version: 66.06
glider: 146
mission: 6
dive: 78
start: 5 20 111 20 55 52
data:
$ID,146
$MISSION,6
$DIVE,78
$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,120
$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,400
$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,-269000.44
$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,3090
$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,1770
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,44
$R_STBD_OVSHOOT,19
$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,3001
$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
$GPS1,204837,2249.048,-15803.237,28,1.1,28,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-70.7
$GPS2,205456,2249.073,-15803.326,14,1.5,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.114,0.200
$KALMAN_X,-56356.8,-507.4,-153.8,45870.9,-583.1
$KALMAN_Y,-104190.1,-518.8,287.7,113997.4,-275.2
$MHEAD_RNG_PITCHd_Wd,19.5,1804,-20.3,-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,-1.41,-111.7,0.0,0.0,0,96,0.00,0.00,-78.60,0.000,2,0.000,0.000,478,1746,3336,0,0,0,0,0,0
$GC,100,-1.41,-116.8,3.4,-6.0,10,126,12.38,2.65,-2.60,0.000,4,0.164,0.044,2772,3373,3480,0,0,0,0,0,0
$GC,183,-1.23,-116.8,28.3,-22.1,21,193,0.20,2.58,0.00,0.000,6,0.107,0.028,2816,1791,3482,0,0,0,0,0,0
$GC,451,-1.14,-116.8,73.7,-15.0,46,456,0.12,2.53,0.00,0.000,4,0.129,0.032,2840,3370,3483,0,0,0,0,0,0
$GC,486,-1.14,-116.8,79.7,-13.1,48,496,0.00,2.58,0.00,0.000,6,0.000,0.026,2840,1771,3483,0,0,0,0,0,0
$GC,753,-1.10,-116.8,115.0,-14.7,73,757,0.00,2.55,0.00,0.000,4,0.000,0.028,2840,3375,3484,0,0,0,0,0,0
$GC,834,-1.10,-116.8,126.5,-13.4,79,838,0.00,2.53,0.00,0.000,6,0.000,0.026,2839,1793,3483,0,0,0,0,0,0
$GC,1100,-1.10,-116.8,163.7,-13.3,103,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1793,3484,0,0,0,0,0,0
$GC,1362,-1.10,-116.8,200.6,-13.9,128,1366,0.00,2.50,0.00,0.000,4,0.000,0.031,2840,3374,3485,0,0,0,0,0,0
$GC,1440,-1.15,-116.8,212.0,-14.1,129,1446,0.00,2.50,0.00,0.000,6,0.000,0.028,2840,1799,3485,0,0,0,0,0,0
$GC,1690,-1.15,-116.8,241.7,-11.5,136,1694,0.00,2.47,0.00,0.000,4,0.000,0.028,2840,3370,3485,0,0,0,0,0,0
$GC,1735,-1.21,-116.8,246.7,-10.8,137,1740,0.00,2.53,0.00,0.000,6,0.000,0.034,2840,1803,3485,0,0,0,0,0,0
$GC,2013,-1.21,-116.8,275.6,-10.2,144,2018,0.00,2.85,0.00,0.000,4,0.000,0.086,2839,194,3486,0,0,0,0,0,0
$GC,2040,-1.21,-116.8,278.5,-10.9,144,2044,0.00,2.58,0.00,0.000,6,0.000,0.021,2840,1834,3486,0,0,0,0,0,0
$GC,2297,-1.25,-116.8,303.4,-9.7,151,2299,0.10,0.00,0.00,0.000,6,0.084,0.000,2805,1834,3485,0,0,0,0,0,0
$GC,2538,-1.25,-116.8,333.4,-12.6,157,2540,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1834,3485,0,0,0,0,0,0
$GC,2782,-1.25,-116.8,364.6,-12.8,163,2783,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1834,3484,0,0,0,0,0,0
$GC,3027,-1.25,-116.8,395.8,-12.6,169,3031,0.00,2.60,0.00,0.000,4,0.000,0.059,2805,3365,3483,0,0,0,0,0,0
$GC,3087,-1.25,-116.8,403.4,-12.3,170,3092,0.00,2.62,0.00,0.000,6,0.000,0.062,2805,1818,3483,0,0,0,0,0,0
$GC,3349,-1.25,-116.8,434.4,-11.9,177,3350,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1818,3481,0,0,0,0,0,0
$GC,3592,-1.25,-116.8,462.0,-11.2,183,3597,0.00,2.60,0.00,0.000,4,0.000,0.054,2805,3363,3479,0,0,0,0,0,0
$GC,3637,-1.29,-116.8,467.0,-10.9,184,3642,0.00,2.65,0.00,0.000,6,0.000,0.064,2805,1814,3479,0,0,0,0,0,0
$GC,3914,-1.29,-116.8,496.9,-10.5,191,3919,0.00,2.62,0.00,0.000,4,0.000,0.058,2805,3358,3477,0,0,0,0,0,0
$STATE,3939,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3939,begin apogee
$GC,3949,-0.31,0.0,500.0,10.9,191,4049,0.95,0.00,96.60,0.931,6,0.094,0.000,3015,1914,3000,0,0,0,0,0,0
$STATE,4050,end apogee,CONTROL_FINISHED_OK
$STATE,4050,begin climb
$GC,4052,1.41,116.8,503.9,0.0,194,4160,1.67,0.00,99.78,0.907,6,0.056,0.000,3398,1914,2523,0,0,0,0,0,0
$GC,4403,1.47,163.3,484.3,7.2,203,4449,0.00,2.75,39.47,0.889,4,0.000,0.049,3398,3506,2335,0,0,0,0,0,0
$GC,4486,1.53,178.2,477.6,9.1,205,4507,0.10,2.75,14.30,0.828,6,0.096,0.056,3423,1915,2273,0,0,0,0,0,0
$GC,4770,1.53,183.2,450.0,9.7,212,4780,0.00,2.72,4.68,0.621,4,0.000,0.044,3423,3519,2254,0,0,0,0,0,0
$GC,4814,1.55,195.2,445.7,9.3,213,4833,0.00,2.75,12.25,0.814,6,0.000,0.056,3423,1923,2204,0,0,0,0,0,0
$GC,5096,1.59,225.0,421.6,8.2,220,5130,0.00,2.78,27.02,0.864,4,0.000,0.047,3423,3517,2081,0,0,0,0,0,0
$GC,5188,1.61,243.6,413.6,8.9,222,5213,0.00,2.70,17.42,0.835,6,0.000,0.049,3424,1935,2006,0,0,0,0,0,0
$GC,5469,1.63,258.1,387.9,9.2,229,5489,0.00,2.70,13.55,0.814,4,0.000,0.042,3424,3513,1947,0,0,0,0,0,0
$GC,5541,1.69,258.1,380.7,10.2,230,5546,0.15,2.65,0.00,0.000,6,0.076,0.047,3462,1946,1945,0,0,0,0,0,0
$GC,5796,1.69,258.1,349.1,12.6,237,5797,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,1946,1942,0,0,0,0,0,0
$GC,6040,1.69,258.1,317.5,13.1,243,6044,0.00,2.55,0.00,0.000,4,0.000,0.037,3462,3513,1940,0,0,0,0,0,0
$GC,6080,1.69,258.1,312.4,12.9,244,6084,0.00,2.58,0.00,0.000,6,0.000,0.041,3462,1956,1939,0,0,0,0,0,0
$GC,6362,1.69,258.1,277.5,12.3,251,6367,0.00,2.55,0.00,0.000,4,0.000,0.039,3462,3513,1939,0,0,0,0,0,0
$GC,6383,1.69,258.1,274.8,12.0,251,6388,0.00,2.55,0.00,0.000,6,0.000,0.033,3462,1959,1938,0,0,0,0,0,0
$GC,6638,1.69,258.1,243.7,12.3,258,6639,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,1959,1938,0,0,0,0,0,0
$GC,6883,1.69,258.1,213.0,12.6,264,6885,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,1959,1937,0,0,0,0,0,0
$GC,7131,1.69,258.1,181.7,12.0,279,7136,0.00,2.53,0.00,0.000,4,0.000,0.035,3462,3513,1936,0,0,0,0,0,0
$GC,7221,1.69,258.1,171.7,11.2,286,7226,0.00,2.50,0.00,0.000,6,0.000,0.032,3462,1974,1935,0,0,0,0,0,0
$GC,7485,1.69,258.1,142.1,11.9,310,7489,0.00,2.50,0.00,0.000,4,0.000,0.031,3462,3523,1935,0,0,0,0,0,0
$GC,7507,1.69,258.1,139.8,11.3,311,7512,0.00,2.47,0.00,0.000,6,0.000,0.032,3462,1980,1935,0,0,0,0,0,0
$GC,7775,1.69,258.1,109.2,11.1,335,7779,0.00,2.47,0.00,0.000,4,0.000,0.033,3462,3519,1935,0,0,0,0,0,0
$GC,7830,1.74,258.1,102.7,11.9,339,7834,0.00,2.47,0.00,0.000,6,0.000,0.031,3462,1984,1935,0,0,0,0,0,0
$GC,8098,1.79,258.1,71.5,11.7,363,8102,0.00,2.45,0.00,0.000,4,0.000,0.031,3462,3527,1934,0,0,0,0,0,0
$GC,8132,1.85,258.1,67.7,11.5,365,8137,0.12,2.47,0.00,0.000,6,0.077,0.031,3498,1989,1934,0,0,0,0,0,0
$GC,8399,1.85,258.1,36.1,10.5,389,8408,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,1989,1934,0,0,0,0,0,0
$STATE,8696,end climb,SURFACE_DEPTH_REACHED
$STATE,8696,begin surface coast
$FINISH,0.5,0.980177
$STATE,8746,end surface coast,CONTROL_FINISHED_OK
$STATE,8746,begin surface
$SM_CCo,8768,112.62,0.547,0,0,1370,400.08
$SM_GC,1.12,0.00,0.00,112.62,0.000,0.000,0.547,480,1725,1370,-12.01,-1.27,400.08
$IRIDIUM_FIX,2239.35,-15802.37,130800,181808
$TT8_MAMPS,0.026078
$HUMID,57.40
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,21.40
$XPDR_PINGS,37
$24V_AH,23.5,10.008
$10V_AH,10.5,8.533
$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,28.125,98.700,325.075,112.625,0.000,27.424,37.658,185.189,9.250,0.000,15.816,878.855,5736.883,522.812,1641.488,486.371,33.358,1115.076,0.000,1646.120,0.000,0.534,0.000
$DEVICE_MAMPS,164.138,85.904,931.138,546.871,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,296.819,237.227,333.513,645.430,976.270,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,35125,437
$CAP_FILE_SIZE,87485,0
$CFSIZE,260165632,178163712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200511,232501,2249.918,-15803.305,22,1.5,27,10.1