version: 66.06
glider: 146
mission: 6
dive: 478
start: 7 8 111 9 9 19
data:
$ID,146
$MISSION,6
$DIVE,478
$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,-279754.62
$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,25
$R_STBD_OVSHOOT,52
$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
$GPS1,085528,2249.987,-15801.176,84,99.0,103,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-67.8
$GPS2,090829,2250.025,-15801.332,68,2.3,87,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.195,-0.091
$KALMAN_X,-384472.3,-44.1,-122.0,376898.3,-895.0
$KALMAN_Y,140975.6,54.0,-427.6,-129259.2,903.9
$MHEAD_RNG_PITCHd_Wd,105.0,7395,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.48,-97.3,0.0,0.0,0,91,0.00,0.00,-71.18,0.000,2,0.000,0.000,475,2009,3297,0,0,0,0,0,0
$GC,96,-1.48,-97.3,4.0,-7.8,9,122,12.02,2.67,-2.00,0.000,4,0.138,0.061,2841,427,3411,0,0,0,0,0,0
$GC,166,-1.37,-97.3,24.6,-19.3,18,175,0.12,2.47,0.00,0.000,6,0.106,0.021,2871,2021,3412,0,0,0,0,0,0
$GC,505,-1.37,-97.3,73.1,-13.0,51,509,0.00,2.45,0.00,0.000,4,0.000,0.028,2871,3563,3412,0,0,0,0,0,0
$GC,540,-1.37,-97.3,78.9,-13.8,53,549,0.00,2.50,0.00,0.000,6,0.000,0.022,2871,1997,3413,0,0,0,0,0,0
$GC,866,-1.37,-97.3,120.5,-12.1,84,867,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1997,3413,0,0,0,0,0,0
$GC,1186,-1.42,-97.3,154.0,-10.5,114,1190,0.00,2.50,0.00,0.000,4,0.000,0.033,2871,3569,3414,0,0,0,0,0,0
$GC,1221,-1.50,-97.3,158.2,-10.4,116,1228,0.10,2.45,0.00,0.000,6,0.083,0.027,2830,2001,3414,0,0,0,0,0,0
$GC,1546,-1.50,-97.3,194.7,-11.3,147,1550,0.00,2.47,0.00,0.000,4,0.000,0.027,2830,3566,3414,0,0,0,0,0,0
$GC,1566,-1.50,-97.3,196.5,-10.5,148,1570,0.00,2.40,0.00,0.000,6,0.000,0.025,2830,2015,3415,0,0,0,0,0,0
$GC,1890,-1.50,-97.3,233.6,-11.5,158,1894,0.00,2.47,0.00,0.000,4,0.000,0.035,2830,3568,3415,0,0,0,0,0,0
$GC,1929,-1.55,-97.3,238.2,-11.3,159,1933,0.00,2.40,0.00,0.000,6,0.000,0.021,2830,2025,3415,0,0,0,0,0,0
$GC,2253,-1.55,-97.3,270.9,-9.8,167,2257,0.00,2.45,0.00,0.000,4,0.000,0.034,2830,3562,3415,0,0,0,0,0,0
$GC,2366,-1.62,-97.3,281.8,-9.5,169,2371,0.00,2.42,0.00,0.000,6,0.000,0.027,2830,2041,3415,0,0,0,0,0,0
$GC,2704,-1.68,-97.3,315.4,-9.9,178,2708,0.00,2.78,0.00,0.000,4,0.000,0.073,2830,424,3414,0,0,0,0,0,0
$GC,2721,-1.73,-97.3,317.2,-9.8,178,2726,0.15,2.47,0.00,0.000,6,0.067,0.030,2782,2009,3414,0,0,0,0,0,0
$GC,3064,-1.73,-97.3,351.3,-9.4,187,3068,0.00,2.58,0.00,0.000,4,0.000,0.052,2782,3589,3413,0,0,0,0,0,0
$GC,3113,-1.73,-97.3,355.8,-9.4,188,3118,0.00,2.55,0.00,0.000,6,0.000,0.040,2782,2039,3413,0,0,0,0,0,0
$GC,3428,-1.73,-97.3,383.9,-9.4,196,3432,0.00,2.53,0.00,0.000,4,0.000,0.049,2782,3581,3412,0,0,0,0,0,0
$GC,3561,-1.73,-97.3,398.1,-10.7,199,3566,0.00,2.53,0.00,0.000,6,0.000,0.051,2781,2051,3411,0,0,0,0,0,0
$GC,3887,-1.73,-97.3,433.0,-10.7,207,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2781,2051,3408,0,0,0,0,0,0
$GC,4211,-1.73,-97.3,464.9,-10.0,215,4212,0.00,0.00,0.00,0.000,6,0.000,0.000,2782,2051,3406,0,0,0,0,0,0
$GC,4536,-1.73,-97.3,498.7,-10.8,223,4540,0.00,2.62,0.00,0.000,4,0.000,0.067,2781,3581,3403,0,0,0,0,0,0
$STATE,4549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4549,begin apogee
$GC,4558,-0.31,0.0,500.6,10.5,223,4644,1.42,0.00,81.00,0.903,6,0.087,0.000,3101,1991,3010,0,0,0,0,0,0
$STATE,4644,end apogee,CONTROL_FINISHED_OK
$STATE,4644,begin climb
$GC,4647,1.48,97.3,502.8,0.0,225,4734,1.67,0.00,83.32,0.877,6,0.041,0.000,3504,1991,2613,0,0,0,0,0,0
$GC,5026,1.42,153.0,486.9,6.2,235,5081,0.00,3.05,48.00,0.871,4,0.000,0.103,3504,411,2384,0,0,0,0,0,0
$GC,5118,1.24,153.0,479.7,10.6,237,5124,0.30,2.58,0.00,0.000,6,0.113,0.036,3444,1984,2381,0,0,0,0,0,0
$GC,5437,1.27,181.7,453.7,8.1,245,5468,0.00,2.83,25.58,0.844,4,0.000,0.074,3444,408,2267,0,0,0,0,0,0
$GC,5509,1.23,181.7,446.9,10.5,246,5514,0.00,2.60,0.00,0.000,6,0.000,0.031,3444,1993,2265,0,0,0,0,0,0
$GC,5840,1.26,200.0,416.8,8.8,254,5864,0.00,2.90,16.48,0.809,4,0.000,0.068,3444,403,2193,0,0,0,0,0,0
$GC,5930,1.26,200.0,408.4,10.5,256,5935,0.00,2.55,0.00,0.000,6,0.000,0.025,3444,1991,2190,0,0,0,0,0,0
$GC,6255,1.27,214.9,378.6,9.0,264,6274,0.00,2.83,14.15,0.785,4,0.000,0.068,3444,400,2132,0,0,0,0,0,0
$GC,6285,1.27,215.2,375.5,10.0,264,6290,0.00,2.58,0.00,0.000,6,0.000,0.028,3444,1987,2131,0,0,0,0,0,0
$GC,6618,1.32,215.2,342.2,10.3,272,6623,0.00,2.60,0.00,0.000,4,0.000,0.046,3444,3577,2128,0,0,0,0,0,0
$GC,6658,1.37,215.2,337.9,10.3,273,6664,0.12,2.65,0.00,0.000,6,0.079,0.035,3478,1969,2127,0,0,0,0,0,0
$GC,6984,1.38,220.6,305.7,9.7,281,6995,0.00,2.72,5.50,0.622,4,0.000,0.069,3478,404,2109,0,0,0,0,0,0
$GC,7092,1.34,230.0,295.0,9.4,283,7107,0.00,2.50,9.85,0.713,6,0.000,0.022,3478,1988,2072,0,0,0,0,0,0
$GC,7435,1.35,239.7,263.6,9.4,291,7447,0.00,0.00,10.00,0.695,6,0.000,0.000,3478,1989,2032,0,0,0,0,0,0
$GC,7759,1.36,245.4,231.9,9.6,299,7770,0.00,2.58,6.18,0.605,4,0.000,0.037,3478,3554,2010,0,0,0,0,0,0
$GC,7809,1.43,253.1,227.1,9.5,300,7824,0.00,2.60,8.45,0.646,6,0.000,0.033,3478,1966,1978,0,0,0,0,0,0
$GC,8169,1.50,273.9,196.8,8.6,309,8197,0.10,2.78,19.80,0.684,4,0.091,0.065,3507,408,1892,0,0,0,0,0,0
$GC,8270,1.46,273.9,184.9,12.0,317,8276,0.00,2.47,0.00,0.000,6,0.000,0.019,3507,1972,1889,0,0,0,0,0,0
$GC,8595,1.47,278.3,149.0,9.7,348,8610,0.00,2.70,4.85,0.489,4,0.000,0.058,3507,407,1874,0,0,0,0,0,0
$GC,8617,1.47,278.3,146.4,10.4,349,8622,0.00,2.47,0.00,0.000,6,0.000,0.025,3507,1984,1873,0,0,0,0,0,0
$GC,8942,1.59,331.1,120.5,6.4,380,8994,0.00,2.72,46.53,0.621,4,0.000,0.056,3507,404,1658,0,0,0,0,0,0
$GC,9070,1.65,344.1,109.6,9.1,390,9088,0.12,2.42,12.05,0.566,6,0.077,0.021,3542,1954,1607,0,0,0,0,0,0
$GC,9417,1.65,344.1,74.8,12.0,422,9421,0.00,2.60,0.00,0.000,4,0.000,0.056,3542,411,1602,0,0,0,0,0,0
$GC,9537,1.65,344.1,59.2,12.8,431,9541,0.00,2.38,0.00,0.000,6,0.000,0.018,3542,1943,1602,0,0,0,0,0,0
$GC,9887,1.69,344.1,18.0,14.7,467,9896,0.00,2.60,0.00,0.000,4,0.000,0.053,3542,408,1601,0,0,0,0,0,0
$GC,9960,1.69,344.1,7.1,13.4,477,9969,0.00,2.40,0.00,0.000,6,0.000,0.018,3542,1931,1601,0,0,0,0,0,0
$STATE,9984,end climb,SURFACE_DEPTH_REACHED
$STATE,9984,begin surface coast
$FINISH,0.6,0.971096
$STATE,10027,end surface coast,CONTROL_FINISHED_OK
$STATE,10027,begin surface
$SM_CCo,10049,28.88,0.506,0,0,1459,380.21
$SM_GC,1.23,0.00,0.00,28.88,0.000,0.000,0.506,476,2100,1459,-12.42,2.54,380.21
$IRIDIUM_FIX,2239.35,-15754.99,011000,090931
$TT8_MAMPS,0.026078
$HUMID,66.14
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,20.50
$XPDR_PINGS,47
$24V_AH,23.5,59.330
$10V_AH,10.1,53.129
$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,28.600,113.625,391.725,28.875,0.000,52.978,77.493,360.507,11.750,0.000,89.701,975.461,6740.852,469.507,1883.233,787.847,33.373,1163.027,0.000,1815.085,0.000,0.536,0.000
$DEVICE_MAMPS,138.060,102.778,902.759,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.106,281.259,368.916,679.849,1028.115,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,38445,486
$CAP_FILE_SIZE,102976,0
$CFSIZE,260165632,157143040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080711,120030,2249.774,-15800.957,150,0.9,150,10.1