version: 66.06
glider: 146
mission: 6
dive: 511
start: 7 12 111 14 18 47
data:
$ID,146
$MISSION,6
$DIVE,511
$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,-280719.34
$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,60
$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
$GPS1,140906,2250.001,-15759.989,38,1.2,49,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.37
$_SM_ANGLEo,-69.3
$GPS2,141755,2250.049,-15800.087,9,1.1,14,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.214,-0.028
$KALMAN_X,-432902.8,-8.9,-202.8,427499.3,-721.5
$KALMAN_Y,167434.6,-76.0,67.7,-156045.0,255.2
$MHEAD_RNG_PITCHd_Wd,87.4,5270,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.48,-97.3,0.0,0.0,0,92,0.00,0.00,-70.97,0.000,2,0.000,0.000,475,1964,3250,0,0,0,0,0,0
$GC,95,-1.48,-97.3,3.5,-5.4,9,121,12.38,2.60,-3.08,0.000,4,0.150,0.055,2842,423,3410,0,0,0,0,0,0
$GC,139,-0.90,-97.3,16.2,-26.9,14,149,0.60,2.47,0.00,0.000,6,0.094,0.018,2976,2014,3411,0,0,0,0,0,0
$GC,501,-1.10,-97.3,47.3,-8.2,55,506,0.17,2.50,0.00,0.000,4,0.057,0.028,2920,3567,3413,0,0,0,0,0,0
$GC,548,-1.23,-97.3,52.1,-10.4,58,552,0.00,2.47,0.00,0.000,6,0.000,0.023,2919,1993,3412,0,0,0,0,0,0
$GC,872,-1.34,-97.3,88.7,-11.1,88,874,0.15,0.00,0.00,0.000,6,0.061,0.000,2867,1993,3413,0,0,0,0,0,0
$GC,1194,-1.34,-97.3,130.9,-12.6,118,1198,0.00,2.47,0.00,0.000,4,0.000,0.029,2867,3558,3413,0,0,0,0,0,0
$GC,1250,-1.42,-97.3,138.6,-13.0,122,1259,0.00,2.42,0.00,0.000,6,0.000,0.022,2867,2032,3413,0,0,0,0,0,0
$GC,1576,-1.50,-97.3,175.5,-9.9,153,1577,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2032,3414,0,0,0,0,0,0
$GC,1893,-1.58,-97.3,204.5,-8.8,180,1897,0.15,2.47,0.00,0.000,4,0.062,0.028,2813,3572,3414,0,0,0,0,0,0
$GC,1995,-1.62,-97.3,215.5,-10.8,182,1999,0.00,2.40,0.00,0.000,6,0.000,0.026,2813,2026,3414,0,0,0,0,0,0
$GC,2342,-1.62,-97.3,251.3,-10.1,191,2347,0.00,2.45,0.00,0.000,4,0.000,0.031,2813,3558,3415,0,0,0,0,0,0
$GC,2428,-1.67,-97.3,259.3,-9.0,193,2432,0.00,2.40,0.00,0.000,6,0.000,0.024,2813,2037,3415,0,0,0,0,0,0
$GC,2753,-1.67,-97.3,287.7,-8.6,201,2757,0.00,2.42,0.00,0.000,4,0.000,0.041,2813,3553,3415,0,0,0,0,0,0
$GC,2825,-1.72,-97.3,294.6,-8.9,202,2830,0.00,2.38,0.00,0.000,6,0.000,0.028,2813,2054,3414,0,0,0,0,0,0
$GC,3159,-1.76,-97.3,325.3,-9.6,210,3163,0.00,2.42,0.00,0.000,4,0.000,0.037,2813,3561,3415,0,0,0,0,0,0
$GC,3192,-1.83,-97.3,328.8,-9.8,210,3198,0.15,2.42,0.00,0.000,6,0.058,0.033,2755,2060,3415,0,0,0,0,0,0
$GC,3523,-1.77,-97.3,367.5,-12.2,219,3528,0.15,2.45,0.00,0.000,4,0.106,0.041,2786,3551,3413,0,0,0,0,0,0
$GC,3553,-1.77,-97.3,371.0,-12.1,219,3557,0.00,2.45,0.00,0.000,6,0.000,0.039,2786,2064,3413,0,0,0,0,0,0
$GC,3884,-1.77,-97.3,408.4,-11.2,227,3888,0.00,2.47,0.00,0.000,4,0.000,0.048,2786,3548,3412,0,0,0,0,0,0
$GC,4015,-1.77,-97.3,422.0,-10.0,230,4019,0.00,2.45,0.00,0.000,6,0.000,0.054,2786,2076,3412,0,0,0,0,0,0
$GC,4338,-1.77,-97.3,455.3,-10.4,238,4343,0.00,3.05,0.00,0.000,4,0.000,0.107,2786,428,3409,0,0,0,0,0,0
$GC,4365,-1.77,-97.3,458.4,-11.5,238,4370,0.00,2.60,0.00,0.000,6,0.000,0.044,2786,2026,3408,0,0,0,0,0,0
$GC,4698,-1.77,-97.3,494.6,-11.2,246,4699,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,2026,3406,0,0,0,0,0,0
$STATE,4775,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4775,begin apogee
$GC,4781,-0.31,0.0,503.6,11.3,248,4867,1.42,0.00,81.72,0.910,6,0.094,0.000,3107,1982,3010,0,0,0,0,0,0
$STATE,4868,end apogee,CONTROL_FINISHED_OK
$STATE,4868,begin climb
$GC,4870,1.48,97.3,506.1,0.0,250,4962,1.65,2.88,82.80,0.887,4,0.040,0.067,3508,3577,2613,0,0,0,0,0,0
$GC,5016,1.38,147.7,504.4,6.6,253,5068,0.15,2.70,43.97,0.866,6,0.130,0.049,3479,2004,2408,0,0,0,0,0,0
$GC,5394,1.31,149.3,467.7,9.9,263,5399,0.00,2.95,0.00,0.000,4,0.000,0.100,3479,407,2398,0,0,0,0,0,0
$GC,5512,1.18,150.2,455.2,10.0,265,5517,0.22,2.60,0.00,0.000,6,0.113,0.031,3434,1993,2396,0,0,0,0,0,0
$GC,5844,1.25,201.4,432.2,6.5,273,5899,0.00,2.92,46.53,0.854,4,0.000,0.072,3434,402,2187,0,0,0,0,0,0
$GC,5995,1.25,204.1,419.1,9.9,276,5999,0.00,2.58,0.00,0.000,6,0.000,0.032,3433,1976,2182,0,0,0,0,0,0
$GC,6339,1.31,210.5,387.7,9.6,285,6354,0.10,2.80,7.95,0.726,4,0.092,0.066,3461,406,2152,0,0,0,0,0,0
$GC,6376,1.26,210.5,383.2,11.5,285,6382,0.00,2.55,0.00,0.000,6,0.000,0.021,3461,1980,2151,0,0,0,0,0,0
$GC,6707,1.26,210.6,348.8,10.0,294,6712,0.00,2.70,0.00,0.000,4,0.000,0.064,3461,406,2149,0,0,0,0,0,0
$GC,6741,1.26,210.6,345.1,11.2,294,6747,0.00,2.47,0.00,0.000,6,0.000,0.020,3461,1967,2147,0,0,0,0,0,0
$GC,7072,1.29,232.4,316.1,8.5,303,7095,0.00,0.00,20.52,0.780,6,0.000,0.000,3461,1967,2062,0,0,0,0,0,0
$GC,7398,1.35,244.8,286.6,9.2,311,7417,0.00,2.78,11.95,0.727,4,0.000,0.058,3461,404,2011,0,0,0,0,0,0
$GC,7458,1.35,244.8,280.6,10.8,312,7463,0.00,2.50,0.00,0.000,6,0.000,0.019,3461,1973,2009,0,0,0,0,0,0
$GC,7809,1.46,273.6,250.3,8.0,321,7844,0.12,2.80,26.65,0.734,4,0.078,0.059,3497,402,1893,0,0,0,0,0,0
$GC,7880,1.42,273.6,243.2,11.1,322,7885,0.00,2.45,0.00,0.000,6,0.000,0.019,3498,1961,1890,0,0,0,0,0,0
$GC,8216,1.42,273.6,207.7,10.9,331,8221,0.00,2.65,0.00,0.000,4,0.000,0.061,3498,398,1889,0,0,0,0,0,0
$GC,8255,1.42,273.6,203.3,11.6,332,8260,0.00,2.40,0.00,0.000,6,0.000,0.017,3497,1945,1886,0,0,0,0,0,0
$GC,8583,1.48,298.2,172.5,8.3,360,8610,0.00,2.70,21.58,0.657,4,0.000,0.054,3498,405,1793,0,0,0,0,0,0
$GC,8693,1.48,298.2,160.1,11.0,369,8703,0.00,2.42,0.00,0.000,6,0.000,0.018,3497,1936,1791,0,0,0,0,0,0
$GC,9019,1.56,305.8,128.0,9.5,400,9032,0.00,2.62,7.43,0.544,4,0.000,0.055,3497,397,1764,0,0,0,0,0,0
$GC,9061,1.57,313.7,124.6,9.5,403,9075,0.00,2.40,8.82,0.558,6,0.000,0.023,3498,1933,1730,0,0,0,0,0,0
$GC,9406,1.70,347.4,95.6,7.7,435,9444,0.20,2.67,30.05,0.588,4,0.060,0.055,3552,400,1592,0,0,0,0,0,0
$GC,9513,1.70,347.4,83.5,12.8,444,9517,0.00,2.38,0.00,0.000,6,0.000,0.024,3551,1920,1590,0,0,0,0,0,0
$GC,9841,1.70,347.4,48.7,11.9,474,9845,0.00,2.55,0.00,0.000,4,0.000,0.050,3552,401,1590,0,0,0,0,0,0
$GC,9913,1.70,347.4,39.4,12.1,479,9922,0.00,2.35,0.00,0.000,6,0.000,0.017,3552,1904,1589,0,0,0,0,0,0
$STATE,10225,end climb,SURFACE_DEPTH_REACHED
$STATE,10226,begin surface coast
$FINISH,0.7,0.971454
$STATE,10268,end surface coast,CONTROL_FINISHED_OK
$STATE,10268,begin surface
$SM_CCo,10292,27.38,0.504,0,0,1460,380.21
$SM_GC,1.25,0.00,0.00,27.38,0.000,0.000,0.504,474,2106,1460,-12.42,2.71,380.21
$IRIDIUM_FIX,2241.69,-15759.32,051000,111117
$TT8_MAMPS,0.026078
$HUMID,65.67
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,20.30
$XPDR_PINGS,58
$24V_AH,23.4,63.407
$10V_AH,10.0,57.019
$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,30.100,112.825,389.975,27.375,0.000,31.025,33.628,334.793,14.500,0.000,15.599,1042.300,6591.951,466.227,2071.729,676.689,33.369,1200.814,0.000,2070.545,0.000,0.533,0.000
$DEVICE_MAMPS,149.565,134.225,909.662,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,356.306,295.421,412.276,801.225,1211.726,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,41565,526
$CAP_FILE_SIZE,104681,0
$CFSIZE,260165632,155422720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120711,171158,2250.426,-15759.486,10,4.5,29,10.1