version: 66.06
glider: 146
mission: 6
dive: 496
start: 7 10 111 15 58 48
data:
$ID,146
$MISSION,6
$DIVE,496
$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,-280359
$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,18
$R_STBD_OVSHOOT,57
$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
$GPS1,154752,2248.229,-15758.492,11,2.2,30,10.1
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-69.1
$GPS2,155758,2248.208,-15758.557,12,2.3,31,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.178,-0.122
$KALMAN_X,-411807.6,20.4,-106.7,408894.7,-1086.3
$KALMAN_Y,154743.7,-432.8,396.6,-146734.2,32.3
$MHEAD_RNG_PITCHd_Wd,114.5,2583,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.48,-97.3,0.0,0.0,0,92,0.00,0.00,-70.62,0.000,2,0.000,0.000,480,2105,3286,0,0,0,0,0,0
$GC,95,-1.48,-97.3,4.0,-7.4,9,121,12.38,2.83,-2.22,0.000,4,0.153,0.053,2837,424,3411,0,0,0,0,0,0
$GC,140,-0.90,-97.3,17.9,-29.1,14,148,0.62,2.47,0.00,0.000,6,0.097,0.021,2975,2020,3411,0,0,0,0,0,0
$GC,495,-1.09,-97.3,56.4,-9.6,53,500,0.15,2.45,0.00,0.000,4,0.063,0.029,2925,3560,3413,0,0,0,0,0,0
$GC,520,-1.24,-97.3,59.0,-9.9,54,524,0.00,2.47,0.00,0.000,6,0.000,0.022,2925,1981,3413,0,0,0,0,0,0
$GC,845,-1.34,-97.3,97.3,-11.6,84,847,0.17,0.00,0.00,0.000,6,0.054,0.000,2860,1981,3413,0,0,0,0,0,0
$GC,1166,-1.34,-97.3,135.9,-11.3,114,1171,0.10,2.53,0.00,0.000,4,0.113,0.034,2883,3567,3414,0,0,0,0,0,0
$GC,1218,-1.46,-97.3,141.9,-10.1,118,1223,0.12,2.45,0.00,0.000,6,0.067,0.025,2832,1996,3413,0,0,0,0,0,0
$GC,1547,-1.46,-97.3,177.6,-10.1,148,1552,0.10,2.50,0.00,0.000,4,0.113,0.028,2854,3573,3414,0,0,0,0,0,0
$GC,1564,-1.46,-97.3,179.6,-10.0,149,1568,0.00,2.42,0.00,0.000,6,0.000,0.025,2854,2008,3415,0,0,0,0,0,0
$GC,1908,-1.52,-97.3,213.6,-10.4,172,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2008,3414,0,0,0,0,0,0
$GC,2230,-1.60,-97.3,244.5,-9.4,180,2235,0.12,2.50,0.00,0.000,4,0.071,0.035,2807,3565,3415,0,0,0,0,0,0
$GC,2296,-1.60,-97.3,251.4,-9.9,181,2301,0.00,2.40,0.00,0.000,6,0.000,0.022,2807,2030,3415,0,0,0,0,0,0
$GC,2635,-1.60,-97.3,279.8,-8.2,190,2639,0.00,2.45,0.00,0.000,4,0.000,0.031,2807,3563,3415,0,0,0,0,0,0
$GC,2667,-1.60,-97.3,283.0,-9.0,190,2673,0.00,2.45,0.00,0.000,6,0.000,0.026,2806,2025,3415,0,0,0,0,0,0
$GC,3000,-1.60,-97.3,313.2,-9.4,199,3005,0.00,2.47,0.00,0.000,4,0.000,0.040,2807,3563,3415,0,0,0,0,0,0
$GC,3062,-1.65,-97.3,319.3,-8.9,200,3066,0.00,2.45,0.00,0.000,6,0.000,0.031,2807,2038,3415,0,0,0,0,0,0
$GC,3404,-1.65,-97.3,358.0,-11.5,209,3408,0.00,2.85,0.00,0.000,4,0.000,0.089,2807,422,3414,0,0,0,0,0,0
$GC,3466,-1.65,-97.3,365.7,-13.1,210,3470,0.00,2.50,0.00,0.000,6,0.000,0.035,2806,1997,3414,0,0,0,0,0,0
$GC,3808,-1.70,-97.3,400.7,-9.1,219,3809,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1997,3412,0,0,0,0,0,0
$GC,4133,-1.75,-97.3,424.3,-7.1,227,4137,0.00,2.67,0.00,0.000,4,0.000,0.064,2806,3583,3410,0,0,0,0,0,0
$GC,4156,-1.80,-97.3,426.1,-7.9,227,4161,0.10,2.58,0.00,0.000,6,0.084,0.053,2769,2033,3409,0,0,0,0,0,0
$GC,4494,-1.80,-97.3,458.5,-10.1,236,4499,0.00,2.62,0.00,0.000,4,0.000,0.057,2769,3586,3407,0,0,0,0,0,0
$GC,4538,-1.80,-97.3,463.7,-11.3,237,4542,0.00,2.62,0.00,0.000,6,0.000,0.051,2769,2032,3407,0,0,0,0,0,0
$GC,4858,-1.80,-97.3,498.7,-11.1,245,4863,0.00,2.65,0.00,0.000,4,0.000,0.058,2768,3583,3405,0,0,0,0,0,0
$STATE,4867,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4867,begin apogee
$GC,4875,-0.31,0.0,500.1,11.0,245,4961,1.48,0.00,81.62,0.911,6,0.084,0.000,3101,1988,3010,0,0,0,0,0,0
$STATE,4961,end apogee,CONTROL_FINISHED_OK
$STATE,4962,begin climb
$GC,4966,1.48,97.3,502.6,0.0,247,5053,1.67,0.00,83.57,0.889,6,0.040,0.000,3506,1988,2613,0,0,0,0,0,0
$GC,5347,1.42,157.6,488.0,5.9,257,5405,0.10,2.75,52.55,0.877,4,0.136,0.052,3487,3576,2366,0,0,0,0,0,0
$GC,5428,1.35,178.9,482.1,8.6,259,5453,0.00,2.72,20.08,0.835,6,0.000,0.050,3487,1991,2280,0,0,0,0,0,0
$GC,5787,1.28,178.9,444.9,10.6,268,5792,0.15,2.92,0.00,0.000,4,0.123,0.101,3458,408,2272,0,0,0,0,0,0
$GC,5827,1.21,178.9,440.4,11.0,269,5831,0.00,2.60,0.00,0.000,6,0.000,0.029,3457,2004,2271,0,0,0,0,0,0
$GC,6152,1.21,178.9,408.5,10.1,277,6157,0.00,2.60,0.00,0.000,4,0.000,0.046,3457,3581,2269,0,0,0,0,0,0
$GC,6230,1.21,178.9,399.8,11.8,278,6236,0.00,2.65,0.00,0.000,6,0.000,0.044,3457,1991,2267,0,0,0,0,0,0
$GC,6562,1.23,193.7,367.8,9.0,287,6581,0.00,2.92,11.95,0.775,4,0.000,0.085,3457,410,2219,0,0,0,0,0,0
$GC,6645,1.20,199.6,360.0,9.6,288,6659,0.10,2.58,6.88,0.693,6,0.142,0.020,3438,2019,2196,0,0,0,0,0,0
$GC,6984,1.32,249.9,336.4,6.6,297,7038,0.10,2.85,45.75,0.806,4,0.097,0.069,3466,407,1989,0,0,0,0,0,0
$GC,7117,1.32,249.9,323.1,10.9,300,7121,0.00,2.53,0.00,0.000,6,0.000,0.024,3465,2000,1986,0,0,0,0,0,0
$GC,7437,1.38,260.8,292.8,9.3,308,7452,0.00,2.58,10.25,0.708,4,0.000,0.034,3465,3554,1945,0,0,0,0,0,0
$GC,7544,1.45,261.5,281.9,10.0,310,7549,0.10,2.60,0.00,0.000,6,0.096,0.039,3492,1983,1942,0,0,0,0,0,0
$GC,7886,1.45,261.5,246.2,10.3,319,7891,0.00,2.70,0.00,0.000,4,0.000,0.065,3492,411,1941,0,0,0,0,0,0
$GC,7930,1.45,261.5,241.1,12.5,320,7934,0.00,2.47,0.00,0.000,6,0.000,0.020,3492,1993,1940,0,0,0,0,0,0
$GC,8248,1.46,272.9,211.4,9.2,328,8265,0.00,2.72,11.10,0.661,4,0.000,0.056,3492,408,1897,0,0,0,0,0,0
$GC,8322,1.46,272.9,203.7,11.2,329,8326,0.00,2.50,0.00,0.000,6,0.000,0.025,3492,1988,1895,0,0,0,0,0,0
$GC,8645,1.51,272.9,170.9,10.4,356,8649,0.00,2.67,0.00,0.000,4,0.000,0.054,3492,411,1894,0,0,0,0,0,0
$GC,8726,1.51,272.9,162.0,11.4,362,8731,0.00,2.42,0.00,0.000,6,0.000,0.022,3492,1972,1893,0,0,0,0,0,0
$GC,9054,1.62,299.6,133.3,8.2,393,9089,0.15,2.75,24.48,0.627,4,0.073,0.056,3533,407,1785,0,0,0,0,0,0
$GC,9164,1.58,299.6,121.3,11.7,402,9168,0.00,2.42,0.00,0.000,6,0.000,0.018,3533,1964,1784,0,0,0,0,0,0
$GC,9490,1.60,315.3,88.4,9.0,432,9514,0.00,2.65,14.68,0.564,4,0.000,0.054,3533,410,1722,0,0,0,0,0,0
$GC,9590,1.60,320.3,78.7,9.7,440,9600,0.00,2.42,5.47,0.456,6,0.000,0.018,3533,1946,1704,0,0,0,0,0,0
$GC,9921,1.66,335.7,48.0,9.0,471,9949,0.00,2.62,14.62,0.527,4,0.000,0.049,3532,405,1640,0,0,0,0,0,0
$GC,10002,1.66,335.7,39.2,12.8,477,10006,0.00,2.38,0.00,0.000,6,0.000,0.018,3533,1945,1639,0,0,0,0,0,0
$STATE,10306,end climb,SURFACE_DEPTH_REACHED
$STATE,10306,begin surface coast
$FINISH,0.7,0.980038
$STATE,10356,end surface coast,CONTROL_FINISHED_OK
$STATE,10356,begin surface
$SM_CCo,10377,37.42,0.510,0,0,1459,380.21
$SM_GC,1.33,0.00,0.00,37.42,0.000,0.000,0.510,474,1947,1459,-12.42,-1.78,380.21
$IRIDIUM_FIX,2241.69,-15802.37,031000,121236
$TT8_MAMPS,0.026078
$HUMID,64.60
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,20.50
$XPDR_PINGS,46
$24V_AH,23.4,61.526
$10V_AH,10.0,55.218
$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,30.125,119.150,383.000,37.425,0.000,25.265,34.981,382.403,11.500,0.000,34.121,1046.468,6742.124,485.988,2012.803,731.058,33.366,1194.686,0.000,1995.224,0.000,0.535,0.000
$DEVICE_MAMPS,152.633,101.244,911.196,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.612,299.342,402.938,775.626,1173.078,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,41462,523
$CAP_FILE_SIZE,106275,0
$CFSIZE,260165632,156217344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100711,185507,2247.519,-15758.340,123,1.0,123,10.1