version: 66.06
glider: 146
mission: 6
dive: 490
start: 7 9 111 21 24 36
data:
$ID,146
$MISSION,6
$DIVE,490
$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,-280165.03
$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,93
$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
$GPS1,211005,2250.184,-15757.728,6,2.1,25,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-68.6
$GPS2,212346,2250.295,-15757.875,14,2.6,33,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.154,-0.151
$KALMAN_X,-401942.5,-425.8,-91.3,400623.0,-1325.5
$KALMAN_Y,149943.4,-393.0,-338.1,-137377.1,1425.6
$MHEAD_RNG_PITCHd_Wd,124.3,1591,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.48,-97.3,0.0,0.0,0,89,0.00,0.00,-70.90,0.000,2,0.000,0.000,474,2055,3278,0,0,0,0,0,0
$GC,94,-1.48,-97.3,3.8,-6.8,9,120,12.23,2.75,-2.38,0.000,4,0.144,0.058,2844,424,3409,0,0,0,0,0,0
$GC,151,-1.32,-97.3,20.0,-19.9,16,161,0.15,2.42,0.00,0.000,6,0.104,0.015,2879,1999,3410,0,0,0,0,0,0
$GC,494,-1.32,-97.3,70.0,-14.7,51,499,0.00,2.45,0.00,0.000,4,0.000,0.028,2879,3549,3411,0,0,0,0,0,0
$GC,541,-1.32,-97.3,77.7,-14.3,54,551,0.00,2.47,0.00,0.000,6,0.000,0.026,2879,2001,3411,0,0,0,0,0,0
$GC,873,-1.36,-97.3,119.5,-12.1,85,877,0.00,2.45,0.00,0.000,4,0.000,0.031,2879,3550,3412,0,0,0,0,0,0
$GC,914,-1.45,-97.3,124.9,-11.4,88,918,0.00,2.42,0.00,0.000,6,0.000,0.029,2879,2013,3412,0,0,0,0,0,0
$GC,1243,-1.53,-97.3,155.7,-8.9,118,1248,0.15,2.62,0.00,0.000,4,0.061,0.053,2823,436,3413,0,0,0,0,0,0
$GC,1264,-1.53,-97.3,158.5,-10.2,119,1270,0.00,2.38,0.00,0.000,6,0.000,0.020,2823,2008,3413,0,0,0,0,0,0
$GC,1589,-1.53,-97.3,195.3,-11.3,150,1593,0.00,2.42,0.00,0.000,4,0.000,0.034,2823,3554,3413,0,0,0,0,0,0
$GC,1660,-1.57,-97.3,203.3,-11.8,154,1665,0.00,2.40,0.00,0.000,6,0.000,0.028,2823,2026,3413,0,0,0,0,0,0
$GC,1996,-1.57,-97.3,239.7,-11.1,163,1997,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2026,3413,0,0,0,0,0,0
$GC,2323,-1.57,-97.3,272.1,-9.8,171,2327,0.00,2.45,0.00,0.000,4,0.000,0.035,2823,3556,3413,0,0,0,0,0,0
$GC,2363,-1.62,-97.3,275.7,-9.1,172,2367,0.00,2.42,0.00,0.000,6,0.000,0.025,2823,2025,3413,0,0,0,0,0,0
$GC,2688,-1.66,-97.3,302.6,-8.3,180,2693,0.00,2.47,0.00,0.000,4,0.000,0.036,2823,3552,3413,0,0,0,0,0,0
$GC,2790,-1.75,-97.3,312.2,-9.8,182,2795,0.12,2.42,0.00,0.000,6,0.067,0.028,2772,2044,3413,0,0,0,0,0,0
$GC,3138,-1.71,-97.3,358.0,-13.8,191,3143,0.12,2.47,0.00,0.000,4,0.112,0.041,2800,3544,3412,0,0,0,0,0,0
$GC,3172,-1.71,-97.3,362.5,-12.6,191,3177,0.00,2.45,0.00,0.000,6,0.000,0.044,2800,2055,3412,0,0,0,0,0,0
$GC,3503,-1.71,-97.3,399.5,-10.8,200,3507,0.00,2.45,0.00,0.000,4,0.000,0.051,2800,3544,3411,0,0,0,0,0,0
$GC,3535,-1.75,-97.3,403.0,-11.2,200,3541,0.00,2.50,0.00,0.000,6,0.000,0.048,2800,2048,3411,0,0,0,0,0,0
$GC,3868,-1.75,-97.3,435.5,-9.4,209,3872,0.00,2.53,0.00,0.000,4,0.000,0.056,2800,3548,3409,0,0,0,0,0,0
$GC,3896,-1.79,-97.3,438.2,-9.0,209,3900,0.00,2.55,0.00,0.000,6,0.000,0.057,2800,2039,3409,0,0,0,0,0,0
$GC,4228,-1.83,-97.3,468.6,-9.4,217,4233,0.10,2.55,0.00,0.000,4,0.087,0.057,2766,3539,3407,0,0,0,0,0,0
$GC,4295,-1.83,-97.3,476.0,-11.0,218,4300,0.00,2.53,0.00,0.000,6,0.000,0.056,2766,2056,3406,0,0,0,0,0,0
$STATE,4548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4548,begin apogee
$GC,4554,-0.31,0.0,503.9,11.0,225,4639,1.52,0.00,81.35,0.905,6,0.085,0.000,3106,1985,3010,0,0,0,0,0,0
$STATE,4640,end apogee,CONTROL_FINISHED_OK
$STATE,4640,begin climb
$GC,4644,1.48,97.3,506.6,0.0,227,4737,1.62,2.70,82.68,0.884,4,0.038,0.055,3502,3523,2612,0,0,0,0,0,0
$GC,4760,1.46,200.0,507.4,2.9,229,4858,0.00,2.62,89.03,0.874,6,0.000,0.058,3503,1996,2193,0,0,0,0,0,0
$GC,5171,1.36,200.0,463.3,11.4,240,5177,0.15,3.03,0.00,0.000,4,0.121,0.108,3473,408,2185,0,0,0,0,0,0
$GC,5223,1.27,200.0,457.1,11.6,241,5228,0.00,2.53,0.00,0.000,6,0.000,0.033,3473,1949,2183,0,0,0,0,0,0
$GC,5536,1.27,200.0,422.5,11.1,249,5537,0.00,0.00,0.00,0.000,6,0.000,0.000,3473,1950,2180,0,0,0,0,0,0
$GC,5861,1.27,200.0,385.5,11.5,257,5865,0.00,2.70,0.00,0.000,4,0.000,0.071,3473,397,2178,0,0,0,0,0,0
$GC,5929,1.20,200.0,377.2,12.1,258,5934,0.17,2.58,0.00,0.000,6,0.120,0.021,3438,2005,2177,0,0,0,0,0,0
$GC,6266,1.27,204.8,343.8,9.7,267,6271,0.00,2.58,0.00,0.000,4,0.000,0.041,3438,3572,2176,0,0,0,0,0,0
$GC,6347,1.34,212.8,336.2,9.5,268,6362,0.12,2.62,9.15,0.723,6,0.087,0.040,3470,1983,2142,0,0,0,0,0,0
$GC,6677,1.37,238.3,307.1,8.3,277,6706,0.00,2.80,23.98,0.766,4,0.000,0.073,3470,408,2038,0,0,0,0,0,0
$GC,6775,1.38,244.2,298.0,9.6,279,6788,0.00,2.55,6.55,0.637,6,0.000,0.021,3470,2019,2014,0,0,0,0,0,0
$GC,7132,1.43,247.1,264.5,9.8,288,7137,0.00,2.75,0.00,0.000,4,0.000,0.060,3470,410,2011,0,0,0,0,0,0
$GC,7148,1.44,252.6,262.7,9.7,288,7162,0.00,2.53,8.75,0.668,6,0.000,0.025,3471,2007,1979,0,0,0,0,0,0
$GC,7496,1.52,262.7,230.1,9.3,297,7509,0.15,0.00,10.23,0.660,6,0.125,0.000,3512,2008,1938,0,0,0,0,0,0
$GC,7819,1.52,262.7,197.4,10.2,305,7823,0.00,2.72,0.00,0.000,4,0.000,0.058,3512,404,1936,0,0,0,0,0,0
$GC,7900,1.47,262.7,188.2,10.9,311,7906,0.00,2.53,0.00,0.000,6,0.000,0.019,3512,2011,1934,0,0,0,0,0,0
$GC,8225,1.49,277.8,157.4,9.0,342,8244,0.00,0.00,14.57,0.623,6,0.000,0.000,3512,2011,1876,0,0,0,0,0,0
$GC,8564,1.55,285.5,126.0,9.5,374,8579,0.00,2.72,8.05,0.548,4,0.000,0.057,3512,407,1844,0,0,0,0,0,0
$GC,8687,1.55,285.5,112.6,11.3,384,8692,0.00,2.50,0.00,0.000,6,0.000,0.021,3511,2001,1843,0,0,0,0,0,0
$GC,9012,1.64,303.4,83.1,8.8,414,9031,0.00,0.00,16.60,0.559,6,0.000,0.000,3512,2001,1772,0,0,0,0,0,0
$GC,9356,1.73,309.9,51.6,9.6,446,9371,0.17,2.72,7.00,0.469,4,0.067,0.050,3560,411,1745,0,0,0,0,0,0
$GC,9389,1.73,309.9,47.4,11.5,448,9398,0.00,2.50,0.00,0.000,6,0.000,0.018,3560,1997,1744,0,0,0,0,0,0
$GC,9767,1.73,309.9,6.3,11.1,494,9776,0.00,2.67,0.00,0.000,4,0.000,0.051,3560,414,1745,0,0,0,0,0,0
$STATE,9784,end climb,SURFACE_DEPTH_REACHED
$STATE,9784,begin surface coast
$FINISH,0.5,0.975212
$STATE,9833,end surface coast,CONTROL_FINISHED_OK
$STATE,9833,begin surface
$SM_CCo,9858,57.72,0.509,0,0,1460,380.21
$SM_GC,1.42,0.00,0.00,57.72,0.000,0.000,0.509,480,2038,1460,-12.40,0.79,380.21
$IRIDIUM_FIX,2239.35,-15759.32,021000,212125
$TT8_MAMPS,0.026078
$HUMID,63.19
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,21.10
$XPDR_PINGS,49
$24V_AH,23.4,60.747
$10V_AH,10.0,54.503
$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,29.325,107.600,357.925,57.725,0.000,76.713,125.835,332.732,12.250,0.000,35.974,984.848,6551.185,461.568,1925.274,813.526,33.367,1150.368,0.000,1907.665,0.000,0.535,0.000
$DEVICE_MAMPS,144.196,211.692,905.060,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,340.360,273.055,390.704,746.129,1123.560,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,38501,503
$CAP_FILE_SIZE,102786,0
$CFSIZE,260165632,156536832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100711,001145,2250.273,-15757.957,51,99.0,70,10.1