version: 66.06
glider: 146
mission: 6
dive: 499
start: 7 11 111 1 7 36
data:
$ID,146
$MISSION,6
$DIVE,499
$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,-280407.44
$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,25
$R_STBD_OVSHOOT,77
$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
$GPS1,004824,2247.899,-15801.582,38,1.4,38,10.1
$_CALLS,5
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-70.4
$GPS2,010644,2248.087,-15801.791,11,1.4,11,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.054,-0.209
$KALMAN_X,-416399.2,-381.1,-245.9,408502.0,-987.0
$KALMAN_Y,157974.6,218.4,245.5,-150697.5,1648.1
$MHEAD_RNG_PITCHd_Wd,155.3,2884,-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,15,-1.48,-97.3,0.0,0.0,0,88,0.00,0.00,-70.50,0.000,2,0.000,0.000,475,2036,3291,0,0,0,0,0,0
$GC,93,-1.48,-97.3,4.0,-7.5,9,119,12.20,2.75,-2.12,0.000,4,0.144,0.058,2844,422,3410,0,0,0,0,0,0
$GC,131,-0.60,-97.3,17.1,-32.9,13,141,0.88,2.45,0.00,0.000,6,0.087,0.016,3041,2011,3411,0,0,0,0,0,0
$GC,503,-0.92,-97.3,42.7,-6.5,56,512,0.25,0.00,0.00,0.000,6,0.045,0.000,2960,2012,3412,0,0,0,0,0,0
$GC,834,-1.08,-97.3,73.8,-9.7,87,838,0.00,2.62,0.00,0.000,4,0.000,0.047,2960,421,3412,0,0,0,0,0,0
$GC,858,-1.22,-97.3,76.8,-9.8,88,867,0.17,2.42,0.00,0.000,6,0.027,0.016,2893,2010,3412,0,0,0,0,0,0
$GC,1186,-1.29,-97.3,111.5,-9.8,119,1190,0.00,2.42,0.00,0.000,4,0.000,0.035,2892,3552,3413,0,0,0,0,0,0
$GC,1244,-1.41,-97.3,117.3,-10.1,123,1249,0.10,2.40,0.00,0.000,6,0.081,0.028,2845,2010,3413,0,0,0,0,0,0
$GC,1568,-1.41,-97.3,153.4,-10.7,153,1570,0.10,0.00,0.00,0.000,6,0.120,0.000,2868,2009,3413,0,0,0,0,0,0
$GC,1888,-1.49,-97.3,184.4,-9.8,183,1889,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,2010,3414,0,0,0,0,0,0
$GC,2201,-1.57,-97.3,216.1,-9.8,201,2205,0.15,2.47,0.00,0.000,4,0.059,0.035,2814,3552,3414,0,0,0,0,0,0
$GC,2278,-1.57,-97.3,224.1,-10.3,202,2284,0.00,2.40,0.00,0.000,6,0.000,0.028,2813,2025,3414,0,0,0,0,0,0
$GC,2609,-1.57,-97.3,256.6,-10.2,211,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,2025,3414,0,0,0,0,0,0
$GC,2936,-1.57,-97.3,290.1,-10.5,219,2940,0.00,2.47,0.00,0.000,4,0.000,0.038,2814,3551,3414,0,0,0,0,0,0
$GC,2985,-1.61,-97.3,295.6,-10.9,220,2990,0.00,2.38,0.00,0.000,6,0.000,0.025,2813,2049,3413,0,0,0,0,0,0
$GC,3299,-1.65,-97.3,326.9,-9.6,228,3303,0.00,2.45,0.00,0.000,4,0.000,0.043,2813,3547,3413,0,0,0,0,0,0
$GC,3425,-1.71,-97.3,339.0,-9.8,230,3431,0.00,2.45,0.00,0.000,6,0.000,0.043,2813,2053,3413,0,0,0,0,0,0
$GC,3757,-1.76,-97.3,370.2,-9.3,239,3761,0.00,2.90,0.00,0.000,4,0.000,0.094,2813,422,3412,0,0,0,0,0,0
$GC,3779,-1.76,-97.3,372.4,-10.1,239,3784,0.00,2.55,0.00,0.000,6,0.000,0.035,2813,2009,3411,0,0,0,0,0,0
$GC,4116,-1.81,-97.3,407.6,-10.4,248,4121,0.15,2.67,0.00,0.000,4,0.062,0.054,2762,3598,3409,0,0,0,0,0,0
$GC,4143,-1.81,-97.3,411.0,-12.0,248,4148,0.00,2.58,0.00,0.000,6,0.000,0.047,2762,2049,3409,0,0,0,0,0,0
$GC,4476,-1.81,-97.3,449.4,-11.4,256,4480,0.00,2.58,0.00,0.000,4,0.000,0.057,2762,3585,3407,0,0,0,0,0,0
$GC,4525,-1.81,-97.3,455.4,-11.6,257,4529,0.00,2.55,0.00,0.000,6,0.000,0.053,2762,2057,3406,0,0,0,0,0,0
$GC,4843,-1.81,-97.3,492.8,-12.2,265,4847,0.00,2.60,0.00,0.000,4,0.000,0.061,2762,3584,3404,0,0,0,0,0,0
$STATE,4901,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4901,begin apogee
$GC,4911,-0.31,0.0,500.4,12.1,266,4996,1.50,0.00,81.15,0.907,6,0.082,0.000,3101,1998,3009,0,0,0,0,0,0
$STATE,4997,end apogee,CONTROL_FINISHED_OK
$STATE,4997,begin climb
$GC,5000,1.48,97.3,503.2,0.0,268,5087,1.67,0.00,83.22,0.880,6,0.040,0.000,3506,1998,2613,0,0,0,0,0,0
$GC,5380,1.41,151.6,488.3,6.3,278,5435,0.12,3.10,46.75,0.869,4,0.129,0.110,3482,412,2391,0,0,0,0,0,0
$GC,5491,1.27,151.6,478.6,10.2,280,5496,0.15,2.60,0.00,0.000,6,0.128,0.032,3454,1992,2387,0,0,0,0,0,0
$GC,5829,1.29,168.5,449.2,8.9,289,5850,0.00,2.75,15.00,0.811,4,0.000,0.054,3453,3584,2322,0,0,0,0,0,0
$GC,5905,1.29,168.5,441.1,11.3,290,5911,0.00,2.67,0.00,0.000,6,0.000,0.042,3454,1991,2320,0,0,0,0,0,0
$GC,6237,1.29,168.5,407.8,10.1,299,6241,0.00,2.62,0.00,0.000,4,0.000,0.043,3453,3590,2316,0,0,0,0,0,0
$GC,6282,1.29,168.5,403.0,11.2,300,6286,0.00,2.65,0.00,0.000,6,0.000,0.041,3454,2001,2315,0,0,0,0,0,0
$GC,6600,1.30,173.9,371.4,9.7,308,6606,0.00,0.00,5.07,0.625,6,0.000,0.000,3453,2001,2299,0,0,0,0,0,0
$GC,6925,1.34,205.7,343.5,7.8,316,6960,0.00,2.90,29.45,0.806,4,0.000,0.082,3453,406,2170,0,0,0,0,0,0
$GC,7155,1.36,223.2,324.9,8.8,320,7177,0.00,2.53,16.25,0.764,6,0.000,0.025,3453,2012,2099,0,0,0,0,0,0
$GC,7504,1.44,239.9,295.0,8.9,328,7522,0.15,0.00,16.02,0.749,6,0.074,0.000,3494,2012,2031,0,0,0,0,0,0
$GC,7827,1.45,248.1,264.3,9.5,336,7841,0.00,2.58,8.18,0.667,4,0.000,0.035,3494,3553,1997,0,0,0,0,0,0
$GC,7858,1.45,248.1,261.0,10.3,336,7862,0.00,2.60,0.00,0.000,6,0.000,0.031,3494,1972,1996,0,0,0,0,0,0
$GC,8191,1.46,251.8,229.7,9.8,344,8200,0.00,2.72,4.45,0.519,4,0.000,0.068,3494,406,1982,0,0,0,0,0,0
$GC,8301,1.46,251.8,217.3,11.3,346,8306,0.00,2.47,0.00,0.000,6,0.000,0.018,3494,1980,1981,0,0,0,0,0,0
$GC,8624,1.49,280.1,190.0,8.1,362,8655,0.00,0.00,26.33,0.682,6,0.000,0.000,3494,1980,1867,0,0,0,0,0,0
$GC,8974,1.54,280.1,155.4,11.1,395,8979,0.00,2.65,0.00,0.000,4,0.000,0.053,3494,406,1863,0,0,0,0,0,0
$GC,9063,1.54,280.1,144.8,11.9,402,9067,0.00,2.47,0.00,0.000,6,0.000,0.025,3494,1990,1861,0,0,0,0,0,0
$GC,9389,1.64,294.3,113.0,9.1,432,9409,0.15,2.72,12.70,0.579,4,0.074,0.052,3534,415,1810,0,0,0,0,0,0
$GC,9482,1.60,294.3,102.8,11.3,439,9487,0.00,2.45,0.00,0.000,6,0.000,0.021,3534,1982,1808,0,0,0,0,0,0
$GC,9811,1.66,307.2,70.9,9.1,470,9830,0.00,0.00,12.77,0.542,6,0.000,0.000,3534,1982,1756,0,0,0,0,0,0
$GC,10152,1.72,322.0,41.2,9.0,502,10171,0.00,2.67,14.15,0.518,4,0.000,0.048,3534,410,1696,0,0,0,0,0,0
$GC,10279,1.72,322.0,28.1,11.6,512,10289,0.00,2.45,0.00,0.000,6,0.000,0.018,3534,1971,1694,0,0,0,0,0,0
$STATE,10508,end climb,SURFACE_DEPTH_REACHED
$STATE,10508,begin surface coast
$FINISH,0.6,0.975110
$STATE,10551,end surface coast,CONTROL_FINISHED_OK
$STATE,10551,begin surface
$SM_CCo,10575,47.28,0.510,0,0,1459,380.21
$SM_GC,1.27,0.00,0.00,47.28,0.000,0.000,0.510,474,1973,1459,-12.42,-1.07,380.21
$IRIDIUM_FIX,2237.01,-15758.03,041000,010115
$TT8_MAMPS,0.026078
$HUMID,65.39
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,20.50
$XPDR_PINGS,47
$24V_AH,23.5,61.897
$10V_AH,10.0,55.582
$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,30.250,98.500,371.500,47.275,0.000,150.706,171.357,385.697,11.750,0.000,12.732,1070.623,7039.423,472.556,2129.144,1010.253,33.370,1193.930,0.000,2140.857,0.000,0.536,0.000
$DEVICE_MAMPS,144.196,110.448,906.594,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,373.511,314.409,436.654,871.926,1319.289,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355720
$DATA_FILE_SIZE,44805,551
$CAP_FILE_SIZE,104684,0
$CFSIZE,260165632,156057600
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110711,040600,2247.873,-15802.458,40,1.7,40,10.1