version: 66.06
glider: 146
mission: 6
dive: 280
start: 6 14 111 2 3 2
data:
$ID,146
$MISSION,6
$DIVE,280
$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,-274747.47
$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,1850
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,51
$R_STBD_OVSHOOT,57
$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
$GPS1,015625,2250.460,-15801.174,38,1.4,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.6
$GPS2,020208,2250.538,-15801.226,9,1.5,9,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.203,-0.118
$KALMAN_X,-125193.9,-9.3,205.9,117427.4,-1188.5
$KALMAN_Y,-61843.0,406.0,-343.3,74060.8,1061.4
$MHEAD_RNG_PITCHd_Wd,110.1,7282,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-78.00,0.000,6,0.000,0.000,475,1799,3488,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.7,-10.0,10,118,12.02,2.50,0.00,0.000,4,0.137,0.045,2851,286,3491,0,0,0,0,0,0
$GC,151,-0.95,-116.8,23.4,-33.3,16,161,0.43,2.42,0.00,0.000,6,0.084,0.022,2949,1854,3492,0,0,0,0,0,0
$GC,427,-0.98,-116.8,60.9,-13.2,43,431,0.00,2.42,0.00,0.000,4,0.000,0.025,2950,3408,3492,0,0,0,0,0,0
$GC,486,-1.10,-116.8,68.6,-12.3,47,491,0.12,2.42,0.00,0.000,6,0.069,0.025,2904,1873,3493,0,0,0,0,0,0
$GC,752,-1.10,-116.8,104.2,-12.7,71,756,0.00,2.40,0.00,0.000,4,0.000,0.027,2903,3408,3493,0,0,0,0,0,0
$GC,774,-1.10,-116.8,107.4,-11.7,72,783,0.00,2.50,0.00,0.000,6,0.000,0.029,2903,1852,3493,0,0,0,0,0,0
$GC,1041,-1.14,-116.8,137.6,-11.8,97,1046,0.00,0.00,0.00,0.000,6,0.000,0.000,2903,1851,3494,0,0,0,0,0,0
$GC,1306,-1.21,-116.8,165.2,-9.8,122,1310,0.00,2.47,0.00,0.000,4,0.000,0.025,2903,3420,3495,0,0,0,0,0,0
$GC,1340,-1.30,-116.8,168.8,-9.3,124,1346,0.12,2.50,0.00,0.000,6,0.069,0.025,2854,1842,3495,0,0,0,0,0,0
$GC,1602,-1.30,-116.8,198.7,-11.3,149,1604,0.10,0.00,0.00,0.000,6,0.120,0.000,2876,1842,3495,0,0,0,0,0,0
$GC,1865,-1.30,-116.8,226.9,-11.1,157,1869,0.00,2.47,0.00,0.000,4,0.000,0.027,2876,3416,3495,0,0,0,0,0,0
$GC,1996,-1.39,-116.8,241.3,-11.6,160,2000,0.00,2.47,0.00,0.000,6,0.000,0.031,2876,1854,3495,0,0,0,0,0,0
$GC,2281,-1.45,-116.8,271.7,-10.4,167,2283,0.12,0.00,0.00,0.000,6,0.071,0.000,2831,1854,3496,0,0,0,0,0,0
$GC,2522,-1.45,-116.8,302.2,-12.7,173,2527,0.00,2.47,0.00,0.000,4,0.000,0.035,2832,3413,3495,0,0,0,0,0,0
$GC,2538,-1.45,-116.8,304.4,-13.1,173,2543,0.00,2.50,0.00,0.000,6,0.000,0.036,2831,1858,3495,0,0,0,0,0,0
$GC,2801,-1.45,-116.8,336.1,-12.0,180,2805,0.00,2.47,0.00,0.000,4,0.000,0.040,2831,3409,3495,0,0,0,0,0,0
$GC,2828,-1.45,-116.8,339.5,-11.3,180,2832,0.00,2.50,0.00,0.000,6,0.000,0.044,2831,1866,3495,0,0,0,0,0,0
$GC,3078,-1.45,-116.8,364.6,-9.7,186,3082,0.00,2.53,0.00,0.000,4,0.000,0.041,2832,3407,3494,0,0,0,0,0,0
$GC,3107,-1.49,-116.8,367.3,-9.6,186,3111,0.00,2.53,0.00,0.000,6,0.000,0.044,2831,1870,3494,0,0,0,0,0,0
$GC,3357,-1.49,-116.8,391.0,-9.6,192,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1869,3493,0,0,0,0,0,0
$GC,3600,-1.49,-116.8,414.4,-9.4,198,3601,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1869,3491,0,0,0,0,0,0
$GC,3845,-1.53,-116.8,439.0,-10.0,204,3849,0.00,2.53,0.00,0.000,4,0.000,0.045,2831,3396,3490,0,0,0,0,0,0
$GC,3902,-1.59,-116.8,444.8,-9.9,205,3906,0.00,2.58,0.00,0.000,6,0.000,0.057,2831,1872,3490,0,0,0,0,0,0
$GC,4168,-1.63,-116.8,470.0,-9.3,212,4173,0.12,2.55,0.00,0.000,4,0.070,0.048,2787,3404,3488,0,0,0,0,0,0
$GC,4209,-1.63,-116.8,474.4,-10.9,213,4214,0.00,2.62,0.00,0.000,6,0.000,0.058,2787,1873,3488,0,0,0,0,0,0
$STATE,4449,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4449,begin apogee
$GC,4455,-0.31,0.0,501.0,10.7,219,4557,1.33,0.00,97.75,0.909,6,0.076,0.000,3089,1983,3010,0,0,0,0,0,0
$STATE,4557,end apogee,CONTROL_FINISHED_OK
$STATE,4558,begin climb
$GC,4560,1.38,116.8,502.8,0.0,221,4664,1.58,0.00,100.38,0.887,6,0.048,0.000,3464,1983,2533,0,0,0,0,0,0
$GC,4897,1.31,148.5,482.6,8.2,230,4927,0.00,0.00,27.52,0.854,6,0.000,0.000,3465,1983,2404,0,0,0,0,0,0
$GC,5140,1.23,160.8,460.4,9.3,236,5159,0.17,2.75,11.45,0.791,4,0.115,0.048,3429,3556,2353,0,0,0,0,0,0
$GC,5177,1.28,197.5,457.1,7.9,236,5216,0.00,2.67,33.75,0.851,6,0.000,0.052,3429,1995,2204,0,0,0,0,0,0
$GC,5469,1.30,214.1,429.8,9.1,244,5490,0.00,2.65,14.90,0.807,4,0.000,0.041,3429,3556,2136,0,0,0,0,0,0
$GC,5517,1.31,226.9,425.1,9.3,245,5537,0.00,2.65,12.98,0.787,6,0.000,0.051,3430,2000,2084,0,0,0,0,0,0
$GC,5795,1.33,240.8,399.3,9.2,252,5814,0.00,2.67,13.20,0.788,4,0.000,0.044,3429,3560,2027,0,0,0,0,0,0
$GC,5838,1.35,258.4,395.2,9.0,253,5863,0.10,2.65,17.62,0.800,6,0.098,0.044,3456,1996,1955,0,0,0,0,0,0
$GC,6127,1.35,258.4,364.0,11.2,260,6132,0.00,2.85,0.00,0.000,4,0.000,0.085,3456,401,1950,0,0,0,0,0,0
$GC,6171,1.30,258.4,357.8,12.9,261,6175,0.00,2.55,0.00,0.000,6,0.000,0.021,3456,1991,1948,0,0,0,0,0,0
$GC,6449,1.30,258.4,323.8,12.4,268,6451,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1991,1947,0,0,0,0,0,0
$GC,6692,1.30,258.4,294.5,12.0,274,6693,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1991,1946,0,0,0,0,0,0
$GC,6935,1.30,258.4,268.0,10.8,280,6940,0.00,2.70,0.00,0.000,4,0.000,0.057,3456,406,1945,0,0,0,0,0,0
$GC,7007,1.30,258.4,258.6,13.4,281,7011,0.00,2.53,0.00,0.000,6,0.000,0.023,3456,2016,1943,0,0,0,0,0,0
$GC,7258,1.30,258.4,230.9,10.7,287,7263,0.00,2.50,0.00,0.000,4,0.000,0.036,3456,3557,1943,0,0,0,0,0,0
$GC,7274,1.30,258.4,229.1,10.4,287,7279,0.00,2.55,0.00,0.000,6,0.000,0.031,3456,1985,1942,0,0,0,0,0,0
$GC,7536,1.31,266.8,203.8,9.6,294,7549,0.00,2.58,6.45,0.597,4,0.000,0.038,3456,3565,1921,0,0,0,0,0,0
$GC,7619,1.31,266.8,195.6,10.1,298,7625,0.00,2.53,0.00,0.000,6,0.000,0.032,3456,2019,1920,0,0,0,0,0,0
$GC,7882,1.33,284.9,171.4,9.0,323,7907,0.00,2.55,17.50,0.657,4,0.000,0.035,3456,3571,1846,0,0,0,0,0,0
$GC,7947,1.38,284.9,165.5,10.3,328,7951,0.00,2.53,0.00,0.000,6,0.000,0.034,3456,2025,1845,0,0,0,0,0,0
$GC,8210,1.45,302.4,142.2,9.0,352,8229,0.00,0.00,15.95,0.621,6,0.000,0.000,3455,2025,1777,0,0,0,0,0,0
$GC,8486,1.53,313.1,116.4,9.4,378,8504,0.15,2.80,10.55,0.571,4,0.071,0.061,3497,411,1732,0,0,0,0,0,0
$GC,8534,1.48,313.1,110.3,13.4,382,8539,0.00,2.55,0.00,0.000,6,0.000,0.020,3498,2042,1731,0,0,0,0,0,0
$GC,8802,1.48,313.1,76.0,12.4,406,8807,0.00,2.75,0.00,0.000,4,0.000,0.053,3498,405,1731,0,0,0,0,0,0
$GC,8824,1.48,313.1,73.2,12.3,407,8828,0.00,2.47,0.00,0.000,6,0.000,0.017,3498,2020,1730,0,0,0,0,0,0
$GC,9091,1.48,313.1,40.6,11.4,431,9100,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,2023,1730,0,0,0,0,0,0
$GC,9407,1.48,313.1,6.6,10.9,472,9416,0.00,2.45,0.00,0.000,4,0.000,0.032,3498,3541,1731,0,0,0,0,0,0
$STATE,9431,end climb,SURFACE_DEPTH_REACHED
$STATE,9431,begin surface coast
$FINISH,3.1,0.980043
$STATE,9439,end surface coast,CONTROL_FINISHED_OK
$STATE,9440,begin surface
$SM_CCo,9466,55.10,0.521,0,0,1459,380.21
$SM_GC,1.16,0.00,0.00,55.10,0.000,0.000,0.521,475,1848,1459,-12.36,-0.06,380.21
$IRIDIUM_FIX,2244.02,-15801.49,060900,232335
$TT8_MAMPS,0.026078
$HUMID,60.63
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.80
$XPDR_PINGS,42
$24V_AH,23.5,35.331
$10V_AH,10.4,30.776
$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,29.000,107.725,380.000,55.100,0.000,27.764,34.158,153.767,10.500,0.000,11.102,956.874,6171.935,512.765,1734.685,491.093,33.371,1152.457,0.000,1751.289,0.000,0.534,0.000
$DEVICE_MAMPS,136.526,88.972,908.895,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.388,262.195,368.668,683.097,1034.210,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,38432,476
$CAP_FILE_SIZE,96450,0
$CFSIZE,260165632,167600128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140611,044300,2250.387,-15800.477,36,1.1,36,10.1