version: 66.06
glider: 146
mission: 6
dive: 262
start: 6 11 111 22 14 4
data:
$ID,146
$MISSION,6
$DIVE,262
$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,-274240
$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,25
$R_STBD_OVSHOOT,43
$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
$GPS1,220524,2246.986,-15802.924,68,1.0,85,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-68.8
$GPS2,221308,2247.020,-15802.978,11,1.8,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.121,0.205
$KALMAN_X,-106929.2,76.7,213.4,96081.1,-1225.7
$KALMAN_Y,-67685.8,-45.3,-198.8,73702.0,439.9
$MHEAD_RNG_PITCHd_Wd,20.6,5520,-19.5,-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,17,-1.36,-116.8,0.0,0.0,0,89,0.00,0.00,-69.75,0.000,2,0.000,0.000,475,1847,3232,0,0,0,0,0,0
$GC,92,-1.36,-116.8,3.5,-6.3,9,118,12.12,2.50,-4.75,0.000,4,0.140,0.037,2853,3400,3488,0,0,0,0,0,0
$GC,247,-1.28,-116.8,36.0,-17.1,29,252,0.12,2.50,0.00,0.000,6,0.125,0.028,2878,1828,3490,0,0,0,0,0,0
$GC,515,-1.24,-116.8,75.4,-13.5,53,523,0.00,0.00,0.00,0.000,6,0.000,0.000,2878,1828,3491,0,0,0,0,0,0
$GC,777,-1.24,-116.8,111.4,-13.4,78,781,0.00,2.65,0.00,0.000,4,0.000,0.061,2878,255,3491,0,0,0,0,0,0
$GC,823,-1.20,-116.8,117.0,-14.3,81,828,0.00,2.42,0.00,0.000,6,0.000,0.021,2878,1865,3492,0,0,0,0,0,0
$GC,1090,-1.20,-116.8,145.6,-8.9,105,1094,0.00,2.35,0.00,0.000,4,0.000,0.031,2878,3378,3491,0,0,0,0,0,0
$GC,1125,-1.24,-116.8,149.4,-9.1,107,1131,0.00,2.42,0.00,0.000,6,0.000,0.024,2878,1833,3492,0,0,0,0,0,0
$GC,1388,-1.24,-116.8,177.4,-11.4,132,1392,0.00,2.42,0.00,0.000,4,0.000,0.031,2878,3389,3492,0,0,0,0,0,0
$GC,1410,-1.28,-116.8,180.3,-11.1,133,1416,0.00,2.42,0.00,0.000,6,0.000,0.028,2878,1841,3493,0,0,0,0,0,0
$GC,1669,-1.28,-116.8,210.5,-12.2,152,1673,0.00,2.70,0.00,0.000,4,0.000,0.067,2878,254,3493,0,0,0,0,0,0
$GC,1709,-1.28,-116.8,215.8,-13.5,153,1714,0.00,2.40,0.00,0.000,6,0.000,0.022,2878,1845,3493,0,0,0,0,0,0
$GC,1994,-1.34,-116.8,247.9,-10.7,160,1998,0.00,2.42,0.00,0.000,4,0.000,0.035,2878,3384,3493,0,0,0,0,0,0
$GC,2095,-1.43,-116.8,257.3,-9.1,162,2100,0.12,2.42,0.00,0.000,6,0.071,0.031,2830,1850,3493,0,0,0,0,0,0
$GC,2367,-1.43,-116.8,285.3,-10.5,169,2371,0.00,2.75,0.00,0.000,4,0.000,0.077,2830,256,3493,0,0,0,0,0,0
$GC,2395,-1.38,-116.8,288.6,-11.9,169,2400,0.12,2.45,0.00,0.000,6,0.118,0.027,2857,1826,3493,0,0,0,0,0,0
$GC,2646,-1.42,-116.8,312.7,-9.6,175,2650,0.00,2.53,0.00,0.000,4,0.000,0.036,2857,3411,3493,0,0,0,0,0,0
$GC,2691,-1.49,-116.8,317.1,-9.3,176,2696,0.00,2.53,0.00,0.000,6,0.000,0.039,2857,1854,3493,0,0,0,0,0,0
$GC,2969,-1.55,-116.8,344.4,-9.7,183,2971,0.15,0.00,0.00,0.000,6,0.065,0.000,2806,1854,3492,0,0,0,0,0,0
$GC,3212,-1.55,-116.8,372.1,-11.2,189,3216,0.00,2.53,0.00,0.000,4,0.000,0.041,2806,3409,3491,0,0,0,0,0,0
$GC,3229,-1.55,-116.8,374.0,-11.0,189,3233,0.00,2.55,0.00,0.000,6,0.000,0.041,2805,1854,3491,0,0,0,0,0,0
$GC,3489,-1.55,-116.8,401.2,-10.4,196,3490,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1854,3490,0,0,0,0,0,0
$GC,3733,-1.55,-116.8,426.3,-10.2,202,3734,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1854,3488,0,0,0,0,0,0
$GC,3976,-1.55,-116.8,452.4,-10.8,208,3981,0.00,2.55,0.00,0.000,4,0.000,0.047,2806,3402,3486,0,0,0,0,0,0
$GC,4038,-1.55,-116.8,459.1,-10.8,209,4043,0.00,2.62,0.00,0.000,6,0.000,0.063,2806,1856,3486,0,0,0,0,0,0
$GC,4299,-1.55,-116.8,488.2,-11.2,216,4300,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1856,3485,0,0,0,0,0,0
$STATE,4418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4418,begin apogee
$GC,4424,-0.31,0.0,501.7,11.1,219,4525,1.25,0.00,96.90,0.907,6,0.081,0.000,3089,1998,3010,0,0,0,0,0,0
$STATE,4526,end apogee,CONTROL_FINISHED_OK
$STATE,4526,begin climb
$GC,4530,1.36,116.8,504.1,0.0,221,4638,1.52,2.72,98.82,0.887,4,0.041,0.060,3459,3554,2532,0,0,0,0,0,0
$GC,4696,1.29,161.6,500.2,7.5,225,4740,0.00,2.67,38.75,0.863,6,0.000,0.051,3460,1994,2351,0,0,0,0,0,0
$GC,5028,1.21,171.4,469.7,9.5,233,5040,0.17,0.00,8.93,0.753,6,0.116,0.000,3425,1994,2311,0,0,0,0,0,0
$GC,5269,1.22,184.4,447.2,9.3,239,5288,0.00,3.05,12.60,0.797,4,0.000,0.103,3424,410,2258,0,0,0,0,0,0
$GC,5307,1.17,191.3,443.6,9.7,239,5321,0.00,2.55,7.80,0.724,6,0.000,0.029,3425,1958,2228,0,0,0,0,0,0
$GC,5600,1.18,194.9,414.2,9.8,247,5609,0.00,2.78,3.97,0.546,4,0.000,0.052,3424,3581,2215,0,0,0,0,0,0
$GC,5695,1.18,197.9,404.4,9.9,249,5704,0.00,2.67,4.20,0.565,6,0.000,0.041,3424,1990,2203,0,0,0,0,0,0
$GC,5977,1.19,206.4,377.0,9.6,256,5988,0.00,0.00,9.10,0.746,6,0.000,0.000,3424,1990,2168,0,0,0,0,0,0
$GC,6222,1.20,213.4,353.6,9.6,262,6232,0.00,0.00,7.55,0.709,6,0.000,0.000,3424,1990,2139,0,0,0,0,0,0
$GC,6465,1.23,237.6,332.0,8.7,268,6489,0.00,0.00,22.62,0.792,6,0.000,0.000,3424,1990,2041,0,0,0,0,0,0
$GC,6709,1.29,251.7,309.7,9.2,274,6728,0.00,2.85,13.57,0.749,4,0.000,0.072,3424,406,1982,0,0,0,0,0,0
$GC,6741,1.29,256.0,306.5,9.8,274,6752,0.00,2.55,5.55,0.608,6,0.000,0.020,3424,2017,1965,0,0,0,0,0,0
$GC,6996,1.36,265.8,282.0,9.5,281,7009,0.12,0.00,9.80,0.700,6,0.081,0.000,3460,2017,1925,0,0,0,0,0,0
$GC,7239,1.36,265.8,254.8,11.2,287,7244,0.00,2.75,0.00,0.000,4,0.000,0.060,3460,397,1922,0,0,0,0,0,0
$GC,7262,1.36,265.8,252.1,12.1,287,7266,0.00,2.50,0.00,0.000,6,0.000,0.019,3460,1984,1921,0,0,0,0,0,0
$GC,7516,1.36,265.8,224.2,11.0,294,7521,0.00,2.55,0.00,0.000,4,0.000,0.038,3460,3556,1921,0,0,0,0,0,0
$GC,7544,1.36,265.8,220.9,11.7,294,7549,0.00,2.58,0.00,0.000,6,0.000,0.030,3460,1973,1920,0,0,0,0,0,0
$GC,7797,1.36,265.8,194.5,10.1,303,7802,0.00,2.67,0.00,0.000,4,0.000,0.061,3460,405,1920,0,0,0,0,0,0
$GC,7852,1.36,265.8,188.5,11.7,307,7857,0.00,2.42,0.00,0.000,6,0.000,0.024,3460,1972,1918,0,0,0,0,0,0
$GC,8119,1.36,267.9,161.4,9.9,331,8123,0.00,2.55,0.00,0.000,4,0.000,0.038,3460,3558,1918,0,0,0,0,0,0
$GC,8176,1.41,267.9,154.8,11.0,335,8182,0.00,2.55,0.00,0.000,6,0.000,0.029,3460,1965,1918,0,0,0,0,0,0
$GC,8439,1.45,272.2,129.3,9.8,360,8454,0.00,2.60,5.85,0.518,4,0.000,0.030,3460,3553,1900,0,0,0,0,0,0
$GC,8472,1.52,277.9,126.0,9.7,362,8485,0.08,2.60,7.03,0.538,6,0.051,0.029,3491,1965,1876,0,0,0,0,0,0
$GC,8747,1.52,277.9,97.6,10.5,388,8751,0.00,2.60,0.00,0.000,4,0.000,0.056,3490,414,1875,0,0,0,0,0,0
$GC,8793,1.52,277.9,93.2,12.0,391,8797,0.00,2.38,0.00,0.000,6,0.000,0.017,3490,1974,1874,0,0,0,0,0,0
$GC,9059,1.53,287.6,65.7,9.5,415,9074,0.00,2.62,9.95,0.531,4,0.000,0.050,3490,411,1835,0,0,0,0,0,0
$GC,9104,1.53,287.6,60.3,11.9,418,9114,0.00,2.40,0.00,0.000,6,0.000,0.018,3490,1947,1835,0,0,0,0,0,0
$GC,9372,1.59,301.2,34.0,9.3,443,9390,0.00,2.60,13.00,0.518,4,0.000,0.032,3490,3548,1781,0,0,0,0,0,0
$GC,9448,1.66,321.2,27.2,8.9,450,9474,0.08,2.60,18.58,0.523,6,0.051,0.028,3522,1955,1698,0,0,0,0,0,0
$STATE,9643,end climb,SURFACE_DEPTH_REACHED
$STATE,9643,begin surface coast
$FINISH,0.5,0.975217
$STATE,9679,end surface coast,CONTROL_FINISHED_OK
$STATE,9679,begin surface
$SM_CCo,9701,47.17,0.515,0,0,1459,380.21
$SM_GC,1.13,0.00,0.00,47.17,0.000,0.000,0.515,474,1804,1459,-12.36,-0.74,380.21
$IRIDIUM_FIX,2237.01,-15805.41,040900,191910
$TT8_MAMPS,0.026078
$HUMID,59.88
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.00
$XPDR_PINGS,39
$24V_AH,23.5,33.150
$10V_AH,10.4,28.794
$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,28.250,113.375,394.575,47.175,0.000,28.389,35.251,267.451,9.750,0.000,13.462,986.000,6329.608,484.195,1804.563,612.887,33.361,1166.928,0.000,1805.260,0.000,0.536,0.000
$DEVICE_MAMPS,140.361,155.701,907.361,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,327.089,274.975,372.748,712.529,1068.013,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,38360,483
$CAP_FILE_SIZE,103467,0
$CFSIZE,260165632,168534016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120611,005747,2248.341,-15802.828,12,5.0,31,10.1