version: 66.06
glider: 146
mission: 6
dive: 439
start: 7 3 111 12 29 38
data:
$ID,146
$MISSION,6
$DIVE,439
$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,-278732.62
$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,20
$R_STBD_OVSHOOT,61
$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
$GPS1,121901,2247.546,-15802.640,48,1.0,48,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-72.2
$GPS2,122844,2247.552,-15802.695,14,1.0,14,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.105,0.189
$KALMAN_X,-338347.8,54.8,166.7,328053.8,-1298.2
$KALMAN_Y,92395.4,426.7,118.8,-86187.4,345.5
$MHEAD_RNG_PITCHd_Wd,18.9,4564,-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,-70.60,0.000,2,0.000,0.000,477,2072,3257,0,0,0,0,0,0
$GC,91,-1.48,-97.3,3.7,-6.1,9,117,12.23,2.45,-2.80,0.000,4,0.146,0.048,2841,3569,3410,0,0,0,0,0,0
$GC,163,-1.39,-97.3,22.4,-18.0,18,173,0.10,2.53,0.00,0.000,6,0.098,0.024,2866,2001,3411,0,0,0,0,0,0
$GC,501,-1.39,-97.3,75.1,-11.8,51,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2001,3412,0,0,0,0,0,0
$GC,827,-1.39,-97.3,113.9,-11.6,82,831,0.00,2.47,0.00,0.000,4,0.000,0.033,2866,3565,3413,0,0,0,0,0,0
$GC,849,-1.43,-97.3,116.8,-11.9,83,855,0.00,2.42,0.00,0.000,6,0.000,0.021,2866,2004,3413,0,0,0,0,0,0
$GC,1175,-1.48,-97.3,152.1,-10.3,114,1180,0.00,2.50,0.00,0.000,4,0.000,0.028,2866,3573,3414,0,0,0,0,0,0
$GC,1212,-1.55,-97.3,155.9,-10.0,116,1218,0.12,2.42,0.00,0.000,6,0.068,0.021,2818,2019,3414,0,0,0,0,0,0
$GC,1536,-1.55,-97.3,195.5,-11.2,147,1540,0.00,2.47,0.00,0.000,4,0.000,0.027,2818,3570,3415,0,0,0,0,0,0
$GC,1558,-1.55,-97.3,197.4,-10.8,148,1562,0.00,2.40,0.00,0.000,6,0.000,0.020,2818,2021,3415,0,0,0,0,0,0
$GC,1870,-1.55,-97.3,230.0,-9.7,157,1874,0.00,2.47,0.00,0.000,4,0.000,0.032,2818,3572,3415,0,0,0,0,0,0
$GC,1891,-1.55,-97.3,232.2,-9.6,157,1896,0.00,2.42,0.00,0.000,6,0.000,0.028,2818,2016,3415,0,0,0,0,0,0
$GC,2230,-1.55,-97.3,268.5,-11.0,166,2234,0.00,2.50,0.00,0.000,4,0.000,0.037,2818,3570,3415,0,0,0,0,0,0
$GC,2315,-1.60,-97.3,277.1,-9.5,168,2319,0.00,2.42,0.00,0.000,6,0.000,0.024,2818,2036,3415,0,0,0,0,0,0
$GC,2640,-1.60,-97.3,310.0,-10.4,176,2641,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2036,3415,0,0,0,0,0,0
$GC,2963,-1.60,-97.3,343.9,-10.6,184,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2036,3414,0,0,0,0,0,0
$GC,3289,-1.64,-97.3,376.0,-9.2,192,3293,0.00,2.83,0.00,0.000,4,0.000,0.087,2818,436,3412,0,0,0,0,0,0
$GC,3304,-1.64,-97.3,377.4,-8.7,192,3309,0.00,2.50,0.00,0.000,6,0.000,0.027,2818,2006,3412,0,0,0,0,0,0
$GC,3649,-1.70,-97.3,408.1,-9.4,201,3653,0.00,2.60,0.00,0.000,4,0.000,0.057,2818,3584,3411,0,0,0,0,0,0
$GC,3721,-1.78,-97.3,415.0,-9.5,202,3726,0.12,2.55,0.00,0.000,6,0.072,0.051,2775,2043,3410,0,0,0,0,0,0
$GC,4053,-1.78,-97.3,451.5,-11.4,210,4058,0.00,2.60,0.00,0.000,4,0.000,0.055,2775,3587,3408,0,0,0,0,0,0
$GC,4086,-1.78,-97.3,455.7,-12.2,210,4092,0.00,2.60,0.00,0.000,6,0.000,0.054,2775,2036,3408,0,0,0,0,0,0
$GC,4417,-1.78,-97.3,492.9,-10.8,219,4422,0.00,3.03,0.00,0.000,4,0.000,0.114,2775,420,3406,0,0,0,0,0,0
$GC,4446,-1.73,-97.3,496.0,-11.5,219,4451,0.10,2.65,0.00,0.000,6,0.130,0.038,2795,2027,3405,0,0,0,0,0,0
$STATE,4490,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4490,begin apogee
$GC,4496,-0.31,0.0,500.7,10.2,220,4582,1.38,0.00,81.93,0.910,6,0.082,0.000,3104,1980,3010,0,0,0,0,0,0
$STATE,4583,end apogee,CONTROL_FINISHED_OK
$STATE,4583,begin climb
$GC,4585,1.48,97.3,502.3,0.0,222,4674,1.65,0.00,83.80,0.893,6,0.040,0.000,3505,1980,2613,0,0,0,0,0,0
$GC,4996,1.39,130.7,478.5,7.7,232,5031,0.15,2.83,29.00,0.860,4,0.127,0.061,3477,3581,2476,0,0,0,0,0,0
$GC,5128,1.33,148.2,467.4,8.8,234,5152,0.00,2.65,16.42,0.825,6,0.000,0.044,3476,2008,2404,0,0,0,0,0,0
$GC,5492,1.31,176.6,437.8,8.1,243,5523,0.00,3.03,25.62,0.847,4,0.000,0.095,3476,403,2288,0,0,0,0,0,0
$GC,5582,1.21,176.6,428.7,11.0,245,5588,0.17,2.60,0.00,0.000,6,0.121,0.025,3441,2012,2285,0,0,0,0,0,0
$GC,5901,1.22,185.3,399.5,9.4,253,5915,0.00,2.65,8.12,0.739,4,0.000,0.049,3440,3567,2254,0,0,0,0,0,0
$GC,5954,1.22,185.3,394.2,10.4,254,5959,0.00,2.62,0.00,0.000,6,0.000,0.038,3441,1991,2253,0,0,0,0,0,0
$GC,6269,1.28,206.7,366.2,8.6,262,6295,0.00,2.65,19.90,0.806,4,0.000,0.039,3441,3580,2166,0,0,0,0,0,0
$GC,6323,1.35,219.3,361.3,9.2,263,6343,0.12,2.62,12.85,0.765,6,0.087,0.038,3472,1995,2115,0,0,0,0,0,0
$GC,6676,1.35,221.4,326.9,9.9,272,6681,0.00,2.80,0.00,0.000,4,0.000,0.074,3472,402,2109,0,0,0,0,0,0
$GC,6755,1.30,221.4,318.0,11.0,273,6761,0.00,2.58,0.00,0.000,6,0.000,0.025,3472,2024,2108,0,0,0,0,0,0
$GC,7086,1.31,223.9,285.0,9.9,282,7095,0.00,2.78,4.03,0.518,4,0.000,0.064,3472,409,2097,0,0,0,0,0,0
$GC,7106,1.31,223.9,282.8,10.1,282,7111,0.00,2.50,0.00,0.000,6,0.000,0.022,3472,2006,2096,0,0,0,0,0,0
$GC,7450,1.38,252.2,252.7,8.1,291,7483,0.00,2.65,26.60,0.741,4,0.000,0.038,3472,3561,1980,0,0,0,0,0,0
$GC,7514,1.44,256.7,247.1,9.7,292,7525,0.00,2.58,5.45,0.574,6,0.000,0.036,3472,1993,1963,0,0,0,0,0,0
$GC,7857,1.54,289.2,218.1,7.8,301,7893,0.17,2.78,29.42,0.706,4,0.065,0.068,3518,407,1830,0,0,0,0,0,0
$GC,7930,1.48,289.2,210.3,12.3,301,7935,0.10,2.53,0.00,0.000,6,0.136,0.018,3498,2001,1828,0,0,0,0,0,0
$GC,8254,1.48,289.2,171.4,11.3,325,8259,0.00,2.67,0.00,0.000,4,0.000,0.054,3498,415,1825,0,0,0,0,0,0
$GC,8300,1.48,289.2,166.3,11.6,328,8304,0.00,2.47,0.00,0.000,6,0.000,0.025,3498,1992,1824,0,0,0,0,0,0
$GC,8625,1.54,301.2,133.3,9.2,358,8643,0.00,2.75,10.93,0.591,4,0.000,0.058,3498,410,1781,0,0,0,0,0,0
$GC,8690,1.54,301.2,127.3,10.3,363,8694,0.00,2.47,0.00,0.000,6,0.000,0.018,3498,1989,1780,0,0,0,0,0,0
$GC,9019,1.62,305.5,98.8,9.7,393,9026,0.12,0.00,5.15,0.463,6,0.079,0.000,3533,1990,1764,0,0,0,0,0,0
$GC,9347,1.69,324.2,65.1,8.7,424,9377,0.00,2.72,17.88,0.551,4,0.000,0.050,3533,416,1686,0,0,0,0,0,0
$GC,9481,1.69,324.2,51.8,10.9,434,9485,0.00,2.42,0.00,0.000,6,0.000,0.018,3533,1988,1684,0,0,0,0,0,0
$GC,9843,1.76,348.8,15.9,8.3,474,9878,0.10,2.72,21.83,0.511,4,0.089,0.052,3564,411,1586,0,0,0,0,0,0
$GC,9924,1.70,348.8,6.2,13.9,484,9933,0.00,2.45,0.00,0.000,6,0.000,0.017,3563,1989,1585,0,0,0,0,0,0
$STATE,9941,end climb,SURFACE_DEPTH_REACHED
$STATE,9941,begin surface coast
$FINISH,0.8,0.980015
$STATE,9984,end surface coast,CONTROL_FINISHED_OK
$STATE,9984,begin surface
$SM_CCo,10006,25.58,0.499,0,0,1459,380.21
$SM_GC,1.20,0.00,0.00,25.58,0.000,0.000,0.499,476,1991,1459,-12.42,-0.54,380.21
$IRIDIUM_FIX,2239.35,-15802.37,260900,121247
$TT8_MAMPS,0.026078
$HUMID,64.53
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.30
$XPDR_PINGS,44
$24V_AH,23.5,54.667
$10V_AH,10.2,48.696
$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,29.275,114.450,398.925,25.575,0.000,58.011,68.650,248.780,11.000,0.000,16.158,981.273,6646.636,465.343,1862.127,663.861,33.364,1166.979,0.000,1863.665,0.000,0.534,0.000
$DEVICE_MAMPS,145.730,131.924,909.662,499.317,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.218,267.613,378.406,718.994,1087.308,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355424
$DATA_FILE_SIZE,38492,492
$CAP_FILE_SIZE,102469,0
$CFSIZE,260165632,159137792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030711,151804,2248.814,-15802.839,11,2.6,30,10.1