version: 66.06
glider: 146
mission: 6
dive: 504
start: 7 11 111 16 37 48
data:
$ID,146
$MISSION,6
$DIVE,504
$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,-280531.38
$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,21
$R_STBD_OVSHOOT,62
$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
$GPS1,161730,2249.912,-15802.319,70,1.1,70,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-69.4
$GPS2,163656,2249.911,-15802.413,13,1.3,13,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,-0.009
$KALMAN_X,-423908.7,202.8,-60.4,414172.2,-970.5
$KALMAN_Y,163506.7,-573.5,415.0,-152224.2,112.1
$MHEAD_RNG_PITCHd_Wd,82.3,9242,-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,-71.22,0.000,2,0.000,0.000,474,1941,3253,0,0,0,0,0,0
$GC,94,-1.48,-97.3,3.1,-3.6,9,120,12.55,2.58,-2.95,0.000,4,0.155,0.058,2841,422,3409,0,0,0,0,0,0
$GC,132,-0.60,-97.3,15.4,-30.9,13,140,0.88,2.45,0.00,0.000,6,0.089,0.021,3037,2021,3410,0,0,0,0,0,0
$GC,505,-0.92,-97.3,40.0,-5.4,58,514,0.25,0.00,0.00,0.000,6,0.047,0.000,2956,2022,3411,0,0,0,0,0,0
$GC,838,-1.07,-97.3,64.1,-7.8,89,846,0.00,0.00,0.00,0.000,6,0.000,0.000,2957,2022,3411,0,0,0,0,0,0
$GC,1165,-1.24,-97.3,92.1,-8.5,120,1167,0.22,0.00,0.00,0.000,6,0.050,0.000,2887,2022,3412,0,0,0,0,0,0
$GC,1481,-1.31,-97.3,124.6,-9.8,150,1482,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,2022,3412,0,0,0,0,0,0
$GC,1802,-1.41,-97.3,157.2,-9.9,180,1803,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,2022,3412,0,0,0,0,0,0
$GC,2122,-1.52,-97.3,183.9,-8.7,210,2127,0.17,2.45,0.00,0.000,4,0.056,0.031,2828,3555,3413,0,0,0,0,0,0
$GC,2145,-1.60,-97.3,185.8,-8.5,211,2149,0.00,2.45,0.00,0.000,6,0.000,0.027,2827,1987,3413,0,0,0,0,0,0
$GC,2494,-1.60,-97.3,223.7,-11.4,229,2498,0.00,2.47,0.00,0.000,4,0.000,0.035,2828,3554,3413,0,0,0,0,0,0
$GC,2543,-1.64,-97.3,229.2,-10.9,230,2547,0.00,2.42,0.00,0.000,6,0.000,0.021,2828,2014,3413,0,0,0,0,0,0
$GC,2855,-1.64,-97.3,258.7,-9.0,238,2860,0.00,2.45,0.00,0.000,4,0.000,0.031,2828,3545,3413,0,0,0,0,0,0
$GC,2879,-1.69,-97.3,260.8,-9.5,238,2884,0.00,2.40,0.00,0.000,6,0.000,0.026,2827,2014,3413,0,0,0,0,0,0
$GC,3217,-1.74,-97.3,293.4,-9.7,247,3219,0.12,0.00,0.00,0.000,6,0.071,0.000,2785,2014,3413,0,0,0,0,0,0
$GC,3541,-1.74,-97.3,326.5,-9.9,255,3545,0.00,2.53,0.00,0.000,4,0.000,0.037,2785,3548,3412,0,0,0,0,0,0
$GC,3604,-1.74,-97.3,333.0,-10.1,256,3608,0.00,2.50,0.00,0.000,6,0.000,0.041,2785,2021,3412,0,0,0,0,0,0
$GC,3945,-1.74,-97.3,369.2,-11.0,265,3950,0.00,2.53,0.00,0.000,4,0.000,0.043,2785,3540,3411,0,0,0,0,0,0
$GC,4026,-1.74,-97.3,378.1,-11.1,266,4032,0.00,2.53,0.00,0.000,6,0.000,0.047,2785,2018,3410,0,0,0,0,0,0
$GC,4357,-1.74,-97.3,415.6,-11.1,275,4361,0.00,2.50,0.00,0.000,4,0.000,0.053,2784,3539,3408,0,0,0,0,0,0
$GC,4389,-1.74,-97.3,419.3,-11.5,275,4395,0.00,2.53,0.00,0.000,6,0.000,0.048,2785,2015,3408,0,0,0,0,0,0
$GC,4720,-1.74,-97.3,453.2,-10.2,284,4725,0.00,2.55,0.00,0.000,4,0.000,0.051,2784,3544,3405,0,0,0,0,0,0
$GC,4743,-1.74,-97.3,455.6,-10.8,284,4747,0.00,2.58,0.00,0.000,6,0.000,0.058,2785,2010,3405,0,0,0,0,0,0
$GC,5079,-1.74,-97.3,490.9,-10.7,293,5083,0.00,2.60,0.00,0.000,4,0.000,0.061,2785,3535,3402,0,0,0,0,0,0
$STATE,5165,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5165,begin apogee
$GC,5175,-0.31,0.0,500.4,9.8,295,5260,1.40,0.00,80.78,0.906,6,0.081,0.000,3103,1994,3009,0,0,0,0,0,0
$STATE,5261,end apogee,CONTROL_FINISHED_OK
$STATE,5261,begin climb
$GC,5264,1.48,97.3,502.6,0.0,297,5351,1.67,0.00,83.45,0.886,6,0.040,0.000,3507,1994,2613,0,0,0,0,0,0
$GC,5659,1.39,137.3,481.9,7.3,307,5697,0.15,0.00,34.60,0.864,6,0.122,0.000,3478,1994,2450,0,0,0,0,0,0
$GC,6022,1.34,154.3,450.0,8.9,316,6040,0.00,0.00,15.65,0.818,6,0.000,0.000,3478,1994,2380,0,0,0,0,0,0
$GC,6347,1.30,171.7,421.2,8.8,324,6370,0.00,2.58,16.27,0.815,4,0.000,0.041,3478,3530,2308,0,0,0,0,0,0
$GC,6438,1.26,171.7,412.3,10.3,326,6443,0.15,2.60,0.00,0.000,6,0.126,0.040,3450,1983,2305,0,0,0,0,0,0
$GC,6762,1.29,190.9,382.9,8.7,334,6786,0.00,2.92,17.67,0.803,4,0.000,0.090,3450,410,2231,0,0,0,0,0,0
$GC,6799,1.30,205.2,379.7,9.1,334,6819,0.00,2.47,14.27,0.778,6,0.000,0.021,3450,1962,2173,0,0,0,0,0,0
$GC,7133,1.33,228.9,350.2,8.4,343,7162,0.00,2.80,21.75,0.795,4,0.000,0.063,3450,407,2076,0,0,0,0,0,0
$GC,7250,1.33,228.9,339.0,10.2,345,7254,0.00,2.53,0.00,0.000,6,0.000,0.019,3449,1994,2072,0,0,0,0,0,0
$GC,7586,1.42,250.8,310.4,8.5,354,7610,0.15,0.00,20.25,0.769,6,0.077,0.000,3488,1994,1986,0,0,0,0,0,0
$GC,7954,1.42,253.4,273.8,9.9,363,7959,0.00,2.58,0.00,0.000,4,0.000,0.035,3488,3567,1981,0,0,0,0,0,0
$GC,7982,1.42,253.4,270.9,11.1,363,7986,0.00,2.58,0.00,0.000,6,0.000,0.035,3488,1984,1979,0,0,0,0,0,0
$GC,8313,1.44,264.9,238.6,9.2,371,8332,0.00,2.78,12.55,0.692,4,0.000,0.064,3488,416,1929,0,0,0,0,0,0
$GC,8396,1.44,264.9,230.1,10.6,372,8402,0.00,2.50,0.00,0.000,6,0.000,0.024,3488,1998,1928,0,0,0,0,0,0
$GC,8728,1.51,288.5,201.7,8.4,381,8757,0.00,2.83,21.88,0.684,4,0.000,0.057,3489,404,1832,0,0,0,0,0,0
$GC,8845,1.51,291.8,191.0,9.8,388,8856,0.00,2.50,4.05,0.460,6,0.000,0.019,3488,1988,1819,0,0,0,0,0,0
$GC,9176,1.61,329.1,162.3,7.5,419,9219,0.15,2.75,33.88,0.654,4,0.071,0.055,3529,404,1666,0,0,0,0,0,0
$GC,9305,1.56,329.1,147.5,11.7,430,9315,0.00,2.50,0.00,0.000,6,0.000,0.022,3529,1976,1663,0,0,0,0,0,0
$GC,9635,1.56,329.1,109.4,12.0,461,9639,0.00,2.65,0.00,0.000,4,0.000,0.057,3529,410,1662,0,0,0,0,0,0
$GC,9747,1.56,329.1,93.8,13.9,470,9751,0.00,2.45,0.00,0.000,6,0.000,0.024,3529,1980,1661,0,0,0,0,0,0
$GC,10077,1.62,333.2,59.7,9.8,500,10092,0.00,2.67,3.97,0.381,4,0.000,0.054,3529,416,1650,0,0,0,0,0,0
$GC,10206,1.62,333.2,45.7,11.2,510,10210,0.00,2.38,0.00,0.000,6,0.000,0.018,3529,1950,1650,0,0,0,0,0,0
$GC,10586,1.67,333.2,5.4,11.7,556,10596,0.00,2.60,0.00,0.000,4,0.000,0.048,3529,404,1650,0,0,0,0,0,0
$STATE,10604,end climb,SURFACE_DEPTH_REACHED
$STATE,10604,begin surface coast
$FINISH,0.7,0.979737
$STATE,10646,end surface coast,CONTROL_FINISHED_OK
$STATE,10646,begin surface
$SM_CCo,10671,39.50,0.512,0,0,1460,380.21
$SM_GC,1.36,0.00,0.00,39.50,0.000,0.000,0.512,475,2051,1460,-12.42,1.16,380.21
$IRIDIUM_FIX,2239.35,-15804.53,041000,161625
$TT8_MAMPS,0.026078
$HUMID,65.35
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,20.40
$XPDR_PINGS,43
$24V_AH,23.4,62.536
$10V_AH,10.0,56.184
$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,30.325,97.350,381.025,39.500,0.000,83.190,116.614,683.876,10.750,0.000,14.554,1079.982,6966.871,490.629,2146.948,1193.226,33.372,1196.680,0.000,2156.178,0.000,0.536,0.000
$DEVICE_MAMPS,154.934,89.739,905.827,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,382.541,324.435,447.786,897.015,1356.694,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,44803,564
$CAP_FILE_SIZE,107497,0
$CFSIZE,260165632,155791360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110711,193728,2249.891,-15801.668,7,4.1,26,10.1