version: 66.06
glider: 146
mission: 6
dive: 258
start: 6 11 111 10 44 8
data:
$ID,146
$MISSION,6
$DIVE,258
$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,-274133.31
$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,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,45
$R_STBD_OVSHOOT,53
$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
$GPS1,102625,2248.377,-15757.911,58,1.5,58,10.1
$_CALLS,3
$_XMS_NAKs,20
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-72.1
$GPS2,104312,2248.453,-15758.057,13,2.9,32,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.077,-0.222
$KALMAN_X,-102179.7,-466.0,-29.4,100533.7,-483.8
$KALMAN_Y,-70482.8,272.8,-371.6,79010.3,411.3
$MHEAD_RNG_PITCHd_Wd,150.7,2727,-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,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.62,0.000,2,0.000,0.000,474,1811,3282,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.9,-7.4,9,117,12.07,2.65,-3.67,0.000,4,0.139,0.067,2850,265,3490,0,0,0,0,0,0
$GC,143,-0.99,-116.8,22.0,-31.8,15,152,0.40,2.45,0.00,0.000,6,0.097,0.015,2940,1875,3491,0,0,0,0,0,0
$GC,423,-0.99,-116.8,57.7,-11.1,43,427,0.00,2.33,0.00,0.000,4,0.000,0.024,2940,3360,3491,0,0,0,0,0,0
$GC,458,-1.06,-116.8,61.8,-11.4,45,463,0.00,2.40,0.00,0.000,6,0.000,0.025,2940,1845,3492,0,0,0,0,0,0
$GC,725,-1.15,-116.8,92.5,-10.6,69,730,0.12,2.67,0.00,0.000,4,0.071,0.061,2895,257,3492,0,0,0,0,0,0
$GC,759,-1.15,-116.8,96.6,-13.1,71,764,0.00,2.38,0.00,0.000,6,0.000,0.015,2895,1844,3492,0,0,0,0,0,0
$GC,1026,-1.15,-116.8,129.0,-10.5,95,1030,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1845,3493,0,0,0,0,0,0
$GC,1288,-1.21,-116.8,157.5,-10.9,120,1289,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1845,3493,0,0,0,0,0,0
$GC,1544,-1.28,-116.8,182.4,-10.0,144,1545,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1845,3493,0,0,0,0,0,0
$GC,1803,-1.36,-116.8,208.9,-10.3,163,1808,0.12,2.38,0.00,0.000,4,0.069,0.029,2848,3363,3493,0,0,0,0,0,0
$GC,1849,-1.36,-116.8,214.2,-12.3,164,1853,0.00,2.40,0.00,0.000,6,0.000,0.025,2848,1835,3493,0,0,0,0,0,0
$GC,2126,-1.36,-116.8,244.8,-10.3,171,2130,0.00,2.38,0.00,0.000,4,0.000,0.030,2847,3360,3493,0,0,0,0,0,0
$GC,2167,-1.40,-116.8,249.0,-10.2,172,2171,0.00,2.42,0.00,0.000,6,0.000,0.027,2847,1839,3493,0,0,0,0,0,0
$GC,2449,-1.40,-116.8,280.5,-11.3,179,2450,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1838,3493,0,0,0,0,0,0
$GC,2693,-1.44,-116.8,307.7,-11.0,185,2698,0.00,2.40,0.00,0.000,4,0.000,0.029,2848,3357,3493,0,0,0,0,0,0
$GC,2711,-1.48,-116.8,309.6,-10.9,185,2715,0.00,2.42,0.00,0.000,6,0.000,0.031,2848,1858,3493,0,0,0,0,0,0
$GC,2972,-1.53,-116.8,337.2,-10.6,192,2973,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1858,3492,0,0,0,0,0,0
$GC,3215,-1.58,-116.8,363.2,-10.6,198,3217,0.15,0.00,0.00,0.000,6,0.064,0.000,2797,1859,3491,0,0,0,0,0,0
$GC,3459,-1.58,-116.8,390.7,-11.5,204,3463,0.00,2.42,0.00,0.000,4,0.000,0.042,2797,3349,3490,0,0,0,0,0,0
$GC,3537,-1.58,-116.8,399.6,-11.1,205,3543,0.00,2.53,0.00,0.000,6,0.000,0.060,2796,1857,3489,0,0,0,0,0,0
$GC,3787,-1.58,-116.8,428.1,-11.5,212,3788,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1856,3488,0,0,0,0,0,0
$GC,4030,-1.58,-116.8,455.7,-11.5,218,4035,0.00,2.45,0.00,0.000,4,0.000,0.053,2797,3349,3486,0,0,0,0,0,0
$GC,4048,-1.58,-116.8,457.5,-11.3,218,4052,0.00,2.53,0.00,0.000,6,0.000,0.055,2797,1849,3486,0,0,0,0,0,0
$GC,4308,-1.58,-116.8,489.3,-12.4,225,4309,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1850,3484,0,0,0,0,0,0
$STATE,4427,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4428,begin apogee
$GC,4434,-0.31,0.0,504.3,12.3,228,4534,1.30,0.00,97.00,0.908,6,0.080,0.000,3090,1956,3010,0,0,0,0,0,0
$STATE,4535,end apogee,CONTROL_FINISHED_OK
$STATE,4535,begin climb
$GC,4539,1.38,116.8,507.4,0.0,230,4643,1.58,0.00,99.85,0.889,6,0.044,0.000,3468,1956,2533,0,0,0,0,0,0
$GC,4874,1.30,144.3,488.8,8.4,239,4904,0.12,2.95,23.48,0.851,4,0.125,0.098,3443,407,2420,0,0,0,0,0,0
$GC,4921,1.20,146.4,484.2,9.9,240,4927,0.10,2.60,0.00,0.000,6,0.135,0.036,3424,1979,2418,0,0,0,0,0,0
$GC,5201,1.23,171.9,460.2,8.6,247,5231,0.00,2.90,24.75,0.850,4,0.000,0.082,3423,400,2308,0,0,0,0,0,0
$GC,5254,1.18,173.1,454.9,10.0,248,5258,0.00,2.62,0.00,0.000,6,0.000,0.030,3423,1987,2305,0,0,0,0,0,0
$GC,5521,1.21,197.5,431.3,8.6,255,5551,0.00,2.78,23.25,0.841,4,0.000,0.057,3423,3580,2203,0,0,0,0,0,0
$GC,5579,1.21,197.5,425.6,10.3,256,5583,0.00,2.70,0.00,0.000,6,0.000,0.050,3423,1990,2200,0,0,0,0,0,0
$GC,5847,1.23,217.3,401.9,8.9,263,5867,0.00,0.00,17.90,0.817,6,0.000,0.000,3423,1989,2123,0,0,0,0,0,0
$GC,6090,1.23,220.8,378.5,9.8,269,6099,0.00,2.65,4.20,0.565,4,0.000,0.036,3423,3582,2109,0,0,0,0,0,0
$GC,6127,1.23,220.8,374.3,11.1,269,6133,0.00,2.65,0.00,0.000,6,0.000,0.038,3423,1990,2108,0,0,0,0,0,0
$GC,6377,1.23,220.8,346.5,11.2,276,6378,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,1990,2107,0,0,0,0,0,0
$GC,6622,1.25,231.4,322.5,9.4,282,6638,0.00,2.80,10.27,0.741,4,0.000,0.077,3423,401,2065,0,0,0,0,0,0
$GC,6699,1.25,231.4,313.7,12.1,283,6705,0.00,2.58,0.00,0.000,6,0.000,0.020,3423,2026,2063,0,0,0,0,0,0
$GC,6952,1.31,250.8,290.9,8.9,290,6976,0.10,2.58,18.38,0.763,4,0.097,0.042,3451,3551,1986,0,0,0,0,0,0
$GC,7021,1.31,250.8,283.7,11.0,291,7025,0.00,2.58,0.00,0.000,6,0.000,0.035,3451,1990,1984,0,0,0,0,0,0
$GC,7277,1.31,250.8,257.2,10.7,298,7281,0.00,2.72,0.00,0.000,4,0.000,0.066,3451,414,1981,0,0,0,0,0,0
$GC,7317,1.31,250.8,252.6,12.6,299,7321,0.00,2.47,0.00,0.000,6,0.000,0.019,3451,1994,1980,0,0,0,0,0,0
$GC,7601,1.31,250.8,222.9,10.4,306,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1994,1980,0,0,0,0,0,0
$GC,7845,1.31,251.7,198.5,10.0,312,7849,0.00,2.53,0.00,0.000,4,0.000,0.035,3451,3559,1979,0,0,0,0,0,0
$GC,7879,1.31,251.7,195.0,10.2,314,7885,0.00,2.55,0.00,0.000,6,0.000,0.036,3451,1990,1978,0,0,0,0,0,0
$GC,8142,1.37,264.2,169.1,9.3,339,8160,0.00,0.00,11.93,0.640,6,0.000,0.000,3451,1990,1931,0,0,0,0,0,0
$GC,8422,1.47,303.0,141.7,7.8,365,8462,0.12,0.00,34.80,0.647,6,0.081,0.000,3488,1990,1772,0,0,0,0,0,0
$GC,8717,1.49,318.1,112.6,9.2,393,8736,0.00,0.00,13.50,0.588,6,0.000,0.000,3488,1989,1712,0,0,0,0,0,0
$GC,8995,1.49,318.8,82.7,10.0,419,8999,0.00,2.65,0.00,0.000,4,0.000,0.055,3488,408,1710,0,0,0,0,0,0
$GC,9027,1.49,318.8,78.8,12.3,421,9032,0.00,2.45,0.00,0.000,6,0.000,0.018,3488,2006,1708,0,0,0,0,0,0
$GC,9296,1.56,318.8,48.8,10.4,445,9300,0.00,2.45,0.00,0.000,4,0.000,0.032,3488,3551,1709,0,0,0,0,0,0
$GC,9377,1.63,321.1,39.9,9.9,451,9382,0.10,2.47,0.00,0.000,6,0.086,0.029,3519,1997,1708,0,0,0,0,0,0
$GC,9688,1.63,321.1,4.5,13.1,492,9697,0.00,2.65,0.00,0.000,4,0.000,0.056,3520,411,1709,0,0,0,0,0,0
$STATE,9705,end climb,SURFACE_DEPTH_REACHED
$STATE,9705,begin surface coast
$FINISH,0.7,0.980007
$STATE,9727,end surface coast,CONTROL_FINISHED_OK
$STATE,9727,begin surface
$SM_CCo,9751,50.10,0.520,0,0,1460,380.21
$SM_GC,1.28,0.00,0.00,50.10,0.000,0.000,0.520,482,1898,1460,-12.32,1.92,380.21
$IRIDIUM_FIX,2241.69,-15759.32,040900,101041
$TT8_MAMPS,0.026078
$HUMID,61.02
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.10
$XPDR_PINGS,36
$24V_AH,23.5,32.633
$10V_AH,10.4,28.350
$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,28.725,96.875,379.300,50.100,0.000,81.140,126.163,508.038,9.000,0.000,34.634,978.815,6551.811,502.327,1773.968,1007.474,33.372,1126.586,0.000,1770.105,0.000,0.537,0.000
$DEVICE_MAMPS,138.827,201.721,908.128,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.611,291.984,385.433,718.040,1086.075,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355664
$DATA_FILE_SIZE,38462,497
$CAP_FILE_SIZE,103352,0
$CFSIZE,260165632,168747008
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110611,132840,2247.274,-15758.396,8,99.0,27,10.1