version: 66.06
glider: 146
mission: 6
dive: 492
start: 7 10 111 3 27 57
data:
$ID,146
$MISSION,6
$DIVE,492
$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,-280240.94
$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,29
$R_STBD_OVSHOOT,57
$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
$GPS1,031434,2250.350,-15758.035,10,99.0,29,10.1
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-70.9
$GPS2,032706,2250.393,-15758.133,30,1.2,30,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.192,-0.098
$KALMAN_X,-405124.1,-437.1,-152.9,403436.7,-635.0
$KALMAN_Y,151573.9,602.1,421.1,-140578.4,496.6
$MHEAD_RNG_PITCHd_Wd,107.0,2067,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-70.72,0.000,2,0.000,0.000,479,1973,3298,0,0,0,0,0,0
$GC,93,-1.48,-97.3,4.2,-8.7,9,119,12.23,2.60,-1.98,0.000,4,0.145,0.060,2843,427,3410,0,0,0,0,0,0
$GC,144,-1.18,-97.3,19.3,-23.9,15,154,0.30,2.47,0.00,0.000,6,0.130,0.015,2911,2048,3411,0,0,0,0,0,0
$GC,490,-1.23,-97.3,63.5,-12.5,51,499,0.00,0.00,0.00,0.000,6,0.000,0.000,2911,2050,3412,0,0,0,0,0,0
$GC,817,-1.33,-97.3,98.4,-8.5,82,822,0.12,2.40,0.00,0.000,4,0.070,0.032,2868,3547,3412,0,0,0,0,0,0
$GC,839,-1.41,-97.3,100.1,-8.4,83,844,0.00,2.45,0.00,0.000,6,0.000,0.025,2868,1996,3412,0,0,0,0,0,0
$GC,1169,-1.45,-97.3,131.5,-9.0,113,1173,0.00,2.58,0.00,0.000,4,0.000,0.058,2868,436,3413,0,0,0,0,0,0
$GC,1202,-1.45,-97.3,134.7,-10.1,115,1206,0.00,2.35,0.00,0.000,6,0.000,0.021,2867,1994,3413,0,0,0,0,0,0
$GC,1530,-1.52,-97.3,168.0,-10.7,145,1535,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1995,3414,0,0,0,0,0,0
$GC,1888,-1.60,-97.3,204.5,-10.1,176,1890,0.17,0.00,0.00,0.000,6,0.058,0.000,2813,1995,3414,0,0,0,0,0,0
$GC,2210,-1.60,-97.3,238.4,-10.3,184,2214,0.00,2.47,0.00,0.000,4,0.000,0.035,2813,3551,3414,0,0,0,0,0,0
$GC,2242,-1.60,-97.3,241.7,-9.9,184,2248,0.00,2.40,0.00,0.000,6,0.000,0.028,2813,2011,3414,0,0,0,0,0,0
$GC,2575,-1.60,-97.3,274.6,-9.6,193,2580,0.00,2.47,0.00,0.000,4,0.000,0.039,2813,3550,3414,0,0,0,0,0,0
$GC,2643,-1.65,-97.3,281.2,-9.2,194,2647,0.00,2.42,0.00,0.000,6,0.000,0.025,2812,2017,3414,0,0,0,0,0,0
$GC,2980,-1.65,-97.3,312.0,-9.4,203,2985,0.00,2.72,0.00,0.000,4,0.000,0.074,2812,435,3414,0,0,0,0,0,0
$GC,3030,-1.65,-97.3,317.0,-9.4,204,3034,0.00,2.45,0.00,0.000,6,0.000,0.022,2812,1989,3414,0,0,0,0,0,0
$GC,3343,-1.65,-97.3,343.7,-8.6,212,3347,0.00,2.60,0.00,0.000,4,0.000,0.044,2812,3584,3413,0,0,0,0,0,0
$GC,3475,-1.71,-97.3,355.2,-8.6,215,3480,0.00,2.53,0.00,0.000,6,0.000,0.040,2812,2038,3412,0,0,0,0,0,0
$GC,3800,-1.75,-97.3,383.5,-8.8,223,3804,0.00,2.55,0.00,0.000,4,0.000,0.048,2812,3587,3411,0,0,0,0,0,0
$GC,3828,-1.81,-97.3,386.4,-10.5,223,3833,0.12,2.58,0.00,0.000,6,0.071,0.044,2768,2036,3411,0,0,0,0,0,0
$GC,4159,-1.81,-97.3,421.2,-10.7,231,4164,0.00,2.92,0.00,0.000,4,0.000,0.101,2768,427,3408,0,0,0,0,0,0
$GC,4186,-1.73,-97.3,424.4,-11.3,231,4191,0.12,2.60,0.00,0.000,6,0.114,0.040,2795,2021,3408,0,0,0,0,0,0
$GC,4519,-1.73,-97.3,456.7,-9.4,239,4524,0.00,2.85,0.00,0.000,4,0.000,0.089,2795,428,3406,0,0,0,0,0,0
$GC,4558,-1.73,-97.3,460.9,-10.5,240,4562,0.00,2.60,0.00,0.000,6,0.000,0.038,2795,2029,3406,0,0,0,0,0,0
$GC,4882,-1.73,-97.3,490.9,-9.5,248,4886,0.00,2.70,0.00,0.000,4,0.000,0.070,2795,3591,3403,0,0,0,0,0,0
$GC,4927,-1.78,-97.3,495.4,-10.5,249,4932,0.00,2.60,0.00,0.000,6,0.000,0.052,2795,2041,3403,0,0,0,0,0,0
$STATE,4999,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4999,begin apogee
$GC,5005,-0.31,0.0,502.7,9.7,251,5090,1.38,0.00,81.12,0.914,6,0.078,0.000,3106,1985,3009,0,0,0,0,0,0
$STATE,5091,end apogee,CONTROL_FINISHED_OK
$STATE,5091,begin climb
$GC,5093,1.48,97.3,505.3,0.0,253,5185,1.65,2.80,83.45,0.890,4,0.035,0.050,3507,3578,2612,0,0,0,0,0,0
$GC,5222,1.42,182.1,505.6,4.2,256,5306,0.12,2.67,73.70,0.882,6,0.137,0.048,3485,1998,2267,0,0,0,0,0,0
$GC,5619,1.35,182.1,466.2,10.5,266,5624,0.00,2.67,0.00,0.000,4,0.000,0.043,3485,3591,2257,0,0,0,0,0,0
$GC,5663,1.29,182.1,461.3,11.4,267,5669,0.15,2.67,0.00,0.000,6,0.130,0.049,3456,1993,2255,0,0,0,0,0,0
$GC,5984,1.31,197.6,432.0,9.0,275,6003,0.00,3.03,12.88,0.799,4,0.000,0.104,3456,407,2203,0,0,0,0,0,0
$GC,6067,1.26,197.6,423.1,11.1,276,6074,0.00,2.55,0.00,0.000,6,0.000,0.029,3456,2005,2200,0,0,0,0,0,0
$GC,6398,1.26,197.6,389.1,10.1,285,6402,0.00,2.80,0.00,0.000,4,0.000,0.067,3456,406,2199,0,0,0,0,0,0
$GC,6504,1.26,197.6,377.1,11.4,287,6509,0.00,2.53,0.00,0.000,6,0.000,0.028,3456,2001,2197,0,0,0,0,0,0
$GC,6847,1.29,222.7,346.5,8.3,296,6871,0.00,0.00,22.67,0.803,6,0.000,0.000,3456,2001,2102,0,0,0,0,0,0
$GC,7174,1.36,252.1,319.7,8.0,304,7208,0.00,2.67,27.00,0.788,4,0.000,0.041,3456,3570,1981,0,0,0,0,0,0
$GC,7231,1.45,267.1,314.3,9.0,305,7252,0.15,2.67,14.75,0.746,6,0.075,0.038,3496,1968,1921,0,0,0,0,0,0
$GC,7579,1.45,267.1,269.8,13.6,313,7583,0.00,2.72,0.00,0.000,4,0.000,0.073,3496,407,1915,0,0,0,0,0,0
$GC,7736,1.45,267.1,246.4,13.4,316,7741,0.00,2.47,0.00,0.000,6,0.000,0.022,3496,1973,1913,0,0,0,0,0,0
$GC,8072,1.48,286.4,213.0,8.7,325,8097,0.00,2.67,17.02,0.691,4,0.000,0.040,3496,3556,1841,0,0,0,0,0,0
$GC,8117,1.53,289.0,209.0,9.9,326,8127,0.00,2.65,3.85,0.453,6,0.000,0.035,3496,1956,1831,0,0,0,0,0,0
$GC,8447,1.57,289.0,175.4,11.4,348,8451,0.00,2.65,0.00,0.000,4,0.000,0.061,3496,409,1828,0,0,0,0,0,0
$GC,8512,1.57,289.0,167.4,12.1,353,8516,0.00,2.42,0.00,0.000,6,0.000,0.025,3496,1978,1827,0,0,0,0,0,0
$GC,8841,1.63,289.0,133.2,10.4,383,8846,0.15,2.67,0.00,0.000,4,0.075,0.059,3535,408,1826,0,0,0,0,0,0
$GC,9004,1.58,289.0,113.1,12.6,396,9013,0.00,2.42,0.00,0.000,6,0.000,0.019,3535,1937,1826,0,0,0,0,0,0
$GC,9332,1.59,297.6,81.1,9.4,427,9342,0.00,0.00,8.40,0.525,6,0.000,0.000,3535,1937,1796,0,0,0,0,0,0
$GC,9662,1.65,313.8,53.4,8.9,458,9690,0.00,2.65,15.48,0.538,4,0.000,0.051,3535,410,1728,0,0,0,0,0,0
$GC,9758,1.65,313.8,43.5,11.2,465,9762,0.00,2.38,0.00,0.000,6,0.000,0.018,3535,1944,1727,0,0,0,0,0,0
$STATE,10127,end climb,SURFACE_DEPTH_REACHED
$STATE,10127,begin surface coast
$FINISH,0.6,0.976692
$STATE,10170,end surface coast,CONTROL_FINISHED_OK
$STATE,10170,begin surface
$SM_CCo,10193,55.08,0.513,0,0,1460,380.21
$SM_GC,1.46,0.00,0.00,55.08,0.000,0.000,0.513,474,1945,1460,-12.42,-1.81,380.21
$IRIDIUM_FIX,2241.69,-15757.16,031000,030329
$TT8_MAMPS,0.026078
$HUMID,64.88
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,20.30
$XPDR_PINGS,48
$24V_AH,23.4,60.988
$10V_AH,10.0,54.741
$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,29.150,109.225,360.325,55.075,0.000,55.660,83.273,398.408,12.000,0.000,32.140,1035.744,6610.021,483.865,2050.432,818.920,33.377,1193.543,0.000,2036.479,0.000,0.535,0.000
$DEVICE_MAMPS,144.963,131.157,914.264,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.881,290.024,403.002,782.858,1183.945,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,41559,517
$CAP_FILE_SIZE,105154,0
$CFSIZE,260165632,156430336
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100711,062115,2250.193,-15757.455,89,99.0,108,10.1