version: 66.06
glider: 146
mission: 6
dive: 449
start: 7 4 111 17 33 53
data:
$ID,146
$MISSION,6
$DIVE,449
$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,-278950.69
$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,30
$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
$GPS1,172713,2250.467,-15759.829,21,1.4,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.9
$GPS2,173301,2250.523,-15759.871,10,1.7,15,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.161,-0.144
$KALMAN_X,-349967.3,115.6,32.1,344569.0,-1162.4
$KALMAN_Y,104537.7,63.0,-371.8,-91972.5,1347.0
$MHEAD_RNG_PITCHd_Wd,121.7,4995,-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,13,begin dive
$GC,15,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-70.50,0.000,2,0.000,0.000,474,1981,3234,0,0,0,0,0,0
$GC,91,-1.48,-97.3,3.5,-5.8,9,117,12.27,2.62,-3.28,0.000,4,0.146,0.055,2843,424,3410,0,0,0,0,0,0
$GC,176,-1.35,-97.3,24.8,-18.8,20,186,0.15,2.47,0.00,0.000,6,0.199,0.015,2878,2022,3411,0,0,0,0,0,0
$GC,518,-1.35,-97.3,74.6,-13.1,53,522,0.00,2.42,0.00,0.000,4,0.000,0.029,2878,3559,3412,0,0,0,0,0,0
$GC,540,-1.35,-97.3,77.2,-12.3,54,545,0.00,2.47,0.00,0.000,6,0.000,0.022,2878,1992,3412,0,0,0,0,0,0
$GC,865,-1.39,-97.3,114.2,-10.5,84,869,0.00,2.50,0.00,0.000,4,0.000,0.032,2878,3558,3414,0,0,0,0,0,0
$GC,917,-1.50,-97.3,119.9,-10.4,88,922,0.12,2.42,0.00,0.000,6,0.066,0.022,2825,2008,3413,0,0,0,0,0,0
$GC,1245,-1.50,-97.3,162.2,-12.6,118,1250,0.10,2.47,0.00,0.000,4,0.118,0.034,2846,3565,3414,0,0,0,0,0,0
$GC,1299,-1.55,-97.3,169.2,-12.8,122,1303,0.00,2.42,0.00,0.000,6,0.000,0.024,2846,2014,3414,0,0,0,0,0,0
$GC,1632,-1.55,-97.3,205.0,-10.0,150,1637,0.00,2.47,0.00,0.000,4,0.000,0.026,2846,3570,3415,0,0,0,0,0,0
$GC,1672,-1.62,-97.3,209.3,-10.3,151,1677,0.10,2.42,0.00,0.000,6,0.081,0.021,2804,2026,3415,0,0,0,0,0,0
$GC,1998,-1.62,-97.3,248.8,-12.4,159,2002,0.00,2.45,0.00,0.000,4,0.000,0.037,2804,3559,3415,0,0,0,0,0,0
$GC,2047,-1.62,-97.3,255.3,-11.8,160,2051,0.00,2.40,0.00,0.000,6,0.000,0.027,2804,2035,3416,0,0,0,0,0,0
$GC,2362,-1.62,-97.3,292.3,-11.4,168,2366,0.00,2.72,0.00,0.000,4,0.000,0.069,2804,434,3416,0,0,0,0,0,0
$GC,2377,-1.62,-97.3,294.3,-10.5,168,2381,0.00,2.45,0.00,0.000,6,0.000,0.021,2804,2021,3416,0,0,0,0,0,0
$GC,2726,-1.62,-97.3,326.2,-8.6,177,2730,0.00,2.53,0.00,0.000,4,0.000,0.040,2804,3579,3415,0,0,0,0,0,0
$GC,2760,-1.62,-97.3,329.3,-8.9,177,2765,0.00,2.47,0.00,0.000,6,0.000,0.031,2804,2052,3415,0,0,0,0,0,0
$GC,3091,-1.62,-97.3,360.8,-9.9,186,3095,0.00,2.47,0.00,0.000,4,0.000,0.040,2804,3576,3415,0,0,0,0,0,0
$GC,3180,-1.67,-97.3,370.7,-11.0,188,3184,0.00,2.50,0.00,0.000,6,0.000,0.044,2804,2055,3415,0,0,0,0,0,0
$GC,3499,-1.67,-97.3,405.8,-11.1,196,3504,0.00,2.92,0.00,0.000,4,0.000,0.092,2804,425,3413,0,0,0,0,0,0
$GC,3526,-1.67,-97.3,409.1,-11.4,196,3531,0.00,2.60,0.00,0.000,6,0.000,0.035,2804,2029,3413,0,0,0,0,0,0
$GC,3857,-1.67,-97.3,444.3,-10.5,204,3858,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2029,3411,0,0,0,0,0,0
$GC,4184,-1.71,-97.3,477.6,-10.1,212,4188,0.00,2.67,0.00,0.000,4,0.000,0.074,2804,3594,3409,0,0,0,0,0,0
$GC,4205,-1.76,-97.3,480.2,-10.4,212,4210,0.00,2.60,0.00,0.000,6,0.000,0.048,2804,2051,3409,0,0,0,0,0,0
$STATE,4417,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4417,begin apogee
$GC,4423,-0.31,0.0,502.2,10.4,218,4509,1.33,0.00,82.00,0.903,6,0.094,0.000,3103,1981,3010,0,0,0,0,0,0
$STATE,4510,end apogee,CONTROL_FINISHED_OK
$STATE,4510,begin climb
$GC,4514,1.48,97.3,504.8,0.0,220,4601,1.62,0.00,82.95,0.886,6,0.037,0.000,3502,1982,2613,0,0,0,0,0,0
$GC,4922,1.42,144.9,485.8,6.7,230,4969,0.00,2.75,40.80,0.867,4,0.000,0.052,3502,3577,2418,0,0,0,0,0,0
$GC,5048,1.30,144.9,473.8,10.4,233,5053,0.20,2.70,0.00,0.000,6,0.120,0.053,3462,1998,2414,0,0,0,0,0,0
$GC,5372,1.35,178.7,446.8,7.7,241,5404,0.00,0.00,30.20,0.848,6,0.000,0.000,3462,1997,2281,0,0,0,0,0,0
$GC,5699,1.37,199.2,419.6,8.6,249,5719,0.00,0.00,18.75,0.816,6,0.000,0.000,3462,1997,2197,0,0,0,0,0,0
$GC,6022,1.37,200.3,387.3,10.0,257,6027,0.00,2.85,0.00,0.000,4,0.000,0.087,3462,405,2191,0,0,0,0,0,0
$GC,6096,1.32,200.3,379.3,10.8,258,6100,0.00,2.58,0.00,0.000,6,0.000,0.020,3462,2013,2190,0,0,0,0,0,0
$GC,6429,1.33,202.9,346.7,9.9,266,6430,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2013,2189,0,0,0,0,0,0
$GC,6752,1.33,204.5,314.7,9.9,274,6762,0.00,2.58,4.50,0.568,4,0.000,0.044,3462,3570,2175,0,0,0,0,0,0
$GC,6842,1.34,214.0,305.8,9.4,276,6857,0.00,2.58,10.20,0.721,6,0.000,0.036,3462,1995,2137,0,0,0,0,0,0
$GC,7202,1.43,245.5,277.0,7.9,285,7237,0.10,2.83,28.73,0.754,4,0.091,0.065,3489,417,2009,0,0,0,0,0,0
$GC,7310,1.38,245.5,265.6,11.1,287,7315,0.00,2.53,0.00,0.000,6,0.000,0.018,3489,2008,2005,0,0,0,0,0,0
$GC,7652,1.38,245.5,230.0,10.3,296,7653,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,2008,2003,0,0,0,0,0,0
$GC,7977,1.40,261.7,199.2,8.9,304,7998,0.00,2.78,15.10,0.669,4,0.000,0.058,3489,406,1941,0,0,0,0,0,0
$GC,8070,1.40,261.7,189.9,10.2,312,8075,0.00,2.53,0.00,0.000,6,0.000,0.018,3489,2015,1939,0,0,0,0,0,0
$GC,8395,1.48,276.0,159.6,9.1,342,8414,0.00,2.75,13.60,0.624,4,0.000,0.058,3489,407,1883,0,0,0,0,0,0
$GC,8489,1.48,276.0,150.2,10.2,349,8493,0.00,2.50,0.00,0.000,6,0.000,0.024,3489,2007,1881,0,0,0,0,0,0
$GC,8819,1.56,276.0,116.1,10.5,379,8824,0.10,2.70,0.00,0.000,4,0.087,0.051,3519,412,1880,0,0,0,0,0,0
$GC,8876,1.56,276.0,108.8,13.4,383,8881,0.00,2.47,0.00,0.000,6,0.000,0.023,3519,2004,1879,0,0,0,0,0,0
$GC,9207,1.64,296.7,77.5,8.6,413,9234,0.00,2.55,17.92,0.559,4,0.000,0.031,3519,3552,1803,0,0,0,0,0,0
$GC,9264,1.72,296.7,72.1,10.4,417,9269,0.12,2.53,0.00,0.000,6,0.079,0.029,3552,1997,1802,0,0,0,0,0,0
$GC,9594,1.72,296.7,37.1,10.9,447,9599,0.00,2.62,0.00,0.000,4,0.000,0.050,3552,410,1801,0,0,0,0,0,0
$GC,9653,1.68,296.7,29.6,11.1,451,9663,0.00,2.47,0.00,0.000,6,0.000,0.017,3552,1993,1800,0,0,0,0,0,0
$STATE,9901,end climb,SURFACE_DEPTH_REACHED
$STATE,9901,begin surface coast
$FINISH,0.6,0.977434
$STATE,9948,end surface coast,CONTROL_FINISHED_OK
$STATE,9948,begin surface
$SM_CCo,9972,68.88,0.507,0,0,1460,380.21
$SM_GC,1.31,0.00,0.00,68.88,0.000,0.000,0.507,474,1995,1460,-12.42,-0.42,380.21
$IRIDIUM_FIX,2244.02,-15759.32,270900,141417
$TT8_MAMPS,0.026078
$HUMID,63.66
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.20
$XPDR_PINGS,42
$24V_AH,23.5,55.738
$10V_AH,10.2,49.798
$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,28.750,102.925,344.750,68.875,0.000,28.328,41.281,147.156,10.500,0.000,16.967,980.366,6612.857,476.254,1835.579,485.578,33.372,1121.416,0.000,1843.487,0.000,0.534,0.000
$DEVICE_MAMPS,199.420,128.089,902.759,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,335.919,270.629,380.078,722.185,1092.114,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355448
$DATA_FILE_SIZE,38346,495
$CAP_FILE_SIZE,93061,0
$CFSIZE,260165632,158654464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040711,202236,2250.212,-15759.741,36,1.1,41,10.1