version: 66.06
glider: 146
mission: 6
dive: 443
start: 7 3 111 23 53 38
data:
$ID,146
$MISSION,6
$DIVE,443
$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,-278847.69
$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
$GPS1,234337,2249.997,-15802.638,39,1.0,39,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-72.7
$GPS2,235243,2250.035,-15802.714,10,1.6,10,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.198,-0.086
$KALMAN_X,-343529.9,-141.1,-70.0,333637.9,-1027.1
$KALMAN_Y,97630.1,-382.4,255.9,-86144.3,853.1
$MHEAD_RNG_PITCHd_Wd,103.5,9753,-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,13,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,-70.22,0.000,2,0.000,0.000,477,2077,3248,0,0,0,0,0,0
$GC,91,-1.48,-97.3,3.7,-6.4,9,117,12.43,2.78,-3.00,0.000,4,0.153,0.054,2840,428,3411,0,0,0,0,0,0
$GC,129,-0.54,-97.3,16.3,-32.4,13,139,0.95,2.45,0.00,0.000,6,0.097,0.015,3050,2019,3412,0,0,0,0,0,0
$GC,500,-0.87,-97.3,42.8,-6.4,56,506,0.25,2.62,0.00,0.000,4,0.047,0.043,2970,424,3413,0,0,0,0,0,0
$GC,537,-1.04,-97.3,46.0,-9.6,58,542,0.10,2.38,0.00,0.000,6,0.084,0.014,2935,2013,3413,0,0,0,0,0,0
$GC,862,-1.17,-97.3,85.7,-11.9,88,866,0.00,2.45,0.00,0.000,4,0.000,0.028,2934,3549,3414,0,0,0,0,0,0
$GC,891,-1.33,-97.3,88.9,-11.1,90,896,0.20,2.45,0.00,0.000,6,0.049,0.028,2861,1985,3414,0,0,0,0,0,0
$GC,1215,-1.33,-97.3,131.6,-12.2,120,1220,0.10,2.47,0.00,0.000,4,0.120,0.028,2884,3545,3414,0,0,0,0,0,0
$GC,1269,-1.43,-97.3,137.5,-10.6,124,1273,0.00,2.42,0.00,0.000,6,0.000,0.028,2884,2001,3415,0,0,0,0,0,0
$GC,1598,-1.53,-97.3,169.4,-10.1,154,1603,0.17,0.00,0.00,0.000,6,0.055,0.000,2824,2001,3415,0,0,0,0,0,0
$GC,1933,-1.53,-97.3,210.8,-12.7,180,1934,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2001,3416,0,0,0,0,0,0
$GC,2254,-1.53,-97.3,248.0,-10.7,188,2259,0.00,2.47,0.00,0.000,4,0.000,0.028,2823,3549,3416,0,0,0,0,0,0
$GC,2288,-1.53,-97.3,251.3,-9.6,188,2294,0.00,2.40,0.00,0.000,6,0.000,0.021,2824,2011,3417,0,0,0,0,0,0
$GC,2622,-1.57,-97.3,282.5,-9.9,197,2626,0.00,2.45,0.00,0.000,4,0.000,0.038,2823,3540,3416,0,0,0,0,0,0
$GC,2694,-1.63,-97.3,290.1,-9.9,198,2698,0.00,2.40,0.00,0.000,6,0.000,0.025,2823,2022,3416,0,0,0,0,0,0
$GC,3025,-1.68,-97.3,323.3,-9.8,206,3027,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2021,3416,0,0,0,0,0,0
$GC,3352,-1.73,-97.3,353.9,-9.3,214,3357,0.12,2.83,0.00,0.000,4,0.074,0.081,2778,426,3415,0,0,0,0,0,0
$GC,3402,-1.66,-97.3,360.4,-13.1,215,3408,0.15,2.42,0.00,0.000,6,0.106,0.031,2810,1972,3414,0,0,0,0,0,0
$GC,3717,-1.66,-97.3,393.5,-10.6,223,3721,0.00,2.67,0.00,0.000,4,0.000,0.050,2810,3584,3413,0,0,0,0,0,0
$GC,3766,-1.74,-97.3,399.2,-11.1,224,3771,0.00,2.58,0.00,0.000,6,0.000,0.042,2810,2033,3413,0,0,0,0,0,0
$GC,4080,-1.78,-97.3,432.1,-10.2,232,4085,0.10,2.60,0.00,0.000,4,0.086,0.051,2775,3588,3411,0,0,0,0,0,0
$GC,4109,-1.78,-97.3,435.3,-11.7,232,4113,0.00,2.60,0.00,0.000,6,0.000,0.047,2775,2036,3411,0,0,0,0,0,0
$GC,4439,-1.78,-97.3,472.0,-10.7,240,4444,0.00,2.60,0.00,0.000,4,0.000,0.057,2775,3584,3408,0,0,0,0,0,0
$GC,4455,-1.78,-97.3,473.8,-10.7,240,4460,0.00,2.62,0.00,0.000,6,0.000,0.057,2775,2029,3408,0,0,0,0,0,0
$STATE,4714,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4714,begin apogee
$GC,4722,-0.31,0.0,501.5,10.6,247,4808,1.48,0.00,81.97,0.906,6,0.082,0.000,3106,1990,3010,0,0,0,0,0,0
$STATE,4809,end apogee,CONTROL_FINISHED_OK
$STATE,4809,begin climb
$GC,4811,1.48,97.3,503.8,0.0,249,4899,1.65,0.00,83.82,0.890,6,0.046,0.000,3506,1990,2613,0,0,0,0,0,0
$GC,5202,1.39,132.2,482.6,7.6,259,5239,0.15,3.00,30.27,0.860,4,0.124,0.100,3477,403,2469,0,0,0,0,0,0
$GC,5289,1.25,139.7,475.4,9.5,260,5304,0.15,2.60,7.72,0.729,6,0.129,0.037,3449,1978,2439,0,0,0,0,0,0
$GC,5620,1.29,171.7,448.5,7.8,268,5655,0.00,2.88,28.73,0.851,4,0.000,0.076,3449,404,2309,0,0,0,0,0,0
$GC,5689,1.23,171.7,442.0,10.2,269,5693,0.00,2.60,0.00,0.000,6,0.000,0.030,3449,1986,2307,0,0,0,0,0,0
$GC,6024,1.23,171.7,408.2,10.1,278,6026,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1986,2302,0,0,0,0,0,0
$GC,6351,1.27,201.9,380.7,7.9,286,6385,0.00,2.78,26.83,0.824,4,0.000,0.048,3448,3589,2185,0,0,0,0,0,0
$GC,6403,1.29,221.6,376.2,8.7,287,6428,0.00,2.70,18.90,0.794,6,0.000,0.039,3449,1969,2105,0,0,0,0,0,0
$GC,6763,1.36,240.3,344.5,8.8,296,6787,0.00,2.85,16.80,0.776,4,0.000,0.073,3449,406,2029,0,0,0,0,0,0
$GC,6850,1.36,240.3,335.8,10.6,298,6855,0.00,2.53,0.00,0.000,6,0.000,0.025,3449,1997,2027,0,0,0,0,0,0
$GC,7174,1.42,240.3,304.5,10.1,306,7179,0.15,2.72,0.00,0.000,4,0.078,0.060,3488,408,2025,0,0,0,0,0,0
$GC,7295,1.36,240.3,288.3,13.1,308,7299,0.00,2.45,0.00,0.000,6,0.000,0.025,3487,1968,2023,0,0,0,0,0,0
$GC,7626,1.36,240.3,251.6,10.7,316,7630,0.00,2.67,0.00,0.000,4,0.000,0.060,3488,401,2023,0,0,0,0,0,0
$GC,7650,1.36,240.3,249.1,11.0,316,7654,0.00,2.45,0.00,0.000,6,0.000,0.025,3487,1963,2022,0,0,0,0,0,0
$GC,7986,1.39,265.3,219.8,8.3,325,8015,0.00,2.75,22.23,0.705,4,0.000,0.057,3488,407,1926,0,0,0,0,0,0
$GC,8061,1.39,265.3,212.5,10.5,326,8065,0.00,2.40,0.00,0.000,6,0.000,0.018,3487,1945,1925,0,0,0,0,0,0
$GC,8384,1.45,265.3,179.3,10.3,347,8388,0.00,2.60,0.00,0.000,4,0.000,0.033,3487,3551,1923,0,0,0,0,0,0
$GC,8402,1.50,265.3,177.2,10.4,348,8407,0.00,2.65,0.00,0.000,6,0.000,0.030,3488,1922,1922,0,0,0,0,0,0
$GC,8727,1.63,317.1,150.5,6.5,378,8781,0.17,0.00,45.55,0.648,6,0.067,0.000,3534,1922,1715,0,0,0,0,0,0
$GC,9100,1.63,317.1,112.5,10.6,413,9105,0.00,2.58,0.00,0.000,4,0.000,0.061,3534,399,1711,0,0,0,0,0,0
$GC,9122,1.63,317.1,108.9,12.3,414,9131,0.00,2.42,0.00,0.000,6,0.000,0.023,3534,1936,1711,0,0,0,0,0,0
$GC,9451,1.69,326.0,73.3,9.4,445,9466,0.00,2.58,8.60,0.511,4,0.000,0.052,3534,404,1678,0,0,0,0,0,0
$GC,9521,1.69,326.0,66.1,10.5,450,9526,0.00,2.40,0.00,0.000,6,0.000,0.017,3534,1952,1678,0,0,0,0,0,0
$GC,9850,1.73,326.0,32.8,10.6,480,9855,0.00,2.60,0.00,0.000,4,0.000,0.050,3534,400,1677,0,0,0,0,0,0
$GC,9910,1.73,326.0,26.0,12.0,486,9919,0.00,2.38,0.00,0.000,6,0.000,0.017,3534,1927,1677,0,0,0,0,0,0
$STATE,10112,end climb,SURFACE_DEPTH_REACHED
$STATE,10112,begin surface coast
$FINISH,0.5,0.980012
$STATE,10159,end surface coast,CONTROL_FINISHED_OK
$STATE,10159,begin surface
$SM_CCo,10183,44.90,0.506,0,0,1460,380.21
$SM_GC,1.36,0.00,0.00,44.90,0.000,0.000,0.506,478,2104,1460,-12.41,2.63,380.21
$IRIDIUM_FIX,2239.35,-15804.53,260900,232337
$TT8_MAMPS,0.026078
$HUMID,63.93
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,21.50
$XPDR_PINGS,44
$24V_AH,23.5,55.092
$10V_AH,10.1,49.135
$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,30.750,108.400,371.425,44.900,0.000,56.727,71.807,216.000,11.000,0.000,12.072,1026.781,6662.945,478.121,1964.808,644.404,33.375,1154.858,0.000,1983.787,0.000,0.534,0.000
$DEVICE_MAMPS,152.633,160.303,905.827,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.878,299.176,412.627,818.008,1237.172,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355412
$DATA_FILE_SIZE,41595,523
$CAP_FILE_SIZE,100298,0
$CFSIZE,260165632,158932992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040711,024525,2249.905,-15802.143,38,1.6,38,10.1