version: 66.06
glider: 146
mission: 6
dive: 432
start: 7 2 111 16 15 42
data:
$ID,146
$MISSION,6
$DIVE,432
$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,-278595.56
$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
$GPS1,160837,2247.965,-15758.506,37,0.9,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.8
$GPS2,161450,2248.007,-15758.587,10,1.8,10,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.159,-0.146
$KALMAN_X,-328248.7,-0.1,-165.5,325358.5,-1496.2
$KALMAN_Y,83781.0,-136.5,-475.9,-75569.7,1328.0
$MHEAD_RNG_PITCHd_Wd,122.4,2298,-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,13,begin dive
$GC,15,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-70.47,0.000,2,0.000,0.000,476,1980,3225,0,0,0,0,0,0
$GC,91,-1.48,-97.3,3.2,-4.7,9,117,12.30,2.62,-3.50,0.000,4,0.148,0.055,2842,421,3409,0,0,0,0,0,0
$GC,163,-1.37,-97.3,21.7,-18.2,18,173,0.12,2.47,0.00,0.000,6,0.110,0.015,2871,2013,3411,0,0,0,0,0,0
$GC,504,-1.37,-97.3,73.5,-14.1,52,508,0.00,2.47,0.00,0.000,4,0.000,0.030,2871,3566,3411,0,0,0,0,0,0
$GC,538,-1.37,-97.3,78.0,-13.5,54,543,0.00,2.47,0.00,0.000,6,0.000,0.023,2872,1994,3411,0,0,0,0,0,0
$GC,863,-1.37,-97.3,119.3,-12.7,84,864,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1994,3413,0,0,0,0,0,0
$GC,1185,-1.43,-97.3,159.9,-11.8,114,1189,0.00,2.50,0.00,0.000,4,0.000,0.031,2871,3567,3413,0,0,0,0,0,0
$GC,1209,-1.49,-97.3,162.2,-11.9,115,1213,0.00,2.45,0.00,0.000,6,0.000,0.023,2871,2003,3413,0,0,0,0,0,0
$GC,1539,-1.58,-97.3,197.3,-9.0,145,1544,0.17,2.47,0.00,0.000,4,0.059,0.035,2814,3565,3414,0,0,0,0,0,0
$GC,1567,-1.58,-97.3,200.7,-10.9,147,1572,0.00,2.42,0.00,0.000,6,0.000,0.025,2813,2011,3414,0,0,0,0,0,0
$GC,1898,-1.58,-97.3,237.6,-11.6,155,1903,0.00,2.45,0.00,0.000,4,0.000,0.028,2814,3565,3414,0,0,0,0,0,0
$GC,1968,-1.58,-97.3,246.3,-12.4,156,1972,0.00,2.42,0.00,0.000,6,0.000,0.028,2814,2028,3414,0,0,0,0,0,0
$GC,2304,-1.58,-97.3,284.8,-10.7,165,2308,0.00,2.47,0.00,0.000,4,0.000,0.038,2814,3570,3414,0,0,0,0,0,0
$GC,2353,-1.62,-97.3,290.4,-10.9,166,2358,0.00,2.45,0.00,0.000,6,0.000,0.029,2814,2036,3415,0,0,0,0,0,0
$GC,2668,-1.62,-97.3,321.8,-9.6,174,2672,0.00,2.42,0.00,0.000,4,0.000,0.038,2813,3561,3415,0,0,0,0,0,0
$GC,2717,-1.66,-97.3,326.7,-9.4,175,2722,0.00,2.45,0.00,0.000,6,0.000,0.040,2814,2047,3414,0,0,0,0,0,0
$GC,3032,-1.66,-97.3,357.1,-10.4,183,3036,0.00,2.85,0.00,0.000,4,0.000,0.087,2813,425,3414,0,0,0,0,0,0
$GC,3092,-1.66,-97.3,364.7,-12.1,184,3096,0.00,2.50,0.00,0.000,6,0.000,0.025,2814,2007,3414,0,0,0,0,0,0
$GC,3441,-1.70,-97.3,401.4,-10.3,193,3442,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2007,3412,0,0,0,0,0,0
$GC,3767,-1.75,-97.3,433.4,-9.6,201,3772,0.00,2.62,0.00,0.000,4,0.000,0.062,2813,3581,3410,0,0,0,0,0,0
$GC,3845,-1.83,-97.3,440.9,-9.0,202,3852,0.15,2.60,0.00,0.000,6,0.058,0.057,2758,2041,3410,0,0,0,0,0,0
$GC,4178,-1.78,-97.3,477.6,-11.3,211,4180,0.12,0.00,0.00,0.000,6,0.121,0.000,2784,2041,3407,0,0,0,0,0,0
$STATE,4417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4418,begin apogee
$GC,4424,-0.31,0.0,502.4,9.9,217,4509,1.42,0.00,81.57,0.908,6,0.084,0.000,3103,1986,3010,0,0,0,0,0,0
$STATE,4510,end apogee,CONTROL_FINISHED_OK
$STATE,4510,begin climb
$GC,4512,1.48,97.3,504.1,0.0,219,4607,1.65,2.75,82.75,0.890,4,0.039,0.060,3506,3563,2612,0,0,0,0,0,0
$GC,4636,1.41,166.1,502.3,5.3,222,4702,0.12,2.70,59.85,0.878,6,0.135,0.054,3483,1998,2332,0,0,0,0,0,0
$GC,5043,1.34,166.1,461.0,10.5,232,5048,0.00,3.00,0.00,0.000,4,0.000,0.105,3483,404,2322,0,0,0,0,0,0
$GC,5104,1.22,166.1,453.6,11.7,233,5109,0.20,2.60,0.00,0.000,6,0.117,0.030,3443,1999,2320,0,0,0,0,0,0
$GC,5446,1.23,181.1,422.4,9.0,242,5465,0.00,2.88,12.55,0.794,4,0.000,0.074,3443,407,2270,0,0,0,0,0,0
$GC,5512,1.23,181.1,415.7,10.4,243,5517,0.00,2.58,0.00,0.000,6,0.000,0.025,3443,1991,2268,0,0,0,0,0,0
$GC,5855,1.24,188.4,383.3,9.5,252,5869,0.00,2.70,7.40,0.712,4,0.000,0.043,3441,3581,2240,0,0,0,0,0,0
$GC,6004,1.28,188.4,367.6,10.8,255,6008,0.00,2.65,0.00,0.000,6,0.000,0.041,3442,1988,2238,0,0,0,0,0,0
$GC,6352,1.35,205.3,335.4,8.9,264,6376,0.12,2.83,15.88,0.774,4,0.081,0.077,3477,403,2171,0,0,0,0,0,0
$GC,6495,1.28,205.3,320.3,11.0,267,6500,0.10,2.58,0.00,0.000,6,0.137,0.020,3458,2026,2168,0,0,0,0,0,0
$GC,6808,1.32,237.9,295.2,7.8,275,6843,0.00,2.88,29.35,0.771,4,0.000,0.063,3458,402,2039,0,0,0,0,0,0
$GC,6883,1.32,237.9,288.5,10.3,275,6889,0.00,2.53,0.00,0.000,6,0.000,0.023,3458,1994,2037,0,0,0,0,0,0
$GC,7214,1.39,237.9,256.5,10.1,284,7215,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1994,2034,0,0,0,0,0,0
$GC,7541,1.49,252.2,225.2,9.1,292,7557,0.17,0.00,13.30,0.686,6,0.073,0.000,3504,1994,1980,0,0,0,0,0,0
$GC,7849,1.49,258.8,195.9,9.6,301,7858,0.00,0.00,7.12,0.597,6,0.000,0.000,3503,1995,1953,0,0,0,0,0,0
$GC,8174,1.49,258.8,160.3,11.3,332,8179,0.00,2.70,0.00,0.000,4,0.000,0.057,3504,406,1951,0,0,0,0,0,0
$GC,8207,1.49,258.8,156.8,12.6,334,8212,0.00,2.45,0.00,0.000,6,0.000,0.025,3504,1978,1950,0,0,0,0,0,0
$GC,8533,1.55,265.1,120.9,9.6,364,8546,0.00,2.65,6.57,0.528,4,0.000,0.057,3504,406,1928,0,0,0,0,0,0
$GC,8583,1.55,265.1,115.6,11.3,368,8587,0.00,2.45,0.00,0.000,6,0.000,0.024,3504,1973,1926,0,0,0,0,0,0
$GC,8908,1.65,292.6,87.0,8.1,398,8947,0.12,2.72,25.08,0.584,4,0.084,0.055,3537,404,1814,0,0,0,0,0,0
$GC,9001,1.65,292.6,78.1,10.4,405,9005,0.00,2.42,0.00,0.000,6,0.000,0.017,3538,1964,1814,0,0,0,0,0,0
$GC,9331,1.67,309.3,48.2,8.9,435,9359,0.00,2.72,15.20,0.530,4,0.000,0.053,3538,397,1748,0,0,0,0,0,0
$GC,9401,1.67,309.3,40.4,10.8,440,9410,0.00,2.42,0.00,0.000,6,0.000,0.018,3538,1943,1746,0,0,0,0,0,0
$STATE,9753,end climb,SURFACE_DEPTH_REACHED
$STATE,9753,begin surface coast
$FINISH,0.6,0.975155
$STATE,9795,end surface coast,CONTROL_FINISHED_OK
$STATE,9795,begin surface
$SM_CCo,9817,58.10,0.512,0,0,1459,380.21
$SM_GC,1.40,0.00,0.00,58.10,0.000,0.000,0.512,480,1945,1459,-12.40,-1.84,380.21
$IRIDIUM_FIX,2239.35,-15800.20,250900,131321
$TT8_MAMPS,0.025311
$HUMID,63.82
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.30
$XPDR_PINGS,37
$24V_AH,23.5,53.913
$10V_AH,10.2,47.930
$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,29.250,98.450,356.625,58.100,0.000,31.193,39.569,168.571,9.250,0.000,12.247,975.276,6435.904,454.425,1880.323,502.953,33.364,1133.342,0.000,1886.799,0.000,0.533,0.000
$DEVICE_MAMPS,148.031,135.759,908.128,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.451,264.431,378.547,723.708,1095.741,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355472
$DATA_FILE_SIZE,38406,492
$CAP_FILE_SIZE,93512,0
$CFSIZE,260165632,159506432
$ERRORS,0,2,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020711,190136,2247.867,-15758.826,34,0.9,38,10.1