version: 66.06
glider: 146
mission: 6
dive: 255
start: 6 11 111 1 46 23
data:
$ID,146
$MISSION,6
$DIVE,255
$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,-274067.25
$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,51
$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,3010
$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
$GPS1,012106,2250.281,-15758.422,27,1.4,27,10.1
$_CALLS,5
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-67.4
$GPS2,014527,2250.579,-15758.541,10,2.1,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.146,-0.184
$KALMAN_X,-100544.4,58.9,-101.5,97605.1,-598.7
$KALMAN_Y,-71591.8,-259.5,-148.2,84359.5,1479.8
$MHEAD_RNG_PITCHd_Wd,131.3,2840,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-70.43,0.000,2,0.000,0.000,474,1807,3335,0,0,0,0,0,0
$GC,91,-1.38,-116.8,4.3,-8.2,9,117,12.05,2.60,-2.67,0.000,4,0.138,0.061,2850,272,3491,0,0,0,0,0,0
$GC,196,-1.23,-116.8,32.7,-17.8,23,204,0.15,2.40,0.00,0.000,6,0.123,0.015,2886,1854,3491,0,0,0,0,0,0
$GC,464,-1.23,-116.8,71.5,-15.5,48,468,0.00,2.65,0.00,0.000,4,0.000,0.054,2886,278,3492,0,0,0,0,0,0
$GC,499,-1.17,-116.8,77.3,-16.8,50,503,0.00,2.30,0.00,0.000,6,0.000,0.022,2886,1825,3492,0,0,0,0,0,0
$GC,759,-1.17,-116.8,114.2,-12.7,74,764,0.00,2.40,0.00,0.000,4,0.000,0.028,2886,3368,3492,0,0,0,0,0,0
$GC,808,-1.23,-116.8,119.2,-11.9,77,813,0.00,2.42,0.00,0.000,6,0.000,0.027,2886,1843,3492,0,0,0,0,0,0
$GC,1071,-1.23,-116.8,155.0,-13.1,101,1075,0.00,2.40,0.00,0.000,4,0.000,0.028,2886,3370,3492,0,0,0,0,0,0
$GC,1102,-1.23,-116.8,158.8,-13.4,103,1106,0.00,2.42,0.00,0.000,6,0.000,0.025,2886,1836,3493,0,0,0,0,0,0
$GC,1371,-1.27,-116.8,186.9,-9.0,127,1375,0.00,2.38,0.00,0.000,4,0.000,0.025,2886,3369,3493,0,0,0,0,0,0
$GC,1393,-1.35,-116.8,189.6,-9.1,128,1398,0.00,2.42,0.00,0.000,6,0.000,0.025,2886,1836,3493,0,0,0,0,0,0
$GC,1680,-1.42,-116.8,216.2,-9.9,144,1682,0.15,0.00,0.00,0.000,6,0.059,0.000,2826,1836,3493,0,0,0,0,0,0
$GC,1922,-1.38,-116.8,247.1,-12.8,150,1927,0.15,2.45,0.00,0.000,4,0.102,0.030,2860,3371,3493,0,0,0,0,0,0
$GC,2002,-1.46,-116.8,255.5,-9.9,151,2008,0.00,2.45,0.00,0.000,6,0.000,0.028,2860,1845,3493,0,0,0,0,0,0
$GC,2254,-1.50,-116.8,279.9,-9.7,158,2259,0.12,2.78,0.00,0.000,4,0.068,0.075,2809,254,3493,0,0,0,0,0,0
$GC,2276,-1.46,-116.8,282.9,-11.8,158,2281,0.15,2.42,0.00,0.000,6,0.109,0.021,2841,1811,3493,0,0,0,0,0,0
$GC,2532,-1.46,-116.8,310.1,-10.3,165,2537,0.00,2.58,0.00,0.000,4,0.000,0.044,2840,3413,3492,0,0,0,0,0,0
$GC,2594,-1.51,-116.8,316.6,-10.1,166,2598,0.00,2.53,0.00,0.000,6,0.000,0.041,2841,1860,3492,0,0,0,0,0,0
$GC,2854,-1.51,-116.8,342.4,-10.0,173,2859,0.00,2.83,0.00,0.000,4,0.000,0.082,2840,249,3491,0,0,0,0,0,0
$GC,2888,-1.51,-116.8,346.1,-11.6,173,2894,0.00,2.53,0.00,0.000,6,0.000,0.030,2840,1846,3491,0,0,0,0,0,0
$GC,3138,-1.55,-116.8,370.7,-9.6,180,3139,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1846,3490,0,0,0,0,0,0
$GC,3382,-1.60,-116.8,395.7,-10.5,186,3387,0.12,2.58,0.00,0.000,4,0.074,0.048,2797,3411,3488,0,0,0,0,0,0
$GC,3399,-1.60,-116.8,397.7,-10.4,186,3403,0.00,2.60,0.00,0.000,6,0.000,0.048,2796,1860,3488,0,0,0,0,0,0
$GC,3659,-1.60,-116.8,427.9,-11.2,193,3663,0.00,2.53,0.00,0.000,4,0.000,0.043,2797,3406,3486,0,0,0,0,0,0
$GC,3692,-1.60,-116.8,431.8,-11.1,193,3698,0.00,2.62,0.00,0.000,6,0.000,0.059,2797,1858,3486,0,0,0,0,0,0
$GC,3942,-1.60,-116.8,459.0,-11.1,200,3943,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1858,3485,0,0,0,0,0,0
$GC,4187,-1.60,-116.8,486.5,-11.5,206,4191,0.00,2.58,0.00,0.000,4,0.000,0.054,2797,3405,3482,0,0,0,0,0,0
$GC,4226,-1.60,-116.8,491.1,-11.8,207,4230,0.00,2.62,0.00,0.000,6,0.000,0.059,2797,1863,3482,0,0,0,0,0,0
$STATE,4303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4303,begin apogee
$GC,4310,-0.31,0.0,500.4,11.6,209,4410,1.30,0.00,96.50,0.901,6,0.081,0.000,3090,2004,3010,0,0,0,0,0,0
$STATE,4411,end apogee,CONTROL_FINISHED_OK
$STATE,4411,begin climb
$GC,4414,1.38,116.8,502.9,0.0,211,4518,1.58,0.00,99.78,0.884,6,0.041,0.000,3466,2004,2533,0,0,0,0,0,0
$GC,4750,1.32,152.3,484.6,8.0,220,4786,0.00,2.67,30.60,0.855,4,0.000,0.051,3466,3551,2387,0,0,0,0,0,0
$GC,4823,1.22,158.1,478.2,9.7,220,4835,0.20,2.67,6.00,0.668,6,0.111,0.048,3426,1996,2365,0,0,0,0,0,0
$GC,5078,1.24,175.5,455.1,9.0,227,5102,0.00,2.72,16.50,0.821,4,0.000,0.047,3426,3560,2292,0,0,0,0,0,0
$GC,5184,1.24,179.3,445.1,9.8,229,5194,0.00,2.62,4.38,0.578,6,0.000,0.051,3426,2018,2278,0,0,0,0,0,0
$GC,5450,1.25,184.4,419.4,9.7,236,5463,0.00,3.00,5.88,0.673,4,0.000,0.096,3426,406,2257,0,0,0,0,0,0
$GC,5494,1.19,184.4,415.1,11.2,237,5499,0.00,2.58,0.00,0.000,6,0.000,0.026,3426,1994,2255,0,0,0,0,0,0
$GC,5779,1.20,189.9,386.6,9.7,244,5790,0.00,2.62,6.00,0.671,4,0.000,0.044,3426,3577,2234,0,0,0,0,0,0
$GC,5851,1.21,196.6,379.2,9.7,245,5866,0.00,2.60,7.57,0.713,6,0.000,0.038,3426,2005,2207,0,0,0,0,0,0
$GC,6152,1.23,213.9,351.7,9.0,253,6170,0.00,0.00,16.25,0.787,6,0.000,0.000,3426,2005,2137,0,0,0,0,0,0
$GC,6394,1.25,229.7,329.1,9.1,259,6411,0.00,0.00,15.12,0.768,6,0.000,0.000,3426,2005,2072,0,0,0,0,0,0
$GC,6638,1.29,229.7,304.6,10.4,265,6643,0.00,2.78,0.00,0.000,4,0.000,0.077,3426,411,2068,0,0,0,0,0,0
$GC,6739,1.29,229.7,292.8,11.2,267,6744,0.00,2.55,0.00,0.000,6,0.000,0.022,3426,2016,2067,0,0,0,0,0,0
$GC,7007,1.36,249.2,268.0,8.9,274,7027,0.12,0.00,17.95,0.739,6,0.077,0.000,3462,2017,1993,0,0,0,0,0,0
$GC,7251,1.36,249.2,243.1,10.5,280,7256,0.00,2.75,0.00,0.000,4,0.000,0.056,3462,410,1988,0,0,0,0,0,0
$GC,7335,1.36,249.2,233.1,12.2,282,7339,0.00,2.47,0.00,0.000,6,0.000,0.020,3462,1987,1987,0,0,0,0,0,0
$GC,7618,1.37,255.4,204.9,9.7,289,7629,0.00,2.55,6.12,0.584,4,0.000,0.039,3461,3559,1967,0,0,0,0,0,0
$GC,7692,1.37,255.4,197.3,10.7,290,7696,0.00,2.60,0.00,0.000,6,0.000,0.031,3461,1968,1966,0,0,0,0,0,0
$GC,7955,1.39,270.6,171.0,9.2,314,7978,0.00,0.00,14.88,0.651,6,0.000,0.000,3462,1968,1903,0,0,0,0,0,0
$GC,8232,1.47,291.7,145.8,8.8,340,8253,0.00,0.00,19.02,0.634,6,0.000,0.000,3462,1967,1819,0,0,0,0,0,0
$GC,8507,1.55,305.4,121.1,9.2,366,8523,0.15,0.00,12.82,0.591,6,0.067,0.000,3506,1968,1763,0,0,0,0,0,0
$GC,8778,1.55,305.4,91.2,11.1,392,8782,0.00,2.58,0.00,0.000,4,0.000,0.035,3506,3564,1761,0,0,0,0,0,0
$GC,8811,1.55,305.4,87.5,11.0,394,8821,0.00,2.58,0.00,0.000,6,0.000,0.028,3506,1983,1759,0,0,0,0,0,0
$GC,9079,1.55,305.4,59.4,10.1,419,9083,0.00,2.62,0.00,0.000,4,0.000,0.054,3506,408,1759,0,0,0,0,0,0
$GC,9123,1.55,305.4,53.9,11.5,422,9128,0.00,2.47,0.00,0.000,6,0.000,0.017,3506,2008,1758,0,0,0,0,0,0
$GC,9404,1.55,305.4,22.2,11.0,451,9413,0.00,2.47,0.00,0.000,4,0.000,0.028,3506,3555,1758,0,0,0,0,0,0
$GC,9548,1.60,305.4,5.2,10.4,471,9557,0.00,2.53,0.00,0.000,6,0.000,0.036,3506,2002,1758,0,0,0,0,0,0
$STATE,9565,end climb,SURFACE_DEPTH_REACHED
$STATE,9565,begin surface coast
$FINISH,0.5,0.980035
$STATE,9614,end surface coast,CONTROL_FINISHED_OK
$STATE,9614,begin surface
$SM_CCo,9638,59.92,0.518,0,0,1460,380.21
$SM_GC,1.34,0.00,0.00,59.92,0.000,0.000,0.518,475,1818,1460,-12.35,-0.34,380.21
$IRIDIUM_FIX,2241.69,-15759.32,040900,010137
$TT8_MAMPS,0.026078
$HUMID,60.55
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,22.10
$XPDR_PINGS,41
$24V_AH,23.5,32.226
$10V_AH,10.4,28.002
$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,28.475,113.400,375.375,59.925,0.000,144.487,198.951,698.888,10.250,0.000,34.879,982.315,6522.152,526.533,1788.031,1344.554,33.368,1180.488,0.000,1776.663,0.000,0.537,0.000
$DEVICE_MAMPS,138.060,95.875,901.225,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,324.891,277.895,368.289,687.683,1035.432,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,38528,480
$CAP_FILE_SIZE,117322,0
$CFSIZE,260165632,168894464
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110611,042937,2250.091,-15758.077,55,1.2,55,10.1