version: 66.06
glider: 146
mission: 6
dive: 493
start: 7 10 111 6 41 23
data:
$ID,146
$MISSION,6
$DIVE,493
$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,-280277.81
$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,23
$R_STBD_OVSHOOT,60
$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
$GPS1,062115,2250.193,-15757.455,89,99.0,108,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-72.5
$GPS2,064032,2250.129,-15757.656,34,1.9,34,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.078,-0.201
$KALMAN_X,-406710.6,-175.0,82.6,405338.9,-873.3
$KALMAN_Y,152221.7,775.3,91.1,-141556.1,-236.5
$MHEAD_RNG_PITCHd_Wd,148.7,5801,-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,15,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-70.30,0.000,2,0.000,0.000,473,1946,3269,0,0,0,0,0,0
$GC,93,-1.48,-97.3,3.8,-6.6,9,119,12.35,2.58,-2.58,0.000,4,0.150,0.064,2840,425,3409,0,0,0,0,0,0
$GC,223,-1.40,-97.3,31.3,-17.1,27,228,0.12,2.45,0.00,0.000,6,0.136,0.014,2865,2028,3411,0,0,0,0,0,0
$GC,551,-1.40,-97.3,78.2,-13.3,57,555,0.00,2.45,0.00,0.000,4,0.000,0.028,2864,3564,3411,0,0,0,0,0,0
$GC,610,-1.45,-97.3,85.0,-11.5,61,614,0.00,2.47,0.00,0.000,6,0.000,0.022,2864,2001,3411,0,0,0,0,0,0
$GC,938,-1.49,-97.3,122.1,-11.6,91,942,0.00,2.47,0.00,0.000,4,0.000,0.030,2864,3564,3411,0,0,0,0,0,0
$GC,955,-1.54,-97.3,124.6,-11.7,92,960,0.10,2.42,0.00,0.000,6,0.080,0.021,2822,2021,3412,0,0,0,0,0,0
$GC,1279,-1.54,-97.3,166.6,-13.5,122,1281,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2021,3412,0,0,0,0,0,0
$GC,1626,-1.54,-97.3,209.8,-11.8,149,1630,0.00,2.45,0.00,0.000,4,0.000,0.034,2821,3559,3412,0,0,0,0,0,0
$GC,1688,-1.58,-97.3,216.8,-10.9,150,1693,0.00,2.42,0.00,0.000,6,0.000,0.022,2822,2012,3412,0,0,0,0,0,0
$GC,2031,-1.58,-97.3,250.4,-9.4,159,2035,0.00,2.47,0.00,0.000,4,0.000,0.031,2822,3564,3412,0,0,0,0,0,0
$GC,2097,-1.65,-97.3,257.3,-10.8,160,2102,0.00,2.45,0.00,0.000,6,0.000,0.031,2821,2020,3412,0,0,0,0,0,0
$GC,2436,-1.69,-97.3,291.6,-10.0,169,2440,0.00,2.45,0.00,0.000,4,0.000,0.033,2822,3552,3412,0,0,0,0,0,0
$GC,2464,-1.76,-97.3,294.2,-8.6,169,2469,0.12,2.45,0.00,0.000,6,0.067,0.026,2772,2018,3412,0,0,0,0,0,0
$GC,2796,-1.72,-97.3,328.0,-10.6,177,2802,0.12,2.78,0.00,0.000,4,0.110,0.077,2798,431,3412,0,0,0,0,0,0
$GC,2818,-1.72,-97.3,330.6,-10.7,177,2822,0.00,2.47,0.00,0.000,6,0.000,0.031,2798,1998,3412,0,0,0,0,0,0
$GC,3155,-1.72,-97.3,364.3,-10.2,186,3159,0.00,2.62,0.00,0.000,4,0.000,0.052,2798,3584,3411,0,0,0,0,0,0
$GC,3310,-1.76,-97.3,381.3,-10.9,189,3315,0.00,2.55,0.00,0.000,6,0.000,0.043,2798,2049,3410,0,0,0,0,0,0
$GC,3652,-1.76,-97.3,417.5,-10.4,198,3653,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2049,3407,0,0,0,0,0,0
$GC,3979,-1.76,-97.3,448.2,-9.1,206,3984,0.00,2.97,0.00,0.000,4,0.000,0.109,2798,427,3405,0,0,0,0,0,0
$GC,4028,-1.76,-97.3,453.4,-10.8,207,4033,0.00,2.62,0.00,0.000,6,0.000,0.040,2798,2024,3405,0,0,0,0,0,0
$GC,4342,-1.80,-97.3,482.8,-9.4,215,4347,0.00,2.67,0.00,0.000,4,0.000,0.074,2798,3590,3402,0,0,0,0,0,0
$GC,4371,-1.84,-97.3,485.6,-10.0,215,4376,0.10,2.62,0.00,0.000,6,0.087,0.051,2761,2037,3402,0,0,0,0,0,0
$STATE,4537,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4537,begin apogee
$GC,4543,-0.31,0.0,503.9,10.8,219,4628,1.55,0.00,80.70,0.913,6,0.084,0.000,3107,1993,3010,0,0,0,0,0,0
$STATE,4629,end apogee,CONTROL_FINISHED_OK
$STATE,4629,begin climb
$GC,4631,1.48,97.3,506.2,0.0,221,4726,1.62,2.78,82.85,0.890,4,0.039,0.058,3506,3582,2612,0,0,0,0,0,0
$GC,4760,1.41,174.8,505.5,4.7,224,4837,0.12,2.70,67.55,0.877,6,0.133,0.053,3483,2000,2296,0,0,0,0,0,0
$GC,5161,1.35,174.8,467.4,10.1,234,5166,0.00,2.97,0.00,0.000,4,0.000,0.103,3483,404,2286,0,0,0,0,0,0
$GC,5188,1.22,174.8,464.2,11.9,234,5194,0.20,2.60,0.00,0.000,6,0.117,0.036,3444,2001,2285,0,0,0,0,0,0
$GC,5521,1.24,190.9,434.6,8.9,242,5541,0.00,2.90,13.45,0.802,4,0.000,0.073,3443,411,2230,0,0,0,0,0,0
$GC,5603,1.24,190.9,426.2,10.6,243,5609,0.00,2.58,0.00,0.000,6,0.000,0.027,3443,1993,2227,0,0,0,0,0,0
$GC,5934,1.25,196.9,394.0,9.6,252,5948,0.00,2.80,6.20,0.672,4,0.000,0.071,3443,402,2205,0,0,0,0,0,0
$GC,6012,1.25,196.9,385.4,11.5,253,6016,0.00,2.58,0.00,0.000,6,0.000,0.024,3443,1993,2204,0,0,0,0,0,0
$GC,6343,1.30,205.8,353.3,9.4,261,6357,0.00,2.65,8.93,0.732,4,0.000,0.043,3443,3574,2170,0,0,0,0,0,0
$GC,6411,1.35,210.4,347.0,9.7,262,6422,0.12,2.67,5.72,0.644,6,0.080,0.038,3478,1976,2152,0,0,0,0,0,0
$GC,6754,1.36,212.0,312.4,9.9,271,6758,0.00,2.62,0.00,0.000,4,0.000,0.033,3478,3574,2149,0,0,0,0,0,0
$GC,6793,1.36,212.0,308.4,10.1,272,6798,0.00,2.62,0.00,0.000,6,0.000,0.032,3478,1980,2148,0,0,0,0,0,0
$GC,7117,1.38,231.6,279.4,8.7,280,7142,0.00,2.80,19.67,0.754,4,0.000,0.073,3478,408,2065,0,0,0,0,0,0
$GC,7233,1.38,231.6,267.7,10.9,282,7237,0.00,2.53,0.00,0.000,6,0.000,0.025,3477,1997,2062,0,0,0,0,0,0
$GC,7566,1.45,245.8,238.3,9.1,290,7586,0.00,2.80,13.70,0.701,4,0.000,0.059,3478,413,2006,0,0,0,0,0,0
$GC,7630,1.45,245.8,231.3,10.8,291,7635,0.00,2.45,0.00,0.000,6,0.000,0.024,3478,1966,2004,0,0,0,0,0,0
$GC,7975,1.53,269.2,201.4,8.4,300,7999,0.12,0.00,21.67,0.685,6,0.084,0.000,3513,1966,1912,0,0,0,0,0,0
$GC,8290,1.55,278.6,171.3,9.4,327,8305,0.00,2.67,9.52,0.609,4,0.000,0.055,3513,404,1873,0,0,0,0,0,0
$GC,8345,1.55,278.6,165.9,11.7,331,8349,0.00,2.47,0.00,0.000,6,0.000,0.023,3513,1973,1871,0,0,0,0,0,0
$GC,8673,1.56,289.7,130.9,9.3,361,8690,0.00,2.70,11.02,0.587,4,0.000,0.054,3513,402,1827,0,0,0,0,0,0
$GC,8803,1.56,289.7,117.6,10.2,371,8807,0.00,2.45,0.00,0.000,6,0.000,0.020,3513,1964,1825,0,0,0,0,0,0
$GC,9132,1.64,308.1,88.0,8.8,401,9151,0.00,0.00,16.95,0.568,6,0.000,0.000,3513,1965,1753,0,0,0,0,0,0
$GC,9470,1.76,334.6,59.8,8.2,433,9501,0.20,2.72,23.80,0.550,4,0.064,0.059,3567,412,1645,0,0,0,0,0,0
$GC,9565,1.69,334.6,47.9,13.7,440,9574,0.10,2.42,0.00,0.000,6,0.095,0.018,3544,1945,1643,0,0,0,0,0,0
$GC,9937,1.70,345.9,5.2,9.3,487,9947,0.00,0.00,8.05,0.453,2,0.000,0.000,3543,1947,1611,0,0,0,0,0,0
$STATE,9947,end climb,SURFACE_DEPTH_REACHED
$STATE,9947,begin surface coast
$FINISH,0.7,0.980056
$STATE,9996,end surface coast,CONTROL_FINISHED_OK
$STATE,9996,begin surface
$SM_CCo,10020,30.45,0.503,0,0,1459,380.21
$SM_GC,1.21,0.00,0.00,30.45,0.000,0.000,0.503,476,2083,1459,-12.42,2.06,380.21
$IRIDIUM_FIX,2241.69,-15756.28,031000,060658
$TT8_MAMPS,0.026078
$HUMID,65.51
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,20.60
$XPDR_PINGS,45
$24V_AH,23.4,61.130
$10V_AH,10.1,54.862
$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,29.450,109.500,389.800,30.450,0.000,83.206,113.486,655.020,11.250,0.000,36.248,997.038,6685.542,446.886,1920.601,1155.719,33.373,1143.659,0.000,1897.049,0.000,0.535,0.000
$DEVICE_MAMPS,149.565,147.264,912.730,503.152,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,335.815,285.557,380.459,729.157,1098.160,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,38469,495
$CAP_FILE_SIZE,109146,0
$CFSIZE,260165632,156377088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100711,093013,2249.175,-15758.132,34,1.9,38,10.1