version: 66.06
glider: 146
mission: 6
dive: 440
start: 7 3 111 15 25 12
data:
$ID,146
$MISSION,6
$DIVE,440
$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,-278747.06
$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,75
$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
$GPS1,151804,2248.814,-15802.839,11,2.6,30,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-68.2
$GPS2,152420,2248.838,-15802.874,12,1.2,12,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.141,0.106
$KALMAN_X,-339598.0,-68.0,191.3,329094.4,-1625.3
$KALMAN_Y,93749.2,56.9,-361.6,-84305.9,1096.0
$MHEAD_RNG_PITCHd_Wd,43.0,2163,-26.8,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.76,-65.5,0.0,0.0,0,89,0.00,0.00,-69.68,0.000,2,0.000,0.000,476,1992,3221,0,0,0,0,0,0
$GC,92,-1.79,-97.3,3.5,-5.7,9,118,12.02,2.53,-3.53,0.000,4,0.150,0.039,2777,3549,3410,0,0,0,0,0,0
$GC,270,-1.79,-97.3,46.0,-20.4,29,275,0.00,2.42,0.00,0.000,6,0.000,0.023,2777,2000,3412,0,0,0,0,0,0
$GC,600,-1.79,-97.3,111.7,-18.5,59,605,0.00,2.47,0.00,0.000,4,0.000,0.028,2777,3561,3412,0,0,0,0,0,0
$GC,622,-1.79,-97.3,116.6,-16.9,60,632,0.00,2.45,0.00,0.000,6,0.000,0.028,2776,2021,3413,0,0,0,0,0,0
$GC,953,-1.79,-97.3,165.2,-13.0,91,957,0.00,2.42,0.00,0.000,4,0.000,0.032,2776,3562,3414,0,0,0,0,0,0
$GC,1006,-1.88,-97.3,172.1,-11.5,95,1010,0.00,2.42,0.00,0.000,6,0.000,0.023,2777,2020,3414,0,0,0,0,0,0
$GC,1359,-1.94,-97.3,217.3,-13.6,119,1364,0.10,2.45,0.00,0.000,4,0.081,0.032,2735,3560,3415,0,0,0,0,0,0
$GC,1455,-1.94,-97.3,232.3,-14.6,121,1459,0.00,2.40,0.00,0.000,6,0.000,0.028,2735,2035,3415,0,0,0,0,0,0
$GC,1767,-1.94,-97.3,276.9,-14.3,129,1771,0.00,2.45,0.00,0.000,4,0.000,0.038,2735,3556,3415,0,0,0,0,0,0
$GC,1890,-1.94,-97.3,294.0,-13.5,131,1896,0.00,2.40,0.00,0.000,6,0.000,0.031,2735,2047,3415,0,0,0,0,0,0
$GC,2221,-1.94,-97.3,336.3,-12.4,140,2225,0.00,2.45,0.00,0.000,4,0.000,0.041,2735,3554,3415,0,0,0,0,0,0
$GC,2237,-1.94,-97.3,338.5,-12.7,140,2241,0.00,2.42,0.00,0.000,6,0.000,0.039,2735,2050,3415,0,0,0,0,0,0
$GC,2580,-1.98,-97.3,382.7,-13.2,149,2581,0.00,0.00,0.00,0.000,6,0.000,0.000,2735,2050,3415,0,0,0,0,0,0
$GC,2907,-2.03,-97.3,424.2,-12.9,157,2911,0.00,2.47,0.00,0.000,4,0.000,0.051,2735,3548,3413,0,0,0,0,0,0
$GC,3007,-2.10,-97.3,438.0,-14.2,159,3011,0.00,2.50,0.00,0.000,6,0.000,0.058,2735,2057,3413,0,0,0,0,0,0
$GC,3356,-2.16,-97.3,483.7,-13.2,168,3358,0.12,0.00,0.00,0.000,6,0.078,0.000,2695,2057,3411,0,0,0,0,0,0
$STATE,3474,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3474,begin apogee
$GC,3480,-0.31,0.0,501.2,14.1,171,3567,1.90,0.00,82.68,0.896,6,0.097,0.000,3105,1990,3010,0,0,0,0,0,0
$STATE,3568,end apogee,CONTROL_FINISHED_OK
$STATE,3568,begin climb
$GC,3570,1.79,97.3,503.8,0.0,173,3664,1.92,2.70,82.47,0.882,4,0.037,0.064,3572,3523,2612,0,0,0,0,0,0
$GC,3766,1.69,105.2,495.4,9.2,177,3783,0.15,2.62,7.68,0.723,6,0.139,0.051,3546,1990,2580,0,0,0,0,0,0
$GC,4109,1.66,129.6,468.0,7.5,186,4133,0.00,0.00,22.05,0.839,6,0.000,0.000,3546,1990,2480,0,0,0,0,0,0
$GC,4432,1.67,135.5,437.7,9.4,194,4443,0.00,2.92,5.62,0.660,4,0.000,0.097,3545,399,2456,0,0,0,0,0,0
$GC,4454,1.60,136.6,435.3,9.9,194,4460,0.12,2.53,0.00,0.000,6,0.146,0.032,3524,1950,2456,0,0,0,0,0,0
$GC,4793,1.61,144.9,403.0,9.2,203,4807,0.00,2.75,9.32,0.752,4,0.000,0.051,3524,3585,2419,0,0,0,0,0,0
$GC,4996,1.63,160.2,384.1,8.5,207,5016,0.00,2.65,14.98,0.794,6,0.000,0.035,3524,1988,2356,0,0,0,0,0,0
$GC,5337,1.69,176.8,356.4,8.3,216,5358,0.00,2.85,15.77,0.782,4,0.000,0.074,3524,403,2287,0,0,0,0,0,0
$GC,5457,1.69,176.8,343.0,12.5,218,5461,0.00,2.55,0.00,0.000,6,0.000,0.020,3524,2015,2285,0,0,0,0,0,0
$GC,5788,1.75,180.1,309.1,9.7,226,5793,0.12,2.78,0.00,0.000,4,0.091,0.064,3556,408,2283,0,0,0,0,0,0
$GC,5855,1.70,180.1,301.0,12.8,227,5860,0.00,2.50,0.00,0.000,6,0.000,0.018,3556,2003,2281,0,0,0,0,0,0
$GC,6193,1.72,195.3,270.0,8.5,236,6217,0.00,2.62,16.67,0.731,4,0.000,0.041,3556,3556,2212,0,0,0,0,0,0
$GC,6273,1.72,199.2,262.6,9.6,237,6283,0.00,2.55,4.50,0.534,6,0.000,0.029,3556,1984,2198,0,0,0,0,0,0
$GC,6606,1.77,208.6,231.8,9.1,246,6621,0.00,2.62,9.90,0.663,4,0.000,0.038,3556,3567,2159,0,0,0,0,0,0
$GC,6666,1.82,213.8,225.7,9.5,247,6677,0.00,2.55,6.07,0.584,6,0.000,0.035,3556,1996,2138,0,0,0,0,0,0
$GC,6995,1.87,213.8,193.4,10.2,260,7000,0.12,0.00,0.00,0.000,6,0.087,0.000,3587,1996,2135,0,0,0,0,0,0
$GC,7319,1.87,213.8,157.3,10.5,291,7324,0.00,2.67,0.00,0.000,4,0.000,0.057,3587,414,2134,0,0,0,0,0,0
$GC,7378,1.83,213.8,150.2,13.0,295,7384,0.00,2.50,0.00,0.000,6,0.000,0.018,3587,2015,2133,0,0,0,0,0,0
$GC,7703,1.88,226.4,119.1,8.7,326,7717,0.00,0.00,11.88,0.584,6,0.000,0.000,3587,2016,2087,0,0,0,0,0,0
$GC,8036,1.94,232.9,88.8,9.4,357,8045,0.00,0.00,7.18,0.506,6,0.000,0.000,3587,2016,2059,0,0,0,0,0,0
$GC,8366,2.04,256.2,61.9,7.6,388,8394,0.15,2.72,21.80,0.550,4,0.072,0.046,3626,412,1964,0,0,0,0,0,0
$GC,8462,1.99,256.2,52.2,11.3,395,8466,0.00,2.47,0.00,0.000,6,0.000,0.017,3627,2005,1962,0,0,0,0,0,0
$GC,8828,1.99,256.2,11.5,11.5,436,8837,0.00,2.67,0.00,0.000,4,0.000,0.051,3627,413,1961,0,0,0,0,0,0
$STATE,8893,end climb,SURFACE_DEPTH_REACHED
$STATE,8893,begin surface coast
$FINISH,2.2,0.980006
$STATE,8901,end surface coast,CONTROL_FINISHED_OK
$STATE,8901,begin surface
$SM_CCo,8926,101.05,0.511,0,0,1460,380.21
$SM_GC,1.32,0.00,0.00,101.05,0.000,0.000,0.511,481,2021,1460,-12.39,0.31,380.21
$IRIDIUM_FIX,2241.69,-15804.53,260900,121227
$TT8_MAMPS,0.026845
$HUMID,61.97
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,20.70
$XPDR_PINGS,37
$24V_AH,23.5,54.768
$10V_AH,10.2,48.797
$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,29.600,87.150,318.575,101.050,0.000,28.038,36.305,176.697,9.250,0.000,13.816,895.877,5803.186,466.845,1748.262,491.041,33.367,1095.040,0.000,1747.443,0.000,0.534,0.000
$DEVICE_MAMPS,150.332,126.555,895.856,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,302.003,243.167,342.714,651.855,984.865,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,35052,446
$CAP_FILE_SIZE,87132,0
$CFSIZE,260165632,159105024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030711,175713,2249.996,-15802.736,31,1.8,49,10.1