version: 66.06
glider: 146
mission: 6
dive: 256
start: 6 11 111 4 44 4
data:
$ID,146
$MISSION,6
$DIVE,256
$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,-274084.53
$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,36
$R_STBD_OVSHOOT,58
$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
$GPS1,042937,2250.091,-15758.077,55,1.2,55,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-71.0
$GPS2,044307,2250.243,-15758.124,10,1.5,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.200,-0.122
$KALMAN_X,-100895.9,-292.1,-139.1,99060.9,-192.2
$KALMAN_Y,-71056.2,-2.1,278.6,82525.4,793.2
$MHEAD_RNG_PITCHd_Wd,111.3,1971,-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,-116.8,0.0,0.0,0,81,0.00,0.00,-63.38,0.000,2,0.000,0.000,475,1817,3068,0,0,0,0,0,0
$GC,84,-1.38,-116.8,3.2,-5.4,8,111,12.35,2.62,-8.25,0.000,4,0.150,0.066,2848,256,3487,0,0,0,0,0,0
$GC,123,-0.54,-116.8,14.1,-28.3,12,132,0.85,2.42,0.00,0.000,6,0.089,0.015,3040,1842,3489,0,0,0,0,0,0
$GC,430,-0.80,-116.8,39.6,-7.6,50,435,0.22,2.42,0.00,0.000,4,0.048,0.023,2970,3379,3491,0,0,0,0,0,0
$GC,464,-0.94,-116.8,42.5,-9.5,52,469,0.00,2.42,0.00,0.000,6,0.000,0.024,2969,1833,3490,0,0,0,0,0,0
$GC,734,-1.08,-116.8,68.8,-8.7,76,739,0.20,2.42,0.00,0.000,4,0.051,0.027,2899,3378,3491,0,0,0,0,0,0
$GC,768,-1.14,-116.8,72.3,-10.5,78,772,0.00,2.47,0.00,0.000,6,0.000,0.032,2899,1827,3491,0,0,0,0,0,0
$GC,1030,-1.14,-116.8,103.2,-11.7,102,1034,0.00,2.62,0.00,0.000,4,0.000,0.063,2899,256,3491,0,0,0,0,0,0
$GC,1050,-1.14,-116.8,105.4,-12.1,103,1054,0.00,2.40,0.00,0.000,6,0.000,0.015,2899,1862,3491,0,0,0,0,0,0
$GC,1318,-1.18,-116.8,137.1,-11.9,127,1322,0.00,2.33,0.00,0.000,4,0.000,0.033,2899,3361,3491,0,0,0,0,0,0
$GC,1373,-1.27,-116.8,143.3,-10.5,131,1377,0.00,2.38,0.00,0.000,6,0.000,0.026,2899,1846,3491,0,0,0,0,0,0
$GC,1636,-1.33,-116.8,169.7,-9.6,155,1638,0.12,0.00,0.00,0.000,6,0.074,0.000,2850,1846,3491,0,0,0,0,0,0
$GC,1890,-1.33,-116.8,197.9,-11.4,179,1895,0.00,2.35,0.00,0.000,4,0.000,0.029,2850,3360,3492,0,0,0,0,0,0
$GC,1932,-1.37,-116.8,202.8,-12.1,181,1936,0.00,2.38,0.00,0.000,6,0.000,0.032,2850,1846,3492,0,0,0,0,0,0
$GC,2215,-1.37,-116.8,235.6,-11.3,188,2219,0.00,2.38,0.00,0.000,4,0.000,0.027,2850,3367,3493,0,0,0,0,0,0
$GC,2293,-1.43,-116.8,243.6,-9.6,189,2298,0.00,2.40,0.00,0.000,6,0.000,0.033,2850,1864,3493,0,0,0,0,0,0
$GC,2544,-1.43,-116.8,268.8,-10.6,196,2545,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1864,3492,0,0,0,0,0,0
$GC,2786,-1.47,-116.8,295.9,-10.7,202,2790,0.00,2.38,0.00,0.000,4,0.000,0.035,2850,3355,3493,0,0,0,0,0,0
$GC,2819,-1.53,-116.8,299.4,-10.3,202,2824,0.00,2.40,0.00,0.000,6,0.000,0.038,2850,1870,3492,0,0,0,0,0,0
$GC,3071,-1.58,-116.8,324.7,-10.2,208,3073,0.15,0.00,0.00,0.000,6,0.062,0.000,2796,1870,3492,0,0,0,0,0,0
$GC,3313,-1.54,-116.8,354.0,-12.0,214,3315,0.12,0.00,0.00,0.000,6,0.105,0.000,2824,1870,3491,0,0,0,0,0,0
$GC,3556,-1.54,-116.8,381.7,-11.3,220,3560,0.00,2.40,0.00,0.000,4,0.000,0.043,2824,3350,3489,0,0,0,0,0,0
$GC,3606,-1.58,-116.8,387.9,-12.2,221,3611,0.00,2.47,0.00,0.000,6,0.000,0.055,2824,1872,3489,0,0,0,0,0,0
$GC,3886,-1.58,-116.8,419.4,-11.3,228,3889,0.00,2.42,0.00,0.000,4,0.000,0.042,2824,3356,3487,0,0,0,0,0,0
$GC,3952,-1.64,-116.8,426.8,-10.1,229,3957,0.00,2.50,0.00,0.000,6,0.000,0.052,2824,1872,3487,0,0,0,0,0,0
$GC,4214,-1.64,-116.8,453.8,-10.5,236,4215,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1871,3485,0,0,0,0,0,0
$GC,4457,-1.64,-116.8,478.1,-9.9,242,4461,0.00,2.45,0.00,0.000,4,0.000,0.048,2824,3345,3483,0,0,0,0,0,0
$GC,4541,-1.70,-116.8,486.5,-9.4,244,4547,0.15,2.50,0.00,0.000,6,0.063,0.063,2773,1874,3483,0,0,0,0,0,0
$STATE,4660,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4660,begin apogee
$GC,4667,-0.31,0.0,500.6,11.9,247,4768,1.40,0.00,96.30,0.909,6,0.077,0.000,3090,1954,3010,0,0,0,0,0,0
$STATE,4768,end apogee,CONTROL_FINISHED_OK
$STATE,4768,begin climb
$GC,4771,1.38,116.8,502.8,0.0,249,4875,1.58,0.00,99.72,0.885,6,0.050,0.000,3467,1954,2532,0,0,0,0,0,0
$GC,5108,1.31,150.9,484.0,8.1,258,5143,0.10,2.78,28.98,0.857,4,0.133,0.051,3447,3550,2394,0,0,0,0,0,0
$GC,5168,1.27,182.2,479.4,8.2,258,5202,0.00,2.67,28.75,0.848,6,0.000,0.051,3447,1999,2266,0,0,0,0,0,0
$GC,5479,1.24,196.4,450.7,9.2,266,5498,0.00,2.67,12.50,0.795,4,0.000,0.048,3447,3548,2208,0,0,0,0,0,0
$GC,5571,1.24,196.4,441.1,10.1,268,5575,0.00,2.62,0.00,0.000,6,0.000,0.053,3447,2008,2205,0,0,0,0,0,0
$GC,5851,1.24,197.0,413.2,10.0,275,5856,0.00,2.92,0.00,0.000,4,0.000,0.098,3447,408,2202,0,0,0,0,0,0
$GC,5928,1.16,197.0,403.4,12.6,276,5935,0.15,2.55,0.00,0.000,6,0.120,0.026,3415,1987,2200,0,0,0,0,0,0
$GC,6178,1.17,205.1,379.0,9.6,283,6193,0.00,2.70,7.88,0.724,4,0.000,0.048,3415,3578,2173,0,0,0,0,0,0
$GC,6228,1.18,211.1,374.3,9.7,284,6242,0.00,2.65,7.03,0.697,6,0.000,0.038,3415,1990,2148,0,0,0,0,0,0
$GC,6510,1.25,232.3,348.4,8.8,291,6531,0.00,0.00,19.80,0.795,6,0.000,0.000,3415,1990,2063,0,0,0,0,0,0
$GC,6753,1.33,253.7,326.6,8.8,297,6780,0.15,2.83,20.27,0.781,4,0.071,0.072,3457,404,1973,0,0,0,0,0,0
$GC,6845,1.28,253.7,317.1,11.7,299,6849,0.00,2.55,0.00,0.000,6,0.000,0.022,3456,2013,1971,0,0,0,0,0,0
$GC,7122,1.28,253.7,287.7,10.6,306,7126,0.00,2.53,0.00,0.000,4,0.000,0.036,3456,3563,1969,0,0,0,0,0,0
$GC,7162,1.28,253.7,283.4,11.1,307,7167,0.00,2.58,0.00,0.000,6,0.000,0.037,3457,1994,1967,0,0,0,0,0,0
$GC,7446,1.28,253.7,254.9,10.1,314,7451,0.00,2.72,0.00,0.000,4,0.000,0.066,3456,414,1966,0,0,0,0,0,0
$GC,7524,1.28,253.7,246.3,11.5,315,7529,0.00,2.50,0.00,0.000,6,0.000,0.021,3457,2012,1965,0,0,0,0,0,0
$GC,7775,1.31,275.1,223.7,8.8,322,7796,0.00,0.00,18.75,0.709,6,0.000,0.000,3457,2013,1888,0,0,0,0,0,0
$GC,8017,1.31,275.1,196.1,11.5,328,8018,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,2013,1884,0,0,0,0,0,0
$GC,8278,1.35,276.2,168.5,10.0,352,8282,0.00,2.50,0.00,0.000,4,0.000,0.039,3457,3562,1883,0,0,0,0,0,0
$GC,8288,1.35,283.4,166.9,9.6,352,8304,0.00,2.55,7.72,0.594,6,0.000,0.029,3457,1982,1855,0,0,0,0,0,0
$GC,8559,1.41,283.4,139.5,11.0,378,8564,0.00,2.65,0.00,0.000,4,0.000,0.058,3456,417,1852,0,0,0,0,0,0
$GC,8590,1.41,283.4,136.3,11.5,380,8594,0.00,2.47,0.00,0.000,6,0.000,0.024,3457,2009,1852,0,0,0,0,0,0
$GC,8853,1.52,317.6,112.2,8.1,404,8890,0.15,0.00,30.73,0.617,6,0.072,0.000,3498,2011,1714,0,0,0,0,0,0
$GC,9145,1.52,317.6,80.4,11.0,432,9149,0.00,2.70,0.00,0.000,4,0.000,0.053,3498,411,1711,0,0,0,0,0,0
$GC,9177,1.52,317.6,76.7,13.6,434,9181,0.00,2.42,0.00,0.000,6,0.000,0.018,3498,1993,1709,0,0,0,0,0,0
$GC,9446,1.52,317.6,45.4,10.5,458,9451,0.00,2.62,0.00,0.000,4,0.000,0.051,3498,416,1709,0,0,0,0,0,0
$GC,9481,1.53,320.9,41.0,9.8,460,9491,0.00,2.45,3.72,0.361,6,0.000,0.018,3498,1986,1701,0,0,0,0,0,0
$GC,9783,1.57,320.9,8.9,11.8,499,9793,0.00,2.53,0.00,0.000,4,0.000,0.037,3498,3551,1700,0,0,0,0,0,0
$STATE,9828,end climb,SURFACE_DEPTH_REACHED
$STATE,9828,begin surface coast
$FINISH,0.7,0.980007
$STATE,9858,end surface coast,CONTROL_FINISHED_OK
$STATE,9858,begin surface
$SM_CCo,9883,48.22,0.522,0,0,1459,380.21
$SM_GC,1.28,0.00,0.00,48.22,0.000,0.000,0.522,474,1831,1459,-12.36,0.00,380.21
$IRIDIUM_FIX,2244.02,-15756.28,040900,040430
$TT8_MAMPS,0.026078
$HUMID,60.75
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.70
$XPDR_PINGS,44
$24V_AH,23.5,32.358
$10V_AH,10.3,28.124
$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,30.025,116.625,382.150,48.225,0.000,61.886,73.679,472.775,11.000,0.000,16.647,1040.294,6349.429,513.072,1945.318,899.688,33.373,1190.890,0.000,1952.919,0.000,0.536,0.000
$DEVICE_MAMPS,149.565,98.176,908.895,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,345.255,304.657,399.861,782.797,1183.921,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,41479,509
$CAP_FILE_SIZE,111327,0
$CFSIZE,260165632,168841216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110611,073101,2249.688,-15756.953,37,1.6,43,10.1