version: 66.06
glider: 146
mission: 6
dive: 514
start: 7 12 111 23 27 29
data:
$ID,146
$MISSION,6
$DIVE,514
$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,-280789.34
$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,21
$R_STBD_OVSHOOT,64
$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
$GPS1,231231,2250.436,-15758.817,38,1.2,38,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.40
$_SM_ANGLEo,-70.5
$GPS2,232637,2250.458,-15759.036,11,1.8,11,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.174,-0.127
$KALMAN_X,-437438.4,-54.5,-115.0,433788.7,-1414.2
$KALMAN_Y,169978.1,-291.5,-390.0,-157154.8,1191.8
$MHEAD_RNG_PITCHd_Wd,116.1,3578,-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,-69.70,0.000,2,0.000,0.000,475,1986,3260,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.9,-7.4,9,118,12.10,2.65,-2.78,0.000,4,0.140,0.061,2841,420,3409,0,0,0,0,0,0
$GC,143,-1.16,-97.3,18.0,-22.3,15,152,0.32,2.47,0.00,0.000,6,0.095,0.015,2915,2019,3410,0,0,0,0,0,0
$GC,496,-1.23,-97.3,59.9,-11.7,53,500,0.00,2.45,0.00,0.000,4,0.000,0.027,2915,3555,3411,0,0,0,0,0,0
$GC,520,-1.30,-97.3,63.5,-12.2,54,530,0.08,2.50,0.00,0.000,6,0.037,0.028,2866,1994,3411,0,0,0,0,0,0
$GC,847,-1.30,-97.3,101.9,-10.6,85,852,0.10,2.53,0.00,0.000,4,0.117,0.028,2889,3563,3411,0,0,0,0,0,0
$GC,864,-1.36,-97.3,104.0,-10.5,86,869,0.00,2.45,0.00,0.000,6,0.000,0.027,2889,2008,3411,0,0,0,0,0,0
$GC,1189,-1.46,-97.3,137.1,-10.2,116,1191,0.15,0.00,0.00,0.000,6,0.062,0.000,2836,2008,3412,0,0,0,0,0,0
$GC,1508,-1.46,-97.3,173.3,-11.4,146,1513,0.10,2.47,0.00,0.000,4,0.116,0.029,2857,3565,3412,0,0,0,0,0,0
$GC,1543,-1.54,-97.3,176.4,-11.2,148,1547,0.00,2.40,0.00,0.000,6,0.000,0.028,2858,2015,3412,0,0,0,0,0,0
$GC,1866,-1.61,-97.3,207.9,-9.3,172,1868,0.15,0.00,0.00,0.000,6,0.061,0.000,2804,2015,3413,0,0,0,0,0,0
$GC,2190,-1.61,-97.3,242.4,-10.4,180,2195,0.00,2.45,0.00,0.000,4,0.000,0.034,2805,3559,3413,0,0,0,0,0,0
$GC,2279,-1.61,-97.3,252.6,-11.4,182,2284,0.00,2.40,0.00,0.000,6,0.000,0.027,2804,2028,3413,0,0,0,0,0,0
$GC,2600,-1.61,-97.3,286.3,-10.5,190,2601,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2028,3413,0,0,0,0,0,0
$GC,2923,-1.61,-97.3,318.1,-9.3,198,2928,0.00,2.45,0.00,0.000,4,0.000,0.041,2805,3550,3413,0,0,0,0,0,0
$GC,2980,-1.67,-97.3,323.5,-9.2,199,2984,0.00,2.40,0.00,0.000,6,0.000,0.037,2804,2054,3413,0,0,0,0,0,0
$GC,3329,-1.67,-97.3,355.0,-8.9,208,3333,0.00,2.45,0.00,0.000,4,0.000,0.041,2804,3547,3412,0,0,0,0,0,0
$GC,3446,-1.72,-97.3,366.9,-10.3,210,3450,0.00,2.45,0.00,0.000,6,0.000,0.038,2805,2056,3411,0,0,0,0,0,0
$GC,3777,-1.72,-97.3,402.5,-11.2,218,3781,0.00,2.47,0.00,0.000,4,0.000,0.050,2804,3548,3409,0,0,0,0,0,0
$GC,3822,-1.78,-97.3,407.4,-10.5,219,3826,0.00,2.47,0.00,0.000,6,0.000,0.047,2804,2058,3409,0,0,0,0,0,0
$GC,4140,-1.82,-97.3,440.4,-10.1,227,4145,0.12,2.50,0.00,0.000,4,0.068,0.048,2759,3553,3407,0,0,0,0,0,0
$GC,4169,-1.82,-97.3,443.5,-11.5,227,4173,0.00,2.50,0.00,0.000,6,0.000,0.058,2759,2065,3407,0,0,0,0,0,0
$GC,4502,-1.82,-97.3,480.4,-11.0,235,4506,0.00,3.03,0.00,0.000,4,0.000,0.114,2758,425,3404,0,0,0,0,0,0
$GC,4529,-1.74,-97.3,483.8,-11.6,235,4534,0.17,2.62,0.00,0.000,6,0.107,0.044,2795,2015,3404,0,0,0,0,0,0
$STATE,4695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4695,begin apogee
$GC,4702,-0.31,0.0,500.2,9.7,239,4787,1.38,0.00,81.15,0.907,6,0.078,0.000,3107,2015,3010,0,0,0,0,0,0
$STATE,4788,end apogee,CONTROL_FINISHED_OK
$STATE,4788,begin climb
$GC,4790,1.48,97.3,502.6,0.0,241,4881,1.65,2.80,83.20,0.885,4,0.035,0.067,3509,3585,2613,0,0,0,0,0,0
$GC,4893,1.46,217.3,503.7,1.7,243,5006,0.00,2.70,103.82,0.877,6,0.000,0.051,3510,1994,2124,0,0,0,0,0,0
$GC,5349,1.37,217.3,450.3,12.2,255,5354,0.17,2.95,0.00,0.000,4,0.122,0.097,3475,407,2115,0,0,0,0,0,0
$GC,5412,1.28,217.3,442.3,12.9,256,5417,0.10,2.58,0.00,0.000,6,0.142,0.029,3457,1993,2113,0,0,0,0,0,0
$GC,5754,1.28,217.3,404.1,11.2,265,5759,0.00,2.80,0.00,0.000,4,0.000,0.070,3457,400,2111,0,0,0,0,0,0
$GC,5828,1.24,217.3,395.2,12.0,266,5832,0.00,2.55,0.00,0.000,6,0.000,0.024,3457,1979,2109,0,0,0,0,0,0
$GC,6161,1.24,220.6,361.4,9.8,274,6165,0.00,2.70,0.00,0.000,4,0.000,0.062,3457,406,2108,0,0,0,0,0,0
$GC,6182,1.25,226.2,359.0,9.7,274,6197,0.00,2.53,6.50,0.680,6,0.000,0.027,3457,1986,2086,0,0,0,0,0,0
$GC,6524,1.27,240.1,328.9,9.1,283,6543,0.00,2.65,13.85,0.762,4,0.000,0.041,3457,3577,2030,0,0,0,0,0,0
$GC,6567,1.32,241.2,324.6,10.0,284,6572,0.00,2.67,0.00,0.000,6,0.000,0.039,3456,1965,2029,0,0,0,0,0,0
$GC,6891,1.38,241.4,291.5,10.0,292,6893,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1965,2026,0,0,0,0,0,0
$GC,7218,1.47,260.2,261.5,8.7,300,7243,0.17,2.75,18.70,0.732,4,0.070,0.068,3503,408,1948,0,0,0,0,0,0
$GC,7361,1.42,260.2,246.2,10.7,303,7365,0.00,2.45,0.00,0.000,6,0.000,0.024,3504,1969,1945,0,0,0,0,0,0
$GC,7675,1.45,280.2,218.4,8.7,311,7696,0.00,0.00,18.75,0.694,6,0.000,0.000,3504,1969,1867,0,0,0,0,0,0
$GC,7983,1.46,287.1,189.5,9.6,326,7997,0.00,2.72,7.03,0.584,4,0.000,0.058,3504,409,1839,0,0,0,0,0,0
$GC,8078,1.46,287.1,179.6,11.1,334,8083,0.00,2.42,0.00,0.000,6,0.000,0.025,3504,1956,1837,0,0,0,0,0,0
$GC,8403,1.51,296.7,147.3,9.4,364,8419,0.00,2.65,9.88,0.591,4,0.000,0.055,3504,406,1799,0,0,0,0,0,0
$GC,8447,1.51,296.7,143.2,10.7,367,8452,0.00,2.42,0.00,0.000,6,0.000,0.023,3504,1952,1799,0,0,0,0,0,0
$GC,8776,1.58,296.7,110.7,10.2,397,8780,0.00,2.60,0.00,0.000,4,0.000,0.058,3503,400,1798,0,0,0,0,0,0
$GC,8841,1.58,296.7,103.7,10.8,402,8846,0.00,2.40,0.00,0.000,6,0.000,0.017,3504,1946,1797,0,0,0,0,0,0
$GC,9170,1.71,331.1,75.7,7.7,432,9212,0.17,2.67,30.85,0.570,4,0.067,0.057,3551,403,1658,0,0,0,0,0,0
$GC,9326,1.71,331.1,59.6,10.9,444,9336,0.00,2.38,0.00,0.000,6,0.000,0.016,3551,1920,1656,0,0,0,0,0,0
$GC,9667,1.71,331.1,24.5,11.1,478,9676,0.00,2.58,0.00,0.000,4,0.000,0.051,3551,402,1656,0,0,0,0,0,0
$GC,9789,1.66,331.1,8.5,13.6,495,9798,0.00,2.35,0.00,0.000,6,0.000,0.017,3551,1915,1656,0,0,0,0,0,0
$STATE,9826,end climb,SURFACE_DEPTH_REACHED
$STATE,9826,begin surface coast
$FINISH,0.7,0.980037
$STATE,9871,end surface coast,CONTROL_FINISHED_OK
$STATE,9871,begin surface
$SM_CCo,9895,40.55,0.505,0,0,1459,380.21
$SM_GC,1.64,0.00,0.00,40.55,0.000,0.000,0.505,477,2104,1459,-12.41,2.66,380.21
$IRIDIUM_FIX,2244.02,-15757.16,051000,232330
$TT8_MAMPS,0.025311
$HUMID,64.45
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,20.50
$XPDR_PINGS,61
$24V_AH,23.4,63.774
$10V_AH,10.0,57.376
$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,29.425,107.550,373.725,40.550,0.000,59.095,69.000,509.882,15.250,0.000,12.958,1002.590,6464.899,467.495,1921.089,923.456,33.374,1155.993,0.000,1925.293,0.000,0.535,0.000
$DEVICE_MAMPS,141.895,113.516,906.594,505.453,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,342.814,289.134,398.814,759.744,1148.926,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355592
$DATA_FILE_SIZE,41578,506
$CAP_FILE_SIZE,103730,0
$CFSIZE,260165632,155262976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130711,021424,2250.448,-15758.664,38,1.8,38,10.1