version: 66.06
glider: 146
mission: 6
dive: 471
start: 7 7 111 11 16 50
data:
$ID,146
$MISSION,6
$DIVE,471
$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,-279500.5
$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,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,56
$R_STBD_OVSHOOT,50
$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
$GPS1,110043,2249.681,-15802.925,12,1.7,29,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-63.0
$GPS2,111558,2249.787,-15803.015,10,99.0,29,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.161,-0.144
$KALMAN_X,-373744.2,-78.9,-27.5,363229.2,-834.3
$KALMAN_Y,135080.8,-109.1,54.0,-124123.3,1460.8
$MHEAD_RNG_PITCHd_Wd,121.7,10274,-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,14,begin dive
$GC,16,-1.48,-97.3,0.0,0.0,0,128,0.00,0.00,-109.12,0.000,2,0.000,0.000,478,1977,3337,0,0,0,0,0,0
$GC,131,-1.48,-97.3,4.4,-8.9,14,157,12.05,2.58,-1.27,0.000,4,0.139,0.054,2843,453,3410,0,0,0,0,0,0
$GC,210,-1.38,-97.3,24.4,-16.7,24,220,0.10,2.42,0.00,0.000,6,0.110,0.015,2868,2033,3411,0,0,0,0,0,0
$GC,552,-1.34,-97.3,72.9,-13.4,57,556,0.00,2.42,0.00,0.000,4,0.000,0.028,2868,3561,3411,0,0,0,0,0,0
$GC,575,-1.34,-97.3,75.9,-13.6,58,579,0.00,2.42,0.00,0.000,6,0.000,0.021,2868,2022,3411,0,0,0,0,0,0
$GC,899,-1.34,-97.3,117.7,-10.5,88,903,0.00,2.45,0.00,0.000,4,0.000,0.028,2868,3558,3411,0,0,0,0,0,0
$GC,928,-1.34,-97.3,120.7,-10.8,90,932,0.00,2.45,0.00,0.000,6,0.000,0.028,2868,2000,3411,0,0,0,0,0,0
$GC,1252,-1.39,-97.3,161.0,-12.0,120,1256,0.00,2.45,0.00,0.000,4,0.000,0.032,2868,3557,3411,0,0,0,0,0,0
$GC,1316,-1.48,-97.3,168.4,-11.0,125,1320,0.00,2.40,0.00,0.000,6,0.000,0.022,2868,2025,3411,0,0,0,0,0,0
$GC,1641,-1.57,-97.3,198.9,-8.4,155,1643,0.15,0.00,0.00,0.000,6,0.062,0.000,2814,2025,3411,0,0,0,0,0,0
$GC,1946,-1.57,-97.3,232.6,-11.5,164,1950,0.00,2.45,0.00,0.000,4,0.000,0.034,2814,3557,3411,0,0,0,0,0,0
$GC,2070,-1.57,-97.3,247.3,-11.6,166,2075,0.00,2.40,0.00,0.000,6,0.000,0.029,2814,2036,3411,0,0,0,0,0,0
$GC,2401,-1.57,-97.3,281.7,-9.7,175,2405,0.00,2.45,0.00,0.000,4,0.000,0.039,2815,3554,3411,0,0,0,0,0,0
$GC,2436,-1.61,-97.3,284.6,-8.5,175,2441,0.00,2.40,0.00,0.000,6,0.000,0.028,2814,2042,3411,0,0,0,0,0,0
$GC,2767,-1.61,-97.3,312.3,-8.2,184,2771,0.00,2.45,0.00,0.000,4,0.000,0.042,2814,3549,3410,0,0,0,0,0,0
$GC,2800,-1.64,-97.3,315.1,-9.2,184,2806,0.00,2.42,0.00,0.000,6,0.000,0.037,2814,2042,3410,0,0,0,0,0,0
$GC,3133,-1.69,-97.3,345.0,-9.3,193,3137,0.00,2.45,0.00,0.000,4,0.000,0.042,2814,3551,3409,0,0,0,0,0,0
$GC,3246,-1.76,-97.3,356.1,-9.9,195,3251,0.10,2.47,0.00,0.000,6,0.080,0.044,2771,2051,3409,0,0,0,0,0,0
$GC,3583,-1.76,-97.3,393.1,-10.6,204,3584,0.00,0.00,0.00,0.000,6,0.000,0.000,2771,2050,3406,0,0,0,0,0,0
$GC,3907,-1.76,-97.3,426.2,-10.2,212,3911,0.00,2.90,0.00,0.000,4,0.000,0.097,2771,426,3403,0,0,0,0,0,0
$GC,3935,-1.70,-97.3,429.3,-10.7,212,3941,0.15,2.58,0.00,0.000,6,0.115,0.039,2802,2002,3404,0,0,0,0,0,0
$GC,4269,-1.74,-97.3,460.6,-9.5,220,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2802,2003,3400,0,0,0,0,0,0
$GC,4592,-1.78,-97.3,491.1,-9.3,228,4596,0.00,2.75,0.00,0.000,4,0.000,0.076,2802,3591,3397,0,0,0,0,0,0
$GC,4619,-1.83,-97.3,494.0,-10.1,228,4624,0.10,2.60,0.00,0.000,6,0.084,0.052,2765,2048,3397,0,0,0,0,0,0
$STATE,4704,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4704,begin apogee
$GC,4712,-0.31,0.0,503.1,10.6,230,4795,1.50,0.00,79.62,0.912,6,0.081,0.000,3105,1990,3010,0,0,0,0,0,0
$STATE,4796,end apogee,CONTROL_FINISHED_OK
$STATE,4796,begin climb
$GC,4798,1.48,97.3,505.4,0.0,232,4886,1.67,0.00,83.80,0.893,6,0.047,0.000,3507,1990,2612,0,0,0,0,0,0
$GC,5192,1.38,130.3,483.2,7.8,242,5223,0.15,0.00,28.90,0.861,6,0.123,0.000,3478,1990,2477,0,0,0,0,0,0
$GC,5518,1.34,154.6,456.0,8.4,250,5547,0.00,2.70,21.35,0.847,4,0.000,0.042,3478,3585,2379,0,0,0,0,0,0
$GC,5570,1.28,160.7,450.9,9.6,251,5585,0.12,2.70,7.18,0.713,6,0.132,0.046,3455,1993,2353,0,0,0,0,0,0
$GC,5931,1.30,174.3,417.8,9.1,260,5946,0.00,0.00,12.80,0.801,6,0.000,0.000,3454,1993,2299,0,0,0,0,0,0
$GC,6253,1.31,184.5,386.9,9.3,268,6268,0.00,2.88,10.05,0.765,4,0.000,0.081,3454,403,2256,0,0,0,0,0,0
$GC,6319,1.27,184.5,379.8,10.6,269,6323,0.00,2.60,0.00,0.000,6,0.000,0.026,3455,2019,2254,0,0,0,0,0,0
$GC,6655,1.30,206.9,350.0,8.5,278,6681,0.00,2.85,20.62,0.798,4,0.000,0.066,3455,406,2164,0,0,0,0,0,0
$GC,6761,1.30,206.9,339.7,10.2,280,6765,0.00,2.58,0.00,0.000,6,0.000,0.020,3455,2014,2161,0,0,0,0,0,0
$GC,7105,1.35,216.7,308.1,9.4,289,7116,0.00,0.00,9.18,0.713,6,0.000,0.000,3455,2013,2125,0,0,0,0,0,0
$GC,7428,1.41,221.0,275.8,9.7,297,7439,0.12,2.55,5.03,0.584,4,0.080,0.040,3488,3574,2108,0,0,0,0,0,0
$GC,7502,1.41,221.0,268.3,10.2,298,7506,0.00,2.58,0.00,0.000,6,0.000,0.031,3488,1991,2106,0,0,0,0,0,0
$GC,7833,1.42,226.6,235.1,9.7,306,7846,0.00,2.72,6.20,0.611,4,0.000,0.062,3488,415,2084,0,0,0,0,0,0
$GC,7869,1.42,226.6,231.1,11.2,306,7875,0.00,2.53,0.00,0.000,6,0.000,0.019,3488,2016,2084,0,0,0,0,0,0
$GC,8202,1.47,267.0,204.2,7.2,315,8243,0.00,2.58,36.53,0.706,4,0.000,0.035,3488,3560,1919,0,0,0,0,0,0
$GC,8261,1.54,282.5,199.3,9.0,316,8284,0.00,2.55,14.77,0.657,6,0.000,0.035,3488,2007,1856,0,0,0,0,0,0
$GC,8601,1.62,297.1,169.3,9.0,347,8626,0.17,2.78,12.75,0.628,4,0.064,0.063,3535,422,1797,0,0,0,0,0,0
$GC,8667,1.57,297.1,160.7,14.0,352,8672,0.00,2.50,0.00,0.000,6,0.000,0.018,3535,2016,1796,0,0,0,0,0,0
$GC,8995,1.57,297.1,126.1,10.9,383,9000,0.00,2.67,0.00,0.000,4,0.000,0.050,3535,412,1793,0,0,0,0,0,0
$GC,9052,1.57,297.1,119.8,11.4,387,9056,0.00,2.47,0.00,0.000,6,0.000,0.025,3535,2000,1792,0,0,0,0,0,0
$GC,9381,1.63,313.6,92.0,8.9,417,9406,0.00,2.72,14.70,0.564,4,0.000,0.054,3535,417,1730,0,0,0,0,0,0
$GC,9470,1.63,313.6,81.8,11.6,424,9479,0.00,2.47,0.00,0.000,6,0.000,0.018,3535,1992,1728,0,0,0,0,0,0
$GC,9798,1.67,320.1,49.8,9.6,455,9812,0.00,2.65,6.70,0.466,4,0.000,0.046,3535,412,1705,0,0,0,0,0,0
$GC,9877,1.67,320.1,40.2,13.5,461,9882,0.00,2.40,0.00,0.000,6,0.000,0.017,3535,1980,1703,0,0,0,0,0,0
$STATE,10231,end climb,SURFACE_DEPTH_REACHED
$STATE,10231,begin surface coast
$FINISH,0.5,0.979497
$STATE,10289,end surface coast,CONTROL_FINISHED_OK
$STATE,10289,begin surface
$SM_CCo,10311,48.72,0.506,0,0,1460,380.21
$SM_GC,1.25,0.00,0.00,48.72,0.000,0.000,0.506,475,1983,1460,-12.42,-0.76,380.21
$IRIDIUM_FIX,2239.35,-15905.30,300900,111137
$TT8_MAMPS,0.026078
$HUMID,64.53
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,21.40
$XPDR_PINGS,37
$24V_AH,23.5,58.388
$10V_AH,10.1,52.305
$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,28.825,102.500,370.175,48.725,0.000,86.273,132.528,412.555,9.250,0.000,31.842,1001.884,6936.312,523.688,1900.471,913.493,33.373,1185.095,0.000,1890.014,0.000,0.537,0.000
$DEVICE_MAMPS,138.827,134.225,911.963,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,348.566,282.194,395.828,757.448,1141.722,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,41517,515
$CAP_FILE_SIZE,103332,0
$CFSIZE,260165632,157503488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070711,141152,2249.313,-15803.003,79,99.0,98,10.1