version: 66.06
glider: 146
mission: 6
dive: 268
start: 6 12 111 15 55 6
data:
$ID,146
$MISSION,6
$DIVE,268
$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,-274416.06
$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,40
$R_STBD_OVSHOOT,67
$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
$GPS1,152938,2249.648,-15759.555,26,1.8,40,10.1
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-69.3
$GPS2,155413,2249.783,-15759.668,11,1.5,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.221,-0.080
$KALMAN_X,-111632.0,-96.7,-291.1,107118.2,-578.9
$KALMAN_Y,-64622.5,-224.3,-27.1,75765.9,937.4
$MHEAD_RNG_PITCHd_Wd,99.8,4571,-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,17,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-69.57,0.000,2,0.000,0.000,473,1813,3244,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.5,-6.7,9,118,11.98,2.62,-4.53,0.000,4,0.134,0.058,2852,266,3489,0,0,0,0,0,0
$GC,143,-1.01,-116.8,20.5,-30.4,15,153,0.35,2.42,0.00,0.000,6,0.088,0.021,2933,1857,3490,0,0,0,0,0,0
$GC,423,-1.05,-116.8,61.9,-11.9,43,432,0.00,0.00,0.00,0.000,6,0.000,0.000,2933,1858,3490,0,0,0,0,0,0
$GC,684,-1.11,-116.8,93.4,-11.8,68,688,0.00,2.35,0.00,0.000,4,0.000,0.033,2933,3364,3490,0,0,0,0,0,0
$GC,720,-1.21,-116.8,97.6,-12.1,70,728,0.12,2.45,0.00,0.000,6,0.031,0.027,2873,1846,3490,0,0,0,0,0,0
$GC,986,-1.21,-116.8,134.8,-14.3,95,992,0.10,0.00,0.00,0.000,6,0.119,0.000,2895,1845,3490,0,0,0,0,0,0
$GC,1251,-1.26,-116.8,163.2,-9.6,120,1259,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1846,3491,0,0,0,0,0,0
$GC,1518,-1.33,-116.8,188.6,-9.1,145,1523,0.10,2.40,0.00,0.000,4,0.083,0.026,2853,3370,3491,0,0,0,0,0,0
$GC,1597,-1.33,-116.8,196.9,-11.2,151,1601,0.00,2.40,0.00,0.000,6,0.000,0.025,2852,1840,3491,0,0,0,0,0,0
$GC,1868,-1.33,-116.8,229.2,-11.9,159,1872,0.00,2.40,0.00,0.000,4,0.000,0.025,2852,3363,3492,0,0,0,0,0,0
$GC,1923,-1.39,-116.8,235.8,-11.2,160,1928,0.00,2.40,0.00,0.000,6,0.000,0.027,2852,1844,3492,0,0,0,0,0,0
$GC,2191,-1.39,-116.8,263.9,-10.4,167,2192,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1844,3491,0,0,0,0,0,0
$GC,2434,-1.44,-116.8,288.5,-10.1,173,2435,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1844,3491,0,0,0,0,0,0
$GC,2678,-1.49,-116.8,313.2,-10.0,179,2682,0.00,2.47,0.00,0.000,4,0.000,0.040,2852,3367,3491,0,0,0,0,0,0
$GC,2712,-1.55,-116.8,316.4,-10.2,179,2718,0.12,2.45,0.00,0.000,6,0.075,0.043,2805,1858,3490,0,0,0,0,0,0
$GC,2962,-1.55,-116.8,346.8,-12.2,186,2963,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1858,3489,0,0,0,0,0,0
$GC,3205,-1.55,-116.8,376.7,-12.1,192,3209,0.00,2.45,0.00,0.000,4,0.000,0.044,2805,3362,3488,0,0,0,0,0,0
$GC,3251,-1.55,-116.8,382.1,-12.1,193,3255,0.00,2.53,0.00,0.000,6,0.000,0.051,2805,1853,3487,0,0,0,0,0,0
$GC,3528,-1.55,-116.8,413.9,-11.2,200,3533,0.00,2.97,0.00,0.000,4,0.000,0.105,2805,240,3485,0,0,0,0,0,0
$GC,3549,-1.51,-116.8,416.4,-10.9,200,3555,0.12,2.47,0.00,0.000,6,0.114,0.035,2831,1795,3486,0,0,0,0,0,0
$GC,3807,-1.55,-116.8,440.5,-9.2,207,3811,0.00,2.72,0.00,0.000,4,0.000,0.063,2831,3417,3484,0,0,0,0,0,0
$GC,3885,-1.61,-116.8,447.7,-8.2,208,3890,0.00,2.62,0.00,0.000,6,0.000,0.051,2831,1864,3483,0,0,0,0,0,0
$GC,4135,-1.65,-116.8,470.9,-9.4,215,4137,0.12,0.00,0.00,0.000,6,0.068,0.000,2782,1864,3481,0,0,0,0,0,0
$GC,4380,-1.61,-116.8,498.7,-11.3,221,4382,0.12,0.00,0.00,0.000,6,0.111,0.000,2808,1864,3479,0,0,0,0,0,0
$STATE,4416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4416,begin apogee
$GC,4423,-0.31,0.0,503.0,11.2,222,4523,1.25,0.00,96.18,0.913,6,0.079,0.000,3091,2017,3010,0,0,0,0,0,0
$STATE,4523,end apogee,CONTROL_FINISHED_OK
$STATE,4523,begin climb
$GC,4526,1.38,116.8,504.7,0.0,224,4630,1.58,0.00,100.00,0.890,6,0.047,0.000,3464,2018,2533,0,0,0,0,0,0
$GC,4865,1.30,143.3,483.6,8.5,233,4894,0.00,2.70,22.62,0.848,4,0.000,0.054,3464,3545,2424,0,0,0,0,0,0
$GC,4940,1.19,144.4,476.5,10.0,234,4945,0.20,2.67,0.00,0.000,6,0.114,0.051,3423,1987,2421,0,0,0,0,0,0
$GC,5191,1.23,169.5,455.2,8.6,240,5216,0.00,0.00,23.77,0.846,6,0.000,0.000,3423,1987,2317,0,0,0,0,0,0
$GC,5433,1.27,204.0,435.1,8.0,246,5470,0.00,2.67,30.92,0.852,4,0.000,0.044,3423,3566,2178,0,0,0,0,0,0
$GC,5522,1.27,205.4,427.3,10.0,247,5526,0.00,2.65,0.00,0.000,6,0.000,0.045,3423,2001,2174,0,0,0,0,0,0
$GC,5799,1.27,207.8,400.1,9.9,254,5805,0.00,0.00,3.90,0.538,6,0.000,0.000,3423,2000,2162,0,0,0,0,0,0
$GC,6042,1.27,207.8,375.6,10.1,260,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,2000,2159,0,0,0,0,0,0
$GC,6286,1.27,207.8,350.8,10.2,266,6290,0.00,2.55,0.00,0.000,4,0.000,0.035,3423,3565,2157,0,0,0,0,0,0
$GC,6316,1.27,207.8,348.0,10.3,266,6320,0.00,2.62,0.00,0.000,6,0.000,0.043,3423,1987,2157,0,0,0,0,0,0
$GC,6565,1.30,226.5,325.1,9.0,272,6585,0.00,0.00,17.33,0.787,6,0.000,0.000,3423,1987,2086,0,0,0,0,0,0
$GC,6811,1.36,241.6,302.6,9.2,278,6832,0.15,2.65,14.15,0.755,4,0.077,0.035,3461,3566,2025,0,0,0,0,0,0
$GC,6872,1.36,241.6,296.3,10.6,279,6876,0.00,2.60,0.00,0.000,6,0.000,0.034,3461,1996,2023,0,0,0,0,0,0
$GC,7133,1.36,247.6,270.2,9.7,286,7141,0.00,0.00,6.47,0.643,6,0.000,0.000,3461,1996,2000,0,0,0,0,0,0
$GC,7376,1.36,247.6,243.7,11.0,292,7380,0.00,2.75,0.00,0.000,4,0.000,0.069,3461,412,1998,0,0,0,0,0,0
$GC,7404,1.32,247.6,240.5,12.0,292,7409,0.00,2.50,0.00,0.000,6,0.000,0.023,3461,2006,1997,0,0,0,0,0,0
$GC,7654,1.32,247.6,213.7,10.5,298,7658,0.00,2.53,0.00,0.000,4,0.000,0.041,3461,3556,1996,0,0,0,0,0,0
$GC,7710,1.33,250.2,207.6,9.9,299,7714,0.00,2.53,0.00,0.000,6,0.000,0.034,3461,2006,1995,0,0,0,0,0,0
$GC,7976,1.33,254.2,182.0,9.8,317,7996,0.00,2.53,6.82,0.596,4,0.000,0.030,3461,3560,1973,0,0,0,0,0,0
$GC,8012,1.33,254.2,177.8,10.6,320,8018,0.00,2.50,0.00,0.000,6,0.000,0.036,3461,2011,1972,0,0,0,0,0,0
$GC,8276,1.36,278.6,154.3,8.6,345,8303,0.00,0.00,22.67,0.659,6,0.000,0.000,3461,2011,1874,0,0,0,0,0,0
$GC,8560,1.44,299.0,128.3,8.9,372,8585,0.00,2.75,18.70,0.622,4,0.000,0.064,3461,411,1789,0,0,0,0,0,0
$GC,8649,1.44,299.0,119.7,10.9,379,8653,0.00,2.53,0.00,0.000,6,0.000,0.018,3461,2026,1787,0,0,0,0,0,0
$GC,8916,1.54,323.5,96.1,8.6,403,8944,0.15,2.78,21.75,0.594,4,0.068,0.055,3505,406,1690,0,0,0,0,0,0
$GC,8967,1.54,323.5,90.6,11.5,407,8971,0.00,2.50,0.00,0.000,6,0.000,0.018,3505,2016,1689,0,0,0,0,0,0
$GC,9233,1.54,323.5,59.0,12.0,431,9241,0.00,0.00,0.00,0.000,6,0.000,0.000,3505,2017,1688,0,0,0,0,0,0
$GC,9499,1.55,330.0,32.8,9.7,456,9508,0.00,0.00,6.90,0.468,6,0.000,0.000,3505,2017,1664,0,0,0,0,0,0
$STATE,9759,end climb,SURFACE_DEPTH_REACHED
$STATE,9759,begin surface coast
$FINISH,0.5,0.980008
$STATE,9801,end surface coast,CONTROL_FINISHED_OK
$STATE,9801,begin surface
$SM_CCo,9825,40.67,0.520,0,0,1459,380.21
$SM_GC,1.25,0.00,0.00,40.67,0.000,0.000,0.520,474,1817,1459,-12.36,-0.37,380.21
$IRIDIUM_FIX,2239.35,-15757.16,050900,151547
$TT8_MAMPS,0.026078
$HUMID,61.26
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.90
$XPDR_PINGS,37
$24V_AH,23.5,33.956
$10V_AH,10.4,29.469
$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,28.825,87.675,392.200,40.675,0.000,126.507,164.010,828.926,9.250,0.000,31.027,974.564,6658.437,506.228,1788.586,1413.085,33.369,1137.032,0.000,1785.035,0.000,0.536,0.000
$DEVICE_MAMPS,134.225,139.594,913.497,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,338.368,285.894,389.786,740.427,1119.895,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,38434,500
$CAP_FILE_SIZE,108943,0
$CFSIZE,260165632,168218624
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120611,184108,2249.696,-15758.713,55,1.3,55,10.1