version: 66.06
glider: 146
mission: 6
dive: 466
start: 7 6 111 20 4 30
data:
$ID,146
$MISSION,6
$DIVE,466
$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,-279375.66
$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,27
$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
$GPS1,194743,2247.742,-15803.019,10,1.7,27,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-68.6
$GPS2,200336,2247.945,-15803.124,37,1.2,42,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.119,-0.180
$KALMAN_X,-367648.5,-133.5,-8.6,356989.3,-1191.2
$KALMAN_Y,127509.9,355.4,-258.8,-120130.0,1805.4
$MHEAD_RNG_PITCHd_Wd,136.3,1762,-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,-71.15,0.000,2,0.000,0.000,475,2105,3297,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.8,-6.4,9,118,12.43,2.83,-2.03,0.000,4,0.152,0.059,2844,428,3410,0,0,0,0,0,0
$GC,171,-1.35,-97.3,24.6,-17.2,19,181,0.12,2.45,0.00,0.000,6,0.105,0.015,2874,2012,3411,0,0,0,0,0,0
$GC,513,-1.32,-97.3,72.8,-14.1,52,517,0.00,2.47,0.00,0.000,4,0.000,0.034,2874,3573,3412,0,0,0,0,0,0
$GC,536,-1.32,-97.3,76.6,-13.2,53,545,0.00,2.47,0.00,0.000,6,0.000,0.021,2874,2012,3412,0,0,0,0,0,0
$GC,864,-1.32,-97.3,118.7,-12.2,84,872,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,2012,3412,0,0,0,0,0,0
$GC,1196,-1.37,-97.3,156.5,-11.8,115,1200,0.00,2.47,0.00,0.000,4,0.000,0.028,2874,3569,3413,0,0,0,0,0,0
$GC,1247,-1.46,-97.3,163.4,-11.7,119,1252,0.00,2.42,0.00,0.000,6,0.000,0.028,2874,2016,3413,0,0,0,0,0,0
$GC,1574,-1.54,-97.3,198.1,-9.8,149,1579,0.15,2.45,0.00,0.000,4,0.062,0.031,2822,3562,3413,0,0,0,0,0,0
$GC,1635,-1.54,-97.3,205.6,-12.4,151,1639,0.00,2.38,0.00,0.000,6,0.000,0.028,2822,2026,3413,0,0,0,0,0,0
$GC,1978,-1.54,-97.3,244.5,-11.1,160,1982,0.00,2.65,0.00,0.000,4,0.000,0.055,2822,439,3413,0,0,0,0,0,0
$GC,2011,-1.54,-97.3,248.5,-11.6,160,2017,0.00,2.42,0.00,0.000,6,0.000,0.021,2822,2024,3413,0,0,0,0,0,0
$GC,2342,-1.54,-97.3,282.4,-10.4,169,2347,0.00,2.45,0.00,0.000,4,0.000,0.041,2822,3562,3414,0,0,0,0,0,0
$GC,2383,-1.60,-97.3,286.2,-9.7,170,2387,0.00,2.42,0.00,0.000,6,0.000,0.028,2822,2041,3414,0,0,0,0,0,0
$GC,2708,-1.64,-97.3,319.1,-10.0,178,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2041,3414,0,0,0,0,0,0
$GC,3032,-1.71,-97.3,349.0,-8.7,186,3036,0.00,2.83,0.00,0.000,4,0.000,0.083,2822,427,3413,0,0,0,0,0,0
$GC,3064,-1.71,-97.3,352.3,-10.0,186,3070,0.00,2.53,0.00,0.000,6,0.000,0.031,2822,2010,3412,0,0,0,0,0,0
$GC,3398,-1.76,-97.3,382.7,-9.6,195,3403,0.12,2.65,0.00,0.000,4,0.071,0.051,2777,3588,3411,0,0,0,0,0,0
$GC,3419,-1.76,-97.3,385.5,-10.7,195,3424,0.00,2.55,0.00,0.000,6,0.000,0.045,2777,2048,3411,0,0,0,0,0,0
$GC,3762,-1.76,-97.3,425.8,-11.8,204,3766,0.00,2.55,0.00,0.000,4,0.000,0.054,2777,3584,3408,0,0,0,0,0,0
$GC,3802,-1.76,-97.3,430.5,-12.2,205,3806,0.00,2.58,0.00,0.000,6,0.000,0.052,2777,2037,3408,0,0,0,0,0,0
$GC,4126,-1.76,-97.3,467.3,-11.2,213,4130,0.00,2.95,0.00,0.000,4,0.000,0.104,2777,424,3405,0,0,0,0,0,0
$GC,4141,-1.76,-97.3,469.3,-11.3,213,4145,0.00,2.60,0.00,0.000,6,0.000,0.042,2777,2026,3405,0,0,0,0,0,0
$STATE,4440,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4440,begin apogee
$GC,4448,-0.31,0.0,502.3,10.6,221,4533,1.48,0.00,80.85,0.901,6,0.083,0.000,3107,1981,3010,0,0,0,0,0,0
$STATE,4534,end apogee,CONTROL_FINISHED_OK
$STATE,4534,begin climb
$GC,4536,1.48,97.3,504.7,0.0,223,4624,1.65,0.00,83.72,0.881,6,0.035,0.000,3509,1980,2612,0,0,0,0,0,0
$GC,4930,1.38,127.8,482.8,7.9,233,4965,0.17,2.92,26.23,0.853,4,0.120,0.081,3474,413,2487,0,0,0,0,0,0
$GC,4976,1.30,152.5,478.9,8.3,234,5005,0.00,2.62,23.00,0.836,6,0.000,0.031,3474,1998,2387,0,0,0,0,0,0
$GC,5341,1.25,152.5,443.0,10.2,243,5347,0.12,2.80,0.00,0.000,4,0.133,0.076,3450,418,2378,0,0,0,0,0,0
$GC,5388,1.19,152.5,438.0,10.2,244,5392,0.00,2.58,0.00,0.000,6,0.000,0.031,3451,2001,2378,0,0,0,0,0,0
$GC,5706,1.22,179.9,411.0,8.1,252,5731,0.00,0.00,23.95,0.830,6,0.000,0.000,3451,2002,2276,0,0,0,0,0,0
$GC,6032,1.24,197.0,382.0,8.9,260,6054,0.00,2.67,16.08,0.795,4,0.000,0.041,3450,3581,2205,0,0,0,0,0,0
$GC,6137,1.24,197.0,371.5,10.7,262,6142,0.00,2.62,0.00,0.000,6,0.000,0.039,3450,2000,2201,0,0,0,0,0,0
$GC,6481,1.26,210.4,339.7,9.1,271,6501,0.00,2.88,12.02,0.751,4,0.000,0.077,3450,412,2152,0,0,0,0,0,0
$GC,6616,1.26,210.4,325.0,11.2,274,6621,0.00,2.53,0.00,0.000,6,0.000,0.021,3450,2000,2149,0,0,0,0,0,0
$GC,6942,1.34,228.8,295.7,8.8,282,6967,0.00,2.83,17.17,0.751,4,0.000,0.061,3451,411,2076,0,0,0,0,0,0
$GC,6989,1.35,238.2,291.2,9.4,283,7004,0.00,2.50,9.73,0.695,6,0.000,0.024,3450,1996,2039,0,0,0,0,0,0
$GC,7351,1.45,258.2,261.0,8.7,292,7376,0.17,2.78,18.73,0.728,4,0.071,0.056,3496,408,1956,0,0,0,0,0,0
$GC,7466,1.42,258.2,246.3,13.0,294,7470,0.00,2.50,0.00,0.000,6,0.000,0.020,3496,1988,1954,0,0,0,0,0,0
$GC,7804,1.43,270.2,214.1,9.2,303,7822,0.00,2.72,11.27,0.663,4,0.000,0.054,3496,407,1907,0,0,0,0,0,0
$GC,7913,1.43,270.2,202.4,10.9,305,7917,0.00,2.45,0.00,0.000,6,0.000,0.019,3496,1980,1905,0,0,0,0,0,0
$GC,8237,1.48,273.7,172.2,9.8,332,8248,0.00,2.58,3.90,0.446,4,0.000,0.037,3496,3548,1893,0,0,0,0,0,0
$GC,8266,1.53,273.7,169.7,10.5,334,8270,0.00,2.58,0.00,0.000,6,0.000,0.035,3496,1964,1893,0,0,0,0,0,0
$GC,8591,1.60,292.0,139.7,8.8,364,8611,0.12,0.00,17.33,0.621,6,0.083,0.000,3532,1964,1819,0,0,0,0,0,0
$GC,8929,1.61,299.2,104.3,9.5,396,8942,0.00,0.00,7.62,0.525,6,0.000,0.000,3531,1964,1788,0,0,0,0,0,0
$GC,9261,1.67,313.4,75.7,9.1,427,9281,0.00,0.00,13.18,0.543,6,0.000,0.000,3531,1964,1731,0,0,0,0,0,0
$GC,9603,1.72,314.8,43.2,9.9,459,9608,0.00,2.60,0.00,0.000,4,0.000,0.051,3531,409,1730,0,0,0,0,0,0
$GC,9662,1.72,314.8,35.7,11.7,463,9671,0.00,2.45,0.00,0.000,6,0.000,0.017,3532,1982,1729,0,0,0,0,0,0
$STATE,9970,end climb,SURFACE_DEPTH_REACHED
$STATE,9970,begin surface coast
$FINISH,0.7,0.980019
$STATE,10020,end surface coast,CONTROL_FINISHED_OK
$STATE,10020,begin surface
$SM_CCo,10043,246.43,0.501,0,0,476,621.34
$SM_GC,1.16,0.00,0.00,246.43,0.000,0.000,0.501,474,1983,476,-12.42,-0.76,621.34
$IRIDIUM_FIX,2239.35,-15804.53,290900,202011
$TT8_MAMPS,0.026845
$HUMID,59.96
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,21.40
$XPDR_PINGS,45
$24V_AH,23.5,57.748
$10V_AH,10.1,51.724
$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,29.000,98.800,364.775,246.425,0.000,146.841,400.403,0.000,11.250,0.000,47.610,1005.813,6808.416,676.284,1920.967,833.393,33.370,1350.125,0.000,1906.955,0.000,0.536,0.000
$DEVICE_MAMPS,151.866,131.924,901.225,500.851,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,348.588,291.555,399.389,757.302,1145.261,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355612
$DATA_FILE_SIZE,41545,514
$CAP_FILE_SIZE,94108,0
$CFSIZE,260165632,157753344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060711,225707,2247.926,-15803.086,26,1.2,26,10.1