version: 66.06
glider: 146
mission: 6
dive: 252
start: 6 10 111 16 59 14
data:
$ID,146
$MISSION,6
$DIVE,252
$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,-273950.34
$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,30
$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
$GPS1,164306,2250.178,-15801.797,39,1.6,39,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,0.99
$_SM_ANGLEo,-62.4
$GPS2,165820,2250.223,-15801.818,34,1.8,34,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.235,-0.007
$KALMAN_X,-99837.9,469.9,-14.2,90798.5,-351.3
$KALMAN_Y,-74170.1,114.5,396.7,85363.1,-25.4
$MHEAD_RNG_PITCHd_Wd,81.7,8235,-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,16,-1.38,-116.8,0.0,0.0,0,128,0.00,0.00,-109.70,0.000,2,0.000,0.000,476,1818,3329,0,0,0,0,0,0
$GC,133,-1.38,-116.8,4.0,-7.8,14,159,12.00,2.53,-2.95,0.000,4,0.137,0.045,2849,3384,3499,0,0,0,0,0,0
$GC,190,-1.22,-116.8,22.7,-21.6,21,198,0.15,2.53,0.00,0.000,6,0.094,0.028,2885,1834,3500,0,0,0,0,0,0
$GC,469,-1.16,-116.8,67.0,-14.9,49,479,0.10,0.00,0.00,0.000,6,0.136,0.000,2905,1833,3500,0,0,0,0,0,0
$GC,730,-1.16,-116.8,100.5,-12.6,74,735,0.00,2.45,0.00,0.000,4,0.000,0.027,2906,3391,3501,0,0,0,0,0,0
$GC,778,-1.24,-116.8,105.7,-12.6,77,782,0.00,2.50,0.00,0.000,6,0.000,0.027,2905,1814,3500,0,0,0,0,0,0
$GC,1044,-1.28,-116.8,135.2,-10.6,101,1049,0.10,2.47,0.00,0.000,4,0.082,0.026,2863,3389,3501,0,0,0,0,0,0
$GC,1065,-1.28,-116.8,138.3,-11.1,102,1075,0.00,2.50,0.00,0.000,6,0.000,0.027,2863,1825,3501,0,0,0,0,0,0
$GC,1333,-1.28,-116.8,168.1,-12.3,127,1337,0.00,2.45,0.00,0.000,4,0.000,0.028,2863,3393,3501,0,0,0,0,0,0
$GC,1376,-1.28,-116.8,173.8,-12.0,130,1380,0.00,2.45,0.00,0.000,6,0.000,0.025,2863,1838,3501,0,0,0,0,0,0
$GC,1649,-1.28,-116.8,204.9,-11.2,152,1650,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1838,3501,0,0,0,0,0,0
$GC,1889,-1.28,-116.8,231.1,-10.4,158,1893,0.00,2.45,0.00,0.000,4,0.000,0.030,2863,3397,3501,0,0,0,0,0,0
$GC,1910,-1.33,-116.8,233.5,-10.6,158,1915,0.00,2.45,0.00,0.000,6,0.000,0.030,2863,1850,3501,0,0,0,0,0,0
$GC,2167,-1.37,-116.8,259.0,-10.0,165,2172,0.00,2.42,0.00,0.000,4,0.000,0.029,2863,3388,3501,0,0,0,0,0,0
$GC,2246,-1.45,-116.8,267.6,-10.2,166,2251,0.00,2.42,0.00,0.000,6,0.000,0.035,2863,1865,3501,0,0,0,0,0,0
$GC,2496,-1.51,-116.8,291.5,-9.3,173,2498,0.12,0.00,0.00,0.000,6,0.074,0.000,2816,1865,3499,0,0,0,0,0,0
$GC,2740,-1.51,-116.8,319.5,-11.5,179,2745,0.00,2.42,0.00,0.000,4,0.000,0.036,2816,3389,3499,0,0,0,0,0,0
$GC,2762,-1.51,-116.8,322.3,-11.7,179,2766,0.00,2.47,0.00,0.000,6,0.000,0.036,2816,1863,3499,0,0,0,0,0,0
$GC,3017,-1.51,-116.8,351.5,-11.5,186,3019,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1863,3497,0,0,0,0,0,0
$GC,3263,-1.51,-116.8,381.2,-12.2,192,3267,0.00,2.47,0.00,0.000,4,0.000,0.039,2816,3382,3496,0,0,0,0,0,0
$GC,3317,-1.51,-116.8,388.2,-12.1,193,3322,0.00,2.53,0.00,0.000,6,0.000,0.050,2816,1880,3496,0,0,0,0,0,0
$GC,3584,-1.51,-116.8,418.7,-11.2,200,3585,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1880,3494,0,0,0,0,0,0
$GC,3828,-1.51,-116.8,446.1,-11.1,206,3832,0.00,2.47,0.00,0.000,4,0.000,0.051,2816,3382,3492,0,0,0,0,0,0
$GC,3856,-1.51,-116.8,449.2,-11.4,206,3860,0.00,2.53,0.00,0.000,6,0.000,0.058,2816,1884,3492,0,0,0,0,0,0
$GC,4106,-1.51,-116.8,477.0,-10.9,212,4107,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1884,3490,0,0,0,0,0,0
$STATE,4347,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4347,begin apogee
$GC,4353,-0.31,0.0,501.7,10.0,218,4453,1.23,0.00,96.25,0.907,6,0.080,0.000,3093,1987,3020,0,0,0,0,0,0
$STATE,4454,end apogee,CONTROL_FINISHED_OK
$STATE,4454,begin climb
$GC,4458,1.38,116.8,503.8,0.0,220,4563,1.52,0.00,100.70,0.887,6,0.041,0.000,3461,1987,2543,0,0,0,0,0,0
$GC,4785,1.32,152.3,487.5,8.0,228,4818,0.00,0.00,30.65,0.858,6,0.000,0.000,3461,1987,2399,0,0,0,0,0,0
$GC,5029,1.25,174.0,466.3,8.8,234,5051,0.15,0.00,19.90,0.834,6,0.130,0.000,3431,1987,2310,0,0,0,0,0,0
$GC,5271,1.29,210.2,447.0,7.9,240,5312,0.00,2.72,32.70,0.853,4,0.000,0.052,3431,3551,2161,0,0,0,0,0,0
$GC,5345,1.29,210.2,439.8,10.4,241,5350,0.00,2.67,0.00,0.000,6,0.000,0.047,3430,1992,2158,0,0,0,0,0,0
$GC,5597,1.30,214.9,415.7,9.8,247,5603,0.00,0.00,4.50,0.592,6,0.000,0.000,3431,1993,2143,0,0,0,0,0,0
$GC,5839,1.30,214.9,391.0,10.2,253,5843,0.00,2.60,0.00,0.000,4,0.000,0.043,3431,3564,2139,0,0,0,0,0,0
$GC,5865,1.30,214.9,388.2,10.3,253,5870,0.00,2.62,0.00,0.000,6,0.000,0.045,3430,1981,2138,0,0,0,0,0,0
$GC,6117,1.30,214.9,362.2,10.5,259,6121,0.00,2.58,0.00,0.000,4,0.000,0.039,3431,3566,2137,0,0,0,0,0,0
$GC,6132,1.30,214.9,360.3,10.3,259,6137,0.00,2.60,0.00,0.000,6,0.000,0.040,3431,1993,2136,0,0,0,0,0,0
$GC,6394,1.30,220.0,334.5,9.7,266,6404,0.00,2.80,4.80,0.600,4,0.000,0.075,3431,403,2123,0,0,0,0,0,0
$GC,6416,1.30,220.0,332.3,10.0,266,6420,0.00,2.53,0.00,0.000,6,0.000,0.025,3430,2006,2122,0,0,0,0,0,0
$GC,6671,1.33,238.1,309.0,9.0,273,6690,0.00,0.00,17.60,0.772,6,0.000,0.000,3430,2006,2049,0,0,0,0,0,0
$GC,6915,1.35,256.9,286.8,9.0,279,6940,0.10,2.83,17.60,0.752,4,0.097,0.059,3459,414,1971,0,0,0,0,0,0
$GC,6969,1.28,256.9,281.0,11.9,280,6974,0.00,2.55,0.00,0.000,6,0.000,0.021,3459,2008,1969,0,0,0,0,0,0
$GC,7241,1.28,256.9,251.9,10.2,287,7246,0.00,2.55,0.00,0.000,4,0.000,0.037,3459,3570,1967,0,0,0,0,0,0
$GC,7268,1.28,256.9,249.0,11.0,287,7273,0.00,2.55,0.00,0.000,6,0.000,0.037,3459,1992,1965,0,0,0,0,0,0
$GC,7520,1.28,256.9,222.6,10.7,293,7521,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1993,1964,0,0,0,0,0,0
$GC,7762,1.28,256.9,196.2,10.9,299,7766,0.00,2.58,0.00,0.000,4,0.000,0.035,3459,3573,1964,0,0,0,0,0,0
$GC,7841,1.28,256.9,186.9,12.0,305,7847,0.00,2.53,0.00,0.000,6,0.000,0.035,3459,2003,1963,0,0,0,0,0,0
$GC,8106,1.28,257.3,158.6,10.0,330,8110,0.00,2.70,0.00,0.000,4,0.000,0.063,3459,410,1963,0,0,0,0,0,0
$GC,8139,1.28,257.3,154.8,10.6,332,8145,0.00,2.50,0.00,0.000,6,0.000,0.024,3459,2023,1961,0,0,0,0,0,0
$GC,8408,1.35,285.2,129.7,8.4,357,8441,0.00,2.78,24.08,0.634,4,0.000,0.057,3459,415,1855,0,0,0,0,0,0
$GC,8480,1.35,285.2,122.7,10.2,363,8484,0.00,2.50,0.00,0.000,6,0.000,0.018,3459,2007,1853,0,0,0,0,0,0
$GC,8748,1.45,314.1,99.0,8.4,387,8782,0.00,2.60,24.98,0.600,4,0.000,0.031,3459,3560,1738,0,0,0,0,0,0
$GC,8845,1.55,314.1,89.3,10.4,395,8850,0.15,2.53,0.00,0.000,6,0.070,0.028,3501,1993,1736,0,0,0,0,0,0
$GC,9112,1.55,314.1,59.3,10.6,419,9121,0.00,0.00,0.00,0.000,6,0.000,0.000,3501,1993,1734,0,0,0,0,0,0
$GC,9377,1.55,314.1,32.2,10.6,444,9381,0.00,2.65,0.00,0.000,4,0.000,0.055,3501,407,1734,0,0,0,0,0,0
$GC,9399,1.55,314.1,29.1,11.7,445,9408,0.00,2.50,0.00,0.000,6,0.000,0.018,3501,2010,1733,0,0,0,0,0,0
$STATE,9624,end climb,SURFACE_DEPTH_REACHED
$STATE,9624,begin surface coast
$FINISH,0.4,0.973767
$STATE,9667,end surface coast,CONTROL_FINISHED_OK
$STATE,9667,begin surface
$SM_CCo,9689,52.75,0.519,0,0,1470,380.21
$SM_GC,1.21,0.00,0.00,52.75,0.000,0.000,0.519,474,1804,1470,-12.36,-0.74,380.21
$IRIDIUM_FIX,2244.02,-15801.49,030900,171756
$TT8_MAMPS,0.026078
$HUMID,61.06
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.90
$XPDR_PINGS,38
$24V_AH,23.5,31.842
$10V_AH,10.4,27.672
$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,27.825,102.425,373.750,52.750,0.000,76.253,103.018,445.297,9.500,0.000,37.810,940.490,6545.466,527.883,1734.481,911.326,33.372,1166.891,0.000,1727.658,0.000,0.536,0.000
$DEVICE_MAMPS,136.526,88.972,907.361,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.652,268.961,372.404,718.190,1086.072,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355452
$DATA_FILE_SIZE,38436,483
$CAP_FILE_SIZE,102687,0
$CFSIZE,260165632,169062400
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100611,194252,2250.240,-15800.420,14,99.0,33,10.1