version: 66.06
glider: 146
mission: 6
dive: 462
start: 7 6 111 7 58 8
data:
$ID,146
$MISSION,6
$DIVE,462
$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,621.34491
$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,-279264.56
$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,29
$R_STBD_OVSHOOT,61
$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
$GPS1,074208,2247.408,-15758.157,11,1.9,11,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.36
$_SM_ANGLEo,-71.3
$GPS2,075714,2247.578,-15758.193,15,1.9,15,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.025,-0.214
$KALMAN_X,-362401.3,-151.7,-130.5,360300.8,-671.7
$KALMAN_Y,120262.5,143.5,-423.4,-113178.8,2015.2
$MHEAD_RNG_PITCHd_Wd,176.5,8277,-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,-71.20,0.000,2,0.000,0.000,475,1994,3291,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.8,-6.6,9,118,12.55,2.62,-2.12,0.000,4,0.156,0.054,2844,432,3410,0,0,0,0,0,0
$GC,223,-1.37,-97.3,34.2,-17.5,26,228,0.15,2.40,0.00,0.000,6,0.129,0.014,2873,2030,3411,0,0,0,0,0,0
$GC,552,-1.37,-97.3,80.6,-13.6,56,556,0.00,2.40,0.00,0.000,4,0.000,0.028,2872,3547,3412,0,0,0,0,0,0
$GC,573,-1.37,-97.3,83.7,-13.9,57,577,0.00,2.42,0.00,0.000,6,0.000,0.026,2873,1998,3412,0,0,0,0,0,0
$GC,901,-1.37,-97.3,128.2,-12.8,87,905,0.00,2.47,0.00,0.000,4,0.000,0.032,2873,3554,3412,0,0,0,0,0,0
$GC,957,-1.42,-97.3,135.3,-12.8,91,961,0.00,2.40,0.00,0.000,6,0.000,0.028,2873,2012,3413,0,0,0,0,0,0
$GC,1286,-1.49,-97.3,169.0,-8.8,121,1291,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2012,3413,0,0,0,0,0,0
$GC,1615,-1.58,-97.3,194.5,-7.9,152,1620,0.17,2.45,0.00,0.000,4,0.058,0.028,2814,3554,3413,0,0,0,0,0,0
$GC,1637,-1.58,-97.3,197.2,-10.0,153,1648,0.00,2.42,0.00,0.000,6,0.000,0.027,2814,2021,3414,0,0,0,0,0,0
$GC,1949,-1.58,-97.3,232.0,-11.7,163,1950,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2021,3413,0,0,0,0,0,0
$GC,2275,-1.58,-97.3,269.3,-11.5,171,2280,0.00,2.45,0.00,0.000,4,0.000,0.038,2814,3547,3414,0,0,0,0,0,0
$GC,2354,-1.62,-97.3,278.8,-12.2,172,2360,0.00,2.42,0.00,0.000,6,0.000,0.028,2814,2023,3414,0,0,0,0,0,0
$GC,2685,-1.62,-97.3,310.9,-9.0,181,2690,0.00,2.72,0.00,0.000,4,0.000,0.071,2814,434,3414,0,0,0,0,0,0
$GC,2708,-1.62,-97.3,313.1,-9.7,181,2712,0.00,2.40,0.00,0.000,6,0.000,0.028,2814,1963,3414,0,0,0,0,0,0
$GC,3050,-1.62,-97.3,349.4,-10.5,190,3054,0.00,2.65,0.00,0.000,4,0.000,0.052,2814,3581,3413,0,0,0,0,0,0
$GC,3144,-1.68,-97.3,360.0,-11.3,192,3149,0.00,2.55,0.00,0.000,6,0.000,0.039,2814,2016,3412,0,0,0,0,0,0
$GC,3460,-1.72,-97.3,391.2,-9.7,200,3464,0.00,2.60,0.00,0.000,4,0.000,0.044,2813,3587,3411,0,0,0,0,0,0
$GC,3578,-1.80,-97.3,402.6,-9.1,202,3584,0.12,2.60,0.00,0.000,6,0.067,0.045,2763,2015,3410,0,0,0,0,0,0
$GC,3912,-1.75,-97.3,435.2,-9.7,210,3917,0.12,2.90,0.00,0.000,4,0.114,0.098,2790,424,3408,0,0,0,0,0,0
$GC,3929,-1.71,-97.3,437.2,-9.8,210,3933,0.00,2.58,0.00,0.000,6,0.000,0.038,2790,2001,3408,0,0,0,0,0,0
$GC,4272,-1.71,-97.3,472.4,-10.8,219,4276,0.00,2.72,0.00,0.000,4,0.000,0.066,2790,3590,3405,0,0,0,0,0,0
$GC,4321,-1.75,-97.3,478.7,-12.2,220,4326,0.00,2.65,0.00,0.000,6,0.000,0.051,2790,2018,3405,0,0,0,0,0,0
$STATE,4510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4510,begin apogee
$GC,4515,-0.31,0.0,500.4,11.4,225,4600,1.40,0.00,80.95,0.899,6,0.081,0.000,3106,2019,3010,0,0,0,0,0,0
$STATE,4601,end apogee,CONTROL_FINISHED_OK
$STATE,4601,begin climb
$GC,4605,1.48,97.3,503.6,0.0,227,4698,1.62,2.75,82.72,0.881,4,0.037,0.054,3505,3583,2612,0,0,0,0,0,0
$GC,4732,1.42,171.7,504.1,4.9,230,4803,0.10,2.72,64.62,0.870,6,0.142,0.049,3487,1995,2310,0,0,0,0,0,0
$GC,5128,1.35,171.7,460.5,11.8,239,5133,0.00,2.95,0.00,0.000,4,0.000,0.100,3487,400,2299,0,0,0,0,0,0
$GC,5183,1.23,171.7,453.2,13.6,240,5189,0.22,2.62,0.00,0.000,6,0.114,0.034,3442,2003,2298,0,0,0,0,0,0
$GC,5533,1.26,196.6,421.7,8.3,249,5562,0.00,2.88,21.27,0.820,4,0.000,0.072,3442,403,2206,0,0,0,0,0,0
$GC,5648,1.26,199.6,410.9,9.8,251,5653,0.00,2.55,0.00,0.000,6,0.000,0.025,3442,1993,2203,0,0,0,0,0,0
$GC,5987,1.27,205.5,379.5,9.6,260,6001,0.00,2.83,8.25,0.720,4,0.000,0.067,3442,407,2171,0,0,0,0,0,0
$GC,6035,1.27,205.5,374.0,11.1,261,6039,0.00,2.55,0.00,0.000,6,0.000,0.027,3442,1993,2170,0,0,0,0,0,0
$GC,6355,1.34,216.5,343.6,9.3,269,6372,0.10,2.62,10.80,0.742,4,0.096,0.041,3469,3580,2127,0,0,0,0,0,0
$GC,6428,1.34,216.5,335.8,11.1,270,6432,0.00,2.65,0.00,0.000,6,0.000,0.037,3469,1965,2125,0,0,0,0,0,0
$GC,6764,1.35,224.2,303.5,9.5,279,6778,0.00,2.70,7.72,0.679,4,0.000,0.036,3469,3569,2096,0,0,0,0,0,0
$GC,6860,1.39,224.2,292.9,11.5,281,6864,0.00,2.60,0.00,0.000,6,0.000,0.031,3469,1976,2094,0,0,0,0,0,0
$GC,7178,1.44,233.0,260.6,9.4,289,7189,0.00,0.00,9.07,0.676,6,0.000,0.000,3469,1976,2060,0,0,0,0,0,0
$GC,7505,1.50,242.7,230.8,9.4,297,7521,0.12,2.72,10.18,0.666,4,0.082,0.067,3506,411,2019,0,0,0,0,0,0
$GC,7566,1.44,242.7,223.2,13.1,298,7570,0.00,2.50,0.00,0.000,6,0.000,0.019,3505,2003,2017,0,0,0,0,0,0
$GC,7886,1.44,242.7,189.7,11.2,313,7891,0.00,2.70,0.00,0.000,4,0.000,0.058,3505,410,2016,0,0,0,0,0,0
$GC,7983,1.40,242.7,177.6,11.4,321,7989,0.12,2.45,0.00,0.000,6,0.122,0.019,3481,1972,2014,0,0,0,0,0,0
$GC,8312,1.48,250.4,147.3,9.5,351,8326,0.00,2.67,7.43,0.565,4,0.000,0.056,3480,414,1989,0,0,0,0,0,0
$GC,8350,1.48,253.1,143.2,9.9,354,8360,0.00,2.45,4.07,0.436,6,0.000,0.025,3480,1964,1977,0,0,0,0,0,0
$GC,8681,1.67,323.2,119.9,5.2,385,8752,0.25,2.72,61.03,0.617,4,0.056,0.058,3550,406,1690,0,0,0,0,0,0
$GC,8805,1.63,323.2,108.4,11.8,395,8809,0.00,2.45,0.00,0.000,6,0.000,0.021,3550,1964,1687,0,0,0,0,0,0
$GC,9135,1.63,323.2,72.9,11.2,425,9143,0.00,0.00,0.00,0.000,6,0.000,0.000,3550,1966,1685,0,0,0,0,0,0
$GC,9466,1.63,323.2,35.1,11.3,456,9470,0.00,2.60,0.00,0.000,4,0.000,0.047,3550,406,1685,0,0,0,0,0,0
$GC,9566,1.63,323.2,21.9,12.4,467,9574,0.08,2.42,0.00,0.000,6,0.098,0.017,3531,1958,1682,0,0,0,0,0,0
$STATE,9749,end climb,SURFACE_DEPTH_REACHED
$STATE,9749,begin surface coast
$FINISH,0.6,0.974462
$STATE,9798,end surface coast,CONTROL_FINISHED_OK
$STATE,9798,begin surface
$SM_CCo,9820,236.20,0.502,0,0,476,621.34
$SM_GC,1.08,0.00,0.00,236.20,0.000,0.000,0.502,477,1959,476,-12.41,-1.44,621.34
$IRIDIUM_FIX,2239.35,-15757.16,290900,080820
$TT8_MAMPS,0.026078
$HUMID,60.31
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,21.30
$XPDR_PINGS,42
$24V_AH,23.5,57.237
$10V_AH,10.1,51.261
$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,29.575,108.975,368.125,236.200,0.000,134.471,400.402,0.000,10.500,0.000,16.864,998.384,6607.619,642.632,1910.681,804.927,33.375,1349.531,0.000,1909.894,0.000,0.535,0.000
$DEVICE_MAMPS,156.468,99.710,898.924,502.385,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.389,286.785,390.802,730.889,1105.403,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,38353,501
$CAP_FILE_SIZE,98122,0
$CFSIZE,260165632,157970432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060711,104701,2247.658,-15759.161,36,1.5,36,10.1