version: 66.06
glider: 146
mission: 6
dive: 442
start: 7 3 111 21 0 43
data:
$ID,146
$MISSION,6
$DIVE,442
$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,-278835
$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,54
$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
$GPS1,205325,2250.121,-15802.907,33,1.3,44,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-70.5
$GPS2,205952,2250.185,-15802.938,14,99.0,33,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.174,-0.128
$KALMAN_X,-341993.6,-189.7,-218.0,331914.3,-889.0
$KALMAN_Y,96531.8,-391.0,358.4,-84866.2,1247.1
$MHEAD_RNG_PITCHd_Wd,116.3,10143,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.48,-97.3,0.0,0.0,0,90,0.00,0.00,-71.22,0.000,2,0.000,0.000,480,2013,3259,0,0,0,0,0,0
$GC,93,-1.48,-97.3,3.6,-6.5,9,111,12.38,0.00,-2.78,0.000,6,0.151,0.000,2844,2013,3410,0,0,0,0,0,0
$GC,457,-1.40,-97.3,72.3,-16.8,49,462,0.12,2.50,0.00,0.000,4,0.137,0.027,2868,3573,3413,0,0,0,0,0,0
$GC,503,-1.46,-97.3,79.5,-14.7,52,508,0.00,2.47,0.00,0.000,6,0.000,0.022,2867,2001,3413,0,0,0,0,0,0
$GC,828,-1.46,-97.3,121.1,-11.4,82,832,0.00,2.50,0.00,0.000,4,0.000,0.035,2868,3581,3414,0,0,0,0,0,0
$GC,895,-1.54,-97.3,128.1,-10.9,87,901,0.12,2.47,0.00,0.000,6,0.066,0.024,2819,2006,3415,0,0,0,0,0,0
$GC,1220,-1.54,-97.3,164.9,-11.0,117,1222,0.10,0.00,0.00,0.000,6,0.265,0.000,2839,2007,3415,0,0,0,0,0,0
$GC,1538,-1.54,-97.3,199.9,-11.6,147,1543,0.00,2.47,0.00,0.000,4,0.000,0.028,2839,3574,3416,0,0,0,0,0,0
$GC,1578,-1.60,-97.3,204.7,-12.2,148,1582,0.00,2.45,0.00,0.000,6,0.000,0.028,2839,2019,3416,0,0,0,0,0,0
$GC,1902,-1.64,-97.3,240.2,-10.4,156,1903,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2019,3416,0,0,0,0,0,0
$GC,2229,-1.71,-97.3,272.2,-9.6,164,2234,0.15,2.50,0.00,0.000,4,0.064,0.035,2788,3576,3416,0,0,0,0,0,0
$GC,2295,-1.71,-97.3,280.3,-11.5,165,2299,0.00,2.42,0.00,0.000,6,0.000,0.024,2788,2031,3416,0,0,0,0,0,0
$GC,2638,-1.71,-97.3,318.0,-11.0,174,2642,0.00,2.47,0.00,0.000,4,0.000,0.035,2788,3569,3416,0,0,0,0,0,0
$GC,2705,-1.71,-97.3,325.5,-10.3,175,2709,0.00,2.47,0.00,0.000,6,0.000,0.031,2788,2039,3416,0,0,0,0,0,0
$GC,3041,-1.71,-97.3,359.9,-9.9,184,3046,0.00,2.85,0.00,0.000,4,0.000,0.084,2787,425,3415,0,0,0,0,0,0
$GC,3082,-1.64,-97.3,364.1,-11.0,185,3088,0.12,2.50,0.00,0.000,6,0.111,0.032,2813,2011,3414,0,0,0,0,0,0
$GC,3409,-1.69,-97.3,395.3,-9.6,193,3413,0.00,2.60,0.00,0.000,4,0.000,0.058,2813,3581,3413,0,0,0,0,0,0
$GC,3495,-1.76,-97.3,403.8,-10.0,195,3500,0.10,2.58,0.00,0.000,6,0.078,0.045,2768,2035,3413,0,0,0,0,0,0
$GC,3820,-1.73,-97.3,440.7,-11.6,203,3825,0.15,2.58,0.00,0.000,4,0.104,0.049,2800,3581,3411,0,0,0,0,0,0
$GC,3905,-1.79,-97.3,449.6,-9.7,205,3909,0.00,2.58,0.00,0.000,6,0.000,0.053,2800,2043,3410,0,0,0,0,0,0
$GC,4230,-1.79,-97.3,480.8,-9.6,213,4234,0.00,2.62,0.00,0.000,4,0.000,0.058,2800,3584,3408,0,0,0,0,0,0
$GC,4246,-1.83,-97.3,482.6,-9.9,213,4251,0.10,2.60,0.00,0.000,6,0.084,0.058,2762,2041,3408,0,0,0,0,0,0
$STATE,4423,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4423,begin apogee
$GC,4431,-0.31,0.0,501.7,10.7,218,4518,1.55,0.00,82.35,0.908,6,0.086,0.000,3106,1987,3010,0,0,0,0,0,0
$STATE,4518,end apogee,CONTROL_FINISHED_OK
$STATE,4518,begin climb
$GC,4521,1.48,97.3,503.7,0.0,220,4616,1.62,2.72,83.55,0.894,4,0.040,0.052,3505,3561,2611,0,0,0,0,0,0
$GC,4706,1.39,139.7,499.0,7.1,224,4751,0.15,2.70,37.22,0.869,6,0.130,0.053,3477,1991,2439,0,0,0,0,0,0
$GC,5061,1.36,172.8,470.6,7.7,233,5096,0.00,3.08,29.23,0.854,4,0.000,0.105,3477,400,2304,0,0,0,0,0,0
$GC,5171,1.25,172.8,459.7,11.0,234,5176,0.15,2.60,0.00,0.000,6,0.126,0.034,3448,1980,2300,0,0,0,0,0,0
$GC,5509,1.27,191.1,429.8,8.8,243,5533,0.00,2.88,16.88,0.822,4,0.000,0.070,3448,406,2228,0,0,0,0,0,0
$GC,5552,1.27,191.1,425.5,10.2,244,5556,0.00,2.58,0.00,0.000,6,0.000,0.031,3448,1992,2226,0,0,0,0,0,0
$GC,5876,1.31,223.1,398.1,7.8,252,5910,0.00,2.72,28.92,0.834,4,0.000,0.051,3448,3586,2100,0,0,0,0,0,0
$GC,5929,1.34,253.4,393.9,7.9,253,5963,0.00,2.70,28.77,0.821,6,0.000,0.038,3448,1976,1975,0,0,0,0,0,0
$GC,6290,1.39,253.4,354.3,11.6,262,6295,0.12,2.78,0.00,0.000,4,0.084,0.076,3480,400,1968,0,0,0,0,0,0
$GC,6423,1.34,253.4,336.0,13.8,265,6428,0.00,2.53,0.00,0.000,6,0.000,0.020,3480,1987,1967,0,0,0,0,0,0
$GC,6747,1.34,253.4,298.7,10.8,273,6751,0.00,2.72,0.00,0.000,4,0.000,0.061,3480,403,1965,0,0,0,0,0,0
$GC,6797,1.34,253.4,292.7,12.4,274,6801,0.00,2.47,0.00,0.000,6,0.000,0.018,3480,1974,1964,0,0,0,0,0,0
$GC,7109,1.34,253.4,260.9,10.2,282,7114,0.00,2.58,0.00,0.000,4,0.000,0.041,3480,3552,1963,0,0,0,0,0,0
$GC,7137,1.38,253.4,257.7,11.7,282,7141,0.00,2.62,0.00,0.000,6,0.000,0.035,3480,1948,1962,0,0,0,0,0,0
$GC,7470,1.42,253.4,220.6,11.0,290,7474,0.00,2.62,0.00,0.000,4,0.000,0.064,3480,412,1962,0,0,0,0,0,0
$GC,7491,1.42,253.4,218.0,11.0,290,7495,0.00,2.45,0.00,0.000,6,0.000,0.022,3480,1980,1960,0,0,0,0,0,0
$GC,7812,1.50,276.3,189.9,8.5,306,7837,0.10,2.70,18.75,0.676,4,0.091,0.058,3507,406,1883,0,0,0,0,0,0
$GC,7915,1.50,276.3,178.3,12.5,314,7922,0.00,2.38,0.00,0.000,6,0.000,0.024,3507,1947,1881,0,0,0,0,0,0
$GC,8245,1.50,276.3,142.1,11.0,345,8249,0.00,2.60,0.00,0.000,4,0.000,0.056,3507,406,1879,0,0,0,0,0,0
$GC,8289,1.50,276.3,135.9,12.5,348,8299,0.00,2.42,0.00,0.000,6,0.000,0.023,3507,1948,1878,0,0,0,0,0,0
$GC,8621,1.58,303.6,104.9,8.2,379,8648,0.00,0.00,24.52,0.599,6,0.000,0.000,3507,1950,1772,0,0,0,0,0,0
$GC,8970,1.71,332.4,75.8,8.0,412,9002,0.17,2.65,26.08,0.569,4,0.064,0.031,3553,3560,1653,0,0,0,0,0,0
$GC,9059,1.75,332.4,67.0,12.4,418,9064,0.00,2.65,0.00,0.000,6,0.000,0.035,3553,1938,1651,0,0,0,0,0,0
$GC,9391,1.75,332.4,27.9,12.1,449,9400,0.00,2.58,0.00,0.000,4,0.000,0.052,3553,415,1650,0,0,0,0,0,0
$GC,9453,1.72,332.4,20.1,13.1,457,9462,0.00,2.38,0.00,0.000,6,0.000,0.018,3553,1935,1649,0,0,0,0,0,0
$STATE,9587,end climb,SURFACE_DEPTH_REACHED
$STATE,9587,begin surface coast
$FINISH,0.6,0.975052
$STATE,9631,end surface coast,CONTROL_FINISHED_OK
$STATE,9631,begin surface
$SM_CCo,9654,38.55,0.511,0,0,1459,380.21
$SM_GC,1.42,0.00,0.00,38.55,0.000,0.000,0.511,477,2077,1459,-12.41,1.89,380.21
$IRIDIUM_FIX,2239.35,-15802.37,260900,181857
$TT8_MAMPS,0.026078
$HUMID,64.64
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,20.90
$XPDR_PINGS,46
$24V_AH,23.5,54.980
$10V_AH,10.1,49.014
$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,29.725,108.900,376.275,38.550,0.000,31.724,31.791,167.906,11.500,0.000,35.585,978.369,6240.184,442.691,1912.853,506.275,33.371,1152.081,0.000,1889.860,0.000,0.534,0.000
$DEVICE_MAMPS,264.615,141.128,908.128,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.658,269.734,371.341,690.234,1043.834,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355444
$DATA_FILE_SIZE,38328,482
$CAP_FILE_SIZE,99091,0
$CFSIZE,260165632,158990336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030711,234337,2249.997,-15802.638,39,1.0,39,10.1