version: 66.06
glider: 146
mission: 6
dive: 236
start: 6 8 111 17 15 16
data:
$ID,146
$MISSION,6
$DIVE,236
$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,-273468.19
$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,58
$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
$GPS1,170636,2247.778,-15757.835,12,1.3,28,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.09
$_SM_ANGLEo,-66.7
$GPS2,171420,2247.783,-15757.881,11,1.8,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.229,-0.051
$KALMAN_X,-91387.8,111.2,-127.9,89555.8,-394.2
$KALMAN_Y,-86279.3,57.9,35.1,93375.5,66.8
$MHEAD_RNG_PITCHd_Wd,247.3,8861,-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,-116.8,0.0,0.0,0,128,0.00,0.00,-109.80,0.000,2,0.000,0.000,472,1809,3303,0,0,0,0,0,0
$GC,131,-1.38,-116.8,3.6,-6.7,14,157,12.57,2.62,-3.45,0.000,4,0.156,0.064,2845,275,3498,0,0,0,0,0,0
$GC,235,-1.20,-116.8,31.9,-21.1,28,240,0.22,2.40,0.00,0.000,6,0.114,0.014,2891,1858,3499,0,0,0,0,0,0
$GC,501,-1.20,-116.8,74.1,-14.8,52,506,0.00,2.38,0.00,0.000,4,0.000,0.025,2891,3380,3499,0,0,0,0,0,0
$GC,561,-1.20,-116.8,83.0,-12.9,56,570,0.00,2.45,0.00,0.000,6,0.000,0.033,2891,1864,3499,0,0,0,0,0,0
$GC,825,-1.20,-116.8,118.0,-13.0,81,830,0.00,2.72,0.00,0.000,4,0.000,0.062,2891,257,3499,0,0,0,0,0,0
$GC,903,-1.20,-116.8,128.9,-14.3,87,908,0.00,2.38,0.00,0.000,6,0.000,0.015,2891,1847,3499,0,0,0,0,0,0
$GC,1168,-1.26,-116.8,159.3,-11.3,111,1172,0.00,2.38,0.00,0.000,4,0.000,0.027,2891,3367,3499,0,0,0,0,0,0
$GC,1190,-1.33,-116.8,161.6,-10.8,112,1195,0.12,2.47,0.00,0.000,6,0.069,0.028,2842,1820,3499,0,0,0,0,0,0
$GC,1455,-1.33,-116.8,194.8,-11.5,136,1460,0.10,0.00,0.00,0.000,6,0.117,0.000,2864,1819,3500,0,0,0,0,0,0
$GC,1706,-1.33,-116.8,222.2,-10.9,146,1710,0.00,2.42,0.00,0.000,4,0.000,0.028,2864,3366,3500,0,0,0,0,0,0
$GC,1722,-1.33,-116.8,224.3,-12.2,146,1726,0.00,2.42,0.00,0.000,6,0.000,0.026,2864,1835,3500,0,0,0,0,0,0
$GC,1991,-1.38,-116.8,253.6,-10.4,153,1992,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1835,3500,0,0,0,0,0,0
$GC,2233,-1.43,-116.8,278.3,-10.4,159,2237,0.00,2.42,0.00,0.000,4,0.000,0.035,2864,3367,3500,0,0,0,0,0,0
$GC,2294,-1.53,-116.8,284.5,-10.5,160,2299,0.17,2.45,0.00,0.000,6,0.057,0.036,2805,1846,3500,0,0,0,0,0,0
$GC,2556,-1.53,-116.8,316.0,-12.0,167,2560,0.00,2.40,0.00,0.000,4,0.000,0.037,2805,3366,3499,0,0,0,0,0,0
$GC,2573,-1.49,-116.8,318.1,-11.2,167,2578,0.12,2.47,0.00,0.000,6,0.103,0.039,2833,1850,3499,0,0,0,0,0,0
$GC,2841,-1.49,-116.8,344.2,-9.8,174,2845,0.00,2.42,0.00,0.000,4,0.000,0.034,2833,3366,3498,0,0,0,0,0,0
$GC,2867,-1.49,-116.8,347.4,-11.4,174,2872,0.00,2.47,0.00,0.000,6,0.000,0.044,2833,1857,3498,0,0,0,0,0,0
$GC,3123,-1.49,-116.8,376.2,-11.4,181,3124,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1857,3497,0,0,0,0,0,0
$GC,3367,-1.49,-116.8,404.9,-11.7,187,3371,0.00,2.47,0.00,0.000,4,0.000,0.045,2833,3363,3495,0,0,0,0,0,0
$GC,3383,-1.49,-116.8,406.7,-11.6,187,3388,0.00,2.53,0.00,0.000,6,0.000,0.055,2833,1862,3495,0,0,0,0,0,0
$GC,3645,-1.53,-116.8,434.9,-10.6,194,3649,0.00,3.00,0.00,0.000,4,0.000,0.112,2833,239,3493,0,0,0,0,0,0
$GC,3671,-1.53,-116.8,438.1,-11.7,194,3676,0.00,2.53,0.00,0.000,6,0.000,0.038,2833,1799,3493,0,0,0,0,0,0
$GC,3923,-1.57,-116.8,463.4,-10.0,200,3928,0.00,2.72,0.00,0.000,4,0.000,0.065,2833,3422,3492,0,0,0,0,0,0
$GC,3963,-1.64,-116.8,467.6,-10.3,201,3968,0.15,2.65,0.00,0.000,6,0.064,0.061,2781,1865,3491,0,0,0,0,0,0
$STATE,4244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4244,begin apogee
$GC,4252,-0.31,0.0,501.4,12.1,208,4352,1.35,0.00,96.20,0.907,6,0.081,0.000,3085,2020,3020,0,0,0,0,0,0
$STATE,4352,end apogee,CONTROL_FINISHED_OK
$STATE,4352,begin climb
$GC,4355,1.38,116.8,504.3,0.0,210,4459,1.58,0.00,100.47,0.886,6,0.047,0.000,3459,2019,2543,0,0,0,0,0,0
$GC,4691,1.31,145.2,486.0,8.4,219,4720,0.00,2.67,24.12,0.853,4,0.000,0.057,3459,3552,2428,0,0,0,0,0,0
$GC,4739,1.24,165.1,481.6,8.9,220,4764,0.17,2.67,19.05,0.829,6,0.114,0.053,3425,1991,2346,0,0,0,0,0,0
$GC,5016,1.25,177.3,455.5,9.3,227,5034,0.00,2.67,11.30,0.789,4,0.000,0.046,3425,3562,2296,0,0,0,0,0,0
$GC,5097,1.25,178.9,447.4,10.0,228,5103,0.00,2.67,0.00,0.000,6,0.000,0.048,3425,1997,2294,0,0,0,0,0,0
$GC,5347,1.29,207.3,425.9,8.4,235,5382,0.00,2.67,27.42,0.842,4,0.000,0.040,3425,3552,2172,0,0,0,0,0,0
$GC,5389,1.32,235.7,422.5,8.4,236,5421,0.00,2.65,25.95,0.827,6,0.000,0.050,3425,1999,2059,0,0,0,0,0,0
$GC,5672,1.32,235.7,393.6,10.5,243,5677,0.00,2.92,0.00,0.000,4,0.000,0.098,3425,404,2051,0,0,0,0,0,0
$GC,5721,1.32,235.7,387.3,12.2,244,5726,0.00,2.55,0.00,0.000,6,0.000,0.030,3425,1986,2049,0,0,0,0,0,0
$GC,5995,1.33,243.4,360.1,9.6,251,6004,0.00,0.00,6.40,0.676,6,0.000,0.000,3425,1985,2027,0,0,0,0,0,0
$GC,6238,1.35,253.8,337.6,9.4,257,6252,0.10,0.00,10.98,0.747,6,0.091,0.000,3453,1986,1984,0,0,0,0,0,0
$GC,6525,1.35,253.8,303.0,12.0,264,6530,0.00,2.60,0.00,0.000,4,0.000,0.036,3452,3578,1979,0,0,0,0,0,0
$GC,6559,1.35,253.8,298.9,12.2,264,6565,0.00,2.62,0.00,0.000,6,0.000,0.034,3453,1987,1978,0,0,0,0,0,0
$GC,6809,1.35,253.8,270.1,11.6,271,6814,0.00,2.72,0.00,0.000,4,0.000,0.072,3452,408,1977,0,0,0,0,0,0
$GC,6836,1.35,253.8,266.9,11.5,271,6840,0.00,2.53,0.00,0.000,6,0.000,0.025,3452,2004,1976,0,0,0,0,0,0
$GC,7087,1.35,253.8,239.9,11.1,277,7092,0.00,2.55,0.00,0.000,4,0.000,0.037,3452,3573,1975,0,0,0,0,0,0
$GC,7132,1.35,253.8,234.5,12.0,278,7136,0.00,2.58,0.00,0.000,6,0.000,0.032,3453,1992,1975,0,0,0,0,0,0
$GC,7410,1.35,253.8,205.0,10.5,285,7414,0.00,2.55,0.00,0.000,4,0.000,0.033,3453,3563,1974,0,0,0,0,0,0
$GC,7452,1.35,253.8,200.6,11.7,286,7456,0.00,2.53,0.00,0.000,6,0.000,0.035,3452,2006,1974,0,0,0,0,0,0
$GC,7716,1.35,260.3,173.2,9.7,308,7727,0.00,2.75,5.78,0.555,4,0.000,0.061,3453,407,1957,0,0,0,0,0,0
$GC,7778,1.35,260.3,167.1,10.4,313,7782,0.00,2.50,0.00,0.000,6,0.000,0.024,3453,2011,1956,0,0,0,0,0,0
$GC,8046,1.41,260.3,143.0,10.1,337,8050,0.00,2.70,0.00,0.000,4,0.000,0.058,3453,410,1956,0,0,0,0,0,0
$GC,8114,1.41,260.3,134.9,10.7,342,8123,0.00,2.45,0.00,0.000,6,0.000,0.025,3452,1969,1955,0,0,0,0,0,0
$GC,8382,1.49,273.6,112.9,9.3,367,8407,0.10,2.67,12.77,0.590,4,0.087,0.054,3483,418,1903,0,0,0,0,0,0
$GC,8412,1.49,273.6,108.8,11.2,369,8418,0.00,2.45,0.00,0.000,6,0.000,0.018,3483,1990,1902,0,0,0,0,0,0
$GC,8677,1.49,277.6,82.3,9.8,394,8691,0.00,2.70,4.72,0.443,4,0.000,0.053,3483,413,1887,0,0,0,0,0,0
$GC,8757,1.49,277.6,73.5,10.6,400,8767,0.00,2.42,0.00,0.000,6,0.000,0.018,3483,1964,1886,0,0,0,0,0,0
$GC,9025,1.51,296.0,49.7,9.0,425,9054,0.00,2.60,17.17,0.544,4,0.000,0.031,3484,3547,1811,0,0,0,0,0,0
$GC,9108,1.57,296.0,41.0,10.2,431,9117,0.00,2.58,0.00,0.000,6,0.000,0.030,3483,1978,1810,0,0,0,0,0,0
$GC,9416,1.64,301.8,12.2,9.7,469,9426,0.12,0.00,6.45,0.443,6,0.077,0.000,3519,1978,1788,0,0,0,0,0,0
$STATE,9493,end climb,SURFACE_DEPTH_REACHED
$STATE,9493,begin surface coast
$FINISH,0.4,0.973330
$STATE,9545,end surface coast,CONTROL_FINISHED_OK
$STATE,9545,begin surface
$SM_CCo,9568,62.72,0.516,0,0,1469,380.21
$SM_GC,1.05,0.00,0.00,62.72,0.000,0.000,0.516,477,1795,1469,-12.32,-0.96,380.21
$IRIDIUM_FIX,2239.35,-15757.16,010900,141414
$TT8_MAMPS,0.026078
$HUMID,58.54
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.10
$XPDR_PINGS,48
$24V_AH,23.5,29.616
$10V_AH,10.4,25.868
$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,29.275,123.675,368.800,62.725,0.000,24.023,31.919,280.470,12.000,0.000,12.700,981.951,6146.811,531.112,1833.934,605.871,33.365,1229.491,0.000,1840.072,0.000,0.535,0.000
$DEVICE_MAMPS,156.468,111.982,907.361,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.202,273.422,378.471,733.313,1104.185,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355468
$DATA_FILE_SIZE,38370,487
$CAP_FILE_SIZE,104549,0
$CFSIZE,260165632,169906176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080611,195706,2247.497,-15759.480,39,1.3,39,10.1