version: 66.06
glider: 146
mission: 6
dive: 517
start: 7 13 111 8 33 22
data:
$ID,146
$MISSION,6
$DIVE,517
$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,-280868.19
$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,63
$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
$GPS1,082306,2249.940,-15758.167,35,1.5,41,10.1
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.39
$_SM_ANGLEo,-70.3
$GPS2,083231,2249.900,-15758.235,12,1.6,29,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.203,0.073
$KALMAN_X,-441160.3,-255.9,81.6,438878.9,-1021.6
$KALMAN_Y,171222.6,528.4,190.7,-160828.5,-643.7
$MHEAD_RNG_PITCHd_Wd,60.1,2118,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.48,-97.3,0.0,0.0,0,91,0.00,0.00,-70.65,0.000,2,0.000,0.000,473,1958,3241,0,0,0,0,0,0
$GC,94,-1.48,-97.3,3.4,-5.1,9,120,12.18,2.60,-3.20,0.000,4,0.141,0.058,2842,421,3409,0,0,0,0,0,0
$GC,173,-1.39,-97.3,21.6,-15.4,19,183,0.10,2.47,0.00,0.000,6,0.107,0.020,2867,2029,3411,0,0,0,0,0,0
$GC,520,-1.39,-97.3,68.6,-13.8,54,524,0.00,2.40,0.00,0.000,4,0.000,0.035,2867,3548,3411,0,0,0,0,0,0
$GC,581,-1.46,-97.3,76.9,-12.2,58,590,0.00,2.50,0.00,0.000,6,0.000,0.029,2867,1983,3412,0,0,0,0,0,0
$GC,912,-1.50,-97.3,112.7,-10.9,89,916,0.00,2.50,0.00,0.000,4,0.000,0.027,2867,3552,3413,0,0,0,0,0,0
$GC,933,-1.56,-97.3,115.7,-10.7,90,943,0.10,2.45,0.00,0.000,6,0.035,0.029,2818,2004,3413,0,0,0,0,0,0
$GC,1261,-1.56,-97.3,153.1,-10.2,121,1266,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,2004,3413,0,0,0,0,0,0
$GC,1589,-1.56,-97.3,189.8,-12.1,152,1593,0.00,2.45,0.00,0.000,4,0.000,0.031,2818,3558,3413,0,0,0,0,0,0
$GC,1679,-1.56,-97.3,201.5,-12.5,159,1683,0.00,2.45,0.00,0.000,6,0.000,0.028,2818,1994,3414,0,0,0,0,0,0
$GC,1998,-1.56,-97.3,235.7,-10.1,167,1999,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1994,3413,0,0,0,0,0,0
$GC,2325,-1.56,-97.3,264.3,-8.6,175,2329,0.00,2.47,0.00,0.000,4,0.000,0.035,2818,3551,3414,0,0,0,0,0,0
$GC,2403,-1.62,-97.3,271.9,-8.9,176,2408,0.00,2.42,0.00,0.000,6,0.000,0.029,2818,2020,3414,0,0,0,0,0,0
$GC,2734,-1.66,-97.3,303.5,-9.5,185,2738,0.00,2.45,0.00,0.000,4,0.000,0.039,2818,3550,3414,0,0,0,0,0,0
$GC,2757,-1.71,-97.3,306.0,-10.5,185,2761,0.00,2.45,0.00,0.000,6,0.000,0.033,2818,2018,3413,0,0,0,0,0,0
$GC,3093,-1.76,-97.3,340.5,-10.7,194,3098,0.12,2.50,0.00,0.000,4,0.074,0.041,2777,3548,3413,0,0,0,0,0,0
$GC,3109,-1.76,-97.3,342.5,-11.4,194,3114,0.00,2.50,0.00,0.000,6,0.000,0.035,2777,2014,3413,0,0,0,0,0,0
$GC,3453,-1.76,-97.3,380.3,-10.1,203,3457,0.00,2.50,0.00,0.000,4,0.000,0.043,2777,3541,3412,0,0,0,0,0,0
$GC,3492,-1.76,-97.3,384.4,-9.9,204,3496,0.00,2.50,0.00,0.000,6,0.000,0.044,2777,2025,3412,0,0,0,0,0,0
$GC,3817,-1.76,-97.3,413.5,-9.1,212,3822,0.00,2.53,0.00,0.000,4,0.000,0.046,2777,3543,3409,0,0,0,0,0,0
$GC,3862,-1.76,-97.3,418.1,-9.7,213,3866,0.00,2.55,0.00,0.000,6,0.000,0.055,2777,2026,3409,0,0,0,0,0,0
$GC,4180,-1.76,-97.3,451.4,-11.2,221,4184,0.00,2.55,0.00,0.000,4,0.000,0.057,2776,3542,3408,0,0,0,0,0,0
$GC,4275,-1.76,-97.3,462.3,-12.0,223,4280,0.00,2.58,0.00,0.000,6,0.000,0.058,2777,2030,3407,0,0,0,0,0,0
$GC,4588,-1.76,-97.3,498.1,-11.2,231,4592,0.00,2.58,0.00,0.000,4,0.000,0.064,2776,3540,3404,0,0,0,0,0,0
$STATE,4606,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4606,begin apogee
$GC,4615,-0.31,0.0,500.6,11.6,231,4700,1.45,0.00,81.43,0.910,6,0.084,0.000,3102,1990,3010,0,0,0,0,0,0
$STATE,4701,end apogee,CONTROL_FINISHED_OK
$STATE,4701,begin climb
$GC,4705,1.48,97.3,503.1,0.0,233,4798,1.62,3.05,82.80,0.886,4,0.038,0.107,3502,403,2613,0,0,0,0,0,0
$GC,4845,1.34,158.8,502.7,5.8,236,4906,0.17,2.55,53.80,0.869,6,0.126,0.036,3469,1949,2362,0,0,0,0,0,0
$GC,5238,1.29,158.8,466.0,10.2,246,5242,0.00,2.80,0.00,0.000,4,0.000,0.061,3469,3581,2352,0,0,0,0,0,0
$GC,5300,1.24,158.8,459.5,10.7,247,5306,0.12,2.65,0.00,0.000,6,0.136,0.048,3445,1999,2350,0,0,0,0,0,0
$GC,5643,1.27,182.3,429.3,8.4,256,5665,0.00,0.00,20.35,0.826,6,0.000,0.000,3445,1999,2266,0,0,0,0,0,0
$GC,5968,1.28,186.9,398.5,9.7,264,5978,0.00,2.90,4.65,0.597,4,0.000,0.084,3445,409,2247,0,0,0,0,0,0
$GC,6018,1.28,186.9,393.4,10.6,265,6022,0.00,2.58,0.00,0.000,6,0.000,0.026,3445,2009,2245,0,0,0,0,0,0
$GC,6330,1.30,209.5,365.8,8.5,273,6359,0.00,2.83,21.25,0.804,4,0.000,0.061,3445,404,2156,0,0,0,0,0,0
$GC,6394,1.30,209.5,359.4,11.0,274,6399,0.00,2.58,0.00,0.000,6,0.000,0.020,3445,2002,2153,0,0,0,0,0,0
$GC,6737,1.40,245.1,330.0,7.6,283,6779,0.15,2.85,32.75,0.795,4,0.074,0.064,3485,408,2009,0,0,0,0,0,0
$GC,6910,1.35,245.1,313.0,10.7,286,6916,0.00,2.53,0.00,0.000,6,0.000,0.026,3485,1983,2005,0,0,0,0,0,0
$GC,7241,1.36,251.6,280.8,9.6,295,7255,0.00,2.72,6.28,0.631,4,0.000,0.061,3485,406,1982,0,0,0,0,0,0
$GC,7272,1.32,251.6,277.4,10.7,295,7278,0.12,2.50,0.00,0.000,6,0.127,0.025,3462,1989,1982,0,0,0,0,0,0
$GC,7606,1.43,281.8,249.7,8.0,303,7636,0.10,0.00,28.02,0.731,6,0.090,0.000,3490,1990,1861,0,0,0,0,0,0
$GC,7928,1.43,281.8,215.8,10.8,311,7933,0.00,2.70,0.00,0.000,4,0.000,0.059,3490,405,1855,0,0,0,0,0,0
$GC,8041,1.43,281.8,202.3,11.9,313,8046,0.00,2.47,0.00,0.000,6,0.000,0.021,3490,1990,1854,0,0,0,0,0,0
$GC,8370,1.48,281.8,168.2,10.2,341,8374,0.00,2.70,0.00,0.000,4,0.000,0.054,3489,400,1854,0,0,0,0,0,0
$GC,8457,1.48,281.8,158.4,11.2,348,8462,0.00,2.45,0.00,0.000,6,0.000,0.017,3490,1969,1853,0,0,0,0,0,0
$GC,8783,1.56,291.7,126.1,9.4,378,8798,0.10,2.65,9.12,0.568,4,0.088,0.057,3519,403,1819,0,0,0,0,0,0
$GC,8967,1.56,291.7,106.3,10.4,393,8971,0.00,2.40,0.00,0.000,6,0.000,0.024,3519,1946,1817,0,0,0,0,0,0
$GC,9298,1.62,306.2,78.6,9.0,423,9317,0.00,2.62,13.95,0.553,4,0.000,0.031,3519,3559,1759,0,0,0,0,0,0
$GC,9335,1.66,306.5,75.0,10.0,425,9339,0.00,2.62,0.00,0.000,6,0.000,0.034,3519,1935,1759,0,0,0,0,0,0
$GC,9663,1.75,316.8,43.4,9.3,455,9681,0.15,2.65,10.57,0.505,4,0.071,0.057,3562,394,1718,0,0,0,0,0,0
$GC,9801,1.69,316.8,27.1,12.1,467,9810,0.00,2.45,0.00,0.000,6,0.000,0.018,3562,1946,1715,0,0,0,0,0,0
$STATE,10025,end climb,SURFACE_DEPTH_REACHED
$STATE,10025,begin surface coast
$FINISH,0.6,0.975110
$STATE,10074,end surface coast,CONTROL_FINISHED_OK
$STATE,10074,begin surface
$SM_CCo,10097,52.00,0.512,0,0,1460,380.21
$SM_GC,1.28,0.00,0.00,52.00,0.000,0.000,0.512,472,2050,1460,-12.43,1.10,380.21
$IRIDIUM_FIX,2241.69,-15757.16,061000,050553
$TT8_MAMPS,0.026078
$HUMID,65.39
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,20.20
$XPDR_PINGS,60
$24V_AH,23.4,64.152
$10V_AH,10.1,57.725
$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,29.025,113.375,364.975,52.000,0.000,28.467,41.008,341.097,15.000,0.000,31.148,1011.669,6550.774,470.076,1992.594,687.162,33.372,1186.545,0.000,1976.866,0.000,0.534,0.000
$DEVICE_MAMPS,141.128,132.691,909.662,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,343.210,274.457,389.728,747.740,1130.780,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,38429,506
$CAP_FILE_SIZE,102275,0
$CFSIZE,260165632,155111424
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130711,112337,2250.023,-15757.806,24,1.6,24,10.1