version: 66.06
glider: 146
mission: 6
dive: 260
start: 6 11 111 16 37 0
data:
$ID,146
$MISSION,6
$DIVE,260
$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,-274191.62
$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,63
$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
$GPS1,162357,2247.598,-15800.238,69,2.7,88,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-72.1
$GPS2,163605,2247.717,-15800.319,13,1.6,23,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.211,-0.104
$KALMAN_X,-104585.4,-176.4,-341.5,99091.8,-168.4
$KALMAN_Y,-69308.3,-13.3,418.5,75959.2,384.9
$MHEAD_RNG_PITCHd_Wd,233.6,4766,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.72,0.000,2,0.000,0.000,478,1822,3248,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.3,-5.6,9,119,11.98,2.65,-4.40,0.000,4,0.135,0.061,2851,268,3489,0,0,0,0,0,0
$GC,245,-1.22,-116.8,40.8,-18.3,27,251,0.20,2.40,0.00,0.000,6,0.150,0.014,2892,1853,3490,0,0,0,0,0,0
$GC,513,-1.22,-116.8,79.2,-14.5,51,518,0.00,2.70,0.00,0.000,4,0.000,0.058,2892,258,3491,0,0,0,0,0,0
$GC,559,-1.22,-116.8,87.5,-15.9,54,568,0.00,2.38,0.00,0.000,6,0.000,0.015,2892,1820,3491,0,0,0,0,0,0
$GC,825,-1.22,-116.8,121.2,-11.6,79,829,0.00,2.62,0.00,0.000,4,0.000,0.059,2892,260,3492,0,0,0,0,0,0
$GC,879,-1.22,-116.8,127.7,-11.9,83,884,0.00,2.30,0.00,0.000,6,0.000,0.021,2892,1798,3492,0,0,0,0,0,0
$GC,1142,-1.27,-116.8,157.0,-10.3,107,1146,0.00,2.47,0.00,0.000,4,0.000,0.026,2892,3370,3492,0,0,0,0,0,0
$GC,1224,-1.37,-116.8,166.4,-11.1,113,1232,0.10,2.47,0.00,0.000,6,0.038,0.026,2842,1802,3492,0,0,0,0,0,0
$GC,1485,-1.37,-116.8,196.3,-11.6,138,1489,0.00,2.47,0.00,0.000,4,0.000,0.029,2842,3373,3493,0,0,0,0,0,0
$GC,1519,-1.37,-116.8,200.4,-11.7,140,1525,0.00,2.50,0.00,0.000,6,0.000,0.030,2842,1798,3493,0,0,0,0,0,0
$GC,1769,-1.37,-116.8,228.6,-11.1,147,1773,0.00,2.47,0.00,0.000,4,0.000,0.033,2842,3370,3493,0,0,0,0,0,0
$GC,1818,-1.42,-116.8,234.5,-12.1,148,1823,0.00,2.47,0.00,0.000,6,0.000,0.027,2842,1818,3493,0,0,0,0,0,0
$GC,2090,-1.42,-116.8,265.4,-11.6,155,2092,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1818,3493,0,0,0,0,0,0
$GC,2334,-1.42,-116.8,291.1,-10.6,161,2338,0.00,2.47,0.00,0.000,4,0.000,0.037,2842,3365,3493,0,0,0,0,0,0
$GC,2375,-1.48,-116.8,295.2,-10.8,162,2379,0.00,2.50,0.00,0.000,6,0.000,0.031,2842,1819,3493,0,0,0,0,0,0
$GC,2659,-1.48,-116.8,324.3,-10.0,169,2664,0.00,2.47,0.00,0.000,4,0.000,0.037,2842,3359,3492,0,0,0,0,0,0
$GC,2715,-1.55,-116.8,330.2,-9.9,170,2720,0.00,2.53,0.00,0.000,6,0.000,0.044,2842,1822,3492,0,0,0,0,0,0
$GC,2984,-1.59,-116.8,355.8,-9.8,177,2989,0.12,2.50,0.00,0.000,4,0.074,0.042,2796,3359,3491,0,0,0,0,0,0
$GC,3007,-1.59,-116.8,358.5,-10.8,177,3011,0.00,2.55,0.00,0.000,6,0.000,0.051,2796,1829,3491,0,0,0,0,0,0
$GC,3262,-1.55,-116.8,388.1,-11.7,184,3267,0.12,2.50,0.00,0.000,4,0.109,0.038,2822,3364,3489,0,0,0,0,0,0
$GC,3319,-1.59,-116.8,394.2,-10.6,185,3323,0.00,2.58,0.00,0.000,6,0.000,0.057,2822,1837,3489,0,0,0,0,0,0
$GC,3585,-1.59,-116.8,421.3,-10.2,192,3589,0.00,2.47,0.00,0.000,4,0.000,0.041,2823,3354,3487,0,0,0,0,0,0
$GC,3624,-1.64,-116.8,425.6,-11.1,193,3628,0.00,2.53,0.00,0.000,6,0.000,0.058,2822,1854,3487,0,0,0,0,0,0
$GC,3908,-1.64,-116.8,456.1,-10.8,200,3909,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1854,3485,0,0,0,0,0,0
$GC,4151,-1.64,-116.8,479.9,-9.6,206,4155,0.00,2.50,0.00,0.000,4,0.000,0.056,2822,3351,3484,0,0,0,0,0,0
$GC,4166,-1.64,-116.8,481.5,-9.5,206,4171,0.00,2.58,0.00,0.000,6,0.000,0.064,2822,1846,3484,0,0,0,0,0,0
$STATE,4384,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4384,begin apogee
$GC,4391,-0.31,0.0,502.9,9.8,212,4492,1.17,0.00,96.70,0.913,6,0.076,0.000,3090,1954,3010,0,0,0,0,0,0
$STATE,4492,end apogee,CONTROL_FINISHED_OK
$STATE,4493,begin climb
$GC,4495,1.38,116.8,505.6,0.0,214,4606,1.55,2.80,99.25,0.896,4,0.039,0.059,3467,3555,2531,0,0,0,0,0,0
$GC,4620,1.37,216.1,505.7,4.3,217,4711,0.00,2.70,85.47,0.885,6,0.000,0.051,3467,1991,2127,0,0,0,0,0,0
$GC,4986,1.30,216.1,462.8,13.4,226,4988,0.12,0.00,0.00,0.000,6,0.122,0.000,3442,1991,2118,0,0,0,0,0,0
$GC,5231,1.30,216.1,431.7,12.8,232,5235,0.00,2.92,0.00,0.000,4,0.000,0.098,3442,402,2116,0,0,0,0,0,0
$GC,5246,1.25,216.1,429.2,12.9,232,5251,0.00,2.58,0.00,0.000,6,0.000,0.032,3442,1980,2115,0,0,0,0,0,0
$GC,5507,1.25,216.1,399.3,11.2,239,5511,0.00,2.67,0.00,0.000,4,0.000,0.052,3442,3584,2114,0,0,0,0,0,0
$GC,5547,1.25,216.1,394.7,11.8,240,5552,0.00,2.65,0.00,0.000,6,0.000,0.044,3443,1995,2112,0,0,0,0,0,0
$GC,5830,1.25,216.1,362.9,10.9,247,5834,0.00,2.62,0.00,0.000,4,0.000,0.036,3442,3588,2111,0,0,0,0,0,0
$GC,5857,1.25,216.1,360.0,10.1,247,5861,0.00,2.62,0.00,0.000,6,0.000,0.041,3442,2000,2111,0,0,0,0,0,0
$GC,6108,1.28,234.2,336.7,9.0,253,6127,0.00,2.65,14.02,0.769,4,0.000,0.040,3442,3584,2054,0,0,0,0,0,0
$GC,6145,1.28,234.2,332.9,10.1,253,6151,0.00,2.60,0.00,0.000,6,0.000,0.040,3442,2014,2054,0,0,0,0,0,0
$GC,6395,1.28,235.7,308.1,10.0,260,6400,0.00,2.80,0.00,0.000,4,0.000,0.074,3442,404,2052,0,0,0,0,0,0
$GC,6446,1.28,235.7,302.5,12.1,261,6450,0.00,2.58,0.00,0.000,6,0.000,0.026,3442,2025,2050,0,0,0,0,0,0
$GC,6717,1.28,235.7,274.3,10.1,268,6722,0.00,2.50,0.00,0.000,4,0.000,0.038,3442,3562,2049,0,0,0,0,0,0
$GC,6756,1.28,235.7,270.0,10.9,269,6761,0.00,2.55,0.00,0.000,6,0.000,0.037,3442,1993,2048,0,0,0,0,0,0
$GC,7042,1.28,235.7,239.1,11.0,276,7047,0.00,2.72,0.00,0.000,4,0.000,0.068,3442,408,2048,0,0,0,0,0,0
$GC,7102,1.28,235.7,232.0,11.7,277,7107,0.00,2.50,0.00,0.000,6,0.000,0.024,3442,2002,2047,0,0,0,0,0,0
$GC,7370,1.35,264.0,208.3,8.4,284,7399,0.00,0.00,26.83,0.711,6,0.000,0.000,3442,2002,1933,0,0,0,0,0,0
$GC,7620,1.40,264.0,184.1,10.2,299,7622,0.10,0.00,0.00,0.000,6,0.095,0.000,3470,2004,1928,0,0,0,0,0,0
$GC,7873,1.40,264.0,153.4,12.2,323,7877,0.00,2.50,0.00,0.000,4,0.000,0.038,3470,3558,1927,0,0,0,0,0,0
$GC,7938,1.40,264.0,146.6,10.3,328,7942,0.00,2.58,0.00,0.000,6,0.000,0.030,3470,1972,1927,0,0,0,0,0,0
$GC,8201,1.43,282.8,123.5,9.0,352,8225,0.00,2.65,16.60,0.614,4,0.000,0.033,3470,3559,1856,0,0,0,0,0,0
$GC,8244,1.47,285.4,119.8,9.9,355,8255,0.00,2.58,3.95,0.419,6,0.000,0.030,3470,1983,1845,0,0,0,0,0,0
$GC,8510,1.53,286.3,93.2,10.0,380,8515,0.10,2.67,0.00,0.000,4,0.087,0.056,3501,410,1843,0,0,0,0,0,0
$GC,8605,1.49,286.3,81.1,13.6,387,8611,0.00,2.45,0.00,0.000,6,0.000,0.019,3501,2002,1842,0,0,0,0,0,0
$GC,8871,1.49,286.3,51.5,10.5,412,8876,0.00,2.47,0.00,0.000,4,0.000,0.035,3501,3548,1842,0,0,0,0,0,0
$GC,8908,1.55,297.6,48.3,9.4,414,8925,0.00,2.50,11.57,0.531,6,0.000,0.036,3501,1998,1796,0,0,0,0,0,0
$GC,9204,1.60,297.6,19.8,11.0,446,9214,0.00,2.67,0.00,0.000,4,0.000,0.057,3501,413,1794,0,0,0,0,0,0
$GC,9232,1.60,297.6,16.6,11.1,449,9241,0.00,2.47,0.00,0.000,6,0.000,0.017,3501,2008,1794,0,0,0,0,0,0
$STATE,9338,end climb,SURFACE_DEPTH_REACHED
$STATE,9338,begin surface coast
$FINISH,0.5,0.975214
$STATE,9390,end surface coast,CONTROL_FINISHED_OK
$STATE,9390,begin surface
$SM_CCo,9413,68.05,0.522,0,0,1460,380.21
$SM_GC,1.27,0.00,0.00,68.05,0.000,0.000,0.522,481,1801,1460,-12.32,-0.82,380.21
$IRIDIUM_FIX,2239.35,-15758.03,040900,161649
$TT8_MAMPS,0.026078
$HUMID,60.82
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.80
$XPDR_PINGS,49
$24V_AH,23.5,32.888
$10V_AH,10.3,28.572
$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,27.950,128.575,354.400,68.050,0.000,53.112,77.163,381.731,12.250,0.000,24.978,973.444,6138.472,487.449,1814.345,799.714,33.399,1173.270,0.000,1805.649,0.000,0.535,0.000
$DEVICE_MAMPS,149.565,98.176,913.497,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,319.266,267.224,362.434,690.111,1043.761,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,38333,471
$CAP_FILE_SIZE,107088,0
$CFSIZE,260165632,168636416
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110611,191606,2247.558,-15801.871,18,1.1,23,10.1