version: 66.06
glider: 146
mission: 6
dive: 469
start: 7 7 111 5 20 34
data:
$ID,146
$MISSION,6
$DIVE,469
$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,-279437.31
$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,30
$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
$GPS1,051106,2247.429,-15803.484,85,1.3,93,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-64.3
$GPS2,051943,2247.505,-15803.574,13,1.3,30,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.152,0.153
$KALMAN_X,-371643.2,-195.5,11.0,360256.6,-989.6
$KALMAN_Y,132492.9,-133.8,-81.8,-125608.7,981.0
$MHEAD_RNG_PITCHd_Wd,34.8,4724,-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,-97.3,0.0,0.0,0,129,0.00,0.00,-109.60,0.000,2,0.000,0.000,476,1996,3324,0,0,0,0,0,0
$GC,132,-1.48,-97.3,4.0,-7.0,14,158,12.25,2.55,-1.52,0.000,4,0.145,0.042,2843,3560,3410,0,0,0,0,0,0
$GC,250,-1.44,-97.3,28.5,-14.7,30,259,0.00,2.50,0.00,0.000,6,0.000,0.022,2844,2001,3411,0,0,0,0,0,0
$GC,581,-1.35,-97.3,79.5,-15.3,61,586,0.17,2.50,0.00,0.000,4,0.118,0.031,2880,3566,3411,0,0,0,0,0,0
$GC,664,-1.41,-97.3,91.6,-13.5,67,668,0.00,2.42,0.00,0.000,6,0.000,0.024,2880,2018,3411,0,0,0,0,0,0
$GC,994,-1.45,-97.3,134.6,-11.5,97,998,0.00,2.45,0.00,0.000,4,0.000,0.031,2880,3569,3411,0,0,0,0,0,0
$GC,1039,-1.53,-97.3,140.6,-11.6,100,1048,0.12,2.45,0.00,0.000,6,0.033,0.027,2824,2028,3411,0,0,0,0,0,0
$GC,1363,-1.53,-97.3,183.6,-12.1,131,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2028,3411,0,0,0,0,0,0
$GC,1688,-1.53,-97.3,216.7,-10.0,150,1692,0.00,2.45,0.00,0.000,4,0.000,0.033,2823,3570,3412,0,0,0,0,0,0
$GC,1704,-1.53,-97.3,218.9,-10.3,150,1708,0.00,2.38,0.00,0.000,6,0.000,0.021,2823,2034,3412,0,0,0,0,0,0
$GC,2052,-1.53,-97.3,256.3,-10.8,159,2057,0.00,2.42,0.00,0.000,4,0.000,0.035,2823,3561,3412,0,0,0,0,0,0
$GC,2132,-1.61,-97.3,264.7,-10.6,160,2138,0.00,2.38,0.00,0.000,6,0.000,0.023,2823,2047,3412,0,0,0,0,0,0
$GC,2464,-1.66,-97.3,293.5,-8.3,169,2468,0.00,2.45,0.00,0.000,4,0.000,0.033,2823,3569,3412,0,0,0,0,0,0
$GC,2498,-1.71,-97.3,296.8,-9.9,169,2503,0.00,2.38,0.00,0.000,6,0.000,0.025,2823,2065,3412,0,0,0,0,0,0
$GC,2831,-1.77,-97.3,329.3,-9.3,178,2836,0.15,2.45,0.00,0.000,4,0.066,0.041,2774,3565,3411,0,0,0,0,0,0
$GC,2942,-1.77,-97.3,341.5,-10.6,180,2947,0.00,2.40,0.00,0.000,6,0.000,0.036,2774,2087,3411,0,0,0,0,0,0
$GC,3285,-1.77,-97.3,381.4,-12.1,189,3289,0.00,2.45,0.00,0.000,4,0.000,0.049,2774,3554,3410,0,0,0,0,0,0
$GC,3313,-1.77,-97.3,385.1,-12.7,189,3318,0.00,2.42,0.00,0.000,6,0.000,0.041,2774,2080,3410,0,0,0,0,0,0
$GC,3650,-1.77,-97.3,427.8,-12.1,198,3655,0.00,2.95,0.00,0.000,4,0.000,0.099,2774,440,3407,0,0,0,0,0,0
$GC,3677,-1.71,-97.3,431.2,-12.5,198,3682,0.12,2.60,0.00,0.000,6,0.118,0.038,2799,2029,3406,0,0,0,0,0,0
$GC,4010,-1.71,-97.3,462.6,-9.3,206,4014,0.00,2.67,0.00,0.000,4,0.000,0.064,2799,3594,3404,0,0,0,0,0,0
$GC,4049,-1.75,-97.3,466.8,-10.6,207,4053,0.00,2.50,0.00,0.000,6,0.000,0.051,2799,2086,3404,0,0,0,0,0,0
$GC,4375,-1.79,-97.3,499.5,-10.0,215,4376,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2086,3401,0,0,0,0,0,0
$STATE,4411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4411,begin apogee
$GC,4417,-0.31,0.0,503.7,10.0,216,4501,1.35,0.00,80.50,0.902,6,0.081,0.000,3103,1997,3010,0,0,0,0,0,0
$STATE,4502,end apogee,CONTROL_FINISHED_OK
$STATE,4502,begin climb
$GC,4505,1.48,97.3,506.2,0.0,218,4593,1.67,0.00,83.80,0.882,6,0.038,0.000,3507,1997,2613,0,0,0,0,0,0
$GC,4900,1.40,141.3,488.8,7.0,228,4946,0.12,2.78,38.30,0.865,4,0.128,0.048,3482,3578,2432,0,0,0,0,0,0
$GC,5010,1.32,142.1,479.6,10.0,230,5014,0.00,2.67,0.00,0.000,6,0.000,0.049,3482,1997,2428,0,0,0,0,0,0
$GC,5354,1.26,157.2,447.8,9.0,239,5374,0.15,2.97,13.77,0.808,4,0.124,0.094,3452,408,2369,0,0,0,0,0,0
$GC,5407,1.20,157.2,442.4,10.5,240,5412,0.00,2.60,0.00,0.000,6,0.000,0.031,3452,2004,2366,0,0,0,0,0,0
$GC,5720,1.24,193.6,417.7,7.5,248,5761,0.00,2.90,33.15,0.841,4,0.000,0.074,3452,408,2219,0,0,0,0,0,0
$GC,5791,1.21,193.6,411.8,10.1,249,5795,0.00,2.58,0.00,0.000,6,0.000,0.028,3453,2002,2216,0,0,0,0,0,0
$GC,6127,1.25,226.0,384.8,7.8,258,6161,0.00,2.85,28.77,0.819,4,0.000,0.070,3452,407,2087,0,0,0,0,0,0
$GC,6267,1.25,226.0,370.8,10.7,261,6272,0.00,2.53,0.00,0.000,6,0.000,0.025,3452,1982,2082,0,0,0,0,0,0
$GC,6586,1.25,227.9,340.8,9.9,269,6590,0.00,2.72,0.00,0.000,4,0.000,0.066,3452,400,2079,0,0,0,0,0,0
$GC,6653,1.25,227.9,332.9,11.8,270,6658,0.00,2.53,0.00,0.000,6,0.000,0.026,3453,1982,2078,0,0,0,0,0,0
$GC,6990,1.32,241.2,299.7,9.1,279,7010,0.00,2.67,13.23,0.736,4,0.000,0.041,3452,3567,2025,0,0,0,0,0,0
$GC,7098,1.41,253.1,290.5,9.2,281,7117,0.12,2.62,11.82,0.715,6,0.081,0.035,3487,1969,1977,0,0,0,0,0,0
$GC,7449,1.41,253.1,249.7,11.7,290,7453,0.00,2.67,0.00,0.000,4,0.000,0.064,3487,411,1972,0,0,0,0,0,0
$GC,7509,1.41,253.1,241.8,12.9,291,7513,0.00,2.45,0.00,0.000,6,0.000,0.025,3487,1979,1971,0,0,0,0,0,0
$GC,7859,1.42,266.9,208.5,9.1,300,7874,0.00,0.00,12.73,0.668,6,0.000,0.000,3487,1979,1921,0,0,0,0,0,0
$GC,8172,1.50,277.2,177.6,9.3,321,8186,0.00,0.00,9.82,0.619,6,0.000,0.000,3487,1979,1880,0,0,0,0,0,0
$GC,8502,1.62,300.2,148.4,8.5,352,8526,0.17,0.00,21.00,0.632,6,0.067,0.000,3534,1980,1786,0,0,0,0,0,0
$GC,8842,1.66,300.2,109.8,10.2,384,8846,0.00,2.62,0.00,0.000,4,0.000,0.048,3533,402,1781,0,0,0,0,0,0
$GC,8910,1.66,300.2,102.7,10.2,389,8915,0.00,2.45,0.00,0.000,6,0.000,0.023,3534,1980,1780,0,0,0,0,0,0
$GC,9240,1.70,300.2,71.9,10.1,419,9245,0.00,2.50,0.00,0.000,4,0.000,0.033,3533,3552,1779,0,0,0,0,0,0
$GC,9263,1.76,307.6,69.8,9.5,420,9279,0.10,2.55,6.85,0.482,6,0.091,0.028,3563,1956,1755,0,0,0,0,0,0
$GC,9600,1.76,307.6,39.0,13.1,451,9604,0.00,2.55,0.00,0.000,4,0.000,0.051,3563,414,1754,0,0,0,0,0,0
$GC,9621,1.72,307.6,36.0,12.9,452,9625,0.00,2.38,0.00,0.000,6,0.000,0.017,3563,1958,1754,0,0,0,0,0,0
$STATE,9935,end climb,SURFACE_DEPTH_REACHED
$STATE,9935,begin surface coast
$FINISH,0.6,0.980034
$STATE,9991,end surface coast,CONTROL_FINISHED_OK
$STATE,9991,begin surface
$SM_CCo,10014,59.20,0.505,0,0,1460,380.21
$SM_GC,1.46,0.00,0.00,59.20,0.000,0.000,0.505,475,1959,1460,-12.42,-1.41,380.21
$IRIDIUM_FIX,2239.35,-15802.37,300900,020221
$TT8_MAMPS,0.026078
$HUMID,63.82
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,21.70
$XPDR_PINGS,43
$24V_AH,23.5,58.138
$10V_AH,10.2,52.074
$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,29.000,102.525,353.750,59.200,0.000,28.252,41.263,290.824,10.750,0.000,32.068,995.480,6564.105,490.011,1904.693,633.995,33.373,1174.935,0.000,1892.631,0.000,0.536,0.000
$DEVICE_MAMPS,144.963,110.448,901.992,505.453,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,341.398,299.248,387.002,750.045,1134.404,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,38566,504
$CAP_FILE_SIZE,97212,0
$CFSIZE,260165632,157618176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070711,081030,2248.920,-15803.134,81,1.0,81,10.1