version: 66.06
glider: 146
mission: 6
dive: 267
start: 6 12 111 12 48 2
data:
$ID,146
$MISSION,6
$DIVE,267
$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,-274384.41
$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,43
$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
$GPS1,122206,2249.706,-15800.053,45,1.2,45,10.1
$_CALLS,4
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.8
$GPS2,124708,2249.791,-15800.168,12,1.6,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.222,-0.077
$KALMAN_X,-110765.7,-1.5,96.2,104913.1,-1044.4
$KALMAN_Y,-64983.2,-176.4,-471.0,76535.3,851.5
$MHEAD_RNG_PITCHd_Wd,99.1,5421,-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,16,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-71.05,0.000,2,0.000,0.000,476,1814,3297,0,0,0,0,0,0
$GC,94,-1.38,-116.8,3.9,-8.0,9,111,12.00,0.00,-3.40,0.000,6,0.136,0.000,2850,1814,3490,0,0,0,0,0,0
$GC,386,-1.26,-116.8,66.4,-17.1,41,391,0.15,2.50,0.00,0.000,4,0.106,0.030,2883,3395,3492,0,0,0,0,0,0
$GC,408,-1.17,-116.8,70.1,-16.4,42,413,0.10,2.45,0.00,0.000,6,0.120,0.031,2905,1836,3492,0,0,0,0,0,0
$GC,671,-1.17,-116.8,105.8,-12.9,66,675,0.00,2.45,0.00,0.000,4,0.000,0.025,2905,3392,3493,0,0,0,0,0,0
$GC,730,-1.25,-116.8,113.7,-12.9,70,739,0.00,2.47,0.00,0.000,6,0.000,0.029,2905,1850,3492,0,0,0,0,0,0
$GC,996,-1.31,-116.8,143.4,-10.2,95,1002,0.12,0.00,0.00,0.000,6,0.068,0.000,2853,1850,3493,0,0,0,0,0,0
$GC,1259,-1.31,-116.8,175.2,-11.4,120,1260,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1850,3493,0,0,0,0,0,0
$GC,1531,-1.31,-116.8,205.4,-11.1,143,1536,0.00,2.42,0.00,0.000,4,0.000,0.032,2853,3389,3493,0,0,0,0,0,0
$GC,1582,-1.35,-116.8,211.5,-11.5,144,1586,0.00,2.45,0.00,0.000,6,0.000,0.030,2853,1850,3493,0,0,0,0,0,0
$GC,1855,-1.35,-116.8,244.4,-12.3,151,1859,0.00,2.42,0.00,0.000,4,0.000,0.026,2853,3395,3493,0,0,0,0,0,0
$GC,1894,-1.41,-116.8,249.1,-11.2,152,1898,0.00,2.45,0.00,0.000,6,0.000,0.026,2853,1861,3493,0,0,0,0,0,0
$GC,2177,-1.44,-116.8,279.3,-10.8,159,2178,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1861,3493,0,0,0,0,0,0
$GC,2422,-1.49,-116.8,304.5,-10.4,165,2427,0.00,2.80,0.00,0.000,4,0.000,0.076,2852,254,3492,0,0,0,0,0,0
$GC,2449,-1.49,-116.8,307.8,-11.5,165,2453,0.00,2.50,0.00,0.000,6,0.000,0.025,2853,1841,3492,0,0,0,0,0,0
$GC,2700,-1.54,-116.8,333.2,-10.0,171,2705,0.12,2.55,0.00,0.000,4,0.080,0.048,2811,3409,3492,0,0,0,0,0,0
$GC,2745,-1.54,-116.8,338.7,-12.7,172,2749,0.00,2.53,0.00,0.000,6,0.000,0.047,2811,1874,3492,0,0,0,0,0,0
$GC,3022,-1.54,-116.8,372.1,-11.9,179,3026,0.00,2.50,0.00,0.000,4,0.000,0.039,2811,3409,3490,0,0,0,0,0,0
$GC,3049,-1.54,-116.8,375.3,-11.2,179,3054,0.00,2.55,0.00,0.000,6,0.000,0.052,2811,1872,3490,0,0,0,0,0,0
$GC,3301,-1.54,-116.8,402.1,-10.8,185,3302,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1872,3489,0,0,0,0,0,0
$GC,3543,-1.54,-116.8,429.0,-11.1,191,3548,0.00,3.00,0.00,0.000,4,0.000,0.103,2811,240,3487,0,0,0,0,0,0
$GC,3570,-1.54,-116.8,432.3,-11.9,191,3574,0.00,2.60,0.00,0.000,6,0.000,0.034,2811,1861,3487,0,0,0,0,0,0
$GC,3821,-1.54,-116.8,458.8,-10.6,197,3822,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1861,3485,0,0,0,0,0,0
$GC,4063,-1.54,-116.8,485.3,-10.7,203,4065,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1861,3483,0,0,0,0,0,0
$STATE,4225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4225,begin apogee
$GC,4231,-0.31,0.0,501.6,10.1,207,4332,1.25,0.00,96.68,0.908,6,0.082,0.000,3092,2003,3010,0,0,0,0,0,0
$STATE,4332,end apogee,CONTROL_FINISHED_OK
$STATE,4333,begin climb
$GC,4335,1.38,116.8,503.6,0.0,209,4442,1.58,2.78,98.95,0.887,4,0.044,0.067,3463,3573,2533,0,0,0,0,0,0
$GC,4484,1.29,152.1,499.9,8.0,213,4523,0.10,2.70,31.08,0.853,6,0.138,0.049,3443,1995,2388,0,0,0,0,0,0
$GC,4797,1.26,168.6,471.4,9.1,221,4815,0.00,0.00,14.82,0.815,6,0.000,0.000,3444,1995,2321,0,0,0,0,0,0
$GC,5085,1.24,189.6,445.9,8.8,228,5109,0.00,2.72,19.08,0.832,4,0.000,0.051,3443,3582,2237,0,0,0,0,0,0
$GC,5194,1.24,189.6,435.2,10.1,230,5199,0.00,2.70,0.00,0.000,6,0.000,0.052,3443,2001,2234,0,0,0,0,0,0
$GC,5457,1.27,209.0,411.4,8.9,237,5477,0.00,0.00,17.88,0.821,6,0.000,0.000,3443,2000,2157,0,0,0,0,0,0
$GC,5738,1.28,217.5,384.5,9.6,244,5748,0.00,0.00,8.52,0.740,6,0.000,0.000,3443,2001,2123,0,0,0,0,0,0
$GC,5983,1.28,217.5,358.5,10.9,250,5987,0.00,2.58,0.00,0.000,4,0.000,0.035,3443,3577,2119,0,0,0,0,0,0
$GC,6015,1.28,217.5,354.5,11.7,250,6021,0.00,2.62,0.00,0.000,6,0.000,0.041,3443,1996,2119,0,0,0,0,0,0
$GC,6265,1.28,217.5,327.2,10.7,257,6266,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1995,2117,0,0,0,0,0,0
$GC,6510,1.28,217.5,301.8,10.3,263,6514,0.00,2.60,0.00,0.000,4,0.000,0.035,3443,3585,2116,0,0,0,0,0,0
$GC,6542,1.28,217.5,298.2,10.3,263,6548,0.00,2.60,0.00,0.000,6,0.000,0.031,3444,1998,2115,0,0,0,0,0,0
$GC,6793,1.29,228.1,274.0,9.4,270,6807,0.00,2.80,9.40,0.702,4,0.000,0.074,3443,410,2079,0,0,0,0,0,0
$GC,6853,1.29,228.1,267.9,10.7,271,6858,0.00,2.53,0.00,0.000,6,0.000,0.022,3443,2002,2078,0,0,0,0,0,0
$GC,7114,1.31,239.7,243.0,9.4,278,7127,0.00,0.00,11.85,0.700,6,0.000,0.000,3443,2003,2032,0,0,0,0,0,0
$GC,7358,1.37,262.1,221.6,8.7,284,7381,0.00,0.00,21.10,0.709,6,0.000,0.000,3443,2003,1941,0,0,0,0,0,0
$GC,7603,1.42,262.1,196.9,10.3,290,7608,0.12,2.58,0.00,0.000,4,0.077,0.037,3480,3571,1936,0,0,0,0,0,0
$GC,7671,1.42,262.1,188.7,12.4,295,7677,0.00,2.60,0.00,0.000,6,0.000,0.032,3479,1981,1936,0,0,0,0,0,0
$GC,7934,1.42,262.1,160.3,10.2,320,7938,0.00,2.55,0.00,0.000,4,0.000,0.038,3479,3563,1935,0,0,0,0,0,0
$GC,7952,1.42,262.1,158.4,10.4,321,7956,0.00,2.58,0.00,0.000,6,0.000,0.031,3479,1979,1934,0,0,0,0,0,0
$GC,8218,1.42,262.1,130.1,10.7,345,8223,0.00,0.00,0.00,0.000,6,0.000,0.000,3479,1979,1933,0,0,0,0,0,0
$GC,8481,1.45,281.7,105.7,8.9,370,8505,0.00,2.70,17.38,0.597,4,0.000,0.061,3479,414,1860,0,0,0,0,0,0
$GC,8533,1.45,281.7,99.9,11.1,374,8543,0.00,2.50,0.00,0.000,6,0.000,0.019,3479,2003,1859,0,0,0,0,0,0
$GC,8801,1.51,293.6,75.2,9.4,399,8819,0.00,2.55,11.43,0.545,4,0.000,0.036,3479,3551,1812,0,0,0,0,0,0
$GC,8856,1.56,293.7,69.9,10.0,403,8860,0.00,2.53,0.00,0.000,6,0.000,0.035,3479,1983,1811,0,0,0,0,0,0
$GC,9124,1.64,293.7,44.1,10.4,427,9129,0.15,2.65,0.00,0.000,4,0.067,0.054,3524,417,1811,0,0,0,0,0,0
$GC,9195,1.59,295.0,35.6,10.0,432,9204,0.00,2.42,0.00,0.000,6,0.000,0.018,3524,1980,1810,0,0,0,0,0,0
$STATE,9475,end climb,SURFACE_DEPTH_REACHED
$STATE,9475,begin surface coast
$FINISH,0.5,0.979567
$STATE,9522,end surface coast,CONTROL_FINISHED_OK
$STATE,9522,begin surface
$SM_CCo,9545,70.45,0.518,0,0,1459,380.21
$SM_GC,1.24,0.00,0.00,70.45,0.000,0.000,0.518,473,1813,1459,-12.36,-0.48,380.21
$IRIDIUM_FIX,2241.69,-15802.37,050900,121232
$TT8_MAMPS,0.025311
$HUMID,59.88
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.20
$XPDR_PINGS,35
$24V_AH,23.5,33.796
$10V_AH,10.4,29.347
$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,28.025,93.400,358.150,70.450,0.000,119.334,136.397,911.001,8.750,0.000,13.740,948.299,6487.059,493.421,1739.224,1452.796,33.370,1115.484,0.000,1746.853,0.000,0.536,0.000
$DEVICE_MAMPS,138.060,129.623,908.128,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,324.073,264.458,367.170,699.715,1058.262,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,38403,478
$CAP_FILE_SIZE,110104,0
$CFSIZE,260165632,168271872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120611,152938,2249.648,-15759.555,26,1.8,40,10.1