version: 66.06
glider: 146
mission: 6
dive: 264
start: 6 12 111 3 55 11
data:
$ID,146
$MISSION,6
$DIVE,264
$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,-274312.91
$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,50
$R_STBD_OVSHOOT,39
$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
$GPS1,033923,2249.774,-15802.861,12,1.6,13,10.1
$_CALLS,4
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.9
$GPS2,035416,2249.922,-15802.954,13,99.0,32,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.202,-0.120
$KALMAN_X,-108732.2,129.8,-175.7,98258.9,-828.9
$KALMAN_Y,-66180.9,140.8,44.3,77145.5,1212.1
$MHEAD_RNG_PITCHd_Wd,110.6,10165,-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,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.65,0.000,2,0.000,0.000,473,1800,3254,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.5,-5.6,9,117,11.98,2.60,-4.28,0.000,4,0.135,0.061,2850,272,3489,0,0,0,0,0,0
$GC,169,-1.19,-116.8,26.6,-22.4,19,179,0.17,2.45,0.00,0.000,6,0.094,0.015,2892,1859,3490,0,0,0,0,0,0
$GC,446,-1.19,-116.8,66.8,-13.3,45,450,0.00,2.40,0.00,0.000,4,0.000,0.031,2892,3382,3491,0,0,0,0,0,0
$GC,480,-1.19,-116.8,71.5,-13.5,47,484,0.00,2.42,0.00,0.000,6,0.000,0.025,2892,1846,3492,0,0,0,0,0,0
$GC,746,-1.19,-116.8,106.8,-13.5,71,751,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1846,3492,0,0,0,0,0,0
$GC,1008,-1.19,-116.8,137.3,-10.2,96,1013,0.00,2.40,0.00,0.000,4,0.000,0.031,2892,3382,3492,0,0,0,0,0,0
$GC,1090,-1.27,-116.8,145.2,-9.5,102,1099,0.00,2.47,0.00,0.000,6,0.000,0.026,2892,1836,3492,0,0,0,0,0,0
$GC,1357,-1.33,-116.8,172.7,-11.2,127,1363,0.10,2.67,0.00,0.000,4,0.085,0.063,2853,251,3493,0,0,0,0,0,0
$GC,1390,-1.28,-116.8,177.3,-12.1,129,1400,0.08,2.42,0.00,0.000,6,0.091,0.022,2874,1847,3493,0,0,0,0,0,0
$GC,1671,-1.32,-116.8,209.5,-11.0,150,1675,0.00,2.40,0.00,0.000,4,0.000,0.028,2874,3377,3493,0,0,0,0,0,0
$GC,1699,-1.38,-116.8,212.8,-11.0,150,1703,0.00,2.42,0.00,0.000,6,0.000,0.031,2873,1834,3493,0,0,0,0,0,0
$GC,1950,-1.43,-116.8,237.6,-9.7,156,1954,0.12,2.45,0.00,0.000,4,0.072,0.034,2830,3374,3493,0,0,0,0,0,0
$GC,2024,-1.43,-116.8,246.2,-12.0,157,2029,0.00,2.42,0.00,0.000,6,0.000,0.034,2830,1843,3493,0,0,0,0,0,0
$GC,2274,-1.43,-116.8,273.4,-10.5,163,2275,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1843,3493,0,0,0,0,0,0
$GC,2518,-1.43,-116.8,298.0,-10.2,169,2519,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1843,3492,0,0,0,0,0,0
$GC,2761,-1.43,-116.8,325.0,-11.4,175,2766,0.00,2.42,0.00,0.000,4,0.000,0.034,2830,3364,3492,0,0,0,0,0,0
$GC,2779,-1.43,-116.8,327.0,-11.5,175,2783,0.00,2.45,0.00,0.000,6,0.000,0.040,2830,1857,3492,0,0,0,0,0,0
$GC,3039,-1.43,-116.8,357.0,-11.4,182,3040,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1857,3491,0,0,0,0,0,0
$GC,3282,-1.43,-116.8,384.0,-11.0,188,3287,0.00,2.45,0.00,0.000,4,0.000,0.038,2830,3362,3490,0,0,0,0,0,0
$GC,3324,-1.49,-116.8,388.4,-11.0,189,3328,0.00,2.50,0.00,0.000,6,0.000,0.051,2830,1865,3490,0,0,0,0,0,0
$GC,3606,-1.49,-116.8,419.7,-10.8,196,3611,0.00,2.97,0.00,0.000,4,0.000,0.100,2830,244,3488,0,0,0,0,0,0
$GC,3627,-1.49,-116.8,422.4,-11.6,196,3632,0.00,2.53,0.00,0.000,6,0.000,0.029,2830,1808,3488,0,0,0,0,0,0
$GC,3884,-1.53,-116.8,450.4,-10.8,203,3889,0.00,2.70,0.00,0.000,4,0.000,0.058,2830,3422,3486,0,0,0,0,0,0
$GC,3940,-1.59,-116.8,456.4,-9.9,204,3944,0.00,2.62,0.00,0.000,6,0.000,0.058,2830,1870,3485,0,0,0,0,0,0
$GC,4207,-1.64,-116.8,481.9,-9.5,211,4212,0.12,3.03,0.00,0.000,4,0.074,0.107,2791,239,3483,0,0,0,0,0,0
$GC,4225,-1.64,-116.8,483.8,-9.6,211,4229,0.00,2.67,0.00,0.000,6,0.000,0.040,2791,1867,3483,0,0,0,0,0,0
$STATE,4401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4401,begin apogee
$GC,4407,-0.31,0.0,503.6,10.9,216,4508,1.33,0.00,96.68,0.912,6,0.083,0.000,3089,2008,3010,0,0,0,0,0,0
$STATE,4509,end apogee,CONTROL_FINISHED_OK
$STATE,4509,begin climb
$GC,4511,1.38,116.8,505.5,0.0,218,4619,1.58,2.78,99.45,0.891,4,0.042,0.070,3464,3576,2532,0,0,0,0,0,0
$GC,4633,1.35,189.2,503.0,5.9,221,4703,0.00,2.70,62.90,0.875,6,0.000,0.047,3465,1994,2237,0,0,0,0,0,0
$GC,4971,1.27,189.2,466.6,11.2,230,4973,0.15,0.00,0.00,0.000,6,0.120,0.000,3435,1994,2227,0,0,0,0,0,0
$GC,5216,1.29,210.8,444.6,8.8,236,5237,0.00,0.00,18.45,0.825,6,0.000,0.000,3435,1994,2150,0,0,0,0,0,0
$GC,5458,1.31,225.2,422.1,9.2,242,5478,0.00,2.70,13.82,0.798,4,0.000,0.048,3435,3577,2090,0,0,0,0,0,0
$GC,5519,1.31,225.2,415.8,11.0,243,5523,0.00,2.67,0.00,0.000,6,0.000,0.048,3435,2000,2088,0,0,0,0,0,0
$GC,5785,1.31,225.2,388.6,10.1,250,5789,0.00,2.90,0.00,0.000,4,0.000,0.096,3434,407,2086,0,0,0,0,0,0
$GC,5812,1.27,225.2,385.5,11.6,250,5816,0.00,2.58,0.00,0.000,6,0.000,0.029,3435,2005,2085,0,0,0,0,0,0
$GC,6063,1.27,225.2,359.6,10.4,256,6064,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2005,2084,0,0,0,0,0,0
$GC,6305,1.28,233.9,335.9,9.5,262,6315,0.00,0.00,7.85,0.708,6,0.000,0.000,3434,2005,2056,0,0,0,0,0,0
$GC,6549,1.30,249.7,313.4,9.1,268,6570,0.00,2.62,15.55,0.763,4,0.000,0.042,3435,3578,1991,0,0,0,0,0,0
$GC,6593,1.30,249.7,308.9,10.2,269,6598,0.00,2.65,0.00,0.000,6,0.000,0.035,3434,1984,1989,0,0,0,0,0,0
$GC,6870,1.30,249.7,277.9,11.5,276,6875,0.00,2.72,0.00,0.000,4,0.000,0.067,3434,411,1987,0,0,0,0,0,0
$GC,6897,1.30,249.7,274.3,13.2,276,6901,0.00,2.55,0.00,0.000,6,0.000,0.025,3434,2019,1986,0,0,0,0,0,0
$GC,7149,1.35,249.7,246.2,11.1,282,7153,0.00,2.75,0.00,0.000,4,0.000,0.059,3435,410,1985,0,0,0,0,0,0
$GC,7210,1.35,249.7,239.0,11.3,283,7215,0.00,2.47,0.00,0.000,6,0.000,0.025,3435,1988,1985,0,0,0,0,0,0
$GC,7478,1.44,282.0,217.2,8.2,290,7513,0.15,2.62,28.62,0.717,4,0.138,0.037,3477,3561,1859,0,0,0,0,0,0
$GC,7567,1.44,282.0,207.8,12.0,292,7572,0.00,2.60,0.00,0.000,6,0.000,0.038,3477,1979,1856,0,0,0,0,0,0
$GC,7829,1.44,282.0,176.5,11.1,311,7830,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,1978,1855,0,0,0,0,0,0
$GC,8087,1.44,282.0,146.9,11.8,335,8092,0.00,0.00,0.00,0.000,6,0.000,0.000,3477,1978,1854,0,0,0,0,0,0
$GC,8348,1.44,282.0,115.6,10.3,360,8352,0.00,2.65,0.00,0.000,4,0.000,0.059,3477,411,1854,0,0,0,0,0,0
$GC,8395,1.44,282.0,110.7,10.7,363,8401,0.00,2.47,0.00,0.000,6,0.000,0.020,3477,2005,1852,0,0,0,0,0,0
$GC,8658,1.52,309.9,86.4,8.4,388,8687,0.00,2.72,23.73,0.592,4,0.000,0.053,3477,407,1746,0,0,0,0,0,0
$GC,8713,1.52,309.9,81.3,10.5,392,8717,0.00,2.45,0.00,0.000,6,0.000,0.022,3477,1991,1745,0,0,0,0,0,0
$GC,8979,1.60,318.3,54.4,9.6,416,8994,0.12,2.50,8.65,0.510,4,0.223,0.029,3514,3545,1712,0,0,0,0,0,0
$GC,9111,1.60,318.3,40.0,11.9,426,9115,0.00,2.53,0.00,0.000,6,0.000,0.028,3513,1980,1711,0,0,0,0,0,0
$GC,9424,1.60,318.3,4.6,12.0,466,9433,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,1981,1710,0,0,0,0,0,0
$STATE,9440,end climb,SURFACE_DEPTH_REACHED
$STATE,9441,begin surface coast
$FINISH,0.5,0.975598
$STATE,9485,end surface coast,CONTROL_FINISHED_OK
$STATE,9485,begin surface
$SM_CCo,9508,50.35,0.520,0,0,1459,380.21
$SM_GC,1.17,0.00,0.00,50.35,0.000,0.000,0.520,476,1818,1459,-12.35,-0.34,380.21
$IRIDIUM_FIX,2239.35,-15802.37,050900,010136
$TT8_MAMPS,0.026078
$HUMID,61.02
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.90
$XPDR_PINGS,44
$24V_AH,23.5,33.391
$10V_AH,10.3,29.011
$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,28.275,109.000,375.700,50.350,0.000,123.536,122.541,316.506,11.000,0.000,34.836,954.933,6385.934,491.189,1791.706,832.595,33.370,1142.243,0.000,1773.266,0.000,0.535,0.000
$DEVICE_MAMPS,223.197,106.613,911.963,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,321.304,259.443,365.144,698.061,1049.993,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,38498,474
$CAP_FILE_SIZE,101193,0
$CFSIZE,260165632,168431616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120611,063625,2249.465,-15801.936,74,1.4,74,10.1