version: 66.06
glider: 146
mission: 6
dive: 621
start: 8 2 111 21 1 10
data:
$ID,146
$MISSION,6
$DIVE,621
$D_SURF,4
$D_FLARE,3
$D_TGT,600
$D_ABORT,700
$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,200
$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,-282945.19
$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,2120
$C_ROLL_CLIMB,1805
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,22
$R_STBD_OVSHOOT,54
$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
$GPS1,204937,2151.388,-15800.781,31,1.3,31,9.9
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.51
$_SM_ANGLEo,-68.9
$GPS2,210020,2151.432,-15800.899,12,1.3,12,9.9
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAY2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.010,-0.217
$KALMAN_X,-651999.2,-57.8,-266.2,645314.9,-753.8
$KALMAN_Y,260270.2,-44.1,-82.0,-357321.8,445.9
$MHEAD_RNG_PITCHd_Wd,167.5,6632,-21.6,-10.000
$D_GRID,600
$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,13,begin dive
$GC,15,-1.47,-97.3,0.0,0.0,0,87,0.00,0.00,-69.03,0.000,2,0.000,0.000,475,2196,3213,0,0,0,0,0,0
$GC,90,-1.47,-97.3,4.0,-7.6,11,118,12.70,2.78,-3.72,0.000,4,0.158,0.051,2849,525,3408,0,0,0,0,0,0
$GC,217,-1.38,-97.3,31.5,-16.4,33,222,0.12,2.45,0.00,0.000,6,0.131,0.016,2873,2120,3409,0,0,0,0,0,0
$GC,609,-1.38,-97.3,83.7,-9.9,69,614,0.00,2.65,0.00,0.000,4,0.000,0.046,2873,531,3411,0,0,0,0,0,0
$GC,654,-1.38,-97.3,88.7,-9.8,72,661,0.00,2.47,0.00,0.000,6,0.000,0.016,2873,2116,3411,0,0,0,0,0,0
$GC,1046,-1.44,-97.3,130.8,-11.8,109,1051,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,2118,3411,0,0,0,0,0,0
$GC,1435,-1.54,-97.3,173.9,-9.0,146,1437,0.15,0.00,0.00,0.000,6,0.063,0.000,2823,2117,3412,0,0,0,0,0,0
$GC,1834,-1.54,-97.3,217.3,-10.2,172,1835,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2118,3413,0,0,0,0,0,0
$GC,2196,-1.54,-97.3,254.5,-10.6,181,2201,0.00,2.70,0.00,0.000,4,0.000,0.056,2822,528,3413,0,0,0,0,0,0
$GC,2251,-1.54,-97.3,260.8,-11.3,182,2256,0.00,2.45,0.00,0.000,6,0.000,0.024,2822,2108,3413,0,0,0,0,0,0
$GC,2642,-1.58,-97.3,304.3,-10.0,192,2643,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2108,3413,0,0,0,0,0,0
$GC,3006,-1.63,-97.3,334.0,-7.6,201,3007,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2108,3412,0,0,0,0,0,0
$GC,3374,-1.69,-97.3,364.4,-9.5,210,3378,0.00,2.72,0.00,0.000,4,0.000,0.075,2822,538,3410,0,0,0,0,0,0
$GC,3390,-1.73,-97.3,366.3,-9.6,210,3395,0.10,2.50,0.00,0.000,6,0.081,0.035,2785,2093,3411,0,0,0,0,0,0
$GC,3772,-1.73,-97.3,409.7,-11.4,220,3773,0.00,0.00,0.00,0.000,6,0.000,0.000,2785,2093,3408,0,0,0,0,0,0
$GC,4140,-1.73,-97.3,452.0,-11.4,229,4144,0.00,2.78,0.00,0.000,4,0.000,0.067,2785,3708,3406,0,0,0,0,0,0
$GC,4200,-1.73,-97.3,458.8,-11.1,230,4205,0.00,2.70,0.00,0.000,6,0.000,0.051,2785,2114,3406,0,0,0,0,0,0
$GC,4583,-1.73,-97.3,499.0,-11.1,240,4588,0.00,2.72,0.00,0.000,4,0.000,0.064,2785,3697,3403,0,0,0,0,0,0
$GC,4612,-1.73,-97.3,502.1,-10.8,240,4617,0.00,2.70,0.00,0.000,6,0.000,0.058,2785,2101,3402,0,0,0,0,0,0
$GC,4984,-1.73,-97.3,540.1,-10.7,249,4988,0.00,2.78,0.00,0.000,4,0.000,0.067,2785,3695,3400,0,0,0,0,0,0
$GC,5005,-1.73,-97.3,542.5,-10.6,249,5009,0.00,2.67,0.00,0.000,6,0.000,0.062,2785,2111,3400,0,0,0,0,0,0
$GC,5384,-1.73,-97.3,580.9,-9.6,259,5389,0.00,3.08,0.00,0.000,4,0.000,0.130,2785,526,3398,0,0,0,0,0,0
$GC,5400,-1.73,-97.3,582.8,-10.0,259,5405,0.00,2.67,0.00,0.000,6,0.000,0.056,2785,2104,3398,0,0,0,0,0,0
$STATE,5577,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5577,begin apogee
$GC,5583,-0.31,0.0,601.4,10.5,264,5670,1.45,0.00,82.62,0.992,6,0.096,0.000,3107,1804,3010,0,0,0,0,0,0
$STATE,5671,end apogee,CONTROL_FINISHED_OK
$STATE,5671,begin climb
$GC,5675,1.47,97.3,604.1,0.0,266,5772,1.62,3.15,85.72,0.978,4,0.040,0.114,3505,225,2611,0,0,0,0,0,0
$GC,5892,1.24,115.3,597.2,8.8,271,5916,0.28,2.70,16.62,0.907,6,0.115,0.054,3449,1813,2540,0,0,0,0,0,0
$GC,6305,1.23,152.2,568.5,7.5,281,6346,0.00,2.90,33.17,0.947,4,0.000,0.075,3448,3391,2388,0,0,0,0,0,0
$GC,6423,1.23,152.2,556.3,11.1,283,6427,0.00,2.78,0.00,0.000,6,0.000,0.065,3448,1802,2384,0,0,0,0,0,0
$GC,6800,1.25,173.5,520.8,8.5,293,6824,0.00,2.78,19.27,0.904,4,0.000,0.054,3448,3402,2302,0,0,0,0,0,0
$GC,6898,1.26,177.0,512.3,9.8,295,6908,0.00,2.78,4.50,0.637,6,0.000,0.057,3449,1807,2288,0,0,0,0,0,0
$GC,7288,1.29,198.3,478.3,8.6,305,7314,0.00,2.72,20.90,0.887,4,0.000,0.045,3449,3406,2200,0,0,0,0,0,0
$GC,7347,1.29,198.3,472.1,10.4,306,7352,0.00,2.78,0.00,0.000,6,0.000,0.055,3448,1812,2198,0,0,0,0,0,0
$GC,7732,1.30,213.4,435.2,9.0,316,7752,0.00,3.08,14.40,0.838,4,0.000,0.110,3448,218,2138,0,0,0,0,0,0
$GC,7770,1.30,213.4,431.0,10.6,317,7774,0.00,2.65,0.00,0.000,6,0.000,0.031,3448,1830,2136,0,0,0,0,0,0
$GC,8176,1.30,213.4,388.1,10.3,327,8181,0.00,2.60,0.00,0.000,4,0.000,0.044,3448,3398,2135,0,0,0,0,0,0
$GC,8227,1.35,218.0,383.2,9.7,328,8237,0.00,2.67,4.82,0.631,6,0.000,0.048,3448,1810,2121,0,0,0,0,0,0
$GC,8620,1.38,218.0,345.1,10.1,338,8626,0.12,2.62,0.00,0.000,4,0.086,0.040,3481,3399,2118,0,0,0,0,0,0
$GC,8678,1.38,218.0,338.8,10.7,339,8682,0.00,2.65,0.00,0.000,6,0.000,0.044,3481,1815,2117,0,0,0,0,0,0
$GC,9066,1.38,218.0,301.0,10.0,349,9070,0.00,2.58,0.00,0.000,4,0.000,0.037,3481,3394,2117,0,0,0,0,0,0
$GC,9098,1.38,218.0,297.6,10.6,349,9104,0.00,2.62,0.00,0.000,6,0.000,0.040,3481,1811,2116,0,0,0,0,0,0
$GC,9472,1.41,237.5,265.1,8.7,359,9496,0.00,2.67,18.45,0.743,4,0.000,0.034,3481,3396,2040,0,0,0,0,0,0
$GC,9553,1.46,250.6,257.6,9.1,360,9572,0.00,2.62,13.32,0.712,6,0.000,0.036,3481,1816,1987,0,0,0,0,0,0
$GC,9971,1.47,256.0,220.1,9.6,371,9982,0.00,2.78,5.75,0.578,4,0.000,0.064,3481,223,1966,0,0,0,0,0,0
$GC,10028,1.47,256.0,213.1,11.9,372,10033,0.00,2.58,0.00,0.000,6,0.000,0.023,3481,1846,1965,0,0,0,0,0,0
$GC,10418,1.60,313.1,182.0,6.1,399,10480,0.17,2.58,51.55,0.680,4,0.064,0.034,3527,3374,1732,0,0,0,0,0,0
$GC,10560,1.60,313.1,167.3,12.5,412,10565,0.00,2.53,0.00,0.000,6,0.000,0.040,3528,1829,1729,0,0,0,0,0,0
$GC,10948,1.60,313.1,120.8,11.7,448,10950,0.00,0.00,0.00,0.000,6,0.000,0.000,3527,1829,1727,0,0,0,0,0,0
$GC,11331,1.64,313.1,82.7,10.0,484,11336,0.00,2.72,0.00,0.000,4,0.000,0.058,3527,227,1727,0,0,0,0,0,0
$GC,11384,1.64,313.1,77.0,11.7,488,11392,0.00,2.55,0.00,0.000,6,0.000,0.018,3527,1840,1725,0,0,0,0,0,0
$GC,11776,1.68,313.1,34.6,10.9,525,11780,0.00,2.72,0.00,0.000,4,0.000,0.055,3527,227,1725,0,0,0,0,0,0
$GC,11805,1.68,313.1,31.1,11.8,527,11809,0.00,2.50,0.00,0.000,6,0.000,0.018,3527,1832,1725,0,0,0,0,0,0
$STATE,12071,end climb,SURFACE_DEPTH_REACHED
$STATE,12071,begin surface coast
$FINISH,0.8,0.974628
$STATE,12121,end surface coast,CONTROL_FINISHED_OK
$STATE,12121,begin surface
$SM_CCo,12145,54.72,0.510,0,0,1459,380.21
$SM_GC,1.65,0.00,0.00,54.72,0.000,0.000,0.510,476,2179,1459,-12.42,1.70,380.21
$IRIDIUM_FIX,2143.45,-15809.76,261000,212150
$TT8_MAMPS,0.026078
$HUMID,64.37
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,20.50
$XPDR_PINGS,223
$24V_AH,23.1,79.635
$10V_AH,9.8,71.974
$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,29.100,114.075,371.125,54.725,0.000,58.995,74.382,291.086,55.750,0.000,14.480,1107.401,8867.889,481.739,1647.482,730.447,33.382,1215.339,0.000,1639.283,0.000,0.534,0.000
$DEVICE_MAMPS,158.002,129.623,991.731,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,396.733,315.836,291.621,718.838,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355932
$DATA_FILE_SIZE,44720,585
$CAP_FILE_SIZE,107877,0
$CFSIZE,260165632,147738624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030811,002537,2150.729,-15801.105,26,1.2,26,9.9