version: 66.06
glider: 146
mission: 6
dive: 458
start: 7 5 111 19 48 44
data:
$ID,146
$MISSION,6
$DIVE,458
$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,-279188.94
$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,29
$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
$GPS1,193236,2248.445,-15757.920,9,1.1,25,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-70.6
$GPS2,194750,2248.681,-15757.966,13,1.8,13,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.097,-0.193
$KALMAN_X,-358285.5,-49.1,-120.5,356458.9,-941.4
$KALMAN_Y,114604.2,79.6,-261.5,-105579.7,1615.2
$MHEAD_RNG_PITCHd_Wd,143.1,3126,-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,-70.75,0.000,2,0.000,0.000,474,1960,3266,0,0,0,0,0,0
$GC,91,-1.48,-97.3,3.7,-6.7,9,117,12.57,2.58,-2.65,0.000,4,0.157,0.059,2842,425,3410,0,0,0,0,0,0
$GC,183,-1.36,-97.3,25.5,-16.5,21,193,0.12,2.45,0.00,0.000,6,0.110,0.015,2872,2018,3412,0,0,0,0,0,0
$GC,518,-1.36,-97.3,75.4,-14.2,53,522,0.00,2.45,0.00,0.000,4,0.000,0.035,2872,3558,3413,0,0,0,0,0,0
$GC,564,-1.36,-97.3,82.5,-14.2,56,573,0.00,2.47,0.00,0.000,6,0.000,0.029,2872,2007,3413,0,0,0,0,0,0
$GC,896,-1.36,-97.3,121.7,-11.6,87,900,0.00,2.45,0.00,0.000,4,0.000,0.033,2872,3558,3413,0,0,0,0,0,0
$GC,917,-1.40,-97.3,125.0,-11.5,88,926,0.00,2.45,0.00,0.000,6,0.000,0.023,2872,2016,3413,0,0,0,0,0,0
$GC,1242,-1.47,-97.3,157.7,-8.9,119,1246,0.00,2.42,0.00,0.000,4,0.000,0.029,2872,3555,3414,0,0,0,0,0,0
$GC,1283,-1.59,-97.3,161.4,-8.7,122,1288,0.20,2.42,0.00,0.000,6,0.051,0.023,2805,2012,3414,0,0,0,0,0,0
$GC,1608,-1.55,-97.3,198.3,-11.8,152,1610,0.15,0.00,0.00,0.000,6,0.099,0.000,2838,2011,3415,0,0,0,0,0,0
$GC,1913,-1.55,-97.3,228.2,-9.4,161,1917,0.00,2.45,0.00,0.000,4,0.000,0.036,2838,3560,3415,0,0,0,0,0,0
$GC,1954,-1.60,-97.3,232.0,-10.4,162,1958,0.00,2.40,0.00,0.000,6,0.000,0.028,2838,2016,3415,0,0,0,0,0,0
$GC,2278,-1.64,-97.3,262.3,-9.3,170,2282,0.00,2.45,0.00,0.000,4,0.000,0.035,2838,3558,3415,0,0,0,0,0,0
$GC,2311,-1.70,-97.3,265.3,-8.9,170,2317,0.15,2.40,0.00,0.000,6,0.061,0.022,2785,2025,3415,0,0,0,0,0,0
$GC,2644,-1.66,-97.3,301.8,-11.3,179,2649,0.12,2.47,0.00,0.000,4,0.110,0.039,2813,3559,3414,0,0,0,0,0,0
$GC,2711,-1.71,-97.3,309.3,-10.5,180,2715,0.00,2.45,0.00,0.000,6,0.000,0.028,2812,2031,3414,0,0,0,0,0,0
$GC,3048,-1.71,-97.3,340.3,-9.0,189,3053,0.00,2.78,0.00,0.000,4,0.000,0.081,2812,424,3413,0,0,0,0,0,0
$GC,3087,-1.71,-97.3,344.6,-11.0,190,3092,0.00,2.47,0.00,0.000,6,0.000,0.025,2813,1982,3413,0,0,0,0,0,0
$GC,3412,-1.76,-97.3,375.9,-9.9,198,3417,0.00,2.67,0.00,0.000,4,0.000,0.054,2813,3586,3412,0,0,0,0,0,0
$GC,3514,-1.82,-97.3,386.6,-9.8,200,3519,0.15,2.58,0.00,0.000,6,0.061,0.048,2760,2036,3411,0,0,0,0,0,0
$GC,3862,-1.77,-97.3,429.0,-12.2,209,3868,0.15,2.60,0.00,0.000,4,0.107,0.048,2791,3590,3409,0,0,0,0,0,0
$GC,3903,-1.77,-97.3,433.5,-11.1,210,3908,0.00,2.60,0.00,0.000,6,0.000,0.048,2792,2037,3409,0,0,0,0,0,0
$GC,4227,-1.77,-97.3,470.4,-11.8,218,4232,0.00,2.60,0.00,0.000,4,0.000,0.051,2791,3586,3406,0,0,0,0,0,0
$GC,4261,-1.80,-97.3,474.2,-11.5,218,4266,0.00,2.60,0.00,0.000,6,0.000,0.053,2792,2047,3406,0,0,0,0,0,0
$STATE,4508,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4508,begin apogee
$GC,4516,-0.31,0.0,502.7,11.4,225,4601,1.40,0.00,81.30,0.899,6,0.080,0.000,3107,1993,3010,0,0,0,0,0,0
$STATE,4602,end apogee,CONTROL_FINISHED_OK
$STATE,4602,begin climb
$GC,4604,1.48,97.3,505.2,0.0,227,4698,1.62,2.75,82.78,0.876,4,0.046,0.054,3506,3565,2612,0,0,0,0,0,0
$GC,4738,1.38,148.4,503.5,6.5,230,4789,0.15,2.67,44.75,0.861,6,0.131,0.053,3478,1991,2404,0,0,0,0,0,0
$GC,5132,1.31,148.4,462.0,10.7,240,5137,0.00,2.95,0.00,0.000,4,0.000,0.107,3478,408,2394,0,0,0,0,0,0
$GC,5159,1.20,148.4,458.7,11.2,240,5164,0.20,2.58,0.00,0.000,6,0.116,0.028,3438,1983,2392,0,0,0,0,0,0
$GC,5490,1.27,205.7,435.1,6.1,248,5547,0.00,2.83,49.90,0.849,4,0.000,0.073,3438,404,2169,0,0,0,0,0,0
$GC,5566,1.30,227.3,429.6,8.5,249,5591,0.00,2.60,20.02,0.805,6,0.000,0.025,3438,1993,2083,0,0,0,0,0,0
$GC,5936,1.38,251.4,398.6,8.4,259,5966,0.15,2.90,21.65,0.808,4,0.077,0.071,3477,400,1984,0,0,0,0,0,0
$GC,5990,1.32,251.4,392.9,11.8,260,5994,0.00,2.58,0.00,0.000,6,0.000,0.028,3477,1983,1982,0,0,0,0,0,0
$GC,6302,1.32,251.4,358.3,11.2,268,6307,0.00,2.65,0.00,0.000,4,0.000,0.047,3477,3582,1980,0,0,0,0,0,0
$GC,6388,1.32,251.4,348.3,12.7,270,6392,0.00,2.62,0.00,0.000,6,0.000,0.036,3477,1982,1978,0,0,0,0,0,0
$GC,6713,1.32,251.4,308.7,12.4,278,6717,0.00,2.72,0.00,0.000,4,0.000,0.072,3477,410,1976,0,0,0,0,0,0
$GC,6773,1.32,251.4,299.8,14.2,279,6778,0.00,2.50,0.00,0.000,6,0.000,0.021,3477,1990,1975,0,0,0,0,0,0
$GC,7123,1.32,251.4,260.9,10.2,288,7127,0.00,2.67,0.00,0.000,4,0.000,0.060,3477,409,1975,0,0,0,0,0,0
$GC,7194,1.32,251.4,252.9,11.0,289,7199,0.00,2.47,0.00,0.000,6,0.000,0.024,3477,1977,1973,0,0,0,0,0,0
$GC,7526,1.38,260.7,222.3,9.4,297,7536,0.00,0.00,7.68,0.630,6,0.000,0.000,3477,1979,1947,0,0,0,0,0,0
$GC,7836,1.45,273.8,193.2,9.1,309,7854,0.00,2.60,13.18,0.659,4,0.000,0.039,3477,3569,1892,0,0,0,0,0,0
$GC,7892,1.52,273.8,187.7,10.3,313,7898,0.12,2.62,0.00,0.000,6,0.085,0.035,3510,1964,1892,0,0,0,0,0,0
$GC,8221,1.53,276.6,153.2,9.8,343,8226,0.00,2.62,0.00,0.000,4,0.000,0.062,3510,414,1890,0,0,0,0,0,0
$GC,8277,1.53,276.6,147.2,10.6,347,8281,0.00,2.42,0.00,0.000,6,0.000,0.023,3510,1968,1888,0,0,0,0,0,0
$GC,8605,1.60,302.0,117.7,8.3,377,8639,0.00,2.65,25.00,0.610,4,0.000,0.033,3511,3551,1779,0,0,0,0,0,0
$GC,8645,1.67,303.0,113.6,10.0,380,8655,0.08,2.62,0.00,0.000,6,0.057,0.030,3539,1965,1778,0,0,0,0,0,0
$GC,8973,1.68,310.2,79.8,9.5,411,8988,0.00,2.60,8.52,0.516,4,0.000,0.031,3538,3554,1744,0,0,0,0,0,0
$GC,9055,1.73,312.6,71.8,9.9,417,9059,0.00,2.60,0.00,0.000,6,0.000,0.029,3539,1956,1743,0,0,0,0,0,0
$GC,9384,1.73,312.6,39.0,10.3,447,9393,0.00,0.00,0.00,0.000,6,0.000,0.000,3538,1956,1742,0,0,0,0,0,0
$STATE,9726,end climb,SURFACE_DEPTH_REACHED
$STATE,9726,begin surface coast
$FINISH,0.5,0.978939
$STATE,9783,end surface coast,CONTROL_FINISHED_OK
$STATE,9783,begin surface
$SM_CCo,9804,249.35,0.500,0,0,476,621.34
$SM_GC,1.03,0.00,0.00,249.35,0.000,0.000,0.500,475,1953,476,-12.42,-1.61,621.34
$IRIDIUM_FIX,2239.35,-15757.16,280900,191958
$TT8_MAMPS,0.026078
$HUMID,60.67
$INTERNAL_PRESSURE,9.11168
$TCM_TEMP,21.20
$XPDR_PINGS,48
$24V_AH,23.5,56.729
$10V_AH,10.1,50.809
$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,29.825,113.575,354.775,249.350,0.000,144.710,400.402,0.000,12.000,0.000,15.342,993.207,6590.324,661.862,1914.373,811.268,33.369,1353.999,0.000,1915.609,0.000,0.536,0.000
$DEVICE_MAMPS,157.235,144.963,898.924,500.084,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,338.622,280.907,389.875,746.090,1123.546,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355500
$DATA_FILE_SIZE,38489,500
$CAP_FILE_SIZE,98270,0
$CFSIZE,260165632,158171136
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050711,223737,2248.589,-15757.927,38,1.1,38,10.1