version: 66.06
glider: 146
mission: 6
dive: 451
start: 7 4 111 23 22 27
data:
$ID,146
$MISSION,6
$DIVE,451
$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,-278994.19
$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,71
$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
$GPS1,231528,2250.367,-15759.134,11,99.0,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.9
$GPS2,232136,2250.404,-15759.166,10,1.6,26,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.192,-0.098
$KALMAN_X,-351749.0,-150.5,-85.5,347936.0,-574.8
$KALMAN_Y,106535.6,-257.4,387.4,-94627.9,709.8
$MHEAD_RNG_PITCHd_Wd,107.0,3772,-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,-70.80,0.000,2,0.000,0.000,477,2033,3241,0,0,0,0,0,0
$GC,91,-1.48,-97.3,3.4,-5.5,9,117,12.48,2.72,-3.15,0.000,4,0.153,0.061,2845,422,3411,0,0,0,0,0,0
$GC,137,-0.87,-97.3,17.4,-30.7,14,146,0.60,2.45,0.00,0.000,6,0.094,0.021,2978,2008,3412,0,0,0,0,0,0
$GC,493,-1.05,-97.3,52.5,-8.8,53,502,0.15,0.00,0.00,0.000,6,0.064,0.000,2928,2009,3413,0,0,0,0,0,0
$GC,822,-1.13,-97.3,90.8,-11.7,84,826,0.00,2.45,0.00,0.000,4,0.000,0.028,2928,3556,3414,0,0,0,0,0,0
$GC,878,-1.27,-97.3,97.8,-11.3,88,888,0.10,2.45,0.00,0.000,6,0.038,0.029,2878,2018,3414,0,0,0,0,0,0
$GC,1207,-1.34,-97.3,135.4,-10.6,119,1212,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,2018,3414,0,0,0,0,0,0
$GC,1536,-1.42,-97.3,166.7,-8.3,150,1540,0.00,2.42,0.00,0.000,4,0.000,0.035,2878,3558,3415,0,0,0,0,0,0
$GC,1593,-1.57,-97.3,171.8,-8.8,154,1598,0.17,2.40,0.00,0.000,6,0.049,0.021,2807,2012,3416,0,0,0,0,0,0
$GC,1914,-1.57,-97.3,210.4,-11.7,178,1919,0.12,2.45,0.00,0.000,4,0.108,0.030,2834,3556,3416,0,0,0,0,0,0
$GC,1947,-1.61,-97.3,214.0,-10.6,178,1953,0.00,2.40,0.00,0.000,6,0.000,0.025,2834,2027,3416,0,0,0,0,0,0
$GC,2278,-1.61,-97.3,246.3,-9.2,187,2283,0.00,2.67,0.00,0.000,4,0.000,0.058,2833,436,3417,0,0,0,0,0,0
$GC,2295,-1.61,-97.3,247.9,-9.5,187,2300,0.00,2.45,0.00,0.000,6,0.000,0.018,2833,2033,3416,0,0,0,0,0,0
$GC,2638,-1.66,-97.3,286.9,-12.1,196,2639,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2034,3416,0,0,0,0,0,0
$GC,2963,-1.73,-97.3,319.9,-9.5,204,2968,0.15,2.50,0.00,0.000,4,0.065,0.038,2784,3570,3417,0,0,0,0,0,0
$GC,3130,-1.73,-97.3,338.6,-10.9,207,3136,0.00,2.47,0.00,0.000,6,0.000,0.041,2783,2052,3417,0,0,0,0,0,0
$GC,3462,-1.73,-97.3,372.1,-10.1,216,3466,0.00,2.85,0.00,0.000,4,0.000,0.081,2783,424,3415,0,0,0,0,0,0
$GC,3490,-1.67,-97.3,375.3,-12.0,216,3495,0.12,2.55,0.00,0.000,6,0.115,0.035,2809,2021,3415,0,0,0,0,0,0
$GC,3822,-1.71,-97.3,410.6,-11.2,224,3826,0.00,2.67,0.00,0.000,4,0.000,0.056,2809,3592,3414,0,0,0,0,0,0
$GC,3843,-1.76,-97.3,413.3,-11.7,224,3847,0.00,2.58,0.00,0.000,6,0.000,0.045,2809,2049,3413,0,0,0,0,0,0
$GC,4181,-1.81,-97.3,451.0,-10.9,233,4186,0.12,3.03,0.00,0.000,4,0.074,0.109,2769,420,3410,0,0,0,0,0,0
$GC,4197,-1.81,-97.3,453.1,-10.3,233,4202,0.00,2.65,0.00,0.000,6,0.000,0.038,2769,2040,3410,0,0,0,0,0,0
$GC,4539,-1.81,-97.3,491.2,-10.6,242,4544,0.00,2.67,0.00,0.000,4,0.000,0.067,2769,3600,3409,0,0,0,0,0,0
$GC,4592,-1.81,-97.3,496.6,-10.8,243,4596,0.00,2.60,0.00,0.000,6,0.000,0.058,2769,2050,3408,0,0,0,0,0,0
$STATE,4658,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4658,begin apogee
$GC,4664,-0.31,0.0,504.0,10.5,245,4750,1.50,0.00,82.05,0.908,6,0.083,0.000,3104,1994,3010,0,0,0,0,0,0
$STATE,4751,end apogee,CONTROL_FINISHED_OK
$STATE,4751,begin climb
$GC,4753,1.48,97.3,505.6,0.0,247,4844,1.67,2.80,82.95,0.889,4,0.047,0.054,3507,3603,2612,0,0,0,0,0,0
$GC,4876,1.38,147.2,502.9,6.6,250,4926,0.15,2.75,44.05,0.870,6,0.128,0.047,3479,1991,2409,0,0,0,0,0,0
$GC,5234,1.31,147.2,467.7,10.2,259,5239,0.00,2.92,0.00,0.000,4,0.000,0.104,3478,405,2399,0,0,0,0,0,0
$GC,5284,1.18,147.2,462.2,10.7,260,5289,0.22,2.60,0.00,0.000,6,0.117,0.035,3434,2007,2397,0,0,0,0,0,0
$GC,5597,1.23,185.8,437.8,7.4,268,5636,0.00,0.00,33.33,0.847,6,0.000,0.000,3434,2007,2251,0,0,0,0,0,0
$GC,5963,1.26,216.5,408.7,7.9,277,5998,0.00,2.90,27.55,0.828,4,0.000,0.072,3434,411,2126,0,0,0,0,0,0
$GC,6054,1.26,216.5,399.6,10.2,279,6059,0.00,2.58,0.00,0.000,6,0.000,0.027,3434,2008,2123,0,0,0,0,0,0
$GC,6381,1.34,236.2,369.9,8.7,287,6406,0.15,2.88,18.00,0.795,4,0.074,0.067,3473,405,2046,0,0,0,0,0,0
$GC,6502,1.28,236.2,355.8,12.3,289,6506,0.00,2.53,0.00,0.000,6,0.000,0.020,3473,1985,2043,0,0,0,0,0,0
$GC,6835,1.28,236.2,321.9,10.0,297,6839,0.00,2.72,0.00,0.000,4,0.000,0.064,3473,403,2041,0,0,0,0,0,0
$GC,6919,1.23,236.2,312.7,10.3,299,6924,0.15,2.50,0.00,0.000,6,0.120,0.021,3444,1977,2039,0,0,0,0,0,0
$GC,7245,1.32,270.5,286.6,7.7,307,7281,0.00,2.65,30.75,0.764,4,0.000,0.037,3443,3571,1906,0,0,0,0,0,0
$GC,7345,1.43,280.8,277.5,9.3,308,7362,0.17,2.65,10.40,0.693,6,0.065,0.036,3490,1959,1865,0,0,0,0,0,0
$GC,7695,1.43,280.8,241.0,10.2,317,7699,0.00,2.67,0.00,0.000,4,0.000,0.068,3490,411,1860,0,0,0,0,0,0
$GC,7789,1.43,280.8,230.2,10.7,319,7793,0.00,2.47,0.00,0.000,6,0.000,0.024,3490,1983,1859,0,0,0,0,0,0
$GC,8102,1.47,280.8,197.2,10.8,327,8107,0.00,2.67,0.00,0.000,4,0.000,0.058,3490,410,1858,0,0,0,0,0,0
$GC,8124,1.47,280.8,195.2,10.9,328,8128,0.00,2.42,0.00,0.000,6,0.000,0.025,3490,1969,1858,0,0,0,0,0,0
$GC,8452,1.52,280.8,158.0,10.3,358,8457,0.00,2.65,0.00,0.000,4,0.000,0.059,3490,404,1857,0,0,0,0,0,0
$GC,8487,1.52,280.8,153.8,11.7,360,8496,0.00,2.47,0.00,0.000,6,0.000,0.024,3490,1974,1856,0,0,0,0,0,0
$GC,8817,1.64,309.5,125.2,8.1,391,8849,0.17,2.75,24.62,0.620,4,0.064,0.054,3536,408,1747,0,0,0,0,0,0
$GC,8874,1.59,309.5,119.2,11.1,396,8884,0.00,2.47,0.00,0.000,6,0.000,0.018,3537,1965,1746,0,0,0,0,0,0
$GC,9205,1.60,317.0,84.9,9.5,427,9215,0.00,0.00,8.05,0.518,6,0.000,0.000,3536,1966,1716,0,0,0,0,0,0
$GC,9533,1.60,319.0,52.4,9.9,458,9537,0.00,2.62,0.00,0.000,4,0.000,0.053,3537,406,1715,0,0,0,0,0,0
$GC,9591,1.60,319.0,45.3,11.7,462,9600,0.00,2.45,0.00,0.000,6,0.000,0.017,3536,1974,1714,0,0,0,0,0,0
$GC,9962,1.60,319.0,6.1,11.4,509,9971,0.00,2.65,0.00,0.000,4,0.000,0.051,3537,408,1714,0,0,0,0,0,0
$STATE,9978,end climb,SURFACE_DEPTH_REACHED
$STATE,9978,begin surface coast
$FINISH,0.5,0.980017
$STATE,10025,end surface coast,CONTROL_FINISHED_OK
$STATE,10026,begin surface
$SM_CCo,10052,52.05,0.510,0,0,1460,380.21
$SM_GC,1.30,0.00,0.00,52.05,0.000,0.000,0.510,474,2041,1460,-12.42,0.88,380.21
$IRIDIUM_FIX,2241.69,-15757.16,270900,202026
$TT8_MAMPS,0.025311
$HUMID,64.37
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.50
$XPDR_PINGS,47
$24V_AH,23.5,55.951
$10V_AH,10.1,50.025
$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,30.675,114.875,361.750,52.050,0.000,29.351,38.820,149.867,11.750,0.000,28.307,1025.408,6437.845,484.944,2023.863,497.854,33.366,1196.574,0.000,2014.713,0.000,0.534,0.000
$DEVICE_MAMPS,153.400,137.293,908.128,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.903,294.189,406.162,805.920,1214.189,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355400
$DATA_FILE_SIZE,41506,518
$CAP_FILE_SIZE,100174,0
$CFSIZE,260165632,158539776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050711,021207,2250.059,-15758.394,35,1.2,35,10.1