.00,2.42,0.00,0.000,6,0.000,0.025,2825,2015,3415,0,0,0,0,0,0
$GC,2685,-1.62,-97.3,311.6,-9.8,181,2689,0.00,2.72,0.00,0.000,4,0.000,0.070,2824,432,3415,0,0,0,0,0,0
$GC,2717,-1.62,-97.3,315.6,-11.5,181,2723,0.00,2.45,0.00,0.000,6,0.000,0.027,2824,1988,3415,0,0,0,0,0,0
$GC,3050,-1.67,-97.3,350.2,-10.3,190,3054,0.00,2.62,0.00,0.000,4,0.000,0.050,2825,3591,3414,0,0,0,0,0,0
$GC,3083,-1.73,-97.3,353.9,-10.7,190,3089,0.12,2.58,0.00,0.000,6,0.069,0.037,2776,2016,3414,0,0,0,0,0,0
$GC,3414,-1.73,-97.3,392.4,-11.6,199,3419,0.10,2.60,0.00,0.000,4,0.123,0.048,2797,3580,3413,0,0,0,0,0,0
$GC,3505,-1.77,-97.3,400.8,-8.6,201,3509,0.00,2.58,0.00,0.000,6,0.000,0.044,2797,2018,3413,0,0,0,0,0,0
$GC,3823,-1.77,-97.3,429.4,-9.1,209,3827,0.00,2.60,0.00,0.000,4,0.000,0.052,2797,3578,3411,0,0,0,0,0,0
$GC,3864,-1.81,-97.3,433.1,-9.3,210,3869,0.00,2.62,0.00,0.000,6,0.000,0.049,2797,2003,3411,0,0,0,0,0,0
$GC,4188,-1.81,-97.3,464.6,-9.8,218,4193,0.00,2.95,0.00,0.000,4,0.000,0.109,2797,420,3408,0,0,0,0,0,0
$GC,4227,-1.81,-97.3,468.9,-11.2,219,4231,0.00,2.58,0.00,0.000,6,0.000,0.044,2797,1991,3408,0,0,0,0,0,0
$STATE,4507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4507,begin apogee
$GC,4514,-0.31,0.0,500.1,11.2,226,4600,1.38,0.00,81.80,0.912,6,0.086,0.000,3104,1991,3010,0,0,0,0,0,0
$STATE,4601,end apogee,CONTROL_FINISHED_OK
$STATE,4601,begin climb
$GC,4603,1.48,97.3,503.3,0.0,228,4698,1.65,2.95,82.70,0.899,4,0.040,0.093,3504,410,2612,0,0,0,0,0,0
$GC,4754,1.34,158.9,502.6,5.8,231,4814,0.17,2.62,53.80,0.884,6,0.125,0.033,3470,1994,2362,0,0,0,0,0,0
$GC,5141,1.31,176.6,470.2,8.8,241,5158,0.00,0.00,15.62,0.826,6,0.000,0.000,3470,1994,2290,0,0,0,0,0,0
$GC,5464,1.31,176.6,435.1,11.2,249,5468,0.00,2.78,0.00,0.000,4,0.000,0.070,3470,408,2283,0,0,0,0,0,0
$GC,5599,1.22,176.6,418.8,12.1,252,5604,0.12,2.55,0.00,0.000,6,0.128,0.026,3445,2001,2281,0,0,0,0,0,0
$GC,5919,1.26,201.8,390.3,8.3,260,5949,0.00,2.70,22.27,0.825,4,0.000,0.048,3443,3573,2186,0,0,0,0,0,0
$GC,5989,1.31,212.0,384.1,9.3,261,6006,0.00,2.65,10.45,0.761,6,0.000,0.043,3444,1988,2145,0,0,0,0,0,0
$GC,6332,1.37,229.9,354.1,8.8,270,6352,0.12,0.00,16.88,0.795,6,0.080,0.000,3478,1988,2072,0,0,0,0,0,0
$GC,6655,1.37,229.9,318.4,11.4,278,6659,0.00,2.60,0.00,0.000,4,0.000,0.038,3478,3574,2066,0,0,0,0,0,0
$GC,6687,1.37,229.9,314.5,11.4,278,6695,0.00,2.60,0.00,0.000,6,0.000,0.033,3478,1992,2066,0,0,0,0,0,0
$GC,7020,1.37,229.9,279.7,10.9,287,7025,0.00,2.75,0.00,0.000,4,0.000,0.072,3478,404,2064,0,0,0,0,0,0
$GC,7142,1.37,229.9,265.2,11.6,289,7148,0.00,2.50,0.00,0.000,6,0.000,0.024,3478,2010,2063,0,0,0,0,0,0
$GC,7476,1.43,243.5,233.0,9.1,298,7495,0.00,2.83,11.90,0.696,4,0.000,0.062,3478,412,2016,0,0,0,0,0,0
$GC,7551,1.44,255.2,225.9,9.2,299,7570,0.00,2.45,11.85,0.683,6,0.000,0.025,3478,1972,1969,0,0,0,0,0,0
$GC,7893,1.55,293.8,200.4,7.4,308,7931,0.15,0.00,34.80,0.699,6,0.074,0.000,3518,1973,1812,0,0,0,0,0,0
$GC,8248,1.55,293.8,161.8,11.8,339,8252,0.00,2.65,0.00,0.000,4,0.000,0.054,3518,403,1807,0,0,0,0,0,0
$GC,8341,1.55,293.8,149.6,13.1,346,8347,0.00,2.47,0.00,0.000,6,0.000,0.025,3518,1983,1805,0,0,0,0,0,0
$GC,8669,1.55,293.8,115.0,11.0,377,8674,0.00,2.62,0.00,0.000,4,0.000,0.052,3518,411,1805,0,0,0,0,0,0
$GC,8774,1.55,293.8,101.9,13.2,385,8779,0.00,2.38,0.00,0.000,6,0.000,0.024,3518,1954,1804,0,0,0,0,0,0
$GC,9103,1.62,310.0,68.7,8.9,415,9130,0.00,2.62,14.30,0.548,4,0.000,0.049,3518,405,1744,0,0,0,0,0,0
$GC,9161,1.62,310.0,63.3,10.2,419,9165,0.00,2.40,0.00,0.000,6,0.000,0.018,3518,1961,1743,0,0,0,0,0,0
$GC,9490,1.70,327.5,32.7,8.8,449,9519,0.12,2.67,16.45,0.520,4,0.077,0.051,3553,412,1673,0,0,0,0,0,0
$GC,9545,1.70,327.5,27.0,11.5,454,9554,0.00,2.40,0.00,0.000,6,0.000,0.017,3553,1938,1672,0,0,0,0,0,0
$STATE,9742,end climb,SURFACE_DEPTH_REACHED
$STATE,9742,begin surface coast
$FINISH,0.6,0.980022
$STATE,9784,end surface coast,CONTROL_FINISHED_OK
$STATE,9784,begin surface
$SM_CCo,9808,42.33,0.513,0,0,1459,380.21
$SM_GC,1.53,0.00,0.00,42.33,0.000,0.000,0.513,481,1940,1459,-12.39,-1.98,380.21
$IRIDIUM_FIX,2244.02,-15756.28,240900,202045
$TT8_MAMPS,0.026078
$HUMID,64.33
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.50
$XPDR_PINGS,38
$24V_AH,23.5,53.278
$10V_AH,10.2,47.269
$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,29.075,108.000,372.825,42.325,0.000,27.615,34.231,149.074,9.500,0.000,16.481,969.552,6376.361,477.700,1893.867,482.278,33.365,1169.012,0.000,1894.768,0.000,0.534,0.000
$DEVICE_MAMPS,150.332,108.914,911.963,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.095,265.909,373.502,718.979,1087.265,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355408
$DATA_FILE_SIZE,38570,488
$CAP_FILE_SIZE,95841,0
$CFSIZE,260165632,159801344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020711,013806,2249.531,-15758.038,10,1.4,26,10.1