version: 66.06
glider: 146
mission: 6
dive: 269
start: 6 12 111 18 52 38
data:
$ID,146
$MISSION,6
$DIVE,269
$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,-274432.12
$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,39
$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
$GPS1,184108,2249.696,-15758.713,55,1.3,55,10.1
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,1
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.2
$GPS2,185144,2249.691,-15758.792,13,1.2,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.232,0.036
$KALMAN_X,-112369.6,-177.4,-176.9,109315.9,-206.6
$KALMAN_Y,-64483.6,-152.8,393.7,74965.6,33.3
$MHEAD_RNG_PITCHd_Wd,71.1,3113,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,90,0.00,0.00,-70.65,0.000,2,0.000,0.000,473,1818,3286,0,0,0,0,0,0
$GC,93,-1.38,-116.8,4.1,-8.1,9,119,12.00,2.55,-3.60,0.000,4,0.136,0.041,2849,3389,3490,0,0,0,0,0,0
$GC,139,-0.76,-116.8,20.2,-35.2,14,149,0.60,2.50,0.00,0.000,6,0.091,0.028,2990,1848,3491,0,0,0,0,0,0
$GC,419,-0.89,-116.8,52.7,-11.3,43,429,0.10,0.00,0.00,0.000,6,0.085,0.000,2951,1848,3492,0,0,0,0,0,0
$GC,682,-0.99,-116.8,83.4,-11.1,68,683,0.00,0.00,0.00,0.000,6,0.000,0.000,2952,1847,3493,0,0,0,0,0,0
$GC,936,-1.10,-116.8,108.0,-9.4,92,938,0.15,0.00,0.00,0.000,6,0.062,0.000,2898,1847,3493,0,0,0,0,0,0
$GC,1194,-1.15,-116.8,134.7,-10.0,116,1199,0.00,2.45,0.00,0.000,4,0.000,0.032,2898,3394,3494,0,0,0,0,0,0
$GC,1247,-1.24,-116.8,140.4,-10.2,120,1252,0.00,2.53,0.00,0.000,6,0.000,0.032,2898,1808,3494,0,0,0,0,0,0
$GC,1511,-1.30,-116.8,168.4,-11.1,144,1520,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1808,3494,0,0,0,0,0,0
$GC,1777,-1.38,-116.8,196.0,-10.6,169,1782,0.17,2.50,0.00,0.000,4,0.055,0.032,2834,3394,3495,0,0,0,0,0,0
$GC,1862,-1.38,-116.8,207.2,-12.6,173,1868,0.12,2.50,0.00,0.000,6,0.100,0.031,2862,1825,3495,0,0,0,0,0,0
$GC,2146,-1.38,-116.8,235.3,-9.2,180,2150,0.00,2.47,0.00,0.000,4,0.000,0.034,2862,3393,3495,0,0,0,0,0,0
$GC,2192,-1.45,-116.8,239.1,-8.1,181,2197,0.00,2.50,0.00,0.000,6,0.000,0.033,2862,1831,3495,0,0,0,0,0,0
$GC,2471,-1.50,-116.8,263.6,-9.2,188,2473,0.12,0.00,0.00,0.000,6,0.074,0.000,2815,1830,3495,0,0,0,0,0,0
$GC,2714,-1.50,-116.8,292.3,-11.9,194,2718,0.00,2.50,0.00,0.000,4,0.000,0.030,2816,3395,3494,0,0,0,0,0,0
$GC,2736,-1.50,-116.8,295.0,-12.6,194,2741,0.00,2.53,0.00,0.000,6,0.000,0.036,2816,1835,3495,0,0,0,0,0,0
$GC,2991,-1.50,-116.8,324.7,-11.7,201,2995,0.00,2.50,0.00,0.000,4,0.000,0.040,2816,3388,3494,0,0,0,0,0,0
$GC,3090,-1.50,-116.8,336.6,-11.2,203,3095,0.00,2.53,0.00,0.000,6,0.000,0.041,2816,1846,3494,0,0,0,0,0,0
$GC,3358,-1.50,-116.8,367.5,-11.4,210,3359,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1846,3493,0,0,0,0,0,0
$GC,3600,-1.50,-116.8,394.3,-11.1,216,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1846,3492,0,0,0,0,0,0
$GC,3844,-1.50,-116.8,420.5,-10.8,222,3848,0.00,2.53,0.00,0.000,4,0.000,0.048,2816,3380,3490,0,0,0,0,0,0
$GC,3865,-1.50,-116.8,422.9,-10.8,222,3870,0.00,2.58,0.00,0.000,6,0.000,0.056,2816,1848,3490,0,0,0,0,0,0
$GC,4122,-1.50,-116.8,451.0,-10.7,229,4126,0.00,2.55,0.00,0.000,4,0.000,0.045,2816,3382,3488,0,0,0,0,0,0
$GC,4188,-1.54,-116.8,458.3,-10.5,230,4193,0.00,2.65,0.00,0.000,6,0.000,0.059,2816,1843,3488,0,0,0,0,0,0
$GC,4444,-1.54,-116.8,484.0,-9.9,237,4445,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1843,3486,0,0,0,0,0,0
$STATE,4644,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4644,begin apogee
$GC,4651,-0.31,0.0,502.3,8.9,242,4752,1.20,0.00,97.35,0.916,6,0.077,0.000,3089,1984,3010,0,0,0,0,0,0
$STATE,4752,end apogee,CONTROL_FINISHED_OK
$STATE,4752,begin climb
$GC,4755,1.38,116.8,503.2,0.0,244,4865,1.58,2.75,99.22,0.893,4,0.040,0.064,3465,3551,2532,0,0,0,0,0,0
$GC,4939,1.26,123.1,494.8,9.7,249,4950,0.15,2.70,5.90,0.676,6,0.122,0.053,3436,1990,2507,0,0,0,0,0,0
$GC,5221,1.25,167.7,472.8,7.5,256,5263,0.00,0.00,39.60,0.871,6,0.000,0.000,3436,1990,2325,0,0,0,0,0,0
$GC,5502,1.24,190.5,448.5,8.7,263,5524,0.00,0.00,20.85,0.841,6,0.000,0.000,3436,1990,2233,0,0,0,0,0,0
$GC,5745,1.26,204.1,426.2,9.3,269,5764,0.00,2.70,12.85,0.802,4,0.000,0.048,3436,3553,2176,0,0,0,0,0,0
$GC,5790,1.28,216.0,422.3,9.4,270,5810,0.00,2.65,12.07,0.789,6,0.000,0.044,3436,1996,2128,0,0,0,0,0,0
$GC,6078,1.28,216.0,393.1,10.4,277,6079,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1996,2124,0,0,0,0,0,0
$GC,6320,1.28,216.0,367.3,10.7,283,6321,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1996,2121,0,0,0,0,0,0
$GC,6565,1.28,216.0,341.4,10.4,289,6566,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1996,2120,0,0,0,0,0,0
$GC,6808,1.29,224.0,317.5,9.6,295,6817,0.00,0.00,6.95,0.684,6,0.000,0.000,3436,1996,2096,0,0,0,0,0,0
$GC,7052,1.31,246.7,295.7,8.7,301,7075,0.00,0.00,21.50,0.773,6,0.000,0.000,3436,1996,2004,0,0,0,0,0,0
$GC,7295,1.33,259.2,273.5,9.3,307,7309,0.00,0.00,12.27,0.721,6,0.000,0.000,3436,1996,1952,0,0,0,0,0,0
$GC,7541,1.37,262.4,249.5,9.9,313,7551,0.10,2.80,3.83,0.484,4,0.091,0.068,3464,398,1940,0,0,0,0,0,0
$GC,7573,1.32,262.4,245.3,13.0,313,7578,0.00,2.53,0.00,0.000,6,0.000,0.022,3464,1996,1940,0,0,0,0,0,0
$GC,7823,1.32,262.4,217.0,11.2,319,7827,0.00,2.53,0.00,0.000,4,0.000,0.035,3464,3555,1939,0,0,0,0,0,0
$GC,7839,1.32,262.4,215.2,10.7,319,7844,0.00,2.58,0.00,0.000,6,0.000,0.031,3464,1969,1938,0,0,0,0,0,0
$GC,8099,1.32,262.4,187.2,10.3,334,8103,0.00,2.67,0.00,0.000,4,0.000,0.063,3464,408,1937,0,0,0,0,0,0
$GC,8121,1.32,262.4,184.1,11.8,335,8127,0.00,2.50,0.00,0.000,6,0.000,0.018,3464,2012,1937,0,0,0,0,0,0
$GC,8385,1.32,262.4,156.6,10.2,360,8393,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2013,1937,0,0,0,0,0,0
$GC,8650,1.34,274.8,131.6,9.3,385,8674,0.00,2.55,12.20,0.609,4,0.000,0.034,3464,3550,1888,0,0,0,0,0,0
$GC,8727,1.38,276.5,124.5,9.9,391,8732,0.00,2.55,0.00,0.000,6,0.000,0.035,3464,1981,1887,0,0,0,0,0,0
$GC,8994,1.45,284.1,99.4,9.6,415,9013,0.00,0.00,9.43,0.556,6,0.000,0.000,3463,1981,1851,0,0,0,0,0,0
$GC,9272,1.53,295.3,74.0,9.4,441,9290,0.12,2.70,10.88,0.545,4,0.075,0.061,3500,417,1805,0,0,0,0,0,0
$GC,9338,1.53,295.3,65.6,11.4,446,9348,0.00,2.47,0.00,0.000,6,0.000,0.018,3500,1999,1804,0,0,0,0,0,0
$GC,9606,1.53,295.3,38.5,10.2,471,9610,0.00,2.47,0.00,0.000,4,0.000,0.030,3500,3548,1804,0,0,0,0,0,0
$GC,9638,1.57,295.3,34.9,10.7,473,9643,0.00,2.53,0.00,0.000,6,0.000,0.028,3500,1980,1803,0,0,0,0,0,0
$STATE,9947,end climb,SURFACE_DEPTH_REACHED
$STATE,9947,begin surface coast
$FINISH,0.5,0.976535
$STATE,9990,end surface coast,CONTROL_FINISHED_OK
$STATE,9990,begin surface
$SM_CCo,10012,69.43,0.521,0,0,1459,380.21
$SM_GC,1.28,0.00,0.00,69.43,0.000,0.000,0.521,475,1811,1459,-12.35,-0.54,380.21
$IRIDIUM_FIX,2241.69,-15757.16,050900,181858
$TT8_MAMPS,0.025311
$HUMID,60.15
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.90
$XPDR_PINGS,31
$24V_AH,23.5,34.076
$10V_AH,10.3,29.587
$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,28.625,82.450,364.900,69.425,0.000,57.640,72.906,296.402,7.750,0.000,15.422,1011.693,6605.341,507.623,1889.596,707.169,33.363,1154.806,0.000,1901.988,0.000,0.536,0.000
$DEVICE_MAMPS,135.759,156.468,915.798,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.187,297.923,409.160,789.223,1193.570,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,41608,522
$CAP_FILE_SIZE,98890,0
$CFSIZE,260165632,168169472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,120611,214219,2249.735,-15757.850,46,1.6,57,10.1