version: 66.06
glider: 146
mission: 6
dive: 508
start: 7 12 111 5 17 12
data:
$ID,146
$MISSION,6
$DIVE,508
$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,-280648.12
$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
$GPS1,050307,2249.798,-15801.486,32,1.8,32,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-71.1
$GPS2,051622,2249.830,-15801.560,10,99.0,29,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.215,-0.012
$KALMAN_X,-428777.9,-477.2,-38.8,421163.0,-727.7
$KALMAN_Y,166053.2,623.1,379.0,-156074.2,172.1
$MHEAD_RNG_PITCHd_Wd,83.0,7789,-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,-70.85,0.000,2,0.000,0.000,473,1944,3277,0,0,0,0,0,0
$GC,94,-1.48,-97.3,3.9,-7.3,9,120,12.48,2.58,-2.38,0.000,4,0.152,0.061,2843,416,3410,0,0,0,0,0,0
$GC,132,-0.55,-97.3,16.9,-32.5,13,140,0.93,2.47,0.00,0.000,6,0.104,0.015,3051,2008,3410,0,0,0,0,0,0
$GC,499,-0.90,-97.3,41.7,-6.1,57,504,0.28,2.50,0.00,0.000,4,0.044,0.028,2962,3565,3411,0,0,0,0,0,0
$GC,534,-1.13,-97.3,44.6,-8.5,59,539,0.15,2.47,0.00,0.000,6,0.058,0.021,2902,1985,3411,0,0,0,0,0,0
$GC,864,-1.19,-97.3,81.7,-10.7,89,868,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1985,3412,0,0,0,0,0,0
$GC,1193,-1.28,-97.3,113.7,-9.1,120,1197,0.00,2.53,0.00,0.000,4,0.000,0.028,2902,3565,3413,0,0,0,0,0,0
$GC,1240,-1.42,-97.3,117.9,-9.5,123,1245,0.15,2.45,0.00,0.000,6,0.060,0.027,2844,2003,3413,0,0,0,0,0,0
$GC,1565,-1.42,-97.3,157.4,-11.4,153,1569,0.00,2.60,0.00,0.000,4,0.000,0.051,2844,436,3413,0,0,0,0,0,0
$GC,1586,-1.42,-97.3,159.4,-11.6,154,1590,0.00,2.40,0.00,0.000,6,0.000,0.015,2844,2025,3413,0,0,0,0,0,0
$GC,1915,-1.47,-97.3,192.0,-8.4,184,1920,0.00,2.42,0.00,0.000,4,0.000,0.028,2844,3556,3413,0,0,0,0,0,0
$GC,1963,-1.55,-97.3,195.8,-8.4,187,1967,0.00,2.38,0.00,0.000,6,0.000,0.028,2844,2022,3414,0,0,0,0,0,0
$GC,2296,-1.59,-97.3,225.3,-9.2,198,2300,0.00,2.42,0.00,0.000,4,0.000,0.028,2844,3550,3414,0,0,0,0,0,0
$GC,2324,-1.68,-97.3,228.3,-10.3,198,2329,0.15,2.38,0.00,0.000,6,0.061,0.021,2790,2024,3414,0,0,0,0,0,0
$GC,2657,-1.65,-97.3,268.1,-11.9,206,2662,0.12,2.47,0.00,0.000,4,0.108,0.032,2817,3554,3414,0,0,0,0,0,0
$GC,2712,-1.71,-97.3,274.0,-10.1,207,2717,0.00,2.38,0.00,0.000,6,0.000,0.024,2817,2039,3414,0,0,0,0,0,0
$GC,3062,-1.75,-97.3,305.5,-9.0,216,3067,0.10,2.47,0.00,0.000,4,0.089,0.043,2779,3554,3414,0,0,0,0,0,0
$GC,3162,-1.75,-97.3,315.8,-10.3,218,3166,0.00,2.38,0.00,0.000,6,0.000,0.035,2779,2059,3414,0,0,0,0,0,0
$GC,3511,-1.75,-97.3,351.0,-10.4,227,3513,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2059,3413,0,0,0,0,0,0
$GC,3835,-1.75,-97.3,388.1,-11.3,235,3839,0.00,2.42,0.00,0.000,4,0.000,0.043,2779,3542,3412,0,0,0,0,0,0
$GC,3862,-1.79,-97.3,390.6,-8.6,235,3867,0.00,2.47,0.00,0.000,6,0.000,0.043,2779,2056,3412,0,0,0,0,0,0
$GC,4194,-1.79,-97.3,422.3,-9.6,243,4195,0.00,0.00,0.00,0.000,6,0.000,0.000,2779,2055,3409,0,0,0,0,0,0
$GC,4520,-1.79,-97.3,454.6,-9.8,251,4524,0.00,2.50,0.00,0.000,4,0.000,0.050,2779,3543,3406,0,0,0,0,0,0
$GC,4694,-1.79,-97.3,471.7,-9.4,255,4698,0.00,2.50,0.00,0.000,6,0.000,0.055,2779,2055,3405,0,0,0,0,0,0
$STATE,5015,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5015,begin apogee
$GC,5023,-0.31,0.0,502.2,9.5,263,5109,1.45,0.00,81.45,0.910,6,0.077,0.000,3108,1985,3010,0,0,0,0,0,0
$STATE,5109,end apogee,CONTROL_FINISHED_OK
$STATE,5109,begin climb
$GC,5112,1.48,97.3,503.8,0.0,265,5203,1.62,2.70,82.90,0.890,4,0.033,0.051,3507,3529,2613,0,0,0,0,0,0
$GC,5212,1.47,201.3,503.7,2.8,267,5310,0.00,2.65,90.18,0.879,6,0.000,0.050,3507,1990,2189,0,0,0,0,0,0
$GC,5625,1.37,201.3,455.7,12.7,278,5631,0.15,2.97,0.00,0.000,4,0.118,0.104,3476,407,2179,0,0,0,0,0,0
$GC,5681,1.28,201.3,448.6,12.1,279,5686,0.10,2.50,0.00,0.000,6,0.137,0.033,3457,1946,2177,0,0,0,0,0,0
$GC,6029,1.28,201.3,413.8,10.1,288,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1946,2175,0,0,0,0,0,0
$GC,6356,1.28,201.3,378.5,11.0,296,6360,0.00,2.72,0.00,0.000,4,0.000,0.048,3456,3588,2174,0,0,0,0,0,0
$GC,6395,1.28,201.3,374.0,11.3,297,6399,0.00,2.62,0.00,0.000,6,0.000,0.042,3456,1996,2172,0,0,0,0,0,0
$GC,6718,1.30,216.6,343.4,9.0,305,6737,0.00,2.90,11.90,0.760,4,0.000,0.076,3456,404,2126,0,0,0,0,0,0
$GC,6756,1.30,216.6,339.7,10.1,305,6762,0.00,2.58,0.00,0.000,6,0.000,0.026,3456,2012,2125,0,0,0,0,0,0
$GC,7088,1.36,229.4,309.6,9.2,314,7108,0.00,2.85,12.48,0.745,4,0.000,0.061,3456,406,2073,0,0,0,0,0,0
$GC,7166,1.36,229.4,301.4,11.0,315,7170,0.00,2.53,0.00,0.000,6,0.000,0.023,3456,2000,2072,0,0,0,0,0,0
$GC,7497,1.45,255.1,272.6,8.3,323,7528,0.15,2.78,24.12,0.752,4,0.075,0.059,3496,408,1968,0,0,0,0,0,0
$GC,7589,1.40,255.1,264.4,10.1,325,7593,0.00,2.50,0.00,0.000,6,0.000,0.025,3496,1981,1966,0,0,0,0,0,0
$GC,7907,1.41,263.0,234.3,9.5,333,7921,0.00,2.62,7.68,0.640,4,0.000,0.039,3496,3555,1937,0,0,0,0,0,0
$GC,7951,1.45,263.0,229.8,10.5,334,7955,0.00,2.60,0.00,0.000,6,0.000,0.038,3496,1977,1936,0,0,0,0,0,0
$GC,8276,1.46,269.0,198.3,9.6,342,8290,0.00,2.70,6.43,0.583,4,0.000,0.066,3496,405,1913,0,0,0,0,0,0
$GC,8398,1.46,269.0,184.7,11.6,352,8402,0.00,2.50,0.00,0.000,6,0.000,0.018,3496,2002,1911,0,0,0,0,0,0
$GC,8726,1.52,272.4,152.0,9.8,382,8737,0.00,2.72,4.57,0.481,4,0.000,0.059,3496,409,1899,0,0,0,0,0,0
$GC,8765,1.52,272.4,147.5,11.4,385,8770,0.00,2.45,0.00,0.000,6,0.000,0.024,3496,1979,1898,0,0,0,0,0,0
$GC,9094,1.58,272.4,114.2,10.1,415,9099,0.10,2.67,0.00,0.000,4,0.094,0.054,3524,406,1898,0,0,0,0,0,0
$GC,9205,1.58,272.4,100.8,12.0,424,9209,0.00,2.42,0.00,0.000,6,0.000,0.017,3525,1971,1898,0,0,0,0,0,0
$GC,9533,1.59,283.9,69.2,9.2,454,9552,0.00,0.00,11.90,0.543,6,0.000,0.000,3525,1972,1851,0,0,0,0,0,0
$GC,9872,1.69,310.5,41.1,8.2,486,9903,0.00,2.70,23.77,0.538,4,0.000,0.049,3525,412,1743,0,0,0,0,0,0
$GC,10041,1.69,310.5,24.1,10.7,503,10051,0.00,2.42,0.00,0.000,6,0.000,0.017,3525,1953,1741,0,0,0,0,0,0
$STATE,10267,end climb,SURFACE_DEPTH_REACHED
$STATE,10267,begin surface coast
$FINISH,0.6,0.978956
$STATE,10343,end surface coast,CONTROL_FINISHED_OK
$STATE,10343,begin surface
$SM_CCo,10365,56.72,0.510,0,0,1460,380.21
$SM_GC,1.50,0.00,0.00,56.72,0.000,0.000,0.510,474,1956,1460,-12.42,-1.53,380.21
$IRIDIUM_FIX,2241.69,-15809.75,051000,050513
$TT8_MAMPS,0.026078
$HUMID,64.80
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,20.60
$XPDR_PINGS,51
$24V_AH,23.4,63.058
$10V_AH,10.0,56.674
$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,30.250,107.450,357.375,56.725,0.000,53.707,98.822,416.327,12.750,0.000,32.272,1072.355,6664.777,458.059,2155.132,864.722,33.369,1182.000,0.000,2140.630,0.000,0.535,0.000
$DEVICE_MAMPS,151.866,121.953,909.662,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,370.430,334.659,434.566,891.936,1350.648,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,41606,546
$CAP_FILE_SIZE,106499,0
$CFSIZE,260165632,155574272
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120711,081227,2249.876,-15800.859,31,2.2,50,10.1