version: 66.06
glider: 146
mission: 6
dive: 494
start: 7 10 111 9 54 49
data:
$ID,146
$MISSION,6
$DIVE,494
$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,-280308.78
$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,22
$R_STBD_OVSHOOT,53
$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
$GPS1,093013,2249.175,-15758.132,34,1.9,38,10.1
$_CALLS,3
$_XMS_NAKs,12
$_XMS_TOUTs,2
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.8
$GPS2,095355,2249.255,-15758.387,11,2.0,28,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.155,-0.150
$KALMAN_X,-408690.3,25.2,-123.2,406082.6,-1276.5
$KALMAN_Y,153209.2,541.6,-302.5,-143541.6,364.3
$MHEAD_RNG_PITCHd_Wd,123.9,4295,-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,-70.50,0.000,2,0.000,0.000,475,2083,3274,0,0,0,0,0,0
$GC,91,-1.48,-97.3,3.9,-6.7,9,117,12.30,2.80,-2.45,0.000,4,0.147,0.059,2842,423,3410,0,0,0,0,0,0
$GC,247,-1.39,-97.3,36.2,-14.5,28,252,0.12,2.45,0.00,0.000,6,0.137,0.014,2867,2033,3411,0,0,0,0,0,0
$GC,571,-1.39,-97.3,87.5,-13.8,58,575,0.00,2.40,0.00,0.000,4,0.000,0.028,2867,3560,3411,0,0,0,0,0,0
$GC,618,-1.43,-97.3,93.2,-13.9,61,622,0.00,2.47,0.00,0.000,6,0.000,0.030,2867,1996,3411,0,0,0,0,0,0
$GC,947,-1.48,-97.3,131.0,-10.3,91,951,0.00,2.47,0.00,0.000,4,0.000,0.027,2867,3552,3411,0,0,0,0,0,0
$GC,969,-1.54,-97.3,134.0,-10.6,92,978,0.08,2.45,0.00,0.000,6,0.039,0.022,2823,2012,3411,0,0,0,0,0,0
$GC,1292,-1.54,-97.3,171.9,-12.0,123,1297,0.00,2.45,0.00,0.000,4,0.000,0.030,2824,3552,3412,0,0,0,0,0,0
$GC,1315,-1.54,-97.3,174.7,-12.1,124,1321,0.00,2.42,0.00,0.000,6,0.000,0.027,2823,2008,3412,0,0,0,0,0,0
$GC,1657,-1.54,-97.3,213.0,-10.7,148,1658,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2008,3412,0,0,0,0,0,0
$GC,1980,-1.54,-97.3,247.2,-10.4,156,1985,0.00,2.45,0.00,0.000,4,0.000,0.028,2823,3555,3412,0,0,0,0,0,0
$GC,2047,-1.58,-97.3,254.2,-10.4,157,2052,0.00,2.40,0.00,0.000,6,0.000,0.022,2823,2027,3412,0,0,0,0,0,0
$GC,2386,-1.63,-97.3,286.8,-9.7,166,2391,0.00,2.72,0.00,0.000,4,0.000,0.071,2823,432,3412,0,0,0,0,0,0
$GC,2413,-1.63,-97.3,289.8,-10.3,166,2417,0.00,2.45,0.00,0.000,6,0.000,0.024,2823,2007,3412,0,0,0,0,0,0
$GC,2746,-1.68,-97.3,319.2,-8.8,174,2748,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2007,3412,0,0,0,0,0,0
$GC,3070,-1.74,-97.3,351.3,-9.9,182,3075,0.12,2.60,0.00,0.000,4,0.074,0.049,2780,3577,3411,0,0,0,0,0,0
$GC,3244,-1.74,-97.3,371.0,-11.2,186,3248,0.00,2.55,0.00,0.000,6,0.000,0.049,2780,2045,3410,0,0,0,0,0,0
$GC,3569,-1.74,-97.3,404.3,-10.1,194,3573,0.00,2.55,0.00,0.000,4,0.000,0.046,2780,3573,3408,0,0,0,0,0,0
$GC,3608,-1.74,-97.3,408.5,-10.2,195,3612,0.00,2.60,0.00,0.000,6,0.000,0.052,2780,2024,3407,0,0,0,0,0,0
$GC,3933,-1.74,-97.3,442.7,-11.0,203,3938,0.00,2.95,0.00,0.000,4,0.000,0.104,2779,425,3405,0,0,0,0,0,0
$GC,3954,-1.70,-97.3,445.5,-12.0,203,3960,0.10,2.60,0.00,0.000,6,0.127,0.038,2802,2006,3405,0,0,0,0,0,0
$GC,4291,-1.74,-97.3,481.6,-10.7,212,4296,0.00,2.72,0.00,0.000,4,0.000,0.069,2801,3590,3402,0,0,0,0,0,0
$GC,4320,-1.78,-97.3,484.5,-10.7,212,4325,0.00,2.65,0.00,0.000,6,0.000,0.050,2802,2022,3402,0,0,0,0,0,0
$STATE,4486,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4486,begin apogee
$GC,4492,-0.31,0.0,501.6,10.1,216,4577,1.35,0.00,80.68,0.910,6,0.079,0.000,3106,1991,3009,0,0,0,0,0,0
$STATE,4578,end apogee,CONTROL_FINISHED_OK
$STATE,4578,begin climb
$GC,4580,1.48,97.3,503.4,0.0,218,4667,1.62,0.00,82.62,0.884,6,0.036,0.000,3506,1991,2613,0,0,0,0,0,0
$GC,4987,1.41,150.6,483.9,6.4,228,5039,0.12,2.72,45.67,0.866,4,0.127,0.046,3482,3582,2395,0,0,0,0,0,0
$GC,5124,1.35,165.3,472.4,9.0,231,5144,0.00,2.70,13.95,0.801,6,0.000,0.049,3482,1994,2335,0,0,0,0,0,0
$GC,5484,1.30,176.7,438.5,9.3,240,5501,0.12,2.95,10.68,0.775,4,0.129,0.094,3458,404,2288,0,0,0,0,0,0
$GC,5583,1.24,176.7,428.4,11.0,242,5587,0.00,2.62,0.00,0.000,6,0.000,0.025,3459,2018,2285,0,0,0,0,0,0
$GC,5895,1.26,192.7,399.5,8.9,250,5916,0.00,2.88,14.93,0.799,4,0.000,0.073,3459,405,2223,0,0,0,0,0,0
$GC,5985,1.21,192.7,390.6,10.7,252,5989,0.00,2.58,0.00,0.000,6,0.000,0.028,3459,2001,2221,0,0,0,0,0,0
$GC,6303,1.27,239.1,366.4,6.8,260,6347,0.00,0.00,42.17,0.823,6,0.000,0.000,3459,2001,2035,0,0,0,0,0,0
$GC,6670,1.33,257.3,336.9,8.8,269,6689,0.00,0.00,17.05,0.773,6,0.000,0.000,3459,2001,1960,0,0,0,0,0,0
$GC,6993,1.39,257.3,303.0,10.7,277,6998,0.00,2.78,0.00,0.000,4,0.000,0.066,3459,404,1955,0,0,0,0,0,0
$GC,7171,1.39,257.3,282.0,11.4,281,7176,0.00,2.53,0.00,0.000,6,0.000,0.026,3458,2002,1953,0,0,0,0,0,0
$GC,7498,1.50,276.1,252.1,8.7,289,7523,0.17,2.85,16.80,0.719,4,0.072,0.062,3505,401,1883,0,0,0,0,0,0
$GC,7625,1.46,276.1,238.3,10.6,291,7631,0.00,2.50,0.00,0.000,6,0.000,0.026,3505,1976,1881,0,0,0,0,0,0
$GC,7956,1.47,285.5,207.1,9.4,300,7967,0.00,0.00,9.00,0.634,6,0.000,0.000,3505,1976,1846,0,0,0,0,0,0
$GC,8273,1.49,299.4,177.8,9.1,324,8292,0.00,2.70,13.82,0.642,4,0.000,0.058,3505,401,1788,0,0,0,0,0,0
$GC,8380,1.49,299.4,166.8,10.8,332,8385,0.00,2.47,0.00,0.000,6,0.000,0.018,3505,1973,1785,0,0,0,0,0,0
$GC,8708,1.53,299.4,133.6,10.6,363,8713,0.00,2.65,0.00,0.000,4,0.000,0.052,3505,403,1784,0,0,0,0,0,0
$GC,8741,1.53,299.4,130.1,11.8,365,8746,0.00,2.42,0.00,0.000,6,0.000,0.019,3505,1962,1784,0,0,0,0,0,0
$GC,9070,1.60,309.3,98.5,9.4,395,9085,0.00,2.65,9.60,0.545,4,0.000,0.053,3505,396,1747,0,0,0,0,0,0
$GC,9151,1.60,309.3,90.3,11.1,401,9155,0.00,2.42,0.00,0.000,6,0.000,0.020,3504,1955,1746,0,0,0,0,0,0
$GC,9481,1.73,333.3,61.6,8.4,431,9510,0.20,2.65,22.08,0.551,4,0.064,0.052,3559,401,1649,0,0,0,0,0,0
$GC,9602,1.68,333.3,48.5,12.9,440,9606,0.00,2.40,0.00,0.000,6,0.000,0.017,3559,1946,1647,0,0,0,0,0,0
$GC,9980,1.68,336.1,8.4,9.8,485,9989,0.00,2.60,0.00,0.000,4,0.000,0.051,3559,407,1646,0,0,0,0,0,0
$STATE,10010,end climb,SURFACE_DEPTH_REACHED
$STATE,10011,begin surface coast
$FINISH,0.6,0.977304
$STATE,10046,end surface coast,CONTROL_FINISHED_OK
$STATE,10046,begin surface
$SM_CCo,10071,38.75,0.508,0,0,1460,380.21
$SM_GC,1.49,0.00,0.00,38.75,0.000,0.000,0.508,478,2019,1460,-12.41,0.25,380.21
$IRIDIUM_FIX,2241.69,-15757.16,031000,090909
$TT8_MAMPS,0.026078
$HUMID,65.23
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,20.80
$XPDR_PINGS,42
$24V_AH,23.4,61.289
$10V_AH,10.1,54.983
$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,28.800,103.825,379.050,38.750,0.000,86.008,111.803,924.861,10.500,0.000,30.339,992.999,6730.386,464.121,1918.330,1428.712,33.377,1150.897,0.000,1901.508,0.000,0.535,0.000
$DEVICE_MAMPS,147.264,191.750,909.662,507.754,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,335.162,269.486,377.508,710.108,1070.399,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,38435,494
$CAP_FILE_SIZE,111481,0
$CFSIZE,260165632,156319744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100711,124436,2248.782,-15758.289,34,1.2,34,10.1