version: 66.06
glider: 146
mission: 6
dive: 433
start: 7 2 111 19 7 54
data:
$ID,146
$MISSION,6
$DIVE,433
$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,-278611.66
$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,18
$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
$GPS1,190136,2247.867,-15758.826,34,0.9,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.1
$GPS2,190702,2247.912,-15758.872,13,1.7,13,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.163,-0.141
$KALMAN_X,-330229.0,-51.7,-196.0,326936.8,-1471.3
$KALMAN_Y,84598.2,-240.0,88.5,-77021.1,1258.3
$MHEAD_RNG_PITCHd_Wd,120.7,2491,-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,-70.50,0.000,2,0.000,0.000,480,1946,3246,0,0,0,0,0,0
$GC,91,-1.48,-97.3,3.7,-6.0,9,117,12.23,2.58,-3.00,0.000,4,0.146,0.062,2844,421,3410,0,0,0,0,0,0
$GC,150,-1.29,-97.3,20.5,-22.0,16,160,0.20,2.47,0.00,0.000,6,0.100,0.017,2889,2013,3411,0,0,0,0,0,0
$GC,498,-1.29,-97.3,71.3,-13.7,51,502,0.00,2.45,0.00,0.000,4,0.000,0.027,2889,3572,3412,0,0,0,0,0,0
$GC,533,-1.29,-97.3,76.1,-14.4,53,537,0.00,2.50,0.00,0.000,6,0.000,0.023,2890,1994,3412,0,0,0,0,0,0
$GC,861,-1.34,-97.3,114.3,-10.7,83,866,0.00,2.47,0.00,0.000,4,0.000,0.028,2889,3562,3413,0,0,0,0,0,0
$GC,883,-1.42,-97.3,117.2,-10.7,84,893,0.08,2.47,0.00,0.000,6,0.044,0.029,2849,2000,3414,0,0,0,0,0,0
$GC,1211,-1.42,-97.3,152.4,-11.3,115,1216,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2000,3414,0,0,0,0,0,0
$GC,1539,-1.46,-97.3,191.3,-13.1,146,1544,0.00,2.50,0.00,0.000,4,0.000,0.029,2849,3567,3415,0,0,0,0,0,0
$GC,1585,-1.52,-97.3,197.7,-12.9,149,1590,0.00,2.42,0.00,0.000,6,0.000,0.021,2849,2010,3415,0,0,0,0,0,0
$GC,1897,-1.57,-97.3,231.0,-9.9,159,1901,0.00,2.47,0.00,0.000,4,0.000,0.029,2848,3563,3415,0,0,0,0,0,0
$GC,1932,-1.65,-97.3,233.9,-8.6,159,1938,0.15,2.45,0.00,0.000,6,0.061,0.022,2794,2008,3415,0,0,0,0,0,0
$GC,2263,-1.65,-97.3,268.9,-11.2,168,2268,0.10,2.50,0.00,0.000,4,0.122,0.032,2815,3562,3416,0,0,0,0,0,0
$GC,2331,-1.70,-97.3,277.0,-12.7,169,2336,0.00,2.42,0.00,0.000,6,0.000,0.023,2815,2031,3415,0,0,0,0,0,0
$GC,2668,-1.70,-97.3,319.4,-12.7,178,2672,0.00,2.47,0.00,0.000,4,0.000,0.042,2815,3556,3416,0,0,0,0,0,0
$GC,2694,-1.70,-97.3,322.9,-12.9,178,2699,0.00,2.47,0.00,0.000,6,0.000,0.038,2815,2027,3415,0,0,0,0,0,0
$GC,3028,-1.74,-97.3,355.4,-9.1,186,3032,0.00,2.80,0.00,0.000,4,0.000,0.087,2815,429,3414,0,0,0,0,0,0
$GC,3077,-1.74,-97.3,360.2,-9.1,187,3082,0.00,2.47,0.00,0.000,6,0.000,0.032,2815,2003,3415,0,0,0,0,0,0
$GC,3391,-1.78,-97.3,389.1,-9.4,195,3396,0.12,2.65,0.00,0.000,4,0.079,0.049,2776,3588,3413,0,0,0,0,0,0
$GC,3459,-1.78,-97.3,396.5,-11.1,196,3464,0.00,2.58,0.00,0.000,6,0.000,0.046,2776,2032,3413,0,0,0,0,0,0
$GC,3795,-1.78,-97.3,433.8,-10.9,205,3799,0.00,2.58,0.00,0.000,4,0.000,0.045,2776,3584,3411,0,0,0,0,0,0
$GC,3821,-1.78,-97.3,436.8,-11.5,205,3826,0.00,2.62,0.00,0.000,6,0.000,0.054,2776,2024,3411,0,0,0,0,0,0
$GC,4155,-1.78,-97.3,470.4,-9.9,213,4159,0.00,2.97,0.00,0.000,4,0.000,0.110,2776,419,3408,0,0,0,0,0,0
$GC,4176,-1.74,-97.3,472.8,-10.3,213,4181,0.00,2.62,0.00,0.000,6,0.000,0.041,2776,2016,3408,0,0,0,0,0,0
$STATE,4469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4469,begin apogee
$GC,4475,-0.31,0.0,502.6,10.4,221,4560,1.48,0.00,81.95,0.911,6,0.096,0.000,3106,2016,3010,0,0,0,0,0,0
$STATE,4561,end apogee,CONTROL_FINISHED_OK
$STATE,4561,begin climb
$GC,4565,1.48,97.3,504.6,0.0,223,4656,1.65,2.78,83.45,0.897,4,0.038,0.073,3507,3582,2612,0,0,0,0,0,0
$GC,4681,1.42,183.7,504.3,4.1,226,4766,0.12,2.72,75.35,0.884,6,0.137,0.052,3484,1993,2261,0,0,0,0,0,0
$GC,5082,1.36,183.7,458.3,12.5,236,5086,0.00,2.95,0.00,0.000,4,0.000,0.104,3484,407,2251,0,0,0,0,0,0
$GC,5137,1.24,183.7,450.5,13.9,237,5142,0.20,2.60,0.00,0.000,6,0.119,0.033,3445,1999,2249,0,0,0,0,0,0
$GC,5486,1.24,183.7,410.9,11.4,246,5491,0.00,2.80,0.00,0.000,4,0.000,0.074,3445,399,2247,0,0,0,0,0,0
$GC,5563,1.24,183.7,401.2,12.1,247,5569,0.00,2.55,0.00,0.000,6,0.000,0.024,3445,1979,2246,0,0,0,0,0,0
$GC,5897,1.25,194.3,369.3,9.3,256,5911,0.00,2.70,7.90,0.719,4,0.000,0.048,3444,3572,2217,0,0,0,0,0,0
$GC,5985,1.26,201.7,360.8,9.5,258,6000,0.00,2.65,8.50,0.724,6,0.000,0.042,3445,1978,2186,0,0,0,0,0,0
$GC,6318,1.34,231.3,332.6,8.0,266,6352,0.00,2.88,26.85,0.798,4,0.000,0.074,3445,408,2066,0,0,0,0,0,0
$GC,6470,1.35,239.1,318.5,9.5,269,6485,0.10,2.53,8.30,0.698,6,0.093,0.020,3470,2005,2034,0,0,0,0,0,0
$GC,6817,1.35,242.9,286.0,9.8,278,6827,0.00,2.78,4.53,0.557,4,0.000,0.061,3471,407,2019,0,0,0,0,0,0
$GC,6849,1.35,242.9,282.0,11.8,278,6855,0.00,2.47,0.00,0.000,6,0.000,0.025,3470,1966,2018,0,0,0,0,0,0
$GC,7180,1.40,242.9,246.0,10.8,287,7185,0.00,2.60,0.00,0.000,4,0.000,0.035,3470,3561,2016,0,0,0,0,0,0
$GC,7260,1.48,242.9,237.4,11.2,288,7266,0.10,2.60,0.00,0.000,6,0.092,0.031,3498,1969,2015,0,0,0,0,0,0
$GC,7591,1.50,264.5,206.7,8.5,297,7617,0.00,2.70,19.92,0.693,4,0.000,0.067,3498,414,1930,0,0,0,0,0,0
$GC,7657,1.50,264.5,200.2,11.2,298,7662,0.00,2.50,0.00,0.000,6,0.000,0.021,3498,1994,1929,0,0,0,0,0,0
$GC,7987,1.50,264.5,167.1,10.4,329,7991,0.00,2.72,0.00,0.000,4,0.000,0.058,3498,404,1927,0,0,0,0,0,0
$GC,8010,1.50,264.5,164.6,10.8,330,8019,0.00,2.50,0.00,0.000,6,0.000,0.023,3498,1984,1926,0,0,0,0,0,0
$GC,8339,1.56,275.3,133.8,9.3,361,8355,0.00,2.67,10.43,0.588,4,0.000,0.052,3498,407,1886,0,0,0,0,0,0
$GC,8445,1.56,275.3,121.8,11.9,369,8450,0.00,2.42,0.00,0.000,6,0.000,0.020,3498,1958,1884,0,0,0,0,0,0
$GC,8770,1.62,275.3,89.6,10.1,400,8771,0.12,0.00,0.00,0.000,6,0.077,0.000,3534,1959,1884,0,0,0,0,0,0
$GC,9092,1.63,283.3,58.9,9.5,430,9102,0.00,0.00,8.45,0.506,6,0.000,0.000,3534,1959,1853,0,0,0,0,0,0
$GC,9426,1.64,291.0,27.5,9.5,463,9447,0.00,2.65,8.18,0.479,4,0.000,0.048,3534,410,1822,0,0,0,0,0,0
$GC,9467,1.64,292.5,23.7,9.9,467,9476,0.00,2.45,0.00,0.000,6,0.000,0.018,3534,1968,1821,0,0,0,0,0,0
$STATE,9668,end climb,SURFACE_DEPTH_REACHED
$STATE,9668,begin surface coast
$FINISH,0.6,0.979095
$STATE,9718,end surface coast,CONTROL_FINISHED_OK
$STATE,9718,begin surface
$SM_CCo,9741,72.90,0.515,0,0,1459,380.21
$SM_GC,1.26,0.00,0.00,72.90,0.000,0.000,0.515,475,1969,1459,-12.42,-1.16,380.21
$IRIDIUM_FIX,2237.01,-15758.03,250900,161640
$TT8_MAMPS,0.026078
$HUMID,63.82
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.10
$XPDR_PINGS,45
$24V_AH,23.5,54.016
$10V_AH,10.2,48.043
$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,29.100,114.200,343.800,72.900,0.000,31.059,32.342,133.218,11.250,0.000,15.464,991.912,6276.729,486.896,1913.001,472.200,33.375,1170.774,0.000,1926.597,0.000,0.534,0.000
$DEVICE_MAMPS,145.730,110.448,911.196,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,340.474,290.459,395.834,760.539,1150.099,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355408
$DATA_FILE_SIZE,38340,503
$CAP_FILE_SIZE,96071,0
$CFSIZE,260165632,159453184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020711,215240,2247.897,-15758.569,11,2.2,30,10.1