version: 66.06
glider: 146
mission: 6
dive: 482
start: 7 8 111 21 27 46
data:
$ID,146
$MISSION,6
$DIVE,482
$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,-279893.47
$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,22
$R_STBD_OVSHOOT,59
$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
$GPS1,212004,2250.227,-15800.528,11,99.0,30,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-66.9
$GPS2,212655,2250.269,-15800.632,35,1.6,46,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.169,-0.134
$KALMAN_X,-391177.2,-368.1,-84.5,385083.9,-1325.9
$KALMAN_Y,142913.4,-6.7,-281.4,-130839.8,1305.8
$MHEAD_RNG_PITCHd_Wd,118.3,6219,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.48,-97.3,0.0,0.0,0,90,0.00,0.00,-71.12,0.000,2,0.000,0.000,474,1952,3325,0,0,0,0,0,0
$GC,93,-1.48,-97.3,4.6,-9.1,9,119,12.35,2.58,-1.40,0.000,4,0.150,0.059,2843,419,3410,0,0,0,0,0,0
$GC,185,-1.39,-97.3,28.5,-16.6,21,193,0.08,2.47,0.00,0.000,6,0.113,0.015,2862,2018,3411,0,0,0,0,0,0
$GC,516,-1.35,-97.3,73.7,-12.1,52,521,0.00,2.45,0.00,0.000,4,0.000,0.033,2862,3559,3412,0,0,0,0,0,0
$GC,586,-1.35,-97.3,81.9,-10.7,57,590,0.00,2.47,0.00,0.000,6,0.000,0.021,2862,1987,3412,0,0,0,0,0,0
$GC,915,-1.35,-97.3,113.4,-8.8,87,919,0.00,2.55,0.00,0.000,4,0.000,0.054,2862,438,3413,0,0,0,0,0,0
$GC,948,-1.35,-97.3,116.7,-10.0,89,952,0.00,2.38,0.00,0.000,6,0.000,0.022,2862,2015,3413,0,0,0,0,0,0
$GC,1272,-1.35,-97.3,152.5,-11.4,119,1277,0.00,2.45,0.00,0.000,4,0.000,0.028,2862,3562,3414,0,0,0,0,0,0
$GC,1326,-1.43,-97.3,158.4,-11.5,123,1330,0.00,2.42,0.00,0.000,6,0.000,0.027,2862,2003,3414,0,0,0,0,0,0
$GC,1653,-1.49,-97.3,192.5,-9.4,153,1654,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,2002,3414,0,0,0,0,0,0
$GC,1981,-1.56,-97.3,221.3,-8.7,167,1986,0.12,2.47,0.00,0.000,4,0.074,0.031,2815,3554,3415,0,0,0,0,0,0
$GC,2014,-1.56,-97.3,224.9,-9.7,167,2020,0.00,2.42,0.00,0.000,6,0.000,0.027,2815,2000,3415,0,0,0,0,0,0
$GC,2345,-1.56,-97.3,258.3,-10.2,176,2349,0.00,2.47,0.00,0.000,4,0.000,0.031,2816,3552,3415,0,0,0,0,0,0
$GC,2391,-1.60,-97.3,263.2,-10.7,177,2395,0.00,2.40,0.00,0.000,6,0.000,0.022,2816,2027,3415,0,0,0,0,0,0
$GC,2709,-1.60,-97.3,297.2,-9.9,185,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,2027,3415,0,0,0,0,0,0
$GC,3034,-1.60,-97.3,326.5,-9.0,193,3038,0.00,2.47,0.00,0.000,4,0.000,0.044,2815,3551,3415,0,0,0,0,0,0
$GC,3063,-1.64,-97.3,329.3,-10.0,193,3067,0.00,2.47,0.00,0.000,6,0.000,0.031,2815,2023,3415,0,0,0,0,0,0
$GC,3394,-1.68,-97.3,361.6,-9.3,201,3399,0.00,2.47,0.00,0.000,4,0.000,0.040,2815,3545,3414,0,0,0,0,0,0
$GC,3469,-1.76,-97.3,369.1,-9.9,202,3474,0.10,2.50,0.00,0.000,6,0.081,0.044,2776,2024,3414,0,0,0,0,0,0
$GC,3800,-1.76,-97.3,402.9,-9.7,210,3805,0.00,2.85,0.00,0.000,4,0.000,0.090,2776,426,3412,0,0,0,0,0,0
$GC,3833,-1.69,-97.3,406.2,-10.1,210,3839,0.15,2.53,0.00,0.000,6,0.114,0.038,2807,1980,3412,0,0,0,0,0,0
$GC,4166,-1.74,-97.3,435.8,-9.3,219,4171,0.00,2.72,0.00,0.000,4,0.000,0.067,2807,3594,3410,0,0,0,0,0,0
$GC,4200,-1.80,-97.3,439.5,-10.3,219,4206,0.10,2.65,0.00,0.000,6,0.087,0.054,2770,2015,3410,0,0,0,0,0,0
$GC,4530,-1.80,-97.3,478.2,-11.9,228,4535,0.00,2.65,0.00,0.000,4,0.000,0.062,2770,3587,3407,0,0,0,0,0,0
$GC,4571,-1.80,-97.3,483.0,-12.4,229,4575,0.00,2.65,0.00,0.000,6,0.000,0.054,2770,2020,3407,0,0,0,0,0,0
$STATE,4729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4730,begin apogee
$GC,4736,-0.31,0.0,502.3,11.9,233,4821,1.50,0.00,81.68,0.907,6,0.095,0.000,3105,1991,3009,0,0,0,0,0,0
$STATE,4822,end apogee,CONTROL_FINISHED_OK
$STATE,4822,begin climb
$GC,4826,1.48,97.3,504.8,0.0,235,4920,1.62,2.80,82.55,0.887,4,0.036,0.057,3504,3566,2612,0,0,0,0,0,0
$GC,5027,1.37,126.1,498.3,8.0,239,5058,0.15,2.70,25.45,0.851,6,0.125,0.051,3476,1995,2495,0,0,0,0,0,0
$GC,5370,1.32,151.0,469.8,8.3,248,5399,0.00,3.08,21.67,0.841,4,0.000,0.103,3476,408,2394,0,0,0,0,0,0
$GC,5546,1.20,154.9,451.7,9.8,252,5557,0.20,2.58,4.40,0.584,6,0.117,0.034,3437,1985,2378,0,0,0,0,0,0
$GC,5872,1.24,190.3,426.9,7.6,260,5909,0.00,0.00,33.00,0.848,6,0.000,0.000,3437,1986,2232,0,0,0,0,0,0
$GC,6237,1.30,203.8,393.1,9.1,269,6257,0.10,2.85,12.45,0.780,4,0.091,0.066,3464,406,2178,0,0,0,0,0,0
$GC,6352,1.25,203.8,380.3,10.8,271,6357,0.00,2.55,0.00,0.000,6,0.000,0.027,3464,1995,2174,0,0,0,0,0,0
$GC,6689,1.26,216.6,348.9,9.2,280,6708,0.00,2.85,12.07,0.760,4,0.000,0.063,3464,404,2125,0,0,0,0,0,0
$GC,6778,1.26,216.6,339.2,11.1,282,6782,0.00,2.53,0.00,0.000,6,0.000,0.024,3463,1979,2123,0,0,0,0,0,0
$GC,7101,1.28,227.7,309.0,9.3,290,7117,0.00,2.62,10.85,0.728,4,0.000,0.041,3463,3568,2080,0,0,0,0,0,0
$GC,7136,1.28,228.3,305.7,10.0,290,7141,0.00,2.65,0.00,0.000,6,0.000,0.038,3464,1965,2078,0,0,0,0,0,0
$GC,7467,1.34,244.9,274.7,8.9,299,7491,0.00,2.72,16.42,0.735,4,0.000,0.067,3463,411,2009,0,0,0,0,0,0
$GC,7549,1.36,261.7,267.0,8.9,300,7571,0.00,2.47,16.23,0.723,6,0.000,0.023,3464,1976,1942,0,0,0,0,0,0
$GC,7881,1.47,285.7,239.6,8.4,309,7910,0.12,2.78,22.02,0.716,4,0.077,0.059,3498,411,1843,0,0,0,0,0,0
$GC,7956,1.47,285.7,231.2,12.2,310,7961,0.00,2.42,0.00,0.000,6,0.000,0.025,3498,1950,1842,0,0,0,0,0,0
$GC,8272,1.47,285.7,196.0,11.7,319,8276,0.00,2.62,0.00,0.000,4,0.000,0.038,3498,3559,1839,0,0,0,0,0,0
$GC,8323,1.53,285.7,189.4,11.9,323,8328,0.00,2.62,0.00,0.000,6,0.000,0.034,3498,1949,1837,0,0,0,0,0,0
$GC,8648,1.59,295.8,156.2,9.3,353,8664,0.10,2.67,9.02,0.594,4,0.087,0.063,3528,411,1803,0,0,0,0,0,0
$GC,8723,1.54,295.8,148.1,11.5,359,8728,0.00,2.42,0.00,0.000,6,0.000,0.018,3528,1959,1802,0,0,0,0,0,0
$GC,9052,1.54,295.8,112.5,10.2,389,9056,0.00,2.60,0.00,0.000,4,0.000,0.054,3528,409,1801,0,0,0,0,0,0
$GC,9156,1.54,295.8,100.7,12.7,397,9160,0.00,2.40,0.00,0.000,6,0.000,0.020,3528,1941,1801,0,0,0,0,0,0
$GC,9485,1.59,304.4,70.2,9.4,427,9503,0.00,0.00,8.93,0.517,6,0.000,0.000,3528,1942,1767,0,0,0,0,0,0
$GC,9824,1.64,308.0,38.9,9.8,459,9839,0.00,2.60,4.70,0.405,4,0.000,0.048,3528,413,1753,0,0,0,0,0,0
$GC,9880,1.64,308.0,32.9,10.9,463,9884,0.00,2.38,0.00,0.000,6,0.000,0.018,3528,1943,1752,0,0,0,0,0,0
$STATE,10164,end climb,SURFACE_DEPTH_REACHED
$STATE,10164,begin surface coast
$FINISH,0.6,0.970374
$STATE,10216,end surface coast,CONTROL_FINISHED_OK
$STATE,10216,begin surface
$SM_CCo,10238,59.45,0.509,0,0,1460,380.21
$SM_GC,1.33,0.00,0.00,59.45,0.000,0.000,0.509,474,1946,1460,-12.42,-1.84,380.21
$IRIDIUM_FIX,2244.02,-15801.49,011000,181812
$TT8_MAMPS,0.026078
$HUMID,64.09
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,21.10
$XPDR_PINGS,51
$24V_AH,23.5,59.833
$10V_AH,10.0,53.597
$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,29.050,113.500,361.450,59.450,0.000,26.238,33.699,178.621,12.750,0.000,48.190,1028.173,6668.056,478.568,2011.943,521.897,33.370,1192.165,0.000,1979.295,0.000,0.533,0.000
$DEVICE_MAMPS,149.565,190.216,906.594,509.288,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,345.218,295.689,392.951,759.719,1148.905,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,41488,509
$CAP_FILE_SIZE,102715,0
$CFSIZE,260165632,156930048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090711,002054,2250.493,-15800.409,31,1.2,48,10.1