version: 66.06
glider: 146
mission: 6
dive: 218
start: 6 6 111 11 59 38
data:
$ID,146
$MISSION,6
$DIVE,218
$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,-272961.91
$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,52
$R_STBD_OVSHOOT,62
$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
$GPS1,115300,2250.199,-15758.544,40,1.3,40,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.2
$GPS2,115844,2250.260,-15758.558,9,1.7,9,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,-0.031
$KALMAN_X,-88330.9,48.6,-31.0,85303.2,336.7
$KALMAN_Y,-101631.6,420.9,525.6,112454.0,-169.8
$MHEAD_RNG_PITCHd_Wd,87.4,2703,-19.8,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,90,0.00,0.00,-70.68,0.000,2,0.000,0.000,476,1798,3267,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.7,-7.1,9,119,12.38,2.58,-4.15,0.000,4,0.151,0.038,2845,3389,3498,0,0,0,0,0,0
$GC,132,-0.41,-116.8,17.7,-35.9,13,141,0.98,2.47,0.00,0.000,6,0.094,0.031,3061,1857,3500,0,0,0,0,0,0
$GC,430,-0.73,-116.8,40.0,-6.1,48,439,0.25,0.00,0.00,0.000,6,0.044,0.000,2978,1857,3501,0,0,0,0,0,0
$GC,698,-0.89,-116.8,65.5,-9.7,73,702,0.00,2.45,0.00,0.000,4,0.000,0.025,2978,3391,3501,0,0,0,0,0,0
$GC,755,-1.12,-116.8,70.6,-8.4,77,760,0.28,2.50,0.00,0.000,6,0.041,0.027,2891,1822,3502,0,0,0,0,0,0
$GC,1022,-1.12,-116.8,101.7,-10.7,101,1027,0.00,2.62,0.00,0.000,4,0.000,0.063,2891,258,3502,0,0,0,0,0,0
$GC,1067,-1.12,-116.8,108.0,-12.4,104,1076,0.00,2.40,0.00,0.000,6,0.000,0.014,2891,1842,3503,0,0,0,0,0,0
$GC,1335,-1.17,-116.8,136.9,-10.9,129,1339,0.00,2.38,0.00,0.000,4,0.000,0.029,2891,3369,3504,0,0,0,0,0,0
$GC,1399,-1.28,-116.8,144.3,-10.0,134,1403,0.00,2.42,0.00,0.000,6,0.000,0.031,2891,1826,3504,0,0,0,0,0,0
$GC,1663,-1.35,-116.8,171.5,-10.3,158,1669,0.12,0.00,0.00,0.000,6,0.074,0.000,2849,1826,3504,0,0,0,0,0,0
$GC,1924,-1.35,-116.8,201.1,-11.3,183,1928,0.00,2.45,0.00,0.000,4,0.000,0.032,2848,3371,3504,0,0,0,0,0,0
$GC,1981,-1.39,-116.8,207.6,-11.4,184,1986,0.00,2.40,0.00,0.000,6,0.000,0.025,2848,1843,3504,0,0,0,0,0,0
$GC,2248,-1.39,-116.8,238.5,-11.3,191,2252,0.00,2.70,0.00,0.000,4,0.000,0.072,2848,255,3504,0,0,0,0,0,0
$GC,2280,-1.39,-116.8,242.4,-12.1,191,2286,0.00,2.40,0.00,0.000,6,0.000,0.024,2848,1826,3505,0,0,0,0,0,0
$GC,2531,-1.39,-116.8,270.1,-11.2,198,2536,0.00,2.47,0.00,0.000,4,0.000,0.031,2849,3385,3505,0,0,0,0,0,0
$GC,2581,-1.46,-116.8,276.1,-11.0,199,2586,0.00,2.47,0.00,0.000,6,0.000,0.035,2848,1842,3504,0,0,0,0,0,0
$GC,2854,-1.50,-116.8,305.3,-10.7,206,2855,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1843,3505,0,0,0,0,0,0
$GC,3099,-1.55,-116.8,329.9,-9.8,212,3104,0.15,2.50,0.00,0.000,4,0.065,0.034,2798,3385,3503,0,0,0,0,0,0
$GC,3120,-1.55,-116.8,332.4,-10.1,212,3125,0.00,2.53,0.00,0.000,6,0.000,0.039,2798,1849,3503,0,0,0,0,0,0
$GC,3376,-1.51,-116.8,362.5,-11.9,219,3381,0.12,2.50,0.00,0.000,4,0.114,0.044,2824,3385,3502,0,0,0,0,0,0
$GC,3427,-1.55,-116.8,368.1,-10.9,220,3432,0.00,2.58,0.00,0.000,6,0.000,0.044,2824,1843,3502,0,0,0,0,0,0
$GC,3699,-1.55,-116.8,396.5,-10.4,227,3700,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1843,3501,0,0,0,0,0,0
$GC,3943,-1.55,-116.8,422.6,-10.7,233,3947,0.00,2.53,0.00,0.000,4,0.000,0.048,2824,3386,3499,0,0,0,0,0,0
$GC,3984,-1.61,-116.8,426.8,-10.9,234,3988,0.00,2.58,0.00,0.000,6,0.000,0.054,2824,1859,3499,0,0,0,0,0,0
$GC,4267,-1.61,-116.8,455.2,-9.9,241,4272,0.00,3.03,0.00,0.000,4,0.000,0.114,2824,240,3497,0,0,0,0,0,0
$GC,4288,-1.61,-116.8,457.6,-10.2,241,4292,0.00,2.53,0.00,0.000,6,0.000,0.036,2824,1814,3497,0,0,0,0,0,0
$GC,4545,-1.61,-116.8,481.9,-9.3,248,4546,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1814,3495,0,0,0,0,0,0
$STATE,4744,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4744,begin apogee
$GC,4750,-0.31,0.0,501.1,9.6,253,4851,1.15,0.00,96.97,0.920,6,0.082,0.000,3083,2000,3020,0,0,0,0,0,0
$STATE,4852,end apogee,CONTROL_FINISHED_OK
$STATE,4852,begin climb
$GC,4854,1.38,116.8,503.4,0.0,255,4959,1.60,0.00,100.15,0.900,6,0.047,0.000,3459,2000,2543,0,0,0,0,0,0
$GC,5193,1.34,161.4,486.4,7.5,264,5237,0.00,2.80,38.12,0.875,4,0.000,0.067,3459,3567,2361,0,0,0,0,0,0
$GC,5368,1.26,169.8,470.2,9.6,268,5383,0.15,2.65,8.55,0.760,6,0.119,0.052,3430,2002,2326,0,0,0,0,0,0
$GC,5657,1.31,210.7,447.6,7.7,275,5700,0.00,3.05,37.10,0.867,4,0.000,0.110,3430,411,2159,0,0,0,0,0,0
$GC,5711,1.30,237.4,442.8,8.5,276,5741,0.00,2.60,24.62,0.841,6,0.000,0.026,3430,2008,2052,0,0,0,0,0,0
$GC,6015,1.30,237.4,412.4,10.2,284,6019,0.00,2.80,0.00,0.000,4,0.000,0.071,3430,409,2044,0,0,0,0,0,0
$GC,6036,1.30,237.4,409.7,11.7,284,6040,0.00,2.60,0.00,0.000,6,0.000,0.030,3430,2013,2043,0,0,0,0,0,0
$GC,6291,1.30,237.4,383.3,10.4,291,6295,0.00,2.60,0.00,0.000,4,0.000,0.044,3429,3588,2042,0,0,0,0,0,0
$GC,6308,1.30,240.0,381.6,9.9,291,6312,0.00,2.65,0.00,0.000,6,0.000,0.037,3430,1987,2041,0,0,0,0,0,0
$GC,6568,1.30,242.9,355.9,9.9,298,6574,0.00,0.00,4.18,0.565,6,0.000,0.000,3430,1987,2029,0,0,0,0,0,0
$GC,6812,1.31,246.2,332.1,9.9,304,6822,0.00,2.65,4.62,0.594,4,0.000,0.041,3429,3586,2015,0,0,0,0,0,0
$GC,6839,1.31,246.2,329.3,10.6,304,6844,0.00,2.58,0.00,0.000,6,0.000,0.038,3429,2003,2014,0,0,0,0,0,0
$GC,7089,1.32,253.0,304.8,9.6,310,7099,0.00,0.00,7.68,0.702,6,0.000,0.000,3430,2003,1988,0,0,0,0,0,0
$GC,7333,1.32,253.0,280.3,10.1,316,7334,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2003,1986,0,0,0,0,0,0
$GC,7578,1.37,268.2,257.7,9.2,322,7596,0.10,0.00,14.98,0.734,6,0.098,0.000,3458,2003,1925,0,0,0,0,0,0
$GC,7820,1.37,268.2,230.4,11.5,328,7824,0.00,2.72,0.00,0.000,4,0.000,0.067,3458,417,1921,0,0,0,0,0,0
$GC,7863,1.37,268.2,224.8,12.8,329,7868,0.00,2.55,0.00,0.000,6,0.000,0.021,3458,2033,1920,0,0,0,0,0,0
$GC,8127,1.37,268.2,196.0,11.1,337,8132,0.00,2.78,0.00,0.000,4,0.000,0.060,3458,409,1920,0,0,0,0,0,0
$GC,8171,1.33,268.2,190.9,11.9,340,8175,0.00,2.50,0.00,0.000,6,0.000,0.020,3458,2019,1920,0,0,0,0,0,0
$GC,8439,1.36,290.0,165.5,8.8,364,8463,0.00,2.53,19.62,0.669,4,0.000,0.035,3458,3561,1836,0,0,0,0,0,0
$GC,8488,1.40,290.0,159.6,11.3,368,8492,0.00,2.55,0.00,0.000,6,0.000,0.030,3458,2002,1835,0,0,0,0,0,0
$GC,8750,1.40,290.0,130.8,10.4,392,8751,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,2002,1833,0,0,0,0,0,0
$GC,9005,1.45,290.0,103.5,10.6,416,9006,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,2002,1834,0,0,0,0,0,0
$GC,9263,1.52,292.5,77.4,9.9,440,9268,0.12,2.65,0.00,0.000,4,0.081,0.055,3494,418,1833,0,0,0,0,0,0
$GC,9285,1.53,301.1,75.3,9.5,441,9302,0.00,2.53,10.52,0.551,6,0.000,0.018,3494,2047,1791,0,0,0,0,0,0
$GC,9571,1.58,312.3,45.3,9.4,467,9589,0.00,2.50,11.00,0.528,4,0.000,0.040,3494,3556,1745,0,0,0,0,0,0
$GC,9714,1.64,312.3,29.8,10.4,478,9723,0.00,2.45,0.00,0.000,6,0.000,0.030,3494,2053,1743,0,0,0,0,0,0
$STATE,9945,end climb,SURFACE_DEPTH_REACHED
$STATE,9945,begin surface coast
$FINISH,0.8,0.980050
$STATE,9987,end surface coast,CONTROL_FINISHED_OK
$STATE,9987,begin surface
$SM_CCo,10011,55.22,0.527,0,0,1469,380.21
$SM_GC,1.39,0.00,0.00,55.22,0.000,0.000,0.527,474,1797,1469,-12.34,-0.93,380.21
$IRIDIUM_FIX,2241.69,-15759.32,300800,090903
$TT8_MAMPS,0.026078
$HUMID,60.12
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.90
$XPDR_PINGS,43
$24V_AH,23.5,27.173
$10V_AH,10.4,23.853
$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,29.625,108.850,378.125,55.225,0.000,25.114,35.391,157.257,10.750,0.000,11.422,1028.498,6448.876,519.225,1923.117,493.469,33.368,1178.577,0.000,1938.723,0.000,0.534,0.000
$DEVICE_MAMPS,151.099,113.516,920.400,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,350.838,304.363,405.217,797.919,1206.872,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,41446,517
$CAP_FILE_SIZE,101158,0
$CFSIZE,260165632,170860544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060611,144836,2250.362,-15756.924,31,1.3,31,10.1