version: 66.06
glider: 146
mission: 6
dive: 217
start: 6 6 111 9 4 14
data:
$ID,146
$MISSION,6
$DIVE,217
$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,-272949.88
$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,38
$R_STBD_OVSHOOT,56
$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
$GPS1,085714,2249.828,-15800.085,11,1.7,11,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-67.7
$GPS2,090320,2249.951,-15800.101,14,1.7,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.224,-0.071
$KALMAN_X,-88662.0,-120.4,66.9,83072.9,256.6
$KALMAN_Y,-102629.6,594.5,79.1,113159.4,746.3
$MHEAD_RNG_PITCHd_Wd,97.4,5294,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,90,0.00,0.00,-70.68,0.000,2,0.000,0.000,476,1813,3258,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.6,-6.2,9,119,12.38,2.62,-4.40,0.000,4,0.151,0.060,2846,266,3499,0,0,0,0,0,0
$GC,139,-0.69,-116.8,18.7,-33.8,14,147,0.70,2.42,0.00,0.000,6,0.096,0.015,3001,1849,3500,0,0,0,0,0,0
$GC,427,-0.86,-116.8,48.4,-8.0,45,437,0.15,0.00,0.00,0.000,6,0.063,0.000,2951,1851,3502,0,0,0,0,0,0
$GC,693,-0.96,-116.8,77.3,-10.1,70,697,0.00,2.40,0.00,0.000,4,0.000,0.031,2952,3373,3503,0,0,0,0,0,0
$GC,771,-1.13,-116.8,85.2,-9.6,76,776,0.17,2.45,0.00,0.000,6,0.054,0.026,2888,1824,3503,0,0,0,0,0,0
$GC,1035,-1.13,-116.8,118.4,-13.0,100,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1824,3504,0,0,0,0,0,0
$GC,1287,-1.18,-116.8,147.1,-11.3,124,1291,0.00,2.42,0.00,0.000,4,0.000,0.026,2889,3377,3504,0,0,0,0,0,0
$GC,1368,-1.28,-116.8,155.3,-10.0,130,1372,0.00,2.47,0.00,0.000,6,0.000,0.028,2888,1818,3504,0,0,0,0,0,0
$GC,1636,-1.34,-116.8,183.9,-9.9,154,1643,0.10,0.00,0.00,0.000,6,0.083,0.000,2843,1818,3505,0,0,0,0,0,0
$GC,1902,-1.34,-116.8,215.8,-12.0,171,1906,0.00,2.42,0.00,0.000,4,0.000,0.033,2843,3370,3505,0,0,0,0,0,0
$GC,1979,-1.38,-116.8,225.1,-12.2,172,1985,0.00,2.42,0.00,0.000,6,0.000,0.026,2843,1832,3505,0,0,0,0,0,0
$GC,2230,-1.38,-116.8,253.9,-11.6,179,2234,0.00,2.42,0.00,0.000,4,0.000,0.035,2843,3374,3505,0,0,0,0,0,0
$GC,2280,-1.44,-116.8,259.9,-11.9,180,2285,0.00,2.45,0.00,0.000,6,0.000,0.027,2843,1843,3505,0,0,0,0,0,0
$GC,2552,-1.44,-116.8,290.2,-11.0,187,2557,0.00,2.45,0.00,0.000,4,0.000,0.033,2843,3375,3506,0,0,0,0,0,0
$GC,2581,-1.48,-116.8,293.3,-10.6,187,2586,0.00,2.45,0.00,0.000,6,0.000,0.038,2843,1845,3505,0,0,0,0,0,0
$GC,2831,-1.48,-116.8,318.1,-9.9,193,2832,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1845,3505,0,0,0,0,0,0
$GC,3075,-1.52,-116.8,340.9,-9.2,199,3080,0.00,2.47,0.00,0.000,4,0.000,0.035,2843,3374,3504,0,0,0,0,0,0
$GC,3127,-1.60,-116.8,346.0,-9.7,200,3132,0.15,2.50,0.00,0.000,6,0.066,0.044,2794,1857,3505,0,0,0,0,0,0
$GC,3400,-1.56,-116.8,378.5,-12.1,207,3404,0.10,2.45,0.00,0.000,4,0.125,0.047,2815,3361,3502,0,0,0,0,0,0
$GC,3421,-1.56,-116.8,381.2,-11.6,207,3425,0.00,2.53,0.00,0.000,6,0.000,0.051,2815,1852,3503,0,0,0,0,0,0
$GC,3678,-1.56,-116.8,409.1,-10.9,214,3682,0.00,2.47,0.00,0.000,4,0.000,0.048,2816,3360,3501,0,0,0,0,0,0
$GC,3727,-1.60,-116.8,414.6,-10.9,215,3732,0.00,2.53,0.00,0.000,6,0.000,0.054,2815,1859,3501,0,0,0,0,0,0
$GC,4000,-1.60,-116.8,443.3,-10.7,222,4004,0.00,3.00,0.00,0.000,4,0.000,0.107,2815,237,3499,0,0,0,0,0,0
$GC,4022,-1.60,-116.8,445.8,-11.2,222,4026,0.00,2.53,0.00,0.000,6,0.000,0.036,2815,1804,3499,0,0,0,0,0,0
$GC,4276,-1.60,-116.8,472.9,-10.3,229,4278,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1804,3497,0,0,0,0,0,0
$GC,4520,-1.60,-116.8,497.4,-10.1,235,4521,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1803,3496,0,0,0,0,0,0
$STATE,4558,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4558,begin apogee
$GC,4566,-0.31,0.0,501.3,10.1,236,4667,1.20,0.00,97.07,0.920,6,0.079,0.000,3087,2004,3020,0,0,0,0,0,0
$STATE,4668,end apogee,CONTROL_FINISHED_OK
$STATE,4668,begin climb
$GC,4670,1.38,116.8,503.6,0.0,238,4780,1.58,2.78,99.70,0.900,4,0.044,0.070,3459,3572,2541,0,0,0,0,0,0
$GC,4834,1.30,155.8,500.4,7.8,242,4873,0.00,2.70,33.60,0.875,6,0.000,0.049,3459,1994,2385,0,0,0,0,0,0
$GC,5137,1.24,171.0,472.6,9.2,250,5153,0.17,0.00,13.73,0.823,6,0.112,0.000,3425,1994,2322,0,0,0,0,0,0
$GC,5380,1.27,200.2,452.1,8.4,256,5408,0.00,0.00,26.67,0.861,6,0.000,0.000,3425,1994,2203,0,0,0,0,0,0
$GC,5622,1.27,200.2,428.2,10.2,262,5627,0.00,2.92,0.00,0.000,4,0.000,0.101,3424,403,2197,0,0,0,0,0,0
$GC,5651,1.22,200.2,425.2,10.8,262,5655,0.00,2.60,0.00,0.000,6,0.000,0.026,3424,1998,2196,0,0,0,0,0,0
$GC,5900,1.24,216.6,401.9,9.1,268,5917,0.00,0.00,14.82,0.818,6,0.000,0.000,3424,1999,2136,0,0,0,0,0,0
$GC,6146,1.26,230.1,379.3,9.3,274,6160,0.00,0.00,12.90,0.798,6,0.000,0.000,3424,1999,2081,0,0,0,0,0,0
$GC,6388,1.28,247.0,357.0,9.1,280,6411,0.00,2.65,16.33,0.806,4,0.000,0.041,3424,3577,2011,0,0,0,0,0,0
$GC,6429,1.28,249.1,353.0,9.9,281,6434,0.00,2.65,0.00,0.000,6,0.000,0.035,3424,1987,2009,0,0,0,0,0,0
$GC,6713,1.28,249.1,324.7,10.3,288,6715,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1987,2007,0,0,0,0,0,0
$GC,6956,1.32,249.1,299.8,10.2,294,6957,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1987,2005,0,0,0,0,0,0
$GC,7200,1.37,253.6,275.5,9.8,300,7214,0.12,2.72,6.07,0.645,4,0.081,0.066,3460,411,1985,0,0,0,0,0,0
$GC,7244,1.30,253.6,270.5,12.6,301,7250,0.10,2.55,0.00,0.000,6,0.131,0.021,3440,2015,1984,0,0,0,0,0,0
$GC,7528,1.30,253.6,241.1,10.2,308,7532,0.00,2.53,0.00,0.000,4,0.000,0.043,3440,3565,1983,0,0,0,0,0,0
$GC,7550,1.30,253.6,238.7,10.7,308,7554,0.00,2.55,0.00,0.000,6,0.000,0.038,3440,1993,1982,0,0,0,0,0,0
$GC,7807,1.31,262.1,214.3,9.5,315,7821,0.00,2.75,8.68,0.659,4,0.000,0.067,3440,426,1951,0,0,0,0,0,0
$GC,7860,1.31,262.1,208.5,10.5,316,7865,0.00,2.47,0.00,0.000,6,0.000,0.025,3440,2014,1949,0,0,0,0,0,0
$GC,8122,1.36,266.0,184.3,9.8,333,8132,0.00,0.00,4.78,0.533,6,0.000,0.000,3440,2014,1934,0,0,0,0,0,0
$GC,8390,1.42,269.9,159.2,9.8,358,8402,0.10,2.53,5.30,0.538,4,0.097,0.038,3470,3567,1918,0,0,0,0,0,0
$GC,8430,1.42,269.9,155.0,11.3,361,8434,0.00,2.53,0.00,0.000,6,0.000,0.030,3469,2008,1917,0,0,0,0,0,0
$GC,8696,1.42,269.9,126.5,11.1,385,8701,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2007,1916,0,0,0,0,0,0
$GC,8958,1.42,269.9,98.9,10.5,410,8963,0.00,2.67,0.00,0.000,4,0.000,0.061,3469,417,1916,0,0,0,0,0,0
$GC,9004,1.42,269.9,94.1,11.1,413,9008,0.00,2.50,0.00,0.000,6,0.000,0.018,3469,2033,1915,0,0,0,0,0,0
$GC,9272,1.48,277.9,68.1,9.6,437,9286,0.00,2.75,8.30,0.532,4,0.000,0.052,3469,415,1887,0,0,0,0,0,0
$GC,9304,1.52,284.1,64.9,9.7,439,9319,0.00,2.45,7.05,0.504,6,0.000,0.017,3469,2012,1861,0,0,0,0,0,0
$GC,9576,1.62,305.9,41.2,8.8,464,9605,0.15,2.53,20.05,0.553,4,0.070,0.031,3514,3548,1772,0,0,0,0,0,0
$GC,9790,1.62,305.9,17.2,11.6,488,9799,0.00,2.47,0.00,0.000,6,0.000,0.031,3514,2035,1769,0,0,0,0,0,0
$STATE,9909,end climb,SURFACE_DEPTH_REACHED
$STATE,9909,begin surface coast
$FINISH,0.6,0.980048
$STATE,9963,end surface coast,CONTROL_FINISHED_OK
$STATE,9963,begin surface
$SM_CCo,9985,59.85,0.527,0,0,1470,380.21
$SM_GC,1.24,0.00,0.00,59.85,0.000,0.000,0.527,476,1799,1470,-12.32,-0.88,380.21
$IRIDIUM_FIX,2239.35,-15802.37,300800,060649
$TT8_MAMPS,0.026078
$HUMID,59.21
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.10
$XPDR_PINGS,35
$24V_AH,23.5,27.062
$10V_AH,10.4,23.736
$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,29.575,102.850,375.050,59.850,0.000,27.319,34.613,170.652,8.750,0.000,15.607,1026.981,6478.812,506.103,1894.519,505.510,33.373,1176.032,0.000,1901.306,0.000,0.535,0.000
$DEVICE_MAMPS,151.099,106.613,919.633,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,347.303,301.320,400.058,781.893,1182.714,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,41628,512
$CAP_FILE_SIZE,101539,0
$CFSIZE,260165632,170913792
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060611,115300,2250.199,-15758.544,40,1.3,40,10.1