version: 66.06
glider: 146
mission: 6
dive: 441
start: 7 3 111 18 4 27
data:
$ID,146
$MISSION,6
$DIVE,441
$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,-278798.78
$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,28
$R_STBD_OVSHOOT,73
$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
$GPS1,175713,2249.996,-15802.736,31,1.8,49,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.1
$GPS2,180336,2250.073,-15802.776,43,1.2,49,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.142,-0.163
$KALMAN_X,-340482.0,-116.3,-128.9,330508.6,-1153.7
$KALMAN_Y,95064.8,-237.3,-154.9,-83246.2,1618.0
$MHEAD_RNG_PITCHd_Wd,128.9,9861,-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,12,begin dive
$GC,15,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-70.55,0.000,2,0.000,0.000,480,2022,3254,0,0,0,0,0,0
$GC,91,-1.48,-97.3,3.7,-6.3,9,117,12.30,2.67,-2.90,0.000,4,0.148,0.055,2847,426,3409,0,0,0,0,0,0
$GC,210,-1.37,-97.3,31.4,-19.0,25,215,0.15,2.40,0.00,0.000,6,0.134,0.015,2876,2012,3411,0,0,0,0,0,0
$GC,539,-1.37,-97.3,79.1,-12.4,55,543,0.00,2.45,0.00,0.000,4,0.000,0.026,2876,3555,3412,0,0,0,0,0,0
$GC,581,-1.37,-97.3,84.8,-12.5,58,585,0.00,2.45,0.00,0.000,6,0.000,0.025,2876,1997,3412,0,0,0,0,0,0
$GC,906,-1.41,-97.3,123.1,-11.8,88,910,0.00,2.47,0.00,0.000,4,0.000,0.034,2876,3564,3413,0,0,0,0,0,0
$GC,936,-1.48,-97.3,126.5,-11.9,90,941,0.10,2.42,0.00,0.000,6,0.081,0.022,2834,2021,3413,0,0,0,0,0,0
$GC,1261,-1.48,-97.3,166.3,-11.7,120,1265,0.00,2.42,0.00,0.000,4,0.000,0.034,2834,3559,3414,0,0,0,0,0,0
$GC,1296,-1.48,-97.3,170.6,-12.3,122,1301,0.00,2.40,0.00,0.000,6,0.000,0.020,2834,2023,3414,0,0,0,0,0,0
$GC,1639,-1.48,-97.3,209.8,-11.7,149,1640,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2023,3414,0,0,0,0,0,0
$GC,1963,-1.48,-97.3,245.9,-10.9,157,1967,0.00,2.45,0.00,0.000,4,0.000,0.031,2834,3554,3415,0,0,0,0,0,0
$GC,2014,-1.56,-97.3,250.9,-9.7,158,2019,0.00,2.40,0.00,0.000,6,0.000,0.026,2834,2037,3415,0,0,0,0,0,0
$GC,2328,-1.61,-97.3,276.9,-7.6,166,2332,0.00,2.45,0.00,0.000,4,0.000,0.036,2834,3561,3415,0,0,0,0,0,0
$GC,2380,-1.69,-97.3,281.1,-8.5,167,2385,0.12,2.42,0.00,0.000,6,0.069,0.030,2782,2034,3415,0,0,0,0,0,0
$GC,2692,-1.69,-97.3,315.1,-11.7,175,2697,0.10,2.45,0.00,0.000,4,0.123,0.036,2804,3554,3415,0,0,0,0,0,0
$GC,2764,-1.69,-97.3,323.8,-11.5,176,2769,0.00,2.42,0.00,0.000,6,0.000,0.037,2804,2052,3415,0,0,0,0,0,0
$GC,3097,-1.69,-97.3,362.0,-11.4,184,3101,0.00,2.45,0.00,0.000,4,0.000,0.044,2804,3554,3413,0,0,0,0,0,0
$GC,3197,-1.74,-97.3,373.3,-10.6,186,3201,0.00,2.45,0.00,0.000,6,0.000,0.039,2804,2068,3413,0,0,0,0,0,0
$GC,3546,-1.74,-97.3,407.4,-9.7,195,3547,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2068,3412,0,0,0,0,0,0
$GC,3869,-1.77,-97.3,440.8,-10.5,203,3874,0.00,2.47,0.00,0.000,4,0.000,0.053,2804,3552,3410,0,0,0,0,0,0
$GC,3886,-1.77,-97.3,442.7,-10.4,203,3890,0.00,2.47,0.00,0.000,6,0.000,0.047,2804,2072,3409,0,0,0,0,0,0
$GC,4228,-1.81,-97.3,479.3,-10.7,212,4233,0.10,2.47,0.00,0.000,4,0.084,0.055,2769,3544,3407,0,0,0,0,0,0
$GC,4325,-1.81,-97.3,490.8,-11.9,214,4330,0.00,2.50,0.00,0.000,6,0.000,0.053,2769,2074,3407,0,0,0,0,0,0
$STATE,4432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4433,begin apogee
$GC,4439,-0.31,0.0,503.8,11.5,217,4525,1.50,0.00,82.05,0.905,6,0.084,0.000,3103,1992,3009,0,0,0,0,0,0
$STATE,4526,end apogee,CONTROL_FINISHED_OK
$STATE,4526,begin climb
$GC,4530,1.48,97.3,506.3,0.0,219,4618,1.67,0.00,83.90,0.890,6,0.048,0.000,3507,1992,2613,0,0,0,0,0,0
$GC,4921,1.41,151.5,489.1,6.3,229,4971,0.12,0.00,46.90,0.875,6,0.129,0.000,3483,1992,2392,0,0,0,0,0,0
$GC,5289,1.36,169.8,457.8,8.8,238,5313,0.00,3.05,16.55,0.821,4,0.000,0.100,3483,403,2316,0,0,0,0,0,0
$GC,5325,1.28,181.1,454.2,9.3,238,5344,0.15,2.55,11.62,0.779,6,0.126,0.034,3454,1947,2271,0,0,0,0,0,0
$GC,5661,1.28,182.9,421.6,9.9,247,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1947,2266,0,0,0,0,0,0
$GC,5983,1.28,186.3,390.6,9.8,255,5993,0.00,2.72,4.80,0.610,4,0.000,0.046,3453,3581,2250,0,0,0,0,0,0
$GC,6056,1.28,186.3,382.5,11.5,256,6060,0.00,2.65,0.00,0.000,6,0.000,0.041,3454,1973,2249,0,0,0,0,0,0
$GC,6388,1.29,188.6,348.8,9.9,264,6393,0.00,2.72,0.00,0.000,4,0.000,0.079,3454,407,2247,0,0,0,0,0,0
$GC,6427,1.29,188.6,344.5,11.2,265,6432,0.00,2.53,0.00,0.000,6,0.000,0.022,3454,2005,2245,0,0,0,0,0,0
$GC,6752,1.32,212.8,316.6,8.4,273,6781,0.00,2.83,24.20,0.778,4,0.000,0.064,3453,402,2141,0,0,0,0,0,0
$GC,6822,1.32,212.8,310.2,10.3,274,6826,0.00,2.53,0.00,0.000,6,0.000,0.019,3454,1995,2139,0,0,0,0,0,0
$GC,7153,1.39,224.0,280.6,9.3,282,7170,0.10,2.78,10.85,0.713,4,0.091,0.058,3482,400,2095,0,0,0,0,0,0
$GC,7200,1.34,224.0,276.0,10.8,283,7204,0.00,2.50,0.00,0.000,6,0.000,0.025,3482,1972,2094,0,0,0,0,0,0
$GC,7518,1.34,224.0,242.8,10.7,291,7519,0.00,0.00,0.00,0.000,6,0.000,0.000,3482,1972,2092,0,0,0,0,0,0
$GC,7843,1.34,227.5,209.2,9.8,299,7852,0.00,2.70,3.72,0.454,4,0.000,0.055,3481,413,2082,0,0,0,0,0,0
$GC,7882,1.37,245.0,205.8,8.8,299,7906,0.00,2.45,17.08,0.683,6,0.000,0.022,3481,1977,2010,0,0,0,0,0,0
$GC,8226,1.43,254.4,176.7,9.4,326,8241,0.00,2.70,9.68,0.619,4,0.000,0.056,3482,404,1971,0,0,0,0,0,0
$GC,8301,1.43,254.4,168.6,11.5,332,8305,0.00,2.45,0.00,0.000,6,0.000,0.018,3482,1966,1969,0,0,0,0,0,0
$GC,8628,1.51,270.1,137.5,9.0,362,8652,0.10,2.72,15.05,0.614,4,0.088,0.051,3510,402,1907,0,0,0,0,0,0
$GC,8717,1.51,270.1,127.9,11.8,369,8721,0.00,2.42,0.00,0.000,6,0.000,0.018,3509,1956,1905,0,0,0,0,0,0
$GC,9046,1.58,292.6,94.4,8.5,399,9073,0.00,2.65,20.62,0.584,4,0.000,0.032,3510,3547,1815,0,0,0,0,0,0
$GC,9127,1.65,292.6,86.0,10.3,406,9133,0.10,2.60,0.00,0.000,6,0.093,0.031,3537,1947,1814,0,0,0,0,0,0
$GC,9455,1.67,310.1,54.1,8.8,436,9483,0.00,2.65,16.05,0.538,4,0.000,0.053,3537,414,1743,0,0,0,0,0,0
$GC,9536,1.67,310.1,46.1,10.8,442,9541,0.00,2.40,0.00,0.000,6,0.000,0.018,3537,1952,1742,0,0,0,0,0,0
$GC,9912,1.68,316.3,10.0,9.6,486,9930,0.00,2.62,6.60,0.436,4,0.000,0.048,3537,414,1718,0,0,0,0,0,0
$STATE,9965,end climb,SURFACE_DEPTH_REACHED
$STATE,9966,begin surface coast
$FINISH,2.8,0.980002
$STATE,9974,end surface coast,CONTROL_FINISHED_OK
$STATE,9974,begin surface
$SM_CCo,10001,52.67,0.509,0,0,1460,380.21
$SM_GC,1.32,0.00,0.00,52.67,0.000,0.000,0.509,480,2013,1460,-12.40,0.08,380.21
$IRIDIUM_FIX,2239.35,-15805.41,260900,151500
$TT8_MAMPS,0.026078
$HUMID,63.86
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,20.90
$XPDR_PINGS,42
$24V_AH,23.5,54.872
$10V_AH,10.2,48.906
$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,29.175,107.025,369.675,52.675,0.000,25.083,36.248,157.769,10.500,0.000,51.079,984.763,6611.798,478.609,1879.507,482.558,33.372,1143.536,0.000,1850.259,0.000,0.534,0.000
$DEVICE_MAMPS,148.031,120.419,905.060,509.288,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.822,269.824,378.420,715.797,1082.458,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355428
$DATA_FILE_SIZE,38278,494
$CAP_FILE_SIZE,96035,0
$CFSIZE,260165632,159047680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030711,205325,2250.121,-15802.907,33,1.3,44,10.1