version: 66.06
glider: 146
mission: 6
dive: 427
start: 7 2 111 1 44 48
data:
$ID,146
$MISSION,6
$DIVE,427
$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,-278509.09
$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,24
$R_STBD_OVSHOOT,62
$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
$GPS1,013806,2249.531,-15758.038,10,1.4,26,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.6
$GPS2,014356,2249.549,-15758.095,12,2.0,12,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.143,-0.162
$KALMAN_X,-319815.3,-238.4,-38.1,317881.1,-1356.2
$KALMAN_Y,78926.3,55.5,-354.0,-68170.4,985.1
$MHEAD_RNG_PITCHd_Wd,128.5,4748,-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,-71.22,0.000,2,0.000,0.000,481,1940,3266,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.7,-5.9,9,118,12.35,2.58,-2.65,0.000,4,0.150,0.055,2844,412,3410,0,0,0,0,0,0
$GC,151,-1.28,-97.3,20.6,-22.1,16,161,0.20,2.47,0.00,0.000,6,0.174,0.015,2889,2011,3411,0,0,0,0,0,0
$GC,499,-1.28,-97.3,71.2,-13.8,51,503,0.00,2.45,0.00,0.000,4,0.000,0.028,2889,3566,3412,0,0,0,0,0,0
$GC,546,-1.34,-97.3,77.3,-13.0,54,551,0.00,2.50,0.00,0.000,6,0.000,0.025,2889,1996,3413,0,0,0,0,0,0
$GC,871,-1.39,-97.3,117.3,-10.5,84,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1995,3414,0,0,0,0,0,0
$GC,1193,-1.46,-97.3,149.8,-10.2,114,1198,0.15,2.53,0.00,0.000,4,0.065,0.034,2838,3569,3414,0,0,0,0,0,0
$GC,1252,-1.46,-97.3,156.9,-11.4,118,1258,0.00,2.45,0.00,0.000,6,0.000,0.026,2839,2011,3414,0,0,0,0,0,0
$GC,1577,-1.46,-97.3,194.2,-11.8,149,1581,0.00,2.47,0.00,0.000,4,0.000,0.035,2838,3566,3415,0,0,0,0,0,0
$GC,1622,-1.52,-97.3,199.2,-10.7,152,1629,0.00,2.40,0.00,0.000,6,0.000,0.021,2839,2027,3415,0,0,0,0,0,0
$GC,1965,-1.52,-97.3,238.4,-11.6,162,1969,0.00,2.42,0.00,0.000,4,0.000,0.031,2839,3563,3416,0,0,0,0,0,0
$GC,1997,-1.57,-97.3,242.4,-11.4,162,2003,0.00,2.42,0.00,0.000,6,0.000,0.021,2838,2022,3416,0,0,0,0,0,0
$GC,2329,-1.63,-97.3,275.3,-8.9,171,2334,0.00,2.67,0.00,0.000,4,0.000,0.067,2838,439,3416,0,0,0,0,0,0
$GC,2362,-1.63,-97.3,278.6,-10.1,171,2368,0.00,2.42,0.00,0.000,6,0.000,0.022,2839,2018,3416,0,0,0,0,0,0
$GC,2695,-1.70,-97.3,310.2,-10.3,180,2700,0.15,2.70,0.00,0.000,4,0.066,0.066,2792,440,3416,0,0,0,0,0,0
$GC,2711,-1.70,-97.3,312.4,-10.9,180,2716,0.00,2.47,0.00,0.000,6,0.000,0.030,2792,2020,3416,0,0,0,0,0,0
$GC,3055,-1.70,-97.3,355.2,-12.1,189,3060,0.00,2.58,0.00,0.000,4,0.000,0.050,2792,3595,3415,0,0,0,0,0,0
$GC,3129,-1.70,-97.3,364.4,-12.1,190,3134,0.00,2.53,0.00,0.000,6,0.000,0.044,2792,2043,3415,0,0,0,0,0,0
$GC,3460,-1.70,-97.3,400.7,-10.6,198,3464,0.00,2.58,0.00,0.000,4,0.000,0.044,2792,3587,3414,0,0,0,0,0,0
$GC,3475,-1.70,-97.3,402.5,-10.3,198,3480,0.00,2.60,0.00,0.000,6,0.000,0.043,2792,2019,3414,0,0,0,0,0,0
$GC,3819,-1.70,-97.3,438.0,-10.5,207,3824,0.00,2.65,0.00,0.000,4,0.000,0.055,2792,3589,3412,0,0,0,0,0,0
$GC,3846,-1.70,-97.3,441.1,-10.9,207,3851,0.00,2.60,0.00,0.000,6,0.000,0.048,2792,2036,3412,0,0,0,0,0,0
$GC,4178,-1.70,-97.3,473.4,-9.4,215,4179,0.00,0.00,0.00,0.000,6,0.000,0.000,2792,2036,3409,0,0,0,0,0,0
$STATE,4459,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4459,begin apogee
$GC,4467,-0.31,0.0,500.3,9.9,222,4553,1.40,0.00,81.90,0.904,6,0.081,0.000,3107,1993,3010,0,0,0,0,0,0
$STATE,4554,end apogee,CONTROL_FINISHED_OK
$STATE,4554,begin climb
$GC,4556,1.48,97.3,502.3,0.0,224,4644,1.65,0.00,83.57,0.892,6,0.038,0.000,3506,1993,2613,0,0,0,0,0,0
$GC,4949,1.42,155.3,485.1,6.0,234,5002,0.10,0.00,50.55,0.876,6,0.137,0.000,3488,1993,2375,0,0,0,0,0,0
$GC,5312,1.35,157.8,451.7,9.9,243,5313,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,1993,2367,0,0,0,0,0,0
$GC,5637,1.28,157.8,416.5,11.1,251,5642,0.15,2.65,0.00,0.000,4,0.125,0.044,3455,3579,2364,0,0,0,0,0,0
$GC,5688,1.28,157.8,410.8,10.7,252,5693,0.00,2.65,0.00,0.000,6,0.000,0.038,3458,1991,2363,0,0,0,0,0,0
$GC,6001,1.31,179.7,382.5,8.5,260,6028,0.00,2.88,20.73,0.818,4,0.000,0.082,3457,407,2276,0,0,0,0,0,0
$GC,6110,1.28,189.2,373.1,9.4,262,6124,0.00,2.55,9.38,0.741,6,0.000,0.027,3458,1998,2238,0,0,0,0,0,0
$GC,6451,1.32,217.8,345.4,8.1,270,6484,0.00,2.60,26.17,0.799,4,0.000,0.041,3457,3562,2121,0,0,0,0,0,0
$GC,6532,1.36,217.8,337.7,10.1,271,6537,0.00,2.62,0.00,0.000,6,0.000,0.038,3457,1980,2119,0,0,0,0,0,0
$GC,6863,1.36,217.8,304.2,10.4,280,6864,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1980,2115,0,0,0,0,0,0
$GC,7188,1.42,222.1,272.6,9.7,288,7198,0.10,2.75,4.00,0.507,4,0.100,0.067,3485,403,2104,0,0,0,0,0,0
$GC,7316,1.38,222.1,258.1,12.1,290,7321,0.00,2.50,0.00,0.000,6,0.000,0.023,3485,1990,2102,0,0,0,0,0,0
$GC,7647,1.42,257.2,231.2,7.6,299,7681,0.00,0.00,32.50,0.719,6,0.000,0.000,3485,1990,1961,0,0,0,0,0,0
$GC,7974,1.50,281.9,203.9,8.3,307,7998,0.00,0.00,22.45,0.683,6,0.000,0.000,3485,1991,1860,0,0,0,0,0,0
$GC,8294,1.56,281.9,172.5,11.4,334,8300,0.12,2.70,0.00,0.000,4,0.086,0.059,3518,402,1855,0,0,0,0,0,0
$GC,8353,1.52,281.9,163.9,14.4,338,8359,0.00,2.47,0.00,0.000,6,0.000,0.018,3518,1988,1853,0,0,0,0,0,0
$GC,8681,1.52,281.9,125.6,11.2,369,8686,0.00,2.67,0.00,0.000,4,0.000,0.056,3517,403,1853,0,0,0,0,0,0
$GC,8745,1.52,281.9,117.5,12.5,374,8749,0.00,2.45,0.00,0.000,6,0.000,0.018,3518,1975,1852,0,0,0,0,0,0
$GC,9069,1.58,291.8,85.8,9.4,404,9084,0.00,2.67,9.05,0.531,4,0.000,0.056,3518,401,1819,0,0,0,0,0,0
$GC,9140,1.58,291.8,78.6,11.2,409,9149,0.00,2.45,0.00,0.000,6,0.000,0.017,3518,1963,1818,0,0,0,0,0,0
$GC,9469,1.66,307.1,48.2,9.0,440,9492,0.00,0.00,14.30,0.526,6,0.000,0.000,3517,1965,1757,0,0,0,0,0,0
$GC,9851,1.72,308.4,11.5,10.0,486,9861,0.12,2.65,0.00,0.000,4,0.077,0.050,3552,410,1756,0,0,0,0,0,0
$STATE,9916,end climb,SURFACE_DEPTH_REACHED
$STATE,9917,begin surface coast
$FINISH,0.6,0.975431
$STATE,9959,end surface coast,CONTROL_FINISHED_OK
$STATE,9961,begin surface
$SM_CCo,9987,59.47,0.511,0,0,1459,380.21
$SM_GC,1.21,0.00,0.00,59.47,0.000,0.000,0.511,479,2042,1459,-12.40,0.90,380.21
$IRIDIUM_FIX,2241.69,-15757.16,240900,222259
$TT8_MAMPS,0.026845
$HUMID,63.34
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,21.90
$XPDR_PINGS,38
$24V_AH,23.5,53.382
$10V_AH,10.3,47.379
$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,29.000,92.350,354.600,59.475,0.000,27.199,42.781,145.760,9.500,0.000,14.256,965.379,6651.333,508.125,1796.832,475.827,33.365,1109.158,0.000,1811.364,0.000,0.533,0.000
$DEVICE_MAMPS,174.109,156.468,904.293,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.307,283.566,386.865,747.718,1130.850,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355424
$DATA_FILE_SIZE,38480,501
$CAP_FILE_SIZE,87926,0
$CFSIZE,260165632,159756288
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020711,043336,2249.326,-15758.236,35,0.9,40,10.1