version: 66.06
glider: 146
mission: 6
dive: 281
start: 6 14 111 4 49 55
data:
$ID,146
$MISSION,6
$DIVE,281
$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,-274764.22
$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,1850
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,63
$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
$GPS1,044300,2250.387,-15800.477,36,1.1,36,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.9
$GPS2,044901,2250.469,-15800.518,9,1.1,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.218,-0.087
$KALMAN_X,-125947.8,87.6,51.3,119450.1,-1018.9
$KALMAN_Y,-61357.6,516.3,117.0,72885.3,703.0
$MHEAD_RNG_PITCHd_Wd,101.7,6066,-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,-70.55,0.000,2,0.000,0.000,474,1847,3221,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.3,-5.0,9,119,12.00,2.67,-5.03,0.000,4,0.136,0.060,2849,275,3489,0,0,0,0,0,0
$GC,152,-1.13,-116.8,20.3,-23.7,16,160,0.25,2.45,0.00,0.000,6,0.146,0.015,2908,1860,3491,0,0,0,0,0,0
$GC,434,-1.08,-116.8,63.8,-14.5,45,438,0.00,2.42,0.00,0.000,4,0.000,0.028,2908,3399,3492,0,0,0,0,0,0
$GC,482,-1.12,-116.8,70.8,-14.0,48,486,0.00,2.47,0.00,0.000,6,0.000,0.025,2909,1846,3491,0,0,0,0,0,0
$GC,744,-1.12,-116.8,102.7,-10.6,72,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2908,1846,3492,0,0,0,0,0,0
$GC,999,-1.17,-116.8,129.4,-10.2,96,1003,0.00,2.45,0.00,0.000,4,0.000,0.028,2908,3397,3493,0,0,0,0,0,0
$GC,1029,-1.25,-116.8,132.6,-10.1,98,1033,0.00,2.45,0.00,0.000,6,0.000,0.026,2908,1845,3493,0,0,0,0,0,0
$GC,1293,-1.31,-116.8,160.5,-10.4,122,1299,0.15,0.00,0.00,0.000,6,0.065,0.000,2858,1844,3494,0,0,0,0,0,0
$GC,1554,-1.31,-116.8,193.6,-12.7,147,1558,0.00,2.45,0.00,0.000,4,0.000,0.026,2858,3399,3494,0,0,0,0,0,0
$GC,1647,-1.31,-116.8,205.0,-12.3,152,1651,0.00,2.42,0.00,0.000,6,0.000,0.031,2858,1851,3494,0,0,0,0,0,0
$GC,1924,-1.31,-116.8,238.7,-11.9,159,1928,0.00,2.42,0.00,0.000,4,0.000,0.031,2858,3398,3495,0,0,0,0,0,0
$GC,1979,-1.37,-116.8,245.4,-12.1,160,1983,0.00,2.45,0.00,0.000,6,0.000,0.026,2858,1861,3495,0,0,0,0,0,0
$GC,2247,-1.42,-116.8,271.6,-9.4,167,2248,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1861,3495,0,0,0,0,0,0
$GC,2489,-1.42,-116.8,295.4,-10.1,173,2493,0.00,2.45,0.00,0.000,4,0.000,0.030,2858,3396,3495,0,0,0,0,0,0
$GC,2538,-1.51,-116.8,300.6,-10.0,174,2544,0.12,2.47,0.00,0.000,6,0.068,0.038,2813,1866,3495,0,0,0,0,0,0
$GC,2812,-1.51,-116.8,332.8,-12.1,181,2816,0.00,2.45,0.00,0.000,4,0.000,0.035,2813,3397,3495,0,0,0,0,0,0
$GC,2861,-1.51,-116.8,338.9,-11.7,182,2865,0.00,2.47,0.00,0.000,6,0.000,0.046,2813,1874,3495,0,0,0,0,0,0
$GC,3133,-1.51,-116.8,369.4,-11.0,189,3135,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1874,3494,0,0,0,0,0,0
$GC,3379,-1.51,-116.8,397.2,-11.2,195,3383,0.00,2.50,0.00,0.000,4,0.000,0.043,2813,3396,3493,0,0,0,0,0,0
$GC,3405,-1.51,-116.8,400.7,-11.6,195,3410,0.00,2.53,0.00,0.000,6,0.000,0.051,2813,1883,3493,0,0,0,0,0,0
$GC,3656,-1.51,-116.8,428.0,-10.8,201,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1883,3491,0,0,0,0,0,0
$GC,3899,-1.51,-116.8,453.9,-10.5,207,3903,0.00,2.47,0.00,0.000,4,0.000,0.048,2813,3385,3490,0,0,0,0,0,0
$GC,3985,-1.51,-116.8,462.7,-9.7,209,3989,0.00,2.55,0.00,0.000,6,0.000,0.058,2813,1877,3490,0,0,0,0,0,0
$GC,4268,-1.51,-116.8,492.0,-10.4,216,4269,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1877,3487,0,0,0,0,0,0
$STATE,4346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4347,begin apogee
$GC,4354,-0.31,0.0,500.1,10.1,218,4456,1.20,0.00,97.97,0.908,6,0.074,0.000,3089,1969,3010,0,0,0,0,0,0
$STATE,4457,end apogee,CONTROL_FINISHED_OK
$STATE,4457,begin climb
$GC,4459,1.38,116.8,501.9,0.0,220,4570,1.55,2.78,99.35,0.885,4,0.041,0.062,3462,3556,2531,0,0,0,0,0,0
$GC,4578,1.35,186.5,499.0,6.0,222,4644,0.00,2.70,60.50,0.867,6,0.000,0.050,3463,1987,2249,0,0,0,0,0,0
$GC,4906,1.26,186.5,461.5,12.0,231,4911,0.15,3.00,0.00,0.000,4,0.230,0.107,3433,403,2240,0,0,0,0,0,0
$GC,4940,1.18,186.5,457.2,12.4,231,4946,0.00,2.60,0.00,0.000,6,0.000,0.038,3433,1977,2239,0,0,0,0,0,0
$GC,5190,1.18,186.5,430.0,10.6,238,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1977,2237,0,0,0,0,0,0
$GC,5434,1.18,189.7,405.6,9.9,244,5438,0.00,2.70,0.00,0.000,4,0.000,0.048,3433,3589,2234,0,0,0,0,0,0
$GC,5546,1.18,189.7,394.1,10.1,246,5551,0.00,2.70,0.00,0.000,6,0.000,0.048,3433,1981,2233,0,0,0,0,0,0
$GC,5801,1.18,192.9,369.0,9.9,253,5807,0.00,0.00,3.80,0.518,6,0.000,0.000,3433,1981,2223,0,0,0,0,0,0
$GC,6045,1.20,208.2,346.4,9.2,259,6062,0.00,0.00,15.52,0.782,6,0.000,0.000,3433,1981,2161,0,0,0,0,0,0
$GC,6290,1.22,222.1,323.8,9.2,265,6305,0.00,0.00,13.62,0.759,6,0.000,0.000,3433,1981,2103,0,0,0,0,0,0
$GC,6532,1.24,237.5,301.6,9.1,271,6553,0.00,2.80,14.82,0.749,4,0.000,0.074,3433,402,2040,0,0,0,0,0,0
$GC,6591,1.24,237.5,295.7,10.3,272,6596,0.00,2.58,0.00,0.000,6,0.000,0.021,3433,2015,2038,0,0,0,0,0,0
$GC,6854,1.24,237.5,270.2,10.1,279,6858,0.00,2.53,0.00,0.000,4,0.000,0.038,3433,3567,2036,0,0,0,0,0,0
$GC,6915,1.28,237.5,262.9,11.8,280,6919,0.00,2.58,0.00,0.000,6,0.000,0.038,3433,1984,2035,0,0,0,0,0,0
$GC,7176,1.34,245.1,236.7,9.6,287,7190,0.00,2.67,7.43,0.640,4,0.000,0.038,3433,3572,2009,0,0,0,0,0,0
$GC,7214,1.41,262.0,233.3,9.1,287,7239,0.15,2.58,16.65,0.706,6,0.072,0.036,3473,2002,1941,0,0,0,0,0,0
$GC,7508,1.41,262.0,203.8,10.0,295,7512,0.00,2.53,0.00,0.000,4,0.000,0.039,3473,3562,1937,0,0,0,0,0,0
$GC,7542,1.41,262.0,200.0,11.1,295,7548,0.00,2.55,0.00,0.000,6,0.000,0.035,3473,2001,1936,0,0,0,0,0,0
$GC,7805,1.41,262.0,170.1,12.5,320,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,3473,2001,1936,0,0,0,0,0,0
$GC,8059,1.41,262.0,139.1,12.2,344,8064,0.00,2.70,0.00,0.000,4,0.000,0.064,3473,407,1935,0,0,0,0,0,0
$GC,8082,1.41,262.0,136.0,12.7,345,8088,0.00,2.53,0.00,0.000,6,0.000,0.025,3473,2031,1934,0,0,0,0,0,0
$GC,8345,1.41,262.0,106.8,10.4,370,8346,0.00,0.00,0.00,0.000,6,0.000,0.000,3473,2033,1934,0,0,0,0,0,0
$GC,8600,1.48,284.0,82.5,8.8,394,8621,0.00,0.00,19.30,0.582,6,0.000,0.000,3473,2034,1851,0,0,0,0,0,0
$GC,8883,1.63,351.2,59.9,6.2,420,8951,0.17,2.80,57.33,0.570,4,0.066,0.049,3520,416,1577,0,0,0,0,0,0
$GC,9070,1.59,351.2,38.8,12.9,434,9075,0.00,2.47,0.00,0.000,6,0.000,0.018,3520,2009,1574,0,0,0,0,0,0
$STATE,9336,end climb,SURFACE_DEPTH_REACHED
$STATE,9336,begin surface coast
$FINISH,0.5,0.975015
$STATE,9372,end surface coast,CONTROL_FINISHED_OK
$STATE,9372,begin surface
$SM_CCo,9394,23.77,0.510,0,0,1460,380.21
$SM_GC,1.42,0.00,0.00,23.77,0.000,0.000,0.510,480,1828,1460,-12.33,-0.62,380.21
$IRIDIUM_FIX,2239.35,-15802.37,070900,020213
$TT8_MAMPS,0.026078
$HUMID,61.65
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.70
$XPDR_PINGS,34
$24V_AH,23.5,35.441
$10V_AH,10.4,30.881
$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,28.150,92.750,406.300,23.775,0.000,24.655,36.673,166.369,8.500,0.000,16.111,944.215,6108.340,454.608,1788.049,487.036,33.366,1117.268,0.000,1787.943,0.000,0.534,0.000
$DEVICE_MAMPS,230.100,190.216,908.128,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,320.197,269.351,365.340,692.497,1047.462,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,38455,473
$CAP_FILE_SIZE,93878,0
$CFSIZE,260165632,167555072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140611,072806,2250.170,-15759.699,16,1.3,32,10.1