version: 66.06
glider: 146
mission: 6
dive: 244
start: 6 9 111 16 51 51
data:
$ID,146
$MISSION,6
$DIVE,244
$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,-273704.47
$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,3160
$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,38
$R_STBD_OVSHOOT,56
$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
$GPS1,164206,2250.093,-15757.642,37,1.2,48,10.1
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.05
$_SM_ANGLEo,-66.5
$GPS2,165056,2250.111,-15757.636,12,1.2,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.019,-0.234
$KALMAN_X,-94449.0,426.0,-21.6,92604.4,-295.2
$KALMAN_Y,-79147.5,-61.6,308.2,90396.6,57.5
$MHEAD_RNG_PITCHd_Wd,165.3,5769,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,127,0.00,0.00,-109.22,0.000,2,0.000,0.000,482,1811,3280,0,0,0,0,0,0
$GC,130,-1.38,-116.8,3.6,-6.9,14,156,12.00,2.62,-4.00,0.000,4,0.137,0.058,2852,261,3498,0,0,0,0,0,0
$GC,272,-1.21,-116.8,38.5,-19.8,31,277,0.20,2.38,0.00,0.000,6,0.137,0.015,2892,1856,3500,0,0,0,0,0,0
$GC,540,-1.21,-116.8,79.9,-13.1,55,544,0.00,2.35,0.00,0.000,4,0.000,0.031,2892,3369,3500,0,0,0,0,0,0
$GC,620,-1.25,-116.8,89.4,-11.8,61,624,0.00,2.42,0.00,0.000,6,0.000,0.028,2892,1851,3500,0,0,0,0,0,0
$GC,886,-1.25,-116.8,122.4,-11.5,85,890,0.00,2.70,0.00,0.000,4,0.000,0.059,2892,253,3500,0,0,0,0,0,0
$GC,951,-1.25,-116.8,131.0,-12.8,90,955,0.00,2.40,0.00,0.000,6,0.000,0.018,2892,1849,3500,0,0,0,0,0,0
$GC,1215,-1.30,-116.8,159.2,-11.4,114,1224,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1849,3500,0,0,0,0,0,0
$GC,1482,-1.37,-116.8,188.1,-10.4,139,1487,0.12,2.70,0.00,0.000,4,0.073,0.058,2849,254,3501,0,0,0,0,0,0
$GC,1510,-1.37,-116.8,192.2,-12.6,141,1514,0.00,2.42,0.00,0.000,6,0.000,0.018,2849,1856,3501,0,0,0,0,0,0
$GC,1784,-1.37,-116.8,223.5,-10.7,152,1785,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1857,3501,0,0,0,0,0,0
$GC,2026,-1.37,-116.8,250.1,-11.0,158,2031,0.00,2.38,0.00,0.000,4,0.000,0.028,2849,3373,3501,0,0,0,0,0,0
$GC,2121,-1.43,-116.8,259.6,-10.5,160,2126,0.00,2.40,0.00,0.000,6,0.000,0.027,2849,1863,3501,0,0,0,0,0,0
$GC,2396,-1.47,-116.8,286.0,-9.8,167,2400,0.00,2.80,0.00,0.000,4,0.000,0.081,2849,251,3500,0,0,0,0,0,0
$GC,2422,-1.47,-116.8,289.4,-11.2,167,2427,0.00,2.42,0.00,0.000,6,0.000,0.025,2849,1822,3501,0,0,0,0,0,0
$GC,2673,-1.51,-116.8,315.5,-10.2,173,2677,0.00,2.53,0.00,0.000,4,0.000,0.039,2849,3402,3500,0,0,0,0,0,0
$GC,2714,-1.58,-116.8,319.5,-10.2,174,2719,0.15,2.50,0.00,0.000,6,0.061,0.037,2796,1867,3500,0,0,0,0,0,0
$GC,2997,-1.53,-116.8,355.5,-13.1,181,3002,0.12,2.47,0.00,0.000,4,0.110,0.041,2823,3400,3499,0,0,0,0,0,0
$GC,3053,-1.58,-116.8,362.6,-11.9,182,3057,0.00,2.53,0.00,0.000,6,0.000,0.044,2823,1872,3499,0,0,0,0,0,0
$GC,3320,-1.58,-116.8,391.7,-10.7,189,3325,0.00,2.50,0.00,0.000,4,0.000,0.038,2823,3400,3497,0,0,0,0,0,0
$GC,3360,-1.62,-116.8,396.2,-10.8,190,3364,0.00,2.55,0.00,0.000,6,0.000,0.055,2823,1873,3497,0,0,0,0,0,0
$GC,3644,-1.62,-116.8,424.8,-10.1,197,3645,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1873,3495,0,0,0,0,0,0
$GC,3887,-1.62,-116.8,449.4,-10.0,203,3888,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1873,3493,0,0,0,0,0,0
$GC,4130,-1.62,-116.8,474.7,-10.4,209,4135,0.00,2.55,0.00,0.000,4,0.000,0.054,2823,3393,3491,0,0,0,0,0,0
$GC,4180,-1.68,-116.8,480.0,-10.3,210,4185,0.12,2.60,0.00,0.000,6,0.071,0.060,2777,1883,3490,0,0,0,0,0,0
$STATE,4369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4369,begin apogee
$GC,4376,-0.31,0.0,502.8,12.2,215,4476,1.40,0.00,96.38,0.913,6,0.083,0.000,3090,2001,3020,0,0,0,0,0,0
$STATE,4477,end apogee,CONTROL_FINISHED_OK
$STATE,4477,begin climb
$GC,4480,1.38,116.8,505.2,0.0,217,4584,1.58,0.00,100.50,0.891,6,0.043,0.000,3466,2001,2543,0,0,0,0,0,0
$GC,4817,1.30,141.4,486.1,8.6,226,4846,0.12,2.70,21.05,0.848,4,0.123,0.058,3443,3560,2442,0,0,0,0,0,0
$GC,4859,1.26,167.9,482.5,8.5,227,4888,0.00,2.70,24.48,0.847,6,0.000,0.054,3443,1998,2335,0,0,0,0,0,0
$GC,5142,1.22,173.0,455.4,9.7,234,5149,0.00,0.00,4.90,0.625,6,0.000,0.000,3443,1998,2314,0,0,0,0,0,0
$GC,5383,1.19,185.5,432.6,9.3,240,5403,0.12,2.70,12.57,0.804,4,0.126,0.044,3417,3562,2262,0,0,0,0,0,0
$GC,5442,1.21,203.8,427.3,9.0,241,5468,0.00,2.65,17.30,0.822,6,0.000,0.048,3417,2001,2188,0,0,0,0,0,0
$GC,5713,1.24,225.6,403.3,8.8,248,5739,0.00,3.00,19.80,0.824,4,0.000,0.102,3417,403,2100,0,0,0,0,0,0
$GC,5761,1.24,226.8,398.5,10.0,249,5766,0.00,2.60,0.00,0.000,6,0.000,0.028,3418,2001,2097,0,0,0,0,0,0
$GC,6036,1.29,238.2,372.7,9.4,256,6056,0.10,2.70,11.98,0.775,4,0.091,0.044,3445,3577,2047,0,0,0,0,0,0
$GC,6111,1.29,238.2,364.3,11.5,257,6116,0.00,2.62,0.00,0.000,6,0.000,0.042,3446,1998,2044,0,0,0,0,0,0
$GC,6368,1.29,238.2,338.0,10.1,264,6370,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1997,2042,0,0,0,0,0,0
$GC,6611,1.29,238.2,312.9,10.3,270,6615,0.00,2.58,0.00,0.000,4,0.000,0.038,3445,3574,2041,0,0,0,0,0,0
$GC,6631,1.29,238.2,310.5,11.1,270,6636,0.00,2.55,0.00,0.000,6,0.000,0.038,3446,2009,2039,0,0,0,0,0,0
$GC,6887,1.29,238.2,284.3,10.1,277,6891,0.00,2.78,0.00,0.000,4,0.000,0.067,3446,407,2039,0,0,0,0,0,0
$GC,6943,1.29,238.2,278.1,11.4,278,6947,0.00,2.53,0.00,0.000,6,0.000,0.021,3446,2016,2038,0,0,0,0,0,0
$GC,7209,1.31,251.8,252.4,9.3,285,7223,0.00,0.00,11.80,0.709,6,0.000,0.000,3445,2016,1993,0,0,0,0,0,0
$GC,7497,1.32,260.8,225.5,9.5,292,7511,0.00,2.58,9.23,0.665,4,0.000,0.041,3445,3555,1955,0,0,0,0,0,0
$GC,7598,1.37,260.8,214.5,11.1,294,7603,0.00,2.55,0.00,0.000,6,0.000,0.032,3446,1987,1953,0,0,0,0,0,0
$GC,7855,1.40,260.8,187.8,10.7,308,7859,0.00,2.67,0.00,0.000,4,0.000,0.065,3445,413,1951,0,0,0,0,0,0
$GC,7877,1.40,260.8,185.1,11.9,309,7887,0.00,2.53,0.00,0.000,6,0.000,0.025,3446,2002,1950,0,0,0,0,0,0
$GC,8144,1.47,279.5,158.5,9.0,334,8169,0.15,2.80,16.98,0.651,4,0.069,0.058,3488,410,1879,0,0,0,0,0,0
$GC,8215,1.40,279.5,150.0,13.2,340,8220,0.10,2.45,0.00,0.000,6,0.127,0.019,3468,1980,1877,0,0,0,0,0,0
$GC,8476,1.40,279.5,122.4,10.3,364,8477,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,1982,1876,0,0,0,0,0,0
$GC,8733,1.48,308.0,99.9,8.4,388,8771,0.00,2.75,24.62,0.606,4,0.000,0.054,3468,412,1762,0,0,0,0,0,0
$GC,8845,1.48,308.0,89.3,10.2,397,8850,0.00,2.45,0.00,0.000,6,0.000,0.018,3468,1981,1760,0,0,0,0,0,0
$GC,9113,1.55,308.0,66.0,10.7,421,9118,0.12,2.55,0.00,0.000,4,0.082,0.032,3504,3559,1760,0,0,0,0,0,0
$GC,9147,1.55,308.0,61.7,12.4,423,9152,0.00,2.55,0.00,0.000,6,0.000,0.036,3504,1972,1759,0,0,0,0,0,0
$GC,9415,1.55,308.0,30.6,11.5,447,9423,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,1972,1758,0,0,0,0,0,0
$STATE,9665,end climb,SURFACE_DEPTH_REACHED
$STATE,9665,begin surface coast
$FINISH,0.5,0.970915
$STATE,9708,end surface coast,CONTROL_FINISHED_OK
$STATE,9708,begin surface
$SM_CCo,9731,57.72,0.522,0,0,1470,380.21
$SM_GC,1.14,0.00,0.00,57.72,0.000,0.000,0.522,473,1818,1470,-12.36,-0.34,380.21
$IRIDIUM_FIX,2239.35,-15757.16,020900,141403
$TT8_MAMPS,0.026078
$HUMID,60.35
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.90
$XPDR_PINGS,44
$24V_AH,23.5,30.701
$10V_AH,10.4,26.759
$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,28.700,108.600,371.575,57.725,0.000,30.174,32.718,335.140,11.000,0.000,14.451,988.291,6307.495,518.660,1845.714,662.665,33.363,1211.584,0.000,1850.588,0.000,0.535,0.000
$DEVICE_MAMPS,136.526,102.011,913.497,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.343,266.545,376.385,712.543,1077.598,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,38316,489
$CAP_FILE_SIZE,104468,0
$CFSIZE,260165632,169488384
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090611,193606,2248.844,-15757.755,18,1.5,25,10.1