version: 66.06
glider: 146
mission: 6
dive: 475
start: 7 7 111 23 55 27
data:
$ID,146
$MISSION,6
$DIVE,475
$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,-279605.56
$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,27
$R_STBD_OVSHOOT,65
$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
$GPS1,234016,2250.166,-15802.386,8,3.7,27,10.1
$_CALLS,2
$_XMS_NAKs,20
$_XMS_TOUTs,1
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.9
$GPS2,235436,2250.322,-15802.589,32,1.1,48,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.198,-0.086
$KALMAN_X,-380274.7,-369.6,-4.1,370760.6,-1181.6
$KALMAN_Y,138819.1,219.4,422.3,-127580.0,812.4
$MHEAD_RNG_PITCHd_Wd,103.5,9559,-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,18,-1.48,-97.3,0.0,0.0,0,90,0.00,0.00,-69.60,0.000,2,0.000,0.000,475,1945,3296,0,0,0,0,0,0
$GC,93,-1.48,-97.3,4.4,-8.5,9,119,11.98,2.58,-1.98,0.000,4,0.137,0.061,2841,421,3410,0,0,0,0,0,0
$GC,235,-1.38,-97.3,35.1,-16.8,27,240,0.15,2.42,0.00,0.000,6,0.130,0.014,2871,2019,3411,0,0,0,0,0,0
$GC,563,-1.38,-97.3,84.8,-14.5,57,567,0.00,2.45,0.00,0.000,4,0.000,0.033,2871,3563,3412,0,0,0,0,0,0
$GC,609,-1.44,-97.3,91.9,-13.6,60,618,0.00,2.47,0.00,0.000,6,0.000,0.021,2871,2004,3412,0,0,0,0,0,0
$GC,940,-1.44,-97.3,128.8,-10.0,91,945,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,2004,3412,0,0,0,0,0,0
$GC,1267,-1.50,-97.3,159.3,-10.6,122,1271,0.00,2.47,0.00,0.000,4,0.000,0.031,2870,3558,3412,0,0,0,0,0,0
$GC,1320,-1.60,-97.3,164.4,-9.5,126,1326,0.17,2.40,0.00,0.000,6,0.057,0.020,2809,2019,3413,0,0,0,0,0,0
$GC,1654,-1.60,-97.3,206.4,-12.6,154,1658,0.00,2.42,0.00,0.000,4,0.000,0.027,2809,3555,3413,0,0,0,0,0,0
$GC,1697,-1.60,-97.3,212.1,-12.7,155,1701,0.00,2.38,0.00,0.000,6,0.000,0.024,2809,2023,3413,0,0,0,0,0,0
$GC,2016,-1.60,-97.3,247.5,-10.3,163,2020,0.00,2.45,0.00,0.000,4,0.000,0.033,2809,3557,3414,0,0,0,0,0,0
$GC,2037,-1.60,-97.3,249.6,-10.0,163,2042,0.00,2.38,0.00,0.000,6,0.000,0.025,2809,2028,3414,0,0,0,0,0,0
$GC,2376,-1.60,-97.3,280.6,-9.3,172,2380,0.00,2.45,0.00,0.000,4,0.000,0.032,2808,3550,3414,0,0,0,0,0,0
$GC,2419,-1.60,-97.3,285.6,-11.1,173,2424,0.00,2.40,0.00,0.000,6,0.000,0.027,2808,2034,3414,0,0,0,0,0,0
$GC,2740,-1.60,-97.3,319.8,-10.9,181,2744,0.00,2.47,0.00,0.000,4,0.000,0.037,2808,3555,3413,0,0,0,0,0,0
$GC,2767,-1.64,-97.3,323.0,-11.3,181,2772,0.00,2.47,0.00,0.000,6,0.000,0.035,2809,2034,3413,0,0,0,0,0,0
$GC,3099,-1.64,-97.3,353.6,-9.0,189,3103,0.00,2.47,0.00,0.000,4,0.000,0.041,2808,3544,3412,0,0,0,0,0,0
$GC,3128,-1.68,-97.3,356.3,-9.8,189,3132,0.00,2.50,0.00,0.000,6,0.000,0.038,2808,2027,3412,0,0,0,0,0,0
$GC,3459,-1.68,-97.3,389.0,-10.4,197,3463,0.00,2.50,0.00,0.000,4,0.000,0.049,2808,3542,3410,0,0,0,0,0,0
$GC,3514,-1.74,-97.3,395.3,-11.6,198,3518,0.00,2.47,0.00,0.000,6,0.000,0.048,2809,2042,3410,0,0,0,0,0,0
$GC,3863,-1.78,-97.3,434.5,-11.9,207,3867,0.00,2.50,0.00,0.000,4,0.000,0.049,2808,3549,3407,0,0,0,0,0,0
$GC,3998,-1.85,-97.3,451.1,-11.5,210,4003,0.15,2.50,0.00,0.000,6,0.067,0.048,2761,2062,3407,0,0,0,0,0,0
$GC,4318,-1.82,-97.3,492.7,-12.8,218,4323,0.00,2.50,0.00,0.000,4,0.000,0.061,2761,3540,3404,0,0,0,0,0,0
$GC,4362,-1.82,-97.3,498.8,-13.3,219,4367,0.00,2.50,0.00,0.000,6,0.000,0.056,2761,2063,3404,0,0,0,0,0,0
$STATE,4371,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4371,begin apogee
$GC,4377,-0.31,0.0,500.1,12.9,219,4462,1.52,0.00,80.85,0.899,6,0.087,0.000,3102,1994,3010,0,0,0,0,0,0
$STATE,4463,end apogee,CONTROL_FINISHED_OK
$STATE,4463,begin climb
$GC,4467,1.48,97.3,502.6,0.0,221,4558,1.67,0.00,83.32,0.879,6,0.039,0.000,3506,1994,2612,0,0,0,0,0,0
$GC,4884,1.39,136.3,481.2,7.3,232,4926,0.12,2.67,33.47,0.859,4,0.129,0.050,3480,3526,2452,0,0,0,0,0,0
$GC,4993,1.32,139.3,472.0,9.8,234,4997,0.00,2.58,0.00,0.000,6,0.000,0.049,3481,2000,2448,0,0,0,0,0,0
$GC,5335,1.29,167.9,442.8,8.1,243,5370,0.12,3.05,27.90,0.840,4,0.130,0.099,3456,406,2324,0,0,0,0,0,0
$GC,5407,1.22,167.9,436.6,10.4,244,5411,0.00,2.50,0.00,0.000,6,0.000,0.027,3456,1953,2321,0,0,0,0,0,0
$GC,5743,1.23,180.7,406.4,9.2,253,5762,0.00,2.80,11.98,0.776,4,0.000,0.048,3456,3579,2273,0,0,0,0,0,0
$GC,5837,1.23,180.7,396.5,11.2,255,5841,0.00,2.62,0.00,0.000,6,0.000,0.037,3456,2002,2270,0,0,0,0,0,0
$GC,6155,1.25,191.3,365.2,9.3,263,6170,0.00,2.62,9.90,0.742,4,0.000,0.035,3456,3578,2230,0,0,0,0,0,0
$GC,6254,1.25,191.3,355.0,10.6,265,6258,0.00,2.60,0.00,0.000,6,0.000,0.040,3456,2008,2228,0,0,0,0,0,0
$GC,6604,1.25,193.4,320.7,9.9,274,6608,0.00,2.80,0.00,0.000,4,0.000,0.071,3456,403,2225,0,0,0,0,0,0
$GC,6636,1.25,193.4,316.8,11.6,274,6642,0.00,2.58,0.00,0.000,6,0.000,0.021,3456,2038,2224,0,0,0,0,0,0
$GC,6967,1.27,213.1,287.3,8.7,283,6993,0.00,2.85,19.90,0.752,4,0.000,0.058,3456,403,2140,0,0,0,0,0,0
$GC,7094,1.29,225.7,275.8,9.2,286,7114,0.00,2.58,12.35,0.713,6,0.000,0.026,3456,2022,2089,0,0,0,0,0,0
$GC,7426,1.42,269.1,251.3,7.0,294,7468,0.10,0.00,39.40,0.738,6,0.097,0.000,3485,2022,1912,0,0,0,0,0,0
$GC,7788,1.46,269.1,215.0,10.7,303,7792,0.00,2.72,0.00,0.000,4,0.000,0.056,3485,409,1904,0,0,0,0,0,0
$GC,7910,1.46,269.1,200.0,11.7,305,7916,0.00,2.53,0.00,0.000,6,0.000,0.021,3485,2014,1903,0,0,0,0,0,0
$GC,8235,1.57,293.1,169.2,8.4,336,8263,0.12,2.80,20.40,0.654,4,0.087,0.056,3518,411,1813,0,0,0,0,0,0
$GC,8306,1.57,293.1,162.0,11.3,342,8310,0.00,2.50,0.00,0.000,6,0.000,0.022,3517,2001,1811,0,0,0,0,0,0
$GC,8631,1.59,311.5,130.6,8.8,372,8655,0.00,2.78,16.48,0.605,4,0.000,0.053,3517,407,1739,0,0,0,0,0,0
$GC,8719,1.59,311.5,121.0,12.0,379,8724,0.00,2.47,0.00,0.000,6,0.000,0.025,3518,1995,1738,0,0,0,0,0,0
$GC,9048,1.64,311.5,84.0,11.1,409,9053,0.00,2.65,0.00,0.000,4,0.000,0.054,3518,404,1736,0,0,0,0,0,0
$GC,9181,1.64,311.5,66.8,12.1,419,9191,0.00,2.45,0.00,0.000,6,0.000,0.018,3517,1971,1735,0,0,0,0,0,0
$GC,9510,1.72,323.3,35.3,9.2,450,9528,0.12,2.67,11.35,0.503,4,0.077,0.048,3553,405,1691,0,0,0,0,0,0
$GC,9555,1.67,323.3,29.6,13.5,453,9564,0.00,2.45,0.00,0.000,6,0.000,0.018,3553,1965,1690,0,0,0,0,0,0
$STATE,9758,end climb,SURFACE_DEPTH_REACHED
$STATE,9758,begin surface coast
$FINISH,0.6,0.980024
$STATE,9794,end surface coast,CONTROL_FINISHED_OK
$STATE,9794,begin surface
$SM_CCo,9818,46.05,0.511,0,0,1459,380.21
$SM_GC,1.26,0.00,0.00,46.05,0.000,0.000,0.511,480,1966,1459,-12.40,-1.24,380.21
$IRIDIUM_FIX,2244.02,-15801.49,300900,232307
$TT8_MAMPS,0.025311
$HUMID,66.26
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,20.20
$XPDR_PINGS,48
$24V_AH,23.5,58.927
$10V_AH,10.1,52.778
$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,28.800,112.575,367.300,46.050,0.000,60.190,73.711,491.361,12.000,0.000,50.368,981.815,6430.537,482.937,1925.428,901.906,33.376,1176.420,0.000,1890.250,0.000,0.535,0.000
$DEVICE_MAMPS,136.526,140.361,898.924,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.010,265.944,373.210,693.409,1048.788,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355668
$DATA_FILE_SIZE,38378,487
$CAP_FILE_SIZE,104126,0
$CFSIZE,260165632,157298688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080711,024131,2250.455,-15801.922,59,1.1,59,10.1