version: 66.06
glider: 146
mission: 6
dive: 456
start: 7 5 111 13 55 30
data:
$ID,146
$MISSION,6
$DIVE,456
$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,-279151.44
$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
$GPS1,134834,2249.672,-15757.804,13,2.7,32,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-71.6
$GPS2,135440,2249.673,-15757.809,10,2.1,29,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.083,-0.199
$KALMAN_X,-356313.6,120.3,98.5,354368.7,-826.3
$KALMAN_Y,111837.4,443.9,277.3,-101871.6,168.4
$MHEAD_RNG_PITCHd_Wd,147.2,4950,-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,-70.90,0.000,2,0.000,0.000,477,1991,3259,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.8,-7.2,9,118,12.48,2.62,-2.75,0.000,4,0.154,0.054,2843,430,3410,0,0,0,0,0,0
$GC,235,-1.38,-97.3,34.7,-17.0,27,240,0.15,2.42,0.00,0.000,6,0.150,0.015,2872,2022,3411,0,0,0,0,0,0
$GC,564,-1.38,-97.3,81.5,-12.9,57,568,0.00,2.40,0.00,0.000,4,0.000,0.028,2872,3554,3412,0,0,0,0,0,0
$GC,606,-1.42,-97.3,86.9,-10.6,60,611,0.00,2.45,0.00,0.000,6,0.000,0.025,2872,2004,3412,0,0,0,0,0,0
$GC,931,-1.42,-97.3,124.9,-11.7,90,932,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2004,3413,0,0,0,0,0,0
$GC,1253,-1.49,-97.3,162.3,-10.9,120,1258,0.10,2.50,0.00,0.000,4,0.086,0.032,2833,3561,3414,0,0,0,0,0,0
$GC,1333,-1.49,-97.3,172.3,-11.4,126,1342,0.00,2.42,0.00,0.000,6,0.000,0.020,2832,2027,3414,0,0,0,0,0,0
$GC,1690,-1.49,-97.3,208.3,-9.5,154,1694,0.00,2.62,0.00,0.000,4,0.000,0.058,2832,438,3414,0,0,0,0,0,0
$GC,1711,-1.49,-97.3,211.0,-10.2,154,1715,0.00,2.42,0.00,0.000,6,0.000,0.015,2832,2040,3415,0,0,0,0,0,0
$GC,2049,-1.49,-97.3,248.8,-11.9,163,2051,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,2040,3415,0,0,0,0,0,0
$GC,2373,-1.55,-97.3,282.1,-9.6,171,2378,0.00,2.42,0.00,0.000,4,0.000,0.036,2832,3551,3415,0,0,0,0,0,0
$GC,2505,-1.65,-97.3,293.4,-8.0,174,2510,0.00,2.40,0.00,0.000,6,0.000,0.028,2832,2039,3415,0,0,0,0,0,0
$GC,2832,-1.72,-97.3,319.1,-8.3,182,2837,0.15,2.80,0.00,0.000,4,0.064,0.075,2777,421,3415,0,0,0,0,0,0
$GC,2865,-1.64,-97.3,323.0,-11.4,182,2871,0.17,2.47,0.00,0.000,6,0.103,0.022,2814,1997,3415,0,0,0,0,0,0
$GC,3198,-1.69,-97.3,356.3,-10.0,191,3199,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1997,3414,0,0,0,0,0,0
$GC,3521,-1.74,-97.3,388.6,-10.0,199,3526,0.00,2.65,0.00,0.000,4,0.000,0.054,2815,3591,3412,0,0,0,0,0,0
$GC,3566,-1.82,-97.3,393.3,-10.3,200,3571,0.15,2.58,0.00,0.000,6,0.059,0.047,2760,2043,3413,0,0,0,0,0,0
$GC,3886,-1.78,-97.3,432.5,-12.4,208,3891,0.12,2.58,0.00,0.000,4,0.112,0.051,2785,3581,3410,0,0,0,0,0,0
$GC,3913,-1.78,-97.3,436.3,-12.6,208,3918,0.00,2.60,0.00,0.000,6,0.000,0.050,2785,2031,3410,0,0,0,0,0,0
$GC,4244,-1.78,-97.3,474.2,-11.5,216,4246,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2031,3408,0,0,0,0,0,0
$STATE,4526,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4526,begin apogee
$GC,4534,-0.31,0.0,504.0,10.1,223,4620,1.42,0.00,81.62,0.910,6,0.082,0.000,3105,1990,3009,0,0,0,0,0,0
$STATE,4621,end apogee,CONTROL_FINISHED_OK
$STATE,4621,begin climb
$GC,4623,1.48,97.3,505.2,0.0,225,4718,1.62,3.05,82.57,0.887,4,0.046,0.113,3502,411,2612,0,0,0,0,0,0
$GC,4747,1.30,134.8,502.2,7.5,228,4789,0.20,2.60,33.30,0.861,6,0.118,0.035,3462,1987,2459,0,0,0,0,0,0
$GC,5115,1.26,134.8,465.2,10.2,237,5116,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,1987,2450,0,0,0,0,0,0
$GC,5440,1.24,147.2,434.5,9.2,245,5455,0.00,2.80,10.05,0.774,4,0.000,0.068,3462,404,2408,0,0,0,0,0,0
$GC,5489,1.13,147.2,429.5,11.0,246,5495,0.20,2.62,0.00,0.000,6,0.116,0.027,3422,2011,2407,0,0,0,0,0,0
$GC,5804,1.23,187.3,405.4,7.3,254,5846,0.00,2.67,36.38,0.839,4,0.000,0.045,3422,3577,2245,0,0,0,0,0,0
$GC,5887,1.32,208.8,399.2,8.6,255,5913,0.17,2.65,20.17,0.806,6,0.074,0.041,3467,1995,2158,0,0,0,0,0,0
$GC,6261,1.32,212.8,362.8,9.8,265,6270,0.00,2.85,3.83,0.522,4,0.000,0.081,3467,406,2141,0,0,0,0,0,0
$GC,6315,1.28,212.8,356.0,12.1,266,6320,0.00,2.58,0.00,0.000,6,0.000,0.020,3467,2015,2140,0,0,0,0,0,0
$GC,6630,1.29,217.7,324.8,9.7,274,6641,0.00,2.80,5.93,0.648,4,0.000,0.060,3467,410,2120,0,0,0,0,0,0
$GC,6725,1.29,217.7,314.3,11.0,276,6730,0.00,2.53,0.00,0.000,6,0.000,0.021,3467,1995,2119,0,0,0,0,0,0
$GC,7039,1.30,229.9,284.3,9.2,284,7058,0.00,2.83,11.82,0.727,4,0.000,0.061,3467,403,2072,0,0,0,0,0,0
$GC,7128,1.31,230.5,275.9,10.0,286,7132,0.00,2.53,0.00,0.000,6,0.000,0.021,3467,1989,2070,0,0,0,0,0,0
$GC,7452,1.39,258.3,248.5,8.1,294,7486,0.00,2.67,26.55,0.733,4,0.000,0.039,3467,3562,1954,0,0,0,0,0,0
$GC,7557,1.48,267.2,239.1,9.4,296,7572,0.12,2.60,8.82,0.652,6,0.084,0.032,3500,1983,1920,0,0,0,0,0,0
$GC,7911,1.49,271.8,203.8,9.7,305,7921,0.00,2.70,4.97,0.535,4,0.000,0.061,3500,414,1901,0,0,0,0,0,0
$GC,8058,1.49,271.8,186.7,11.3,315,8068,0.00,2.47,0.00,0.000,6,0.000,0.025,3500,1976,1900,0,0,0,0,0,0
$GC,8387,1.55,284.3,155.5,9.2,346,8408,0.00,2.72,12.52,0.621,4,0.000,0.052,3500,414,1849,0,0,0,0,0,0
$GC,8425,1.55,284.3,151.8,10.3,349,8429,0.00,2.45,0.00,0.000,6,0.000,0.019,3500,1972,1848,0,0,0,0,0,0
$GC,8756,1.62,286.3,117.9,9.9,379,8761,0.12,0.00,0.00,0.000,6,0.079,0.000,3534,1972,1847,0,0,0,0,0,0
$GC,9081,1.70,315.9,84.8,8.0,410,9114,0.00,0.00,28.27,0.580,6,0.000,0.000,3534,1973,1720,0,0,0,0,0,0
$GC,9433,1.75,322.8,52.7,9.6,443,9447,0.00,2.65,6.88,0.471,4,0.000,0.048,3534,403,1693,0,0,0,0,0,0
$GC,9476,1.75,322.8,48.2,11.1,446,9481,0.00,2.42,0.00,0.000,6,0.000,0.017,3534,1979,1693,0,0,0,0,0,0
$GC,9854,1.75,322.8,5.6,10.8,491,9863,0.00,2.65,0.00,0.000,4,0.000,0.049,3534,411,1692,0,0,0,0,0,0
$STATE,9871,end climb,SURFACE_DEPTH_REACHED
$STATE,9871,begin surface coast
$FINISH,0.5,0.976363
$STATE,9914,end surface coast,CONTROL_FINISHED_OK
$STATE,9914,begin surface
$SM_CCo,9940,48.05,0.506,0,0,1460,380.21
$SM_GC,1.22,0.00,0.00,48.05,0.000,0.000,0.506,477,2033,1460,-12.42,0.65,380.21
$IRIDIUM_FIX,2239.35,-15759.32,280900,111156
$TT8_MAMPS,0.026078
$HUMID,64.29
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.60
$XPDR_PINGS,41
$24V_AH,23.5,56.483
$10V_AH,10.1,50.583
$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,29.625,98.825,373.700,48.050,0.000,28.967,32.166,151.801,10.250,0.000,31.655,984.786,6497.247,460.950,1924.310,483.028,33.371,1144.148,0.000,1905.895,0.000,0.535,0.000
$DEVICE_MAMPS,154.167,153.400,909.662,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,338.119,269.825,384.719,728.739,1098.182,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355452
$DATA_FILE_SIZE,38391,499
$CAP_FILE_SIZE,95737,0
$CFSIZE,260165632,158285824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050711,164307,2248.763,-15757.935,28,1.1,28,10.1