version: 66.06
glider: 146
mission: 6
dive: 250
start: 6 10 111 10 58 49
data:
$ID,146
$MISSION,6
$DIVE,250
$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,-273874.94
$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,1830
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,64
$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
$GPS1,104620,2248.381,-15803.397,35,2.2,54,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-65.2
$GPS2,105756,2248.520,-15803.387,21,2.0,39,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.100,0.213
$KALMAN_X,-98659.1,-179.0,0.2,87588.2,-361.6
$KALMAN_Y,-75579.7,492.3,-359.2,83999.9,529.8
$MHEAD_RNG_PITCHd_Wd,15.0,2819,-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,-109.20,0.000,2,0.000,0.000,481,1812,3320,0,0,0,0,0,0
$GC,130,-1.38,-116.8,4.0,-7.9,14,156,11.95,2.55,-3.20,0.000,4,0.135,0.036,2853,3395,3501,0,0,0,0,0,0
$GC,202,-1.30,-116.8,24.4,-18.8,23,210,0.08,2.53,0.00,0.000,6,0.089,0.027,2874,1839,3502,0,0,0,0,0,0
$GC,477,-1.23,-116.8,72.1,-18.1,50,481,0.00,2.67,0.00,0.000,4,0.000,0.060,2874,251,3502,0,0,0,0,0,0
$GC,512,-1.15,-116.8,78.7,-18.1,52,517,0.15,2.38,0.00,0.000,6,0.111,0.014,2906,1841,3501,0,0,0,0,0,0
$GC,775,-1.20,-116.8,111.8,-10.9,76,779,0.00,2.40,0.00,0.000,4,0.000,0.030,2906,3370,3502,0,0,0,0,0,0
$GC,830,-1.29,-116.8,117.4,-10.4,80,836,0.12,2.45,0.00,0.000,6,0.067,0.025,2850,1817,3502,0,0,0,0,0,0
$GC,1093,-1.23,-116.8,151.4,-12.7,104,1098,0.17,2.65,0.00,0.000,4,0.095,0.059,2890,257,3502,0,0,0,0,0,0
$GC,1126,-1.23,-116.8,155.1,-11.3,106,1131,0.00,2.33,0.00,0.000,6,0.000,0.021,2890,1815,3502,0,0,0,0,0,0
$GC,1394,-1.29,-116.8,182.6,-9.1,130,1398,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1816,3503,0,0,0,0,0,0
$GC,1685,-1.36,-116.8,206.6,-7.9,152,1690,0.10,2.45,0.00,0.000,4,0.090,0.028,2852,3370,3503,0,0,0,0,0,0
$GC,1711,-1.36,-116.8,209.4,-10.3,152,1716,0.00,2.47,0.00,0.000,6,0.000,0.030,2851,1803,3503,0,0,0,0,0,0
$GC,1961,-1.36,-116.8,237.0,-11.3,158,1966,0.00,2.47,0.00,0.000,4,0.000,0.032,2851,3370,3503,0,0,0,0,0,0
$GC,1983,-1.36,-116.8,239.5,-11.2,158,1987,0.00,2.50,0.00,0.000,6,0.000,0.031,2852,1806,3503,0,0,0,0,0,0
$GC,2240,-1.36,-116.8,268.8,-11.6,165,2244,0.00,2.50,0.00,0.000,4,0.000,0.031,2851,3377,3502,0,0,0,0,0,0
$GC,2295,-1.43,-116.8,275.4,-11.3,166,2300,0.00,2.47,0.00,0.000,6,0.000,0.028,2851,1825,3502,0,0,0,0,0,0
$GC,2562,-1.43,-116.8,304.4,-10.6,173,2564,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1825,3501,0,0,0,0,0,0
$GC,2805,-1.47,-116.8,332.1,-11.4,179,2809,0.00,2.45,0.00,0.000,4,0.000,0.039,2852,3368,3500,0,0,0,0,0,0
$GC,2860,-1.55,-116.8,338.3,-10.5,180,2865,0.12,2.53,0.00,0.000,6,0.071,0.044,2804,1825,3500,0,0,0,0,0,0
$GC,3128,-1.55,-116.8,371.2,-12.4,187,3133,0.00,2.83,0.00,0.000,4,0.000,0.091,2804,247,3499,0,0,0,0,0,0
$GC,3155,-1.48,-116.8,374.9,-12.9,187,3160,0.15,2.40,0.00,0.000,6,0.108,0.025,2836,1776,3499,0,0,0,0,0,0
$GC,3405,-1.51,-116.8,399.4,-9.5,193,3410,0.00,2.60,0.00,0.000,4,0.000,0.053,2836,3365,3498,0,0,0,0,0,0
$GC,3435,-1.57,-116.8,402.3,-9.9,193,3439,0.00,2.58,0.00,0.000,6,0.000,0.050,2836,1824,3498,0,0,0,0,0,0
$GC,3685,-1.61,-116.8,426.5,-9.6,199,3687,0.12,0.00,0.00,0.000,6,0.074,0.000,2794,1824,3496,0,0,0,0,0,0
$GC,3928,-1.61,-116.8,456.6,-12.6,205,3932,0.00,2.55,0.00,0.000,4,0.000,0.054,2794,3360,3494,0,0,0,0,0,0
$GC,4013,-1.61,-116.8,467.6,-12.9,207,4017,0.00,2.62,0.00,0.000,6,0.000,0.065,2794,1828,3494,0,0,0,0,0,0
$STATE,4294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4294,begin apogee
$GC,4300,-0.31,0.0,502.5,12.2,214,4401,1.30,0.00,97.15,0.908,6,0.081,0.000,3089,1965,3020,0,0,0,0,0,0
$STATE,4402,end apogee,CONTROL_FINISHED_OK
$STATE,4402,begin climb
$GC,4404,1.38,116.8,505.7,0.0,216,4509,1.55,0.00,100.38,0.887,6,0.041,0.000,3463,1965,2543,0,0,0,0,0,0
$GC,4733,1.33,165.2,491.3,7.2,224,4782,0.00,2.83,41.65,0.871,4,0.000,0.056,3463,3558,2345,0,0,0,0,0,0
$GC,4788,1.26,193.0,486.5,8.4,225,4822,0.15,2.70,25.90,0.841,6,0.119,0.056,3434,2002,2232,0,0,0,0,0,0
$GC,5103,1.26,193.0,455.1,10.2,233,5108,0.00,2.62,0.00,0.000,4,0.000,0.044,3434,3565,2223,0,0,0,0,0,0
$GC,5142,1.26,193.0,450.6,11.2,234,5147,0.00,2.65,0.00,0.000,6,0.000,0.054,3434,2000,2221,0,0,0,0,0,0
$GC,5427,1.26,193.0,420.3,10.7,241,5431,0.00,2.58,0.00,0.000,4,0.000,0.041,3434,3561,2219,0,0,0,0,0,0
$GC,5466,1.26,193.0,415.8,11.1,242,5471,0.00,2.62,0.00,0.000,6,0.000,0.046,3434,2005,2219,0,0,0,0,0,0
$GC,5749,1.28,212.0,389.4,8.9,249,5770,0.00,2.97,15.68,0.802,4,0.000,0.096,3434,408,2153,0,0,0,0,0,0
$GC,5789,1.30,225.5,385.8,9.3,250,5809,0.00,2.58,13.57,0.781,6,0.000,0.030,3434,1998,2099,0,0,0,0,0,0
$GC,6076,1.33,249.5,359.9,8.7,257,6105,0.00,2.70,21.62,0.805,4,0.000,0.041,3434,3576,2001,0,0,0,0,0,0
$GC,6119,1.34,264.8,356.2,9.2,258,6139,0.00,2.60,14.95,0.770,6,0.000,0.035,3434,2008,1940,0,0,0,0,0,0
$GC,6401,1.34,264.8,327.0,10.4,265,6405,0.00,2.83,0.00,0.000,4,0.000,0.075,3434,404,1933,0,0,0,0,0,0
$GC,6433,1.34,264.8,323.4,10.9,265,6439,0.00,2.53,0.00,0.000,6,0.000,0.025,3434,2016,1932,0,0,0,0,0,0
$GC,6685,1.35,268.9,298.5,9.8,272,6689,0.00,2.75,0.00,0.000,4,0.000,0.060,3434,411,1931,0,0,0,0,0,0
$GC,6700,1.35,272.4,296.6,9.8,272,6714,0.00,2.50,6.72,0.658,6,0.000,0.025,3434,1994,1908,0,0,0,0,0,0
$GC,6965,1.43,294.3,272.4,8.8,279,6988,0.15,0.00,20.40,0.747,6,0.071,0.000,3474,1994,1820,0,0,0,0,0,0
$GC,7209,1.43,294.3,244.5,11.8,285,7214,0.00,2.55,0.00,0.000,4,0.000,0.039,3474,3569,1814,0,0,0,0,0,0
$GC,7231,1.43,294.3,241.3,13.3,285,7235,0.00,2.60,0.00,0.000,6,0.000,0.038,3474,1984,1813,0,0,0,0,0,0
$GC,7487,1.43,294.3,208.9,12.6,292,7491,0.00,2.70,0.00,0.000,4,0.000,0.069,3475,413,1812,0,0,0,0,0,0
$GC,7510,1.39,294.3,205.9,14.0,292,7514,0.00,2.50,0.00,0.000,6,0.000,0.021,3475,2000,1811,0,0,0,0,0,0
$GC,7777,1.39,294.3,172.5,12.3,314,7782,0.00,0.00,0.00,0.000,6,0.000,0.000,3475,2001,1811,0,0,0,0,0,0
$GC,8043,1.39,294.3,142.2,11.3,339,8047,0.00,2.70,0.00,0.000,4,0.000,0.055,3474,404,1810,0,0,0,0,0,0
$GC,8076,1.39,294.3,137.2,13.2,341,8082,0.00,2.42,0.00,0.000,6,0.000,0.020,3475,1977,1810,0,0,0,0,0,0
$GC,8339,1.39,294.3,107.5,11.4,366,8343,0.00,2.53,0.00,0.000,4,0.000,0.032,3475,3560,1809,0,0,0,0,0,0
$GC,8361,1.39,294.3,105.5,10.7,367,8365,0.00,2.55,0.00,0.000,6,0.000,0.030,3474,1979,1809,0,0,0,0,0,0
$GC,8627,1.44,296.0,78.0,9.9,391,8632,0.00,2.65,0.00,0.000,4,0.000,0.059,3475,406,1809,0,0,0,0,0,0
$GC,8651,1.45,305.2,75.8,9.5,392,8666,0.00,2.45,9.35,0.541,6,0.000,0.020,3475,2009,1774,0,0,0,0,0,0
$GC,8922,1.56,331.6,51.9,8.5,417,8953,0.10,2.78,23.55,0.558,4,0.094,0.050,3505,414,1668,0,0,0,0,0,0
$GC,8991,1.56,331.6,44.9,12.3,422,8995,0.00,2.47,0.00,0.000,6,0.000,0.018,3505,1998,1665,0,0,0,0,0,0
$GC,9293,1.57,345.3,9.6,9.2,458,9310,0.00,0.00,12.52,0.496,6,0.000,0.000,3505,2000,1610,0,0,0,0,0,0
$STATE,9345,end climb,SURFACE_DEPTH_REACHED
$STATE,9345,begin surface coast
$FINISH,0.5,0.975420
$STATE,9395,end surface coast,CONTROL_FINISHED_OK
$STATE,9396,begin surface
$SM_CCo,9419,27.88,0.512,0,0,1470,380.21
$SM_GC,1.19,0.00,0.00,27.88,0.000,0.000,0.512,478,1811,1470,-12.34,-0.57,380.21
$IRIDIUM_FIX,2237.01,-15802.37,030900,080850
$TT8_MAMPS,0.026078
$HUMID,60.82
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.00
$XPDR_PINGS,45
$24V_AH,23.5,31.563
$10V_AH,10.4,27.438
$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,28.525,124.200,403.450,27.875,0.000,57.887,114.873,305.701,11.250,0.000,40.646,961.703,6155.314,505.906,1772.687,749.048,33.372,1192.052,0.000,1748.710,0.000,0.536,0.000
$DEVICE_MAMPS,134.992,135.759,908.128,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,319.374,274.492,365.091,689.341,1042.593,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,38395,472
$CAP_FILE_SIZE,105217,0
$CFSIZE,260165632,169168896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100611,133757,2250.064,-15803.178,40,2.2,59,10.1