version: 66.06
glider: 146
mission: 6
dive: 505
start: 7 11 111 19 52 52
data:
$ID,146
$MISSION,6
$DIVE,505
$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,-280563.78
$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,24
$R_STBD_OVSHOOT,94
$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
$GPS1,193728,2249.891,-15801.668,7,4.1,26,10.1
$_CALLS,2
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.1
$GPS2,195201,2249.823,-15801.835,13,1.5,30,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.209,-0.052
$KALMAN_X,-425013.4,179.4,-83.1,416313.0,-902.3
$KALMAN_Y,164197.5,-869.9,-41.7,-152320.5,562.5
$MHEAD_RNG_PITCHd_Wd,93.8,8259,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,17,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-69.60,0.000,2,0.000,0.000,475,2051,3195,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.1,-3.9,9,118,12.35,2.40,-4.25,0.000,4,0.149,0.041,2842,3534,3408,0,0,0,0,0,0
$GC,156,-1.44,-97.3,17.5,-15.2,17,165,0.00,2.45,0.00,0.000,6,0.000,0.023,2842,2003,3409,0,0,0,0,0,0
$GC,508,-1.36,-97.3,70.0,-15.0,54,513,0.17,2.47,0.00,0.000,4,0.116,0.033,2878,3541,3409,0,0,0,0,0,0
$GC,542,-1.36,-97.3,74.9,-14.0,56,547,0.00,2.40,0.00,0.000,6,0.000,0.023,2878,2010,3409,0,0,0,0,0,0
$GC,871,-1.41,-97.3,115.5,-11.1,86,875,0.00,2.60,0.00,0.000,4,0.000,0.054,2878,437,3409,0,0,0,0,0,0
$GC,904,-1.41,-97.3,119.9,-11.6,88,914,0.00,2.38,0.00,0.000,6,0.000,0.016,2878,1991,3410,0,0,0,0,0,0
$GC,1233,-1.49,-97.3,151.0,-9.6,119,1238,0.12,2.50,0.00,0.000,4,0.071,0.035,2832,3557,3411,0,0,0,0,0,0
$GC,1265,-1.49,-97.3,154.6,-11.5,121,1269,0.00,2.42,0.00,0.000,6,0.000,0.028,2832,1994,3411,0,0,0,0,0,0
$GC,1594,-1.49,-97.3,192.2,-11.3,151,1599,0.00,2.45,0.00,0.000,4,0.000,0.029,2832,3554,3411,0,0,0,0,0,0
$GC,1611,-1.49,-97.3,194.8,-11.7,152,1616,0.00,2.40,0.00,0.000,6,0.000,0.020,2832,2004,3411,0,0,0,0,0,0
$GC,1955,-1.49,-97.3,232.2,-11.3,164,1959,0.00,2.47,0.00,0.000,4,0.000,0.034,2832,3557,3412,0,0,0,0,0,0
$GC,1989,-1.54,-97.3,236.3,-12.0,164,1995,0.00,2.42,0.00,0.000,6,0.000,0.027,2832,2003,3412,0,0,0,0,0,0
$GC,2320,-1.58,-97.3,272.0,-10.4,173,2325,0.00,2.47,0.00,0.000,4,0.000,0.034,2832,3550,3411,0,0,0,0,0,0
$GC,2337,-1.63,-97.3,273.6,-9.6,173,2341,0.00,2.40,0.00,0.000,6,0.000,0.024,2832,2011,3412,0,0,0,0,0,0
$GC,2681,-1.69,-97.3,301.9,-7.9,182,2686,0.10,2.50,0.00,0.000,4,0.079,0.031,2786,3552,3411,0,0,0,0,0,0
$GC,2725,-1.69,-97.3,306.5,-10.2,183,2730,0.10,2.40,0.00,0.000,6,0.113,0.033,2807,2030,3412,0,0,0,0,0,0
$GC,3045,-1.69,-97.3,335.0,-9.5,191,3049,0.00,2.47,0.00,0.000,4,0.000,0.036,2808,3553,3411,0,0,0,0,0,0
$GC,3170,-1.76,-97.3,347.5,-10.0,193,3176,0.00,2.50,0.00,0.000,6,0.000,0.042,2807,2030,3411,0,0,0,0,0,0
$GC,3503,-1.80,-97.3,382.0,-10.6,202,3508,0.10,2.90,0.00,0.000,4,0.090,0.097,2770,425,3409,0,0,0,0,0,0
$GC,3543,-1.72,-97.3,387.4,-13.1,203,3548,0.15,2.47,0.00,0.000,6,0.109,0.035,2801,1978,3409,0,0,0,0,0,0
$GC,3867,-1.72,-97.3,422.2,-10.3,211,3871,0.00,2.70,0.00,0.000,4,0.000,0.058,2801,3591,3407,0,0,0,0,0,0
$GC,3908,-1.77,-97.3,426.0,-9.9,212,3912,0.00,2.60,0.00,0.000,6,0.000,0.051,2801,2026,3407,0,0,0,0,0,0
$GC,4232,-1.81,-97.3,453.6,-8.3,220,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2801,2026,3404,0,0,0,0,0,0
$GC,4557,-1.86,-97.3,479.0,-7.8,228,4562,0.12,2.67,0.00,0.000,4,0.073,0.061,2760,3584,3402,0,0,0,0,0,0
$GC,4626,-1.86,-97.3,485.6,-9.8,229,4630,0.00,2.67,0.00,0.000,6,0.000,0.055,2761,2018,3401,0,0,0,0,0,0
$STATE,4797,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4797,begin apogee
$GC,4803,-0.31,0.0,501.9,9.5,234,4888,1.55,0.00,80.88,0.916,6,0.089,0.000,3106,1992,3010,0,0,0,0,0,0
$STATE,4889,end apogee,CONTROL_FINISHED_OK
$STATE,4889,begin climb
$GC,4891,1.48,97.3,503.5,0.0,236,4983,1.65,2.78,83.15,0.897,4,0.043,0.055,3509,3565,2612,0,0,0,0,0,0
$GC,5003,1.44,196.5,503.5,3.2,239,5101,0.00,2.67,86.10,0.883,6,0.000,0.054,3509,1997,2208,0,0,0,0,0,0
$GC,5414,1.33,196.5,460.8,10.8,249,5420,0.22,3.00,0.00,0.000,4,0.117,0.110,3465,408,2199,0,0,0,0,0,0
$GC,5431,1.23,196.5,458.9,10.4,249,5436,0.10,2.60,0.00,0.000,6,0.142,0.033,3446,1987,2197,0,0,0,0,0,0
$GC,5775,1.25,217.0,429.3,8.6,258,5799,0.00,2.88,17.35,0.821,4,0.000,0.071,3445,414,2124,0,0,0,0,0,0
$GC,5833,1.25,217.0,423.7,10.6,259,5837,0.00,2.58,0.00,0.000,6,0.000,0.028,3446,1994,2122,0,0,0,0,0,0
$GC,6183,1.29,217.0,390.4,10.1,268,6184,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1994,2119,0,0,0,0,0,0
$GC,6506,1.33,217.0,355.1,11.0,276,6511,0.00,2.75,0.00,0.000,4,0.000,0.063,3446,404,2117,0,0,0,0,0,0
$GC,6611,1.33,217.0,343.6,10.5,278,6616,0.00,2.53,0.00,0.000,6,0.000,0.025,3446,2002,2116,0,0,0,0,0,0
$GC,6956,1.45,255.3,316.0,7.4,287,6998,0.17,2.62,34.05,0.794,4,0.067,0.039,3492,3563,1968,0,0,0,0,0,0
$GC,7045,1.45,255.3,307.5,10.7,289,7050,0.00,2.65,0.00,0.000,6,0.000,0.037,3492,1975,1966,0,0,0,0,0,0
$GC,7370,1.45,255.3,272.9,11.0,297,7371,0.00,0.00,0.00,0.000,6,0.000,0.000,3492,1975,1962,0,0,0,0,0,0
$GC,7694,1.45,256.7,238.6,9.9,305,7698,0.00,2.70,0.00,0.000,4,0.000,0.068,3493,405,1960,0,0,0,0,0,0
$GC,7743,1.45,256.7,233.8,10.5,306,7747,0.00,2.50,0.00,0.000,6,0.000,0.019,3492,2000,1959,0,0,0,0,0,0
$GC,8058,1.47,270.8,206.3,9.1,314,8077,0.00,2.75,13.68,0.670,4,0.000,0.061,3492,406,1904,0,0,0,0,0,0
$GC,8162,1.47,270.8,195.2,10.7,317,8167,0.00,2.45,0.00,0.000,6,0.000,0.023,3492,1970,1902,0,0,0,0,0,0
$GC,8487,1.51,270.8,162.7,10.3,348,8491,0.00,2.62,0.00,0.000,4,0.000,0.054,3492,407,1901,0,0,0,0,0,0
$GC,8542,1.51,270.8,156.7,11.9,352,8546,0.00,2.42,0.00,0.000,6,0.000,0.018,3493,1979,1901,0,0,0,0,0,0
$GC,8867,1.60,286.2,125.5,9.0,382,8891,0.12,2.75,14.52,0.598,4,0.080,0.054,3526,403,1841,0,0,0,0,0,0
$GC,8939,1.60,286.2,117.4,12.1,388,8944,0.00,2.45,0.00,0.000,6,0.000,0.024,3526,1969,1840,0,0,0,0,0,0
$GC,9264,1.61,298.2,87.3,9.2,418,9282,0.00,2.70,11.52,0.550,4,0.000,0.051,3526,406,1793,0,0,0,0,0,0
$GC,9428,1.61,298.2,69.3,10.2,431,9432,0.00,2.38,0.00,0.000,6,0.000,0.017,3526,1947,1792,0,0,0,0,0,0
$GC,9756,1.68,309.9,39.9,9.2,461,9774,0.00,2.65,11.70,0.509,4,0.000,0.049,3526,407,1745,0,0,0,0,0,0
$GC,9810,1.68,309.9,34.7,10.9,465,9814,0.00,2.35,0.00,0.000,6,0.000,0.017,3526,1938,1744,0,0,0,0,0,0
$STATE,10136,end climb,SURFACE_DEPTH_REACHED
$STATE,10136,begin surface coast
$FINISH,0.7,0.980073
$STATE,10186,end surface coast,CONTROL_FINISHED_OK
$STATE,10186,begin surface
$SM_CCo,10210,58.53,0.510,0,0,1459,380.21
$SM_GC,1.42,0.00,0.00,58.53,0.000,0.000,0.510,475,2040,1459,-12.42,0.82,380.21
$IRIDIUM_FIX,2239.35,-15802.37,041000,191934
$TT8_MAMPS,0.026078
$HUMID,64.29
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,20.70
$XPDR_PINGS,56
$24V_AH,23.4,62.667
$10V_AH,10.0,56.305
$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,29.475,118.025,352.950,58.525,0.000,58.209,70.544,513.526,14.000,0.000,31.796,1027.143,6685.043,460.890,2021.643,942.660,33.374,1174.279,0.000,2006.981,0.000,0.537,0.000
$DEVICE_MAMPS,148.798,191.750,915.798,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.109,280.957,397.945,770.145,1164.609,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355792
$DATA_FILE_SIZE,41639,516
$CAP_FILE_SIZE,107985,0
$CFSIZE,260165632,155734016
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110711,224601,2249.832,-15801.465,79,1.4,79,10.1