version: 66.06
glider: 146
mission: 6
dive: 503
start: 7 11 111 13 28 31
data:
$ID,146
$MISSION,6
$DIVE,503
$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,-280516.19
$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,59
$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
$GPS1,131052,2249.645,-15802.882,12,99.0,31,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.7
$GPS2,132740,2249.696,-15802.993,43,1.0,44,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,-0.040
$KALMAN_X,-422802.4,110.6,44.8,412061.3,-1108.2
$KALMAN_Y,162435.2,20.8,108.5,-151836.2,453.5
$MHEAD_RNG_PITCHd_Wd,90.6,10245,-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,-71.15,0.000,2,0.000,0.000,470,2077,3261,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.4,-5.3,9,118,12.45,2.78,-2.85,0.000,4,0.151,0.060,2843,424,3409,0,0,0,0,0,0
$GC,158,-1.36,-97.3,19.3,-17.6,17,166,0.12,2.45,0.00,0.000,6,0.107,0.018,2873,2014,3411,0,0,0,0,0,0
$GC,501,-1.36,-97.3,64.4,-13.4,53,506,0.00,2.45,0.00,0.000,4,0.000,0.027,2873,3568,3411,0,0,0,0,0,0
$GC,562,-1.36,-97.3,72.6,-13.9,57,566,0.00,2.50,0.00,0.000,6,0.000,0.022,2873,1990,3411,0,0,0,0,0,0
$GC,890,-1.36,-97.3,116.0,-10.6,87,895,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1990,3411,0,0,0,0,0,0
$GC,1217,-1.41,-97.3,148.4,-10.5,118,1221,0.00,2.47,0.00,0.000,4,0.000,0.033,2873,3558,3412,0,0,0,0,0,0
$GC,1281,-1.52,-97.3,155.8,-11.2,123,1286,0.12,2.42,0.00,0.000,6,0.067,0.025,2824,2013,3412,0,0,0,0,0,0
$GC,1605,-1.52,-97.3,196.7,-11.7,153,1609,0.00,2.45,0.00,0.000,4,0.000,0.028,2824,3566,3412,0,0,0,0,0,0
$GC,1651,-1.56,-97.3,202.2,-11.2,156,1655,0.00,2.42,0.00,0.000,6,0.000,0.028,2824,2018,3413,0,0,0,0,0,0
$GC,1972,-1.56,-97.3,232.1,-9.3,164,1976,0.00,2.45,0.00,0.000,4,0.000,0.028,2824,3569,3413,0,0,0,0,0,0
$GC,2033,-1.61,-97.3,238.5,-10.0,165,2037,0.00,2.38,0.00,0.000,6,0.000,0.028,2824,2047,3413,0,0,0,0,0,0
$GC,2375,-1.61,-97.3,273.2,-9.9,174,2379,0.00,2.42,0.00,0.000,4,0.000,0.032,2824,3562,3413,0,0,0,0,0,0
$GC,2409,-1.69,-97.3,276.1,-8.6,174,2415,0.00,2.38,0.00,0.000,6,0.000,0.024,2824,2048,3413,0,0,0,0,0,0
$GC,2741,-1.75,-97.3,303.8,-8.2,183,2743,0.12,0.00,0.00,0.000,6,0.072,0.000,2778,2048,3413,0,0,0,0,0,0
$GC,3065,-1.75,-97.3,336.7,-10.4,191,3069,0.00,2.45,0.00,0.000,4,0.000,0.041,2777,3551,3412,0,0,0,0,0,0
$GC,3167,-1.75,-97.3,347.3,-9.9,193,3171,0.00,2.42,0.00,0.000,6,0.000,0.038,2777,2066,3412,0,0,0,0,0,0
$GC,3515,-1.75,-97.3,381.2,-9.4,202,3519,0.00,2.45,0.00,0.000,4,0.000,0.044,2777,3549,3411,0,0,0,0,0,0
$GC,3560,-1.75,-97.3,385.8,-10.2,203,3564,0.00,2.45,0.00,0.000,6,0.000,0.043,2777,2076,3411,0,0,0,0,0,0
$GC,3877,-1.75,-97.3,420.2,-11.1,211,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,2777,2076,3408,0,0,0,0,0,0
$GC,4202,-1.75,-97.3,457.9,-11.5,219,4207,0.00,3.03,0.00,0.000,4,0.000,0.105,2777,439,3406,0,0,0,0,0,0
$GC,4226,-1.71,-97.3,460.4,-11.7,219,4231,0.12,2.58,0.00,0.000,6,0.111,0.036,2804,2018,3406,0,0,0,0,0,0
$GC,4563,-1.75,-97.3,493.3,-9.3,228,4567,0.00,2.70,0.00,0.000,4,0.000,0.075,2803,3591,3403,0,0,0,0,0,0
$STATE,4632,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4632,begin apogee
$GC,4642,-0.31,0.0,500.2,9.7,229,4727,1.30,0.00,81.20,0.910,6,0.083,0.000,3099,2004,3010,0,0,0,0,0,0
$STATE,4728,end apogee,CONTROL_FINISHED_OK
$STATE,4728,begin climb
$GC,4731,1.48,97.3,501.8,0.0,231,4822,1.65,2.72,83.38,0.887,4,0.044,0.054,3504,3584,2612,0,0,0,0,0,0
$GC,4857,1.41,164.0,501.2,5.4,235,4922,0.12,2.70,58.20,0.871,6,0.133,0.052,3482,1994,2340,0,0,0,0,0,0
$GC,5265,1.34,164.0,459.8,10.6,245,5269,0.00,2.65,0.00,0.000,4,0.000,0.047,3482,3588,2330,0,0,0,0,0,0
$GC,5304,1.28,164.0,455.7,11.0,246,5309,0.12,2.70,0.00,0.000,6,0.134,0.044,3457,1993,2329,0,0,0,0,0,0
$GC,5630,1.31,188.6,426.9,8.3,254,5656,0.00,2.97,20.52,0.827,4,0.000,0.101,3457,408,2241,0,0,0,0,0,0
$GC,5792,1.25,188.6,410.3,10.9,257,5797,0.00,2.55,0.00,0.000,6,0.000,0.030,3457,2001,2238,0,0,0,0,0,0
$GC,6124,1.27,206.6,380.7,8.8,265,6148,0.00,2.88,16.77,0.799,4,0.000,0.067,3456,406,2167,0,0,0,0,0,0
$GC,6261,1.27,206.6,366.5,10.5,268,6266,0.00,2.50,0.00,0.000,6,0.000,0.027,3456,1980,2163,0,0,0,0,0,0
$GC,6579,1.29,222.7,337.5,8.9,276,6599,0.00,2.80,14.93,0.777,4,0.000,0.062,3456,399,2102,0,0,0,0,0,0
$GC,6633,1.29,222.7,332.2,10.4,277,6637,0.00,2.50,0.00,0.000,6,0.000,0.020,3456,1977,2100,0,0,0,0,0,0
$GC,6983,1.36,236.7,299.9,9.1,286,7002,0.00,2.67,13.40,0.742,4,0.000,0.036,3456,3566,2044,0,0,0,0,0,0
$GC,7083,1.44,237.3,290.4,10.0,288,7088,0.15,2.65,0.00,0.000,6,0.074,0.039,3496,1967,2042,0,0,0,0,0,0
$GC,7397,1.44,237.3,257.6,10.4,296,7402,0.00,2.70,0.00,0.000,4,0.000,0.067,3496,404,2040,0,0,0,0,0,0
$GC,7498,1.41,237.3,246.2,10.9,298,7503,0.00,2.50,0.00,0.000,6,0.000,0.025,3496,1993,2039,0,0,0,0,0,0
$GC,7847,1.45,267.8,217.7,7.9,307,7877,0.00,0.00,28.20,0.709,6,0.000,0.000,3496,1994,1917,0,0,0,0,0,0
$GC,8159,1.50,281.5,188.0,9.1,322,8180,0.00,2.78,12.98,0.647,4,0.000,0.058,3496,411,1861,0,0,0,0,0,0
$GC,8230,1.50,281.5,180.3,12.5,328,8235,0.00,2.45,0.00,0.000,6,0.000,0.024,3496,1984,1860,0,0,0,0,0,0
$GC,8556,1.57,288.8,146.8,9.5,358,8571,0.00,2.70,7.80,0.567,4,0.000,0.053,3496,407,1831,0,0,0,0,0,0
$GC,8599,1.57,288.8,142.0,10.6,361,8605,0.00,2.45,0.00,0.000,6,0.000,0.018,3496,1972,1829,0,0,0,0,0,0
$GC,8925,1.70,333.9,114.7,6.9,392,8973,0.20,2.70,39.72,0.611,4,0.065,0.054,3550,404,1647,0,0,0,0,0,0
$GC,9068,1.65,333.9,100.6,10.1,404,9072,0.00,2.42,0.00,0.000,6,0.000,0.018,3550,1958,1644,0,0,0,0,0,0
$GC,9396,1.65,333.9,70.9,10.8,434,9400,0.00,2.62,0.00,0.000,4,0.000,0.054,3550,401,1643,0,0,0,0,0,0
$GC,9444,1.65,333.9,65.1,12.8,437,9448,0.00,2.40,0.00,0.000,6,0.000,0.017,3550,1962,1642,0,0,0,0,0,0
$GC,9785,1.65,333.9,23.4,12.9,470,9794,0.00,2.62,0.00,0.000,4,0.000,0.053,3551,409,1642,0,0,0,0,0,0
$GC,9874,1.60,333.9,11.7,14.1,482,9883,0.10,2.38,0.00,0.000,6,0.094,0.016,3525,1939,1642,0,0,0,0,0,0
$STATE,9925,end climb,SURFACE_DEPTH_REACHED
$STATE,9925,begin surface coast
$FINISH,0.6,0.975468
$STATE,9968,end surface coast,CONTROL_FINISHED_OK
$STATE,9968,begin surface
$SM_CCo,9990,37.28,0.508,0,0,1459,380.21
$SM_GC,1.54,0.00,0.00,37.28,0.000,0.000,0.508,475,1941,1459,-12.42,-1.95,380.21
$IRIDIUM_FIX,2244.02,-15808.88,041000,131354
$TT8_MAMPS,0.026078
$HUMID,65.94
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,20.20
$XPDR_PINGS,52
$24V_AH,23.4,62.391
$10V_AH,10.1,56.046
$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,29.025,113.400,377.100,37.275,0.000,90.514,121.827,384.515,13.000,0.000,45.830,993.516,6633.818,470.822,1942.714,993.617,33.381,1174.002,0.000,1912.343,0.000,0.536,0.000
$DEVICE_MAMPS,151.099,105.079,909.662,507.754,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,335.360,275.924,378.352,708.089,1071.581,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,38374,495
$CAP_FILE_SIZE,102544,0
$CFSIZE,260165632,155852800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110711,161730,2249.912,-15802.319,70,1.1,70,10.1