version: 66.06
glider: 146
mission: 6
dive: 452
start: 7 5 111 2 22 14
data:
$ID,146
$MISSION,6
$DIVE,452
$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,-279008.78
$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,23
$R_STBD_OVSHOOT,78
$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
$GPS1,021207,2250.059,-15758.394,35,1.2,35,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.8
$GPS2,022119,2250.093,-15758.450,12,1.2,12,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.205,-0.066
$KALMAN_X,-352628.8,-209.4,168.3,349846.5,-749.4
$KALMAN_Y,107299.9,-256.8,36.0,-95612.1,569.7
$MHEAD_RNG_PITCHd_Wd,97.8,2481,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.48,-97.3,0.0,0.0,0,89,0.00,0.00,-71.25,0.000,2,0.000,0.000,474,2041,3245,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.3,-5.2,9,118,12.52,2.72,-3.12,0.000,4,0.155,0.055,2845,417,3411,0,0,0,0,0,0
$GC,150,-1.32,-97.3,19.6,-20.9,16,158,0.15,2.45,0.00,0.000,6,0.103,0.015,2880,2006,3412,0,0,0,0,0,0
$GC,498,-1.32,-97.3,71.7,-14.7,52,506,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,2007,3413,0,0,0,0,0,0
$GC,829,-1.32,-97.3,117.9,-12.3,83,833,0.00,2.45,0.00,0.000,4,0.000,0.029,2880,3553,3414,0,0,0,0,0,0
$GC,897,-1.38,-97.3,126.9,-11.6,88,907,0.00,2.47,0.00,0.000,6,0.000,0.022,2880,1997,3414,0,0,0,0,0,0
$GC,1224,-1.46,-97.3,162.5,-11.0,119,1229,0.10,2.45,0.00,0.000,4,0.084,0.028,2840,3554,3415,0,0,0,0,0,0
$GC,1245,-1.51,-97.3,165.3,-11.1,120,1254,0.00,2.45,0.00,0.000,6,0.000,0.022,2840,2009,3415,0,0,0,0,0,0
$GC,1600,-1.51,-97.3,204.8,-10.1,151,1604,0.00,2.45,0.00,0.000,4,0.000,0.035,2839,3562,3415,0,0,0,0,0,0
$GC,1622,-1.51,-97.3,207.2,-10.3,151,1627,0.00,2.42,0.00,0.000,6,0.000,0.027,2839,2013,3415,0,0,0,0,0,0
$GC,1959,-1.55,-97.3,242.4,-10.2,160,1963,0.00,2.45,0.00,0.000,4,0.000,0.035,2840,3552,3416,0,0,0,0,0,0
$GC,2009,-1.62,-97.3,247.7,-10.3,161,2013,0.00,2.42,0.00,0.000,6,0.000,0.022,2839,2015,3416,0,0,0,0,0,0
$GC,2323,-1.68,-97.3,278.5,-9.9,169,2325,0.12,0.00,0.00,0.000,6,0.068,0.000,2791,2015,3416,0,0,0,0,0,0
$GC,2646,-1.68,-97.3,314.6,-11.1,177,2650,0.00,2.50,0.00,0.000,4,0.000,0.035,2791,3557,3416,0,0,0,0,0,0
$GC,2875,-1.68,-97.3,338.0,-9.4,182,2879,0.00,2.47,0.00,0.000,6,0.000,0.035,2791,2027,3416,0,0,0,0,0,0
$GC,3187,-1.68,-97.3,369.6,-10.8,190,3188,0.00,0.00,0.00,0.000,6,0.000,0.000,2791,2027,3414,0,0,0,0,0,0
$GC,3513,-1.68,-97.3,405.8,-11.2,198,3518,0.00,2.55,0.00,0.000,4,0.000,0.051,2791,3551,3413,0,0,0,0,0,0
$GC,3557,-1.68,-97.3,410.8,-10.7,199,3562,0.00,2.58,0.00,0.000,6,0.000,0.051,2791,2014,3412,0,0,0,0,0,0
$GC,3882,-1.68,-97.3,443.5,-9.9,207,3886,0.00,2.58,0.00,0.000,4,0.000,0.055,2790,3541,3410,0,0,0,0,0,0
$GC,3910,-1.68,-97.3,446.4,-9.9,207,3915,0.00,2.58,0.00,0.000,6,0.000,0.056,2791,2013,3411,0,0,0,0,0,0
$GC,4242,-1.68,-97.3,479.0,-10.0,215,4246,0.00,2.60,0.00,0.000,4,0.000,0.058,2791,3540,3407,0,0,0,0,0,0
$GC,4291,-1.72,-97.3,484.1,-10.2,216,4296,0.00,2.58,0.00,0.000,6,0.000,0.054,2790,2024,3407,0,0,0,0,0,0
$STATE,4479,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4479,begin apogee
$GC,4487,-0.31,0.0,502.9,10.0,221,4573,1.40,0.00,81.95,0.910,6,0.089,0.000,3104,1983,3009,0,0,0,0,0,0
$STATE,4573,end apogee,CONTROL_FINISHED_OK
$STATE,4574,begin climb
$GC,4576,1.48,97.3,504.8,0.0,223,4667,1.67,2.67,83.45,0.888,4,0.044,0.057,3506,3527,2611,0,0,0,0,0,0
$GC,4681,1.45,195.8,504.9,3.2,226,4774,0.00,2.62,85.30,0.880,6,0.000,0.050,3506,1990,2211,0,0,0,0,0,0
$GC,5088,1.35,195.8,458.5,11.6,236,5093,0.17,2.95,0.00,0.000,4,0.117,0.104,3472,402,2201,0,0,0,0,0,0
$GC,5158,1.26,195.8,450.6,11.4,237,5163,0.12,2.53,0.00,0.000,6,0.131,0.028,3448,1943,2199,0,0,0,0,0,0
$GC,5494,1.28,210.9,419.3,9.0,246,5514,0.00,2.78,12.50,0.790,4,0.000,0.074,3448,408,2149,0,0,0,0,0,0
$GC,5600,1.28,210.9,407.8,11.4,248,5604,0.00,2.45,0.00,0.000,6,0.000,0.026,3448,1940,2147,0,0,0,0,0,0
$GC,5947,1.28,210.9,372.4,10.3,257,5952,0.00,2.67,0.00,0.000,4,0.000,0.068,3448,400,2144,0,0,0,0,0,0
$GC,6025,1.28,210.9,363.8,11.5,258,6030,0.00,2.45,0.00,0.000,6,0.000,0.023,3448,1932,2144,0,0,0,0,0,0
$GC,6358,1.34,229.8,333.1,8.7,267,6382,0.00,2.75,17.10,0.774,4,0.000,0.060,3448,396,2072,0,0,0,0,0,0
$GC,6456,1.35,237.4,323.8,9.5,269,6470,0.00,2.42,8.23,0.699,6,0.000,0.027,3448,1931,2041,0,0,0,0,0,0
$GC,6816,1.43,246.8,292.1,9.4,278,6831,0.15,2.67,9.50,0.704,4,0.078,0.042,3487,3538,2003,0,0,0,0,0,0
$GC,6870,1.43,246.8,285.5,12.1,279,6875,0.00,2.58,0.00,0.000,6,0.000,0.031,3488,1960,2002,0,0,0,0,0,0
$GC,7219,1.43,246.8,248.1,10.2,288,7224,0.00,2.67,0.00,0.000,4,0.000,0.067,3488,406,2000,0,0,0,0,0,0
$GC,7280,1.43,246.8,241.7,10.9,289,7284,0.00,2.42,0.00,0.000,6,0.000,0.023,3487,1947,1999,0,0,0,0,0,0
$GC,7629,1.48,260.5,210.4,9.1,298,7648,0.00,2.70,12.95,0.673,4,0.000,0.035,3488,3560,1947,0,0,0,0,0,0
$GC,7695,1.55,260.5,203.1,11.5,299,7700,0.10,2.60,0.00,0.000,6,0.092,0.031,3515,1974,1945,0,0,0,0,0,0
$GC,8018,1.55,263.3,168.3,9.8,326,8019,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,1974,1944,0,0,0,0,0,0
$GC,8340,1.62,284.8,140.7,8.6,356,8368,0.00,2.62,22.15,0.625,4,0.000,0.037,3515,3568,1848,0,0,0,0,0,0
$GC,8404,1.67,286.0,134.5,10.0,361,8410,0.10,2.58,0.00,0.000,6,0.093,0.035,3542,1975,1847,0,0,0,0,0,0
$GC,8729,1.70,307.7,104.5,8.5,392,8756,0.00,2.70,20.90,0.584,4,0.000,0.054,3542,419,1754,0,0,0,0,0,0
$GC,8818,1.70,307.7,95.0,11.9,399,8824,0.00,2.45,0.00,0.000,6,0.000,0.021,3542,1994,1752,0,0,0,0,0,0
$GC,9146,1.70,307.7,61.3,10.4,430,9151,0.00,2.65,0.00,0.000,4,0.000,0.050,3542,414,1752,0,0,0,0,0,0
$GC,9204,1.70,307.7,55.1,11.4,434,9208,0.00,2.40,0.00,0.000,6,0.000,0.016,3542,1966,1752,0,0,0,0,0,0
$GC,9561,1.70,307.7,16.9,10.9,472,9570,0.00,2.62,0.00,0.000,4,0.000,0.054,3542,408,1752,0,0,0,0,0,0
$GC,9608,1.70,307.7,11.3,12.6,478,9617,0.00,2.42,0.00,0.000,6,0.000,0.024,3542,1966,1751,0,0,0,0,0,0
$STATE,9672,end climb,SURFACE_DEPTH_REACHED
$STATE,9672,begin surface coast
$FINISH,0.6,0.975643
$STATE,9721,end surface coast,CONTROL_FINISHED_OK
$STATE,9721,begin surface
$SM_CCo,9745,59.35,0.504,0,0,1459,380.21
$SM_GC,1.37,0.00,0.00,59.35,0.000,0.000,0.504,475,1968,1459,-12.42,-1.19,380.21
$IRIDIUM_FIX,2244.02,-15756.28,280900,020203
$TT8_MAMPS,0.025311
$HUMID,62.28
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,21.90
$XPDR_PINGS,47
$24V_AH,23.5,56.062
$10V_AH,10.2,50.137
$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,29.050,107.650,354.025,59.350,0.000,55.059,69.101,218.144,11.750,0.000,13.960,983.007,6375.175,474.244,1906.843,619.403,33.371,1169.651,0.000,1906.174,0.000,0.534,0.000
$DEVICE_MAMPS,154.934,159.536,910.429,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.562,278.452,382.595,724.396,1095.754,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355428
$DATA_FILE_SIZE,38346,494
$CAP_FILE_SIZE,97684,0
$CFSIZE,260165632,158494720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050711,050646,2250.069,-15757.903,7,2.8,26,10.1