version: 66.06
glider: 146
mission: 6
dive: 230
start: 6 7 111 23 31 51
data:
$ID,146
$MISSION,6
$DIVE,230
$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,-273302.84
$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,3155
$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,43
$R_STBD_OVSHOOT,60
$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
$GPS1,232306,2250.052,-15801.854,11,1.1,27,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-67.5
$GPS2,233055,2250.195,-15801.858,10,1.2,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,-0.091
$KALMAN_X,-90557.1,-178.6,-19.0,82106.6,-208.4
$KALMAN_Y,-90657.0,-249.9,140.0,102418.2,827.1
$MHEAD_RNG_PITCHd_Wd,102.8,8301,-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,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,127,0.00,0.00,-109.25,0.000,2,0.000,0.000,476,1815,3257,0,0,0,0,0,0
$GC,130,-1.38,-116.8,3.1,-4.9,14,155,12.70,2.60,-4.45,0.000,4,0.161,0.066,2843,268,3495,0,0,0,0,0,0
$GC,173,-0.70,-116.8,17.2,-32.6,19,182,0.70,2.42,0.00,0.000,6,0.094,0.020,2998,1852,3495,0,0,0,0,0,0
$GC,465,-0.87,-116.8,47.3,-9.3,52,470,0.15,2.40,0.00,0.000,4,0.063,0.025,2949,3377,3497,0,0,0,0,0,0
$GC,488,-1.00,-116.8,49.8,-10.1,53,493,0.00,2.42,0.00,0.000,6,0.000,0.024,2949,1839,3497,0,0,0,0,0,0
$GC,755,-1.09,-116.8,76.9,-10.0,77,760,0.12,2.45,0.00,0.000,4,0.071,0.025,2905,3377,3496,0,0,0,0,0,0
$GC,837,-1.18,-116.8,87.4,-13.3,83,841,0.00,2.42,0.00,0.000,6,0.000,0.031,2905,1850,3497,0,0,0,0,0,0
$GC,1102,-1.18,-116.8,121.2,-12.1,107,1107,0.00,2.65,0.00,0.000,4,0.000,0.061,2904,261,3497,0,0,0,0,0,0
$GC,1134,-1.18,-116.8,125.2,-12.3,109,1139,0.00,2.38,0.00,0.000,6,0.000,0.019,2904,1853,3497,0,0,0,0,0,0
$GC,1403,-1.24,-116.8,153.4,-9.7,133,1407,0.00,2.35,0.00,0.000,4,0.000,0.028,2904,3369,3497,0,0,0,0,0,0
$GC,1459,-1.34,-116.8,159.9,-10.3,137,1465,0.17,2.42,0.00,0.000,6,0.054,0.027,2840,1839,3497,0,0,0,0,0,0
$GC,1723,-1.30,-116.8,193.9,-11.6,162,1732,0.15,0.00,0.00,0.000,6,0.100,0.000,2874,1839,3497,0,0,0,0,0,0
$GC,1986,-1.35,-116.8,221.9,-10.7,173,1990,0.00,2.42,0.00,0.000,4,0.000,0.027,2873,3373,3497,0,0,0,0,0,0
$GC,2044,-1.44,-116.8,227.1,-8.9,174,2049,0.12,2.40,0.00,0.000,6,0.070,0.031,2826,1845,3497,0,0,0,0,0,0
$GC,2310,-1.44,-116.8,255.7,-11.0,181,2311,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1845,3497,0,0,0,0,0,0
$GC,2554,-1.44,-116.8,282.5,-10.6,187,2558,0.00,2.42,0.00,0.000,4,0.000,0.036,2826,3377,3497,0,0,0,0,0,0
$GC,2580,-1.44,-116.8,285.6,-11.2,187,2585,0.00,2.42,0.00,0.000,6,0.000,0.035,2827,1865,3497,0,0,0,0,0,0
$GC,2832,-1.44,-116.8,313.5,-11.2,193,2836,0.00,2.38,0.00,0.000,4,0.000,0.031,2826,3365,3497,0,0,0,0,0,0
$GC,2876,-1.48,-116.8,318.8,-10.7,194,2880,0.00,2.42,0.00,0.000,6,0.000,0.039,2826,1869,3496,0,0,0,0,0,0
$GC,3154,-1.48,-116.8,349.3,-10.9,201,3155,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1869,3496,0,0,0,0,0,0
$GC,3396,-1.48,-116.8,376.1,-11.0,207,3400,0.00,2.42,0.00,0.000,4,0.000,0.045,2826,3369,3494,0,0,0,0,0,0
$GC,3441,-1.52,-116.8,381.0,-10.9,208,3445,0.00,2.53,0.00,0.000,6,0.000,0.049,2826,1863,3494,0,0,0,0,0,0
$GC,3718,-1.52,-116.8,410.7,-10.6,215,3719,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1862,3492,0,0,0,0,0,0
$GC,3963,-1.52,-116.8,436.1,-10.2,221,3964,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1863,3491,0,0,0,0,0,0
$GC,4206,-1.52,-116.8,459.3,-9.5,227,4207,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1862,3488,0,0,0,0,0,0
$GC,4450,-1.52,-116.8,482.0,-9.3,233,4451,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1862,3487,0,0,0,0,0,0
$STATE,4650,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4650,begin apogee
$GC,4658,-0.31,0.0,501.8,9.7,238,4757,1.15,0.00,95.28,0.917,6,0.078,0.000,3088,1949,3020,0,0,0,0,0,0
$STATE,4757,end apogee,CONTROL_FINISHED_OK
$STATE,4757,begin climb
$GC,4760,1.38,116.8,504.2,0.0,240,4865,1.58,0.00,100.47,0.897,6,0.045,0.000,3459,1949,2543,0,0,0,0,0,0
$GC,5097,1.32,159.0,488.7,7.6,249,5139,0.00,2.83,36.17,0.874,4,0.000,0.061,3459,3564,2370,0,0,0,0,0,0
$GC,5215,1.23,159.0,477.7,10.4,251,5220,0.17,2.70,0.00,0.000,6,0.114,0.056,3425,1991,2365,0,0,0,0,0,0
$GC,5470,1.25,173.0,453.8,9.2,258,5485,0.00,0.00,12.52,0.807,6,0.000,0.000,3425,1991,2314,0,0,0,0,0,0
$GC,5716,1.26,185.4,431.2,9.3,264,5735,0.00,2.72,12.07,0.799,4,0.000,0.046,3425,3569,2263,0,0,0,0,0,0
$GC,5759,1.28,204.2,427.1,9.0,265,5783,0.00,2.67,18.15,0.825,6,0.000,0.043,3425,1997,2186,0,0,0,0,0,0
$GC,6045,1.30,215.1,399.7,9.4,272,6057,0.00,0.00,10.25,0.772,6,0.000,0.000,3425,1997,2143,0,0,0,0,0,0
$GC,6290,1.31,225.8,376.6,9.4,278,6306,0.00,2.90,10.60,0.767,4,0.000,0.091,3425,404,2097,0,0,0,0,0,0
$GC,6317,1.32,236.4,373.7,9.4,278,6333,0.00,2.58,10.82,0.759,6,0.000,0.028,3425,1999,2056,0,0,0,0,0,0
$GC,6613,1.33,239.2,344.5,9.9,286,6617,0.00,2.58,0.00,0.000,4,0.000,0.038,3424,3569,2051,0,0,0,0,0,0
$GC,6634,1.33,243.5,342.1,9.8,286,6650,0.00,2.62,6.90,0.689,6,0.000,0.039,3425,1979,2027,0,0,0,0,0,0
$GC,6894,1.34,250.0,316.8,9.7,293,6908,0.00,2.80,7.32,0.691,4,0.000,0.073,3425,417,1999,0,0,0,0,0,0
$GC,6943,1.34,250.0,311.5,11.4,294,6947,0.00,2.53,0.00,0.000,6,0.000,0.025,3425,2006,1998,0,0,0,0,0,0
$GC,7221,1.40,260.2,284.8,9.5,301,7237,0.15,2.58,10.38,0.723,4,0.072,0.040,3465,3564,1959,0,0,0,0,0,0
$GC,7294,1.40,260.2,275.4,13.3,302,7299,0.00,2.60,0.00,0.000,6,0.000,0.035,3465,1980,1956,0,0,0,0,0,0
$GC,7544,1.40,260.2,245.0,12.1,308,7545,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,1980,1954,0,0,0,0,0,0
$GC,7787,1.40,260.2,215.6,12.2,314,7792,0.00,2.58,0.00,0.000,4,0.000,0.038,3465,3556,1953,0,0,0,0,0,0
$GC,7827,1.40,260.2,210.9,11.7,315,7831,0.00,2.58,0.00,0.000,6,0.000,0.037,3465,1981,1952,0,0,0,0,0,0
$GC,8091,1.40,260.2,182.1,10.7,331,8095,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,1981,1952,0,0,0,0,0,0
$GC,8352,1.42,279.6,158.7,8.9,356,8374,0.00,0.00,16.92,0.657,6,0.000,0.000,3465,1981,1880,0,0,0,0,0,0
$GC,8629,1.43,282.5,131.0,9.9,382,8640,0.00,0.00,3.72,0.416,6,0.000,0.000,3465,1981,1868,0,0,0,0,0,0
$GC,8897,1.47,282.5,103.5,10.4,407,8901,0.00,2.55,0.00,0.000,4,0.000,0.032,3465,3562,1866,0,0,0,0,0,0
$GC,8955,1.54,282.5,97.7,10.2,411,8960,0.10,2.53,0.00,0.000,6,0.091,0.035,3496,1984,1865,0,0,0,0,0,0
$GC,9220,1.54,282.8,70.4,10.0,435,9224,0.00,2.60,0.00,0.000,4,0.000,0.056,3496,418,1865,0,0,0,0,0,0
$GC,9255,1.54,282.8,66.7,11.9,437,9259,0.00,2.42,0.00,0.000,6,0.000,0.019,3496,2003,1865,0,0,0,0,0,0
$GC,9521,1.56,304.4,41.9,8.8,461,9548,0.00,2.53,19.83,0.545,4,0.000,0.031,3496,3553,1778,0,0,0,0,0,0
$GC,9674,1.61,304.4,27.0,10.6,474,9684,0.00,2.53,0.00,0.000,6,0.000,0.029,3496,2004,1776,0,0,0,0,0,0
$STATE,9890,end climb,SURFACE_DEPTH_REACHED
$STATE,9890,begin surface coast
$FINISH,0.5,0.979505
$STATE,9941,end surface coast,CONTROL_FINISHED_OK
$STATE,9941,begin surface
$SM_CCo,9964,60.62,0.520,0,0,1469,380.21
$SM_GC,1.17,0.00,0.00,60.62,0.000,0.000,0.520,474,1815,1469,-12.33,-0.45,380.21
$IRIDIUM_FIX,2244.02,-15801.49,310800,202041
$TT8_MAMPS,0.026078
$HUMID,59.13
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.20
$XPDR_PINGS,37
$24V_AH,23.5,28.812
$10V_AH,10.4,25.197
$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,29.525,96.750,371.425,60.625,0.000,28.075,34.889,266.287,9.250,0.000,16.547,1005.833,6471.128,520.406,1895.694,606.793,33.372,1194.295,0.000,1901.620,0.000,0.535,0.000
$DEVICE_MAMPS,161.070,108.147,917.332,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,346.682,289.901,401.071,788.105,1194.980,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355440
$DATA_FILE_SIZE,41623,512
$CAP_FILE_SIZE,100448,0
$CFSIZE,260165632,170221568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080611,022007,2250.142,-15800.670,30,2.0,30,10.1