version: 66.06
glider: 146
mission: 6
dive: 498
start: 7 10 111 22 5 6
data:
$ID,146
$MISSION,6
$DIVE,498
$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,-280394.09
$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,20
$R_STBD_OVSHOOT,51
$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
$GPS1,215506,2247.888,-15800.455,9,1.2,25,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.5
$GPS2,220414,2247.929,-15800.564,14,1.1,14,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.008,-0.216
$KALMAN_X,-414726.5,-289.8,-18.7,408598.7,-1319.7
$KALMAN_Y,156593.5,-353.1,-218.2,-148576.3,1573.6
$MHEAD_RNG_PITCHd_Wd,171.9,4500,-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,17,-1.48,-97.3,0.0,0.0,0,89,0.00,0.00,-69.57,0.000,2,0.000,0.000,474,2110,3229,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.6,-6.3,9,118,12.38,2.88,-3.42,0.000,4,0.150,0.057,2844,418,3409,0,0,0,0,0,0
$GC,182,-1.39,-97.3,24.3,-16.4,21,192,0.10,2.50,0.00,0.000,6,0.110,0.015,2867,2031,3411,0,0,0,0,0,0
$GC,519,-1.39,-97.3,74.0,-14.8,54,524,0.00,2.42,0.00,0.000,4,0.000,0.027,2868,3565,3411,0,0,0,0,0,0
$GC,553,-1.39,-97.3,78.9,-14.9,56,557,0.00,2.47,0.00,0.000,6,0.000,0.023,2867,1990,3411,0,0,0,0,0,0
$GC,877,-1.39,-97.3,122.0,-11.4,86,878,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1990,3412,0,0,0,0,0,0
$GC,1200,-1.44,-97.3,157.3,-10.9,116,1204,0.00,2.50,0.00,0.000,4,0.000,0.032,2868,3557,3413,0,0,0,0,0,0
$GC,1241,-1.53,-97.3,162.0,-10.5,119,1247,0.12,2.40,0.00,0.000,6,0.066,0.026,2816,2015,3413,0,0,0,0,0,0
$GC,1566,-1.53,-97.3,197.6,-10.1,149,1571,0.12,2.47,0.00,0.000,4,0.108,0.034,2842,3567,3413,0,0,0,0,0,0
$GC,1602,-1.57,-97.3,201.0,-9.7,151,1608,0.00,2.40,0.00,0.000,6,0.000,0.024,2842,2019,3413,0,0,0,0,0,0
$GC,1933,-1.62,-97.3,234.1,-10.4,160,1938,0.00,2.42,0.00,0.000,4,0.000,0.035,2842,3556,3413,0,0,0,0,0,0
$GC,1950,-1.67,-97.3,235.9,-10.5,160,1955,0.12,2.40,0.00,0.000,6,0.072,0.021,2794,2015,3414,0,0,0,0,0,0
$GC,2293,-1.67,-97.3,275.9,-11.6,169,2298,0.00,2.47,0.00,0.000,4,0.000,0.035,2794,3559,3414,0,0,0,0,0,0
$GC,2394,-1.67,-97.3,288.5,-12.1,171,2398,0.00,2.40,0.00,0.000,6,0.000,0.031,2794,2036,3414,0,0,0,0,0,0
$GC,2743,-1.67,-97.3,325.8,-10.1,180,2747,0.00,2.47,0.00,0.000,4,0.000,0.041,2794,3561,3414,0,0,0,0,0,0
$GC,2878,-1.67,-97.3,338.5,-9.1,183,2883,0.00,2.45,0.00,0.000,6,0.000,0.045,2794,2058,3414,0,0,0,0,0,0
$GC,3198,-1.67,-97.3,365.9,-8.8,191,3203,0.00,2.92,0.00,0.000,4,0.000,0.091,2794,420,3413,0,0,0,0,0,0
$GC,3259,-1.67,-97.3,372.5,-10.8,192,3263,0.00,2.53,0.00,0.000,6,0.000,0.029,2794,2006,3413,0,0,0,0,0,0
$GC,3600,-1.67,-97.3,408.6,-10.8,201,3605,0.00,2.62,0.00,0.000,4,0.000,0.053,2794,3590,3412,0,0,0,0,0,0
$GC,3617,-1.67,-97.3,410.4,-10.7,201,3622,0.00,2.55,0.00,0.000,6,0.000,0.051,2794,2048,3412,0,0,0,0,0,0
$GC,3960,-1.67,-97.3,448.4,-11.1,210,3964,0.00,2.60,0.00,0.000,4,0.000,0.052,2794,3591,3409,0,0,0,0,0,0
$GC,3999,-1.72,-97.3,452.8,-11.4,211,4004,0.00,2.60,0.00,0.000,6,0.000,0.053,2794,2052,3409,0,0,0,0,0,0
$GC,4324,-1.72,-97.3,487.5,-10.4,219,4328,0.00,2.62,0.00,0.000,4,0.000,0.059,2794,3589,3406,0,0,0,0,0,0
$GC,4402,-1.78,-97.3,495.9,-10.9,220,4408,0.00,2.60,0.00,0.000,6,0.000,0.058,2794,2064,3406,0,0,0,0,0,0
$STATE,4446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4446,begin apogee
$GC,4452,-0.31,0.0,500.5,10.0,222,4538,1.38,0.00,81.85,0.907,6,0.093,0.000,3104,1993,3010,0,0,0,0,0,0
$STATE,4539,end apogee,CONTROL_FINISHED_OK
$STATE,4539,begin climb
$GC,4543,1.48,97.3,502.3,0.0,224,4634,1.65,2.75,83.40,0.885,4,0.046,0.051,3505,3576,2611,0,0,0,0,0,0
$GC,4653,1.44,189.6,502.1,3.7,227,4739,0.00,2.70,79.85,0.873,6,0.000,0.051,3505,1998,2236,0,0,0,0,0,0
$GC,5056,1.34,189.6,455.6,12.2,237,5061,0.17,2.65,0.00,0.000,4,0.117,0.048,3470,3582,2226,0,0,0,0,0,0
$GC,5078,1.28,189.6,452.9,11.4,237,5082,0.00,2.70,0.00,0.000,6,0.000,0.048,3470,1997,2225,0,0,0,0,0,0
$GC,5416,1.30,201.8,420.2,9.2,246,5431,0.00,2.65,9.80,0.759,4,0.000,0.042,3469,3583,2187,0,0,0,0,0,0
$GC,5447,1.32,215.6,417.1,9.1,246,5467,0.00,2.67,14.18,0.788,6,0.000,0.046,3470,1998,2129,0,0,0,0,0,0
$GC,5783,1.32,218.0,384.0,9.9,255,5787,0.00,2.88,0.00,0.000,4,0.000,0.094,3470,402,2125,0,0,0,0,0,0
$GC,5798,1.32,218.0,382.1,10.2,255,5803,0.00,2.60,0.00,0.000,6,0.000,0.028,3470,2022,2124,0,0,0,0,0,0
$GC,6141,1.32,219.2,346.8,10.0,264,6145,0.00,2.80,0.00,0.000,4,0.000,0.064,3469,407,2123,0,0,0,0,0,0
$GC,6265,1.27,219.2,333.0,11.7,266,6271,0.00,2.53,0.00,0.000,6,0.000,0.019,3470,2007,2121,0,0,0,0,0,0
$GC,6596,1.29,233.9,301.0,9.0,275,6618,0.00,2.58,16.20,0.755,4,0.000,0.034,3469,3558,2054,0,0,0,0,0,0
$GC,6686,1.36,245.2,293.5,9.3,277,6704,0.00,2.58,11.38,0.716,6,0.000,0.032,3470,1993,2009,0,0,0,0,0,0
$GC,7014,1.45,274.7,265.9,8.0,285,7049,0.00,2.83,27.20,0.742,4,0.000,0.071,3470,418,1890,0,0,0,0,0,0
$GC,7068,1.46,280.0,261.1,9.7,286,7082,0.10,2.50,6.50,0.609,6,0.094,0.023,3497,2009,1867,0,0,0,0,0,0
$GC,7425,1.46,280.0,223.1,11.2,295,7429,0.00,2.72,0.00,0.000,4,0.000,0.057,3497,413,1863,0,0,0,0,0,0
$GC,7535,1.46,280.0,209.1,12.5,297,7540,0.00,2.47,0.00,0.000,6,0.000,0.025,3496,1993,1861,0,0,0,0,0,0
$GC,7861,1.51,292.7,177.3,9.2,321,7876,0.00,0.00,11.45,0.632,6,0.000,0.000,3497,1994,1816,0,0,0,0,0,0
$GC,8200,1.57,295.0,144.4,9.9,353,8204,0.00,2.67,0.00,0.000,4,0.000,0.052,3497,412,1813,0,0,0,0,0,0
$GC,8340,1.57,295.0,128.0,11.2,364,8350,0.00,2.50,0.00,0.000,6,0.000,0.020,3497,1994,1813,0,0,0,0,0,0
$GC,8669,1.69,316.3,100.3,8.6,395,8696,0.20,2.70,21.52,0.587,4,0.061,0.052,3551,412,1719,0,0,0,0,0,0
$GC,8742,1.62,316.3,92.1,12.9,401,8747,0.12,2.50,0.00,0.000,6,0.120,0.020,3526,2000,1718,0,0,0,0,0,0
$GC,9071,1.70,331.6,61.7,9.0,431,9098,0.00,2.78,14.65,0.537,4,0.000,0.055,3526,404,1655,0,0,0,0,0,0
$GC,9190,1.70,331.6,49.0,11.3,440,9199,0.00,2.50,0.00,0.000,6,0.000,0.018,3526,1991,1654,0,0,0,0,0,0
$GC,9558,1.77,331.6,11.5,10.1,483,9568,0.15,2.70,0.00,0.000,4,0.071,0.052,3568,410,1654,0,0,0,0,0,0
$STATE,9617,end climb,SURFACE_DEPTH_REACHED
$STATE,9617,begin surface coast
$FINISH,0.6,0.975582
$STATE,9653,end surface coast,CONTROL_FINISHED_OK
$STATE,9653,begin surface
$SM_CCo,9679,39.25,0.509,0,0,1460,380.21
$SM_GC,1.48,0.00,0.00,39.25,0.000,0.000,0.509,476,2036,1460,-12.42,0.74,380.21
$IRIDIUM_FIX,2239.35,-15757.16,031000,191947
$TT8_MAMPS,0.026078
$HUMID,65.16
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,20.50
$XPDR_PINGS,60
$24V_AH,23.4,61.768
$10V_AH,10.0,55.450
$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,29.250,119.325,377.975,39.250,0.000,31.372,35.668,338.791,15.000,0.000,16.459,994.337,6164.506,475.317,1947.487,684.185,33.370,1187.954,0.000,1946.419,0.000,0.535,0.000
$DEVICE_MAMPS,149.565,127.322,906.594,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,335.853,270.356,384.596,731.705,1106.618,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,38425,496
$CAP_FILE_SIZE,101237,0
$CFSIZE,260165632,156119040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110711,004824,2247.899,-15801.582,38,1.4,38,10.1