version: 66.06
glider: 146
mission: 6
dive: 437
start: 7 3 111 6 33 12
data:
$ID,146
$MISSION,6
$DIVE,437
$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,-278701.31
$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,25
$R_STBD_OVSHOOT,59
$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
$GPS1,062606,2247.907,-15801.056,35,1.1,40,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.4
$GPS2,063220,2247.981,-15801.062,14,1.1,14,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.072,-0.203
$KALMAN_X,-335726.6,109.5,-259.1,328592.6,-1311.4
$KALMAN_Y,89470.5,443.0,67.2,-82431.2,1700.9
$MHEAD_RNG_PITCHd_Wd,150.3,3774,-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,-97.3,0.0,0.0,0,89,0.00,0.00,-69.57,0.000,2,0.000,0.000,474,2100,3205,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.4,-5.3,9,118,12.32,2.83,-3.90,0.000,4,0.149,0.053,2840,427,3408,0,0,0,0,0,0
$GC,170,-1.35,-97.3,22.7,-18.4,19,180,0.15,2.47,0.00,0.000,6,0.143,0.015,2875,2027,3410,0,0,0,0,0,0
$GC,508,-1.35,-97.3,72.2,-13.0,52,512,0.00,2.42,0.00,0.000,4,0.000,0.028,2875,3555,3411,0,0,0,0,0,0
$GC,567,-1.42,-97.3,79.2,-11.8,56,572,0.00,2.47,0.00,0.000,6,0.000,0.027,2875,1996,3411,0,0,0,0,0,0
$GC,892,-1.46,-97.3,116.5,-11.7,86,893,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1996,3412,0,0,0,0,0,0
$GC,1213,-1.52,-97.3,154.3,-12.0,116,1215,0.15,0.00,0.00,0.000,6,0.063,0.000,2823,1996,3413,0,0,0,0,0,0
$GC,1530,-1.52,-97.3,194.4,-11.2,146,1535,0.10,2.47,0.00,0.000,4,0.115,0.034,2844,3558,3413,0,0,0,0,0,0
$GC,1564,-1.57,-97.3,197.8,-11.1,148,1568,0.00,2.40,0.00,0.000,6,0.000,0.023,2844,2012,3413,0,0,0,0,0,0
$GC,1906,-1.62,-97.3,233.3,-10.0,157,1910,0.00,2.65,0.00,0.000,4,0.000,0.057,2844,434,3414,0,0,0,0,0,0
$GC,1924,-1.66,-97.3,235.1,-9.7,157,1929,0.12,2.40,0.00,0.000,6,0.076,0.015,2799,2020,3414,0,0,0,0,0,0
$GC,2266,-1.66,-97.3,274.5,-11.7,166,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,2020,3414,0,0,0,0,0,0
$GC,2591,-1.66,-97.3,312.8,-11.5,174,2595,0.00,2.70,0.00,0.000,4,0.000,0.071,2798,436,3414,0,0,0,0,0,0
$GC,2625,-1.62,-97.3,316.5,-11.1,174,2631,0.10,2.45,0.00,0.000,6,0.123,0.028,2819,1993,3414,0,0,0,0,0,0
$GC,2956,-1.67,-97.3,347.3,-9.6,183,2958,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1993,3413,0,0,0,0,0,0
$GC,3281,-1.71,-97.3,377.3,-8.8,191,3286,0.00,2.62,0.00,0.000,4,0.000,0.054,2819,3584,3412,0,0,0,0,0,0
$GC,3323,-1.79,-97.3,380.8,-8.6,192,3328,0.15,2.55,0.00,0.000,6,0.061,0.044,2768,2034,3412,0,0,0,0,0,0
$GC,3648,-1.74,-97.3,416.4,-11.1,200,3653,0.12,2.58,0.00,0.000,4,0.114,0.046,2794,3581,3410,0,0,0,0,0,0
$GC,3669,-1.74,-97.3,418.8,-10.6,200,3673,0.00,2.60,0.00,0.000,6,0.000,0.048,2794,2018,3410,0,0,0,0,0,0
$GC,4008,-1.74,-97.3,450.8,-9.7,209,4009,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2018,3407,0,0,0,0,0,0
$GC,4331,-1.74,-97.3,479.4,-9.1,217,4336,0.00,2.95,0.00,0.000,4,0.000,0.109,2794,422,3406,0,0,0,0,0,0
$GC,4358,-1.74,-97.3,482.3,-10.2,217,4362,0.00,2.58,0.00,0.000,6,0.000,0.035,2794,2009,3405,0,0,0,0,0,0
$STATE,4565,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4565,begin apogee
$GC,4572,-0.31,0.0,502.5,9.7,222,4658,1.38,0.00,81.70,0.911,6,0.084,0.000,3103,2009,3010,0,0,0,0,0,0
$STATE,4658,end apogee,CONTROL_FINISHED_OK
$STATE,4658,begin climb
$GC,4661,1.48,97.3,505.0,0.0,224,4756,1.65,2.78,83.40,0.897,4,0.043,0.069,3505,3586,2611,0,0,0,0,0,0
$GC,4880,1.39,147.1,499.7,6.6,229,4930,0.12,2.70,43.47,0.874,6,0.139,0.046,3481,1991,2409,0,0,0,0,0,0
$GC,5245,1.34,163.6,469.0,8.9,238,5266,0.00,3.00,14.80,0.813,4,0.000,0.100,3481,408,2341,0,0,0,0,0,0
$GC,5294,1.20,163.6,463.5,11.7,239,5299,0.22,2.62,0.00,0.000,6,0.114,0.035,3436,2002,2339,0,0,0,0,0,0
$GC,5609,1.22,173.8,433.9,9.3,247,5620,0.00,0.00,9.73,0.771,6,0.000,0.000,3436,2002,2301,0,0,0,0,0,0
$GC,5932,1.25,198.4,404.5,8.3,255,5961,0.00,2.90,22.75,0.828,4,0.000,0.071,3436,403,2200,0,0,0,0,0,0
$GC,6012,1.25,201.1,397.3,9.9,256,6018,0.00,2.60,0.00,0.000,6,0.000,0.027,3436,2009,2197,0,0,0,0,0,0
$GC,6345,1.32,215.1,369.1,9.1,265,6367,0.10,2.83,15.80,0.793,4,0.091,0.065,3463,401,2131,0,0,0,0,0,0
$GC,6401,1.27,215.1,362.0,13.6,266,6405,0.00,2.58,0.00,0.000,6,0.000,0.021,3463,2000,2128,0,0,0,0,0,0
$GC,6750,1.27,215.1,323.0,11.2,275,6754,0.00,2.58,0.00,0.000,4,0.000,0.045,3461,3569,2126,0,0,0,0,0,0
$GC,6827,1.27,215.1,314.0,11.3,276,6833,0.00,2.60,0.00,0.000,6,0.000,0.035,3463,1986,2125,0,0,0,0,0,0
$GC,7158,1.28,220.7,281.3,9.7,285,7169,0.00,2.75,5.07,0.590,4,0.000,0.066,3463,410,2110,0,0,0,0,0,0
$GC,7233,1.28,226.6,274.0,9.6,286,7247,0.00,2.53,7.03,0.657,6,0.000,0.025,3463,2008,2086,0,0,0,0,0,0
$GC,7575,1.37,253.4,245.0,8.2,295,7605,0.00,2.80,25.00,0.734,4,0.000,0.059,3463,411,1977,0,0,0,0,0,0
$GC,7711,1.37,253.4,232.1,10.2,298,7715,0.00,2.47,0.00,0.000,6,0.000,0.024,3464,1979,1973,0,0,0,0,0,0
$GC,8030,1.45,263.2,203.6,9.4,306,8045,0.12,2.70,9.65,0.644,4,0.077,0.056,3498,410,1936,0,0,0,0,0,0
$GC,8075,1.42,263.2,198.5,11.8,307,8081,0.00,2.47,0.00,0.000,6,0.000,0.021,3498,1979,1935,0,0,0,0,0,0
$GC,8400,1.43,275.1,166.6,9.2,338,8424,0.00,2.78,11.77,0.629,4,0.000,0.059,3498,401,1886,0,0,0,0,0,0
$GC,8472,1.43,275.1,158.9,11.2,344,8477,0.00,2.47,0.00,0.000,6,0.000,0.025,3498,1980,1885,0,0,0,0,0,0
$GC,8797,1.48,275.1,125.4,10.4,374,8802,0.00,2.67,0.00,0.000,4,0.000,0.056,3498,400,1885,0,0,0,0,0,0
$GC,8833,1.48,275.1,121.6,10.9,376,8842,0.00,2.47,0.00,0.000,6,0.000,0.018,3498,1972,1884,0,0,0,0,0,0
$GC,9163,1.55,286.7,88.7,9.2,407,9186,0.00,2.67,11.38,0.558,4,0.000,0.055,3498,405,1839,0,0,0,0,0,0
$GC,9302,1.55,286.7,74.3,10.5,418,9306,0.00,2.42,0.00,0.000,6,0.000,0.024,3498,1965,1837,0,0,0,0,0,0
$GC,9632,1.71,332.1,49.1,6.9,448,9678,0.20,2.58,39.85,0.555,4,0.060,0.033,3552,3549,1655,0,0,0,0,0,0
$GC,9707,1.71,332.1,42.1,10.9,453,9712,0.00,2.60,0.00,0.000,6,0.000,0.029,3552,1942,1653,0,0,0,0,0,0
$STATE,10044,end climb,SURFACE_DEPTH_REACHED
$STATE,10044,begin surface coast
$FINISH,0.6,0.972094
$STATE,10087,end surface coast,CONTROL_FINISHED_OK
$STATE,10087,begin surface
$SM_CCo,10109,38.67,0.509,0,0,1460,380.21
$SM_GC,1.51,0.00,0.00,38.67,0.000,0.000,0.509,478,1939,1460,-12.41,-2.01,380.21
$IRIDIUM_FIX,2239.35,-15802.37,260900,030327
$TT8_MAMPS,0.026078
$HUMID,64.80
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.00
$XPDR_PINGS,40
$24V_AH,23.5,54.443
$10V_AH,10.1,48.477
$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,29.550,104.725,381.400,38.675,0.000,31.240,32.347,173.896,10.000,0.000,16.171,992.308,6644.166,454.452,1920.026,510.921,33.375,1150.173,0.000,1925.264,0.000,0.533,0.000
$DEVICE_MAMPS,148.798,108.914,911.196,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.335,269.176,383.674,735.007,1111.463,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355444
$DATA_FILE_SIZE,38362,501
$CAP_FILE_SIZE,97727,0
$CFSIZE,260165632,159248384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030711,092336,2247.844,-15801.212,35,2.0,35,10.1