version: 66.06
glider: 146
mission: 6
dive: 495
start: 7 10 111 12 54 12
data:
$ID,146
$MISSION,6
$DIVE,495
$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,-280324.25
$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
$GPS1,124436,2248.782,-15758.289,34,1.2,34,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-69.0
$GPS2,125320,2248.840,-15758.363,13,1.6,13,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.130,-0.172
$KALMAN_X,-410124.8,136.4,-304.7,407619.5,-961.5
$KALMAN_Y,154075.9,39.7,47.1,-145022.4,521.1
$MHEAD_RNG_PITCHd_Wd,132.8,3540,-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,-69.57,0.000,2,0.000,0.000,478,2019,3189,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.1,-4.8,9,118,12.38,2.72,-4.35,0.000,4,0.151,0.057,2841,410,3407,0,0,0,0,0,0
$GC,149,-1.31,-97.3,17.8,-21.5,16,159,0.17,2.47,0.00,0.000,6,0.115,0.015,2881,2015,3409,0,0,0,0,0,0
$GC,496,-1.31,-97.3,66.6,-13.8,52,500,0.00,2.45,0.00,0.000,4,0.000,0.029,2881,3560,3409,0,0,0,0,0,0
$GC,529,-1.31,-97.3,70.9,-13.1,54,533,0.00,2.50,0.00,0.000,6,0.000,0.024,2881,1986,3410,0,0,0,0,0,0
$GC,854,-1.36,-97.3,110.3,-10.3,84,858,0.00,2.47,0.00,0.000,4,0.000,0.033,2881,3552,3410,0,0,0,0,0,0
$GC,899,-1.44,-97.3,114.4,-10.5,87,903,0.00,2.42,0.00,0.000,6,0.000,0.022,2881,2016,3410,0,0,0,0,0,0
$GC,1228,-1.51,-97.3,143.2,-8.2,117,1233,0.15,2.47,0.00,0.000,4,0.064,0.034,2831,3558,3411,0,0,0,0,0,0
$GC,1272,-1.51,-97.3,148.2,-10.7,120,1282,0.00,2.45,0.00,0.000,6,0.000,0.022,2831,2014,3411,0,0,0,0,0,0
$GC,1601,-1.51,-97.3,184.4,-11.2,151,1605,0.00,2.42,0.00,0.000,4,0.000,0.032,2831,3555,3412,0,0,0,0,0,0
$GC,1633,-1.51,-97.3,188.6,-11.4,153,1644,0.00,2.42,0.00,0.000,6,0.000,0.024,2831,2022,3412,0,0,0,0,0,0
$GC,1950,-1.51,-97.3,220.0,-9.7,169,1954,0.00,2.42,0.00,0.000,4,0.000,0.032,2831,3559,3412,0,0,0,0,0,0
$GC,2030,-1.56,-97.3,227.8,-9.5,170,2035,0.00,2.40,0.00,0.000,6,0.000,0.024,2831,2033,3412,0,0,0,0,0,0
$GC,2361,-1.60,-97.3,258.6,-9.3,179,2366,0.00,2.42,0.00,0.000,4,0.000,0.035,2831,3559,3412,0,0,0,0,0,0
$GC,2413,-1.67,-97.3,263.6,-9.5,180,2418,0.00,2.38,0.00,0.000,6,0.000,0.024,2831,2044,3413,0,0,0,0,0,0
$GC,2727,-1.73,-97.3,291.4,-9.0,188,2729,0.15,0.00,0.00,0.000,6,0.061,0.000,2777,2044,3412,0,0,0,0,0,0
$GC,3051,-1.73,-97.3,328.4,-11.5,196,3056,0.10,2.47,0.00,0.000,4,0.120,0.036,2798,3555,3413,0,0,0,0,0,0
$GC,3074,-1.73,-97.3,331.1,-11.9,196,3078,0.00,2.45,0.00,0.000,6,0.000,0.039,2798,2047,3413,0,0,0,0,0,0
$GC,3410,-1.73,-97.3,366.8,-10.3,205,3414,0.00,2.47,0.00,0.000,4,0.000,0.042,2798,3547,3412,0,0,0,0,0,0
$GC,3512,-1.78,-97.3,376.7,-9.7,207,3516,0.00,2.47,0.00,0.000,6,0.000,0.041,2798,2051,3411,0,0,0,0,0,0
$GC,3860,-1.78,-97.3,408.1,-8.9,216,3861,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2051,3409,0,0,0,0,0,0
$GC,4184,-1.78,-97.3,437.9,-9.4,224,4185,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2051,3407,0,0,0,0,0,0
$GC,4509,-1.78,-97.3,471.7,-11.0,232,4514,0.00,3.00,0.00,0.000,4,0.000,0.109,2798,428,3404,0,0,0,0,0,0
$GC,4526,-1.78,-97.3,473.7,-11.2,232,4530,0.00,2.58,0.00,0.000,6,0.000,0.042,2798,1999,3404,0,0,0,0,0,0
$STATE,4784,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4784,begin apogee
$GC,4789,-0.31,0.0,501.4,10.3,239,4874,1.38,0.00,81.18,0.910,6,0.084,0.000,3107,1999,3010,0,0,0,0,0,0
$STATE,4875,end apogee,CONTROL_FINISHED_OK
$STATE,4875,begin climb
$GC,4878,1.48,97.3,503.7,0.0,241,4972,1.60,2.95,82.88,0.887,4,0.036,0.088,3503,414,2612,0,0,0,0,0,0
$GC,5047,1.30,121.8,499.2,8.3,245,5076,0.20,2.60,22.08,0.843,6,0.119,0.035,3462,1994,2512,0,0,0,0,0,0
$GC,5417,1.30,163.5,471.5,7.2,254,5461,0.00,2.83,36.38,0.860,4,0.000,0.060,3461,3577,2342,0,0,0,0,0,0
$GC,5503,1.32,176.1,464.3,9.2,256,5523,0.00,2.67,12.70,0.791,6,0.000,0.042,3462,1996,2289,0,0,0,0,0,0
$GC,5833,1.33,184.5,433.4,9.5,264,5847,0.00,2.97,7.85,0.731,4,0.000,0.097,3462,411,2256,0,0,0,0,0,0
$GC,6043,1.26,184.5,409.4,11.9,268,6047,0.00,2.55,0.00,0.000,6,0.000,0.029,3462,1997,2253,0,0,0,0,0,0
$GC,6379,1.29,206.4,378.6,8.5,277,6404,0.00,2.83,20.27,0.807,4,0.000,0.070,3462,406,2167,0,0,0,0,0,0
$GC,6433,1.24,207.0,373.7,10.0,278,6437,0.00,2.55,0.00,0.000,6,0.000,0.026,3462,1995,2165,0,0,0,0,0,0
$GC,6782,1.25,216.7,342.1,9.4,287,6797,0.00,2.80,9.98,0.739,4,0.000,0.067,3462,404,2126,0,0,0,0,0,0
$GC,6831,1.21,216.7,336.4,11.8,288,6836,0.12,2.53,0.00,0.000,6,0.129,0.022,3438,1987,2124,0,0,0,0,0,0
$GC,7146,1.31,233.6,307.7,8.9,296,7170,0.10,2.78,16.10,0.757,4,0.093,0.058,3466,408,2056,0,0,0,0,0,0
$GC,7220,1.31,233.6,299.6,11.5,297,7224,0.00,2.47,0.00,0.000,6,0.000,0.020,3466,1982,2055,0,0,0,0,0,0
$GC,7553,1.38,239.7,267.5,9.6,305,7567,0.00,2.72,6.43,0.630,4,0.000,0.061,3466,400,2031,0,0,0,0,0,0
$GC,7657,1.38,239.7,255.9,10.8,307,7661,0.00,2.47,0.00,0.000,6,0.000,0.020,3466,1966,2030,0,0,0,0,0,0
$GC,8005,1.47,265.5,226.0,8.3,316,8034,0.12,0.00,24.12,0.710,6,0.082,0.000,3499,1967,1926,0,0,0,0,0,0
$GC,8352,1.48,271.8,194.0,9.6,328,8363,0.00,2.67,6.40,0.575,4,0.000,0.054,3499,407,1901,0,0,0,0,0,0
$GC,8438,1.48,271.8,184.2,10.5,335,8444,0.00,2.45,0.00,0.000,6,0.000,0.024,3499,1967,1899,0,0,0,0,0,0
$GC,8763,1.53,271.8,150.8,10.8,366,8768,0.00,2.62,0.00,0.000,4,0.000,0.058,3499,406,1899,0,0,0,0,0,0
$GC,8809,1.53,273.3,146.3,9.9,369,8813,0.00,2.42,0.00,0.000,6,0.000,0.018,3499,1961,1898,0,0,0,0,0,0
$GC,9137,1.66,314.7,119.7,7.2,399,9186,0.15,2.70,38.10,0.616,4,0.071,0.054,3541,410,1725,0,0,0,0,0,0
$GC,9206,1.62,314.7,113.0,10.8,404,9215,0.00,2.45,0.00,0.000,6,0.000,0.018,3541,1947,1723,0,0,0,0,0,0
$GC,9534,1.62,314.7,81.3,10.3,435,9538,0.00,2.60,0.00,0.000,4,0.000,0.048,3542,399,1722,0,0,0,0,0,0
$GC,9601,1.62,314.7,73.4,12.6,440,9606,0.00,2.40,0.00,0.000,6,0.000,0.018,3542,1953,1722,0,0,0,0,0,0
$GC,9931,1.62,314.7,36.8,11.2,470,9935,0.00,2.58,0.00,0.000,4,0.000,0.049,3541,403,1721,0,0,0,0,0,0
$GC,10035,1.62,314.7,23.7,11.1,481,10045,0.00,2.38,0.00,0.000,6,0.000,0.018,3541,1934,1721,0,0,0,0,0,0
$STATE,10218,end climb,SURFACE_DEPTH_REACHED
$STATE,10218,begin surface coast
$FINISH,0.6,0.980058
$STATE,10270,end surface coast,CONTROL_FINISHED_OK
$STATE,10270,begin surface
$SM_CCo,10292,53.30,0.510,0,0,1459,380.21
$SM_GC,1.44,0.00,0.00,53.30,0.000,0.000,0.510,480,2105,1459,-12.40,2.69,380.21
$IRIDIUM_FIX,2241.69,-15759.32,031000,090947
$TT8_MAMPS,0.026078
$HUMID,65.08
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,20.60
$XPDR_PINGS,50
$24V_AH,23.4,61.405
$10V_AH,10.0,55.098
$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,29.050,112.975,364.450,53.300,0.000,23.014,37.596,319.275,12.500,0.000,14.849,1028.100,6733.923,461.923,1979.933,666.466,33.378,1195.725,0.000,1979.150,0.000,0.535,0.000
$DEVICE_MAMPS,151.099,108.914,910.429,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,348.573,287.652,395.801,744.578,1125.940,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355728
$DATA_FILE_SIZE,41678,514
$CAP_FILE_SIZE,102968,0
$CFSIZE,260165632,156270592
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100711,154752,2248.229,-15758.492,11,2.2,30,10.1