version: 66.06
glider: 146
mission: 6
dive: 266
start: 6 12 111 9 37 32
data:
$ID,146
$MISSION,6
$DIVE,266
$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,-274370.03
$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,34
$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
$GPS1,092723,2249.677,-15800.893,36,1.9,36,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.2
$GPS2,093638,2249.685,-15800.964,10,1.9,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,0.029
$KALMAN_X,-110012.5,59.6,242.1,102591.7,-929.2
$KALMAN_Y,-65517.6,-11.7,-11.7,76249.0,-165.8
$MHEAD_RNG_PITCHd_Wd,72.9,6792,-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,18,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-69.55,0.000,2,0.000,0.000,476,1817,3203,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.3,-5.4,9,117,12.05,2.50,-5.40,0.000,4,0.137,0.037,2852,3396,3489,0,0,0,0,0,0
$GC,150,-1.21,-116.8,19.6,-21.9,16,160,0.15,2.53,0.00,0.000,6,0.077,0.035,2891,1840,3490,0,0,0,0,0,0
$GC,434,-1.16,-116.8,66.7,-15.4,45,438,0.00,2.45,0.00,0.000,4,0.000,0.026,2891,3399,3492,0,0,0,0,0,0
$GC,479,-1.16,-116.8,73.0,-13.3,48,484,0.00,2.47,0.00,0.000,6,0.000,0.025,2891,1837,3492,0,0,0,0,0,0
$GC,743,-1.16,-116.8,110.7,-13.9,72,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1838,3492,0,0,0,0,0,0
$GC,995,-1.20,-116.8,143.0,-11.5,96,996,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1838,3493,0,0,0,0,0,0
$GC,1251,-1.26,-116.8,169.4,-10.3,120,1256,0.00,2.65,0.00,0.000,4,0.000,0.061,2891,252,3494,0,0,0,0,0,0
$GC,1292,-1.30,-116.8,174.1,-10.7,123,1296,0.00,2.42,0.00,0.000,6,0.000,0.021,2891,1857,3494,0,0,0,0,0,0
$GC,1586,-1.37,-116.8,205.0,-10.3,147,1591,0.12,2.38,0.00,0.000,4,0.074,0.028,2849,3374,3494,0,0,0,0,0,0
$GC,1652,-1.37,-116.8,213.6,-12.2,148,1656,0.00,2.42,0.00,0.000,6,0.000,0.027,2848,1847,3494,0,0,0,0,0,0
$GC,1913,-1.37,-116.8,245.4,-12.1,155,1914,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1847,3494,0,0,0,0,0,0
$GC,2157,-1.37,-116.8,271.6,-10.6,161,2158,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1847,3494,0,0,0,0,0,0
$GC,2401,-1.37,-116.8,298.1,-11.0,167,2402,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1847,3494,0,0,0,0,0,0
$GC,2645,-1.41,-116.8,323.6,-10.2,173,2649,0.00,2.45,0.00,0.000,4,0.000,0.035,2848,3368,3494,0,0,0,0,0,0
$GC,2696,-1.50,-116.8,329.0,-11.1,174,2700,0.00,2.47,0.00,0.000,6,0.000,0.035,2848,1856,3494,0,0,0,0,0,0
$GC,2968,-1.55,-116.8,356.6,-10.0,181,2973,0.10,2.47,0.00,0.000,4,0.084,0.038,2807,3373,3493,0,0,0,0,0,0
$GC,2991,-1.55,-116.8,359.1,-11.4,181,2996,0.00,2.50,0.00,0.000,6,0.000,0.043,2807,1853,3493,0,0,0,0,0,0
$GC,3247,-1.55,-116.8,389.3,-11.9,188,3251,0.00,2.47,0.00,0.000,4,0.000,0.042,2807,3371,3492,0,0,0,0,0,0
$GC,3297,-1.55,-116.8,395.5,-11.9,189,3301,0.00,2.53,0.00,0.000,6,0.000,0.054,2807,1858,3491,0,0,0,0,0,0
$GC,3569,-1.55,-116.8,425.7,-11.0,196,3570,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1858,3490,0,0,0,0,0,0
$GC,3814,-1.55,-116.8,451.9,-10.6,202,3819,0.00,2.50,0.00,0.000,4,0.000,0.051,2807,3362,3489,0,0,0,0,0,0
$GC,3842,-1.55,-116.8,455.1,-10.8,202,3846,0.00,2.58,0.00,0.000,6,0.000,0.058,2807,1851,3489,0,0,0,0,0,0
$GC,4092,-1.55,-116.8,481.5,-10.6,208,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1851,3486,0,0,0,0,0,0
$STATE,4292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4292,begin apogee
$GC,4300,-0.31,0.0,503.8,11.0,213,4401,1.25,0.00,97.55,0.912,6,0.078,0.000,3090,1963,3010,0,0,0,0,0,0
$STATE,4402,end apogee,CONTROL_FINISHED_OK
$STATE,4402,begin climb
$GC,4404,1.38,116.8,506.6,0.0,215,4509,1.58,0.00,100.30,0.893,6,0.051,0.000,3466,1963,2533,0,0,0,0,0,0
$GC,4739,1.32,158.9,490.7,7.6,224,4778,0.00,0.00,36.40,0.871,6,0.000,0.000,3465,1963,2362,0,0,0,0,0,0
$GC,5024,1.25,169.7,464.5,9.4,231,5037,0.17,0.00,10.27,0.783,6,0.115,0.000,3430,1963,2318,0,0,0,0,0,0
$GC,5268,1.28,194.7,443.7,8.6,237,5297,0.00,2.75,23.00,0.845,4,0.000,0.049,3430,3546,2215,0,0,0,0,0,0
$GC,5365,1.28,194.7,434.1,10.6,239,5369,0.00,2.65,0.00,0.000,6,0.000,0.046,3430,1994,2213,0,0,0,0,0,0
$GC,5638,1.28,196.5,407.0,9.9,246,5639,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1994,2209,0,0,0,0,0,0
$GC,5880,1.30,211.3,384.1,9.2,252,5897,0.00,0.00,15.07,0.802,6,0.000,0.000,3430,1994,2148,0,0,0,0,0,0
$GC,6124,1.32,226.2,362.2,9.2,258,6140,0.00,0.00,14.10,0.785,6,0.000,0.000,3430,1994,2088,0,0,0,0,0,0
$GC,6369,1.32,226.2,338.3,10.2,264,6373,0.00,2.58,0.00,0.000,4,0.000,0.038,3430,3560,2084,0,0,0,0,0,0
$GC,6390,1.32,226.2,335.9,10.1,264,6395,0.00,2.62,0.00,0.000,6,0.000,0.038,3430,1976,2083,0,0,0,0,0,0
$GC,6646,1.32,233.5,310.8,9.6,271,6660,0.00,2.67,7.07,0.680,4,0.000,0.039,3430,3558,2057,0,0,0,0,0,0
$GC,6701,1.37,234.8,305.6,10.0,272,6707,0.12,2.55,0.00,0.000,6,0.084,0.038,3462,1999,2057,0,0,0,0,0,0
$GC,6974,1.37,234.8,276.7,10.7,279,6978,0.00,2.75,0.00,0.000,4,0.000,0.070,3462,411,2055,0,0,0,0,0,0
$GC,6989,1.33,234.8,274.8,10.9,279,6994,0.00,2.53,0.00,0.000,6,0.000,0.022,3462,2009,2054,0,0,0,0,0,0
$GC,7252,1.33,234.8,246.6,10.6,286,7256,0.00,2.72,0.00,0.000,4,0.000,0.062,3463,411,2054,0,0,0,0,0,0
$GC,7291,1.27,234.8,242.2,11.6,287,7296,0.12,2.47,0.00,0.000,6,0.123,0.019,3438,1991,2053,0,0,0,0,0,0
$GC,7576,1.35,261.1,217.1,8.5,294,7604,0.00,0.00,25.52,0.714,6,0.000,0.000,3438,1993,1945,0,0,0,0,0,0
$GC,7821,1.42,270.5,194.6,9.5,303,7836,0.12,2.58,9.38,0.634,4,0.079,0.035,3472,3563,1906,0,0,0,0,0,0
$GC,7912,1.42,270.5,184.3,11.1,310,7918,0.00,2.55,0.00,0.000,6,0.000,0.035,3472,1996,1904,0,0,0,0,0,0
$GC,8177,1.43,277.1,157.4,9.7,335,8190,0.00,2.78,6.88,0.567,4,0.000,0.058,3471,414,1880,0,0,0,0,0,0
$GC,8236,1.43,277.1,150.7,11.8,340,8241,0.00,2.50,0.00,0.000,6,0.000,0.021,3472,2012,1879,0,0,0,0,0,0
$GC,8500,1.43,277.1,122.2,10.4,364,8504,0.00,2.45,0.00,0.000,4,0.000,0.031,3472,3549,1879,0,0,0,0,0,0
$GC,8546,1.47,277.1,117.6,10.6,367,8550,0.00,2.50,0.00,0.000,6,0.000,0.031,3471,2004,1878,0,0,0,0,0,0
$GC,8814,1.56,307.6,93.0,8.3,391,8849,0.12,2.75,27.20,0.597,4,0.076,0.061,3509,414,1755,0,0,0,0,0,0
$GC,8877,1.52,307.6,85.7,11.9,396,8887,0.00,2.50,0.00,0.000,6,0.000,0.025,3509,1996,1754,0,0,0,0,0,0
$GC,9144,1.52,307.6,57.4,10.4,421,9152,0.00,0.00,0.00,0.000,6,0.000,0.000,3509,1998,1753,0,0,0,0,0,0
$GC,9409,1.55,328.3,32.3,8.8,446,9437,0.00,2.53,19.27,0.532,4,0.000,0.027,3509,3545,1669,0,0,0,0,0,0
$GC,9463,1.58,328.3,26.7,11.3,451,9472,0.00,2.55,0.00,0.000,6,0.000,0.030,3509,1993,1668,0,0,0,0,0,0
$STATE,9666,end climb,SURFACE_DEPTH_REACHED
$STATE,9666,begin surface coast
$FINISH,0.6,0.974801
$STATE,9723,end surface coast,CONTROL_FINISHED_OK
$STATE,9723,begin surface
$SM_CCo,9746,41.28,0.518,0,0,1460,380.21
$SM_GC,1.35,0.00,0.00,41.28,0.000,0.000,0.518,476,1815,1460,-12.35,-0.42,380.21
$IRIDIUM_FIX,2241.69,-15759.32,050900,060620
$TT8_MAMPS,0.026078
$HUMID,60.43
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.00
$XPDR_PINGS,36
$24V_AH,23.5,33.634
$10V_AH,10.3,29.229
$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,28.175,92.175,392.025,41.275,0.000,30.383,34.504,363.334,9.000,0.000,12.246,960.731,6453.964,514.679,1734.087,682.923,33.372,1120.638,0.000,1748.023,0.000,0.535,0.000
$DEVICE_MAMPS,137.293,200.187,911.963,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.699,262.817,373.290,710.950,1076.051,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355732
$DATA_FILE_SIZE,38489,488
$CAP_FILE_SIZE,95397,0
$CFSIZE,260165632,168333312
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120611,122206,2249.706,-15800.053,45,1.2,45,10.1