version: 66.06
glider: 146
mission: 6
dive: 231
start: 6 8 111 2 36 3
data:
$ID,146
$MISSION,6
$DIVE,231
$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,-273322.28
$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,41
$R_STBD_OVSHOOT,59
$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
$GPS1,022007,2250.142,-15800.670,30,2.0,30,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.7
$GPS2,023507,2250.313,-15800.642,9,1.9,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.219,-0.085
$KALMAN_X,-90607.7,-264.6,39.7,84263.1,6.7
$KALMAN_Y,-89637.2,-271.7,266.2,101511.9,643.5
$MHEAD_RNG_PITCHd_Wd,101.1,6243,-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,15,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-71.25,0.000,2,0.000,0.000,474,1814,3295,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.7,-6.9,9,117,12.60,0.00,-3.67,0.000,6,0.159,0.000,2845,1814,3499,0,0,0,0,0,0
$GC,391,-1.24,-116.8,65.2,-17.5,42,396,0.17,2.50,0.00,0.000,4,0.126,0.025,2880,3390,3501,0,0,0,0,0,0
$GC,462,-1.24,-116.8,76.0,-13.6,47,466,0.00,2.45,0.00,0.000,6,0.000,0.030,2880,1838,3501,0,0,0,0,0,0
$GC,729,-1.24,-116.8,112.4,-13.4,71,734,0.00,2.65,0.00,0.000,4,0.000,0.061,2880,257,3501,0,0,0,0,0,0
$GC,770,-1.24,-116.8,119.0,-13.6,74,774,0.00,2.38,0.00,0.000,6,0.000,0.022,2880,1847,3501,0,0,0,0,0,0
$GC,1032,-1.24,-116.8,150.2,-10.7,98,1036,0.00,2.35,0.00,0.000,4,0.000,0.031,2880,3371,3502,0,0,0,0,0,0
$GC,1100,-1.32,-116.8,157.3,-11.1,103,1105,0.00,2.45,0.00,0.000,6,0.000,0.025,2880,1814,3502,0,0,0,0,0,0
$GC,1367,-1.37,-116.8,184.5,-9.6,127,1372,0.10,2.47,0.00,0.000,4,0.088,0.031,2842,3375,3502,0,0,0,0,0,0
$GC,1390,-1.37,-116.8,187.5,-10.3,128,1396,0.00,2.45,0.00,0.000,6,0.000,0.024,2841,1826,3503,0,0,0,0,0,0
$GC,1665,-1.37,-116.8,219.3,-11.5,143,1666,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1826,3503,0,0,0,0,0,0
$GC,1908,-1.37,-116.8,248.0,-11.9,149,1909,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1826,3502,0,0,0,0,0,0
$GC,2153,-1.37,-116.8,276.6,-11.5,155,2157,0.00,2.47,0.00,0.000,4,0.000,0.038,2841,3375,3502,0,0,0,0,0,0
$GC,2193,-1.42,-116.8,281.2,-10.9,156,2198,0.00,2.42,0.00,0.000,6,0.000,0.035,2841,1845,3503,0,0,0,0,0,0
$GC,2476,-1.42,-116.8,312.4,-10.8,163,2480,0.00,2.42,0.00,0.000,4,0.000,0.037,2841,3367,3501,0,0,0,0,0,0
$GC,2538,-1.47,-116.8,318.9,-10.3,164,2542,0.00,2.47,0.00,0.000,6,0.000,0.035,2842,1849,3501,0,0,0,0,0,0
$GC,2799,-1.47,-116.8,345.3,-10.0,171,2800,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1849,3501,0,0,0,0,0,0
$GC,3043,-1.52,-116.8,370.1,-10.2,177,3047,0.00,2.45,0.00,0.000,4,0.000,0.043,2841,3372,3500,0,0,0,0,0,0
$GC,3083,-1.58,-116.8,374.3,-10.6,178,3088,0.15,2.53,0.00,0.000,6,0.066,0.044,2791,1853,3499,0,0,0,0,0,0
$GC,3367,-1.54,-116.8,409.9,-12.6,185,3369,0.12,0.00,0.00,0.000,6,0.115,0.000,2816,1852,3497,0,0,0,0,0,0
$GC,3610,-1.54,-116.8,438.0,-11.4,191,3615,0.00,2.50,0.00,0.000,4,0.000,0.052,2816,3367,3496,0,0,0,0,0,0
$GC,3639,-1.54,-116.8,441.2,-11.4,191,3643,0.00,2.55,0.00,0.000,6,0.000,0.061,2816,1858,3496,0,0,0,0,0,0
$GC,3888,-1.54,-116.8,469.2,-11.2,197,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1858,3494,0,0,0,0,0,0
$GC,4132,-1.54,-116.8,495.0,-10.4,203,4133,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1858,3491,0,0,0,0,0,0
$STATE,4211,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4211,begin apogee
$GC,4219,-0.31,0.0,503.3,10.4,205,4319,1.20,0.00,96.57,0.916,6,0.082,0.000,3086,1959,3019,0,0,0,0,0,0
$STATE,4320,end apogee,CONTROL_FINISHED_OK
$STATE,4320,begin climb
$GC,4322,1.38,116.8,505.4,0.0,207,4426,1.58,0.00,100.10,0.894,6,0.046,0.000,3459,1959,2543,0,0,0,0,0,0
$GC,4658,1.31,143.4,485.6,8.5,216,4687,0.00,2.83,22.92,0.853,4,0.000,0.060,3458,3554,2433,0,0,0,0,0,0
$GC,4707,1.25,169.5,481.3,8.5,217,4737,0.15,2.70,24.27,0.848,6,0.120,0.056,3428,1988,2328,0,0,0,0,0,0
$GC,4983,1.27,189.4,456.2,8.9,223,5008,0.00,2.72,18.15,0.831,4,0.000,0.043,3429,3558,2246,0,0,0,0,0,0
$GC,5054,1.28,197.8,449.5,9.6,224,5070,0.00,2.65,8.60,0.746,6,0.000,0.049,3429,1997,2213,0,0,0,0,0,0
$GC,5314,1.31,222.2,426.2,8.6,231,5339,0.00,0.00,22.30,0.836,6,0.000,0.000,3429,1996,2114,0,0,0,0,0,0
$GC,5597,1.32,231.8,399.9,9.5,238,5611,0.00,2.65,9.32,0.754,4,0.000,0.043,3429,3569,2074,0,0,0,0,0,0
$GC,5634,1.32,231.8,395.9,10.3,239,5639,0.00,2.65,0.00,0.000,6,0.000,0.045,3429,2001,2072,0,0,0,0,0,0
$GC,5917,1.32,231.8,366.2,10.5,246,5918,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2001,2069,0,0,0,0,0,0
$GC,6163,1.33,235.2,341.8,9.8,252,6164,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,2000,2067,0,0,0,0,0,0
$GC,6405,1.34,249.0,319.0,9.2,258,6423,0.00,0.00,15.77,0.772,6,0.000,0.000,3429,2000,2004,0,0,0,0,0,0
$GC,6649,1.37,267.5,297.2,9.0,264,6674,0.10,2.65,17.52,0.761,4,0.095,0.038,3456,3566,1928,0,0,0,0,0,0
$GC,6703,1.37,267.5,291.5,11.5,265,6707,0.00,2.60,0.00,0.000,6,0.000,0.037,3457,1990,1926,0,0,0,0,0,0
$GC,6974,1.37,267.5,262.0,10.7,272,6976,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1990,1923,0,0,0,0,0,0
$GC,7218,1.37,267.5,235.6,10.6,278,7222,0.00,2.58,0.00,0.000,4,0.000,0.039,3456,3578,1922,0,0,0,0,0,0
$GC,7239,1.37,267.5,233.4,10.4,278,7243,0.00,2.60,0.00,0.000,6,0.000,0.031,3457,1987,1921,0,0,0,0,0,0
$GC,7496,1.37,267.5,206.8,10.4,285,7497,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1987,1921,0,0,0,0,0,0
$GC,7746,1.37,267.5,180.6,10.4,303,7750,0.00,2.67,0.00,0.000,4,0.000,0.064,3456,416,1920,0,0,0,0,0,0
$GC,7791,1.37,267.5,174.9,12.2,306,7801,0.00,2.50,0.00,0.000,6,0.000,0.019,3457,1993,1919,0,0,0,0,0,0
$GC,8060,1.40,295.6,149.9,8.4,331,8093,0.00,2.72,24.08,0.654,4,0.000,0.058,3457,411,1813,0,0,0,0,0,0
$GC,8110,1.43,315.9,145.4,8.9,335,8135,0.00,2.47,18.85,0.634,6,0.000,0.025,3456,1981,1731,0,0,0,0,0,0
$GC,8390,1.48,315.9,117.8,10.1,361,8394,0.00,2.53,0.00,0.000,4,0.000,0.032,3457,3559,1726,0,0,0,0,0,0
$GC,8447,1.56,315.9,112.1,10.4,365,8452,0.15,2.58,0.00,0.000,6,0.071,0.036,3498,1971,1725,0,0,0,0,0,0
$GC,8713,1.56,315.9,79.9,11.1,389,8717,0.00,2.60,0.00,0.000,4,0.000,0.054,3498,409,1725,0,0,0,0,0,0
$GC,8771,1.56,315.9,72.0,13.6,393,8775,0.00,2.45,0.00,0.000,6,0.000,0.019,3499,1988,1723,0,0,0,0,0,0
$GC,9038,1.56,315.9,42.0,12.0,417,9042,0.00,2.47,0.00,0.000,4,0.000,0.030,3499,3552,1723,0,0,0,0,0,0
$GC,9082,1.56,315.9,36.3,12.0,420,9087,0.00,2.53,0.00,0.000,6,0.000,0.029,3499,1972,1723,0,0,0,0,0,0
$STATE,9352,end climb,SURFACE_DEPTH_REACHED
$STATE,9353,begin surface coast
$FINISH,0.4,0.976158
$STATE,9395,end surface coast,CONTROL_FINISHED_OK
$STATE,9395,begin surface
$SM_CCo,9417,244.55,0.514,0,0,476,623.80
$SM_GC,1.01,0.00,0.00,244.55,0.000,0.000,0.514,474,1803,476,-12.33,-0.79,623.80
$IRIDIUM_FIX,2241.69,-15759.32,010900,020220
$TT8_MAMPS,0.026078
$HUMID,55.74
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,21.90
$XPDR_PINGS,38
$24V_AH,23.5,28.960
$10V_AH,10.4,25.303
$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,28.525,92.050,378.475,244.550,0.000,127.177,400.415,0.000,9.500,0.000,18.812,924.870,6525.560,685.522,1641.614,790.331,33.365,1282.250,0.000,1652.211,0.000,0.535,0.000
$DEVICE_MAMPS,158.769,80.535,915.798,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,314.357,269.958,353.990,655.002,990.708,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,35240,463
$CAP_FILE_SIZE,90322,0
$CFSIZE,260165632,170164224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080611,051816,2250.175,-15759.345,9,99.0,28,10.1