version: 66.06
glider: 146
mission: 6
dive: 522
start: 7 13 111 23 50 1
data:
$ID,146
$MISSION,6
$DIVE,522
$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,-280949.5
$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,19
$R_STBD_OVSHOOT,55
$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
$GPS1,233626,2248.324,-15758.314,29,1.5,29,10.1
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.6
$GPS2,234909,2248.371,-15758.450,13,1.4,14,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.158,-0.146
$KALMAN_X,-448587.8,-193.7,-140.8,446104.7,-1305.7
$KALMAN_Y,174027.9,1.4,-409.2,-165346.7,833.4
$MHEAD_RNG_PITCHd_Wd,122.7,2771,-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,-70.93,0.000,2,0.000,0.000,479,1950,3252,0,0,0,0,0,0
$GC,94,-1.48,-97.3,3.5,-5.2,9,120,12.35,2.58,-2.92,0.000,4,0.148,0.054,2842,420,3409,0,0,0,0,0,0
$GC,171,-1.39,-97.3,22.5,-17.0,19,179,0.10,2.47,0.00,0.000,6,0.109,0.015,2867,2021,3411,0,0,0,0,0,0
$GC,509,-1.39,-97.3,71.7,-13.9,53,513,0.00,2.45,0.00,0.000,4,0.000,0.033,2867,3562,3411,0,0,0,0,0,0
$GC,545,-1.39,-97.3,77.3,-13.0,55,555,0.00,2.50,0.00,0.000,6,0.000,0.021,2867,1996,3411,0,0,0,0,0,0
$GC,873,-1.39,-97.3,116.1,-11.5,86,877,0.00,2.50,0.00,0.000,4,0.000,0.028,2867,3561,3412,0,0,0,0,0,0
$GC,919,-1.47,-97.3,121.6,-12.5,89,923,0.00,2.45,0.00,0.000,6,0.000,0.023,2867,2009,3412,0,0,0,0,0,0
$GC,1246,-1.53,-97.3,155.4,-9.8,119,1248,0.10,0.00,0.00,0.000,6,0.081,0.000,2826,2009,3413,0,0,0,0,0,0
$GC,1562,-1.53,-97.3,192.4,-12.0,149,1566,0.00,2.47,0.00,0.000,4,0.000,0.035,2826,3561,3413,0,0,0,0,0,0
$GC,1609,-1.53,-97.3,197.8,-12.1,152,1616,0.00,2.40,0.00,0.000,6,0.000,0.021,2825,2015,3413,0,0,0,0,0,0
$GC,1920,-1.53,-97.3,233.6,-11.3,162,1921,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,2015,3414,0,0,0,0,0,0
$GC,2245,-1.53,-97.3,266.3,-9.5,170,2250,0.00,2.47,0.00,0.000,4,0.000,0.031,2825,3559,3414,0,0,0,0,0,0
$GC,2262,-1.53,-97.3,267.9,-9.2,170,2266,0.00,2.42,0.00,0.000,6,0.000,0.025,2825,2022,3414,0,0,0,0,0,0
$GC,2606,-1.57,-97.3,299.2,-9.0,179,2610,0.00,2.47,0.00,0.000,4,0.000,0.038,2826,3558,3414,0,0,0,0,0,0
$GC,2622,-1.63,-97.3,301.1,-9.4,179,2626,0.00,2.45,0.00,0.000,6,0.000,0.028,2826,2009,3414,0,0,0,0,0,0
$GC,2965,-1.68,-97.3,333.6,-10.1,188,2970,0.00,2.50,0.00,0.000,4,0.000,0.042,2826,3548,3413,0,0,0,0,0,0
$GC,2999,-1.77,-97.3,337.2,-10.4,188,3005,0.15,2.47,0.00,0.000,6,0.064,0.038,2776,2027,3414,0,0,0,0,0,0
$GC,3330,-1.77,-97.3,372.6,-10.3,197,3334,0.00,2.47,0.00,0.000,4,0.000,0.045,2776,3545,3413,0,0,0,0,0,0
$GC,3392,-1.77,-97.3,378.5,-9.1,198,3396,0.00,2.53,0.00,0.000,6,0.000,0.043,2776,2027,3412,0,0,0,0,0,0
$GC,3734,-1.77,-97.3,411.0,-9.4,207,3738,0.00,2.50,0.00,0.000,4,0.000,0.051,2776,3544,3410,0,0,0,0,0,0
$GC,3789,-1.77,-97.3,416.7,-9.7,208,3793,0.00,2.53,0.00,0.000,6,0.000,0.051,2775,2038,3410,0,0,0,0,0,0
$GC,4138,-1.77,-97.3,451.3,-10.2,217,4142,0.00,2.53,0.00,0.000,4,0.000,0.057,2776,3544,3407,0,0,0,0,0,0
$GC,4177,-1.77,-97.3,455.6,-10.3,218,4181,0.00,2.55,0.00,0.000,6,0.000,0.059,2776,2037,3407,0,0,0,0,0,0
$GC,4500,-1.77,-97.3,489.2,-10.5,226,4501,0.00,0.00,0.00,0.000,6,0.000,0.000,2776,2037,3405,0,0,0,0,0,0
$STATE,4619,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4619,begin apogee
$GC,4627,-0.31,0.0,502.8,11.1,229,4713,1.48,0.00,81.78,0.904,6,0.098,0.000,3104,1992,3010,0,0,0,0,0,0
$STATE,4714,end apogee,CONTROL_FINISHED_OK
$STATE,4714,begin climb
$GC,4716,1.48,97.3,505.5,0.0,231,4804,1.67,0.00,83.62,0.886,6,0.048,0.000,3508,1992,2613,0,0,0,0,0,0
$GC,5109,1.41,156.1,489.9,6.0,241,5163,0.12,0.00,51.03,0.871,6,0.132,0.000,3485,1991,2373,0,0,0,0,0,0
$GC,5477,1.34,156.1,454.4,10.3,250,5482,0.00,2.92,0.00,0.000,4,0.000,0.100,3485,404,2365,0,0,0,0,0,0
$GC,5499,1.23,156.1,451.8,11.0,250,5504,0.20,2.55,0.00,0.000,6,0.119,0.035,3445,1956,2363,0,0,0,0,0,0
$GC,5837,1.27,181.9,422.5,8.3,259,5862,0.00,0.00,22.70,0.829,6,0.000,0.000,3445,1956,2268,0,0,0,0,0,0
$GC,6161,1.31,219.6,397.7,7.4,267,6200,0.00,0.00,34.17,0.829,6,0.000,0.000,3445,1956,2114,0,0,0,0,0,0
$GC,6526,1.37,233.2,365.8,9.1,276,6541,0.12,0.00,12.70,0.765,6,0.081,0.000,3478,1956,2059,0,0,0,0,0,0
$GC,6852,1.37,233.2,328.9,11.7,284,6856,0.00,2.67,0.00,0.000,4,0.000,0.041,3478,3584,2054,0,0,0,0,0,0
$GC,6884,1.37,233.2,324.9,11.7,284,6890,0.00,2.62,0.00,0.000,6,0.000,0.034,3478,1994,2053,0,0,0,0,0,0
$GC,7215,1.37,233.2,289.4,10.6,293,7220,0.00,2.72,0.00,0.000,4,0.000,0.074,3478,411,2052,0,0,0,0,0,0
$GC,7283,1.37,233.2,282.0,11.4,294,7287,0.00,2.55,0.00,0.000,6,0.000,0.020,3478,2020,2052,0,0,0,0,0,0
$GC,7620,1.44,248.7,252.5,9.0,303,7639,0.00,2.55,14.32,0.713,4,0.000,0.037,3478,3565,1994,0,0,0,0,0,0
$GC,7658,1.51,256.5,248.9,9.5,303,7673,0.10,2.58,8.55,0.650,6,0.094,0.033,3507,1999,1963,0,0,0,0,0,0
$GC,7995,1.51,261.9,215.9,9.7,312,8006,0.00,2.75,5.82,0.572,4,0.000,0.066,3506,407,1941,0,0,0,0,0,0
$GC,8134,1.51,261.9,200.8,10.6,315,8139,0.00,2.50,0.00,0.000,6,0.000,0.024,3507,2009,1939,0,0,0,0,0,0
$GC,8466,1.54,283.3,171.4,8.6,344,8494,0.00,2.80,20.02,0.652,4,0.000,0.054,3506,414,1854,0,0,0,0,0,0
$GC,8529,1.54,283.3,165.8,11.0,349,8533,0.00,2.47,0.00,0.000,6,0.000,0.021,3506,1985,1853,0,0,0,0,0,0
$GC,8858,1.59,289.8,134.0,9.6,379,8872,0.00,2.75,7.00,0.536,4,0.000,0.053,3506,408,1827,0,0,0,0,0,0
$GC,9014,1.62,316.5,119.0,8.2,392,9051,0.00,2.42,24.50,0.604,6,0.000,0.024,3507,1964,1718,0,0,0,0,0,0
$GC,9370,1.72,322.2,88.4,9.6,425,9382,0.17,2.62,6.20,0.479,4,0.064,0.056,3553,408,1695,0,0,0,0,0,0
$GC,9472,1.72,322.2,76.0,12.7,433,9476,0.00,2.38,0.00,0.000,6,0.000,0.017,3554,1934,1694,0,0,0,0,0,0
$GC,9800,1.72,322.2,41.5,10.6,463,9805,0.00,2.55,0.00,0.000,4,0.000,0.050,3553,403,1694,0,0,0,0,0,0
$GC,9847,1.72,322.2,36.1,12.1,466,9851,0.00,2.35,0.00,0.000,6,0.000,0.017,3553,1937,1694,0,0,0,0,0,0
$STATE,10135,end climb,SURFACE_DEPTH_REACHED
$STATE,10135,begin surface coast
$FINISH,0.7,0.980068
$STATE,10186,end surface coast,CONTROL_FINISHED_OK
$STATE,10186,begin surface
$SM_CCo,10209,48.53,0.509,0,0,1459,380.21
$SM_GC,1.29,0.00,0.00,48.53,0.000,0.000,0.509,476,2088,1459,-12.42,2.21,380.21
$IRIDIUM_FIX,2239.35,-15757.16,061000,232324
$TT8_MAMPS,0.026078
$HUMID,64.53
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,20.40
$XPDR_PINGS,60
$24V_AH,23.4,64.768
$10V_AH,10.0,58.311
$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,29.050,96.625,372.425,48.525,0.000,57.951,70.303,423.723,15.000,0.000,15.810,999.835,6846.011,500.286,1836.354,839.232,33.378,1133.456,0.000,1844.630,0.000,0.536,0.000
$DEVICE_MAMPS,148.031,154.934,904.293,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.557,299.031,393.893,740.505,1119.938,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,41417,513
$CAP_FILE_SIZE,98422,0
$CFSIZE,260165632,154841088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140711,024207,2248.245,-15758.311,26,1.1,26,10.1