version: 66.06
glider: 146
mission: 6
dive: 200
start: 6 4 111 9 21 56
data:
$ID,146
$MISSION,6
$DIVE,200
$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,120
$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,-272521.81
$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,3150
$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,1800
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,50
$R_STBD_OVSHOOT,54
$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,3020
$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
$GPS1,091455,2248.692,-15803.182,7,1.7,18,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.9
$GPS2,092102,2248.727,-15803.137,10,1.8,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.023,0.201
$KALMAN_X,-90787.6,301.5,-14.7,79673.2,3.3
$KALMAN_Y,-112808.0,409.1,371.3,120965.3,354.8
$MHEAD_RNG_PITCHd_Wd,356.4,2370,-23.4,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.57,-85.2,0.0,0.0,0,90,0.00,0.00,-70.55,0.000,2,0.000,0.000,477,1767,3247,0,0,0,0,0,0
$GC,93,-1.61,-116.8,3.5,-6.2,9,119,12.07,2.58,-4.60,0.000,4,0.150,0.038,2791,3367,3498,0,0,0,0,0,0
$GC,271,-1.56,-116.8,47.9,-19.6,29,276,0.00,2.47,0.00,0.000,6,0.000,0.029,2791,1819,3500,0,0,0,0,0,0
$GC,539,-1.51,-116.8,95.8,-16.5,53,545,0.15,2.70,0.00,0.000,4,0.128,0.061,2820,226,3501,0,0,0,0,0,0
$GC,575,-1.47,-116.8,102.1,-17.4,55,579,0.00,2.40,0.00,0.000,6,0.000,0.018,2821,1831,3501,0,0,0,0,0,0
$GC,841,-1.47,-116.8,140.8,-14.1,79,845,0.00,2.33,0.00,0.000,4,0.000,0.030,2821,3332,3502,0,0,0,0,0,0
$GC,906,-1.55,-116.8,150.6,-13.3,84,910,0.00,2.42,0.00,0.000,6,0.000,0.032,2821,1801,3502,0,0,0,0,0,0
$GC,1169,-1.60,-116.8,186.7,-12.2,108,1170,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1802,3504,0,0,0,0,0,0
$GC,1437,-1.66,-116.8,222.4,-13.5,122,1442,0.15,2.72,0.00,0.000,4,0.066,0.073,2770,226,3504,0,0,0,0,0,0
$GC,1465,-1.60,-116.8,226.6,-15.2,122,1470,0.12,2.40,0.00,0.000,6,0.118,0.021,2797,1801,3504,0,0,0,0,0,0
$GC,1714,-1.60,-116.8,259.0,-12.8,128,1719,0.00,2.45,0.00,0.000,4,0.000,0.038,2797,3356,3504,0,0,0,0,0,0
$GC,1766,-1.67,-116.8,265.4,-12.5,129,1770,0.00,2.42,0.00,0.000,6,0.000,0.035,2797,1830,3504,0,0,0,0,0,0
$GC,2038,-1.72,-116.8,299.2,-12.5,136,2042,0.00,2.42,0.00,0.000,4,0.000,0.033,2797,3350,3504,0,0,0,0,0,0
$GC,2065,-1.78,-116.8,302.6,-12.7,136,2070,0.15,2.47,0.00,0.000,6,0.066,0.042,2749,1837,3504,0,0,0,0,0,0
$GC,2316,-1.78,-116.8,339.0,-14.8,142,2320,0.00,2.45,0.00,0.000,4,0.000,0.037,2749,3352,3504,0,0,0,0,0,0
$GC,2331,-1.78,-116.8,341.6,-14.6,142,2335,0.00,2.50,0.00,0.000,6,0.000,0.042,2749,1828,3503,0,0,0,0,0,0
$GC,2592,-1.78,-116.8,378.7,-14.2,149,2596,0.00,2.45,0.00,0.000,4,0.000,0.040,2749,3345,3502,0,0,0,0,0,0
$GC,2615,-1.78,-116.8,381.8,-13.0,149,2620,0.00,2.55,0.00,0.000,6,0.000,0.052,2749,1830,3502,0,0,0,0,0,0
$GC,2870,-1.78,-116.8,415.9,-13.5,156,2874,0.00,2.50,0.00,0.000,4,0.000,0.044,2749,3348,3501,0,0,0,0,0,0
$GC,2909,-1.78,-116.8,421.3,-13.5,157,2913,0.00,2.53,0.00,0.000,6,0.000,0.058,2749,1852,3501,0,0,0,0,0,0
$GC,3193,-1.78,-116.8,459.2,-13.5,164,3197,0.00,2.47,0.00,0.000,4,0.000,0.050,2749,3341,3499,0,0,0,0,0,0
$GC,3259,-1.78,-116.8,468.5,-13.2,165,3263,0.00,2.55,0.00,0.000,6,0.000,0.066,2749,1856,3498,0,0,0,0,0,0
$STATE,3517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3517,begin apogee
$GC,3525,-0.31,0.0,502.4,13.2,172,3626,1.50,0.00,97.30,0.920,6,0.094,0.000,3078,1973,3020,0,0,0,0,0,0
$STATE,3627,end apogee,CONTROL_FINISHED_OK
$STATE,3627,begin climb
$GC,3630,1.61,116.8,505.4,0.0,174,3739,1.80,2.83,100.20,0.905,4,0.046,0.064,3503,3549,2541,0,0,0,0,0,0
$GC,3750,1.59,175.4,503.6,5.4,177,3809,0.00,2.70,50.97,0.887,6,0.000,0.053,3503,1984,2303,0,0,0,0,0,0
$GC,4088,1.53,175.4,465.0,12.3,186,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,3503,1984,2294,0,0,0,0,0,0
$GC,4332,1.48,175.4,436.0,11.8,192,4337,0.15,2.60,0.00,0.000,4,0.123,0.042,3473,3558,2292,0,0,0,0,0,0
$GC,4360,1.48,175.4,432.7,11.4,192,4365,0.00,2.67,0.00,0.000,6,0.000,0.048,3474,1986,2291,0,0,0,0,0,0
$GC,4610,1.48,175.4,405.0,11.0,198,4614,0.00,2.60,0.00,0.000,4,0.000,0.042,3473,3560,2289,0,0,0,0,0,0
$GC,4659,1.48,175.4,399.5,10.9,199,4664,0.00,2.60,0.00,0.000,6,0.000,0.040,3474,1996,2288,0,0,0,0,0,0
$GC,4933,1.48,175.4,370.6,10.6,206,4937,0.00,2.58,0.00,0.000,4,0.000,0.036,3474,3565,2287,0,0,0,0,0,0
$GC,4993,1.48,175.4,364.0,10.5,207,4998,0.00,2.58,0.00,0.000,6,0.000,0.037,3473,2012,2286,0,0,0,0,0,0
$GC,5255,1.49,176.9,338.1,9.9,214,5259,0.00,2.83,0.00,0.000,4,0.000,0.082,3474,408,2285,0,0,0,0,0,0
$GC,5271,1.49,176.9,336.3,10.1,214,5276,0.00,2.58,0.00,0.000,6,0.000,0.022,3474,2023,2285,0,0,0,0,0,0
$GC,5533,1.49,184.1,310.6,9.5,221,5543,0.00,2.55,5.50,0.641,4,0.000,0.037,3473,3569,2267,0,0,0,0,0,0
$GC,5565,1.49,184.1,307.0,10.3,221,5571,0.00,2.55,0.00,0.000,6,0.000,0.035,3473,2024,2267,0,0,0,0,0,0
$GC,5817,1.50,188.1,282.5,9.7,228,5827,0.00,2.55,4.80,0.588,4,0.000,0.041,3473,3564,2253,0,0,0,0,0,0
$GC,5855,1.50,188.1,278.4,10.1,229,5860,0.00,2.53,0.00,0.000,6,0.000,0.038,3473,2025,2252,0,0,0,0,0,0
$GC,6139,1.56,199.9,252.3,9.1,236,6158,0.00,2.90,12.10,0.725,4,0.000,0.071,3473,406,2202,0,0,0,0,0,0
$GC,6184,1.57,204.9,248.3,9.6,237,6195,0.00,2.60,5.72,0.603,6,0.000,0.025,3473,2034,2184,0,0,0,0,0,0
$GC,6468,1.62,205.2,220.4,10.0,244,6473,0.12,2.50,0.00,0.000,4,0.082,0.043,3506,3560,2182,0,0,0,0,0,0
$GC,6558,1.62,205.2,209.6,11.8,246,6563,0.00,2.50,0.00,0.000,6,0.000,0.037,3506,2031,2180,0,0,0,0,0,0
$GC,6822,1.62,205.2,183.2,10.4,263,6826,0.00,2.78,0.00,0.000,4,0.000,0.062,3506,408,2180,0,0,0,0,0,0
$GC,6856,1.58,205.2,179.9,12.1,265,6861,0.00,2.60,0.00,0.000,6,0.000,0.023,3506,2057,2179,0,0,0,0,0,0
$GC,7124,1.59,212.8,154.6,9.4,289,7134,0.00,0.00,7.85,0.609,6,0.000,0.000,3506,2057,2152,0,0,0,0,0,0
$GC,7386,1.59,212.8,127.7,10.1,314,7391,0.00,2.78,0.00,0.000,4,0.000,0.060,3506,408,2150,0,0,0,0,0,0
$GC,7407,1.59,212.8,125.6,11.1,315,7412,0.00,2.60,0.00,0.000,6,0.000,0.025,3506,2063,2149,0,0,0,0,0,0
$GC,7674,1.59,215.4,98.9,9.8,339,7678,0.00,2.42,0.00,0.000,4,0.000,0.040,3506,3574,2148,0,0,0,0,0,0
$GC,7835,1.64,215.4,81.3,10.3,352,7840,0.00,2.42,0.00,0.000,6,0.000,0.035,3506,2054,2148,0,0,0,0,0,0
$GC,8102,1.75,253.2,60.8,7.1,376,8144,0.10,2.83,35.78,0.588,4,0.092,0.053,3535,404,1985,0,0,0,0,0,0
$GC,8357,1.75,253.2,35.9,10.2,396,8362,0.00,2.60,0.00,0.000,6,0.000,0.018,3535,2074,1982,0,0,0,0,0,0
$GC,8680,1.81,253.2,4.4,11.6,438,8688,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,2076,1982,0,0,0,0,0,0
$STATE,8696,end climb,SURFACE_DEPTH_REACHED
$STATE,8696,begin surface coast
$FINISH,0.8,0.980083
$STATE,8746,end surface coast,CONTROL_FINISHED_OK
$STATE,8746,begin surface
$SM_CCo,8768,102.85,0.531,0,0,1470,380.21
$SM_GC,1.24,0.00,0.00,102.85,0.000,0.000,0.531,476,1775,1470,-12.30,-0.74,380.21
$IRIDIUM_FIX,2239.35,-15746.73,280800,060623
$TT8_MAMPS,0.025311
$HUMID,57.60
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.00
$XPDR_PINGS,47
$24V_AH,23.5,25.125
$10V_AH,10.4,21.894
$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,28.775,118.675,320.225,102.850,0.000,29.212,37.773,168.520,11.750,0.000,12.444,928.239,5539.940,498.932,1768.584,505.021,33.357,1134.984,0.000,1778.340,0.000,0.534,0.000
$DEVICE_MAMPS,150.332,111.215,920.400,530.764,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,303.568,249.018,350.122,686.956,1038.946,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355540
$DATA_FILE_SIZE,35181,447
$CAP_FILE_SIZE,95483,0
$CFSIZE,260165632,171802624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040611,115107,2249.988,-15802.866,38,1.9,38,10.1