version: 66.06
glider: 146
mission: 6
dive: 454
start: 7 5 111 8 6 57
data:
$ID,146
$MISSION,6
$DIVE,454
$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,-279087.22
$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,31
$R_STBD_OVSHOOT,63
$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
$GPS1,075922,2250.213,-15757.440,10,99.0,29,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.9
$GPS2,080606,2250.307,-15757.433,42,1.0,42,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.049,-0.210
$KALMAN_X,-354363.4,-38.8,-197.2,353510.7,-538.5
$KALMAN_Y,109432.0,176.9,-80.7,-97671.8,1585.7
$MHEAD_RNG_PITCHd_Wd,156.8,6156,-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,-70.80,0.000,2,0.000,0.000,474,1987,3240,0,0,0,0,0,0
$GC,93,-1.48,-97.3,3.3,-4.8,9,119,12.32,2.58,-3.17,0.000,4,0.148,0.048,2842,434,3409,0,0,0,0,0,0
$GC,212,-1.37,-97.3,29.6,-17.3,25,222,0.12,2.45,0.00,0.000,6,0.107,0.015,2871,2023,3411,0,0,0,0,0,0
$GC,542,-1.37,-97.3,77.9,-14.6,56,546,0.00,2.42,0.00,0.000,4,0.000,0.034,2871,3557,3411,0,0,0,0,0,0
$GC,576,-1.37,-97.3,83.7,-13.8,58,585,0.00,2.47,0.00,0.000,6,0.000,0.030,2871,2004,3411,0,0,0,0,0,0
$GC,906,-1.37,-97.3,125.1,-11.5,89,910,0.00,2.45,0.00,0.000,4,0.000,0.034,2871,3558,3412,0,0,0,0,0,0
$GC,947,-1.44,-97.3,130.2,-11.3,92,952,0.00,2.42,0.00,0.000,6,0.000,0.023,2871,2018,3412,0,0,0,0,0,0
$GC,1273,-1.51,-97.3,160.2,-8.1,122,1278,0.10,2.45,0.00,0.000,4,0.084,0.034,2831,3561,3413,0,0,0,0,0,0
$GC,1308,-1.51,-97.3,162.8,-9.0,124,1312,0.00,2.42,0.00,0.000,6,0.000,0.028,2831,2012,3413,0,0,0,0,0,0
$GC,1636,-1.51,-97.3,198.3,-10.7,154,1641,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2012,3414,0,0,0,0,0,0
$GC,1979,-1.51,-97.3,237.8,-10.8,164,1984,0.00,2.45,0.00,0.000,4,0.000,0.028,2831,3561,3414,0,0,0,0,0,0
$GC,2024,-1.57,-97.3,241.9,-8.5,165,2029,0.00,2.42,0.00,0.000,6,0.000,0.025,2831,2023,3414,0,0,0,0,0,0
$GC,2344,-1.61,-97.3,266.2,-7.6,173,2345,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2022,3414,0,0,0,0,0,0
$GC,2670,-1.66,-97.3,296.1,-9.8,181,2674,0.00,2.45,0.00,0.000,4,0.000,0.038,2831,3555,3414,0,0,0,0,0,0
$GC,2725,-1.76,-97.3,302.0,-10.2,182,2730,0.15,2.45,0.00,0.000,6,0.058,0.027,2769,2029,3415,0,0,0,0,0,0
$GC,3075,-1.70,-97.3,345.0,-12.5,191,3080,0.15,2.53,0.00,0.000,4,0.105,0.041,2803,3560,3413,0,0,0,0,0,0
$GC,3277,-1.75,-97.3,367.7,-11.6,195,3281,0.00,2.47,0.00,0.000,6,0.000,0.039,2803,2046,3413,0,0,0,0,0,0
$GC,3614,-1.75,-97.3,402.3,-10.6,204,3619,0.00,2.88,0.00,0.000,4,0.000,0.093,2802,427,3412,0,0,0,0,0,0
$GC,3658,-1.75,-97.3,407.5,-11.4,205,3662,0.00,2.53,0.00,0.000,6,0.000,0.036,2802,1997,3411,0,0,0,0,0,0
$GC,3977,-1.75,-97.3,440.8,-10.5,213,3981,0.00,2.72,0.00,0.000,4,0.000,0.065,2802,3600,3409,0,0,0,0,0,0
$GC,4044,-1.80,-97.3,448.1,-10.8,214,4049,0.00,2.60,0.00,0.000,6,0.000,0.047,2802,2045,3408,0,0,0,0,0,0
$GC,4381,-1.84,-97.3,479.8,-9.2,223,4386,0.12,2.62,0.00,0.000,4,0.072,0.058,2762,3595,3406,0,0,0,0,0,0
$GC,4414,-1.84,-97.3,483.5,-10.6,223,4420,0.00,2.62,0.00,0.000,6,0.000,0.060,2762,2042,3406,0,0,0,0,0,0
$STATE,4580,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4580,begin apogee
$GC,4588,-0.31,0.0,501.6,10.8,228,4674,1.55,0.00,81.53,0.904,6,0.087,0.000,3105,1989,3010,0,0,0,0,0,0
$STATE,4674,end apogee,CONTROL_FINISHED_OK
$STATE,4675,begin climb
$GC,4677,1.48,97.3,503.9,0.0,230,4765,1.67,0.00,83.57,0.883,6,0.037,0.000,3509,1989,2613,0,0,0,0,0,0
$GC,5070,1.39,138.4,483.9,7.2,240,5108,0.15,0.00,35.62,0.861,6,0.125,0.000,3480,1989,2445,0,0,0,0,0,0
$GC,5434,1.33,140.8,450.0,9.9,249,5438,0.00,2.67,0.00,0.000,4,0.000,0.044,3480,3581,2437,0,0,0,0,0,0
$GC,5478,1.26,142.1,445.4,9.9,250,5483,0.15,2.67,0.00,0.000,6,0.130,0.043,3452,1998,2436,0,0,0,0,0,0
$GC,5798,1.29,164.1,417.1,8.5,258,5822,0.00,0.00,22.58,0.828,6,0.000,0.000,3452,1998,2339,0,0,0,0,0,0
$GC,6121,1.32,190.4,389.1,8.2,266,6147,0.00,0.00,24.23,0.817,6,0.000,0.000,3452,1998,2233,0,0,0,0,0,0
$GC,6446,1.35,216.3,361.7,8.2,274,6476,0.00,2.92,23.48,0.799,4,0.000,0.080,3451,406,2127,0,0,0,0,0,0
$GC,6582,1.35,216.3,348.1,10.5,277,6587,0.00,2.58,0.00,0.000,6,0.000,0.021,3451,2024,2123,0,0,0,0,0,0
$GC,6903,1.41,225.0,317.8,9.4,285,6918,0.12,2.85,8.57,0.701,4,0.083,0.061,3486,399,2091,0,0,0,0,0,0
$GC,6947,1.33,225.0,313.0,11.3,286,6951,0.00,2.60,0.00,0.000,6,0.000,0.025,3487,2020,2089,0,0,0,0,0,0
$GC,7271,1.34,230.1,281.1,9.7,294,7281,0.00,2.55,5.57,0.608,4,0.000,0.039,3486,3569,2070,0,0,0,0,0,0
$GC,7338,1.34,230.1,273.6,11.3,295,7343,0.00,2.55,0.00,0.000,6,0.000,0.036,3486,2008,2069,0,0,0,0,0,0
$GC,7674,1.34,230.1,236.2,10.9,304,7679,0.00,2.55,0.00,0.000,4,0.000,0.038,3486,3577,2068,0,0,0,0,0,0
$GC,7707,1.34,230.1,232.6,11.2,304,7713,0.00,2.55,0.00,0.000,6,0.000,0.032,3486,2012,2067,0,0,0,0,0,0
$GC,8040,1.40,276.1,206.6,6.9,313,8089,0.00,2.80,41.33,0.704,4,0.000,0.062,3486,406,1882,0,0,0,0,0,0
$GC,8106,1.40,280.5,200.8,9.7,314,8116,0.00,2.60,5.10,0.522,6,0.000,0.020,3486,2044,1866,0,0,0,0,0,0
$GC,8435,1.47,280.5,167.4,10.6,344,8440,0.00,2.78,0.00,0.000,4,0.000,0.053,3487,410,1862,0,0,0,0,0,0
$GC,8486,1.47,280.5,161.4,11.7,348,8491,0.00,2.55,0.00,0.000,6,0.000,0.025,3486,2034,1860,0,0,0,0,0,0
$GC,8811,1.57,302.1,129.2,8.6,378,8836,0.12,2.47,19.40,0.617,4,0.085,0.037,3520,3556,1777,0,0,0,0,0,0
$GC,8855,1.57,302.1,125.2,10.5,381,8859,0.00,2.50,0.00,0.000,6,0.000,0.028,3521,2024,1776,0,0,0,0,0,0
$GC,9184,1.62,306.5,92.2,9.7,411,9196,0.00,2.75,4.72,0.443,4,0.000,0.055,3520,407,1759,0,0,0,0,0,0
$GC,9295,1.62,306.5,79.3,11.3,420,9305,0.00,2.55,0.00,0.000,6,0.000,0.024,3521,2027,1758,0,0,0,0,0,0
$GC,9624,1.68,307.4,47.1,10.0,451,9628,0.00,2.67,0.00,0.000,4,0.000,0.048,3520,414,1758,0,0,0,0,0,0
$GC,9645,1.73,307.7,44.9,10.0,452,9650,0.12,2.47,0.00,0.000,6,0.081,0.018,3554,2027,1758,0,0,0,0,0,0
$GC,10020,1.73,307.7,5.7,10.6,499,10029,0.00,2.70,0.00,0.000,4,0.000,0.051,3554,419,1758,0,0,0,0,0,0
$STATE,10037,end climb,SURFACE_DEPTH_REACHED
$STATE,10037,begin surface coast
$FINISH,0.5,0.973913
$STATE,10086,end surface coast,CONTROL_FINISHED_OK
$STATE,10087,begin surface
$SM_CCo,10113,60.72,0.511,0,0,1459,380.21
$SM_GC,1.29,0.00,0.00,60.72,0.000,0.000,0.511,477,2028,1459,-12.42,0.54,380.21
$IRIDIUM_FIX,2241.69,-15759.32,280900,050544
$TT8_MAMPS,0.026078
$HUMID,64.09
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.30
$XPDR_PINGS,46
$24V_AH,23.5,56.272
$10V_AH,10.1,50.360
$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,29.375,108.375,355.700,60.725,0.000,29.812,32.729,172.098,11.500,0.000,44.080,1011.513,6628.924,507.880,1923.913,503.784,33.373,1162.752,0.000,1898.837,0.000,0.534,0.000
$DEVICE_MAMPS,148.031,140.361,903.526,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,344.556,289.721,389.776,744.482,1125.913,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355448
$DATA_FILE_SIZE,38447,508
$CAP_FILE_SIZE,96776,0
$CFSIZE,260165632,158392320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050711,105746,2250.313,-15757.656,14,2.2,33,10.1