version: 66.06
glider: 146
mission: 6
dive: 622
start: 8 3 111 0 36 46
data:
$ID,146
$MISSION,6
$DIVE,622
$D_SURF,4
$D_FLARE,3
$D_TGT,450
$D_ABORT,500
$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,150
$T_MISSION,300
$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,-282958.28
$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,25
$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
$GPS1,002537,2150.729,-15801.105,26,1.2,26,9.9
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.49
$_SM_ANGLEo,-70.9
$GPS2,003556,2150.826,-15801.121,10,1.2,10,9.9
$SPEED_LIMITS,0.143,0.217
$TGT_NAME,WAY2
$TGT_LATLONG,2148.000,-15802.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.040,-0.213
$KALMAN_X,-653165.4,18.1,314.7,645442.5,-788.5
$KALMAN_Y,261116.6,184.9,266.1,-359876.2,433.3
$MHEAD_RNG_PITCHd_Wd,159.4,5447,-21.6,-10.000
$D_GRID,450
$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,-1.47,-97.3,0.0,0.0,0,87,0.00,0.00,-69.22,0.000,2,0.000,0.000,475,2180,3209,0,0,0,0,0,0
$GC,90,-1.47,-97.3,3.8,-7.3,11,118,12.73,2.80,-3.83,0.000,4,0.160,0.053,2848,532,3409,0,0,0,0,0,0
$GC,169,-1.38,-97.3,22.5,-16.1,24,177,0.08,2.50,0.00,0.000,6,0.111,0.017,2868,2122,3410,0,0,0,0,0,0
$GC,561,-1.38,-97.3,80.7,-14.9,65,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2123,3412,0,0,0,0,0,0
$GC,944,-1.38,-97.3,127.3,-11.5,101,948,0.00,2.62,0.00,0.000,4,0.000,0.048,2867,530,3412,0,0,0,0,0,0
$GC,973,-1.38,-97.3,130.9,-11.6,103,978,0.00,2.42,0.00,0.000,6,0.000,0.015,2868,2125,3412,0,0,0,0,0,0
$GC,1363,-1.45,-97.3,168.0,-9.2,139,1367,0.00,2.45,0.00,0.000,4,0.000,0.034,2868,3679,3413,0,0,0,0,0,0
$GC,1402,-1.55,-97.3,171.9,-10.0,142,1408,0.12,2.45,0.00,0.000,6,0.064,0.021,2815,2105,3413,0,0,0,0,0,0
$GC,1805,-1.55,-97.3,218.8,-11.1,168,1806,0.10,0.00,0.00,0.000,6,0.118,0.000,2837,2104,3413,0,0,0,0,0,0
$GC,2171,-1.59,-97.3,249.1,-8.5,177,2172,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,2105,3414,0,0,0,0,0,0
$GC,2538,-1.65,-97.3,281.9,-8.7,186,2542,0.00,2.55,0.00,0.000,4,0.000,0.042,2837,3678,3414,0,0,0,0,0,0
$GC,2554,-1.72,-97.3,283.3,-7.9,186,2559,0.15,2.47,0.00,0.000,6,0.060,0.026,2782,2119,3414,0,0,0,0,0,0
$GC,2937,-1.72,-97.3,320.8,-9.9,196,2942,0.00,2.53,0.00,0.000,4,0.000,0.039,2782,3674,3414,0,0,0,0,0,0
$GC,2961,-1.72,-97.3,323.0,-9.6,196,2966,0.00,2.50,0.00,0.000,6,0.000,0.037,2782,2116,3413,0,0,0,0,0,0
$GC,3338,-1.72,-97.3,362.7,-10.3,206,3340,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2115,3412,0,0,0,0,0,0
$GC,3704,-1.72,-97.3,402.6,-10.9,215,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2115,3410,0,0,0,0,0,0
$GC,4071,-1.72,-97.3,440.6,-10.1,224,4073,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2115,3408,0,0,0,0,0,0
$STATE,4189,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4189,begin apogee
$GC,4195,-0.31,0.0,452.0,9.5,227,4282,1.45,0.00,82.40,0.851,6,0.082,0.000,3106,1808,3010,0,0,0,0,0,0
$STATE,4283,end apogee,CONTROL_FINISHED_OK
$STATE,4283,begin climb
$GC,4285,1.47,97.3,453.5,0.0,229,4373,1.60,0.00,83.05,0.843,6,0.035,0.000,3501,1808,2613,0,0,0,0,0,0
$GC,4736,1.40,147.9,430.9,6.6,240,4786,0.10,2.70,43.55,0.827,4,0.139,0.054,3481,3347,2406,0,0,0,0,0,0
$GC,4918,1.34,163.8,416.4,8.9,244,4937,0.00,2.65,14.70,0.774,6,0.000,0.053,3481,1801,2342,0,0,0,0,0,0
$GC,5317,1.28,163.8,378.4,10.2,254,5323,0.12,2.88,0.00,0.000,4,0.126,0.087,3455,216,2334,0,0,0,0,0,0
$GC,5341,1.20,163.8,375.9,10.1,254,5346,0.00,2.50,0.00,0.000,6,0.000,0.024,3455,1784,2333,0,0,0,0,0,0
$GC,5718,1.21,179.1,343.2,9.0,264,5737,0.00,2.85,13.57,0.750,4,0.000,0.073,3455,214,2278,0,0,0,0,0,0
$GC,5772,1.16,181.3,338.1,9.8,265,5777,0.12,2.58,0.00,0.000,6,0.127,0.027,3429,1814,2276,0,0,0,0,0,0
$GC,6168,1.29,240.2,312.0,6.0,275,6229,0.12,2.62,55.00,0.779,4,0.081,0.038,3462,3381,2029,0,0,0,0,0,0
$GC,6299,1.33,240.2,300.5,10.5,278,6303,0.00,2.65,0.00,0.000,6,0.000,0.043,3461,1803,2024,0,0,0,0,0,0
$GC,6698,1.37,240.2,257.3,10.1,288,6703,0.00,2.58,0.00,0.000,4,0.000,0.033,3462,3381,2020,0,0,0,0,0,0
$GC,6715,1.44,253.9,255.8,9.1,288,6737,0.12,2.60,12.18,0.690,6,0.080,0.041,3497,1814,1973,0,0,0,0,0,0
$GC,7103,1.44,253.9,217.9,11.2,298,7108,0.00,2.78,0.00,0.000,4,0.000,0.066,3497,222,1969,0,0,0,0,0,0
$GC,7125,1.40,253.9,215.2,11.3,298,7129,0.00,2.55,0.00,0.000,6,0.000,0.023,3496,1828,1968,0,0,0,0,0,0
$GC,7514,1.40,253.9,172.5,10.4,323,7519,0.00,2.78,0.00,0.000,4,0.000,0.066,3497,220,1968,0,0,0,0,0,0
$GC,7566,1.35,253.9,166.7,10.5,327,7571,0.12,2.53,0.00,0.000,6,0.120,0.019,3471,1825,1966,0,0,0,0,0,0
$GC,7957,1.46,276.2,134.8,8.5,363,7983,0.10,2.55,19.83,0.623,4,0.089,0.033,3499,3363,1883,0,0,0,0,0,0
$GC,8040,1.52,276.2,126.6,10.6,370,8048,0.00,2.55,0.00,0.000,6,0.000,0.032,3499,1826,1881,0,0,0,0,0,0
$GC,8431,1.63,309.0,91.2,7.8,407,8467,0.12,2.83,29.02,0.588,4,0.076,0.061,3535,232,1749,0,0,0,0,0,0
$GC,8525,1.59,309.0,82.8,10.2,415,8529,0.00,2.50,0.00,0.000,6,0.000,0.018,3535,1824,1747,0,0,0,0,0,0
$GC,8916,1.63,341.5,44.4,7.8,451,8953,0.00,2.80,28.77,0.540,4,0.000,0.055,3535,227,1616,0,0,0,0,0,0
$GC,8969,1.65,362.5,40.2,8.6,455,8994,0.00,2.50,19.05,0.522,6,0.000,0.018,3535,1822,1531,0,0,0,0,0,0
$STATE,9302,end climb,SURFACE_DEPTH_REACHED
$STATE,9302,begin surface coast
$FINISH,0.8,0.980030
$STATE,9339,end surface coast,CONTROL_FINISHED_OK
$STATE,9339,begin surface
$SM_CCo,9361,14.23,0.482,0,0,1459,380.21
$SM_GC,1.50,0.00,0.00,14.23,0.000,0.000,0.482,473,2172,1459,-12.43,1.47,380.21
$IRIDIUM_FIX,2143.45,-15801.57,271000,000039
$TT8_MAMPS,0.026078
$HUMID,66.10
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,20.30
$XPDR_PINGS,200
$24V_AH,23.3,79.751
$10V_AH,9.9,72.046
$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,29.600,79.225,401.125,14.225,0.000,61.791,72.718,276.712,50.000,0.000,12.465,943.839,6534.557,437.158,1405.430,670.168,33.378,1052.401,0.000,1404.707,0.000,0.533,0.000
$DEVICE_MAMPS,160.303,87.438,851.370,481.676,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.085,293.709,294.432,719.219,0.000,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355904
$DATA_FILE_SIZE,38448,514
$CAP_FILE_SIZE,88996,0
$CFSIZE,260165632,147709952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030811,031435,2149.923,-15801.479,30,2.8,49,9.9