version: 66.06
glider: 146
mission: 6
dive: 257
start: 6 11 111 7 48 34
data:
$ID,146
$MISSION,6
$DIVE,257
$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,-274098.06
$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,26
$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,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
$GPS1,073101,2249.688,-15756.953,37,1.6,43,10.1
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.0
$GPS2,074738,2249.720,-15757.043,11,1.4,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.050,-0.229
$KALMAN_X,-101129.9,-424.6,75.7,101057.8,-81.2
$KALMAN_Y,-70846.2,227.6,101.0,81296.5,11.4
$MHEAD_RNG_PITCHd_Wd,182.3,5201,-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,-71.12,0.000,2,0.000,0.000,473,1830,3343,0,0,0,0,0,0
$GC,94,-1.38,-116.8,4.4,-8.3,9,120,12.10,2.70,-2.50,0.000,4,0.140,0.064,2850,252,3490,0,0,0,0,0,0
$GC,270,-1.24,-116.8,46.2,-16.4,28,275,0.17,2.40,0.00,0.000,6,0.222,0.014,2886,1847,3492,0,0,0,0,0,0
$GC,534,-1.24,-116.8,85.4,-15.0,52,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1848,3492,0,0,0,0,0,0
$GC,786,-1.24,-116.8,121.2,-13.6,76,791,0.00,2.38,0.00,0.000,4,0.000,0.027,2886,3374,3492,0,0,0,0,0,0
$GC,834,-1.29,-116.8,126.5,-12.0,79,838,0.00,2.45,0.00,0.000,6,0.000,0.025,2886,1819,3493,0,0,0,0,0,0
$GC,1101,-1.33,-116.8,154.4,-11.1,103,1106,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1819,3493,0,0,0,0,0,0
$GC,1363,-1.39,-116.8,184.9,-11.6,128,1368,0.12,2.45,0.00,0.000,4,0.068,0.028,2835,3377,3493,0,0,0,0,0,0
$GC,1404,-1.39,-116.8,189.9,-12.3,131,1408,0.10,2.42,0.00,0.000,6,0.116,0.025,2857,1832,3493,0,0,0,0,0,0
$GC,1667,-1.39,-116.8,218.2,-10.7,144,1672,0.00,2.65,0.00,0.000,4,0.000,0.064,2857,258,3493,0,0,0,0,0,0
$GC,1690,-1.39,-116.8,220.7,-11.3,144,1694,0.00,2.38,0.00,0.000,6,0.000,0.015,2857,1836,3493,0,0,0,0,0,0
$GC,1944,-1.39,-116.8,248.8,-11.1,151,1949,0.00,2.45,0.00,0.000,4,0.000,0.031,2857,3385,3494,0,0,0,0,0,0
$GC,2000,-1.46,-116.8,254.8,-10.1,152,2005,0.00,2.45,0.00,0.000,6,0.000,0.028,2857,1843,3493,0,0,0,0,0,0
$GC,2268,-1.51,-116.8,282.8,-10.7,159,2270,0.10,0.00,0.00,0.000,6,0.084,0.000,2816,1843,3493,0,0,0,0,0,0
$GC,2510,-1.51,-116.8,314.8,-12.7,165,2514,0.00,2.45,0.00,0.000,4,0.000,0.038,2816,3375,3493,0,0,0,0,0,0
$GC,2549,-1.51,-116.8,319.0,-11.4,166,2553,0.00,2.47,0.00,0.000,6,0.000,0.038,2817,1847,3493,0,0,0,0,0,0
$GC,2833,-1.51,-116.8,348.2,-10.5,173,2837,0.00,2.85,0.00,0.000,4,0.000,0.087,2816,241,3492,0,0,0,0,0,0
$GC,2888,-1.47,-116.8,354.9,-11.5,174,2893,0.10,2.47,0.00,0.000,6,0.125,0.028,2836,1807,3491,0,0,0,0,0,0
$GC,3157,-1.52,-116.8,380.9,-9.7,181,3161,0.00,2.62,0.00,0.000,4,0.000,0.047,2837,3413,3491,0,0,0,0,0,0
$GC,3190,-1.57,-116.8,384.2,-10.0,181,3195,0.00,2.62,0.00,0.000,6,0.000,0.047,2836,1844,3491,0,0,0,0,0,0
$GC,3440,-1.62,-116.8,408.4,-9.9,188,3445,0.12,2.58,0.00,0.000,4,0.074,0.048,2795,3406,3489,0,0,0,0,0,0
$GC,3481,-1.62,-116.8,413.1,-11.9,189,3485,0.00,2.60,0.00,0.000,6,0.000,0.056,2795,1864,3489,0,0,0,0,0,0
$GC,3764,-1.62,-116.8,446.9,-11.6,196,3768,0.00,3.00,0.00,0.000,4,0.000,0.110,2795,244,3487,0,0,0,0,0,0
$GC,3824,-1.55,-116.8,454.5,-12.3,197,3830,0.12,2.60,0.00,0.000,6,0.117,0.040,2820,1843,3486,0,0,0,0,0,0
$GC,4087,-1.55,-116.8,481.2,-10.1,204,4091,0.00,2.65,0.00,0.000,4,0.000,0.068,2820,3414,3484,0,0,0,0,0,0
$GC,4136,-1.61,-116.8,486.9,-10.7,205,4141,0.00,2.65,0.00,0.000,6,0.000,0.055,2820,1861,3484,0,0,0,0,0,0
$STATE,4284,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4284,begin apogee
$GC,4292,-0.31,0.0,502.4,10.3,209,4392,1.20,0.00,96.78,0.911,6,0.083,0.000,3090,2032,3010,0,0,0,0,0,0
$STATE,4393,end apogee,CONTROL_FINISHED_OK
$STATE,4393,begin climb
$GC,4396,1.38,116.8,504.6,0.0,211,4503,1.58,2.65,99.60,0.890,4,0.044,0.061,3464,3555,2533,0,0,0,0,0,0
$GC,4514,1.36,194.7,502.6,5.5,214,4589,0.00,2.65,67.43,0.874,6,0.000,0.045,3464,1993,2215,0,0,0,0,0,0
$GC,4851,1.28,194.7,463.8,12.0,223,4856,0.12,2.62,0.00,0.000,4,0.129,0.046,3440,3552,2206,0,0,0,0,0,0
$GC,4937,1.28,194.7,454.1,10.6,225,4941,0.00,2.65,0.00,0.000,6,0.000,0.053,3440,2003,2204,0,0,0,0,0,0
$GC,5220,1.30,211.3,427.6,9.1,232,5239,0.00,3.03,13.77,0.802,4,0.000,0.099,3440,417,2147,0,0,0,0,0,0
$GC,5284,1.24,211.3,420.6,11.5,233,5289,0.00,2.55,0.00,0.000,6,0.000,0.031,3440,1981,2145,0,0,0,0,0,0
$GC,5546,1.24,211.3,391.1,11.6,240,5551,0.00,2.65,0.00,0.000,4,0.000,0.048,3440,3579,2143,0,0,0,0,0,0
$GC,5618,1.24,211.3,382.1,12.1,241,5622,0.00,2.62,0.00,0.000,6,0.000,0.038,3440,2001,2141,0,0,0,0,0,0
$GC,5868,1.24,211.3,356.0,10.2,247,5872,0.00,2.60,0.00,0.000,4,0.000,0.036,3440,3582,2141,0,0,0,0,0,0
$GC,5910,1.24,211.3,351.6,11.4,248,5914,0.00,2.62,0.00,0.000,6,0.000,0.037,3440,1998,2140,0,0,0,0,0,0
$GC,6193,1.25,221.6,323.6,9.4,255,6204,0.00,0.00,9.27,0.726,6,0.000,0.000,3440,1998,2106,0,0,0,0,0,0
$GC,6436,1.26,234.4,301.3,9.3,261,6456,0.00,2.85,12.50,0.742,4,0.000,0.074,3440,406,2054,0,0,0,0,0,0
$GC,6497,1.26,234.4,294.6,11.5,262,6501,0.00,2.58,0.00,0.000,6,0.000,0.021,3440,2027,2052,0,0,0,0,0,0
$GC,6763,1.27,235.7,267.6,10.0,269,6768,0.00,2.78,0.00,0.000,4,0.000,0.057,3440,407,2050,0,0,0,0,0,0
$GC,6808,1.27,235.7,262.5,11.8,270,6812,0.00,2.50,0.00,0.000,6,0.000,0.019,3440,2004,2049,0,0,0,0,0,0
$GC,7086,1.37,288.5,241.3,7.0,277,7136,0.00,0.00,48.12,0.739,6,0.000,0.000,3440,2004,1833,0,0,0,0,0,0
$GC,7371,1.44,289.0,213.5,10.0,284,7376,0.15,2.55,0.00,0.000,4,0.075,0.041,3479,3557,1827,0,0,0,0,0,0
$GC,7394,1.44,289.0,210.8,11.8,284,7398,0.00,2.58,0.00,0.000,6,0.000,0.037,3479,1984,1825,0,0,0,0,0,0
$GC,7656,1.44,289.0,178.2,12.1,303,7661,0.00,2.70,0.00,0.000,4,0.000,0.064,3479,407,1824,0,0,0,0,0,0
$GC,7686,1.44,289.0,174.6,12.6,305,7690,0.00,2.50,0.00,0.000,6,0.000,0.019,3479,2005,1823,0,0,0,0,0,0
$GC,7952,1.44,289.0,146.0,12.2,329,7957,0.00,0.00,0.00,0.000,6,0.000,0.000,3479,2006,1822,0,0,0,0,0,0
$GC,8215,1.45,299.9,116.0,9.4,354,8230,0.00,2.70,9.65,0.572,4,0.000,0.055,3479,413,1785,0,0,0,0,0,0
$GC,8246,1.45,299.9,112.5,10.7,356,8256,0.00,2.50,0.00,0.000,6,0.000,0.025,3479,2000,1784,0,0,0,0,0,0
$GC,8513,1.53,322.2,86.5,8.7,381,8541,0.00,2.78,20.27,0.581,4,0.000,0.056,3479,410,1695,0,0,0,0,0,0
$GC,8573,1.53,322.2,80.1,11.2,386,8577,0.00,2.45,0.00,0.000,6,0.000,0.024,3479,1982,1693,0,0,0,0,0,0
$GC,8840,1.62,324.7,53.9,9.9,410,8849,0.15,0.00,0.00,0.000,6,0.068,0.000,3523,1983,1692,0,0,0,0,0,0
$GC,9119,1.62,324.7,23.0,12.1,440,9128,0.00,2.65,0.00,0.000,4,0.000,0.051,3523,418,1692,0,0,0,0,0,0
$GC,9151,1.58,324.7,18.8,12.4,444,9160,0.00,2.42,0.00,0.000,6,0.000,0.018,3524,1966,1692,0,0,0,0,0,0
$STATE,9265,end climb,SURFACE_DEPTH_REACHED
$STATE,9265,begin surface coast
$FINISH,0.5,0.976073
$STATE,9303,end surface coast,CONTROL_FINISHED_OK
$STATE,9303,begin surface
$SM_CCo,9325,47.47,0.518,0,0,1460,380.21
$SM_GC,1.31,0.00,0.00,47.47,0.000,0.000,0.518,474,1810,1460,-12.36,-0.57,380.21
$IRIDIUM_FIX,2241.69,-15759.32,040900,070721
$TT8_MAMPS,0.026078
$HUMID,60.71
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.90
$XPDR_PINGS,49
$24V_AH,23.5,32.496
$10V_AH,10.4,28.234
$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,28.500,119.950,377.400,47.475,0.000,82.659,118.468,524.268,12.250,0.000,12.898,959.095,6137.661,504.040,1759.735,1012.242,33.397,1171.962,0.000,1763.795,0.000,0.536,0.000
$DEVICE_MAMPS,222.430,109.681,911.196,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,315.625,253.342,357.325,670.940,1014.789,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,38330,466
$CAP_FILE_SIZE,109552,0
$CFSIZE,260165632,168796160
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110611,102625,2248.377,-15757.911,58,1.5,58,10.1