version: 66.06
glider: 146
mission: 6
dive: 430
start: 7 2 111 10 29 58
data:
$ID,146
$MISSION,6
$DIVE,430
$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,-278567.41
$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,27
$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
$GPS1,102300,2248.942,-15758.513,35,1.5,35,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.9
$GPS2,102907,2248.951,-15758.587,12,1.5,29,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.172,-0.130
$KALMAN_X,-324721.6,-118.6,34.9,321750.1,-1239.3
$KALMAN_Y,81967.9,213.6,462.1,-73293.6,28.7
$MHEAD_RNG_PITCHd_Wd,117.1,3856,-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,-70.82,0.000,2,0.000,0.000,482,1973,3270,0,0,0,0,0,0
$GC,91,-1.48,-97.3,3.8,-6.7,9,117,12.35,2.60,-2.50,0.000,4,0.151,0.058,2841,427,3410,0,0,0,0,0,0
$GC,247,-1.36,-97.3,40.1,-18.2,28,257,0.12,2.45,0.00,0.000,6,0.112,0.015,2871,2007,3412,0,0,0,0,0,0
$GC,575,-1.36,-97.3,84.4,-12.6,59,579,0.00,2.47,0.00,0.000,4,0.000,0.031,2870,3567,3412,0,0,0,0,0,0
$GC,609,-1.40,-97.3,88.6,-13.2,61,614,0.00,2.47,0.00,0.000,6,0.000,0.028,2871,2003,3412,0,0,0,0,0,0
$GC,938,-1.43,-97.3,129.6,-11.4,91,942,0.00,2.47,0.00,0.000,4,0.000,0.031,2870,3567,3414,0,0,0,0,0,0
$GC,973,-1.49,-97.3,134.2,-12.7,93,979,0.00,2.47,0.00,0.000,6,0.000,0.031,2870,2004,3414,0,0,0,0,0,0
$GC,1302,-1.56,-97.3,169.6,-10.5,124,1307,0.15,2.53,0.00,0.000,4,0.065,0.034,2818,3580,3414,0,0,0,0,0,0
$GC,1320,-1.56,-97.3,171.9,-10.6,125,1325,0.00,2.45,0.00,0.000,6,0.000,0.021,2818,2005,3414,0,0,0,0,0,0
$GC,1664,-1.56,-97.3,208.4,-10.0,151,1668,0.00,2.50,0.00,0.000,4,0.000,0.028,2818,3576,3415,0,0,0,0,0,0
$GC,1703,-1.56,-97.3,213.4,-12.0,152,1707,0.00,2.42,0.00,0.000,6,0.000,0.023,2818,2023,3415,0,0,0,0,0,0
$GC,2028,-1.56,-97.3,250.6,-11.7,160,2032,0.00,2.65,0.00,0.000,4,0.000,0.060,2818,439,3415,0,0,0,0,0,0
$GC,2049,-1.56,-97.3,253.4,-11.7,160,2053,0.00,2.42,0.00,0.000,6,0.000,0.017,2818,2022,3415,0,0,0,0,0,0
$GC,2386,-1.56,-97.3,288.5,-10.0,169,2390,0.00,2.47,0.00,0.000,4,0.000,0.033,2818,3569,3416,0,0,0,0,0,0
$GC,2488,-1.61,-97.3,298.9,-10.7,171,2492,0.00,2.45,0.00,0.000,6,0.000,0.033,2818,2038,3415,0,0,0,0,0,0
$GC,2835,-1.61,-97.3,335.5,-10.2,180,2839,0.00,2.47,0.00,0.000,4,0.000,0.040,2818,3565,3415,0,0,0,0,0,0
$GC,2903,-1.68,-97.3,342.4,-10.0,181,2908,0.00,2.50,0.00,0.000,6,0.000,0.039,2818,2028,3415,0,0,0,0,0,0
$GC,3241,-1.73,-97.3,374.6,-9.2,190,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2028,3413,0,0,0,0,0,0
$GC,3566,-1.79,-97.3,403.0,-8.8,198,3571,0.15,2.53,0.00,0.000,4,0.066,0.041,2769,3562,3412,0,0,0,0,0,0
$GC,3589,-1.79,-97.3,405.3,-9.9,198,3593,0.00,2.53,0.00,0.000,6,0.000,0.045,2769,2043,3412,0,0,0,0,0,0
$GC,3925,-1.79,-97.3,443.6,-11.6,207,3929,0.00,2.53,0.00,0.000,4,0.000,0.053,2769,3557,3410,0,0,0,0,0,0
$GC,3968,-1.79,-97.3,449.2,-12.5,208,3973,0.00,2.55,0.00,0.000,6,0.000,0.053,2770,2039,3410,0,0,0,0,0,0
$GC,4289,-1.79,-97.3,489.1,-12.8,216,4293,0.00,2.58,0.00,0.000,4,0.000,0.055,2770,3559,3407,0,0,0,0,0,0
$GC,4355,-1.79,-97.3,497.6,-11.9,217,4359,0.00,2.55,0.00,0.000,6,0.000,0.060,2769,2048,3407,0,0,0,0,0,0
$STATE,4410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4410,begin apogee
$GC,4418,-0.31,0.0,504.1,11.6,219,4503,1.50,0.00,81.97,0.911,6,0.097,0.000,3102,1993,3010,0,0,0,0,0,0
$STATE,4504,end apogee,CONTROL_FINISHED_OK
$STATE,4504,begin climb
$GC,4507,1.48,97.3,506.8,0.0,221,4594,1.67,0.00,83.55,0.898,6,0.043,0.000,3506,1993,2612,0,0,0,0,0,0
$GC,4898,1.36,115.1,482.1,8.8,231,4920,0.17,2.65,15.80,0.829,4,0.123,0.044,3472,3540,2539,0,0,0,0,0,0
$GC,4974,1.29,121.0,475.5,9.6,232,4985,0.00,2.62,6.28,0.691,6,0.000,0.049,3473,2001,2516,0,0,0,0,0,0
$GC,5311,1.26,154.4,447.9,7.7,241,5343,0.12,0.00,30.33,0.860,6,0.132,0.000,3449,2001,2380,0,0,0,0,0,0
$GC,5636,1.30,187.3,422.5,7.8,249,5671,0.00,2.65,29.77,0.848,4,0.000,0.044,3449,3552,2245,0,0,0,0,0,0
$GC,5688,1.33,214.1,418.1,8.2,249,5718,0.00,2.62,24.92,0.830,6,0.000,0.039,3449,1999,2137,0,0,0,0,0,0
$GC,6042,1.34,222.9,385.4,9.4,258,6052,0.00,0.00,8.12,0.727,6,0.000,0.000,3449,2000,2100,0,0,0,0,0,0
$GC,6362,1.40,238.0,355.2,9.0,266,6383,0.12,2.88,14.70,0.782,4,0.087,0.078,3481,406,2039,0,0,0,0,0,0
$GC,6465,1.34,238.0,343.6,11.8,268,6470,0.00,2.55,0.00,0.000,6,0.000,0.025,3481,2004,2035,0,0,0,0,0,0
$GC,6812,1.34,238.0,303.9,11.5,277,6817,0.00,2.75,0.00,0.000,4,0.000,0.060,3481,407,2034,0,0,0,0,0,0
$GC,6845,1.28,238.0,299.8,12.5,277,6853,0.10,2.53,0.00,0.000,6,0.098,0.023,3457,2018,2032,0,0,0,0,0,0
$GC,7178,1.38,265.2,270.5,8.2,286,7205,0.00,0.00,24.70,0.752,6,0.000,0.000,3458,2019,1927,0,0,0,0,0,0
$GC,7502,1.45,269.0,239.0,9.8,294,7512,0.15,2.80,4.07,0.499,4,0.074,0.058,3496,404,1913,0,0,0,0,0,0
$GC,7547,1.39,269.0,233.8,12.8,295,7551,0.00,2.50,0.00,0.000,6,0.000,0.025,3496,1996,1912,0,0,0,0,0,0
$GC,7865,1.40,277.9,202.5,9.4,303,7880,0.00,2.78,9.77,0.647,4,0.000,0.057,3497,399,1875,0,0,0,0,0,0
$GC,7960,1.40,277.9,190.5,13.9,309,7965,0.00,2.50,0.00,0.000,6,0.000,0.024,3496,1998,1873,0,0,0,0,0,0
$GC,8285,1.40,277.9,152.5,10.9,339,8289,0.00,2.70,0.00,0.000,4,0.000,0.054,3496,403,1873,0,0,0,0,0,0
$GC,8348,1.40,277.9,145.0,12.3,344,8353,0.00,2.47,0.00,0.000,6,0.000,0.018,3496,1991,1872,0,0,0,0,0,0
$GC,8674,1.50,308.8,116.4,7.9,374,8712,0.00,2.78,27.27,0.619,4,0.000,0.059,3497,406,1749,0,0,0,0,0,0
$GC,8749,1.50,308.8,109.7,10.2,380,8753,0.00,2.47,0.00,0.000,6,0.000,0.025,3496,1986,1747,0,0,0,0,0,0
$GC,9074,1.61,314.7,79.1,9.6,410,9088,0.12,2.67,6.53,0.493,4,0.083,0.057,3532,403,1725,0,0,0,0,0,0
$GC,9193,1.61,314.7,66.5,11.6,419,9197,0.00,2.42,0.00,0.000,6,0.000,0.018,3532,1977,1723,0,0,0,0,0,0
$GC,9522,1.65,316.2,33.2,9.9,449,9527,0.00,2.62,0.00,0.000,4,0.000,0.050,3532,401,1724,0,0,0,0,0,0
$GC,9562,1.65,316.2,28.9,11.4,452,9571,0.00,2.42,0.00,0.000,6,0.000,0.018,3532,1957,1723,0,0,0,0,0,0
$STATE,9797,end climb,SURFACE_DEPTH_REACHED
$STATE,9797,begin surface coast
$FINISH,0.6,0.975885
$STATE,9844,end surface coast,CONTROL_FINISHED_OK
$STATE,9844,begin surface
$SM_CCo,9867,54.22,0.516,0,0,1459,380.21
$SM_GC,1.45,0.00,0.00,54.22,0.000,0.000,0.516,476,1959,1459,-12.42,-1.44,380.21
$IRIDIUM_FIX,2239.35,-15757.16,250900,070720
$TT8_MAMPS,0.026078
$HUMID,64.09
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.20
$XPDR_PINGS,45
$24V_AH,23.5,53.699
$10V_AH,10.2,47.711
$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,29.200,107.575,367.800,54.225,0.000,23.023,38.824,159.918,11.250,0.000,30.796,985.639,6462.962,497.891,1852.101,488.096,33.369,1143.251,0.000,1841.551,0.000,0.534,0.000
$DEVICE_MAMPS,151.099,141.128,911.196,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,335.203,267.231,378.536,720.512,1090.904,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355448
$DATA_FILE_SIZE,38389,494
$CAP_FILE_SIZE,95806,0
$CFSIZE,260165632,159608832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020711,131637,2248.245,-15758.472,36,1.2,36,10.1