version: 66.06
glider: 146
mission: 6
dive: 507
start: 7 12 111 2 11 53
data:
$ID,146
$MISSION,6
$DIVE,507
$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,-280615.22
$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,22
$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
$GPS1,015436,2249.887,-15801.528,9,1.8,25,10.1
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-68.0
$GPS2,021102,2250.076,-15801.645,34,1.5,34,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.147,-0.158
$KALMAN_X,-427587.6,-315.3,-93.7,419718.3,-882.1
$KALMAN_Y,165758.2,90.0,65.8,-154482.3,1564.4
$MHEAD_RNG_PITCHd_Wd,127.0,7929,-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,15,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-70.78,0.000,2,0.000,0.000,473,1964,3273,0,0,0,0,0,0
$GC,93,-1.48,-97.3,3.7,-6.5,9,119,12.32,2.60,-2.47,0.000,4,0.147,0.060,2843,420,3409,0,0,0,0,0,0
$GC,157,-1.38,-97.3,20.7,-17.1,17,167,0.10,2.47,0.00,0.000,6,0.110,0.020,2867,2019,3410,0,0,0,0,0,0
$GC,500,-1.38,-97.3,68.5,-13.9,52,504,0.00,2.45,0.00,0.000,4,0.000,0.035,2867,3557,3411,0,0,0,0,0,0
$GC,545,-1.38,-97.3,74.8,-13.7,55,550,0.00,2.47,0.00,0.000,6,0.000,0.026,2867,1994,3411,0,0,0,0,0,0
$GC,875,-1.38,-97.3,115.7,-11.6,85,880,0.00,2.47,0.00,0.000,4,0.000,0.027,2867,3561,3411,0,0,0,0,0,0
$GC,908,-1.43,-97.3,119.8,-12.3,87,912,0.00,2.45,0.00,0.000,6,0.000,0.021,2867,2004,3411,0,0,0,0,0,0
$GC,1232,-1.48,-97.3,157.8,-10.9,117,1237,0.00,2.47,0.00,0.000,4,0.000,0.027,2867,3561,3412,0,0,0,0,0,0
$GC,1275,-1.57,-97.3,162.2,-10.8,120,1280,0.15,2.42,0.00,0.000,6,0.059,0.028,2813,2008,3412,0,0,0,0,0,0
$GC,1602,-1.57,-97.3,197.5,-9.0,150,1603,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2008,3413,0,0,0,0,0,0
$GC,1916,-1.57,-97.3,227.5,-9.4,160,1920,0.00,2.47,0.00,0.000,4,0.000,0.035,2813,3559,3413,0,0,0,0,0,0
$GC,2010,-1.57,-97.3,237.7,-10.6,162,2015,0.00,2.45,0.00,0.000,6,0.000,0.026,2813,2004,3413,0,0,0,0,0,0
$GC,2325,-1.57,-97.3,272.6,-11.1,170,2326,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2004,3413,0,0,0,0,0,0
$GC,2649,-1.57,-97.3,301.9,-8.3,178,2653,0.00,2.53,0.00,0.000,4,0.000,0.035,2813,3561,3413,0,0,0,0,0,0
$GC,2738,-1.63,-97.3,309.1,-8.3,180,2742,0.00,2.50,0.00,0.000,6,0.000,0.031,2813,2008,3413,0,0,0,0,0,0
$GC,3058,-1.66,-97.3,337.2,-9.5,188,3062,0.00,2.50,0.00,0.000,4,0.000,0.042,2813,3552,3412,0,0,0,0,0,0
$GC,3113,-1.73,-97.3,343.2,-10.4,189,3118,0.00,2.53,0.00,0.000,6,0.000,0.035,2813,2013,3412,0,0,0,0,0,0
$GC,3463,-1.78,-97.3,376.3,-8.8,198,3468,0.10,2.88,0.00,0.000,4,0.085,0.096,2776,421,3410,0,0,0,0,0,0
$GC,3485,-1.78,-97.3,378.7,-9.4,198,3489,0.00,2.47,0.00,0.000,6,0.000,0.032,2776,1979,3410,0,0,0,0,0,0
$GC,3821,-1.78,-97.3,412.0,-10.1,207,3825,0.00,2.67,0.00,0.000,4,0.000,0.060,2776,3589,3407,0,0,0,0,0,0
$GC,3871,-1.78,-97.3,417.4,-11.1,208,3876,0.00,2.62,0.00,0.000,6,0.000,0.052,2776,2023,3407,0,0,0,0,0,0
$GC,4184,-1.78,-97.3,450.4,-10.3,216,4188,0.00,2.60,0.00,0.000,4,0.000,0.057,2776,3583,3405,0,0,0,0,0,0
$GC,4261,-1.78,-97.3,459.1,-11.3,217,4267,0.00,2.65,0.00,0.000,6,0.000,0.057,2776,2017,3404,0,0,0,0,0,0
$GC,4594,-1.78,-97.3,497.3,-11.7,226,4598,0.00,2.67,0.00,0.000,4,0.000,0.061,2776,3584,3402,0,0,0,0,0,0
$STATE,4620,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4620,begin apogee
$GC,4628,-0.31,0.0,500.7,11.8,226,4713,1.45,0.00,81.15,0.908,6,0.086,0.000,3101,1993,3010,0,0,0,0,0,0
$STATE,4714,end apogee,CONTROL_FINISHED_OK
$STATE,4714,begin climb
$GC,4717,1.48,97.3,502.9,0.0,228,4804,1.65,0.00,83.28,0.888,6,0.039,0.000,3505,1993,2613,0,0,0,0,0,0
$GC,5127,1.40,137.9,482.0,7.2,238,5165,0.12,0.00,35.30,0.863,6,0.271,0.000,3482,1993,2446,0,0,0,0,0,0
$GC,5488,1.36,161.0,451.3,8.4,247,5514,0.00,3.00,20.33,0.834,4,0.000,0.101,3481,402,2354,0,0,0,0,0,0
$GC,5533,1.27,175.2,447.5,9.1,248,5554,0.15,2.62,14.57,0.802,6,0.126,0.037,3452,1990,2295,0,0,0,0,0,0
$GC,5893,1.31,207.8,418.2,7.8,257,5927,0.00,2.75,29.25,0.838,4,0.000,0.054,3452,3580,2162,0,0,0,0,0,0
$GC,5992,1.31,207.8,409.3,10.1,258,5997,0.00,2.67,0.00,0.000,6,0.000,0.040,3452,1989,2157,0,0,0,0,0,0
$GC,6340,1.32,214.9,375.7,9.6,267,6354,0.00,2.92,6.82,0.693,4,0.000,0.084,3452,407,2132,0,0,0,0,0,0
$GC,6464,1.32,214.9,362.4,10.6,269,6469,0.00,2.55,0.00,0.000,6,0.000,0.020,3452,2007,2130,0,0,0,0,0,0
$GC,6796,1.38,224.5,330.7,9.4,277,6811,0.10,2.80,9.62,0.730,4,0.089,0.060,3480,408,2094,0,0,0,0,0,0
$GC,6884,1.33,224.5,321.0,11.5,279,6888,0.00,2.50,0.00,0.000,6,0.000,0.020,3480,1994,2091,0,0,0,0,0,0
$GC,7207,1.34,232.4,289.9,9.5,287,7222,0.00,2.60,7.88,0.682,4,0.000,0.036,3480,3548,2062,0,0,0,0,0,0
$GC,7298,1.37,254.7,282.1,8.5,289,7326,0.00,2.60,21.55,0.750,6,0.000,0.038,3480,1971,1970,0,0,0,0,0,0
$GC,7666,1.44,272.0,249.6,8.8,298,7689,0.00,2.75,16.12,0.713,4,0.000,0.064,3480,408,1899,0,0,0,0,0,0
$GC,7820,1.44,272.0,232.2,11.3,301,7824,0.00,2.47,0.00,0.000,6,0.000,0.025,3480,1976,1897,0,0,0,0,0,0
$GC,8162,1.50,272.0,198.1,10.4,310,8167,0.00,2.67,0.00,0.000,4,0.000,0.059,3480,403,1896,0,0,0,0,0,0
$GC,8242,1.51,280.9,190.5,9.4,316,8257,0.10,2.45,8.88,0.619,6,0.089,0.022,3508,1973,1863,0,0,0,0,0,0
$GC,8582,1.54,303.3,157.4,8.5,348,8610,0.00,2.72,20.52,0.640,4,0.000,0.053,3509,415,1772,0,0,0,0,0,0
$GC,8641,1.54,303.3,152.1,10.3,353,8646,0.00,2.45,0.00,0.000,6,0.000,0.019,3508,1973,1770,0,0,0,0,0,0
$GC,8970,1.61,314.4,121.7,9.3,383,8986,0.00,2.65,10.80,0.570,4,0.000,0.057,3508,410,1727,0,0,0,0,0,0
$GC,9005,1.61,314.4,117.8,10.2,385,9011,0.00,2.45,0.00,0.000,6,0.000,0.020,3508,1975,1725,0,0,0,0,0,0
$GC,9331,1.68,319.9,85.3,9.7,416,9346,0.15,2.70,5.80,0.472,4,0.070,0.053,3550,404,1706,0,0,0,0,0,0
$GC,9510,1.68,319.9,64.7,12.0,430,9514,0.00,2.40,0.00,0.000,6,0.000,0.017,3551,1951,1705,0,0,0,0,0,0
$GC,9840,1.69,323.8,31.9,9.8,460,9855,0.00,2.65,5.47,0.429,4,0.000,0.051,3551,403,1688,0,0,0,0,0,0
$GC,9914,1.65,323.8,23.9,11.6,468,9923,0.00,2.40,0.00,0.000,6,0.000,0.018,3550,1942,1687,0,0,0,0,0,0
$STATE,10087,end climb,SURFACE_DEPTH_REACHED
$STATE,10087,begin surface coast
$FINISH,0.6,0.974307
$STATE,10133,end surface coast,CONTROL_FINISHED_OK
$STATE,10133,begin surface
$SM_CCo,10155,46.28,0.511,0,0,1460,380.21
$SM_GC,1.31,0.00,0.00,46.28,0.000,0.000,0.511,474,1944,1460,-12.43,-1.87,380.21
$IRIDIUM_FIX,2241.69,-15802.37,051000,020239
$TT8_MAMPS,0.025311
$HUMID,64.56
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,20.40
$XPDR_PINGS,61
$24V_AH,23.4,62.933
$10V_AH,10.0,56.542
$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,28.800,113.925,377.350,46.275,0.000,50.760,81.445,628.915,15.250,0.000,36.199,1006.496,6679.812,481.240,1969.388,1048.302,33.373,1185.420,0.000,1949.714,0.000,0.537,0.000
$DEVICE_MAMPS,270.751,101.244,908.128,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,338.439,271.091,381.710,719.045,1087.347,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,38461,499
$CAP_FILE_SIZE,108926,0
$CFSIZE,260165632,155631616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120711,050307,2249.798,-15801.486,32,1.8,32,10.1