version: 66.06
glider: 146
mission: 6
dive: 263
start: 6 12 111 1 12 1
data:
$ID,146
$MISSION,6
$DIVE,263
$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,-274277.44
$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,46
$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
$GPS1,005747,2248.341,-15802.828,12,5.0,31,10.1
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.3
$GPS2,011107,2248.494,-15802.899,33,1.2,33,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.097,0.141
$KALMAN_X,-107855.4,127.2,11.3,97290.8,-1137.5
$KALMAN_Y,-66797.9,94.8,-538.2,75741.5,1386.2
$MHEAD_RNG_PITCHd_Wd,24.4,2795,-27.6,-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,-1.80,-61.6,0.0,0.0,0,89,0.00,0.00,-69.65,0.000,2,0.000,0.000,473,1804,3242,0,0,0,0,0,0
$GC,92,-1.84,-87.8,3.7,-7.2,9,118,11.48,2.55,-2.35,0.000,4,0.135,0.044,2750,3384,3372,0,0,0,0,0,0
$GC,137,-1.35,-87.8,19.2,-35.3,14,146,0.47,2.50,0.00,0.000,6,0.080,0.026,2859,1842,3373,0,0,0,0,0,0
$GC,417,-1.51,-87.8,66.1,-13.9,42,422,0.12,2.45,0.00,0.000,4,0.068,0.026,2812,3388,3374,0,0,0,0,0,0
$GC,477,-1.64,-87.8,77.1,-16.2,46,486,0.00,2.50,0.00,0.000,6,0.000,0.025,2812,1839,3374,0,0,0,0,0,0
$GC,745,-1.73,-87.8,119.3,-15.3,71,750,0.12,2.72,0.00,0.000,4,0.070,0.061,2768,245,3375,0,0,0,0,0,0
$GC,814,-1.68,-87.8,133.5,-19.3,76,823,0.08,2.45,0.00,0.000,6,0.097,0.018,2788,1845,3375,0,0,0,0,0,0
$GC,1078,-1.77,-87.8,170.5,-12.4,101,1083,0.00,2.38,0.00,0.000,4,0.000,0.029,2788,3379,3375,0,0,0,0,0,0
$GC,1112,-1.89,-87.8,174.8,-13.8,103,1117,0.17,2.42,0.00,0.000,6,0.055,0.031,2725,1828,3375,0,0,0,0,0,0
$GC,1401,-1.89,-87.8,221.2,-16.1,121,1403,0.10,0.00,0.00,0.000,6,0.120,0.000,2746,1828,3375,0,0,0,0,0,0
$GC,1644,-1.94,-87.8,258.9,-15.5,127,1648,0.00,2.45,0.00,0.000,4,0.000,0.034,2746,3382,3376,0,0,0,0,0,0
$GC,1732,-2.04,-87.8,272.1,-14.0,129,1738,0.12,2.45,0.00,0.000,6,0.071,0.031,2700,1854,3376,0,0,0,0,0,0
$GC,2011,-2.04,-87.8,314.3,-15.1,136,2012,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1854,3376,0,0,0,0,0,0
$GC,2254,-2.04,-87.8,349.9,-14.7,142,2258,0.00,2.47,0.00,0.000,4,0.000,0.045,2700,3380,3376,0,0,0,0,0,0
$GC,2275,-2.04,-87.8,353.0,-14.0,142,2279,0.00,2.50,0.00,0.000,6,0.000,0.052,2700,1864,3376,0,0,0,0,0,0
$GC,2531,-2.04,-87.8,387.7,-13.6,149,2532,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1864,3375,0,0,0,0,0,0
$GC,2775,-2.04,-87.8,420.7,-13.8,155,2779,0.00,2.50,0.00,0.000,4,0.000,0.046,2700,3374,3374,0,0,0,0,0,0
$GC,2819,-2.08,-87.8,427.4,-14.3,156,2823,0.00,2.55,0.00,0.000,6,0.000,0.059,2700,1862,3374,0,0,0,0,0,0
$GC,3097,-2.08,-87.8,467.1,-14.3,163,3099,0.00,0.00,0.00,0.000,6,0.000,0.000,2700,1861,3372,0,0,0,0,0,0
$STATE,3338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3338,begin apogee
$GC,3344,-0.31,0.0,503.4,15.0,169,3422,1.77,0.00,73.95,0.896,6,0.093,0.000,3087,1962,3010,0,0,0,0,0,0
$STATE,3423,end apogee,CONTROL_FINISHED_OK
$STATE,3423,begin climb
$GC,3425,1.84,87.8,507.0,0.0,171,3507,1.98,0.00,74.15,0.877,6,0.043,0.000,3561,1963,2651,0,0,0,0,0,0
$GC,3751,1.80,112.6,490.0,7.3,179,3780,0.00,2.80,21.70,0.844,4,0.000,0.058,3561,3559,2549,0,0,0,0,0,0
$GC,3803,1.74,120.9,485.5,9.1,180,3818,0.10,2.70,8.48,0.744,6,0.148,0.054,3543,1989,2516,0,0,0,0,0,0
$GC,4081,1.74,121.6,458.0,10.0,187,4085,0.00,2.65,0.00,0.000,4,0.000,0.044,3543,3569,2510,0,0,0,0,0,0
$GC,4147,1.74,121.6,451.1,10.9,188,4151,0.00,2.65,0.00,0.000,6,0.000,0.051,3543,1999,2509,0,0,0,0,0,0
$GC,4409,1.76,135.3,427.6,8.6,195,4428,0.00,2.67,12.38,0.801,4,0.000,0.042,3543,3557,2457,0,0,0,0,0,0
$GC,4493,1.77,149.0,420.6,8.5,196,4512,0.00,2.60,13.55,0.802,6,0.000,0.047,3543,2005,2401,0,0,0,0,0,0
$GC,4787,1.78,149.7,392.6,10.0,204,4791,0.00,2.55,0.00,0.000,4,0.000,0.036,3543,3568,2396,0,0,0,0,0,0
$GC,4970,1.78,149.7,372.2,11.3,208,4975,0.00,2.55,0.00,0.000,6,0.000,0.044,3543,2019,2394,0,0,0,0,0,0
$GC,5243,1.78,149.7,339.8,11.7,215,5247,0.00,2.55,0.00,0.000,4,0.000,0.039,3543,3575,2392,0,0,0,0,0,0
$GC,5304,1.78,149.7,332.5,11.9,216,5309,0.00,2.53,0.00,0.000,6,0.000,0.032,3543,2034,2391,0,0,0,0,0,0
$GC,5565,1.78,156.8,306.8,9.3,223,5578,0.00,2.53,6.32,0.660,4,0.000,0.033,3543,3575,2370,0,0,0,0,0,0
$GC,5659,1.80,168.1,298.1,8.8,225,5678,0.00,2.53,11.68,0.736,6,0.000,0.036,3543,2036,2323,0,0,0,0,0,0
$GC,5941,1.86,178.3,272.6,8.9,232,5956,0.00,2.55,10.52,0.709,4,0.000,0.035,3543,3574,2281,0,0,0,0,0,0
$GC,5986,1.91,178.3,268.0,10.8,233,5991,0.15,2.53,0.00,0.000,6,0.083,0.031,3580,2039,2279,0,0,0,0,0,0
$GC,6263,1.91,178.3,235.0,11.5,240,6268,0.00,2.50,0.00,0.000,4,0.000,0.039,3579,3569,2277,0,0,0,0,0,0
$GC,6290,1.91,178.3,232.0,10.7,240,6295,0.00,2.50,0.00,0.000,6,0.000,0.037,3580,2039,2277,0,0,0,0,0,0
$GC,6542,1.92,185.6,208.3,9.2,246,6556,0.00,2.58,6.85,0.612,4,0.000,0.038,3579,3570,2252,0,0,0,0,0,0
$GC,6573,1.92,189.7,205.2,9.6,246,6584,0.00,2.47,5.40,0.556,6,0.000,0.035,3579,2043,2236,0,0,0,0,0,0
$GC,6839,1.92,189.7,178.3,10.1,265,6844,0.00,0.00,0.00,0.000,6,0.000,0.000,3580,2043,2233,0,0,0,0,0,0
$GC,7102,1.97,195.3,151.6,9.4,290,7113,0.00,2.47,6.25,0.554,4,0.000,0.031,3579,3571,2212,0,0,0,0,0,0
$GC,7212,2.00,195.3,141.0,11.3,299,7217,0.00,2.45,0.00,0.000,6,0.000,0.035,3579,2047,2210,0,0,0,0,0,0
$GC,7480,2.06,201.6,116.8,9.3,323,7495,0.12,2.83,6.78,0.535,4,0.077,0.061,3613,413,2186,0,0,0,0,0,0
$GC,7556,1.99,201.6,107.9,11.9,329,7561,0.00,2.55,0.00,0.000,6,0.000,0.018,3613,2059,2186,0,0,0,0,0,0
$GC,7818,1.99,201.6,79.7,10.7,354,7823,0.00,2.72,0.00,0.000,4,0.000,0.048,3613,411,2185,0,0,0,0,0,0
$GC,7951,1.92,201.6,63.7,11.9,364,7956,0.17,2.53,0.00,0.000,6,0.127,0.018,3580,2049,2185,0,0,0,0,0,0
$GC,8220,2.05,232.3,43.3,6.7,388,8260,0.10,2.47,27.38,0.552,4,0.089,0.035,3607,3582,2060,0,0,0,0,0,0
$GC,8558,2.10,232.3,8.0,12.8,427,8567,0.00,2.55,0.00,0.000,6,0.000,0.035,3608,2019,2059,0,0,0,0,0,0
$STATE,8595,end climb,SURFACE_DEPTH_REACHED
$STATE,8595,begin surface coast
$FINISH,0.5,0.980026
$STATE,8645,end surface coast,CONTROL_FINISHED_OK
$STATE,8645,begin surface
$SM_CCo,8669,119.20,0.518,0,0,1459,380.21
$SM_GC,1.17,0.00,0.00,119.20,0.000,0.000,0.518,473,1800,1459,-12.36,-0.85,380.21
$IRIDIUM_FIX,2241.69,-15804.53,050900,010137
$TT8_MAMPS,0.026078
$HUMID,59.60
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.90
$XPDR_PINGS,39
$24V_AH,23.6,33.265
$10V_AH,10.3,28.901
$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,29.825,102.350,285.375,119.200,0.000,60.653,75.053,438.417,9.750,0.000,36.825,908.145,5588.038,467.140,1795.342,832.144,33.364,1126.583,0.000,1771.401,0.000,0.536,0.000
$DEVICE_MAMPS,148.031,180.245,895.856,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,297.263,237.495,341.530,670.066,1013.578,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355772
$DATA_FILE_SIZE,35234,439
$CAP_FILE_SIZE,100406,0
$CFSIZE,260165632,168488960
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120611,033923,2249.774,-15802.861,12,1.6,13,10.1