version: 66.06
glider: 146
mission: 6
dive: 474
start: 7 7 111 20 50 11
data:
$ID,146
$MISSION,6
$DIVE,474
$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,-279554.56
$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,64
$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
$GPS1,202707,2249.602,-15802.443,90,1.0,90,10.1
$_CALLS,4
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-68.7
$GPS2,204919,2249.822,-15802.673,11,1.8,11,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.183,-0.113
$KALMAN_X,-378666.6,-220.0,-100.2,368957.7,-974.0
$KALMAN_Y,137484.4,30.9,-78.6,-126480.9,1159.6
$MHEAD_RNG_PITCHd_Wd,111.6,9688,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.48,-97.3,0.0,0.0,0,80,0.00,0.00,-62.75,0.000,2,0.000,0.000,478,1986,3053,0,0,0,0,0,0
$GC,84,-1.48,-97.3,3.0,-4.8,8,110,12.05,2.58,-7.38,0.000,4,0.139,0.054,2842,423,3408,0,0,0,0,0,0
$GC,209,-1.38,-97.3,27.0,-17.6,25,218,0.10,2.45,0.00,0.000,6,0.109,0.015,2866,2024,3410,0,0,0,0,0,0
$GC,549,-1.34,-97.3,75.8,-14.6,57,553,0.00,2.42,0.00,0.000,4,0.000,0.026,2867,3557,3411,0,0,0,0,0,0
$GC,584,-1.34,-97.3,82.0,-14.7,59,590,0.00,2.45,0.00,0.000,6,0.000,0.022,2866,2001,3410,0,0,0,0,0,0
$GC,910,-1.34,-97.3,127.9,-13.4,90,915,0.00,2.45,0.00,0.000,4,0.000,0.031,2866,3557,3411,0,0,0,0,0,0
$GC,941,-1.40,-97.3,132.0,-13.2,92,946,0.00,2.40,0.00,0.000,6,0.000,0.021,2866,2022,3411,0,0,0,0,0,0
$GC,1267,-1.46,-97.3,166.5,-9.6,122,1268,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,2022,3411,0,0,0,0,0,0
$GC,1589,-1.53,-97.3,197.4,-9.7,152,1594,0.10,2.42,0.00,0.000,4,0.083,0.033,2826,3551,3412,0,0,0,0,0,0
$GC,1710,-1.53,-97.3,210.9,-11.1,156,1714,0.00,2.35,0.00,0.000,6,0.000,0.021,2825,2035,3412,0,0,0,0,0,0
$GC,2041,-1.53,-97.3,245.3,-9.7,164,2042,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2035,3412,0,0,0,0,0,0
$GC,2366,-1.53,-97.3,277.7,-10.8,172,2367,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2035,3412,0,0,0,0,0,0
$GC,2692,-1.57,-97.3,309.7,-9.2,180,2696,0.00,2.45,0.00,0.000,4,0.000,0.042,2825,3545,3411,0,0,0,0,0,0
$GC,2818,-1.65,-97.3,320.2,-8.2,182,2823,0.00,2.40,0.00,0.000,6,0.000,0.040,2825,2067,3411,0,0,0,0,0,0
$GC,3149,-1.72,-97.3,343.5,-6.5,191,3151,0.10,0.00,0.00,0.000,6,0.090,0.000,2788,2067,3409,0,0,0,0,0,0
$GC,3475,-1.72,-97.3,376.5,-10.8,199,3476,0.00,0.00,0.00,0.000,6,0.000,0.000,2788,2067,3407,0,0,0,0,0,0
$GC,3799,-1.72,-97.3,412.5,-11.1,207,3803,0.00,2.47,0.00,0.000,4,0.000,0.054,2788,3547,3405,0,0,0,0,0,0
$GC,3898,-1.72,-97.3,423.8,-10.8,209,3903,0.00,2.45,0.00,0.000,6,0.000,0.051,2788,2084,3404,0,0,0,0,0,0
$GC,4248,-1.72,-97.3,458.2,-9.7,218,4253,0.00,2.45,0.00,0.000,4,0.000,0.051,2788,3542,3402,0,0,0,0,0,0
$GC,4270,-1.72,-97.3,460.7,-10.1,218,4274,0.00,2.42,0.00,0.000,6,0.000,0.048,2788,2085,3402,0,0,0,0,0,0
$GC,4607,-1.72,-97.3,492.4,-9.4,227,4611,0.00,2.45,0.00,0.000,4,0.000,0.059,2788,3537,3399,0,0,0,0,0,0
$STATE,4683,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4683,begin apogee
$GC,4693,-0.31,0.0,500.3,9.2,228,4779,1.40,0.00,79.85,0.905,6,0.083,0.000,3104,2020,3011,0,0,0,0,0,0
$STATE,4780,end apogee,CONTROL_FINISHED_OK
$STATE,4780,begin climb
$GC,4782,1.48,97.3,502.3,0.0,231,4870,1.65,0.00,83.95,0.884,6,0.039,0.000,3506,2020,2613,0,0,0,0,0,0
$GC,5185,1.38,129.5,478.7,7.8,241,5219,0.15,2.62,27.85,0.856,4,0.123,0.046,3477,3523,2480,0,0,0,0,0,0
$GC,5310,1.32,140.7,467.4,9.3,243,5325,0.00,2.60,10.68,0.779,6,0.000,0.044,3477,1992,2435,0,0,0,0,0,0
$GC,5643,1.30,175.3,440.2,7.6,252,5683,0.00,2.97,31.15,0.850,4,0.000,0.094,3477,407,2293,0,0,0,0,0,0
$GC,5711,1.20,185.3,434.0,9.3,253,5728,0.20,2.50,10.23,0.762,6,0.117,0.025,3438,1941,2253,0,0,0,0,0,0
$GC,6054,1.24,217.4,407.5,7.8,262,6088,0.00,2.70,28.65,0.834,4,0.000,0.048,3437,3528,2122,0,0,0,0,0,0
$GC,6123,1.30,221.4,401.0,9.8,263,6133,0.00,2.58,4.62,0.586,6,0.000,0.038,3437,1994,2107,0,0,0,0,0,0
$GC,6461,1.35,221.4,364.8,11.0,271,6467,0.15,2.85,0.00,0.000,4,0.075,0.077,3477,401,2102,0,0,0,0,0,0
$GC,6636,1.29,221.4,339.6,15.0,275,6641,0.00,2.47,0.00,0.000,6,0.000,0.019,3477,1956,2099,0,0,0,0,0,0
$GC,6960,1.30,224.5,303.6,9.8,283,6965,0.00,2.65,0.00,0.000,4,0.000,0.058,3477,404,2098,0,0,0,0,0,0
$GC,6987,1.25,225.4,300.8,10.0,283,6993,0.15,2.53,0.00,0.000,6,0.122,0.023,3448,2002,2097,0,0,0,0,0,0
$GC,7321,1.38,264.3,276.5,7.3,291,7366,0.12,2.62,37.33,0.762,4,0.081,0.037,3480,3559,1931,0,0,0,0,0,0
$GC,7385,1.42,268.7,270.5,9.7,292,7395,0.00,2.60,5.15,0.565,6,0.000,0.035,3480,1980,1914,0,0,0,0,0,0
$GC,7728,1.47,268.7,234.2,10.5,301,7733,0.00,2.67,0.00,0.000,4,0.000,0.067,3480,412,1908,0,0,0,0,0,0
$GC,7886,1.47,268.7,217.0,10.3,304,7890,0.00,2.45,0.00,0.000,6,0.000,0.020,3480,1976,1907,0,0,0,0,0,0
$GC,8207,1.56,291.4,189.0,8.5,320,8230,0.15,0.00,19.88,0.672,6,0.073,0.000,3521,1978,1821,0,0,0,0,0,0
$GC,8548,1.56,291.4,152.7,11.4,352,8552,0.00,2.55,0.00,0.000,4,0.000,0.037,3521,3556,1817,0,0,0,0,0,0
$GC,8565,1.56,291.4,150.3,11.2,353,8570,0.00,2.58,0.00,0.000,6,0.000,0.035,3521,1968,1815,0,0,0,0,0,0
$GC,8893,1.56,291.4,114.6,10.9,383,8897,0.00,2.62,0.00,0.000,4,0.000,0.061,3521,411,1815,0,0,0,0,0,0
$GC,8997,1.56,291.4,102.7,11.7,391,9001,0.00,2.42,0.00,0.000,6,0.000,0.019,3521,1980,1814,0,0,0,0,0,0
$GC,9326,1.65,311.2,71.7,8.7,421,9354,0.00,2.70,17.30,0.556,4,0.000,0.054,3521,415,1739,0,0,0,0,0,0
$GC,9448,1.65,311.2,59.7,10.2,430,9453,0.00,2.40,0.00,0.000,6,0.000,0.017,3520,1965,1738,0,0,0,0,0,0
$GC,9778,1.73,324.3,29.9,9.1,460,9797,0.12,2.62,12.90,0.502,4,0.082,0.046,3555,407,1685,0,0,0,0,0,0
$GC,9870,1.68,324.3,19.1,13.6,472,9880,0.00,2.40,0.00,0.000,6,0.000,0.017,3554,1943,1684,0,0,0,0,0,0
$STATE,10009,end climb,SURFACE_DEPTH_REACHED
$STATE,10010,begin surface coast
$FINISH,0.6,0.979826
$STATE,10067,end surface coast,CONTROL_FINISHED_OK
$STATE,10067,begin surface
$SM_CCo,10091,44.80,0.505,0,0,1459,380.21
$SM_GC,1.24,0.00,0.00,44.80,0.000,0.000,0.505,476,1944,1459,-12.42,-1.87,380.21
$IRIDIUM_FIX,2241.69,-15804.53,300900,202052
$TT8_MAMPS,0.026078
$HUMID,64.68
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,21.10
$XPDR_PINGS,36
$24V_AH,23.5,58.800
$10V_AH,10.1,52.665
$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,29.025,96.350,369.525,44.800,0.000,117.621,157.861,720.618,9.000,0.000,12.974,993.363,6808.952,462.547,1914.120,1288.914,33.379,1138.248,0.000,1920.526,0.000,0.535,0.000
$DEVICE_MAMPS,138.827,93.574,905.060,505.453,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,338.861,276.069,383.517,730.846,1105.481,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,38404,500
$CAP_FILE_SIZE,107799,0
$CFSIZE,260165632,157343744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070711,234016,2250.166,-15802.386,8,3.7,27,10.1