version: 66.06
glider: 146
mission: 6
dive: 204
start: 6 4 111 20 36 26
data:
$ID,146
$MISSION,6
$DIVE,204
$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,-272602.88
$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,3155
$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,40
$R_STBD_OVSHOOT,61
$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
$GPS1,202806,2249.676,-15758.460,42,0.9,47,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.8
$GPS2,203532,2249.810,-15758.465,14,1.1,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.229,-0.036
$KALMAN_X,-89370.2,-143.7,-109.9,86775.8,222.0
$KALMAN_Y,-110778.0,-454.0,86.2,122088.7,706.2
$MHEAD_RNG_PITCHd_Wd,88.8,2525,-20.1,-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,16,-1.40,-113.3,0.0,0.0,0,89,0.00,0.00,-71.20,0.000,2,0.000,0.000,474,1789,3302,0,0,0,0,0,0
$GC,93,-1.40,-116.8,3.9,-7.2,9,119,12.52,2.62,-3.35,0.000,4,0.156,0.060,2839,240,3499,0,0,0,0,0,0
$GC,131,-0.34,-116.8,19.8,-39.5,13,140,1.08,2.42,0.00,0.000,6,0.094,0.015,3077,1824,3499,0,0,0,0,0,0
$GC,418,-0.68,-116.8,39.3,-5.7,46,423,0.28,2.38,0.00,0.000,4,0.042,0.028,2988,3349,3501,0,0,0,0,0,0
$GC,454,-0.90,-116.8,42.0,-8.2,48,459,0.12,2.45,0.00,0.000,6,0.066,0.025,2938,1809,3501,0,0,0,0,0,0
$GC,722,-0.95,-116.8,74.9,-13.4,72,726,0.00,2.42,0.00,0.000,4,0.000,0.025,2938,3342,3502,0,0,0,0,0,0
$GC,814,-1.10,-116.8,85.2,-9.3,79,819,0.10,2.40,0.00,0.000,6,0.084,0.032,2898,1818,3502,0,0,0,0,0,0
$GC,1081,-1.15,-116.8,118.5,-12.2,103,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1818,3503,0,0,0,0,0,0
$GC,1344,-1.22,-116.8,147.1,-9.6,128,1349,0.00,2.40,0.00,0.000,4,0.000,0.031,2897,3342,3503,0,0,0,0,0,0
$GC,1403,-1.34,-116.8,153.0,-9.9,132,1411,0.10,2.40,0.00,0.000,6,0.038,0.031,2846,1842,3504,0,0,0,0,0,0
$GC,1669,-1.34,-116.8,186.3,-12.6,157,1674,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1843,3504,0,0,0,0,0,0
$GC,1945,-1.34,-116.8,219.2,-11.6,172,1949,0.00,2.38,0.00,0.000,4,0.000,0.033,2846,3345,3505,0,0,0,0,0,0
$GC,1994,-1.38,-116.8,225.1,-11.8,173,1998,0.00,2.38,0.00,0.000,6,0.000,0.029,2845,1851,3505,0,0,0,0,0,0
$GC,2266,-1.38,-116.8,254.6,-10.6,180,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1851,3505,0,0,0,0,0,0
$GC,2511,-1.38,-116.8,280.1,-10.2,186,2516,0.00,2.38,0.00,0.000,4,0.000,0.032,2845,3338,3505,0,0,0,0,0,0
$GC,2567,-1.45,-116.8,286.2,-10.3,187,2571,0.00,2.38,0.00,0.000,6,0.000,0.031,2846,1866,3505,0,0,0,0,0,0
$GC,2834,-1.49,-116.8,313.7,-10.5,194,2838,0.00,2.88,0.00,0.000,4,0.000,0.087,2845,234,3504,0,0,0,0,0,0
$GC,2861,-1.49,-116.8,317.1,-11.7,194,2866,0.00,2.47,0.00,0.000,6,0.000,0.029,2845,1814,3504,0,0,0,0,0,0
$GC,3112,-1.53,-116.8,344.0,-11.0,200,3113,0.10,0.00,0.00,0.000,6,0.089,0.000,2808,1814,3503,0,0,0,0,0,0
$GC,3355,-1.53,-116.8,374.8,-12.7,206,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1814,3502,0,0,0,0,0,0
$GC,3598,-1.53,-116.8,403.5,-11.6,212,3603,0.00,2.60,0.00,0.000,4,0.000,0.052,2808,3378,3500,0,0,0,0,0,0
$GC,3632,-1.53,-116.8,407.3,-10.8,212,3638,0.00,2.55,0.00,0.000,6,0.000,0.056,2808,1865,3500,0,0,0,0,0,0
$GC,3882,-1.53,-116.8,433.2,-10.2,219,3883,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1865,3498,0,0,0,0,0,0
$GC,4126,-1.53,-116.8,458.7,-10.3,225,4130,0.00,2.50,0.00,0.000,4,0.000,0.048,2808,3373,3497,0,0,0,0,0,0
$GC,4147,-1.53,-116.8,461.0,-10.4,225,4151,0.00,2.55,0.00,0.000,6,0.000,0.060,2808,1876,3497,0,0,0,0,0,0
$GC,4404,-1.53,-116.8,487.0,-10.3,232,4405,0.00,0.00,0.00,0.000,6,0.000,0.000,2808,1876,3495,0,0,0,0,0,0
$STATE,4563,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4563,begin apogee
$GC,4569,-0.31,0.0,503.4,10.1,236,4670,1.25,0.00,97.00,0.922,6,0.084,0.000,3088,2000,3020,0,0,0,0,0,0
$STATE,4670,end apogee,CONTROL_FINISHED_OK
$STATE,4670,begin climb
$GC,4673,1.40,116.8,505.7,0.0,238,4783,1.60,2.75,99.20,0.906,4,0.044,0.065,3466,3554,2542,0,0,0,0,0,0
$GC,4829,1.33,167.4,503.6,7.0,242,4879,0.10,2.65,43.50,0.885,6,0.136,0.055,3447,2009,2339,0,0,0,0,0,0
$GC,5135,1.30,182.7,476.2,9.1,250,5151,0.00,0.00,14.02,0.825,6,0.000,0.000,3447,2009,2276,0,0,0,0,0,0
$GC,5379,1.26,188.2,452.9,9.7,256,5392,0.00,2.60,6.22,0.700,4,0.000,0.042,3446,3557,2250,0,0,0,0,0,0
$GC,5411,1.23,196.8,449.7,9.5,256,5426,0.12,2.67,8.98,0.764,6,0.129,0.047,3423,1980,2217,0,0,0,0,0,0
$GC,5711,1.25,213.6,422.2,9.0,264,5729,0.00,0.00,15.77,0.831,6,0.000,0.000,3423,1980,2148,0,0,0,0,0,0
$GC,5953,1.25,213.6,397.6,10.3,270,5954,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,1980,2144,0,0,0,0,0,0
$GC,6198,1.25,213.6,370.9,11.0,276,6202,0.00,2.60,0.00,0.000,4,0.000,0.041,3423,3557,2142,0,0,0,0,0,0
$GC,6220,1.25,213.6,368.3,11.1,276,6225,0.00,2.62,0.00,0.000,6,0.000,0.041,3423,1979,2141,0,0,0,0,0,0
$GC,6475,1.25,213.6,340.7,10.8,283,6476,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,1979,2140,0,0,0,0,0,0
$GC,6719,1.27,234.7,318.5,8.8,289,6739,0.00,0.00,18.50,0.792,6,0.000,0.000,3423,1979,2063,0,0,0,0,0,0
$GC,6965,1.36,269.3,298.5,8.0,295,7003,0.12,0.00,31.98,0.791,6,0.087,0.000,3455,1979,1921,0,0,0,0,0,0
$GC,7246,1.36,269.3,266.0,11.9,302,7247,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,1978,1915,0,0,0,0,0,0
$GC,7490,1.36,269.3,236.1,12.5,308,7494,0.00,2.55,0.00,0.000,4,0.000,0.038,3455,3556,1914,0,0,0,0,0,0
$GC,7519,1.36,269.3,232.5,13.1,308,7524,0.00,2.58,0.00,0.000,6,0.000,0.032,3455,1981,1913,0,0,0,0,0,0
$GC,7769,1.36,269.3,205.0,10.4,314,7773,0.00,2.58,0.00,0.000,4,0.000,0.035,3455,3556,1912,0,0,0,0,0,0
$GC,7814,1.40,269.3,200.1,11.0,315,7818,0.00,2.53,0.00,0.000,6,0.000,0.038,3455,1997,1911,0,0,0,0,0,0
$GC,8084,1.41,276.9,174.7,9.6,338,8096,0.00,2.70,6.45,0.581,4,0.000,0.064,3455,413,1890,0,0,0,0,0,0
$GC,8113,1.41,276.9,171.9,10.3,340,8117,0.00,2.53,0.00,0.000,6,0.000,0.023,3455,2016,1890,0,0,0,0,0,0
$GC,8376,1.41,276.9,142.6,11.1,364,8377,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2016,1889,0,0,0,0,0,0
$GC,8628,1.45,276.9,115.6,10.7,388,8629,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2016,1889,0,0,0,0,0,0
$GC,8885,1.54,302.1,91.7,8.5,412,8914,0.15,2.53,23.00,0.606,4,0.072,0.035,3498,3563,1787,0,0,0,0,0,0
$GC,8942,1.54,302.1,85.0,11.0,416,8952,0.00,2.58,0.00,0.000,6,0.000,0.030,3498,1997,1785,0,0,0,0,0,0
$GC,9211,1.58,302.1,55.9,10.6,441,9215,0.00,2.53,0.00,0.000,4,0.000,0.035,3497,3564,1784,0,0,0,0,0,0
$GC,9269,1.64,302.1,48.7,10.9,445,9278,0.00,2.53,0.00,0.000,6,0.000,0.029,3498,2015,1783,0,0,0,0,0,0
$GC,9555,1.64,302.1,19.5,10.5,477,9564,0.00,2.50,0.00,0.000,4,0.000,0.032,3498,3555,1783,0,0,0,0,0,0
$GC,9658,1.69,302.1,9.0,10.7,492,9668,0.05,2.50,0.00,0.000,6,0.061,0.029,3524,2016,1783,0,0,0,0,0,0
$STATE,9701,end climb,SURFACE_DEPTH_REACHED
$STATE,9701,begin surface coast
$FINISH,0.5,0.978238
$STATE,9742,end surface coast,CONTROL_FINISHED_OK
$STATE,9742,begin surface
$SM_CCo,9766,63.67,0.532,0,0,1469,380.21
$SM_GC,1.43,0.00,0.00,63.67,0.000,0.000,0.532,475,1796,1469,-12.33,-0.11,380.21
$IRIDIUM_FIX,2239.35,-15800.20,280800,171743
$TT8_MAMPS,0.025311
$HUMID,59.64
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.00
$XPDR_PINGS,33
$24V_AH,23.5,25.595
$10V_AH,10.4,22.339
$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,30.025,91.550,364.625,63.675,0.000,30.160,60.346,221.847,8.250,0.000,16.132,984.734,6403.319,497.252,1819.515,573.979,33.363,1129.833,0.000,1827.081,0.000,0.536,0.000
$DEVICE_MAMPS,156.468,102.011,921.934,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,341.692,285.559,394.975,773.683,1171.970,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,38422,504
$CAP_FILE_SIZE,96316,0
$CFSIZE,260165632,171593728
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040611,232127,2250.101,-15757.052,10,2.1,29,10.1