version: 66.06
glider: 146
mission: 6
dive: 516
start: 7 13 111 5 31 54
data:
$ID,146
$MISSION,6
$DIVE,516
$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,-280836.41
$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,15
$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
$GPS1,051231,2250.260,-15758.624,38,1.6,38,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-70.4
$GPS2,053104,2250.357,-15758.750,10,2.2,29,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.204,-0.071
$KALMAN_X,-439899.1,-305.1,11.2,436859.4,-864.3
$KALMAN_Y,171158.2,556.8,340.7,-160101.0,454.1
$MHEAD_RNG_PITCHd_Wd,99.3,3060,-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,-70.90,0.000,2,0.000,0.000,473,2068,3274,0,0,0,0,0,0
$GC,94,-1.48,-97.3,3.7,-5.9,9,120,12.40,2.80,-2.40,0.000,4,0.150,0.060,2841,410,3410,0,0,0,0,0,0
$GC,164,-1.37,-97.3,22.4,-16.0,18,173,0.12,2.50,0.00,0.000,6,0.123,0.015,2870,2023,3412,0,0,0,0,0,0
$GC,509,-1.37,-97.3,69.6,-13.0,53,513,0.00,2.45,0.00,0.000,4,0.000,0.034,2870,3556,3412,0,0,0,0,0,0
$GC,570,-1.42,-97.3,78.3,-13.1,57,580,0.00,2.50,0.00,0.000,6,0.000,0.024,2870,1990,3412,0,0,0,0,0,0
$GC,898,-1.46,-97.3,115.0,-11.1,88,903,0.00,2.50,0.00,0.000,4,0.000,0.028,2870,3558,3412,0,0,0,0,0,0
$GC,919,-1.51,-97.3,117.2,-10.3,89,925,0.10,2.45,0.00,0.000,6,0.082,0.023,2828,1999,3412,0,0,0,0,0,0
$GC,1244,-1.51,-97.3,156.3,-12.1,119,1248,0.00,2.58,0.00,0.000,4,0.000,0.057,2828,433,3413,0,0,0,0,0,0
$GC,1277,-1.47,-97.3,159.9,-12.6,121,1282,0.12,2.40,0.00,0.000,6,0.117,0.021,2853,2020,3413,0,0,0,0,0,0
$GC,1606,-1.53,-97.3,194.6,-10.0,151,1610,0.00,2.40,0.00,0.000,4,0.000,0.035,2852,3551,3413,0,0,0,0,0,0
$GC,1650,-1.63,-97.3,199.1,-10.8,154,1655,0.15,2.40,0.00,0.000,6,0.061,0.025,2797,2005,3413,0,0,0,0,0,0
$GC,1981,-1.63,-97.3,236.7,-11.3,162,1986,0.10,2.47,0.00,0.000,4,0.120,0.033,2818,3551,3413,0,0,0,0,0,0
$GC,2079,-1.67,-97.3,246.1,-9.5,164,2084,0.00,2.38,0.00,0.000,6,0.000,0.028,2819,2026,3413,0,0,0,0,0,0
$GC,2392,-1.67,-97.3,279.0,-10.7,172,2396,0.00,2.42,0.00,0.000,4,0.000,0.036,2819,3554,3413,0,0,0,0,0,0
$GC,2421,-1.72,-97.3,282.2,-11.5,172,2426,0.00,2.40,0.00,0.000,6,0.000,0.030,2819,2036,3413,0,0,0,0,0,0
$GC,2753,-1.77,-97.3,314.7,-9.3,180,2758,0.12,2.47,0.00,0.000,4,0.073,0.041,2776,3551,3413,0,0,0,0,0,0
$GC,2839,-1.77,-97.3,323.4,-10.1,182,2843,0.00,2.45,0.00,0.000,6,0.000,0.035,2776,2036,3413,0,0,0,0,0,0
$GC,3162,-1.77,-97.3,356.9,-10.4,190,3167,0.00,2.45,0.00,0.000,4,0.000,0.041,2776,3543,3412,0,0,0,0,0,0
$GC,3184,-1.77,-97.3,359.2,-10.4,190,3188,0.00,2.47,0.00,0.000,6,0.000,0.038,2776,2034,3412,0,0,0,0,0,0
$GC,3523,-1.77,-97.3,391.2,-9.2,199,3527,0.00,2.47,0.00,0.000,4,0.000,0.050,2776,3544,3410,0,0,0,0,0,0
$GC,3583,-1.77,-97.3,397.0,-8.9,200,3588,0.00,2.53,0.00,0.000,6,0.000,0.050,2776,2031,3410,0,0,0,0,0,0
$GC,3926,-1.77,-97.3,430.0,-10.1,209,3927,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2031,3407,0,0,0,0,0,0
$GC,4252,-1.77,-97.3,465.0,-10.8,217,4256,0.00,2.55,0.00,0.000,4,0.000,0.059,2777,3541,3405,0,0,0,0,0,0
$GC,4267,-1.77,-97.3,467.0,-10.6,217,4272,0.00,2.50,0.00,0.000,6,0.000,0.049,2776,2044,3405,0,0,0,0,0,0
$STATE,4607,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4607,begin apogee
$GC,4614,-0.31,0.0,502.4,10.4,226,4699,1.48,0.00,81.18,0.908,6,0.084,0.000,3106,1988,3009,0,0,0,0,0,0
$STATE,4700,end apogee,CONTROL_FINISHED_OK
$STATE,4700,begin climb
$GC,4704,1.48,97.3,504.6,0.0,228,4797,1.62,3.03,82.78,0.889,4,0.036,0.107,3506,413,2612,0,0,0,0,0,0
$GC,4847,1.32,151.0,503.0,6.3,231,4902,0.20,2.55,46.95,0.867,6,0.120,0.035,3466,1944,2393,0,0,0,0,0,0
$GC,5234,1.30,173.5,470.8,8.5,241,5260,0.00,2.78,19.88,0.833,4,0.000,0.061,3466,3529,2301,0,0,0,0,0,0
$GC,5341,1.31,180.1,461.0,9.6,243,5355,0.00,2.58,7.00,0.709,6,0.000,0.044,3466,2000,2275,0,0,0,0,0,0
$GC,5687,1.32,186.1,427.8,9.6,252,5695,0.00,0.00,6.32,0.689,6,0.000,0.000,3466,1999,2251,0,0,0,0,0,0
$GC,6012,1.32,186.1,393.6,10.6,260,6017,0.00,2.85,0.00,0.000,4,0.000,0.084,3466,401,2247,0,0,0,0,0,0
$GC,6136,1.25,186.1,378.5,12.6,262,6142,0.00,2.53,0.00,0.000,6,0.000,0.026,3466,1976,2245,0,0,0,0,0,0
$GC,6467,1.28,206.7,347.9,8.6,271,6488,0.00,0.00,19.00,0.791,6,0.000,0.000,3466,1976,2167,0,0,0,0,0,0
$GC,6792,1.30,220.3,318.7,9.1,279,6811,0.00,2.78,13.27,0.753,4,0.000,0.063,3466,410,2110,0,0,0,0,0,0
$GC,6851,1.30,220.3,312.5,10.9,280,6856,0.00,2.55,0.00,0.000,6,0.000,0.021,3466,2012,2108,0,0,0,0,0,0
$GC,7200,1.36,229.2,279.8,9.4,289,7214,0.00,2.80,8.68,0.687,4,0.000,0.062,3466,402,2075,0,0,0,0,0,0
$GC,7290,1.36,229.2,270.6,10.9,291,7294,0.00,2.53,0.00,0.000,6,0.000,0.021,3466,2008,2072,0,0,0,0,0,0
$GC,7614,1.46,263.0,244.0,7.7,299,7655,0.12,2.85,31.33,0.732,4,0.084,0.054,3498,405,1935,0,0,0,0,0,0
$GC,7716,1.46,263.0,233.9,11.0,301,7721,0.00,2.50,0.00,0.000,6,0.000,0.024,3498,2001,1933,0,0,0,0,0,0
$GC,8064,1.46,263.0,199.2,10.4,310,8068,0.00,2.72,0.00,0.000,4,0.000,0.054,3499,400,1930,0,0,0,0,0,0
$GC,8143,1.46,263.0,191.4,11.1,316,8147,0.00,2.50,0.00,0.000,6,0.000,0.023,3499,1995,1929,0,0,0,0,0,0
$GC,8472,1.53,284.1,160.1,8.6,346,8497,0.00,2.78,18.52,0.638,4,0.000,0.059,3499,404,1851,0,0,0,0,0,0
$GC,8545,1.53,284.9,153.1,10.0,352,8551,0.00,2.47,0.00,0.000,6,0.000,0.024,3499,1990,1848,0,0,0,0,0,0
$GC,8874,1.60,291.7,124.1,9.6,383,8889,0.10,2.75,7.93,0.543,4,0.087,0.051,3528,399,1818,0,0,0,0,0,0
$GC,9033,1.60,291.7,105.1,12.5,396,9043,0.00,2.45,0.00,0.000,6,0.000,0.024,3528,1958,1817,0,0,0,0,0,0
$GC,9364,1.63,320.0,74.8,8.1,427,9394,0.00,2.65,25.45,0.566,4,0.000,0.050,3528,400,1704,0,0,0,0,0,0
$GC,9444,1.63,321.4,67.6,9.9,433,9448,0.00,2.42,0.00,0.000,6,0.000,0.017,3528,1966,1702,0,0,0,0,0,0
$GC,9772,1.70,326.7,36.4,9.7,463,9787,0.00,2.67,7.32,0.464,4,0.000,0.049,3528,404,1676,0,0,0,0,0,0
$GC,9876,1.70,326.7,24.5,12.1,474,9885,0.00,2.42,0.00,0.000,6,0.000,0.017,3528,1957,1675,0,0,0,0,0,0
$STATE,10079,end climb,SURFACE_DEPTH_REACHED
$STATE,10079,begin surface coast
$FINISH,0.6,0.975506
$STATE,10124,end surface coast,CONTROL_FINISHED_OK
$STATE,10124,begin surface
$SM_CCo,10146,43.55,0.509,0,0,1459,380.21
$SM_GC,1.45,0.00,0.00,43.55,0.000,0.000,0.509,473,1958,1459,-12.43,-1.47,380.21
$IRIDIUM_FIX,2241.69,-15757.16,061000,050524
$TT8_MAMPS,0.026078
$HUMID,64.96
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,20.40
$XPDR_PINGS,54
$24V_AH,23.4,64.033
$10V_AH,10.0,57.609
$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,29.075,112.800,375.600,43.550,0.000,76.854,110.193,633.000,13.500,0.000,32.067,1015.203,6717.075,462.512,1986.284,1119.145,33.371,1179.405,0.000,1970.739,0.000,0.536,0.000
$DEVICE_MAMPS,150.332,134.225,908.128,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,345.001,290.293,393.423,750.067,1134.408,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,41468,509
$CAP_FILE_SIZE,109589,0
$CFSIZE,260165632,155152384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130711,082306,2249.940,-15758.167,35,1.5,41,10.1