version: 66.06
glider: 146
mission: 6
dive: 520
start: 7 13 111 17 47 6
data:
$ID,146
$MISSION,6
$DIVE,520
$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,-280916.12
$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,15
$R_STBD_OVSHOOT,61
$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
$GPS1,173631,2249.774,-15757.975,36,1.4,36,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.38
$_SM_ANGLEo,-69.8
$GPS2,174614,2249.811,-15758.015,15,1.9,15,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.109,-0.186
$KALMAN_X,-445508.3,3.3,-63.5,443496.5,-984.1
$KALMAN_Y,172883.8,-475.7,547.5,-162018.1,360.0
$MHEAD_RNG_PITCHd_Wd,139.5,5219,-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,17,-1.48,-97.3,0.0,0.0,0,89,0.00,0.00,-69.53,0.000,2,0.000,0.000,480,2098,3215,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.5,-5.4,9,118,12.43,2.85,-3.70,0.000,4,0.152,0.051,2843,404,3408,0,0,0,0,0,0
$GC,183,-1.39,-97.3,24.3,-16.2,21,193,0.10,2.50,0.00,0.000,6,0.107,0.015,2867,2016,3409,0,0,0,0,0,0
$GC,525,-1.39,-97.3,72.6,-12.2,54,529,0.00,2.47,0.00,0.000,4,0.000,0.028,2867,3568,3410,0,0,0,0,0,0
$GC,546,-1.39,-97.3,75.3,-12.6,55,550,0.00,2.50,0.00,0.000,6,0.000,0.021,2867,1982,3410,0,0,0,0,0,0
$GC,874,-1.39,-97.3,115.2,-11.3,85,878,0.00,2.50,0.00,0.000,4,0.000,0.034,2867,3563,3411,0,0,0,0,0,0
$GC,938,-1.45,-97.3,123.1,-11.7,90,942,0.00,2.42,0.00,0.000,6,0.000,0.028,2867,2022,3411,0,0,0,0,0,0
$GC,1262,-1.51,-97.3,157.6,-10.2,120,1266,0.00,2.45,0.00,0.000,4,0.000,0.028,2867,3565,3412,0,0,0,0,0,0
$GC,1284,-1.57,-97.3,159.4,-11.0,121,1289,0.15,2.42,0.00,0.000,6,0.060,0.021,2812,2015,3412,0,0,0,0,0,0
$GC,1614,-1.57,-97.3,195.0,-10.2,151,1618,0.00,2.42,0.00,0.000,4,0.000,0.027,2812,3561,3412,0,0,0,0,0,0
$GC,1636,-1.57,-97.3,198.0,-10.0,152,1642,0.00,2.40,0.00,0.000,6,0.000,0.026,2812,2026,3412,0,0,0,0,0,0
$GC,1949,-1.57,-97.3,231.3,-11.1,162,1954,0.00,2.45,0.00,0.000,4,0.000,0.029,2813,3566,3413,0,0,0,0,0,0
$GC,1965,-1.57,-97.3,233.5,-11.3,162,1969,0.00,2.38,0.00,0.000,6,0.000,0.028,2812,2036,3412,0,0,0,0,0,0
$GC,2313,-1.57,-97.3,271.6,-11.0,171,2318,0.00,2.45,0.00,0.000,4,0.000,0.033,2812,3565,3413,0,0,0,0,0,0
$GC,2335,-1.57,-97.3,274.0,-10.7,171,2339,0.00,2.40,0.00,0.000,6,0.000,0.030,2812,2038,3413,0,0,0,0,0,0
$GC,2680,-1.57,-97.3,306.2,-8.8,180,2684,0.00,2.45,0.00,0.000,4,0.000,0.040,2812,3557,3413,0,0,0,0,0,0
$GC,2702,-1.61,-97.3,308.3,-8.6,180,2706,0.00,2.42,0.00,0.000,6,0.000,0.027,2812,2048,3413,0,0,0,0,0,0
$GC,3040,-1.66,-97.3,339.2,-9.3,189,3045,0.00,2.83,0.00,0.000,4,0.000,0.079,2812,429,3412,0,0,0,0,0,0
$GC,3056,-1.66,-97.3,341.3,-9.7,189,3060,0.00,2.50,0.00,0.000,6,0.000,0.030,2812,2010,3412,0,0,0,0,0,0
$GC,3398,-1.70,-97.3,376.4,-10.4,198,3402,0.00,2.62,0.00,0.000,4,0.000,0.054,2812,3587,3411,0,0,0,0,0,0
$GC,3444,-1.78,-97.3,381.4,-11.7,199,3449,0.10,2.53,0.00,0.000,6,0.083,0.042,2772,2051,3410,0,0,0,0,0,0
$GC,3762,-1.78,-97.3,418.2,-11.3,207,3766,0.00,2.55,0.00,0.000,4,0.000,0.050,2773,3587,3408,0,0,0,0,0,0
$GC,3789,-1.78,-97.3,421.3,-11.5,207,3793,0.00,2.58,0.00,0.000,6,0.000,0.050,2773,2052,3408,0,0,0,0,0,0
$GC,4121,-1.78,-97.3,459.7,-12.0,215,4126,0.00,2.55,0.00,0.000,4,0.000,0.052,2773,3581,3406,0,0,0,0,0,0
$GC,4154,-1.78,-97.3,464.0,-11.5,215,4160,0.00,2.58,0.00,0.000,6,0.000,0.051,2773,2051,3406,0,0,0,0,0,0
$STATE,4483,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4483,begin apogee
$GC,4489,-0.31,0.0,502.0,11.6,224,4575,1.48,0.00,81.65,0.901,6,0.083,0.000,3103,1982,3009,0,0,0,0,0,0
$STATE,4576,end apogee,CONTROL_FINISHED_OK
$STATE,4576,begin climb
$GC,4580,1.48,97.3,504.6,0.0,226,4673,1.62,3.05,82.97,0.884,4,0.044,0.113,3501,408,2612,0,0,0,0,0,0
$GC,4765,1.31,130.9,498.6,7.7,230,4801,0.20,2.62,29.85,0.852,6,0.122,0.041,3463,1983,2475,0,0,0,0,0,0
$GC,5115,1.29,149.3,468.6,8.8,239,5136,0.00,2.78,15.98,0.820,4,0.000,0.062,3462,3581,2401,0,0,0,0,0,0
$GC,5256,1.26,161.3,455.5,9.2,242,5275,0.00,2.67,11.93,0.787,6,0.000,0.043,3463,2000,2352,0,0,0,0,0,0
$GC,5614,1.29,186.0,425.5,8.3,251,5643,0.00,3.00,22.85,0.828,4,0.000,0.091,3463,411,2250,0,0,0,0,0,0
$GC,5679,1.22,186.1,419.7,10.0,252,5684,0.10,2.60,0.00,0.000,6,0.140,0.026,3443,2012,2248,0,0,0,0,0,0
$GC,6022,1.26,216.2,391.7,8.0,261,6056,0.00,2.90,27.42,0.821,4,0.000,0.067,3443,406,2126,0,0,0,0,0,0
$GC,6091,1.26,216.2,385.4,10.3,262,6096,0.00,2.58,0.00,0.000,6,0.000,0.027,3443,2002,2124,0,0,0,0,0,0
$GC,6428,1.31,216.2,352.2,10.1,271,6429,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2002,2122,0,0,0,0,0,0
$GC,6753,1.40,234.7,321.9,8.8,279,6777,0.15,2.85,16.50,0.765,4,0.074,0.059,3482,407,2052,0,0,0,0,0,0
$GC,6837,1.35,234.7,313.3,11.5,280,6843,0.00,2.58,0.00,0.000,6,0.000,0.026,3482,2012,2049,0,0,0,0,0,0
$GC,7168,1.37,247.7,281.8,9.1,289,7187,0.00,2.65,12.38,0.722,4,0.000,0.042,3482,3576,2000,0,0,0,0,0,0
$GC,7196,1.37,248.1,279.2,10.0,289,7200,0.00,2.62,0.00,0.000,6,0.000,0.035,3482,1991,1999,0,0,0,0,0,0
$GC,7532,1.42,257.6,246.6,9.4,298,7548,0.00,2.75,10.48,0.681,4,0.000,0.069,3482,411,1957,0,0,0,0,0,0
$GC,7598,1.42,257.6,239.9,11.0,299,7603,0.00,2.55,0.00,0.000,6,0.000,0.025,3482,2016,1956,0,0,0,0,0,0
$GC,7937,1.48,273.8,209.8,8.9,308,7958,0.00,2.78,15.23,0.680,4,0.000,0.055,3482,406,1892,0,0,0,0,0,0
$GC,8021,1.48,273.8,200.7,11.6,310,8025,0.00,2.50,0.00,0.000,6,0.000,0.025,3482,1995,1890,0,0,0,0,0,0
$GC,8348,1.57,282.4,167.9,9.4,338,8363,0.15,2.75,8.57,0.597,4,0.074,0.061,3523,404,1858,0,0,0,0,0,0
$GC,8408,1.52,282.4,161.7,11.8,343,8412,0.00,2.50,0.00,0.000,6,0.000,0.019,3523,2008,1856,0,0,0,0,0,0
$GC,8736,1.53,288.4,129.8,9.6,373,8750,0.00,2.78,6.60,0.532,4,0.000,0.058,3523,411,1834,0,0,0,0,0,0
$GC,8856,1.53,288.4,117.1,10.5,383,8861,0.00,2.45,0.00,0.000,6,0.000,0.018,3523,1979,1832,0,0,0,0,0,0
$GC,9185,1.59,298.5,84.6,9.3,413,9201,0.00,2.65,10.32,0.543,4,0.000,0.055,3523,411,1792,0,0,0,0,0,0
$GC,9254,1.59,298.5,77.7,11.2,418,9258,0.00,2.42,0.00,0.000,6,0.000,0.017,3523,1965,1791,0,0,0,0,0,0
$GC,9583,1.66,310.8,48.1,9.2,448,9601,0.00,2.65,12.23,0.520,4,0.000,0.050,3523,410,1740,0,0,0,0,0,0
$GC,9663,1.66,310.8,40.0,10.6,454,9667,0.00,2.40,0.00,0.000,6,0.000,0.017,3523,1952,1740,0,0,0,0,0,0
$STATE,10035,end climb,SURFACE_DEPTH_REACHED
$STATE,10035,begin surface coast
$FINISH,0.7,0.980056
$STATE,10093,end surface coast,CONTROL_FINISHED_OK
$STATE,10093,begin surface
$SM_CCo,10117,57.78,0.512,0,0,1459,380.21
$SM_GC,1.41,0.00,0.00,57.78,0.000,0.000,0.512,478,1954,1459,-12.41,-1.58,380.21
$IRIDIUM_FIX,2239.35,-15804.53,061000,141402
$TT8_MAMPS,0.026078
$HUMID,64.41
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,20.40
$XPDR_PINGS,68
$24V_AH,23.4,64.525
$10V_AH,9.9,58.080
$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,28.875,124.425,364.950,57.775,0.000,23.472,37.467,380.211,17.000,0.000,16.958,1022.979,6559.671,468.912,1973.989,730.015,33.372,1170.058,0.000,1977.908,0.000,0.534,0.000
$DEVICE_MAMPS,151.866,127.322,901.225,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,346.282,281.328,394.809,763.664,1154.910,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,41532,510
$CAP_FILE_SIZE,104995,0
$CFSIZE,260165632,154943488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130711,203801,2249.104,-15758.117,39,1.4,39,10.1