version: 66.06
glider: 146
mission: 6
dive: 201
start: 6 4 111 11 59 9
data:
$ID,146
$MISSION,6
$DIVE,201
$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,-272553.31
$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,3150
$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,1800
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,40
$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,3020
$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
$GPS1,115107,2249.988,-15802.866,38,1.9,38,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.7
$GPS2,115816,2250.008,-15802.836,9,3.9,28,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,0.018
$KALMAN_X,-90547.9,242.6,84.3,79901.7,-80.7
$KALMAN_Y,-112207.9,305.6,243.7,122965.3,-182.6
$MHEAD_RNG_PITCHd_Wd,75.5,9962,-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,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.32,0.000,2,0.000,0.000,476,1774,3251,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.5,-6.1,9,118,12.40,0.00,-4.43,0.000,6,0.153,0.000,2838,1774,3499,0,0,0,0,0,0
$GC,396,-1.26,-116.8,69.0,-17.4,42,401,0.17,2.55,0.00,0.000,4,0.125,0.032,2873,3382,3501,0,0,0,0,0,0
$GC,457,-1.26,-116.8,78.9,-13.8,46,466,0.00,2.53,0.00,0.000,6,0.000,0.026,2873,1814,3501,0,0,0,0,0,0
$GC,722,-1.26,-116.8,111.4,-12.1,71,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1813,3502,0,0,0,0,0,0
$GC,984,-1.26,-116.8,141.4,-11.0,96,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1813,3503,0,0,0,0,0,0
$GC,1238,-1.26,-116.8,169.5,-10.4,120,1242,0.00,2.47,0.00,0.000,4,0.000,0.031,2873,3389,3504,0,0,0,0,0,0
$GC,1283,-1.33,-116.8,174.2,-10.4,123,1292,0.00,2.55,0.00,0.000,6,0.000,0.033,2873,1807,3504,0,0,0,0,0,0
$GC,1576,-1.38,-116.8,205.6,-11.7,148,1578,0.10,0.00,0.00,0.000,6,0.087,0.000,2836,1807,3504,0,0,0,0,0,0
$GC,1817,-1.38,-116.8,235.3,-12.1,154,1818,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1807,3504,0,0,0,0,0,0
$GC,2060,-1.38,-116.8,265.3,-12.2,160,2065,0.00,2.53,0.00,0.000,4,0.000,0.038,2836,3377,3504,0,0,0,0,0,0
$GC,2101,-1.41,-116.8,269.7,-11.7,161,2106,0.00,2.50,0.00,0.000,6,0.000,0.035,2836,1818,3504,0,0,0,0,0,0
$GC,2384,-1.41,-116.8,300.6,-10.8,168,2389,0.00,2.53,0.00,0.000,4,0.000,0.033,2836,3375,3504,0,0,0,0,0,0
$GC,2430,-1.46,-116.8,305.4,-11.1,169,2435,0.00,2.55,0.00,0.000,6,0.000,0.043,2836,1821,3504,0,0,0,0,0,0
$GC,2707,-1.46,-116.8,336.0,-11.2,176,2712,0.00,2.53,0.00,0.000,4,0.000,0.041,2836,3378,3502,0,0,0,0,0,0
$GC,2757,-1.52,-116.8,341.7,-10.9,177,2762,0.00,2.60,0.00,0.000,6,0.000,0.044,2836,1820,3502,0,0,0,0,0,0
$GC,3031,-1.52,-116.8,372.6,-11.5,184,3035,0.00,2.58,0.00,0.000,4,0.000,0.038,2836,3381,3501,0,0,0,0,0,0
$GC,3063,-1.57,-116.8,376.6,-11.3,184,3070,0.12,2.62,0.00,0.000,6,0.074,0.054,2795,1825,3501,0,0,0,0,0,0
$GC,3314,-1.53,-116.8,407.6,-12.3,191,3315,0.10,0.00,0.00,0.000,6,0.123,0.000,2815,1825,3499,0,0,0,0,0,0
$GC,3558,-1.53,-116.8,434.8,-11.1,197,3562,0.00,2.53,0.00,0.000,4,0.000,0.050,2815,3370,3498,0,0,0,0,0,0
$GC,3597,-1.53,-116.8,439.5,-11.5,198,3601,0.00,2.65,0.00,0.000,6,0.000,0.061,2815,1829,3498,0,0,0,0,0,0
$GC,3880,-1.53,-116.8,470.2,-10.9,205,3884,0.00,2.58,0.00,0.000,4,0.000,0.051,2815,3370,3496,0,0,0,0,0,0
$GC,3942,-1.53,-116.8,476.7,-10.0,206,3946,0.00,2.62,0.00,0.000,6,0.000,0.063,2815,1835,3496,0,0,0,0,0,0
$STATE,4200,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4200,begin apogee
$GC,4206,-0.31,0.0,503.8,10.5,213,4307,1.17,0.00,97.15,0.921,6,0.080,0.000,3081,2002,3020,0,0,0,0,0,0
$STATE,4307,end apogee,CONTROL_FINISHED_OK
$STATE,4308,begin climb
$GC,4310,1.38,116.8,506.4,0.0,215,4421,1.58,2.70,99.75,0.910,4,0.048,0.064,3452,3548,2541,0,0,0,0,0,0
$GC,4438,1.38,201.7,505.5,5.1,218,4518,0.00,2.67,72.72,0.896,6,0.000,0.052,3452,1988,2197,0,0,0,0,0,0
$GC,4771,1.31,201.7,470.5,11.3,227,4772,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1989,2188,0,0,0,0,0,0
$GC,5015,1.25,201.7,443.3,11.0,233,5020,0.15,2.60,0.00,0.000,4,0.117,0.042,3422,3554,2186,0,0,0,0,0,0
$GC,5066,1.25,201.7,437.8,10.6,234,5070,0.00,2.67,0.00,0.000,6,0.000,0.051,3422,1987,2185,0,0,0,0,0,0
$GC,5337,1.26,202.1,410.6,10.0,241,5342,0.00,2.60,0.00,0.000,4,0.000,0.038,3422,3557,2183,0,0,0,0,0,0
$GC,5377,1.26,202.1,406.4,10.8,242,5381,0.00,2.62,0.00,0.000,6,0.000,0.043,3422,1987,2182,0,0,0,0,0,0
$GC,5661,1.26,202.1,378.1,10.1,249,5662,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1986,2181,0,0,0,0,0,0
$GC,5904,1.27,211.0,354.4,9.5,255,5912,0.00,0.00,6.55,0.699,6,0.000,0.000,3422,1987,2159,0,0,0,0,0,0
$GC,6147,1.29,229.7,332.4,9.0,261,6172,0.00,2.65,17.75,0.801,4,0.000,0.034,3422,3551,2082,0,0,0,0,0,0
$GC,6191,1.30,240.5,328.3,9.4,262,6207,0.00,2.60,11.15,0.752,6,0.000,0.035,3422,1994,2039,0,0,0,0,0,0
$GC,6475,1.35,246.3,300.6,9.7,269,6486,0.00,2.60,6.12,0.653,4,0.000,0.036,3423,3560,2015,0,0,0,0,0,0
$GC,6515,1.35,246.3,296.7,10.5,270,6519,0.00,2.58,0.00,0.000,6,0.000,0.037,3422,1999,2014,0,0,0,0,0,0
$GC,6800,1.40,253.5,269.7,9.6,277,6810,0.15,0.00,7.78,0.682,6,0.174,0.000,3461,1999,1986,0,0,0,0,0,0
$GC,7041,1.40,253.5,243.9,10.5,283,7042,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1999,1983,0,0,0,0,0,0
$GC,7285,1.40,253.5,217.5,10.7,289,7286,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1999,1982,0,0,0,0,0,0
$GC,7536,1.41,260.9,194.6,9.6,298,7550,0.00,2.60,7.57,0.628,4,0.000,0.038,3461,3557,1956,0,0,0,0,0,0
$GC,7581,1.41,260.9,189.6,10.2,302,7585,0.00,2.53,0.00,0.000,6,0.000,0.035,3461,2004,1954,0,0,0,0,0,0
$GC,7845,1.43,271.3,164.5,9.4,326,7860,0.00,2.55,10.12,0.635,4,0.000,0.037,3461,3562,1914,0,0,0,0,0,0
$GC,7890,1.43,271.3,159.6,10.6,329,7896,0.00,2.55,0.00,0.000,6,0.000,0.035,3461,2002,1913,0,0,0,0,0,0
$GC,8153,1.43,271.3,132.6,11.1,354,8157,0.00,2.70,0.00,0.000,4,0.000,0.063,3461,412,1912,0,0,0,0,0,0
$GC,8200,1.43,271.3,127.0,12.3,357,8205,0.00,2.47,0.00,0.000,6,0.000,0.025,3461,2018,1911,0,0,0,0,0,0
$GC,8462,1.43,271.3,98.5,11.7,382,8466,0.00,2.45,0.00,0.000,4,0.000,0.038,3461,3551,1911,0,0,0,0,0,0
$GC,8532,1.47,271.3,90.7,11.9,387,8536,0.00,2.47,0.00,0.000,6,0.000,0.034,3461,2018,1911,0,0,0,0,0,0
$GC,8798,1.53,283.8,63.3,9.3,411,8818,0.10,0.00,12.62,0.561,6,0.087,0.000,3492,2017,1860,0,0,0,0,0,0
$GC,9077,1.57,314.8,38.2,8.2,437,9117,0.00,2.75,27.38,0.560,4,0.000,0.053,3492,404,1734,0,0,0,0,0,0
$GC,9147,1.57,317.0,31.5,9.9,442,9151,0.00,2.47,0.00,0.000,6,0.000,0.017,3492,2011,1732,0,0,0,0,0,0
$STATE,9427,end climb,SURFACE_DEPTH_REACHED
$STATE,9427,begin surface coast
$FINISH,0.6,0.980038
$STATE,9490,end surface coast,CONTROL_FINISHED_OK
$STATE,9490,begin surface
$SM_CCo,9512,52.40,0.527,0,0,1469,380.21
$SM_GC,1.42,0.00,0.00,52.40,0.000,0.000,0.527,476,1745,1469,-12.31,-1.55,380.21
$IRIDIUM_FIX,2239.35,-15802.37,280800,090945
$TT8_MAMPS,0.026078
$HUMID,58.93
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.00
$XPDR_PINGS,37
$24V_AH,23.5,25.239
$10V_AH,10.4,22.004
$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,28.325,93.350,376.675,52.400,0.000,23.704,41.623,215.679,9.250,0.000,30.861,958.771,6209.338,470.113,1822.130,536.468,33.364,1130.970,0.000,1814.655,0.000,0.535,0.000
$DEVICE_MAMPS,174.109,105.846,921.167,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,332.173,283.393,381.016,725.325,1096.977,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,38444,490
$CAP_FILE_SIZE,94372,0
$CFSIZE,260165632,171749376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040611,144000,2250.046,-15801.144,39,1.2,44,10.1