version: 66.06
glider: 146
mission: 6
dive: 464
start: 7 6 111 14 3 46
data:
$ID,146
$MISSION,6
$DIVE,464
$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,621.34491
$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,-279314.56
$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
$GPS1,134723,2247.714,-15800.535,33,1.3,37,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.5
$GPS2,140252,2247.761,-15800.596,9,3.0,28,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.191,-0.101
$KALMAN_X,-365100.2,-71.2,-110.7,358796.2,-742.6
$KALMAN_Y,123154.6,411.8,630.4,-117053.9,98.6
$MHEAD_RNG_PITCHd_Wd,232.1,4341,-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,-70.80,0.000,2,0.000,0.000,474,1949,3249,0,0,0,0,0,0
$GC,91,-1.48,-97.3,3.3,-5.7,9,117,12.52,2.55,-3.10,0.000,4,0.156,0.054,2842,423,3410,0,0,0,0,0,0
$GC,260,-1.37,-97.3,36.3,-16.0,31,265,0.15,2.42,0.00,0.000,6,0.218,0.014,2873,2032,3411,0,0,0,0,0,0
$GC,589,-1.37,-97.3,83.9,-14.9,61,593,0.00,2.65,0.00,0.000,4,0.000,0.045,2873,425,3412,0,0,0,0,0,0
$GC,607,-1.32,-97.3,87.1,-14.2,62,611,0.00,2.40,0.00,0.000,6,0.000,0.018,2873,2017,3412,0,0,0,0,0,0
$GC,931,-1.32,-97.3,131.3,-13.0,92,936,0.00,2.45,0.00,0.000,4,0.000,0.031,2873,3551,3412,0,0,0,0,0,0
$GC,1001,-1.43,-97.3,138.9,-11.4,97,1005,0.00,2.42,0.00,0.000,6,0.000,0.028,2873,2004,3413,0,0,0,0,0,0
$GC,1330,-1.51,-97.3,171.5,-9.0,127,1336,0.12,0.00,0.00,0.000,6,0.071,0.000,2827,2004,3413,0,0,0,0,0,0
$GC,1674,-1.51,-97.3,210.0,-11.8,154,1678,0.00,2.42,0.00,0.000,4,0.000,0.035,2827,3543,3414,0,0,0,0,0,0
$GC,1740,-1.51,-97.3,218.1,-12.1,155,1744,0.00,2.35,0.00,0.000,6,0.000,0.026,2827,2035,3414,0,0,0,0,0,0
$GC,2083,-1.51,-97.3,253.9,-10.2,164,2087,0.00,2.67,0.00,0.000,4,0.000,0.057,2827,435,3414,0,0,0,0,0,0
$GC,2099,-1.51,-97.3,255.7,-10.1,164,2104,0.00,2.40,0.00,0.000,6,0.000,0.021,2827,2000,3414,0,0,0,0,0,0
$GC,2442,-1.56,-97.3,288.0,-9.1,173,2447,0.00,2.53,0.00,0.000,4,0.000,0.043,2827,3569,3414,0,0,0,0,0,0
$GC,2464,-1.62,-97.3,290.4,-10.1,173,2469,0.00,2.42,0.00,0.000,6,0.000,0.025,2827,2043,3414,0,0,0,0,0,0
$GC,2803,-1.68,-97.3,323.0,-9.8,182,2808,0.00,2.47,0.00,0.000,4,0.000,0.035,2827,3567,3414,0,0,0,0,0,0
$GC,2928,-1.78,-97.3,335.5,-8.8,184,2935,0.17,2.45,0.00,0.000,6,0.058,0.033,2769,2060,3413,0,0,0,0,0,0
$GC,3261,-1.74,-97.3,373.3,-12.3,193,3263,0.12,0.00,0.00,0.000,6,0.116,0.000,2795,2059,3412,0,0,0,0,0,0
$GC,3584,-1.74,-97.3,412.0,-11.8,201,3589,0.00,2.95,0.00,0.000,4,0.000,0.095,2795,418,3410,0,0,0,0,0,0
$GC,3628,-1.74,-97.3,417.0,-11.2,202,3632,0.00,2.60,0.00,0.000,6,0.000,0.033,2795,2018,3409,0,0,0,0,0,0
$GC,3948,-1.74,-97.3,446.2,-8.6,210,3952,0.00,2.67,0.00,0.000,4,0.000,0.061,2795,3591,3407,0,0,0,0,0,0
$GC,3992,-1.81,-97.3,450.1,-8.1,211,3997,0.00,2.58,0.00,0.000,6,0.000,0.047,2795,2054,3406,0,0,0,0,0,0
$GC,4312,-1.84,-97.3,478.9,-9.8,219,4317,0.00,3.00,0.00,0.000,4,0.000,0.106,2795,418,3404,0,0,0,0,0,0
$GC,4333,-1.84,-97.3,481.7,-10.9,219,4338,0.00,2.67,0.00,0.000,6,0.000,0.038,2795,2050,3403,0,0,0,0,0,0
$STATE,4505,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4505,begin apogee
$GC,4511,-0.31,0.0,500.1,10.6,224,4596,1.38,0.00,80.70,0.903,6,0.084,0.000,3103,1975,3010,0,0,0,0,0,0
$STATE,4596,end apogee,CONTROL_FINISHED_OK
$STATE,4596,begin climb
$GC,4600,1.48,97.3,502.6,0.0,226,4694,1.65,2.85,83.15,0.885,4,0.051,0.083,3503,419,2613,0,0,0,0,0,0
$GC,4716,1.36,174.0,502.1,4.7,228,4791,0.15,2.62,67.18,0.876,6,0.131,0.034,3475,1998,2299,0,0,0,0,0,0
$GC,5132,1.31,174.0,459.6,10.7,239,5137,0.00,2.80,0.00,0.000,4,0.000,0.072,3475,420,2289,0,0,0,0,0,0
$GC,5159,1.21,174.0,456.3,12.0,239,5164,0.17,2.58,0.00,0.000,6,0.121,0.033,3441,1994,2287,0,0,0,0,0,0
$GC,5492,1.22,182.9,424.3,9.4,247,5500,0.00,0.00,6.72,0.700,6,0.000,0.000,3441,1994,2264,0,0,0,0,0,0
$GC,5815,1.24,193.5,392.9,9.3,255,5831,0.00,2.80,10.65,0.766,4,0.000,0.068,3441,410,2220,0,0,0,0,0,0
$GC,5901,1.24,194.9,384.8,9.9,257,5905,0.00,2.53,0.00,0.000,6,0.000,0.026,3440,1980,2217,0,0,0,0,0,0
$GC,6225,1.33,229.0,358.0,7.7,265,6267,0.10,2.80,32.08,0.812,4,0.100,0.064,3467,421,2074,0,0,0,0,0,0
$GC,6328,1.33,229.0,346.7,12.2,267,6332,0.00,2.47,0.00,0.000,6,0.000,0.021,3468,1962,2071,0,0,0,0,0,0
$GC,6675,1.33,229.0,308.7,10.5,276,6680,0.00,2.65,0.00,0.000,4,0.000,0.044,3467,3571,2069,0,0,0,0,0,0
$GC,6708,1.33,229.0,305.2,10.6,276,6716,0.00,2.62,0.00,0.000,6,0.000,0.036,3467,1972,2067,0,0,0,0,0,0
$GC,7041,1.42,271.6,279.9,7.1,285,7086,0.00,2.80,37.50,0.761,4,0.000,0.067,3467,412,1901,0,0,0,0,0,0
$GC,7159,1.42,271.6,268.3,11.4,287,7164,0.00,2.47,0.00,0.000,6,0.000,0.025,3467,1966,1898,0,0,0,0,0,0
$GC,7492,1.50,271.6,234.2,10.3,295,7498,0.15,2.65,0.00,0.000,4,0.077,0.060,3506,409,1894,0,0,0,0,0,0
$GC,7548,1.50,271.6,227.4,12.2,296,7552,0.00,2.45,0.00,0.000,6,0.000,0.025,3506,1961,1893,0,0,0,0,0,0
$GC,7866,1.52,286.7,198.1,9.0,305,7890,0.00,2.67,12.95,0.657,4,0.000,0.038,3506,3560,1840,0,0,0,0,0,0
$GC,7931,1.58,288.6,192.4,9.9,310,7935,0.00,2.60,0.00,0.000,6,0.000,0.035,3506,1968,1838,0,0,0,0,0,0
$GC,8259,1.58,288.6,160.0,10.3,340,8264,0.00,2.65,0.00,0.000,4,0.000,0.058,3506,406,1836,0,0,0,0,0,0
$GC,8407,1.58,288.6,142.5,12.1,352,8411,0.00,2.45,0.00,0.000,6,0.000,0.023,3506,1976,1835,0,0,0,0,0,0
$GC,8734,1.69,323.5,113.4,7.6,382,8772,0.15,2.67,32.03,0.604,4,0.073,0.049,3546,411,1690,0,0,0,0,0,0
$GC,8801,1.64,323.5,105.4,12.8,387,8807,0.00,2.45,0.00,0.000,6,0.000,0.018,3545,1973,1688,0,0,0,0,0,0
$GC,9129,1.64,324.4,72.1,10.0,418,9133,0.00,2.62,0.00,0.000,4,0.000,0.048,3545,407,1686,0,0,0,0,0,0
$GC,9175,1.64,324.4,67.2,11.5,421,9179,0.00,2.42,0.00,0.000,6,0.000,0.017,3545,1971,1685,0,0,0,0,0,0
$GC,9503,1.64,324.4,32.3,10.4,451,9507,0.00,2.60,0.00,0.000,4,0.000,0.051,3545,404,1685,0,0,0,0,0,0
$GC,9580,1.64,324.4,23.0,12.3,460,9589,0.00,2.40,0.00,0.000,6,0.000,0.017,3545,1946,1685,0,0,0,0,0,0
$STATE,9764,end climb,SURFACE_DEPTH_REACHED
$STATE,9764,begin surface coast
$FINISH,0.6,0.976219
$STATE,9812,end surface coast,CONTROL_FINISHED_OK
$STATE,9812,begin surface
$SM_CCo,9834,236.65,0.500,0,0,477,621.34
$SM_GC,1.24,0.00,0.00,236.65,0.000,0.000,0.500,477,1947,477,-12.42,-1.78,621.34
$IRIDIUM_FIX,2241.69,-15759.32,290900,141441
$TT8_MAMPS,0.026078
$HUMID,60.63
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,20.90
$XPDR_PINGS,46
$24V_AH,23.5,57.495
$10V_AH,10.1,51.492
$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,29.325,113.875,362.950,236.650,0.000,134.241,400.402,0.000,11.500,0.000,34.081,980.086,6660.300,646.412,1900.090,812.835,33.377,1337.328,0.000,1885.052,0.000,0.536,0.000
$DEVICE_MAMPS,217.828,105.846,902.759,500.084,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.764,273.044,380.578,725.356,1096.184,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355564
$DATA_FILE_SIZE,38408,494
$CAP_FILE_SIZE,97549,0
$CFSIZE,260165632,157859840
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060711,165255,2248.054,-15802.196,37,1.1,37,10.1