version: 66.06
glider: 146
mission: 6
dive: 229
start: 6 7 111 20 36 46
data:
$ID,146
$MISSION,6
$DIVE,229
$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,623.79791
$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,-273285.69
$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,45
$R_STBD_OVSHOOT,59
$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
$GPS1,202037,2249.798,-15802.909,39,0.9,39,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-71.2
$GPS2,203550,2250.045,-15802.979,13,1.1,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.221,-0.080
$KALMAN_X,-90475.1,12.0,0.0,79903.6,-451.6
$KALMAN_Y,-91627.0,-57.9,-147.6,103206.9,779.1
$MHEAD_RNG_PITCHd_Wd,99.7,10205,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-71.28,0.000,2,0.000,0.000,474,1813,3252,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.1,-4.6,9,118,12.57,0.00,-4.62,0.000,6,0.158,0.000,2846,1813,3499,0,0,0,0,0,0
$GC,398,-1.27,-116.8,60.9,-16.8,43,403,0.15,2.50,0.00,0.000,4,0.130,0.027,2877,3390,3501,0,0,0,0,0,0
$GC,456,-1.27,-116.8,69.7,-14.0,47,461,0.00,2.47,0.00,0.000,6,0.000,0.026,2877,1842,3501,0,0,0,0,0,0
$GC,724,-1.27,-116.8,107.2,-12.6,71,728,0.00,2.42,0.00,0.000,4,0.000,0.031,2877,3390,3502,0,0,0,0,0,0
$GC,779,-1.27,-116.8,114.7,-12.2,75,783,0.00,2.45,0.00,0.000,6,0.000,0.025,2877,1836,3502,0,0,0,0,0,0
$GC,1045,-1.27,-116.8,147.9,-12.8,99,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1836,3502,0,0,0,0,0,0
$GC,1313,-1.31,-116.8,178.2,-9.5,124,1318,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1836,3503,0,0,0,0,0,0
$GC,1583,-1.36,-116.8,204.9,-9.8,147,1588,0.00,2.45,0.00,0.000,4,0.000,0.026,2876,3396,3503,0,0,0,0,0,0
$GC,1658,-1.45,-116.8,212.1,-9.8,148,1663,0.15,2.45,0.00,0.000,6,0.061,0.028,2823,1840,3503,0,0,0,0,0,0
$GC,1909,-1.41,-116.8,240.0,-11.3,154,1911,0.10,0.00,0.00,0.000,6,0.119,0.000,2844,1840,3503,0,0,0,0,0,0
$GC,2152,-1.41,-116.8,268.1,-11.9,160,2156,0.00,2.45,0.00,0.000,4,0.000,0.029,2844,3393,3503,0,0,0,0,0,0
$GC,2230,-1.47,-116.8,277.3,-10.8,161,2236,0.00,2.47,0.00,0.000,6,0.000,0.031,2844,1832,3503,0,0,0,0,0,0
$GC,2480,-1.47,-116.8,305.0,-11.3,168,2484,0.00,2.47,0.00,0.000,4,0.000,0.030,2844,3396,3502,0,0,0,0,0,0
$GC,2508,-1.47,-116.8,308.0,-11.6,168,2512,0.00,2.50,0.00,0.000,6,0.000,0.032,2844,1836,3502,0,0,0,0,0,0
$GC,2758,-1.50,-116.8,335.4,-11.0,174,2762,0.00,2.50,0.00,0.000,4,0.000,0.034,2844,3386,3501,0,0,0,0,0,0
$GC,2814,-1.57,-116.8,341.3,-10.4,175,2820,0.12,2.53,0.00,0.000,6,0.074,0.044,2798,1838,3501,0,0,0,0,0,0
$GC,3083,-1.53,-116.8,372.8,-11.9,182,3084,0.10,0.00,0.00,0.000,6,0.121,0.000,2820,1838,3500,0,0,0,0,0,0
$GC,3325,-1.53,-116.8,397.5,-9.9,188,3329,0.00,2.53,0.00,0.000,4,0.000,0.048,2819,3389,3499,0,0,0,0,0,0
$GC,3425,-1.57,-116.8,407.7,-9.9,190,3430,0.00,2.60,0.00,0.000,6,0.000,0.054,2819,1840,3498,0,0,0,0,0,0
$GC,3692,-1.57,-116.8,436.0,-10.9,197,3697,0.00,2.97,0.00,0.000,4,0.000,0.112,2819,240,3497,0,0,0,0,0,0
$GC,3713,-1.57,-116.8,438.9,-12.3,197,3718,0.00,2.55,0.00,0.000,6,0.000,0.035,2819,1814,3497,0,0,0,0,0,0
$GC,3969,-1.57,-116.8,467.5,-11.3,204,3970,0.00,0.00,0.00,0.000,6,0.000,0.000,2819,1813,3494,0,0,0,0,0,0
$GC,4214,-1.57,-116.8,494.0,-10.7,210,4218,0.00,2.75,0.00,0.000,4,0.000,0.071,2819,3417,3493,0,0,0,0,0,0
$GC,4248,-1.61,-116.8,498.0,-12.1,210,4253,0.00,2.67,0.00,0.000,6,0.000,0.062,2819,1847,3493,0,0,0,0,0,0
$STATE,4292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4292,begin apogee
$GC,4298,-0.31,0.0,503.2,11.0,212,4398,1.17,0.00,96.50,0.910,6,0.081,0.000,3084,2020,3020,0,0,0,0,0,0
$STATE,4399,end apogee,CONTROL_FINISHED_OK
$STATE,4399,begin climb
$GC,4403,1.38,116.8,506.1,0.0,214,4507,1.60,0.00,99.80,0.893,6,0.054,0.000,3461,2020,2543,0,0,0,0,0,0
$GC,4739,1.34,169.1,491.3,7.0,223,4786,0.00,0.00,45.12,0.877,6,0.000,0.000,3462,2020,2330,0,0,0,0,0,0
$GC,5022,1.25,169.1,464.3,10.1,230,5027,0.15,2.60,0.00,0.000,4,0.114,0.051,3429,3550,2323,0,0,0,0,0,0
$GC,5051,1.23,186.5,461.6,9.0,230,5072,0.00,2.65,15.70,0.825,6,0.000,0.053,3429,1988,2259,0,0,0,0,0,0
$GC,5345,1.24,188.3,432.6,9.9,238,5346,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1988,2253,0,0,0,0,0,0
$GC,5590,1.26,206.3,410.3,9.0,244,5614,0.00,2.97,17.62,0.825,4,0.000,0.094,3429,413,2178,0,0,0,0,0,0
$GC,5643,1.21,206.3,404.9,10.7,245,5647,0.00,2.53,0.00,0.000,6,0.000,0.028,3430,1971,2175,0,0,0,0,0,0
$GC,5915,1.21,210.0,378.1,9.8,252,5924,0.00,2.67,4.18,0.562,4,0.000,0.047,3429,3575,2163,0,0,0,0,0,0
$GC,5965,1.21,211.6,373.2,9.9,253,5969,0.00,2.65,0.00,0.000,6,0.000,0.037,3430,1979,2161,0,0,0,0,0,0
$GC,6242,1.22,218.9,347.0,9.6,260,6257,0.00,2.80,9.07,0.739,4,0.000,0.079,3430,413,2127,0,0,0,0,0,0
$GC,6274,1.22,218.9,343.6,10.4,260,6278,0.00,2.53,0.00,0.000,6,0.000,0.026,3429,1997,2126,0,0,0,0,0,0
$GC,6526,1.24,235.4,320.6,9.1,266,6543,0.00,0.00,15.75,0.775,6,0.000,0.000,3430,1997,2060,0,0,0,0,0,0
$GC,6767,1.24,235.4,296.4,10.1,272,6772,0.00,2.55,0.00,0.000,4,0.000,0.037,3429,3560,2056,0,0,0,0,0,0
$GC,6834,1.29,235.4,289.1,10.9,273,6838,0.00,2.62,0.00,0.000,6,0.000,0.033,3430,1965,2054,0,0,0,0,0,0
$GC,7090,1.33,235.4,263.4,10.0,280,7095,0.00,2.60,0.00,0.000,4,0.000,0.039,3430,3559,2053,0,0,0,0,0,0
$GC,7141,1.38,246.0,258.4,9.4,281,7157,0.10,2.58,10.12,0.697,6,0.098,0.036,3460,1972,2016,0,0,0,0,0,0
$GC,7414,1.38,246.0,230.0,10.7,288,7415,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1972,2013,0,0,0,0,0,0
$GC,7656,1.38,246.0,204.3,10.3,294,7661,0.00,2.60,0.00,0.000,4,0.000,0.037,3460,3569,2012,0,0,0,0,0,0
$GC,7672,1.39,253.0,202.7,9.6,294,7686,0.00,2.58,7.10,0.614,6,0.000,0.036,3460,1980,1988,0,0,0,0,0,0
$GC,7951,1.39,253.0,174.8,10.1,316,7956,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1979,1985,0,0,0,0,0,0
$GC,8212,1.41,271.5,149.6,9.0,341,8235,0.00,0.00,17.15,0.645,6,0.000,0.000,3460,1980,1913,0,0,0,0,0,0
$GC,8494,1.49,303.1,125.5,8.2,367,8528,0.00,2.62,28.27,0.630,4,0.000,0.036,3460,3564,1782,0,0,0,0,0,0
$GC,8593,1.57,311.1,116.2,9.6,375,8608,0.15,2.55,7.50,0.538,6,0.073,0.029,3502,1993,1752,0,0,0,0,0,0
$GC,8873,1.57,311.1,84.8,11.6,401,8878,0.00,2.67,0.00,0.000,4,0.000,0.057,3502,411,1750,0,0,0,0,0,0
$GC,8905,1.54,311.1,81.0,12.8,403,8909,0.00,2.45,0.00,0.000,6,0.000,0.017,3501,2005,1748,0,0,0,0,0,0
$GC,9174,1.54,311.1,52.1,10.4,427,9178,0.00,2.45,0.00,0.000,4,0.000,0.030,3502,3552,1748,0,0,0,0,0,0
$GC,9359,1.58,311.1,30.3,11.1,441,9368,0.00,2.50,0.00,0.000,6,0.000,0.029,3502,2013,1747,0,0,0,0,0,0
$STATE,9598,end climb,SURFACE_DEPTH_REACHED
$STATE,9598,begin surface coast
$FINISH,0.4,0.980079
$STATE,9640,end surface coast,CONTROL_FINISHED_OK
$STATE,9641,begin surface
$SM_CCo,9663,247.68,0.514,0,0,477,623.80
$SM_GC,1.07,0.00,0.00,247.68,0.000,0.000,0.514,476,1814,477,-12.33,-0.45,623.80
$IRIDIUM_FIX,2241.69,-15801.49,310800,202004
$TT8_MAMPS,0.026078
$HUMID,55.86
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,22.00
$XPDR_PINGS,38
$24V_AH,23.5,28.696
$10V_AH,10.4,25.081
$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,28.625,98.450,373.900,247.675,0.000,142.413,400.414,0.000,9.500,0.000,17.558,966.748,6582.762,709.290,1765.192,804.225,33.370,1333.650,0.000,1771.466,0.000,0.535,0.000
$DEVICE_MAMPS,158.002,111.982,910.429,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.892,274.038,369.193,690.099,1043.872,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355600
$DATA_FILE_SIZE,38358,481
$CAP_FILE_SIZE,95805,0
$CFSIZE,260165632,170262528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070611,232306,2250.052,-15801.854,11,1.1,27,10.1