version: 66.06
glider: 146
mission: 6
dive: 459
start: 7 5 111 22 48 36
data:
$ID,146
$MISSION,6
$DIVE,459
$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,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,-279200.22
$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,28
$R_STBD_OVSHOOT,58
$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
$GPS1,223737,2248.589,-15757.927,38,1.1,38,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-65.8
$GPS2,224744,2248.724,-15757.950,9,1.6,9,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.065,-0.206
$KALMAN_X,-359115.4,-143.1,-139.7,357427.7,-565.8
$KALMAN_Y,116037.8,-143.4,522.5,-107491.1,999.5
$MHEAD_RNG_PITCHd_Wd,152.3,3203,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.48,-97.3,0.0,0.0,0,129,0.00,0.00,-109.28,0.000,2,0.000,0.000,475,1954,3289,0,0,0,0,0,0
$GC,132,-1.48,-97.3,3.6,-5.7,14,158,12.25,2.58,-2.22,0.000,4,0.146,0.056,2840,425,3409,0,0,0,0,0,0
$GC,222,-1.35,-97.3,25.4,-16.9,26,231,0.15,2.47,0.00,0.000,6,0.104,0.016,2875,2030,3411,0,0,0,0,0,0
$GC,562,-1.35,-97.3,72.9,-13.1,59,567,0.00,2.40,0.00,0.000,4,0.000,0.026,2875,3561,3411,0,0,0,0,0,0
$GC,596,-1.35,-97.3,77.6,-13.1,61,601,0.00,2.45,0.00,0.000,6,0.000,0.023,2875,2008,3411,0,0,0,0,0,0
$GC,924,-1.35,-97.3,117.2,-12.5,91,928,0.00,2.45,0.00,0.000,4,0.000,0.027,2875,3558,3411,0,0,0,0,0,0
$GC,981,-1.43,-97.3,124.2,-12.7,95,985,0.00,2.40,0.00,0.000,6,0.000,0.027,2875,2019,3411,0,0,0,0,0,0
$GC,1305,-1.51,-97.3,161.4,-10.6,125,1310,0.12,2.65,0.00,0.000,4,0.070,0.056,2831,435,3412,0,0,0,0,0,0
$GC,1337,-1.51,-97.3,164.6,-12.1,127,1342,0.00,2.38,0.00,0.000,6,0.000,0.016,2831,2029,3412,0,0,0,0,0,0
$GC,1667,-1.51,-97.3,197.4,-9.4,157,1672,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2030,3412,0,0,0,0,0,0
$GC,1979,-1.51,-97.3,228.8,-10.0,167,1983,0.00,2.42,0.00,0.000,4,0.000,0.028,2831,3552,3412,0,0,0,0,0,0
$GC,2048,-1.57,-97.3,235.7,-9.3,168,2052,0.00,2.40,0.00,0.000,6,0.000,0.021,2831,2018,3412,0,0,0,0,0,0
$GC,2384,-1.57,-97.3,270.6,-10.6,177,2388,0.00,2.42,0.00,0.000,4,0.000,0.038,2831,3542,3411,0,0,0,0,0,0
$GC,2423,-1.63,-97.3,274.9,-11.3,178,2428,0.00,2.40,0.00,0.000,6,0.000,0.024,2831,2028,3411,0,0,0,0,0,0
$GC,2750,-1.69,-97.3,304.8,-8.5,186,2755,0.10,2.75,0.00,0.000,4,0.080,0.071,2788,435,3411,0,0,0,0,0,0
$GC,2811,-1.64,-97.3,311.1,-10.1,187,2816,0.12,2.42,0.00,0.000,6,0.112,0.031,2815,1976,3410,0,0,0,0,0,0
$GC,3155,-1.64,-97.3,342.3,-9.4,196,3156,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1976,3409,0,0,0,0,0,0
$GC,3479,-1.68,-97.3,374.7,-9.9,204,3483,0.00,2.67,0.00,0.000,4,0.000,0.049,2815,3585,3408,0,0,0,0,0,0
$GC,3591,-1.75,-97.3,385.7,-9.4,206,3595,0.00,2.58,0.00,0.000,6,0.000,0.041,2815,2032,3407,0,0,0,0,0,0
$GC,3928,-1.80,-97.3,419.4,-10.2,215,3930,0.15,0.00,0.00,0.000,6,0.065,0.000,2768,2032,3404,0,0,0,0,0,0
$GC,4252,-1.80,-97.3,458.5,-12.0,223,4256,0.00,2.60,0.00,0.000,4,0.000,0.051,2768,3584,3402,0,0,0,0,0,0
$GC,4308,-1.80,-97.3,465.4,-13.1,224,4312,0.00,2.62,0.00,0.000,6,0.000,0.055,2768,2031,3402,0,0,0,0,0,0
$STATE,4612,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4612,begin apogee
$GC,4618,-0.31,0.0,502.1,11.8,232,4703,1.50,0.00,80.53,0.900,6,0.095,0.000,3103,1990,3010,0,0,0,0,0,0
$STATE,4703,end apogee,CONTROL_FINISHED_OK
$STATE,4703,begin climb
$GC,4706,1.48,97.3,504.4,0.0,234,4799,1.67,2.78,83.85,0.883,4,0.036,0.056,3509,3561,2612,0,0,0,0,0,0
$GC,4830,1.39,165.9,502.0,5.3,237,4897,0.15,2.67,59.97,0.867,6,0.126,0.050,3481,1995,2333,0,0,0,0,0,0
$GC,5223,1.33,165.9,459.5,11.1,246,5228,0.00,2.95,0.00,0.000,4,0.000,0.100,3481,402,2323,0,0,0,0,0,0
$GC,5278,1.22,165.9,452.6,11.9,247,5284,0.20,2.58,0.00,0.000,6,0.116,0.030,3441,1974,2321,0,0,0,0,0,0
$GC,5627,1.26,198.2,423.7,7.8,256,5656,0.00,0.00,27.88,0.831,6,0.000,0.000,3441,1974,2201,0,0,0,0,0,0
$GC,5953,1.32,215.4,395.4,8.9,264,5971,0.00,0.00,15.93,0.796,6,0.000,0.000,3441,1974,2131,0,0,0,0,0,0
$GC,6277,1.38,234.0,366.6,8.8,272,6302,0.15,2.78,16.83,0.786,4,0.076,0.040,3479,3586,2055,0,0,0,0,0,0
$GC,6319,1.38,234.0,362.2,11.0,273,6324,0.00,2.67,0.00,0.000,6,0.000,0.036,3479,1975,2054,0,0,0,0,0,0
$GC,6644,1.38,234.0,327.2,10.8,281,6649,0.00,2.65,0.00,0.000,4,0.000,0.035,3479,3585,2051,0,0,0,0,0,0
$GC,6718,1.38,234.0,318.6,12.0,282,6723,0.00,2.62,0.00,0.000,6,0.000,0.034,3479,1984,2049,0,0,0,0,0,0
$GC,7050,1.38,234.0,282.1,10.8,290,7055,0.00,2.70,0.00,0.000,4,0.000,0.071,3479,411,2048,0,0,0,0,0,0
$GC,7218,1.38,234.0,263.5,11.0,293,7224,0.00,2.53,0.00,0.000,6,0.000,0.019,3479,2008,2046,0,0,0,0,0,0
$GC,7551,1.44,250.1,232.8,8.9,302,7567,0.00,0.00,14.25,0.697,6,0.000,0.000,3479,2009,1990,0,0,0,0,0,0
$GC,7874,1.51,267.9,204.1,8.8,310,7894,0.10,0.00,16.80,0.676,6,0.089,0.000,3508,2009,1917,0,0,0,0,0,0
$GC,8223,1.52,273.7,167.7,9.6,337,8235,0.00,2.72,6.12,0.554,4,0.000,0.054,3508,401,1892,0,0,0,0,0,0
$GC,8270,1.52,273.7,161.9,12.0,341,8275,0.00,2.50,0.00,0.000,6,0.000,0.023,3509,1994,1891,0,0,0,0,0,0
$GC,8601,1.57,283.4,131.3,9.4,371,8616,0.00,2.72,9.73,0.579,4,0.000,0.057,3508,405,1854,0,0,0,0,0,0
$GC,8703,1.57,283.4,120.4,11.1,379,8707,0.00,2.47,0.00,0.000,6,0.000,0.018,3508,1990,1852,0,0,0,0,0,0
$GC,9031,1.66,298.8,88.6,9.0,409,9056,0.12,2.58,14.48,0.564,4,0.077,0.037,3543,3551,1790,0,0,0,0,0,0
$GC,9069,1.66,299.7,84.5,10.0,412,9073,0.00,2.55,0.00,0.000,6,0.000,0.028,3543,1978,1788,0,0,0,0,0,0
$GC,9397,1.67,305.9,52.3,9.6,442,9412,0.00,2.62,7.60,0.484,4,0.000,0.051,3543,413,1760,0,0,0,0,0,0
$GC,9429,1.67,305.9,48.5,10.4,444,9438,0.00,2.47,0.00,0.000,6,0.000,0.018,3543,1987,1759,0,0,0,0,0,0
$GC,9801,1.67,305.9,10.8,10.2,488,9810,0.00,2.65,0.00,0.000,4,0.000,0.054,3543,417,1759,0,0,0,0,0,0
$STATE,9865,end climb,SURFACE_DEPTH_REACHED
$STATE,9865,begin surface coast
$FINISH,0.6,0.979875
$STATE,9901,end surface coast,CONTROL_FINISHED_OK
$STATE,9901,begin surface
$SM_CCo,9926,60.80,0.508,0,0,1460,380.21
$SM_GC,1.37,0.00,0.00,60.80,0.000,0.000,0.508,477,2027,1460,-12.41,0.48,380.21
$IRIDIUM_FIX,2239.35,-15757.16,280900,222237
$TT8_MAMPS,0.026078
$HUMID,65.04
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.10
$XPDR_PINGS,42
$24V_AH,23.5,56.843
$10V_AH,10.1,50.923
$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,29.275,97.875,353.950,60.800,0.000,52.058,113.447,246.101,10.500,0.000,10.661,982.087,6572.777,501.561,1863.448,673.911,33.371,1165.415,0.000,1871.424,0.000,0.536,0.000
$DEVICE_MAMPS,146.497,155.701,900.458,507.754,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.941,284.219,389.558,750.122,1134.457,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355416
$DATA_FILE_SIZE,38386,502
$CAP_FILE_SIZE,95307,0
$CFSIZE,260165632,158134272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060711,013616,2248.278,-15758.090,10,2.1,29,10.1