version: 66.06
glider: 146
mission: 6
dive: 488
start: 7 9 111 15 25 54
data:
$ID,146
$MISSION,6
$DIVE,488
$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,-280110.72
$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,24
$R_STBD_OVSHOOT,55
$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
$GPS1,151822,2250.420,-15758.229,14,2.2,33,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.7
$GPS2,152502,2250.425,-15758.291,13,1.6,13,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.207,-0.060
$KALMAN_X,-399113.1,120.1,-48.6,396491.6,-1150.4
$KALMAN_Y,148536.3,-547.1,364.7,-136273.2,269.7
$MHEAD_RNG_PITCHd_Wd,96.0,2339,-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,-97.3,0.0,0.0,0,88,0.00,0.00,-70.47,0.000,2,0.000,0.000,476,1950,3275,0,0,0,0,0,0
$GC,91,-1.48,-97.3,4.2,-7.9,9,117,12.40,2.60,-2.42,0.000,4,0.152,0.064,2841,424,3410,0,0,0,0,0,0
$GC,137,-0.87,-97.3,18.0,-29.1,14,145,0.62,2.47,0.00,0.000,6,0.088,0.015,2981,2034,3411,0,0,0,0,0,0
$GC,486,-1.07,-97.3,52.3,-10.7,52,495,0.17,0.00,0.00,0.000,6,0.058,0.000,2925,2036,3412,0,0,0,0,0,0
$GC,819,-1.16,-97.3,91.4,-10.1,83,823,0.00,0.00,0.00,0.000,6,0.000,0.000,2925,2036,3413,0,0,0,0,0,0
$GC,1147,-1.30,-97.3,120.9,-7.7,114,1152,0.12,2.70,0.00,0.000,4,0.072,0.058,2877,426,3414,0,0,0,0,0,0
$GC,1169,-1.39,-97.3,122.6,-8.2,115,1173,0.00,2.40,0.00,0.000,6,0.000,0.021,2877,2033,3414,0,0,0,0,0,0
$GC,1500,-1.46,-97.3,153.4,-8.8,145,1504,0.00,2.40,0.00,0.000,4,0.000,0.028,2877,3550,3414,0,0,0,0,0,0
$GC,1545,-1.57,-97.3,157.5,-9.4,148,1550,0.20,2.42,0.00,0.000,6,0.044,0.026,2803,1995,3414,0,0,0,0,0,0
$GC,1875,-1.57,-97.3,199.7,-12.9,178,1880,0.12,0.00,0.00,0.000,6,0.109,0.000,2831,1995,3415,0,0,0,0,0,0
$GC,2206,-1.57,-97.3,235.7,-10.2,187,2210,0.00,2.47,0.00,0.000,4,0.000,0.026,2831,3549,3415,0,0,0,0,0,0
$GC,2238,-1.63,-97.3,239.2,-10.3,187,2244,0.00,2.40,0.00,0.000,6,0.000,0.029,2831,2025,3415,0,0,0,0,0,0
$GC,2572,-1.67,-97.3,272.2,-9.5,196,2576,0.00,2.42,0.00,0.000,4,0.000,0.037,2831,3544,3416,0,0,0,0,0,0
$GC,2594,-1.73,-97.3,274.6,-9.5,196,2599,0.15,2.38,0.00,0.000,6,0.059,0.023,2772,2029,3416,0,0,0,0,0,0
$GC,2930,-1.69,-97.3,315.7,-12.0,205,2935,0.15,2.45,0.00,0.000,4,0.103,0.041,2805,3541,3416,0,0,0,0,0,0
$GC,3010,-1.74,-97.3,324.7,-10.8,206,3016,0.00,2.42,0.00,0.000,6,0.000,0.040,2805,2036,3416,0,0,0,0,0,0
$GC,3342,-1.74,-97.3,358.9,-9.9,215,3346,0.00,2.47,0.00,0.000,4,0.000,0.042,2805,3539,3415,0,0,0,0,0,0
$GC,3370,-1.78,-97.3,361.8,-10.7,215,3375,0.00,2.47,0.00,0.000,6,0.000,0.045,2805,2038,3415,0,0,0,0,0,0
$GC,3702,-1.82,-97.3,394.5,-10.0,223,3703,0.12,0.00,0.00,0.000,6,0.077,0.000,2763,2038,3414,0,0,0,0,0,0
$GC,4026,-1.82,-97.3,431.0,-11.0,231,4030,0.00,2.53,0.00,0.000,4,0.000,0.060,2763,3531,3412,0,0,0,0,0,0
$GC,4066,-1.82,-97.3,435.5,-11.3,232,4071,0.00,2.53,0.00,0.000,6,0.000,0.054,2762,2041,3411,0,0,0,0,0,0
$GC,4390,-1.82,-97.3,471.9,-11.1,240,4391,0.00,0.00,0.00,0.000,6,0.000,0.000,2762,2042,3409,0,0,0,0,0,0
$STATE,4631,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4631,begin apogee
$GC,4637,-0.31,0.0,500.4,11.8,246,4723,1.52,0.00,81.22,0.906,6,0.082,0.000,3104,1986,3010,0,0,0,0,0,0
$STATE,4723,end apogee,CONTROL_FINISHED_OK
$STATE,4723,begin climb
$GC,4727,1.48,97.3,503.3,0.0,248,4815,1.65,0.00,83.40,0.886,6,0.036,0.000,3506,1986,2613,0,0,0,0,0,0
$GC,5119,1.40,141.4,485.7,7.0,258,5165,0.12,3.03,38.15,0.869,4,0.128,0.101,3482,414,2432,0,0,0,0,0,0
$GC,5215,1.24,141.4,477.2,11.0,260,5220,0.17,2.53,0.00,0.000,6,0.122,0.028,3448,1946,2429,0,0,0,0,0,0
$GC,5528,1.27,168.9,451.8,8.1,268,5558,0.00,2.78,24.42,0.847,4,0.000,0.081,3447,410,2321,0,0,0,0,0,0
$GC,5599,1.21,173.1,445.6,9.7,269,5610,0.00,2.60,4.85,0.617,6,0.000,0.031,3448,1993,2303,0,0,0,0,0,0
$GC,5935,1.23,187.0,414.9,9.1,278,5950,0.00,0.00,13.70,0.805,6,0.000,0.000,3448,1992,2247,0,0,0,0,0,0
$GC,6260,1.29,231.5,389.8,7.0,286,6302,0.00,0.00,40.42,0.840,6,0.000,0.000,3448,1993,2066,0,0,0,0,0,0
$GC,6627,1.30,245.5,358.8,9.1,295,6646,0.00,2.88,13.05,0.773,4,0.000,0.067,3448,404,2009,0,0,0,0,0,0
$GC,6685,1.30,245.5,352.5,10.5,296,6690,0.00,2.55,0.00,0.000,6,0.000,0.022,3447,1995,2007,0,0,0,0,0,0
$GC,7034,1.36,245.5,317.0,10.5,305,7035,0.10,0.00,0.00,0.000,6,0.097,0.000,3474,1995,2004,0,0,0,0,0,0
$GC,7360,1.36,245.5,280.9,10.4,313,7361,0.00,0.00,0.00,0.000,6,0.000,0.000,3474,1995,2002,0,0,0,0,0,0
$GC,7684,1.43,266.0,251.7,8.6,321,7704,0.00,0.00,18.38,0.732,6,0.000,0.000,3474,1995,1925,0,0,0,0,0,0
$GC,8009,1.52,290.4,223.2,8.3,329,8039,0.12,2.83,22.45,0.707,4,0.081,0.061,3507,403,1825,0,0,0,0,0,0
$GC,8122,1.48,290.4,211.1,11.4,331,8127,0.00,2.50,0.00,0.000,6,0.000,0.019,3507,1977,1823,0,0,0,0,0,0
$GC,8450,1.48,290.4,178.1,10.5,353,8455,0.00,2.67,0.00,0.000,4,0.000,0.058,3507,403,1821,0,0,0,0,0,0
$GC,8560,1.48,290.4,164.4,13.0,362,8565,0.00,2.47,0.00,0.000,6,0.000,0.025,3507,1973,1820,0,0,0,0,0,0
$GC,8887,1.55,316.1,134.0,8.3,392,8915,0.00,2.72,22.62,0.623,4,0.000,0.053,3507,400,1720,0,0,0,0,0,0
$GC,8954,1.55,316.1,127.7,10.7,397,8959,0.00,2.47,0.00,0.000,6,0.000,0.025,3507,1966,1719,0,0,0,0,0,0
$GC,9284,1.64,337.0,99.0,8.6,427,9311,0.10,2.65,19.20,0.579,4,0.087,0.053,3536,406,1634,0,0,0,0,0,0
$GC,9400,1.64,337.0,86.1,11.9,436,9409,0.00,2.45,0.00,0.000,6,0.000,0.022,3536,1948,1633,0,0,0,0,0,0
$GC,9734,1.68,337.0,55.5,10.2,467,9738,0.00,2.60,0.00,0.000,4,0.000,0.031,3536,3564,1633,0,0,0,0,0,0
$GC,9756,1.74,337.0,52.2,10.1,468,9765,0.00,2.67,0.00,0.000,6,0.000,0.030,3536,1934,1631,0,0,0,0,0,0
$GC,10112,1.74,337.0,14.0,13.0,509,10121,0.00,2.60,0.00,0.000,4,0.000,0.056,3536,403,1631,0,0,0,0,0,0
$STATE,10187,end climb,SURFACE_DEPTH_REACHED
$STATE,10188,begin surface coast
$FINISH,0.7,0.980041
$STATE,10222,end surface coast,CONTROL_FINISHED_OK
$STATE,10222,begin surface
$SM_CCo,10248,35.05,0.507,0,0,1460,380.21
$SM_GC,1.46,0.00,0.00,35.05,0.000,0.000,0.507,475,2051,1460,-12.42,1.16,380.21
$IRIDIUM_FIX,2241.69,-15759.32,021000,121217
$TT8_MAMPS,0.026078
$HUMID,64.45
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,20.80
$XPDR_PINGS,45
$24V_AH,23.4,60.513
$10V_AH,10.0,54.275
$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,30.275,87.175,381.875,35.050,0.000,38.251,36.692,192.913,11.250,0.000,14.561,999.111,6801.553,486.875,1864.389,529.646,33.371,1118.204,0.000,1875.820,0.000,0.534,0.000
$DEVICE_MAMPS,151.866,131.924,905.827,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,355.714,296.788,409.203,794.818,1202.067,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355540
$DATA_FILE_SIZE,41464,525
$CAP_FILE_SIZE,91303,0
$CFSIZE,260165632,156643328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090711,181837,2250.152,-15757.847,39,0.9,39,10.1