version: 66.06
glider: 146
mission: 6
dive: 497
start: 7 10 111 19 8 29
data:
$ID,146
$MISSION,6
$DIVE,497
$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,-280377
$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,58
$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
$GPS1,185507,2247.519,-15758.340,123,1.0,123,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-71.7
$GPS2,190737,2247.500,-15758.460,10,1.7,15,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.205,-0.066
$KALMAN_X,-413442.8,-176.8,137.1,410646.0,-1484.7
$KALMAN_Y,155252.9,-637.8,5.6,-147958.1,237.7
$MHEAD_RNG_PITCHd_Wd,242.0,7807,-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,-71.20,0.000,2,0.000,0.000,473,1947,3272,0,0,0,0,0,0
$GC,94,-1.48,-97.3,3.6,-5.8,9,120,12.48,2.65,-2.50,0.000,4,0.153,0.041,2843,3568,3411,0,0,0,0,0,0
$GC,273,-1.48,-97.3,39.3,-14.4,31,282,0.00,2.53,0.00,0.000,6,0.000,0.025,2843,1999,3412,0,0,0,0,0,0
$GC,601,-1.42,-97.3,87.0,-14.8,62,605,0.10,2.53,0.00,0.000,4,0.134,0.028,2863,3569,3412,0,0,0,0,0,0
$GC,655,-1.45,-97.3,94.6,-12.8,66,659,0.00,2.45,0.00,0.000,6,0.000,0.030,2862,2023,3412,0,0,0,0,0,0
$GC,979,-1.45,-97.3,132.3,-11.8,96,983,0.00,2.47,0.00,0.000,4,0.000,0.027,2863,3577,3413,0,0,0,0,0,0
$GC,1008,-1.51,-97.3,135.7,-11.4,98,1013,0.00,2.45,0.00,0.000,6,0.000,0.027,2863,2023,3413,0,0,0,0,0,0
$GC,1333,-1.56,-97.3,172.4,-11.0,128,1338,0.12,2.47,0.00,0.000,4,0.072,0.032,2815,3569,3413,0,0,0,0,0,0
$GC,1385,-1.56,-97.3,179.1,-12.6,132,1389,0.00,2.40,0.00,0.000,6,0.000,0.025,2815,2040,3414,0,0,0,0,0,0
$GC,1708,-1.56,-97.3,212.9,-9.8,153,1712,0.00,2.45,0.00,0.000,4,0.000,0.035,2814,3577,3414,0,0,0,0,0,0
$GC,1780,-1.56,-97.3,222.0,-12.1,154,1784,0.00,2.38,0.00,0.000,6,0.000,0.020,2815,2065,3414,0,0,0,0,0,0
$GC,2111,-1.56,-97.3,259.5,-10.9,162,2115,0.00,2.40,0.00,0.000,4,0.000,0.036,2815,3569,3414,0,0,0,0,0,0
$GC,2179,-1.60,-97.3,267.3,-11.4,163,2183,0.00,2.35,0.00,0.000,6,0.000,0.025,2815,2075,3414,0,0,0,0,0,0
$GC,2521,-1.60,-97.3,304.7,-10.6,172,2525,0.00,2.80,0.00,0.000,4,0.000,0.074,2814,443,3414,0,0,0,0,0,0
$GC,2536,-1.60,-97.3,306.4,-10.3,172,2540,0.00,2.53,0.00,0.000,6,0.000,0.025,2814,2067,3414,0,0,0,0,0,0
$GC,2881,-1.64,-97.3,336.4,-8.6,181,2885,0.00,2.45,0.00,0.000,4,0.000,0.041,2814,3573,3414,0,0,0,0,0,0
$GC,2942,-1.71,-97.3,342.5,-9.5,182,2946,0.00,2.42,0.00,0.000,6,0.000,0.035,2815,2087,3414,0,0,0,0,0,0
$GC,3286,-1.76,-97.3,374.5,-9.4,191,3291,0.10,2.45,0.00,0.000,4,0.087,0.042,2778,3565,3412,0,0,0,0,0,0
$GC,3431,-1.76,-97.3,392.1,-11.9,194,3435,0.00,2.42,0.00,0.000,6,0.000,0.049,2778,2106,3412,0,0,0,0,0,0
$GC,3779,-1.76,-97.3,431.0,-10.5,203,3784,0.00,3.03,0.00,0.000,4,0.000,0.100,2777,445,3409,0,0,0,0,0,0
$GC,3808,-1.71,-97.3,434.0,-11.3,203,3813,0.12,2.62,0.00,0.000,6,0.114,0.037,2804,2051,3409,0,0,0,0,0,0
$GC,4140,-1.76,-97.3,464.8,-9.4,211,4141,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,2051,3407,0,0,0,0,0,0
$GC,4466,-1.81,-97.3,494.0,-8.6,219,4470,0.00,2.67,0.00,0.000,4,0.000,0.077,2803,3590,3404,0,0,0,0,0,0
$STATE,4535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4535,begin apogee
$GC,4544,-0.31,0.0,500.2,8.1,220,4629,1.30,0.00,81.75,0.908,6,0.078,0.000,3101,2018,3009,0,0,0,0,0,0
$STATE,4630,end apogee,CONTROL_FINISHED_OK
$STATE,4630,begin climb
$GC,4633,1.48,97.3,501.0,0.0,222,4724,1.65,2.72,83.15,0.890,4,0.038,0.054,3505,3578,2613,0,0,0,0,0,0
$GC,4738,1.43,178.9,500.0,4.4,225,4817,0.00,2.72,71.32,0.874,6,0.000,0.050,3506,1987,2279,0,0,0,0,0,0
$GC,5128,1.33,178.9,456.5,11.4,235,5133,0.20,2.67,0.00,0.000,4,0.114,0.042,3466,3582,2270,0,0,0,0,0,0
$GC,5206,1.33,178.9,447.8,10.5,236,5214,0.00,2.67,0.00,0.000,6,0.000,0.048,3466,2000,2269,0,0,0,0,0,0
$GC,5537,1.35,197.4,417.2,8.8,245,5558,0.00,3.00,15.38,0.805,4,0.000,0.097,3466,401,2205,0,0,0,0,0,0
$GC,5716,1.28,197.4,400.3,10.2,249,5721,0.00,2.58,0.00,0.000,6,0.000,0.028,3466,1999,2200,0,0,0,0,0,0
$GC,6037,1.30,211.4,371.5,9.1,257,6056,0.00,2.88,13.25,0.782,4,0.000,0.071,3466,403,2147,0,0,0,0,0,0
$GC,6073,1.30,211.4,367.6,11.4,257,6079,0.00,2.53,0.00,0.000,6,0.000,0.020,3466,1982,2145,0,0,0,0,0,0
$GC,6404,1.31,217.8,336.3,9.6,266,6418,0.00,2.67,6.70,0.679,4,0.000,0.042,3466,3564,2122,0,0,0,0,0,0
$GC,6449,1.31,217.8,331.7,10.8,267,6453,0.00,2.65,0.00,0.000,6,0.000,0.039,3466,1957,2120,0,0,0,0,0,0
$GC,6773,1.35,219.7,297.3,9.9,275,6777,0.00,2.70,0.00,0.000,4,0.000,0.071,3466,409,2118,0,0,0,0,0,0
$GC,6845,1.35,219.7,290.0,10.4,276,6849,0.00,2.45,0.00,0.000,6,0.000,0.024,3466,1973,2117,0,0,0,0,0,0
$GC,7178,1.44,242.4,262.3,8.5,284,7208,0.00,2.78,22.73,0.739,4,0.000,0.059,3466,411,2020,0,0,0,0,0,0
$GC,7221,1.48,242.4,258.0,10.4,285,7226,0.12,2.45,0.00,0.000,6,0.084,0.024,3498,1955,2019,0,0,0,0,0,0
$GC,7546,1.48,242.4,223.8,10.2,293,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,1956,2017,0,0,0,0,0,0
$GC,7851,1.49,248.7,195.5,9.6,302,7862,0.00,2.65,6.47,0.578,4,0.000,0.054,3498,410,1994,0,0,0,0,0,0
$GC,7960,1.51,269.3,184.9,8.6,311,7985,0.00,2.40,19.42,0.661,6,0.000,0.019,3498,1942,1912,0,0,0,0,0,0
$GC,8308,1.58,282.3,153.6,9.1,343,8329,0.00,2.67,12.55,0.611,4,0.000,0.053,3498,406,1858,0,0,0,0,0,0
$GC,8395,1.58,283.6,144.5,10.0,350,8404,0.00,2.40,0.00,0.000,6,0.000,0.025,3498,1922,1857,0,0,0,0,0,0
$GC,8724,1.68,304.4,117.7,8.6,381,8752,0.17,2.65,20.12,0.596,4,0.064,0.053,3545,407,1768,0,0,0,0,0,0
$GC,8776,1.63,304.4,112.4,11.6,385,8780,0.00,2.38,0.00,0.000,6,0.000,0.018,3544,1920,1767,0,0,0,0,0,0
$GC,9104,1.63,304.4,78.6,10.7,415,9108,0.00,2.53,0.00,0.000,4,0.000,0.057,3545,406,1766,0,0,0,0,0,0
$GC,9151,1.63,304.4,73.5,11.9,418,9155,0.00,2.35,0.00,0.000,6,0.000,0.017,3545,1924,1765,0,0,0,0,0,0
$GC,9480,1.63,304.4,36.8,10.4,448,9484,0.00,2.55,0.00,0.000,4,0.000,0.050,3545,403,1765,0,0,0,0,0,0
$GC,9525,1.63,304.4,31.8,11.6,451,9529,0.00,2.33,0.00,0.000,6,0.000,0.017,3545,1918,1765,0,0,0,0,0,0
$STATE,9795,end climb,SURFACE_DEPTH_REACHED
$STATE,9795,begin surface coast
$FINISH,0.6,0.970779
$STATE,9844,end surface coast,CONTROL_FINISHED_OK
$STATE,9845,begin surface
$SM_CCo,9869,62.33,0.510,0,0,1460,380.21
$SM_GC,1.59,0.00,0.00,62.33,0.000,0.000,0.510,474,2110,1460,-12.42,2.80,380.21
$IRIDIUM_FIX,2241.69,-15759.32,031000,191916
$TT8_MAMPS,0.026078
$HUMID,63.78
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,20.80
$XPDR_PINGS,52
$24V_AH,23.4,61.649
$10V_AH,10.0,55.336
$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,28.900,118.100,352.850,62.325,0.000,55.272,88.271,395.300,13.000,0.000,17.380,998.649,6440.499,471.305,1940.811,826.980,33.374,1173.681,0.000,1939.781,0.000,0.535,0.000
$DEVICE_MAMPS,152.633,99.710,908.128,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.819,286.350,385.715,735.024,1111.434,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,38538,497
$CAP_FILE_SIZE,103892,0
$CFSIZE,260165632,156168192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100711,215506,2247.888,-15800.455,9,1.2,25,10.1