version: 66.06
glider: 146
mission: 6
dive: 463
start: 7 6 111 10 58 54
data:
$ID,146
$MISSION,6
$DIVE,463
$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,-279279.84
$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,22
$R_STBD_OVSHOOT,62
$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
$GPS1,104701,2247.658,-15759.161,36,1.5,36,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-66.6
$GPS2,105802,2247.795,-15759.212,13,1.3,13,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.123,-0.177
$KALMAN_X,-363814.7,-120.1,-217.1,360034.1,-706.9
$KALMAN_Y,121733.1,357.2,413.5,-115299.7,1325.8
$MHEAD_RNG_PITCHd_Wd,204.7,6634,-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,13,begin dive
$GC,15,-1.48,-97.3,0.0,0.0,0,127,0.00,0.00,-109.12,0.000,2,0.000,0.000,477,1960,3290,0,0,0,0,0,0
$GC,130,-1.48,-97.3,3.7,-6.4,14,156,12.57,2.60,-2.17,0.000,4,0.159,0.055,2836,419,3410,0,0,0,0,0,0
$GC,215,-1.35,-97.3,24.5,-17.3,25,224,0.17,2.47,0.00,0.000,6,0.106,0.015,2876,2021,3412,0,0,0,0,0,0
$GC,553,-1.35,-97.3,72.7,-13.7,58,562,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,2023,3411,0,0,0,0,0,0
$GC,883,-1.35,-97.3,116.2,-13.4,89,887,0.00,2.47,0.00,0.000,4,0.000,0.030,2876,3564,3411,0,0,0,0,0,0
$GC,941,-1.43,-97.3,123.6,-12.3,93,945,0.00,2.45,0.00,0.000,6,0.000,0.029,2875,1993,3411,0,0,0,0,0,0
$GC,1266,-1.51,-97.3,159.3,-9.3,123,1271,0.12,2.58,0.00,0.000,4,0.070,0.054,2832,439,3412,0,0,0,0,0,0
$GC,1307,-1.47,-97.3,164.0,-12.1,126,1312,0.10,2.40,0.00,0.000,6,0.123,0.014,2852,2025,3412,0,0,0,0,0,0
$GC,1632,-1.52,-97.3,195.4,-9.7,156,1636,0.00,2.45,0.00,0.000,4,0.000,0.035,2852,3557,3412,0,0,0,0,0,0
$GC,1673,-1.60,-97.3,199.4,-9.8,159,1678,0.12,2.40,0.00,0.000,6,0.071,0.021,2804,2008,3413,0,0,0,0,0,0
$GC,2005,-1.60,-97.3,236.9,-10.8,167,2010,0.10,2.65,0.00,0.000,4,0.120,0.058,2825,439,3413,0,0,0,0,0,0
$GC,2032,-1.60,-97.3,240.6,-12.5,167,2037,0.00,2.40,0.00,0.000,6,0.000,0.021,2825,2006,3413,0,0,0,0,0,0
$GC,2371,-1.64,-97.3,274.9,-9.6,176,2376,0.00,2.50,0.00,0.000,4,0.000,0.035,2825,3569,3413,0,0,0,0,0,0
$GC,2399,-1.70,-97.3,277.8,-9.0,176,2404,0.00,2.45,0.00,0.000,6,0.000,0.031,2825,2027,3412,0,0,0,0,0,0
$GC,2731,-1.74,-97.3,309.9,-10.4,184,2736,0.12,2.78,0.00,0.000,4,0.077,0.077,2782,435,3411,0,0,0,0,0,0
$GC,2748,-1.74,-97.3,312.2,-11.6,184,2753,0.00,2.47,0.00,0.000,6,0.000,0.025,2782,2002,3411,0,0,0,0,0,0
$GC,3090,-1.74,-97.3,352.6,-11.2,193,3094,0.00,2.62,0.00,0.000,4,0.000,0.051,2782,3584,3410,0,0,0,0,0,0
$GC,3275,-1.74,-97.3,372.0,-10.3,197,3280,0.00,2.53,0.00,0.000,6,0.000,0.047,2782,2055,3409,0,0,0,0,0,0
$GC,3588,-1.74,-97.3,404.7,-10.8,205,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2055,3407,0,0,0,0,0,0
$GC,3913,-1.74,-97.3,439.5,-10.5,213,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2055,3405,0,0,0,0,0,0
$GC,4238,-1.74,-97.3,472.6,-10.0,221,4243,0.00,2.62,0.00,0.000,4,0.000,0.056,2782,3580,3402,0,0,0,0,0,0
$GC,4262,-1.74,-97.3,474.8,-9.7,221,4266,0.00,2.60,0.00,0.000,6,0.000,0.051,2782,2042,3402,0,0,0,0,0,0
$STATE,4555,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4555,begin apogee
$GC,4561,-0.31,0.0,503.8,9.8,229,4645,1.45,0.00,80.43,0.904,6,0.084,0.000,3106,1989,3010,0,0,0,0,0,0
$STATE,4646,end apogee,CONTROL_FINISHED_OK
$STATE,4646,begin climb
$GC,4650,1.48,97.3,505.7,0.0,231,4744,1.62,2.75,83.43,0.884,4,0.037,0.054,3504,3561,2611,0,0,0,0,0,0
$GC,4773,1.40,160.2,504.7,5.7,234,4835,0.12,2.70,55.03,0.872,6,0.133,0.055,3481,1998,2356,0,0,0,0,0,0
$GC,5177,1.34,160.2,463.1,10.9,244,5182,0.00,2.97,0.00,0.000,4,0.000,0.101,3481,403,2344,0,0,0,0,0,0
$GC,5221,1.21,160.2,457.9,11.8,245,5227,0.20,2.58,0.00,0.000,6,0.117,0.028,3441,1979,2343,0,0,0,0,0,0
$GC,5542,1.23,177.9,429.8,8.8,253,5558,0.00,0.00,14.75,0.809,6,0.000,0.000,3441,1979,2284,0,0,0,0,0,0
$GC,5865,1.24,187.8,399.2,9.4,261,5880,0.00,2.80,9.57,0.759,4,0.000,0.069,3440,400,2243,0,0,0,0,0,0
$GC,5960,1.24,187.8,388.8,11.7,263,5964,0.00,2.55,0.00,0.000,6,0.000,0.021,3441,1995,2241,0,0,0,0,0,0
$GC,6273,1.30,203.0,359.5,9.0,271,6292,0.00,2.80,14.45,0.782,4,0.000,0.067,3441,403,2182,0,0,0,0,0,0
$GC,6320,1.30,203.0,354.7,10.4,272,6324,0.00,2.55,0.00,0.000,6,0.000,0.021,3440,1986,2179,0,0,0,0,0,0
$GC,6639,1.37,211.9,324.0,9.4,280,6654,0.12,2.67,8.55,0.710,4,0.087,0.040,3474,3569,2146,0,0,0,0,0,0
$GC,6676,1.37,211.9,320.1,10.3,280,6682,0.00,2.62,0.00,0.000,6,0.000,0.036,3475,1975,2145,0,0,0,0,0,0
$GC,7009,1.37,215.3,287.0,9.8,289,7015,0.00,0.00,4.30,0.541,6,0.000,0.000,3475,1975,2132,0,0,0,0,0,0
$GC,7332,1.38,221.8,255.4,9.6,297,7347,0.00,2.78,7.22,0.648,4,0.000,0.063,3475,409,2105,0,0,0,0,0,0
$GC,7358,1.38,221.8,252.9,10.2,297,7362,0.00,2.53,0.00,0.000,6,0.000,0.024,3475,1998,2103,0,0,0,0,0,0
$GC,7696,1.48,259.2,227.1,7.5,306,7738,0.10,2.78,33.70,0.719,4,0.096,0.059,3502,411,1953,0,0,0,0,0,0
$GC,7839,1.48,259.2,212.6,11.3,309,7843,0.00,2.47,0.00,0.000,6,0.000,0.023,3502,1975,1948,0,0,0,0,0,0
$GC,8163,1.48,259.2,180.8,10.9,329,8167,0.00,2.55,0.00,0.000,4,0.000,0.039,3502,3558,1946,0,0,0,0,0,0
$GC,8219,1.54,259.2,174.1,12.0,333,8228,0.00,2.62,0.00,0.000,6,0.000,0.036,3502,1968,1944,0,0,0,0,0,0
$GC,8543,1.60,279.8,141.4,8.6,364,8568,0.10,2.70,17.77,0.622,4,0.096,0.062,3530,404,1868,0,0,0,0,0,0
$GC,8659,1.61,288.1,129.7,9.5,373,8678,0.00,2.45,8.48,0.558,6,0.000,0.025,3530,1971,1834,0,0,0,0,0,0
$GC,8998,1.66,291.8,100.3,9.8,405,9008,0.00,0.00,4.28,0.422,6,0.000,0.000,3530,1972,1820,0,0,0,0,0,0
$GC,9331,1.74,323.0,70.0,7.9,436,9362,0.10,0.00,28.02,0.562,6,0.097,0.000,3559,1972,1692,0,0,0,0,0,0
$GC,9682,1.74,323.0,34.4,10.1,469,9686,0.00,2.62,0.00,0.000,4,0.000,0.054,3559,412,1688,0,0,0,0,0,0
$GC,9756,1.68,323.0,26.2,11.0,476,9766,0.00,2.40,0.00,0.000,6,0.000,0.017,3559,1947,1687,0,0,0,0,0,0
$STATE,9923,end climb,SURFACE_DEPTH_REACHED
$STATE,9923,begin surface coast
$FINISH,0.6,0.980034
$STATE,9960,end surface coast,CONTROL_FINISHED_OK
$STATE,9961,begin surface
$SM_CCo,9984,46.35,0.505,0,0,1459,380.21
$SM_GC,1.17,0.00,0.00,46.35,0.000,0.000,0.505,475,1948,1459,-12.42,-1.75,380.21
$IRIDIUM_FIX,2239.35,-15800.20,290900,101000
$TT8_MAMPS,0.026078
$HUMID,65.43
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.40
$XPDR_PINGS,42
$24V_AH,23.5,57.354
$10V_AH,10.1,51.376
$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,29.700,98.450,369.975,46.350,0.000,52.349,75.756,327.022,10.500,0.000,14.657,983.074,6615.273,465.170,1883.457,742.995,33.372,1176.722,0.000,1892.829,0.000,0.535,0.000
$DEVICE_MAMPS,158.769,140.361,903.526,505.453,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,341.556,296.581,392.272,745.294,1122.347,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355444
$DATA_FILE_SIZE,38464,505
$CAP_FILE_SIZE,99656,0
$CFSIZE,260165632,157929472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060711,134723,2247.714,-15800.535,33,1.3,37,10.1