version: 66.06
glider: 146
mission: 6
dive: 275
start: 6 13 111 12 3 51
data:
$ID,146
$MISSION,6
$DIVE,275
$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,-274612.22
$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,41
$R_STBD_OVSHOOT,62
$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
$GPS1,115634,2246.982,-15800.037,11,6.0,30,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-67.6
$GPS2,120255,2246.974,-15800.084,8,1.8,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.235,-0.007
$KALMAN_X,-119482.3,20.5,126.1,113720.6,-1320.2
$KALMAN_Y,-63565.2,-115.0,-397.4,69768.1,108.2
$MHEAD_RNG_PITCHd_Wd,258.1,4979,-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,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.75,0.000,2,0.000,0.000,478,1811,3220,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.3,-5.3,9,117,11.98,2.62,-5.15,0.000,4,0.135,0.064,2849,264,3489,0,0,0,0,0,0
$GC,295,-1.20,-116.8,48.8,-21.5,32,300,0.22,2.38,0.00,0.000,6,0.105,0.014,2897,1853,3491,0,0,0,0,0,0
$GC,558,-1.20,-116.8,87.3,-13.7,56,563,0.00,2.38,0.00,0.000,4,0.000,0.031,2897,3366,3491,0,0,0,0,0,0
$GC,605,-1.25,-116.8,93.1,-13.3,59,609,0.00,2.45,0.00,0.000,6,0.000,0.031,2897,1836,3492,0,0,0,0,0,0
$GC,872,-1.25,-116.8,126.4,-10.0,83,877,0.00,2.65,0.00,0.000,4,0.000,0.057,2897,257,3492,0,0,0,0,0,0
$GC,937,-1.30,-116.8,134.7,-11.2,88,941,0.00,2.35,0.00,0.000,6,0.000,0.015,2897,1827,3493,0,0,0,0,0,0
$GC,1205,-1.35,-116.8,164.5,-11.7,112,1210,0.15,2.40,0.00,0.000,4,0.064,0.031,2844,3362,3493,0,0,0,0,0,0
$GC,1284,-1.35,-116.8,174.8,-12.3,118,1289,0.10,2.42,0.00,0.000,6,0.116,0.026,2866,1838,3493,0,0,0,0,0,0
$GC,1567,-1.35,-116.8,204.9,-10.3,141,1572,0.00,2.38,0.00,0.000,4,0.000,0.028,2866,3362,3494,0,0,0,0,0,0
$GC,1601,-1.40,-116.8,208.8,-10.4,141,1606,0.00,2.40,0.00,0.000,6,0.000,0.031,2866,1845,3494,0,0,0,0,0,0
$GC,1850,-1.40,-116.8,236.7,-11.4,148,1851,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1845,3494,0,0,0,0,0,0
$GC,2096,-1.45,-116.8,262.8,-10.8,154,2097,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1846,3495,0,0,0,0,0,0
$GC,2339,-1.50,-116.8,287.7,-10.2,160,2344,0.15,2.42,0.00,0.000,4,0.064,0.035,2814,3366,3495,0,0,0,0,0,0
$GC,2389,-1.50,-116.8,293.6,-11.1,161,2393,0.00,2.42,0.00,0.000,6,0.000,0.031,2814,1868,3495,0,0,0,0,0,0
$GC,2667,-1.50,-116.8,328.7,-13.1,168,2672,0.00,2.88,0.00,0.000,4,0.000,0.082,2813,246,3495,0,0,0,0,0,0
$GC,2684,-1.46,-116.8,330.9,-12.9,168,2689,0.12,2.45,0.00,0.000,6,0.111,0.028,2840,1806,3495,0,0,0,0,0,0
$GC,2945,-1.46,-116.8,359.4,-10.6,175,2949,0.00,2.60,0.00,0.000,4,0.000,0.042,2840,3405,3494,0,0,0,0,0,0
$GC,2972,-1.51,-116.8,362.2,-10.3,175,2976,0.00,2.58,0.00,0.000,6,0.000,0.048,2841,1861,3494,0,0,0,0,0,0
$GC,3224,-1.55,-116.8,386.4,-9.6,181,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1861,3492,0,0,0,0,0,0
$GC,3466,-1.60,-116.8,410.1,-9.8,187,3468,0.12,0.00,0.00,0.000,6,0.071,0.000,2795,1861,3492,0,0,0,0,0,0
$GC,3709,-1.60,-116.8,437.4,-11.0,193,3713,0.00,2.55,0.00,0.000,4,0.000,0.046,2794,3407,3490,0,0,0,0,0,0
$GC,3742,-1.60,-116.8,441.0,-11.6,193,3748,0.00,2.65,0.00,0.000,6,0.000,0.061,2795,1854,3490,0,0,0,0,0,0
$GC,3992,-1.60,-116.8,470.4,-11.8,200,3996,0.00,2.58,0.00,0.000,4,0.000,0.052,2795,3402,3488,0,0,0,0,0,0
$GC,4024,-1.60,-116.8,474.5,-12.6,200,4030,0.00,2.62,0.00,0.000,6,0.000,0.058,2795,1870,3488,0,0,0,0,0,0
$STATE,4272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4272,begin apogee
$GC,4280,-0.31,0.0,503.3,11.4,207,4381,1.30,0.00,97.88,0.911,6,0.080,0.000,3089,2011,3010,0,0,0,0,0,0
$STATE,4382,end apogee,CONTROL_FINISHED_OK
$STATE,4382,begin climb
$GC,4385,1.38,116.8,505.4,0.0,209,4491,1.58,0.00,99.62,0.890,6,0.040,0.000,3465,2011,2533,0,0,0,0,0,0
$GC,4760,1.32,153.6,484.1,7.9,219,4793,0.00,0.00,31.70,0.861,6,0.000,0.000,3466,2010,2383,0,0,0,0,0,0
$GC,5046,1.24,160.7,457.2,9.6,226,5060,0.17,2.67,6.70,0.708,4,0.114,0.052,3431,3552,2354,0,0,0,0,0,0
$GC,5112,1.26,176.0,451.0,9.2,227,5133,0.00,2.65,15.10,0.816,6,0.000,0.050,3430,1994,2292,0,0,0,0,0,0
$GC,5377,1.29,201.9,427.5,8.5,234,5402,0.00,0.00,23.92,0.838,6,0.000,0.000,3430,1994,2187,0,0,0,0,0,0
$GC,5621,1.29,206.3,404.5,9.8,240,5630,0.00,2.62,4.75,0.604,4,0.000,0.044,3430,3562,2168,0,0,0,0,0,0
$GC,5687,1.29,206.3,397.5,11.0,241,5692,0.00,2.62,0.00,0.000,6,0.000,0.045,3430,1995,2167,0,0,0,0,0,0
$GC,5942,1.29,206.3,371.1,10.3,248,5946,0.00,2.60,0.00,0.000,4,0.000,0.041,3430,3558,2165,0,0,0,0,0,0
$GC,5958,1.29,206.3,369.3,10.1,248,5962,0.00,2.58,0.00,0.000,6,0.000,0.038,3430,2003,2165,0,0,0,0,0,0
$GC,6220,1.30,211.3,343.5,9.8,255,6231,0.00,2.83,5.47,0.637,4,0.000,0.081,3430,405,2147,0,0,0,0,0,0
$GC,6264,1.30,211.3,338.8,10.2,256,6268,0.00,2.55,0.00,0.000,6,0.000,0.028,3430,2002,2146,0,0,0,0,0,0
$GC,6543,1.35,251.4,316.5,7.7,263,6588,0.10,2.85,36.62,0.795,4,0.100,0.058,3457,406,1983,0,0,0,0,0,0
$GC,6601,1.29,251.4,311.1,10.2,264,6605,0.00,2.55,0.00,0.000,6,0.000,0.020,3457,1995,1981,0,0,0,0,0,0
$GC,6867,1.29,251.4,280.0,11.7,271,6871,0.00,2.72,0.00,0.000,4,0.000,0.060,3458,411,1977,0,0,0,0,0,0
$GC,6883,1.29,251.4,278.0,11.5,271,6888,0.00,2.53,0.00,0.000,6,0.000,0.025,3457,2009,1977,0,0,0,0,0,0
$GC,7144,1.29,251.4,250.2,10.3,278,7148,0.00,2.53,0.00,0.000,4,0.000,0.035,3457,3559,1976,0,0,0,0,0,0
$GC,7194,1.29,251.4,244.4,11.5,279,7198,0.00,2.55,0.00,0.000,6,0.000,0.031,3457,1991,1975,0,0,0,0,0,0
$GC,7468,1.32,271.4,219.0,8.9,286,7493,0.00,2.80,17.35,0.700,4,0.000,0.070,3457,412,1902,0,0,0,0,0,0
$GC,7515,1.32,271.4,214.1,11.4,287,7519,0.00,2.47,0.00,0.000,6,0.000,0.022,3458,1986,1900,0,0,0,0,0,0
$GC,7783,1.32,271.4,185.9,10.4,301,7787,0.00,2.55,0.00,0.000,4,0.000,0.035,3458,3558,1899,0,0,0,0,0,0
$GC,7828,1.38,271.4,180.7,10.4,304,7833,0.00,2.55,0.00,0.000,6,0.000,0.032,3458,1987,1897,0,0,0,0,0,0
$GC,8090,1.38,271.4,153.6,10.8,329,8091,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1986,1897,0,0,0,0,0,0
$GC,8349,1.45,292.0,129.7,8.9,353,8374,0.00,2.55,18.58,0.621,4,0.000,0.033,3457,3552,1817,0,0,0,0,0,0
$GC,8403,1.52,292.0,123.4,10.8,357,8410,0.15,2.55,0.00,0.000,6,0.071,0.035,3499,1987,1816,0,0,0,0,0,0
$GC,8667,1.52,292.0,92.1,12.2,382,8672,0.00,2.62,0.00,0.000,4,0.000,0.055,3499,417,1815,0,0,0,0,0,0
$GC,8720,1.52,292.0,84.9,13.1,386,8725,0.00,2.45,0.00,0.000,6,0.000,0.022,3499,1998,1815,0,0,0,0,0,0
$GC,8988,1.52,292.0,57.0,10.6,410,8992,0.00,2.47,0.00,0.000,4,0.000,0.030,3499,3549,1814,0,0,0,0,0,0
$GC,9046,1.54,306.3,51.1,9.2,414,9064,0.00,2.50,13.10,0.535,6,0.000,0.028,3499,1995,1760,0,0,0,0,0,0
$GC,9332,1.56,325.0,26.6,9.0,442,9358,0.00,0.00,17.33,0.523,6,0.000,0.000,3499,1995,1683,0,0,0,0,0,0
$STATE,9532,end climb,SURFACE_DEPTH_REACHED
$STATE,9532,begin surface coast
$FINISH,0.5,0.972908
$STATE,9581,end surface coast,CONTROL_FINISHED_OK
$STATE,9582,begin surface
$SM_CCo,9605,44.72,0.517,0,0,1459,380.21
$SM_GC,1.48,0.00,0.00,44.72,0.000,0.000,0.517,475,1822,1459,-12.35,-0.23,380.21
$IRIDIUM_FIX,2241.69,-15824.51,060900,090954
$TT8_MAMPS,0.025311
$HUMID,60.43
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.10
$XPDR_PINGS,46
$24V_AH,23.5,34.760
$10V_AH,10.4,30.253
$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,28.375,113.000,388.125,44.725,0.000,28.869,37.296,179.949,11.500,0.000,14.849,970.596,6290.046,474.525,1783.614,515.388,33.365,1144.839,0.000,1782.031,0.000,0.533,0.000
$DEVICE_MAMPS,134.992,83.603,911.196,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,323.781,277.128,366.333,702.949,1063.099,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,38402,478
$CAP_FILE_SIZE,100022,0
$CFSIZE,260165632,167858176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130611,144645,2246.883,-15802.210,68,1.1,83,10.1