version: 66.06
glider: 146
mission: 6
dive: 446
start: 7 4 111 8 45 7
data:
$ID,146
$MISSION,6
$DIVE,446
$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,-278899.06
$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,25
$R_STBD_OVSHOOT,62
$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
$GPS1,083207,2249.925,-15801.867,38,1.3,38,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.6
$GPS2,084413,2250.073,-15801.933,13,1.9,13,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.177,-0.123
$KALMAN_X,-347309.5,56.2,-86.4,338565.8,-1018.0
$KALMAN_Y,100855.8,346.3,280.7,-90058.4,1210.0
$MHEAD_RNG_PITCHd_Wd,114.6,8421,-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,16,-1.48,-97.3,0.0,0.0,0,89,0.00,0.00,-71.22,0.000,2,0.000,0.000,474,1941,3288,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.9,-6.9,9,118,12.40,2.53,-2.20,0.000,4,0.153,0.051,2843,423,3410,0,0,0,0,0,0
$GC,177,-1.36,-97.3,25.8,-18.3,20,187,0.12,2.45,0.00,0.000,6,0.117,0.015,2872,2018,3412,0,0,0,0,0,0
$GC,512,-1.36,-97.3,72.9,-11.3,52,516,0.00,2.42,0.00,0.000,4,0.000,0.031,2872,3552,3412,0,0,0,0,0,0
$GC,547,-1.36,-97.3,77.5,-11.6,54,556,0.00,2.45,0.00,0.000,6,0.000,0.030,2872,2007,3412,0,0,0,0,0,0
$GC,880,-1.41,-97.3,110.5,-9.3,85,884,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2007,3413,0,0,0,0,0,0
$GC,1206,-1.47,-97.3,145.8,-10.6,116,1207,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2007,3413,0,0,0,0,0,0
$GC,1525,-1.55,-97.3,179.4,-9.4,146,1530,0.15,2.47,0.00,0.000,4,0.064,0.031,2821,3563,3414,0,0,0,0,0,0
$GC,1567,-1.55,-97.3,184.1,-12.0,149,1571,0.00,2.42,0.00,0.000,6,0.000,0.027,2821,2000,3414,0,0,0,0,0,0
$GC,1914,-1.55,-97.3,220.7,-10.0,167,1916,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,2000,3415,0,0,0,0,0,0
$GC,2239,-1.55,-97.3,256.3,-10.7,175,2243,0.00,2.50,0.00,0.000,4,0.000,0.030,2821,3559,3415,0,0,0,0,0,0
$GC,2329,-1.61,-97.3,266.6,-11.8,177,2334,0.00,2.45,0.00,0.000,6,0.000,0.025,2821,2013,3414,0,0,0,0,0,0
$GC,2648,-1.66,-97.3,300.1,-9.9,185,2653,0.00,2.67,0.00,0.000,4,0.000,0.067,2820,435,3414,0,0,0,0,0,0
$GC,2664,-1.66,-97.3,301.9,-10.2,185,2668,0.00,2.42,0.00,0.000,6,0.000,0.020,2821,1991,3414,0,0,0,0,0,0
$GC,3014,-1.70,-97.3,333.3,-8.9,194,3015,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1991,3413,0,0,0,0,0,0
$GC,3338,-1.76,-97.3,361.0,-8.2,202,3343,0.12,2.65,0.00,0.000,4,0.075,0.051,2780,3590,3412,0,0,0,0,0,0
$GC,3440,-1.76,-97.3,371.2,-10.3,204,3444,0.00,2.55,0.00,0.000,6,0.000,0.044,2780,2033,3411,0,0,0,0,0,0
$GC,3787,-1.76,-97.3,406.4,-10.1,213,3791,0.00,2.88,0.00,0.000,4,0.000,0.088,2780,424,3409,0,0,0,0,0,0
$GC,3826,-1.71,-97.3,410.6,-10.8,214,3831,0.10,2.58,0.00,0.000,6,0.127,0.038,2800,2009,3408,0,0,0,0,0,0
$GC,4152,-1.71,-97.3,442.7,-10.0,222,4153,0.00,0.00,0.00,0.000,6,0.000,0.000,2800,2010,3406,0,0,0,0,0,0
$GC,4475,-1.74,-97.3,476.4,-10.8,230,4480,0.00,2.85,0.00,0.000,4,0.000,0.087,2800,425,3404,0,0,0,0,0,0
$GC,4496,-1.74,-97.3,479.1,-12.2,230,4501,0.00,2.62,0.00,0.000,6,0.000,0.038,2800,2021,3404,0,0,0,0,0,0
$STATE,4709,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4709,begin apogee
$GC,4717,-0.31,0.0,503.8,11.6,236,4802,1.35,0.00,81.10,0.913,6,0.084,0.000,3104,1987,3010,0,0,0,0,0,0
$STATE,4803,end apogee,CONTROL_FINISHED_OK
$STATE,4803,begin climb
$GC,4805,1.48,97.3,507.2,0.0,238,4900,1.65,2.90,83.00,0.898,4,0.039,0.085,3504,412,2611,0,0,0,0,0,0
$GC,4929,1.35,172.9,508.1,4.8,241,5001,0.17,2.62,65.68,0.886,6,0.126,0.038,3471,2000,2305,0,0,0,0,0,0
$GC,5336,1.30,172.9,468.1,10.7,251,5341,0.00,2.72,0.00,0.000,4,0.000,0.061,3471,3580,2295,0,0,0,0,0,0
$GC,5414,1.27,172.9,458.8,11.5,252,5420,0.00,2.65,0.00,0.000,6,0.000,0.042,3471,2005,2293,0,0,0,0,0,0
$GC,5745,1.27,172.9,424.0,10.2,261,5750,0.00,2.90,0.00,0.000,4,0.000,0.088,3471,404,2290,0,0,0,0,0,0
$GC,5768,1.19,172.9,421.6,10.9,261,5773,0.17,2.58,0.00,0.000,6,0.118,0.028,3436,2008,2289,0,0,0,0,0,0
$GC,6105,1.26,194.7,391.5,8.5,270,6129,0.00,2.88,17.75,0.809,4,0.000,0.064,3436,408,2215,0,0,0,0,0,0
$GC,6196,1.26,194.7,383.2,10.2,272,6201,0.00,2.55,0.00,0.000,6,0.000,0.026,3436,1997,2213,0,0,0,0,0,0
$GC,6520,1.33,212.1,354.7,8.8,280,6544,0.12,2.62,16.55,0.786,4,0.083,0.041,3469,3570,2144,0,0,0,0,0,0
$GC,6583,1.33,212.1,348.1,11.3,281,6588,0.00,2.62,0.00,0.000,6,0.000,0.035,3469,1986,2141,0,0,0,0,0,0
$GC,6927,1.35,226.4,315.9,9.1,290,6946,0.00,2.67,13.32,0.751,4,0.000,0.038,3469,3568,2086,0,0,0,0,0,0
$GC,7062,1.35,226.4,302.5,10.2,293,7067,0.00,2.55,0.00,0.000,6,0.000,0.036,3470,2005,2084,0,0,0,0,0,0
$GC,7387,1.37,243.0,272.0,8.9,301,7408,0.00,2.78,15.73,0.732,4,0.000,0.068,3469,415,2018,0,0,0,0,0,0
$GC,7511,1.37,243.0,259.0,10.6,303,7516,0.00,2.55,0.00,0.000,6,0.000,0.020,3469,2019,2016,0,0,0,0,0,0
$GC,7844,1.45,266.3,228.8,8.4,312,7872,0.00,2.80,21.35,0.712,4,0.000,0.058,3469,411,1924,0,0,0,0,0,0
$GC,7890,1.45,266.3,224.3,10.1,313,7894,0.00,2.53,0.00,0.000,6,0.000,0.019,3469,2001,1923,0,0,0,0,0,0
$GC,8213,1.53,271.9,193.6,9.7,324,8228,0.15,2.75,6.18,0.573,4,0.073,0.054,3510,420,1900,0,0,0,0,0,0
$GC,8267,1.48,271.9,187.5,13.1,328,8271,0.00,2.47,0.00,0.000,6,0.000,0.020,3510,1996,1899,0,0,0,0,0,0
$GC,8595,1.48,271.9,148.7,11.4,358,8600,0.00,2.67,0.00,0.000,4,0.000,0.054,3510,413,1899,0,0,0,0,0,0
$GC,8640,1.48,271.9,143.2,12.3,361,8644,0.00,2.42,0.00,0.000,6,0.000,0.019,3510,1965,1898,0,0,0,0,0,0
$GC,8970,1.53,283.4,109.5,9.2,391,8995,0.00,2.65,11.32,0.577,4,0.000,0.055,3510,403,1853,0,0,0,0,0,0
$GC,9045,1.53,283.4,101.7,11.1,397,9049,0.00,2.40,0.00,0.000,6,0.000,0.019,3510,1955,1852,0,0,0,0,0,0
$GC,9375,1.61,294.4,69.6,9.3,427,9394,0.00,0.00,10.90,0.535,6,0.000,0.000,3510,1956,1808,0,0,0,0,0,0
$GC,9716,1.72,314.9,39.3,8.6,459,9744,0.17,2.65,18.80,0.531,4,0.067,0.048,3558,414,1725,0,0,0,0,0,0
$GC,9800,1.68,314.9,30.1,11.8,465,9804,0.00,2.38,0.00,0.000,6,0.000,0.018,3558,1957,1724,0,0,0,0,0,0
$STATE,10026,end climb,SURFACE_DEPTH_REACHED
$STATE,10026,begin surface coast
$FINISH,0.5,0.970978
$STATE,10075,end surface coast,CONTROL_FINISHED_OK
$STATE,10076,begin surface
$SM_CCo,10099,53.42,0.509,0,0,1459,380.21
$SM_GC,1.34,0.00,0.00,53.42,0.000,0.000,0.509,474,1958,1459,-12.43,-1.47,380.21
$IRIDIUM_FIX,2239.35,-15802.37,270900,080804
$TT8_MAMPS,0.026078
$HUMID,65.04
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.10
$XPDR_PINGS,43
$24V_AH,23.5,55.425
$10V_AH,10.2,49.467
$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,29.225,104.300,361.675,53.425,0.000,79.957,154.470,226.368,10.750,0.000,18.078,998.140,6765.377,455.448,1922.092,739.026,33.370,1165.410,0.000,1922.173,0.000,0.534,0.000
$DEVICE_MAMPS,152.633,165.672,913.497,509.288,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,341.747,280.032,385.600,742.908,1118.702,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355396
$DATA_FILE_SIZE,38380,504
$CAP_FILE_SIZE,100553,0
$CFSIZE,260165632,158789632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040711,113534,2250.108,-15801.226,13,5.5,32,10.1