version: 66.06
glider: 146
mission: 6
dive: 214
start: 6 6 111 1 2 38
data:
$ID,146
$MISSION,6
$DIVE,214
$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,-272884.72
$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,1830
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,63
$R_STBD_OVSHOOT,57
$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
$GPS1,005229,2248.782,-15802.903,39,1.3,40,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.3
$GPS2,010144,2248.864,-15802.886,12,1.0,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.015,0.160
$KALMAN_X,-89403.9,-28.5,-3.7,79034.3,-42.4
$KALMAN_Y,-104322.8,-270.2,302.7,113481.7,503.9
$MHEAD_RNG_PITCHd_Wd,344.4,2114,-29.3,-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,-1.90,-54.9,0.0,0.0,0,89,0.00,0.00,-70.70,0.000,2,0.000,0.000,478,1788,3243,0,0,0,0,0,0
$GC,92,-1.95,-98.5,3.1,-4.7,9,118,11.65,2.60,-3.42,0.000,4,0.149,0.039,2717,3392,3424,0,0,0,0,0,0
$GC,271,-1.95,-98.5,52.0,-23.0,29,280,0.00,2.47,0.00,0.000,6,0.000,0.026,2718,1857,3427,0,0,0,0,0,0
$GC,531,-1.95,-98.5,108.6,-22.1,54,532,0.00,0.00,0.00,0.000,6,0.000,0.000,2718,1857,3427,0,0,0,0,0,0
$GC,787,-1.95,-98.5,158.9,-19.2,78,792,0.00,2.72,0.00,0.000,4,0.000,0.067,2718,254,3428,0,0,0,0,0,0
$GC,843,-1.95,-98.5,169.7,-20.9,82,847,0.00,2.42,0.00,0.000,6,0.000,0.023,2717,1846,3428,0,0,0,0,0,0
$GC,1100,-1.95,-98.5,216.0,-17.7,100,1101,0.00,0.00,0.00,0.000,6,0.000,0.000,2717,1848,3429,0,0,0,0,0,0
$GC,1345,-2.01,-98.5,256.1,-16.5,106,1350,0.00,2.42,0.00,0.000,4,0.000,0.038,2718,3388,3429,0,0,0,0,0,0
$GC,1362,-2.07,-98.5,259.2,-16.2,106,1366,0.00,2.53,0.00,0.000,6,0.000,0.030,2718,1817,3430,0,0,0,0,0,0
$GC,1622,-2.14,-98.5,299.0,-14.9,113,1628,0.12,2.75,0.00,0.000,4,0.074,0.084,2677,252,3430,0,0,0,0,0,0
$GC,1634,-2.19,-98.5,300.7,-14.8,113,1639,0.00,2.42,0.00,0.000,6,0.000,0.028,2677,1801,3430,0,0,0,0,0,0
$GC,1901,-2.19,-98.5,346.8,-17.1,120,1905,0.00,2.62,0.00,0.000,4,0.000,0.053,2677,3402,3430,0,0,0,0,0,0
$GC,1962,-2.23,-98.5,357.9,-17.4,121,1966,0.00,2.62,0.00,0.000,6,0.000,0.051,2678,1829,3429,0,0,0,0,0,0
$GC,2223,-2.23,-98.5,401.3,-16.6,128,2228,0.00,2.60,0.00,0.000,4,0.000,0.050,2677,3399,3429,0,0,0,0,0,0
$GC,2346,-2.28,-98.5,421.8,-15.7,130,2352,0.00,2.65,0.00,0.000,6,0.000,0.058,2678,1842,3428,0,0,0,0,0,0
$GC,2598,-2.32,-98.5,459.4,-15.1,137,2603,0.12,2.60,0.00,0.000,4,0.076,0.058,2637,3393,3427,0,0,0,0,0,0
$GC,2619,-2.32,-98.5,463.3,-15.9,137,2623,0.00,2.67,0.00,0.000,6,0.000,0.061,2637,1835,3426,0,0,0,0,0,0
$STATE,2837,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2837,begin apogee
$GC,2843,-0.31,0.0,501.3,17.5,143,2931,2.10,0.00,83.05,0.902,6,0.107,0.000,3082,1998,3019,0,0,0,0,0,0
$STATE,2932,end apogee,CONTROL_FINISHED_OK
$STATE,2932,begin climb
$GC,2936,1.95,98.5,505.0,0.0,145,3029,2.08,3.05,82.90,0.886,4,0.044,0.108,3588,406,2616,0,0,0,0,0,0
$GC,3035,1.93,149.2,504.1,3.8,147,3085,0.00,2.65,43.92,0.868,6,0.000,0.044,3588,1980,2410,0,0,0,0,0,0
$GC,3344,1.93,149.2,467.0,13.2,155,3349,0.00,2.75,0.00,0.000,4,0.000,0.060,3588,3577,2402,0,0,0,0,0,0
$GC,3478,1.93,149.2,448.0,13.7,158,3482,0.00,2.67,0.00,0.000,6,0.000,0.045,3588,1997,2399,0,0,0,0,0,0
$GC,3762,1.93,149.2,411.0,12.8,165,3767,0.00,2.65,0.00,0.000,4,0.000,0.040,3588,3594,2397,0,0,0,0,0,0
$GC,3857,1.89,149.2,399.3,11.9,167,3863,0.10,2.65,0.00,0.000,6,0.160,0.047,3570,2002,2396,0,0,0,0,0,0
$GC,4131,1.89,149.2,369.8,11.0,174,4135,0.00,2.60,0.00,0.000,4,0.000,0.042,3569,3595,2393,0,0,0,0,0,0
$GC,4315,1.89,149.2,349.3,11.0,178,4319,0.00,2.58,0.00,0.000,6,0.000,0.040,3570,2022,2391,0,0,0,0,0,0
$GC,4589,1.89,150.6,322.5,9.9,185,4593,0.00,2.58,0.00,0.000,4,0.000,0.038,3570,3592,2390,0,0,0,0,0,0
$GC,4673,1.89,152.4,314.3,9.8,187,4678,0.00,2.55,0.00,0.000,6,0.000,0.038,3570,2038,2390,0,0,0,0,0,0
$GC,4957,1.90,155.4,287.2,9.7,194,4961,0.00,2.80,0.00,0.000,4,0.000,0.073,3570,406,2389,0,0,0,0,0,0
$GC,4981,1.90,155.4,284.9,10.7,194,4985,0.00,2.60,0.00,0.000,6,0.000,0.025,3570,2060,2387,0,0,0,0,0,0
$GC,5236,1.95,161.9,260.5,9.2,201,5250,0.00,2.90,7.75,0.668,4,0.000,0.062,3570,408,2359,0,0,0,0,0,0
$GC,5285,1.95,161.9,255.3,10.7,202,5289,0.00,2.58,0.00,0.000,6,0.000,0.020,3570,2040,2359,0,0,0,0,0,0
$GC,5564,2.02,179.0,232.6,7.9,209,5583,0.10,0.00,16.45,0.717,6,0.222,0.000,3596,2041,2290,0,0,0,0,0,0
$GC,5806,2.02,179.0,206.3,11.0,215,5810,0.00,2.78,0.00,0.000,4,0.000,0.056,3596,406,2287,0,0,0,0,0,0
$GC,5821,2.02,179.0,204.6,10.6,215,5826,0.00,2.55,0.00,0.000,6,0.000,0.020,3596,2026,2286,0,0,0,0,0,0
$GC,6084,2.02,179.0,178.1,10.9,236,6088,0.00,2.50,0.00,0.000,4,0.000,0.042,3596,3567,2285,0,0,0,0,0,0
$GC,6241,2.02,179.0,161.8,11.3,249,6246,0.00,2.53,0.00,0.000,6,0.000,0.035,3596,2004,2284,0,0,0,0,0,0
$GC,6508,2.02,179.0,135.9,10.5,273,6513,0.00,2.67,0.00,0.000,4,0.000,0.061,3596,418,2283,0,0,0,0,0,0
$GC,6674,2.02,179.0,117.0,10.8,286,6683,0.00,2.50,0.00,0.000,6,0.000,0.025,3596,2009,2283,0,0,0,0,0,0
$GC,6940,2.10,202.6,94.6,7.2,311,6968,0.00,2.58,20.40,0.602,4,0.000,0.037,3596,3558,2194,0,0,0,0,0,0
$GC,6991,2.15,203.0,90.2,10.0,315,6996,0.12,2.50,0.00,0.000,6,0.087,0.028,3627,1999,2193,0,0,0,0,0,0
$GC,7258,2.15,204.0,58.2,9.9,339,7266,0.00,0.00,0.00,0.000,6,0.000,0.000,3627,1999,2192,0,0,0,0,0,0
$GC,7526,2.23,231.8,39.2,6.6,364,7557,0.00,2.53,26.27,0.552,4,0.000,0.029,3626,3555,2072,0,0,0,0,0,0
$GC,7834,2.29,231.8,7.8,10.8,402,7843,0.08,2.47,0.00,0.000,6,0.064,0.030,3653,2040,2068,0,0,0,0,0,0
$STATE,7871,end climb,SURFACE_DEPTH_REACHED
$STATE,7871,begin surface coast
$FINISH,0.4,0.971052
$STATE,7920,end surface coast,CONTROL_FINISHED_OK
$STATE,7922,begin surface
$SM_CCo,7945,119.72,0.526,0,0,1469,380.21
$SM_GC,1.37,0.00,0.00,119.72,0.000,0.000,0.526,477,1800,1469,-12.32,-0.85,380.21
$IRIDIUM_FIX,2241.69,-15802.37,300800,010121
$TT8_MAMPS,0.026078
$HUMID,58.15
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.80
$XPDR_PINGS,38
$24V_AH,23.5,26.728
$10V_AH,10.4,23.403
$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,29.475,99.900,280.750,119.725,0.000,55.251,67.325,229.425,9.500,0.000,14.295,864.102,5003.178,459.254,1695.956,601.270,33.369,1090.955,0.000,1696.015,0.000,0.535,0.000
$DEVICE_MAMPS,222.430,108.147,901.992,526.162,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,280.606,242.571,326.276,644.528,974.956,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,32038,414
$CAP_FILE_SIZE,90401,0
$CFSIZE,260165632,171085824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060611,031813,2249.877,-15802.991,11,1.8,28,10.1