version: 66.06
glider: 146
mission: 6
dive: 419
start: 7 1 111 2 11 12
data:
$ID,146
$MISSION,6
$DIVE,419
$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,-278306.09
$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,14
$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
$GPS1,020055,2249.665,-15759.491,37,1.8,37,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-72.1
$GPS2,021020,2249.738,-15759.580,13,1.8,13,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.204,-0.070
$KALMAN_X,-308549.1,-317.8,-55.3,304173.0,-917.9
$KALMAN_Y,69964.9,286.3,-286.1,-59159.1,824.9
$MHEAD_RNG_PITCHd_Wd,99.0,4430,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.48,-97.3,0.0,0.0,0,92,0.00,0.00,-70.97,0.000,2,0.000,0.000,476,1973,3281,0,0,0,0,0,0
$GC,95,-1.48,-97.3,4.0,-7.2,9,121,12.38,2.60,-2.33,0.000,4,0.150,0.054,2842,417,3410,0,0,0,0,0,0
$GC,133,-0.54,-97.3,16.8,-33.8,13,143,0.95,2.47,0.00,0.000,6,0.095,0.015,3053,2015,3411,0,0,0,0,0,0
$GC,501,-0.88,-97.3,41.5,-5.8,56,506,0.28,2.47,0.00,0.000,4,0.044,0.026,2966,3567,3412,0,0,0,0,0,0
$GC,525,-1.13,-97.3,43.7,-7.5,57,535,0.12,2.53,0.00,0.000,6,0.032,0.023,2912,1981,3412,0,0,0,0,0,0
$GC,849,-1.17,-97.3,83.6,-12.3,88,850,0.00,0.00,0.00,0.000,6,0.000,0.000,2913,1980,3413,0,0,0,0,0,0
$GC,1171,-1.26,-97.3,118.9,-9.8,118,1175,0.00,2.53,0.00,0.000,4,0.000,0.034,2913,3566,3413,0,0,0,0,0,0
$GC,1191,-1.37,-97.3,121.0,-10.1,119,1197,0.15,2.45,0.00,0.000,6,0.061,0.029,2857,2007,3414,0,0,0,0,0,0
$GC,1517,-1.37,-97.3,160.5,-12.0,149,1518,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2007,3414,0,0,0,0,0,0
$GC,1837,-1.42,-97.3,198.5,-10.6,179,1841,0.00,2.45,0.00,0.000,4,0.000,0.035,2858,3565,3415,0,0,0,0,0,0
$GC,1853,-1.48,-97.3,200.5,-10.5,180,1858,0.00,2.42,0.00,0.000,6,0.000,0.021,2857,2006,3415,0,0,0,0,0,0
$GC,2198,-1.54,-97.3,234.2,-9.5,189,2202,0.00,2.47,0.00,0.000,4,0.000,0.034,2857,3565,3415,0,0,0,0,0,0
$GC,2248,-1.67,-97.3,239.5,-9.9,190,2253,0.20,2.42,0.00,0.000,6,0.051,0.030,2791,2016,3415,0,0,0,0,0,0
$GC,2563,-1.63,-97.3,276.2,-11.9,198,2564,0.12,0.00,0.00,0.000,6,0.111,0.000,2818,2016,3415,0,0,0,0,0,0
$GC,2886,-1.63,-97.3,309.2,-9.2,206,2890,0.00,2.50,0.00,0.000,4,0.000,0.035,2818,3565,3415,0,0,0,0,0,0
$GC,2947,-1.68,-97.3,314.9,-9.4,207,2951,0.00,2.45,0.00,0.000,6,0.000,0.036,2818,2029,3415,0,0,0,0,0,0
$GC,3291,-1.72,-97.3,346.2,-9.7,216,3295,0.00,2.50,0.00,0.000,4,0.000,0.040,2818,3554,3414,0,0,0,0,0,0
$GC,3323,-1.78,-97.3,349.8,-10.6,216,3330,0.15,2.47,0.00,0.000,6,0.063,0.035,2768,2022,3414,0,0,0,0,0,0
$GC,3656,-1.73,-97.3,387.8,-11.7,225,3661,0.12,2.55,0.00,0.000,4,0.112,0.044,2795,3556,3413,0,0,0,0,0,0
$GC,3689,-1.73,-97.3,392.0,-11.6,225,3695,0.00,2.53,0.00,0.000,6,0.000,0.046,2795,2032,3413,0,0,0,0,0,0
$GC,4020,-1.73,-97.3,427.7,-10.9,234,4025,0.00,2.90,0.00,0.000,4,0.000,0.104,2795,424,3411,0,0,0,0,0,0
$GC,4061,-1.73,-97.3,432.6,-12.7,235,4065,0.00,2.53,0.00,0.000,6,0.000,0.034,2795,1993,3410,0,0,0,0,0,0
$GC,4384,-1.73,-97.3,469.6,-11.3,243,4389,0.00,2.72,0.00,0.000,4,0.000,0.071,2795,3595,3408,0,0,0,0,0,0
$GC,4451,-1.79,-97.3,477.4,-11.3,244,4456,0.00,2.62,0.00,0.000,6,0.000,0.055,2795,2034,3408,0,0,0,0,0,0
$STATE,4704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4704,begin apogee
$GC,4711,-0.31,0.0,503.0,9.7,251,4797,1.38,0.00,81.55,0.907,6,0.077,0.000,3107,1989,3010,0,0,0,0,0,0
$STATE,4798,end apogee,CONTROL_FINISHED_OK
$STATE,4798,begin climb
$GC,4800,1.48,97.3,504.2,0.0,253,4887,1.60,0.00,82.93,0.892,6,0.035,0.000,3502,1990,2612,0,0,0,0,0,0
$GC,5210,1.38,122.6,477.7,8.3,263,5240,0.12,3.03,21.67,0.851,4,0.130,0.097,3478,411,2509,0,0,0,0,0,0
$GC,5343,1.25,134.3,465.1,9.2,266,5362,0.15,2.58,11.20,0.789,6,0.124,0.028,3450,1989,2462,0,0,0,0,0,0
$GC,5673,1.31,180.7,440.9,6.8,274,5721,0.00,2.80,41.35,0.861,4,0.000,0.058,3450,3574,2272,0,0,0,0,0,0
$GC,5807,1.33,197.3,429.7,8.9,277,5827,0.00,2.65,15.43,0.806,6,0.000,0.041,3449,1995,2205,0,0,0,0,0,0
$GC,6166,1.35,216.3,398.0,8.7,286,6190,0.00,2.95,17.17,0.805,4,0.000,0.088,3449,410,2127,0,0,0,0,0,0
$GC,6247,1.35,216.3,389.4,10.9,287,6253,0.00,2.55,0.00,0.000,6,0.000,0.027,3449,2003,2125,0,0,0,0,0,0
$GC,6580,1.39,216.3,354.7,10.8,296,6586,0.12,2.80,0.00,0.000,4,0.087,0.064,3481,402,2122,0,0,0,0,0,0
$GC,6665,1.33,216.3,343.2,13.6,298,6670,0.00,2.50,0.00,0.000,6,0.000,0.021,3481,1981,2121,0,0,0,0,0,0
$GC,6990,1.33,216.3,305.5,11.1,306,6995,0.00,2.70,0.00,0.000,4,0.000,0.062,3481,404,2120,0,0,0,0,0,0
$GC,7030,1.27,216.3,301.2,11.4,307,7035,0.15,2.45,0.00,0.000,6,0.120,0.019,3452,1976,2119,0,0,0,0,0,0
$GC,7355,1.40,274.7,279.4,6.0,315,7409,0.12,0.00,51.42,0.767,6,0.084,0.000,3486,1976,1890,0,0,0,0,0,0
$GC,7720,1.40,274.7,238.8,11.7,324,7725,0.00,2.67,0.00,0.000,4,0.000,0.060,3486,401,1883,0,0,0,0,0,0
$GC,7798,1.40,274.7,228.6,12.7,325,7804,0.00,2.47,0.00,0.000,6,0.000,0.020,3486,1972,1882,0,0,0,0,0,0
$GC,8112,1.45,276.5,197.7,9.9,335,8113,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1974,1881,0,0,0,0,0,0
$GC,8430,1.52,278.7,165.8,9.9,365,8435,0.00,2.65,0.00,0.000,4,0.000,0.055,3486,403,1880,0,0,0,0,0,0
$GC,8498,1.52,278.7,158.9,10.3,370,8503,0.00,2.45,0.00,0.000,6,0.000,0.024,3486,1978,1879,0,0,0,0,0,0
$GC,8823,1.62,290.3,128.3,9.2,400,8843,0.17,2.67,13.32,0.597,4,0.071,0.051,3533,398,1825,0,0,0,0,0,0
$GC,8922,1.58,290.3,116.2,14.0,407,8927,0.00,2.42,0.00,0.000,6,0.000,0.019,3533,1952,1822,0,0,0,0,0,0
$GC,9251,1.62,290.3,78.9,10.2,437,9255,0.00,2.60,0.00,0.000,4,0.000,0.050,3533,403,1822,0,0,0,0,0,0
$GC,9298,1.62,290.3,74.0,11.2,440,9303,0.00,2.38,0.00,0.000,6,0.000,0.018,3533,1951,1822,0,0,0,0,0,0
$GC,9627,1.62,290.3,39.6,10.4,470,9631,0.00,2.60,0.00,0.000,4,0.000,0.049,3533,398,1822,0,0,0,0,0,0
$GC,9685,1.62,290.3,33.1,12.1,474,9689,0.00,2.40,0.00,0.000,6,0.000,0.017,3533,1955,1822,0,0,0,0,0,0
$STATE,9978,end climb,SURFACE_DEPTH_REACHED
$STATE,9978,begin surface coast
$FINISH,0.5,0.980043
$STATE,10027,end surface coast,CONTROL_FINISHED_OK
$STATE,10027,begin surface
$SM_CCo,10050,74.25,0.514,0,0,1459,380.21
$SM_GC,1.18,0.00,0.00,74.25,0.000,0.000,0.514,469,1956,1459,-12.45,-1.50,380.21
$IRIDIUM_FIX,2241.69,-15928.83,240900,020207
$TT8_MAMPS,0.026078
$HUMID,62.32
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,21.60
$XPDR_PINGS,41
$24V_AH,23.5,52.489
$10V_AH,10.2,46.487
$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,30.650,103.000,336.050,74.250,0.000,57.233,92.547,207.991,10.250,0.000,14.993,1035.474,6508.031,481.907,2012.528,652.218,33.367,1150.701,0.000,2017.445,0.000,0.535,0.000
$DEVICE_MAMPS,150.332,154.167,906.594,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,355.046,300.235,410.416,826.008,1244.338,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,41431,523
$CAP_FILE_SIZE,100106,0
$CFSIZE,260165632,160161792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010711,050106,2250.195,-15759.124,25,1.7,29,10.1