version: 66.06
glider: 146
mission: 6
dive: 431
start: 7 2 111 13 26 12
data:
$ID,146
$MISSION,6
$DIVE,431
$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,-278582.69
$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,16
$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
$GPS1,131637,2248.245,-15758.472,36,1.2,36,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.7
$GPS2,132520,2248.259,-15758.618,13,1.9,13,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.192,-0.098
$KALMAN_X,-326528.7,-29.9,-0.5,323451.9,-1525.0
$KALMAN_Y,82831.0,40.8,-211.2,-74593.3,331.6
$MHEAD_RNG_PITCHd_Wd,107.0,2718,-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,-97.3,0.0,0.0,0,90,0.00,0.00,-70.95,0.000,2,0.000,0.000,475,1960,3277,0,0,0,0,0,0
$GC,93,-1.48,-97.3,3.9,-6.9,9,119,12.40,2.60,-2.40,0.000,4,0.151,0.054,2844,413,3410,0,0,0,0,0,0
$GC,191,-1.36,-97.3,28.6,-18.3,22,201,0.12,2.47,0.00,0.000,6,0.247,0.015,2873,2011,3412,0,0,0,0,0,0
$GC,520,-1.36,-97.3,77.4,-13.6,53,525,0.00,2.45,0.00,0.000,4,0.000,0.025,2873,3562,3413,0,0,0,0,0,0
$GC,554,-1.36,-97.3,82.5,-14.4,55,558,0.00,2.50,0.00,0.000,6,0.000,0.023,2873,1985,3413,0,0,0,0,0,0
$GC,882,-1.40,-97.3,125.6,-12.7,85,887,0.00,2.53,0.00,0.000,4,0.000,0.029,2872,3568,3414,0,0,0,0,0,0
$GC,906,-1.45,-97.3,128.9,-12.4,86,915,0.00,2.47,0.00,0.000,6,0.000,0.028,2873,2011,3415,0,0,0,0,0,0
$GC,1230,-1.52,-97.3,162.2,-10.1,117,1235,0.12,2.47,0.00,0.000,4,0.072,0.027,2826,3571,3416,0,0,0,0,0,0
$GC,1254,-1.56,-97.3,164.2,-10.4,118,1258,0.00,2.45,0.00,0.000,6,0.000,0.022,2826,2016,3415,0,0,0,0,0,0
$GC,1578,-1.56,-97.3,205.1,-12.6,145,1582,0.00,2.47,0.00,0.000,4,0.000,0.030,2826,3570,3415,0,0,0,0,0,0
$GC,1640,-1.56,-97.3,213.1,-12.9,146,1644,0.00,2.42,0.00,0.000,6,0.000,0.028,2826,2025,3415,0,0,0,0,0,0
$GC,1982,-1.56,-97.3,250.1,-9.8,155,1986,0.00,2.70,0.00,0.000,4,0.000,0.066,2826,431,3416,0,0,0,0,0,0
$GC,2014,-1.56,-97.3,253.8,-11.4,155,2020,0.00,2.45,0.00,0.000,6,0.000,0.022,2826,2025,3416,0,0,0,0,0,0
$GC,2347,-1.60,-97.3,287.6,-10.3,164,2352,0.00,2.45,0.00,0.000,4,0.000,0.033,2826,3568,3416,0,0,0,0,0,0
$GC,2454,-1.67,-97.3,298.5,-10.2,166,2458,0.00,2.45,0.00,0.000,6,0.000,0.031,2826,2041,3416,0,0,0,0,0,0
$GC,2797,-1.72,-97.3,333.0,-9.9,175,2799,0.12,0.00,0.00,0.000,6,0.075,0.000,2783,2041,3415,0,0,0,0,0,0
$GC,3121,-1.72,-97.3,367.8,-9.9,183,3125,0.00,2.85,0.00,0.000,4,0.000,0.085,2783,431,3414,0,0,0,0,0,0
$GC,3164,-1.67,-97.3,372.5,-10.5,184,3170,0.12,2.53,0.00,0.000,6,0.117,0.031,2809,2009,3414,0,0,0,0,0,0
$GC,3485,-1.71,-97.3,400.7,-8.9,192,3489,0.00,2.62,0.00,0.000,4,0.000,0.057,2808,3587,3412,0,0,0,0,0,0
$GC,3559,-1.76,-97.3,407.8,-9.4,193,3564,0.00,2.53,0.00,0.000,6,0.000,0.045,2809,2049,3412,0,0,0,0,0,0
$GC,3891,-1.81,-97.3,440.1,-10.0,201,3892,0.12,0.00,0.00,0.000,6,0.076,0.000,2769,2048,3410,0,0,0,0,0,0
$GC,4216,-1.81,-97.3,480.8,-13.0,209,4218,0.00,0.00,0.00,0.000,6,0.000,0.000,2768,2049,3408,0,0,0,0,0,0
$STATE,4375,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4375,begin apogee
$GC,4381,-0.31,0.0,501.0,12.4,213,4467,1.50,0.00,81.95,0.910,6,0.087,0.000,3103,1993,3010,0,0,0,0,0,0
$STATE,4468,end apogee,CONTROL_FINISHED_OK
$STATE,4468,begin climb
$GC,4470,1.48,97.3,504.0,0.0,215,4564,1.65,2.80,82.68,0.899,4,0.039,0.057,3505,3576,2612,0,0,0,0,0,0
$GC,4582,1.45,193.1,504.2,3.4,217,4673,0.00,2.72,83.28,0.886,6,0.000,0.052,3505,2000,2221,0,0,0,0,0,0
$GC,4998,1.35,193.1,454.8,12.9,228,5004,0.17,2.97,0.00,0.000,4,0.119,0.104,3470,407,2212,0,0,0,0,0,0
$GC,5039,1.27,193.1,449.4,13.6,229,5043,0.00,2.60,0.00,0.000,6,0.000,0.027,3471,2003,2210,0,0,0,0,0,0
$GC,5364,1.27,193.1,411.8,11.5,237,5368,0.00,2.83,0.00,0.000,4,0.000,0.068,3471,399,2208,0,0,0,0,0,0
$GC,5385,1.21,193.1,408.8,12.8,237,5390,0.15,2.58,0.00,0.000,6,0.126,0.029,3441,2004,2207,0,0,0,0,0,0
$GC,5722,1.27,208.9,377.1,9.0,246,5742,0.00,2.67,12.43,0.772,4,0.000,0.044,3437,3576,2157,0,0,0,0,0,0
$GC,5829,1.33,208.9,366.5,10.4,248,5834,0.10,2.62,0.00,0.000,6,0.099,0.040,3466,1996,2155,0,0,0,0,0,0
$GC,6177,1.34,214.0,330.9,9.7,257,6188,0.00,2.80,5.70,0.636,4,0.000,0.077,3466,410,2136,0,0,0,0,0,0
$GC,6274,1.34,214.0,320.5,11.6,259,6278,0.00,2.55,0.00,0.000,6,0.000,0.025,3466,2016,2134,0,0,0,0,0,0
$GC,6586,1.36,233.1,292.3,8.7,267,6606,0.00,0.00,18.27,0.751,6,0.000,0.000,3466,2017,2059,0,0,0,0,0,0
$GC,6913,1.42,243.3,262.3,9.3,275,6928,0.00,2.55,10.02,0.687,4,0.000,0.033,3466,3559,2018,0,0,0,0,0,0
$GC,6939,1.48,243.3,259.3,10.2,275,6945,0.12,2.58,0.00,0.000,6,0.085,0.037,3499,1996,2016,0,0,0,0,0,0
$GC,7271,1.49,252.5,225.1,9.4,283,7285,0.00,2.75,9.38,0.655,4,0.000,0.066,3498,410,1979,0,0,0,0,0,0
$GC,7389,1.44,252.5,213.4,10.1,285,7394,0.00,2.50,0.00,0.000,6,0.000,0.021,3498,1995,1978,0,0,0,0,0,0
$GC,7707,1.46,267.7,186.8,9.0,303,7730,0.00,2.62,14.70,0.657,4,0.000,0.035,3498,3558,1917,0,0,0,0,0,0
$GC,7794,1.52,267.7,178.7,10.6,310,7798,0.00,2.55,0.00,0.000,6,0.000,0.031,3499,1997,1915,0,0,0,0,0,0
$GC,8121,1.58,272.9,144.6,9.7,340,8135,0.00,2.72,5.75,0.518,4,0.000,0.058,3499,420,1897,0,0,0,0,0,0
$GC,8162,1.58,272.9,140.3,10.9,343,8167,0.00,2.45,0.00,0.000,6,0.000,0.018,3499,2004,1896,0,0,0,0,0,0
$GC,8493,1.66,286.1,107.8,9.1,373,8518,0.15,2.75,13.20,0.574,4,0.071,0.051,3541,414,1841,0,0,0,0,0,0
$GC,8532,1.62,286.1,103.1,11.4,376,8536,0.00,2.45,0.00,0.000,6,0.000,0.020,3541,1993,1841,0,0,0,0,0,0
$GC,8860,1.62,286.1,68.8,10.0,406,8865,0.00,2.67,0.00,0.000,4,0.000,0.051,3541,413,1840,0,0,0,0,0,0
$GC,8991,1.62,286.1,54.1,11.3,416,9001,0.00,2.45,0.00,0.000,6,0.000,0.018,3541,1979,1840,0,0,0,0,0,0
$GC,9338,1.62,287.4,22.0,10.0,453,9347,0.00,2.65,0.00,0.000,4,0.000,0.051,3541,410,1840,0,0,0,0,0,0
$GC,9369,1.62,287.4,18.3,11.5,457,9378,0.00,2.45,0.00,0.000,6,0.000,0.018,3541,1978,1840,0,0,0,0,0,0
$STATE,9517,end climb,SURFACE_DEPTH_REACHED
$STATE,9518,begin surface coast
$FINISH,0.6,0.975330
$STATE,9568,end surface coast,CONTROL_FINISHED_OK
$STATE,9568,begin surface
$SM_CCo,9590,76.62,0.512,0,0,1459,380.21
$SM_GC,1.41,0.00,0.00,76.62,0.000,0.000,0.512,477,1980,1459,-12.41,-0.85,380.21
$IRIDIUM_FIX,2239.35,-15800.20,250900,101048
$TT8_MAMPS,0.026078
$HUMID,62.87
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.40
$XPDR_PINGS,41
$24V_AH,23.5,53.808
$10V_AH,10.2,47.821
$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,29.375,108.825,337.350,76.625,0.000,59.464,113.163,156.209,10.250,0.000,14.642,967.302,6311.436,473.738,1837.270,600.861,33.367,1149.320,0.000,1845.497,0.000,0.534,0.000
$DEVICE_MAMPS,246.974,135.759,909.662,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.060,267.467,378.651,725.326,1096.933,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355428
$DATA_FILE_SIZE,38508,486
$CAP_FILE_SIZE,96643,0
$CFSIZE,260165632,159555584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020711,160837,2247.965,-15758.506,37,0.9,37,10.1