version: 66.06
glider: 146
mission: 6
dive: 253
start: 6 10 111 19 51 16
data:
$ID,146
$MISSION,6
$DIVE,253
$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,-274014.28
$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,47
$R_STBD_OVSHOOT,60
$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
$GPS1,194252,2250.240,-15800.420,14,99.0,33,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.9
$GPS2,195022,2250.263,-15800.470,41,99.0,60,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.235,0.005
$KALMAN_X,-100115.1,485.8,208.0,93144.2,-652.6
$KALMAN_Y,-73522.8,-218.7,225.3,85293.4,-186.8
$MHEAD_RNG_PITCHd_Wd,78.7,5943,-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,-116.8,0.0,0.0,0,89,0.00,0.00,-71.10,0.000,2,0.000,0.000,474,1804,3241,0,0,0,0,0,0
$GC,94,-1.38,-116.8,3.3,-5.8,9,119,12.18,2.62,-4.68,0.000,4,0.144,0.067,2848,268,3498,0,0,0,0,0,0
$GC,197,-1.21,-116.8,32.5,-19.7,23,207,0.17,2.40,0.00,0.000,6,0.102,0.015,2888,1838,3500,0,0,0,0,0,0
$GC,464,-1.21,-116.8,73.1,-14.3,48,468,0.00,2.40,0.00,0.000,4,0.000,0.025,2888,3377,3501,0,0,0,0,0,0
$GC,485,-1.21,-116.8,76.7,-14.7,49,489,0.00,2.45,0.00,0.000,6,0.000,0.029,2888,1845,3501,0,0,0,0,0,0
$GC,751,-1.21,-116.8,113.1,-12.1,73,755,0.00,2.40,0.00,0.000,4,0.000,0.025,2888,3380,3501,0,0,0,0,0,0
$GC,784,-1.21,-116.8,117.1,-12.0,75,788,0.00,2.42,0.00,0.000,6,0.000,0.024,2888,1840,3502,0,0,0,0,0,0
$GC,1050,-1.26,-116.8,149.3,-11.8,99,1055,0.00,2.40,0.00,0.000,4,0.000,0.028,2888,3380,3503,0,0,0,0,0,0
$GC,1071,-1.31,-116.8,152.0,-11.3,100,1076,0.00,2.40,0.00,0.000,6,0.000,0.025,2889,1850,3503,0,0,0,0,0,0
$GC,1340,-1.37,-116.8,180.5,-9.3,124,1345,0.12,2.70,0.00,0.000,4,0.071,0.064,2840,257,3503,0,0,0,0,0,0
$GC,1384,-1.32,-116.8,185.7,-11.9,127,1389,0.15,2.40,0.00,0.000,6,0.104,0.015,2873,1859,3503,0,0,0,0,0,0
$GC,1653,-1.37,-116.8,212.0,-9.2,143,1657,0.00,2.35,0.00,0.000,4,0.000,0.033,2873,3374,3503,0,0,0,0,0,0
$GC,1709,-1.45,-116.8,217.8,-9.3,144,1714,0.12,2.42,0.00,0.000,6,0.070,0.027,2825,1852,3503,0,0,0,0,0,0
$GC,1983,-1.45,-116.8,252.0,-13.3,151,1984,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1851,3503,0,0,0,0,0,0
$GC,2225,-1.45,-116.8,280.8,-11.2,157,2229,0.00,2.42,0.00,0.000,4,0.000,0.035,2825,3374,3504,0,0,0,0,0,0
$GC,2268,-1.45,-116.8,285.7,-11.1,158,2273,0.00,2.45,0.00,0.000,6,0.000,0.037,2825,1855,3504,0,0,0,0,0,0
$GC,2548,-1.45,-116.8,317.4,-11.3,165,2552,0.00,2.83,0.00,0.000,4,0.000,0.083,2825,247,3504,0,0,0,0,0,0
$GC,2563,-1.45,-116.8,319.5,-11.9,165,2567,0.00,2.42,0.00,0.000,6,0.000,0.021,2825,1817,3504,0,0,0,0,0,0
$GC,2830,-1.45,-116.8,350.1,-11.4,172,2834,0.00,2.55,0.00,0.000,4,0.000,0.042,2825,3405,3502,0,0,0,0,0,0
$GC,2851,-1.45,-116.8,352.8,-12.2,172,2855,0.00,2.55,0.00,0.000,6,0.000,0.042,2825,1858,3502,0,0,0,0,0,0
$GC,3113,-1.45,-116.8,381.8,-10.9,179,3114,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1858,3501,0,0,0,0,0,0
$GC,3355,-1.45,-116.8,407.3,-10.6,185,3356,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1858,3500,0,0,0,0,0,0
$GC,3599,-1.45,-116.8,435.8,-11.8,191,3600,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1858,3499,0,0,0,0,0,0
$GC,3843,-1.45,-116.8,461.9,-10.4,197,3844,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1858,3497,0,0,0,0,0,0
$GC,4088,-1.45,-116.8,485.3,-9.5,203,4089,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1858,3496,0,0,0,0,0,0
$STATE,4246,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4246,begin apogee
$GC,4252,-0.31,0.0,500.5,9.3,207,4353,1.17,0.00,97.50,0.910,6,0.080,0.000,3091,2006,3020,0,0,0,0,0,0
$STATE,4354,end apogee,CONTROL_FINISHED_OK
$STATE,4354,begin climb
$GC,4357,1.38,116.8,502.2,0.0,209,4461,1.58,0.00,100.20,0.888,6,0.043,0.000,3466,2006,2543,0,0,0,0,0,0
$GC,4696,1.33,165.0,485.8,7.2,218,4740,0.00,0.00,41.47,0.871,6,0.000,0.000,3466,2006,2347,0,0,0,0,0,0
$GC,4982,1.27,193.2,462.4,8.4,225,5010,0.15,0.00,25.42,0.851,6,0.115,0.000,3435,2006,2232,0,0,0,0,0,0
$GC,5227,1.30,216.4,441.7,8.7,231,5250,0.00,0.00,21.35,0.837,6,0.000,0.000,3436,2006,2137,0,0,0,0,0,0
$GC,5469,1.31,220.5,418.3,9.8,237,5475,0.00,0.00,4.43,0.585,6,0.000,0.000,3435,2006,2120,0,0,0,0,0,0
$GC,5713,1.32,228.5,394.6,9.6,243,5727,0.00,2.92,8.25,0.740,4,0.000,0.081,3435,413,2087,0,0,0,0,0,0
$GC,5751,1.27,228.5,390.3,10.9,243,5757,0.00,2.55,0.00,0.000,6,0.000,0.024,3435,1992,2086,0,0,0,0,0,0
$GC,6000,1.27,228.5,364.3,10.4,250,6002,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1992,2085,0,0,0,0,0,0
$GC,6244,1.27,228.5,339.2,10.3,256,6249,0.00,2.72,0.00,0.000,4,0.000,0.064,3435,407,2083,0,0,0,0,0,0
$GC,6267,1.27,228.5,336.7,10.9,256,6272,0.00,2.53,0.00,0.000,6,0.000,0.025,3435,2013,2082,0,0,0,0,0,0
$GC,6523,1.30,252.0,313.6,8.7,263,6546,0.00,0.00,21.55,0.782,6,0.000,0.000,3435,2013,1992,0,0,0,0,0,0
$GC,6767,1.33,274.3,292.1,8.7,269,6793,0.00,2.83,20.73,0.761,4,0.000,0.059,3435,402,1900,0,0,0,0,0,0
$GC,6822,1.33,274.3,286.7,10.6,270,6826,0.00,2.55,0.00,0.000,6,0.000,0.024,3435,1998,1897,0,0,0,0,0,0
$GC,7088,1.38,277.5,260.7,9.9,277,7090,0.12,0.00,0.00,0.000,6,0.079,0.000,3470,1998,1895,0,0,0,0,0,0
$GC,7331,1.38,277.5,232.2,11.7,283,7336,0.00,2.72,0.00,0.000,4,0.000,0.059,3470,401,1894,0,0,0,0,0,0
$GC,7347,1.38,277.5,230.0,12.2,283,7352,0.00,2.47,0.00,0.000,6,0.000,0.025,3470,1991,1893,0,0,0,0,0,0
$GC,7610,1.38,277.5,200.6,11.0,290,7614,0.00,2.53,0.00,0.000,4,0.000,0.041,3470,3553,1893,0,0,0,0,0,0
$GC,7666,1.38,277.5,194.7,11.6,292,7671,0.00,2.55,0.00,0.000,6,0.000,0.036,3470,1975,1891,0,0,0,0,0,0
$GC,7934,1.38,277.5,165.3,11.4,316,7939,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,1975,1891,0,0,0,0,0,0
$GC,8198,1.38,277.5,138.5,10.4,341,8203,0.00,2.65,0.00,0.000,4,0.000,0.063,3469,410,1891,0,0,0,0,0,0
$GC,8215,1.38,277.5,136.3,10.8,342,8219,0.00,2.45,0.00,0.000,6,0.000,0.024,3470,1990,1890,0,0,0,0,0,0
$GC,8479,1.44,291.1,110.9,9.3,366,8502,0.00,2.60,14.30,0.598,4,0.000,0.032,3470,3556,1831,0,0,0,0,0,0
$GC,8591,1.50,291.1,99.2,10.6,375,8595,0.00,2.55,0.00,0.000,6,0.000,0.029,3470,1982,1829,0,0,0,0,0,0
$GC,8859,1.57,301.4,73.2,9.4,399,8875,0.12,2.60,9.93,0.538,4,0.075,0.029,3509,3550,1789,0,0,0,0,0,0
$GC,8904,1.57,301.4,68.3,11.1,402,8908,0.00,2.50,0.00,0.000,6,0.000,0.035,3509,2006,1788,0,0,0,0,0,0
$GC,9171,1.57,301.4,41.1,10.7,426,9176,0.00,2.67,0.00,0.000,4,0.000,0.054,3509,417,1788,0,0,0,0,0,0
$GC,9242,1.57,301.4,32.1,12.6,431,9246,0.00,2.42,0.00,0.000,6,0.000,0.017,3509,2006,1787,0,0,0,0,0,0
$STATE,9504,end climb,SURFACE_DEPTH_REACHED
$STATE,9504,begin surface coast
$FINISH,0.6,0.980032
$STATE,9548,end surface coast,CONTROL_FINISHED_OK
$STATE,9548,begin surface
$SM_CCo,9571,63.40,0.520,0,0,1469,380.21
$SM_GC,1.17,0.00,0.00,63.40,0.000,0.000,0.520,478,1804,1469,-12.34,-0.74,380.21
$IRIDIUM_FIX,2241.69,-15802.37,030900,171703
$TT8_MAMPS,0.026078
$HUMID,60.04
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.90
$XPDR_PINGS,32
$24V_AH,23.5,31.954
$10V_AH,10.4,27.777
$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,28.150,91.925,365.125,63.400,0.000,26.339,53.313,191.596,8.000,0.000,63.308,935.446,6414.341,499.144,1708.128,531.699,33.368,1078.362,0.000,1669.359,0.000,0.535,0.000
$DEVICE_MAMPS,144.196,97.409,909.662,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.583,273.399,363.329,690.152,1043.784,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,38511,475
$CAP_FILE_SIZE,90621,0
$CFSIZE,260165632,169021440
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100611,223327,2250.363,-15759.334,34,99.0,53,10.1