version: 66.06
glider: 146
mission: 6
dive: 293
start: 6 15 111 15 0 59
data:
$ID,146
$MISSION,6
$DIVE,293
$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,-274960.38
$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,1890
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,60
$R_STBD_OVSHOOT,66
$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
$GPS1,145036,2247.740,-15803.398,40,1.1,46,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.9
$GPS2,150002,2247.775,-15803.520,12,1.3,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.211,0.103
$KALMAN_X,-142472.4,91.8,-178.2,131080.1,-1701.5
$KALMAN_Y,-57788.7,-396.6,-630.0,65984.1,844.2
$MHEAD_RNG_PITCHd_Wd,53.9,4215,-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,16,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-71.20,0.000,2,0.000,0.000,475,1853,3280,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.8,-7.1,9,118,12.15,2.55,-3.83,0.000,4,0.141,0.040,2851,3438,3489,0,0,0,0,0,0
$GC,156,-1.26,-116.8,22.5,-21.0,17,164,0.12,2.47,0.00,0.000,6,0.100,0.035,2881,1921,3490,0,0,0,0,0,0
$GC,431,-1.18,-116.8,64.3,-15.3,45,436,0.10,2.42,0.00,0.000,4,0.135,0.025,2901,3450,3491,0,0,0,0,0,0
$GC,455,-1.18,-116.8,68.6,-13.8,46,465,0.00,2.53,0.00,0.000,6,0.000,0.026,2901,1890,3491,0,0,0,0,0,0
$GC,722,-1.18,-116.8,100.8,-11.8,71,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1890,3491,0,0,0,0,0,0
$GC,982,-1.18,-116.8,132.2,-11.9,96,986,0.00,2.45,0.00,0.000,4,0.000,0.030,2901,3443,3492,0,0,0,0,0,0
$GC,1030,-1.24,-116.8,136.9,-11.5,99,1034,0.00,2.42,0.00,0.000,6,0.000,0.025,2901,1902,3492,0,0,0,0,0,0
$GC,1293,-1.31,-116.8,166.1,-9.6,123,1298,0.12,2.45,0.00,0.000,4,0.072,0.034,2857,3449,3493,0,0,0,0,0,0
$GC,1349,-1.31,-116.8,172.1,-11.0,127,1354,0.00,2.42,0.00,0.000,6,0.000,0.030,2857,1907,3493,0,0,0,0,0,0
$GC,1619,-1.31,-116.8,205.9,-12.5,149,1620,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1907,3493,0,0,0,0,0,0
$GC,1863,-1.31,-116.8,234.3,-11.6,155,1864,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1907,3493,0,0,0,0,0,0
$GC,2108,-1.31,-116.8,260.0,-10.4,161,2112,0.00,2.45,0.00,0.000,4,0.000,0.031,2857,3445,3493,0,0,0,0,0,0
$GC,2152,-1.38,-116.8,264.4,-9.4,162,2156,0.00,2.42,0.00,0.000,6,0.000,0.028,2857,1913,3493,0,0,0,0,0,0
$GC,2429,-1.38,-116.8,290.9,-9.5,169,2434,0.00,2.45,0.00,0.000,4,0.000,0.034,2857,3440,3493,0,0,0,0,0,0
$GC,2453,-1.43,-116.8,293.2,-9.5,169,2458,0.00,2.45,0.00,0.000,6,0.000,0.032,2857,1907,3493,0,0,0,0,0,0
$GC,2709,-1.47,-116.8,318.9,-10.1,176,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1907,3493,0,0,0,0,0,0
$GC,2953,-1.52,-116.8,343.7,-9.9,182,2958,0.12,2.85,0.00,0.000,4,0.073,0.090,2813,312,3492,0,0,0,0,0,0
$GC,2976,-1.52,-116.8,346.3,-10.8,182,2980,0.00,2.47,0.00,0.000,6,0.000,0.027,2814,1888,3492,0,0,0,0,0,0
$GC,3230,-1.52,-116.8,373.9,-10.5,189,3235,0.00,2.58,0.00,0.000,4,0.000,0.051,2814,3467,3491,0,0,0,0,0,0
$GC,3263,-1.52,-116.8,377.5,-10.3,189,3269,0.00,2.58,0.00,0.000,6,0.000,0.047,2814,1925,3491,0,0,0,0,0,0
$GC,3515,-1.52,-116.8,403.3,-10.4,196,3519,0.00,2.53,0.00,0.000,4,0.000,0.041,2813,3472,3489,0,0,0,0,0,0
$GC,3554,-1.52,-116.8,407.6,-10.5,197,3558,0.00,2.60,0.00,0.000,6,0.000,0.051,2813,1925,3489,0,0,0,0,0,0
$GC,3836,-1.52,-116.8,436.6,-10.1,204,3841,0.00,2.55,0.00,0.000,4,0.000,0.051,2813,3466,3488,0,0,0,0,0,0
$GC,3853,-1.52,-116.8,438.3,-9.8,204,3857,0.00,2.60,0.00,0.000,6,0.000,0.058,2814,1929,3488,0,0,0,0,0,0
$GC,4115,-1.52,-116.8,462.9,-9.5,211,4116,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1929,3486,0,0,0,0,0,0
$GC,4357,-1.52,-116.8,486.8,-9.8,217,4362,0.00,3.05,0.00,0.000,4,0.000,0.120,2813,305,3484,0,0,0,0,0,0
$GC,4380,-1.52,-116.8,489.2,-10.4,217,4385,0.00,2.62,0.00,0.000,6,0.000,0.042,2814,1918,3484,0,0,0,0,0,0
$STATE,4510,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4510,begin apogee
$GC,4518,-0.31,0.0,502.6,10.1,221,4619,1.23,0.00,97.28,0.913,6,0.078,0.000,3091,2003,3010,0,0,0,0,0,0
$STATE,4620,end apogee,CONTROL_FINISHED_OK
$STATE,4620,begin climb
$GC,4622,1.38,116.8,505.0,0.0,223,4727,1.55,0.00,100.03,0.891,6,0.049,0.000,3466,2002,2533,0,0,0,0,0,0
$GC,4951,1.31,152.8,489.2,8.0,231,4991,0.10,2.75,30.85,0.863,4,0.137,0.064,3446,3569,2385,0,0,0,0,0,0
$GC,5138,1.24,160.8,471.9,9.6,235,5152,0.00,2.67,8.00,0.741,6,0.000,0.053,3447,2004,2354,0,0,0,0,0,0
$GC,5416,1.21,177.7,446.9,9.1,242,5438,0.12,2.65,16.00,0.826,4,0.127,0.042,3422,3574,2284,0,0,0,0,0,0
$GC,5502,1.21,179.0,438.6,10.0,244,5507,0.00,2.62,0.00,0.000,6,0.000,0.051,3422,2023,2282,0,0,0,0,0,0
$GC,5787,1.23,196.0,412.7,9.1,251,5806,0.00,0.00,16.90,0.822,6,0.000,0.000,3422,2023,2211,0,0,0,0,0,0
$GC,6030,1.24,205.4,389.4,9.5,257,6041,0.00,0.00,9.57,0.757,6,0.000,0.000,3422,2023,2171,0,0,0,0,0,0
$GC,6274,1.26,217.5,366.4,9.3,263,6292,0.00,2.67,11.90,0.774,4,0.000,0.035,3422,3586,2122,0,0,0,0,0,0
$GC,6339,1.26,217.5,359.7,10.4,264,6344,0.00,2.62,0.00,0.000,6,0.000,0.043,3422,2022,2120,0,0,0,0,0,0
$GC,6600,1.26,217.5,332.4,10.4,271,6604,0.00,2.85,0.00,0.000,4,0.000,0.078,3422,411,2118,0,0,0,0,0,0
$GC,6667,1.26,217.5,325.0,11.7,272,6672,0.00,2.58,0.00,0.000,6,0.000,0.022,3422,2031,2117,0,0,0,0,0,0
$GC,6922,1.35,263.3,304.7,7.4,279,6969,0.12,2.58,40.80,0.792,4,0.087,0.037,3455,3578,1935,0,0,0,0,0,0
$GC,6982,1.38,286.8,299.7,8.7,280,7011,0.00,2.60,21.98,0.754,6,0.000,0.038,3455,2019,1839,0,0,0,0,0,0
$GC,7293,1.38,286.8,265.0,11.5,288,7294,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,2019,1832,0,0,0,0,0,0
$GC,7533,1.38,286.8,235.5,12.0,294,7534,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2019,1831,0,0,0,0,0,0
$GC,7777,1.38,286.8,208.5,10.9,300,7782,0.00,2.78,0.00,0.000,4,0.000,0.070,3454,411,1830,0,0,0,0,0,0
$GC,7827,1.38,286.8,202.6,12.0,301,7832,0.00,2.58,0.00,0.000,6,0.000,0.025,3455,2055,1828,0,0,0,0,0,0
$GC,8090,1.38,286.8,172.8,11.8,324,8092,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2056,1828,0,0,0,0,0,0
$GC,8348,1.44,290.7,145.8,9.8,348,8356,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,2056,1828,0,0,0,0,0,0
$GC,8613,1.50,290.7,119.5,10.5,373,8618,0.12,0.00,0.00,0.000,6,0.077,0.000,3490,2056,1828,0,0,0,0,0,0
$GC,8875,1.50,290.7,90.1,10.4,398,8876,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2056,1828,0,0,0,0,0,0
$GC,9132,1.50,290.7,62.5,10.6,422,9137,0.00,2.75,0.00,0.000,4,0.000,0.052,3490,409,1828,0,0,0,0,0,0
$GC,9216,1.50,290.7,53.3,11.2,428,9220,0.00,2.55,0.00,0.000,6,0.000,0.018,3490,2056,1828,0,0,0,0,0,0
$GC,9494,1.55,305.0,25.0,9.2,456,9511,0.00,0.00,14.88,0.518,6,0.000,0.000,3490,2058,1765,0,0,0,0,0,0
$STATE,9713,end climb,SURFACE_DEPTH_REACHED
$STATE,9713,begin surface coast
$FINISH,0.5,0.979990
$STATE,9769,end surface coast,CONTROL_FINISHED_OK
$STATE,9769,begin surface
$SM_CCo,9791,61.10,0.520,0,0,1460,380.21
$SM_GC,1.36,0.00,0.00,61.10,0.000,0.000,0.520,473,1863,1460,-12.36,-0.76,380.21
$IRIDIUM_FIX,2241.69,-15804.53,080900,151528
$TT8_MAMPS,0.026078
$HUMID,60.47
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.10
$XPDR_PINGS,38
$24V_AH,23.5,36.824
$10V_AH,10.3,32.208
$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,28.025,93.575,368.175,61.100,0.000,52.213,71.988,244.420,9.500,0.000,13.790,988.046,6470.469,496.507,1828.150,640.397,33.371,1144.083,0.000,1835.570,0.000,0.536,0.000
$DEVICE_MAMPS,141.128,192.517,912.730,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.572,293.537,381.590,737.261,1115.034,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,38379,496
$CAP_FILE_SIZE,97918,0
$CFSIZE,260165632,166916096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150611,174622,2248.754,-15803.271,10,2.1,29,10.1