version: 66.06
glider: 146
mission: 6
dive: 228
start: 6 7 111 17 44 14
data:
$ID,146
$MISSION,6
$DIVE,228
$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,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,-273267.5
$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,3155
$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,1830
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,43
$R_STBD_OVSHOOT,66
$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,3020
$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
$GPS1,172304,2248.475,-15802.965,6,2.6,25,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.01
$_SM_ANGLEo,-65.1
$GPS2,174320,2248.663,-15803.065,13,1.9,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.056,0.203
$KALMAN_X,-90281.2,190.8,40.3,79343.8,-449.5
$KALMAN_Y,-92446.8,198.6,-118.1,101182.0,453.3
$MHEAD_RNG_PITCHd_Wd,5.3,2478,-22.4,-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,-1.51,-92.9,0.0,0.0,0,128,0.00,0.00,-109.50,0.000,2,0.000,0.000,477,1814,3260,0,0,0,0,0,0
$GC,132,-1.54,-116.8,3.0,-4.6,14,158,12.20,2.53,-4.50,0.000,4,0.151,0.040,2811,3382,3499,0,0,0,0,0,0
$GC,299,-1.48,-116.8,41.2,-18.6,34,308,0.08,2.47,0.00,0.000,6,0.114,0.025,2830,1842,3500,0,0,0,0,0,0
$GC,566,-1.42,-116.8,86.8,-16.2,59,570,0.00,2.42,0.00,0.000,4,0.000,0.031,2830,3391,3499,0,0,0,0,0,0
$GC,631,-1.42,-116.8,97.5,-14.8,64,635,0.00,2.47,0.00,0.000,6,0.000,0.026,2830,1820,3499,0,0,0,0,0,0
$GC,893,-1.42,-116.8,134.7,-14.2,88,897,0.00,2.47,0.00,0.000,4,0.000,0.025,2830,3389,3499,0,0,0,0,0,0
$GC,946,-1.47,-116.8,142.9,-15.3,92,950,0.00,2.45,0.00,0.000,6,0.000,0.034,2830,1831,3499,0,0,0,0,0,0
$GC,1208,-1.47,-116.8,179.1,-12.1,116,1209,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1830,3499,0,0,0,0,0,0
$GC,1469,-1.47,-116.8,211.8,-12.9,135,1471,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1830,3499,0,0,0,0,0,0
$GC,1712,-1.52,-116.8,238.8,-10.6,141,1716,0.00,2.47,0.00,0.000,4,0.000,0.028,2830,3382,3499,0,0,0,0,0,0
$GC,1757,-1.61,-116.8,243.8,-10.8,142,1762,0.10,2.45,0.00,0.000,6,0.084,0.034,2789,1836,3499,0,0,0,0,0,0
$GC,2036,-1.61,-116.8,281.2,-13.7,149,2040,0.00,2.72,0.00,0.000,4,0.000,0.077,2789,253,3498,0,0,0,0,0,0
$GC,2051,-1.57,-116.8,283.7,-13.3,149,2056,0.10,2.40,0.00,0.000,6,0.128,0.018,2809,1820,3498,0,0,0,0,0,0
$GC,2313,-1.61,-116.8,314.9,-11.9,156,2317,0.00,2.53,0.00,0.000,4,0.000,0.044,2809,3400,3498,0,0,0,0,0,0
$GC,2401,-1.69,-116.8,325.7,-11.8,158,2407,0.10,2.53,0.00,0.000,6,0.085,0.040,2770,1853,3498,0,0,0,0,0,0
$GC,2679,-1.69,-116.8,362.8,-13.4,165,2683,0.00,2.50,0.00,0.000,4,0.000,0.038,2770,3393,3496,0,0,0,0,0,0
$GC,2747,-1.69,-116.8,372.5,-14.2,166,2752,0.00,2.55,0.00,0.000,6,0.000,0.054,2770,1857,3496,0,0,0,0,0,0
$GC,3002,-1.69,-116.8,405.7,-12.7,173,3006,0.00,2.50,0.00,0.000,4,0.000,0.051,2770,3390,3495,0,0,0,0,0,0
$GC,3023,-1.69,-116.8,408.6,-12.9,173,3027,0.00,2.55,0.00,0.000,6,0.000,0.058,2770,1862,3494,0,0,0,0,0,0
$GC,3279,-1.69,-116.8,438.6,-11.7,180,3280,0.00,0.00,0.00,0.000,6,0.000,0.000,2770,1862,3492,0,0,0,0,0,0
$GC,3521,-1.69,-116.8,467.1,-11.7,186,3526,0.00,2.58,0.00,0.000,4,0.000,0.058,2770,3393,3491,0,0,0,0,0,0
$GC,3543,-1.69,-116.8,469.8,-12.0,186,3547,0.00,2.62,0.00,0.000,6,0.000,0.063,2770,1856,3491,0,0,0,0,0,0
$STATE,3796,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3797,begin apogee
$GC,3804,-0.31,0.0,500.1,11.9,193,3904,1.42,0.00,95.70,0.900,6,0.087,0.000,3086,1992,3020,0,0,0,0,0,0
$STATE,3904,end apogee,CONTROL_FINISHED_OK
$STATE,3905,begin climb
$GC,3907,1.54,116.8,502.9,0.0,195,4012,1.73,0.00,99.97,0.882,6,0.048,0.000,3496,1992,2542,0,0,0,0,0,0
$GC,4289,1.50,149.1,482.4,7.7,205,4323,0.00,2.75,27.45,0.852,4,0.000,0.059,3496,3551,2411,0,0,0,0,0,0
$GC,4425,1.42,150.3,469.4,10.0,208,4430,0.15,2.67,0.00,0.000,6,0.123,0.054,3467,1988,2406,0,0,0,0,0,0
$GC,4704,1.44,166.2,444.8,8.9,215,4724,0.00,2.67,15.25,0.815,4,0.000,0.043,3467,3569,2341,0,0,0,0,0,0
$GC,4774,1.44,166.2,437.3,10.9,216,4779,0.00,2.67,0.00,0.000,6,0.000,0.051,3467,1994,2339,0,0,0,0,0,0
$GC,5025,1.44,168.4,412.0,9.9,222,5026,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,1994,2336,0,0,0,0,0,0
$GC,5270,1.45,173.8,388.3,9.7,228,5279,0.00,0.00,7.12,0.709,6,0.000,0.000,3467,1994,2311,0,0,0,0,0,0
$GC,5512,1.47,190.7,366.3,8.8,234,5531,0.00,0.00,16.48,0.798,6,0.000,0.000,3467,1994,2241,0,0,0,0,0,0
$GC,5800,1.48,201.1,339.7,9.3,241,5815,0.00,2.62,9.73,0.735,4,0.000,0.038,3467,3571,2200,0,0,0,0,0,0
$GC,5833,1.49,206.9,336.6,9.6,241,5846,0.00,2.62,6.95,0.673,6,0.000,0.035,3467,1988,2175,0,0,0,0,0,0
$GC,6126,1.49,207.2,307.2,10.0,249,6130,0.00,2.60,0.00,0.000,4,0.000,0.041,3467,3571,2171,0,0,0,0,0,0
$GC,6158,1.49,207.2,303.6,10.3,249,6164,0.00,2.53,0.00,0.000,6,0.000,0.036,3467,2010,2170,0,0,0,0,0,0
$GC,6410,1.53,207.2,277.9,10.1,256,6414,0.00,2.55,0.00,0.000,4,0.000,0.038,3467,3567,2169,0,0,0,0,0,0
$GC,6467,1.56,207.2,271.8,10.7,257,6472,0.12,2.53,0.00,0.000,6,0.086,0.038,3499,2024,2168,0,0,0,0,0,0
$GC,6734,1.56,207.2,244.2,10.1,264,6739,0.00,2.75,0.00,0.000,4,0.000,0.064,3499,417,2168,0,0,0,0,0,0
$GC,6790,1.50,207.2,237.8,11.4,265,6794,0.00,2.55,0.00,0.000,6,0.000,0.021,3499,2027,2167,0,0,0,0,0,0
$GC,7056,1.50,207.2,210.8,10.2,272,7060,0.00,2.47,0.00,0.000,4,0.000,0.035,3499,3566,2166,0,0,0,0,0,0
$GC,7100,1.50,207.2,205.8,10.8,273,7105,0.00,2.50,0.00,0.000,6,0.000,0.036,3499,2017,2165,0,0,0,0,0,0
$GC,7367,1.50,207.2,180.0,10.4,293,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,3499,2017,2165,0,0,0,0,0,0
$GC,7622,1.51,211.5,156.3,9.7,317,7627,0.00,2.50,0.00,0.000,4,0.000,0.031,3499,3564,2165,0,0,0,0,0,0
$GC,7691,1.51,211.5,148.7,10.4,322,7701,0.00,2.50,0.00,0.000,6,0.000,0.030,3499,2034,2164,0,0,0,0,0,0
$GC,7956,1.51,211.5,123.7,10.8,347,7961,0.00,0.00,0.00,0.000,6,0.000,0.000,3499,2033,2164,0,0,0,0,0,0
$GC,8219,1.55,247.9,99.6,7.4,372,8260,0.00,2.58,34.12,0.609,4,0.000,0.038,3499,3564,2008,0,0,0,0,0,0
$GC,8277,1.59,276.8,95.5,7.9,377,8311,0.00,2.50,26.05,0.592,6,0.000,0.027,3499,2027,1889,0,0,0,0,0,0
$GC,8570,1.65,276.8,65.2,11.0,404,8574,0.00,2.72,0.00,0.000,4,0.000,0.054,3499,412,1883,0,0,0,0,0,0
$GC,8626,1.65,276.8,58.9,11.8,408,8631,0.00,2.50,0.00,0.000,6,0.000,0.017,3499,2034,1882,0,0,0,0,0,0
$GC,8896,1.74,277.3,31.9,10.0,432,8901,0.15,2.45,0.00,0.000,4,0.069,0.031,3542,3551,1882,0,0,0,0,0,0
$GC,8999,1.74,277.3,19.7,11.5,445,9008,0.00,2.45,0.00,0.000,6,0.000,0.035,3542,2046,1881,0,0,0,0,0,0
$STATE,9137,end climb,SURFACE_DEPTH_REACHED
$STATE,9137,begin surface coast
$FINISH,0.5,0.979992
$STATE,9198,end surface coast,CONTROL_FINISHED_OK
$STATE,9198,begin surface
$SM_CCo,9221,82.15,0.519,0,0,1469,380.21
$SM_GC,1.21,0.00,0.00,82.15,0.000,0.000,0.519,475,1813,1469,-12.33,-0.48,380.21
$IRIDIUM_FIX,2239.35,-15804.53,310800,171727
$TT8_MAMPS,0.026078
$HUMID,59.49
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.80
$XPDR_PINGS,38
$24V_AH,23.6,28.549
$10V_AH,10.4,24.969
$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,28.575,102.450,338.825,82.150,0.000,80.447,110.541,753.782,9.500,0.000,14.911,939.129,6063.920,506.079,1790.447,1221.223,33.357,1170.701,0.000,1798.636,0.000,0.535,0.000
$DEVICE_MAMPS,151.099,76.700,900.458,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,319.853,270.147,368.159,702.921,1063.193,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,38445,473
$CAP_FILE_SIZE,106082,0
$CFSIZE,260165632,170328064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070611,202037,2249.798,-15802.909,39,0.9,39,10.1