version: 66.06
glider: 146
mission: 6
dive: 435
start: 7 3 111 0 52 5
data:
$ID,146
$MISSION,6
$DIVE,435
$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,-278669.25
$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,59
$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
$GPS1,004506,2247.494,-15758.133,33,1.3,39,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.4
$GPS2,005114,2247.526,-15758.172,21,1.3,21,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.202,-0.077
$KALMAN_X,-332952.0,-63.3,261.0,330402.8,-1507.1
$KALMAN_Y,86258.2,-57.7,55.5,-79543.9,348.9
$MHEAD_RNG_PITCHd_Wd,239.0,8302,-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,-70.55,0.000,2,0.000,0.000,478,1954,3257,0,0,0,0,0,0
$GC,91,-1.48,-97.3,3.9,-7.2,9,117,12.43,2.58,-2.78,0.000,4,0.153,0.057,2841,425,3410,0,0,0,0,0,0
$GC,283,-1.36,-97.3,45.0,-18.2,31,288,0.17,2.45,0.00,0.000,6,0.197,0.014,2876,2031,3411,0,0,0,0,0,0
$GC,613,-1.36,-97.3,89.9,-12.8,61,617,0.00,2.42,0.00,0.000,4,0.000,0.034,2876,3559,3412,0,0,0,0,0,0
$GC,635,-1.40,-97.3,93.2,-11.6,62,644,0.00,2.47,0.00,0.000,6,0.000,0.028,2876,2004,3412,0,0,0,0,0,0
$GC,963,-1.44,-97.3,132.7,-11.3,93,968,0.00,2.50,0.00,0.000,4,0.000,0.032,2876,3558,3413,0,0,0,0,0,0
$GC,987,-1.50,-97.3,135.8,-11.6,94,996,0.08,2.45,0.00,0.000,6,0.043,0.021,2834,2012,3413,0,0,0,0,0,0
$GC,1311,-1.50,-97.3,174.9,-11.8,125,1315,0.00,2.45,0.00,0.000,4,0.000,0.034,2834,3555,3414,0,0,0,0,0,0
$GC,1345,-1.50,-97.3,178.1,-11.8,127,1349,0.00,2.42,0.00,0.000,6,0.000,0.029,2834,2014,3414,0,0,0,0,0,0
$GC,1664,-1.50,-97.3,215.1,-11.4,148,1668,0.00,2.42,0.00,0.000,4,0.000,0.031,2834,3554,3415,0,0,0,0,0,0
$GC,1679,-1.50,-97.3,217.1,-11.8,148,1683,0.00,2.40,0.00,0.000,6,0.000,0.022,2834,2026,3415,0,0,0,0,0,0
$GC,2030,-1.53,-97.3,253.4,-9.4,157,2034,0.00,2.70,0.00,0.000,4,0.000,0.059,2834,431,3415,0,0,0,0,0,0
$GC,2057,-1.53,-97.3,256.3,-9.1,157,2061,0.00,2.42,0.00,0.000,6,0.000,0.023,2834,2012,3415,0,0,0,0,0,0
$GC,2388,-1.58,-97.3,290.0,-10.6,165,2393,0.00,2.47,0.00,0.000,4,0.000,0.039,2834,3566,3415,0,0,0,0,0,0
$GC,2502,-1.68,-97.3,301.3,-9.6,167,2507,0.12,2.42,0.00,0.000,6,0.068,0.033,2781,2039,3415,0,0,0,0,0,0
$GC,2839,-1.68,-97.3,340.2,-12.2,176,2844,0.12,2.47,0.00,0.000,4,0.111,0.038,2808,3562,3415,0,0,0,0,0,0
$GC,2880,-1.74,-97.3,344.8,-11.2,177,2884,0.00,2.47,0.00,0.000,6,0.000,0.035,2808,2043,3416,0,0,0,0,0,0
$GC,3203,-1.74,-97.3,378.7,-10.0,185,3208,0.00,2.90,0.00,0.000,4,0.000,0.094,2808,419,3414,0,0,0,0,0,0
$GC,3236,-1.74,-97.3,382.2,-10.2,185,3242,0.00,2.53,0.00,0.000,6,0.000,0.031,2808,2008,3414,0,0,0,0,0,0
$GC,3569,-1.74,-97.3,415.0,-10.3,194,3573,0.00,2.65,0.00,0.000,4,0.000,0.054,2808,3591,3412,0,0,0,0,0,0
$GC,3669,-1.81,-97.3,427.1,-11.3,196,3674,0.12,2.60,0.00,0.000,6,0.074,0.054,2765,2043,3412,0,0,0,0,0,0
$GC,4019,-1.77,-97.3,465.4,-10.8,205,4024,0.12,2.62,0.00,0.000,4,0.117,0.052,2790,3590,3409,0,0,0,0,0,0
$GC,4092,-1.81,-97.3,472.9,-9.7,206,4096,0.00,2.60,0.00,0.000,6,0.000,0.054,2790,2060,3409,0,0,0,0,0,0
$STATE,4380,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4380,begin apogee
$GC,4387,-0.31,0.0,502.4,10.5,213,4473,1.40,0.00,82.03,0.911,6,0.096,0.000,3103,1993,3010,0,0,0,0,0,0
$STATE,4474,end apogee,CONTROL_FINISHED_OK
$STATE,4474,begin climb
$GC,4477,1.48,97.3,504.7,0.0,215,4570,1.65,2.75,83.00,0.896,4,0.048,0.055,3505,3568,2612,0,0,0,0,0,0
$GC,4622,1.38,149.4,502.3,6.4,218,4674,0.15,2.70,45.75,0.874,6,0.127,0.054,3477,1997,2399,0,0,0,0,0,0
$GC,5006,1.34,170.0,468.6,8.6,228,5030,0.00,3.08,17.88,0.831,4,0.000,0.105,3477,413,2316,0,0,0,0,0,0
$GC,5096,1.23,170.0,459.2,11.3,230,5101,0.17,2.58,0.00,0.000,6,0.120,0.034,3443,1982,2313,0,0,0,0,0,0
$GC,5420,1.24,177.7,428.5,9.5,238,5434,0.00,2.85,7.50,0.730,4,0.000,0.071,3443,407,2284,0,0,0,0,0,0
$GC,5448,1.25,185.1,425.9,9.5,238,5464,0.00,2.58,8.45,0.744,6,0.000,0.031,3443,1983,2254,0,0,0,0,0,0
$GC,5789,1.30,229.0,399.8,7.0,247,5834,0.00,2.70,39.50,0.842,4,0.000,0.046,3441,3576,2075,0,0,0,0,0,0
$GC,5872,1.35,232.0,393.2,9.8,249,5878,0.10,2.65,0.00,0.000,6,0.091,0.042,3471,1980,2072,0,0,0,0,0,0
$GC,6197,1.35,232.0,355.8,12.0,257,6201,0.00,2.78,0.00,0.000,4,0.000,0.077,3471,408,2069,0,0,0,0,0,0
$GC,6287,1.30,232.0,343.4,13.8,259,6291,0.00,2.53,0.00,0.000,6,0.000,0.020,3470,1999,2067,0,0,0,0,0,0
$GC,6605,1.30,232.0,308.2,10.7,267,6609,0.00,2.75,0.00,0.000,4,0.000,0.060,3471,405,2066,0,0,0,0,0,0
$GC,6654,1.30,232.0,302.3,12.1,268,6658,0.00,2.50,0.00,0.000,6,0.000,0.018,3471,1992,2064,0,0,0,0,0,0
$GC,6968,1.35,242.2,271.6,9.3,276,6984,0.00,2.58,11.02,0.711,4,0.000,0.040,3470,3561,2022,0,0,0,0,0,0
$GC,7018,1.42,242.2,266.7,10.1,277,7022,0.00,2.60,0.00,0.000,6,0.000,0.036,3471,1977,2022,0,0,0,0,0,0
$GC,7332,1.51,271.5,239.2,8.0,285,7367,0.15,2.80,27.15,0.729,4,0.072,0.068,3512,410,1902,0,0,0,0,0,0
$GC,7426,1.46,271.5,229.7,11.0,287,7431,0.00,2.50,0.00,0.000,6,0.000,0.021,3511,1986,1899,0,0,0,0,0,0
$GC,7752,1.46,271.5,194.0,11.4,298,7757,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,1987,1897,0,0,0,0,0,0
$GC,8078,1.48,285.8,159.8,9.0,329,8103,0.00,2.75,13.18,0.626,4,0.000,0.058,3512,408,1843,0,0,0,0,0,0
$GC,8131,1.48,285.8,154.0,11.3,333,8140,0.00,2.50,0.00,0.000,6,0.000,0.024,3512,1982,1842,0,0,0,0,0,0
$GC,8456,1.48,288.8,123.4,9.8,364,8470,0.00,2.70,3.78,0.404,4,0.000,0.053,3512,412,1831,0,0,0,0,0,0
$GC,8499,1.48,288.8,118.1,12.8,367,8505,0.00,2.42,0.00,0.000,6,0.000,0.018,3512,1972,1831,0,0,0,0,0,0
$GC,8825,1.57,312.9,85.6,8.4,398,8852,0.00,2.67,22.27,0.575,4,0.000,0.058,3512,410,1733,0,0,0,0,0,0
$GC,8912,1.59,322.6,78.1,9.4,405,8927,0.00,2.42,10.10,0.523,6,0.000,0.024,3512,1967,1693,0,0,0,0,0,0
$GC,9247,1.67,322.6,46.2,10.2,436,9253,0.12,2.65,0.00,0.000,4,0.082,0.050,3546,401,1691,0,0,0,0,0,0
$GC,9295,1.67,322.6,40.7,12.4,439,9299,0.00,2.40,0.00,0.000,6,0.000,0.017,3546,1953,1691,0,0,0,0,0,0
$STATE,9616,end climb,SURFACE_DEPTH_REACHED
$STATE,9616,begin surface coast
$FINISH,0.6,0.973462
$STATE,9658,end surface coast,CONTROL_FINISHED_OK
$STATE,9658,begin surface
$SM_CCo,9682,47.53,0.508,0,0,1460,380.21
$SM_GC,1.29,0.00,0.00,47.53,0.000,0.000,0.508,474,1954,1460,-12.42,-1.58,380.21
$IRIDIUM_FIX,2239.35,-15757.16,250900,222234
$TT8_MAMPS,0.026078
$HUMID,63.38
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,21.70
$XPDR_PINGS,46
$24V_AH,23.5,54.229
$10V_AH,10.2,48.256
$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,29.425,119.000,371.600,47.525,0.000,23.641,42.445,167.051,11.500,0.000,22.672,983.187,6236.746,464.355,1915.979,497.544,33.372,1181.592,0.000,1908.200,0.000,0.534,0.000
$DEVICE_MAMPS,197.119,129.623,911.196,507.754,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.900,277.265,375.691,712.614,1077.758,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,38271,486
$CAP_FILE_SIZE,99883,0
$CFSIZE,260165632,159350784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030711,033528,2247.973,-15800.038,13,99.0,32,10.1