version: 66.06
glider: 146
mission: 6
dive: 438
start: 7 3 111 9 31 20
data:
$ID,146
$MISSION,6
$DIVE,438
$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,-278715.84
$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,21
$R_STBD_OVSHOOT,60
$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
$GPS1,092336,2247.844,-15801.212,35,2.0,35,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.6
$GPS2,093026,2247.911,-15801.235,12,1.9,12,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.126,-0.175
$KALMAN_X,-336867.4,145.4,-179.4,329317.3,-860.2
$KALMAN_Y,90821.3,521.1,531.6,-84452.8,555.7
$MHEAD_RNG_PITCHd_Wd,205.8,3454,-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,12,begin dive
$GC,15,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-70.80,0.000,2,0.000,0.000,477,1940,3257,0,0,0,0,0,0
$GC,93,-1.48,-97.3,3.8,-6.6,9,119,12.32,2.55,-2.70,0.000,4,0.149,0.054,2844,414,3410,0,0,0,0,0,0
$GC,282,-1.36,-97.3,45.6,-17.6,30,287,0.15,2.45,0.00,0.000,6,0.141,0.015,2873,2021,3413,0,0,0,0,0,0
$GC,606,-1.36,-97.3,92.3,-11.3,60,610,0.00,2.45,0.00,0.000,4,0.000,0.034,2873,3563,3414,0,0,0,0,0,0
$GC,627,-1.40,-97.3,94.3,-11.1,61,632,0.00,2.47,0.00,0.000,6,0.000,0.021,2873,1981,3414,0,0,0,0,0,0
$GC,956,-1.45,-97.3,131.9,-11.2,91,960,0.00,2.53,0.00,0.000,4,0.000,0.028,2873,3563,3415,0,0,0,0,0,0
$GC,987,-1.53,-97.3,135.4,-10.8,93,992,0.15,2.42,0.00,0.000,6,0.060,0.021,2819,2007,3415,0,0,0,0,0,0
$GC,1312,-1.50,-97.3,174.3,-11.5,123,1314,0.12,0.00,0.00,0.000,6,0.110,0.000,2846,2007,3415,0,0,0,0,0,0
$GC,1631,-1.54,-97.3,204.5,-10.0,150,1635,0.00,2.47,0.00,0.000,4,0.000,0.035,2846,3561,3416,0,0,0,0,0,0
$GC,1655,-1.60,-97.3,207.3,-10.7,150,1659,0.00,2.42,0.00,0.000,6,0.000,0.028,2846,2007,3416,0,0,0,0,0,0
$GC,1991,-1.65,-97.3,242.3,-10.5,159,1996,0.12,2.50,0.00,0.000,4,0.070,0.037,2802,3561,3416,0,0,0,0,0,0
$GC,2041,-1.65,-97.3,248.2,-11.8,160,2045,0.00,2.42,0.00,0.000,6,0.000,0.028,2802,2007,3417,0,0,0,0,0,0
$GC,2355,-1.65,-97.3,283.3,-11.5,168,2359,0.00,2.50,0.00,0.000,4,0.000,0.034,2802,3562,3416,0,0,0,0,0,0
$GC,2370,-1.65,-97.3,285.5,-11.5,168,2375,0.00,2.42,0.00,0.000,6,0.000,0.030,2802,2022,3417,0,0,0,0,0,0
$GC,2712,-1.65,-97.3,323.8,-11.4,177,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2021,3416,0,0,0,0,0,0
$GC,3039,-1.65,-97.3,359.4,-10.8,185,3043,0.00,2.50,0.00,0.000,4,0.000,0.047,2802,3554,3415,0,0,0,0,0,0
$GC,3099,-1.65,-97.3,365.8,-10.0,186,3104,0.00,2.50,0.00,0.000,6,0.000,0.044,2802,2029,3415,0,0,0,0,0,0
$GC,3442,-1.65,-97.3,397.1,-9.4,195,3446,0.00,2.53,0.00,0.000,4,0.000,0.049,2802,3548,3413,0,0,0,0,0,0
$GC,3574,-1.71,-97.3,411.6,-10.7,198,3579,0.00,2.53,0.00,0.000,6,0.000,0.052,2802,2041,3412,0,0,0,0,0,0
$GC,3898,-1.71,-97.3,448.9,-11.4,206,3902,0.00,2.53,0.00,0.000,4,0.000,0.053,2802,3555,3410,0,0,0,0,0,0
$GC,3955,-1.78,-97.3,454.9,-10.2,207,3959,0.00,2.53,0.00,0.000,6,0.000,0.059,2802,2053,3410,0,0,0,0,0,0
$GC,4302,-1.82,-97.3,487.6,-9.1,216,4304,0.10,0.00,0.00,0.000,6,0.087,0.000,2769,2053,3408,0,0,0,0,0,0
$STATE,4421,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4421,begin apogee
$GC,4428,-0.31,0.0,501.0,10.6,219,4513,1.50,0.00,81.88,0.912,6,0.085,0.000,3102,1983,3009,0,0,0,0,0,0
$STATE,4514,end apogee,CONTROL_FINISHED_OK
$STATE,4514,begin climb
$GC,4518,1.48,97.3,503.5,0.0,221,4606,1.65,0.00,83.12,0.895,6,0.038,0.000,3505,1983,2613,0,0,0,0,0,0
$GC,4927,1.39,134.3,482.1,7.5,231,4968,0.15,2.75,31.80,0.869,4,0.124,0.049,3477,3534,2461,0,0,0,0,0,0
$GC,5047,1.32,140.1,471.3,9.6,233,5058,0.00,2.62,6.18,0.685,6,0.000,0.049,3477,2001,2438,0,0,0,0,0,0
$GC,5383,1.29,163.6,441.8,8.4,242,5412,0.00,3.00,21.27,0.841,4,0.000,0.099,3477,407,2343,0,0,0,0,0,0
$GC,5494,1.18,163.6,431.4,10.5,244,5500,0.22,2.53,0.00,0.000,6,0.116,0.025,3432,1959,2339,0,0,0,0,0,0
$GC,5837,1.22,200.7,405.5,7.5,253,5876,0.00,0.00,34.05,0.844,6,0.000,0.000,3432,1959,2189,0,0,0,0,0,0
$GC,6204,1.28,202.1,371.8,9.9,262,6209,0.10,2.72,0.00,0.000,4,0.097,0.066,3459,403,2183,0,0,0,0,0,0
$GC,6225,1.28,202.1,368.9,11.8,262,6230,0.00,2.53,0.00,0.000,6,0.000,0.022,3459,1989,2182,0,0,0,0,0,0
$GC,6563,1.29,204.7,333.6,9.9,271,6567,0.00,2.60,0.00,0.000,4,0.000,0.039,3458,3569,2181,0,0,0,0,0,0
$GC,6580,1.29,206.7,332.0,9.9,271,6590,0.00,2.62,4.85,0.602,6,0.000,0.036,3459,1976,2167,0,0,0,0,0,0
$GC,6921,1.33,235.3,302.9,8.1,280,6956,0.00,2.85,26.95,0.781,4,0.000,0.070,3458,408,2048,0,0,0,0,0,0
$GC,7158,1.33,235.3,276.6,11.2,285,7163,0.00,2.50,0.00,0.000,6,0.000,0.022,3459,1983,2044,0,0,0,0,0,0
$GC,7507,1.40,244.2,242.6,9.4,294,7522,0.00,2.78,8.25,0.660,4,0.000,0.062,3459,406,2013,0,0,0,0,0,0
$GC,7568,1.40,244.2,236.7,10.4,295,7572,0.00,2.45,0.00,0.000,6,0.000,0.025,3459,1969,2012,0,0,0,0,0,0
$GC,7915,1.52,280.2,208.9,7.6,304,7955,0.20,0.00,33.25,0.709,6,0.067,0.000,3510,1970,1866,0,0,0,0,0,0
$GC,8273,1.52,280.2,170.5,10.7,329,8278,0.00,2.67,0.00,0.000,4,0.000,0.054,3510,401,1861,0,0,0,0,0,0
$GC,8341,1.52,280.2,161.2,13.9,334,8347,0.00,2.45,0.00,0.000,6,0.000,0.023,3510,1964,1859,0,0,0,0,0,0
$GC,8670,1.52,280.2,126.9,11.2,365,8674,0.00,2.62,0.00,0.000,4,0.000,0.057,3510,407,1859,0,0,0,0,0,0
$GC,8748,1.52,280.2,116.8,13.2,371,8753,0.00,2.42,0.00,0.000,6,0.000,0.018,3510,1968,1860,0,0,0,0,0,0
$GC,9077,1.62,307.0,81.9,8.2,401,9105,0.00,2.65,23.05,0.582,4,0.000,0.054,3510,407,1756,0,0,0,0,0,0
$GC,9173,1.62,313.5,73.7,9.6,408,9188,0.00,2.40,7.15,0.498,6,0.000,0.019,3510,1945,1730,0,0,0,0,0,0
$GC,9508,1.71,314.8,43.4,10.0,439,9513,0.15,2.58,0.00,0.000,4,0.072,0.031,3551,3549,1729,0,0,0,0,0,0
$GC,9556,1.71,314.8,37.4,11.5,442,9565,0.00,2.65,0.00,0.000,6,0.000,0.030,3551,1933,1728,0,0,0,0,0,0
$STATE,9850,end climb,SURFACE_DEPTH_REACHED
$STATE,9850,begin surface coast
$FINISH,0.5,0.971899
$STATE,9892,end surface coast,CONTROL_FINISHED_OK
$STATE,9892,begin surface
$SM_CCo,9915,55.53,0.513,0,0,1459,380.21
$SM_GC,1.37,0.00,0.00,55.53,0.000,0.000,0.513,477,2073,1459,-12.41,1.75,380.21
$IRIDIUM_FIX,2237.01,-15802.37,260900,060602
$TT8_MAMPS,0.026078
$HUMID,64.37
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,20.90
$XPDR_PINGS,42
$24V_AH,23.5,54.552
$10V_AH,10.2,48.584
$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,29.475,97.325,361.800,55.525,0.000,28.452,38.729,206.431,10.500,0.000,13.904,975.946,6542.591,485.654,1826.928,551.494,33.375,1135.803,0.000,1836.401,0.000,0.533,0.000
$DEVICE_MAMPS,148.798,121.953,911.963,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.497,275.017,371.222,693.399,1048.644,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355448
$DATA_FILE_SIZE,38413,487
$CAP_FILE_SIZE,94637,0
$CFSIZE,260165632,159195136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030711,121901,2247.546,-15802.640,48,1.0,48,10.1