version: 66.06
glider: 146
mission: 6
dive: 234
start: 6 8 111 11 21 55
data:
$ID,146
$MISSION,6
$DIVE,234
$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,-273435.5
$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,32
$R_STBD_OVSHOOT,55
$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
$GPS1,111246,2249.717,-15757.055,9,3.4,28,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.10
$_SM_ANGLEo,-66.1
$GPS2,112100,2249.793,-15756.988,34,1.7,38,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.047,-0.230
$KALMAN_X,-90540.7,246.9,-20.3,89987.1,83.9
$KALMAN_Y,-87341.5,302.9,-58.8,98010.0,845.0
$MHEAD_RNG_PITCHd_Wd,181.5,5355,-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,-116.8,0.0,0.0,0,127,0.00,0.00,-109.40,0.000,2,0.000,0.000,473,1828,3258,0,0,0,0,0,0
$GC,130,-1.38,-116.8,3.1,-4.1,14,156,12.75,2.67,-4.55,0.000,4,0.162,0.065,2847,258,3499,0,0,0,0,0,0
$GC,215,-1.22,-116.8,25.2,-20.4,25,223,0.15,2.45,0.00,0.000,6,0.111,0.015,2882,1856,3500,0,0,0,0,0,0
$GC,488,-1.16,-116.8,68.9,-13.1,51,492,0.00,2.38,0.00,0.000,4,0.000,0.025,2881,3378,3500,0,0,0,0,0,0
$GC,535,-1.16,-116.8,75.0,-11.4,54,539,0.00,2.45,0.00,0.000,6,0.000,0.026,2881,1830,3500,0,0,0,0,0,0
$GC,797,-1.16,-116.8,108.5,-14.0,78,799,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1831,3500,0,0,0,0,0,0
$GC,1051,-1.16,-116.8,142.2,-11.7,102,1055,0.00,2.42,0.00,0.000,4,0.000,0.029,2881,3371,3501,0,0,0,0,0,0
$GC,1098,-1.22,-116.8,146.9,-11.3,105,1102,0.00,2.40,0.00,0.000,6,0.000,0.025,2881,1843,3501,0,0,0,0,0,0
$GC,1361,-1.27,-116.8,177.8,-10.9,129,1365,0.00,2.65,0.00,0.000,4,0.000,0.064,2881,262,3501,0,0,0,0,0,0
$GC,1441,-1.27,-116.8,187.3,-11.7,135,1450,0.00,2.42,0.00,0.000,6,0.000,0.019,2881,1850,3501,0,0,0,0,0,0
$GC,1727,-1.33,-116.8,217.0,-10.1,151,1731,0.00,2.38,0.00,0.000,4,0.000,0.034,2881,3374,3502,0,0,0,0,0,0
$GC,1743,-1.40,-116.8,218.6,-10.0,151,1748,0.12,2.38,0.00,0.000,6,0.073,0.030,2834,1853,3502,0,0,0,0,0,0
$GC,2005,-1.40,-116.8,246.7,-11.0,158,2009,0.00,2.40,0.00,0.000,4,0.000,0.033,2834,3379,3502,0,0,0,0,0,0
$GC,2037,-1.40,-116.8,250.8,-11.8,158,2043,0.00,2.42,0.00,0.000,6,0.000,0.033,2834,1855,3501,0,0,0,0,0,0
$GC,2287,-1.40,-116.8,280.7,-12.2,165,2291,0.00,2.42,0.00,0.000,4,0.000,0.037,2834,3377,3501,0,0,0,0,0,0
$GC,2332,-1.40,-116.8,285.8,-11.6,166,2336,0.00,2.40,0.00,0.000,6,0.000,0.029,2835,1873,3501,0,0,0,0,0,0
$GC,2609,-1.40,-116.8,315.9,-10.7,173,2610,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1873,3501,0,0,0,0,0,0
$GC,2853,-1.40,-116.8,342.5,-11.1,179,2857,0.00,2.42,0.00,0.000,4,0.000,0.041,2835,3374,3499,0,0,0,0,0,0
$GC,2898,-1.46,-116.8,347.7,-11.7,180,2902,0.00,2.47,0.00,0.000,6,0.000,0.047,2834,1877,3500,0,0,0,0,0,0
$GC,3175,-1.46,-116.8,378.4,-10.7,187,3176,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1876,3498,0,0,0,0,0,0
$GC,3419,-1.46,-116.8,402.3,-9.7,193,3420,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1876,3497,0,0,0,0,0,0
$GC,3665,-1.50,-116.8,426.1,-9.8,199,3666,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1876,3496,0,0,0,0,0,0
$GC,3906,-1.54,-116.8,450.8,-10.1,205,3911,0.00,2.47,0.00,0.000,4,0.000,0.053,2834,3371,3494,0,0,0,0,0,0
$GC,3923,-1.59,-116.8,452.5,-10.2,205,3928,0.12,2.53,0.00,0.000,6,0.081,0.053,2794,1870,3494,0,0,0,0,0,0
$GC,4185,-1.59,-116.8,482.9,-11.7,212,4189,0.00,2.50,0.00,0.000,4,0.000,0.052,2794,3364,3491,0,0,0,0,0,0
$GC,4206,-1.59,-116.8,485.8,-12.0,212,4211,0.00,2.53,0.00,0.000,6,0.000,0.064,2794,1876,3492,0,0,0,0,0,0
$STATE,4337,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4337,begin apogee
$GC,4344,-0.31,0.0,501.1,11.6,216,4444,1.30,0.00,96.55,0.908,6,0.082,0.000,3086,1965,3020,0,0,0,0,0,0
$STATE,4445,end apogee,CONTROL_FINISHED_OK
$STATE,4445,begin climb
$GC,4449,1.38,116.8,503.7,0.0,218,4553,1.58,0.00,100.57,0.889,6,0.055,0.000,3459,1965,2542,0,0,0,0,0,0
$GC,4784,1.33,156.7,486.5,7.7,227,4825,0.00,2.78,34.20,0.864,4,0.000,0.054,3459,3556,2379,0,0,0,0,0,0
$GC,4862,1.24,165.5,479.9,9.5,228,4877,0.17,2.70,9.00,0.752,6,0.114,0.054,3425,1992,2344,0,0,0,0,0,0
$GC,5165,1.27,187.9,453.7,8.7,236,5191,0.00,2.65,20.55,0.840,4,0.000,0.045,3425,3561,2252,0,0,0,0,0,0
$GC,5226,1.27,188.1,447.6,10.0,237,5230,0.00,2.65,0.00,0.000,6,0.000,0.049,3425,2001,2249,0,0,0,0,0,0
$GC,5486,1.29,205.1,423.4,9.1,244,5504,0.00,0.00,15.68,0.814,6,0.000,0.000,3425,2001,2183,0,0,0,0,0,0
$GC,5730,1.31,227.1,401.9,8.8,250,5755,0.00,2.97,20.02,0.819,4,0.000,0.096,3425,409,2093,0,0,0,0,0,0
$GC,5785,1.27,227.1,396.4,10.8,251,5789,0.00,2.60,0.00,0.000,6,0.000,0.028,3425,2007,2091,0,0,0,0,0,0
$GC,6051,1.27,227.1,366.5,11.5,258,6055,0.00,2.83,0.00,0.000,4,0.000,0.073,3425,400,2087,0,0,0,0,0,0
$GC,6073,1.27,227.1,363.9,11.6,258,6078,0.00,2.55,0.00,0.000,6,0.000,0.022,3425,2002,2087,0,0,0,0,0,0
$GC,6330,1.30,252.3,340.6,8.6,265,6355,0.00,0.00,22.70,0.800,6,0.000,0.000,3425,2003,1991,0,0,0,0,0,0
$GC,6573,1.34,252.3,316.7,10.2,271,6578,0.10,2.60,0.00,0.000,4,0.090,0.042,3452,3574,1985,0,0,0,0,0,0
$GC,6634,1.34,252.3,309.4,11.6,272,6638,0.00,2.60,0.00,0.000,6,0.000,0.032,3453,1994,1984,0,0,0,0,0,0
$GC,6896,1.34,252.3,281.6,10.5,279,6900,0.00,2.75,0.00,0.000,4,0.000,0.067,3452,408,1983,0,0,0,0,0,0
$GC,6917,1.34,252.3,279.2,10.2,279,6921,0.00,2.53,0.00,0.000,6,0.000,0.026,3453,2017,1982,0,0,0,0,0,0
$GC,7178,1.35,255.5,253.6,9.9,286,7179,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2018,1981,0,0,0,0,0,0
$GC,7422,1.35,255.5,228.6,10.4,292,7427,0.00,2.50,0.00,0.000,4,0.000,0.041,3453,3564,1981,0,0,0,0,0,0
$GC,7494,1.35,255.5,220.6,10.8,293,7499,0.00,2.53,0.00,0.000,6,0.000,0.035,3453,1997,1979,0,0,0,0,0,0
$GC,7746,1.35,255.5,194.2,10.4,302,7751,0.00,2.55,0.00,0.000,4,0.000,0.038,3452,3569,1978,0,0,0,0,0,0
$GC,7779,1.35,255.5,191.2,11.6,304,7784,0.00,2.53,0.00,0.000,6,0.000,0.036,3453,2011,1978,0,0,0,0,0,0
$GC,8046,1.35,255.5,163.2,11.0,328,8050,0.00,2.70,0.00,0.000,4,0.000,0.063,3453,417,1978,0,0,0,0,0,0
$GC,8131,1.35,255.5,152.8,12.0,335,8136,0.00,2.47,0.00,0.000,6,0.000,0.018,3453,2025,1977,0,0,0,0,0,0
$GC,8400,1.43,281.6,129.1,8.5,359,8429,0.00,2.55,24.40,0.631,4,0.000,0.038,3453,3551,1871,0,0,0,0,0,0
$GC,8469,1.49,282.3,122.4,10.0,365,8474,0.12,2.47,0.00,0.000,6,0.076,0.034,3489,2017,1869,0,0,0,0,0,0
$GC,8737,1.51,294.9,96.0,9.3,389,8756,0.00,0.00,12.20,0.571,6,0.000,0.000,3489,2017,1817,0,0,0,0,0,0
$GC,9014,1.51,294.9,69.8,10.2,415,9018,0.00,2.70,0.00,0.000,4,0.000,0.054,3489,415,1814,0,0,0,0,0,0
$GC,9060,1.51,294.9,63.7,11.6,418,9069,0.00,2.53,0.00,0.000,6,0.000,0.018,3489,2028,1813,0,0,0,0,0,0
$GC,9327,1.51,297.1,37.8,9.9,443,9331,0.00,2.42,0.00,0.000,4,0.000,0.031,3490,3565,1813,0,0,0,0,0,0
$GC,9363,1.55,297.1,33.8,12.5,445,9367,0.00,2.45,0.00,0.000,6,0.000,0.027,3489,2022,1812,0,0,0,0,0,0
$STATE,9656,end climb,SURFACE_DEPTH_REACHED
$STATE,9656,begin surface coast
$FINISH,0.5,0.974950
$STATE,9712,end surface coast,CONTROL_FINISHED_OK
$STATE,9713,begin surface
$SM_CCo,9736,69.28,0.518,0,0,1470,380.21
$SM_GC,1.33,0.00,0.00,69.28,0.000,0.000,0.518,474,1812,1470,-12.33,-0.51,380.21
$IRIDIUM_FIX,2241.69,-15754.11,010900,080845
$TT8_MAMPS,0.026078
$HUMID,59.01
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.10
$XPDR_PINGS,43
$24V_AH,23.5,29.352
$10V_AH,10.4,25.644
$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,28.600,112.200,355.875,69.275,0.000,26.630,33.066,276.551,10.750,0.000,39.916,982.531,6366.854,526.287,1822.355,604.807,33.363,1180.751,0.000,1807.507,0.000,0.536,0.000
$DEVICE_MAMPS,161.837,95.875,908.128,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.878,277.525,380.546,730.778,1105.456,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355472
$DATA_FILE_SIZE,38255,493
$CAP_FILE_SIZE,100837,0
$CFSIZE,260165632,170016768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080611,140656,2249.017,-15757.589,34,99.0,53,10.1