version: 66.06
glider: 146
mission: 6
dive: 227
start: 6 7 111 14 41 30
data:
$ID,146
$MISSION,6
$DIVE,227
$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,623.79791
$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,-273251.97
$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,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
$GPS1,142507,2247.087,-15802.894,33,1.3,33,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-70.4
$GPS2,144034,2247.179,-15802.948,9,2.6,28,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.018,0.234
$KALMAN_X,-89968.9,307.6,-14.0,79167.7,-224.4
$KALMAN_Y,-93312.9,370.4,157.2,98849.8,337.4
$MHEAD_RNG_PITCHd_Wd,354.3,5226,-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,16,-1.38,-116.6,0.0,0.0,0,89,0.00,0.00,-70.70,0.000,2,0.000,0.000,475,1801,3248,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.3,-5.9,9,117,12.65,2.53,-4.72,0.000,4,0.161,0.040,2843,3393,3498,0,0,0,0,0,0
$GC,222,-1.29,-116.8,33.3,-17.2,26,232,0.10,2.50,0.00,0.000,6,0.102,0.026,2868,1842,3500,0,0,0,0,0,0
$GC,488,-1.24,-116.8,74.0,-14.4,51,493,0.00,2.42,0.00,0.000,4,0.000,0.024,2868,3394,3501,0,0,0,0,0,0
$GC,511,-1.24,-116.8,78.0,-13.4,52,520,0.00,2.50,0.00,0.000,6,0.000,0.025,2868,1838,3501,0,0,0,0,0,0
$GC,777,-1.24,-116.8,111.7,-13.4,77,782,0.00,2.45,0.00,0.000,4,0.000,0.031,2868,3394,3502,0,0,0,0,0,0
$GC,881,-1.28,-116.8,124.4,-11.8,85,885,0.00,2.42,0.00,0.000,6,0.000,0.031,2868,1851,3501,0,0,0,0,0,0
$GC,1149,-1.28,-116.8,159.1,-12.6,109,1153,0.00,2.70,0.00,0.000,4,0.000,0.061,2868,258,3502,0,0,0,0,0,0
$GC,1246,-1.28,-116.8,172.8,-13.0,117,1250,0.00,2.40,0.00,0.000,6,0.000,0.021,2868,1859,3502,0,0,0,0,0,0
$GC,1540,-1.28,-116.8,204.7,-10.8,141,1544,0.00,2.70,0.00,0.000,4,0.000,0.060,2868,258,3503,0,0,0,0,0,0
$GC,1560,-1.28,-116.8,207.7,-12.0,141,1565,0.00,2.35,0.00,0.000,6,0.000,0.016,2868,1828,3502,0,0,0,0,0,0
$GC,1824,-1.33,-116.8,234.5,-10.0,148,1828,0.00,2.42,0.00,0.000,4,0.000,0.035,2868,3377,3503,0,0,0,0,0,0
$GC,1851,-1.39,-116.8,237.8,-10.7,148,1856,0.00,2.42,0.00,0.000,6,0.000,0.032,2867,1836,3503,0,0,0,0,0,0
$GC,2107,-1.45,-116.8,266.0,-11.0,155,2109,0.12,0.00,0.00,0.000,6,0.072,0.000,2824,1837,3503,0,0,0,0,0,0
$GC,2350,-1.45,-116.8,295.0,-11.8,161,2355,0.00,2.45,0.00,0.000,4,0.000,0.038,2824,3382,3502,0,0,0,0,0,0
$GC,2379,-1.45,-116.8,298.6,-12.2,161,2383,0.00,2.45,0.00,0.000,6,0.000,0.031,2824,1850,3502,0,0,0,0,0,0
$GC,2628,-1.45,-116.8,328.4,-11.8,167,2633,0.00,2.42,0.00,0.000,4,0.000,0.034,2824,3376,3501,0,0,0,0,0,0
$GC,2684,-1.49,-116.8,335.1,-12.1,168,2688,0.00,2.47,0.00,0.000,6,0.000,0.037,2824,1856,3501,0,0,0,0,0,0
$GC,2951,-1.49,-116.8,364.3,-10.9,175,2956,0.00,2.42,0.00,0.000,4,0.000,0.042,2824,3370,3500,0,0,0,0,0,0
$GC,2973,-1.49,-116.8,367.1,-10.8,175,2977,0.00,2.50,0.00,0.000,6,0.000,0.047,2824,1858,3500,0,0,0,0,0,0
$GC,3229,-1.49,-116.8,393.6,-10.3,182,3233,0.00,2.47,0.00,0.000,4,0.000,0.045,2824,3378,3499,0,0,0,0,0,0
$GC,3274,-1.54,-116.8,398.5,-11.1,183,3279,0.00,2.53,0.00,0.000,6,0.000,0.053,2824,1868,3499,0,0,0,0,0,0
$GC,3552,-1.54,-116.8,426.3,-10.1,190,3557,0.00,2.97,0.00,0.000,4,0.000,0.104,2824,244,3496,0,0,0,0,0,0
$GC,3573,-1.54,-116.8,428.6,-10.9,190,3577,0.00,2.53,0.00,0.000,6,0.000,0.033,2824,1824,3497,0,0,0,0,0,0
$GC,3830,-1.54,-116.8,454.3,-10.1,197,3834,0.00,2.67,0.00,0.000,4,0.000,0.064,2824,3418,3495,0,0,0,0,0,0
$GC,3863,-1.58,-116.8,458.0,-11.0,197,3868,0.00,2.60,0.00,0.000,6,0.000,0.053,2824,1872,3495,0,0,0,0,0,0
$GC,4112,-1.58,-116.8,484.7,-10.8,204,4117,0.00,2.58,0.00,0.000,4,0.000,0.051,2824,3415,3493,0,0,0,0,0,0
$GC,4147,-1.63,-116.8,488.4,-11.1,204,4153,0.10,2.62,0.00,0.000,6,0.084,0.062,2787,1878,3493,0,0,0,0,0,0
$STATE,4272,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4272,begin apogee
$GC,4278,-0.31,0.0,504.3,12.5,208,4379,1.33,0.00,96.47,0.911,6,0.084,0.000,3083,2018,3020,0,0,0,0,0,0
$STATE,4379,end apogee,CONTROL_FINISHED_OK
$STATE,4380,begin climb
$GC,4382,1.38,116.8,507.6,0.0,210,4494,1.58,2.67,99.30,0.894,4,0.046,0.062,3458,3551,2541,0,0,0,0,0,0
$GC,4507,1.40,220.1,507.1,4.1,213,4605,0.00,2.67,88.90,0.885,6,0.000,0.054,3458,1987,2122,0,0,0,0,0,0
$GC,4872,1.33,220.1,467.8,11.9,222,4876,0.00,2.62,0.00,0.000,4,0.000,0.049,3458,3558,2112,0,0,0,0,0,0
$GC,4899,1.27,220.1,464.2,13.2,222,4904,0.12,2.67,0.00,0.000,6,0.123,0.051,3434,1999,2111,0,0,0,0,0,0
$GC,5150,1.27,220.1,436.2,11.3,228,5154,0.00,2.60,0.00,0.000,4,0.000,0.041,3434,3558,2109,0,0,0,0,0,0
$GC,5165,1.27,220.1,434.0,11.1,228,5170,0.00,2.62,0.00,0.000,6,0.000,0.049,3434,2001,2108,0,0,0,0,0,0
$GC,5427,1.27,220.1,405.1,10.9,235,5431,0.00,2.90,0.00,0.000,4,0.000,0.095,3434,410,2107,0,0,0,0,0,0
$GC,5454,1.22,220.1,402.0,11.7,235,5458,0.00,2.53,0.00,0.000,6,0.000,0.028,3434,1983,2106,0,0,0,0,0,0
$GC,5705,1.24,234.3,377.9,9.2,241,5721,0.00,2.65,10.98,0.767,4,0.000,0.041,3434,3580,2064,0,0,0,0,0,0
$GC,5732,1.26,250.3,375.2,9.1,241,5753,0.00,2.62,16.02,0.789,6,0.000,0.037,3434,1992,1999,0,0,0,0,0,0
$GC,6029,1.26,250.5,346.4,10.0,249,6030,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1992,1994,0,0,0,0,0,0
$GC,6269,1.26,250.5,320.6,10.8,255,6274,0.00,2.78,0.00,0.000,4,0.000,0.077,3435,404,1992,0,0,0,0,0,0
$GC,6290,1.26,250.5,318.0,11.9,255,6295,0.00,2.55,0.00,0.000,6,0.000,0.020,3434,2031,1991,0,0,0,0,0,0
$GC,6546,1.26,250.5,291.3,10.2,262,6550,0.00,2.50,0.00,0.000,4,0.000,0.035,3434,3564,1991,0,0,0,0,0,0
$GC,6614,1.29,250.5,284.0,10.7,263,6619,0.00,2.53,0.00,0.000,6,0.000,0.031,3434,2009,1990,0,0,0,0,0,0
$GC,6869,1.31,264.5,259.9,9.2,270,6883,0.00,0.00,12.68,0.716,6,0.000,0.000,3434,2008,1941,0,0,0,0,0,0
$GC,7114,1.35,264.5,235.0,10.3,276,7119,0.00,2.72,0.00,0.000,4,0.000,0.066,3434,414,1938,0,0,0,0,0,0
$GC,7155,1.35,264.5,230.3,12.0,277,7159,0.00,2.50,0.00,0.000,6,0.000,0.026,3434,2011,1936,0,0,0,0,0,0
$GC,7438,1.41,272.3,202.1,9.6,284,7449,0.12,0.00,8.00,0.629,6,0.078,0.000,3470,2012,1908,0,0,0,0,0,0
$GC,7694,1.41,272.3,174.6,11.8,305,7698,0.00,2.72,0.00,0.000,4,0.000,0.060,3470,410,1906,0,0,0,0,0,0
$GC,7745,1.41,272.3,167.6,13.6,309,7749,0.00,2.50,0.00,0.000,6,0.000,0.025,3470,2013,1905,0,0,0,0,0,0
$GC,8013,1.41,272.3,139.4,10.7,333,8017,0.00,2.70,0.00,0.000,4,0.000,0.059,3470,415,1905,0,0,0,0,0,0
$GC,8057,1.41,272.3,133.4,12.0,336,8066,0.00,2.50,0.00,0.000,6,0.000,0.024,3470,1998,1904,0,0,0,0,0,0
$GC,8324,1.43,288.2,107.7,9.1,361,8348,0.00,2.58,14.60,0.599,4,0.000,0.038,3470,3556,1843,0,0,0,0,0,0
$GC,8377,1.43,288.2,102.5,10.2,365,8381,0.00,2.53,0.00,0.000,6,0.000,0.031,3470,1981,1843,0,0,0,0,0,0
$GC,8643,1.47,291.6,77.0,9.8,389,8658,0.00,2.67,4.12,0.413,4,0.000,0.061,3470,421,1831,0,0,0,0,0,0
$GC,8713,1.47,291.6,69.3,11.2,394,8717,0.00,2.42,0.00,0.000,6,0.000,0.023,3470,1991,1831,0,0,0,0,0,0
$GC,8980,1.58,318.8,44.2,8.5,418,9011,0.12,2.55,24.70,0.551,4,0.076,0.031,3508,3537,1719,0,0,0,0,0,0
$GC,9087,1.58,318.8,32.9,12.0,426,9092,0.00,2.50,0.00,0.000,6,0.000,0.028,3508,1977,1717,0,0,0,0,0,0
$STATE,9319,end climb,SURFACE_DEPTH_REACHED
$STATE,9319,begin surface coast
$FINISH,0.5,0.980135
$STATE,9362,end surface coast,CONTROL_FINISHED_OK
$STATE,9362,begin surface
$SM_CCo,9385,241.55,0.514,0,0,477,623.80
$SM_GC,1.15,0.00,0.00,241.55,0.000,0.000,0.514,478,1814,477,-12.32,-0.45,623.80
$IRIDIUM_FIX,2237.01,-15802.37,310800,141422
$TT8_MAMPS,0.025311
$HUMID,56.26
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,21.80
$XPDR_PINGS,48
$24V_AH,23.5,28.404
$10V_AH,10.4,24.854
$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,28.525,133.775,375.775,241.550,0.000,138.369,400.404,0.000,12.000,0.000,34.233,956.568,6325.052,675.703,1789.422,811.832,33.363,1361.708,0.000,1773.319,0.000,0.536,0.000
$DEVICE_MAMPS,161.070,150.332,911.196,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,314.547,258.205,355.804,678.873,1028.104,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355628
$DATA_FILE_SIZE,35333,464
$CAP_FILE_SIZE,101588,0
$CFSIZE,260165632,170369024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070611,172304,2248.475,-15802.965,6,2.6,25,10.1