version: 66.06
glider: 146
mission: 6
dive: 237
start: 6 8 111 20 13 16
data:
$ID,146
$MISSION,6
$DIVE,237
$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,-273483.59
$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,46
$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
$GPS1,195706,2247.497,-15759.480,39,1.3,39,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-69.6
$GPS2,201220,2247.551,-15759.652,10,2.0,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.218,-0.087
$KALMAN_X,-91894.9,-183.8,-63.6,87267.9,-416.3
$KALMAN_Y,-85757.7,-202.5,-148.3,92864.3,400.5
$MHEAD_RNG_PITCHd_Wd,238.3,5807,-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,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.55,0.000,2,0.000,0.000,476,1795,3258,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.3,-5.7,9,117,12.52,2.58,-4.47,0.000,4,0.157,0.064,2845,276,3499,0,0,0,0,0,0
$GC,379,-1.27,-116.8,66.6,-19.0,39,385,0.15,2.40,0.00,0.000,6,0.126,0.014,2875,1857,3501,0,0,0,0,0,0
$GC,646,-1.27,-116.8,105.3,-14.7,63,650,0.00,2.67,0.00,0.000,4,0.000,0.058,2875,272,3501,0,0,0,0,0,0
$GC,727,-1.27,-116.8,118.2,-15.9,69,731,0.00,2.33,0.00,0.000,6,0.000,0.020,2875,1819,3501,0,0,0,0,0,0
$GC,991,-1.27,-116.8,153.8,-12.5,93,995,0.00,2.45,0.00,0.000,4,0.000,0.032,2875,3375,3502,0,0,0,0,0,0
$GC,1012,-1.27,-116.8,156.0,-11.7,94,1017,0.00,2.42,0.00,0.000,6,0.000,0.027,2875,1836,3501,0,0,0,0,0,0
$GC,1279,-1.27,-116.8,183.8,-9.9,118,1283,0.00,2.65,0.00,0.000,4,0.000,0.065,2875,257,3502,0,0,0,0,0,0
$GC,1366,-1.27,-116.8,194.4,-12.1,125,1371,0.00,2.33,0.00,0.000,6,0.000,0.015,2875,1805,3502,0,0,0,0,0,0
$GC,1624,-1.32,-116.8,221.6,-10.5,135,1628,0.00,2.47,0.00,0.000,4,0.000,0.035,2875,3373,3502,0,0,0,0,0,0
$GC,1673,-1.42,-116.8,227.3,-10.9,136,1679,0.12,2.47,0.00,0.000,6,0.069,0.031,2828,1820,3502,0,0,0,0,0,0
$GC,1947,-1.42,-116.8,260.6,-12.1,143,1951,0.00,2.45,0.00,0.000,4,0.000,0.029,2828,3375,3502,0,0,0,0,0,0
$GC,2013,-1.42,-116.8,268.8,-11.6,144,2017,0.00,2.50,0.00,0.000,6,0.000,0.033,2827,1821,3502,0,0,0,0,0,0
$GC,2268,-1.42,-116.8,297.9,-11.4,151,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1821,3502,0,0,0,0,0,0
$GC,2513,-1.42,-116.8,325.1,-11.1,157,2517,0.00,2.50,0.00,0.000,4,0.000,0.040,2828,3373,3501,0,0,0,0,0,0
$GC,2579,-1.47,-116.8,332.9,-11.4,158,2584,0.00,2.55,0.00,0.000,6,0.000,0.048,2828,1835,3501,0,0,0,0,0,0
$GC,2834,-1.47,-116.8,362.3,-11.5,165,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1835,3501,0,0,0,0,0,0
$GC,3079,-1.47,-116.8,387.3,-10.2,171,3083,0.00,2.47,0.00,0.000,4,0.000,0.042,2828,3364,3499,0,0,0,0,0,0
$GC,3118,-1.51,-116.8,391.6,-10.8,172,3122,0.00,2.58,0.00,0.000,6,0.000,0.051,2828,1837,3499,0,0,0,0,0,0
$GC,3401,-1.51,-116.8,421.1,-10.6,179,3402,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1837,3497,0,0,0,0,0,0
$GC,3646,-1.51,-116.8,446.1,-10.2,185,3650,0.00,2.53,0.00,0.000,4,0.000,0.050,2828,3364,3495,0,0,0,0,0,0
$GC,3689,-1.57,-116.8,450.6,-10.2,186,3694,0.00,2.62,0.00,0.000,6,0.000,0.064,2828,1832,3495,0,0,0,0,0,0
$GC,3967,-1.57,-116.8,476.7,-9.4,193,3971,0.00,2.53,0.00,0.000,4,0.000,0.050,2827,3359,3493,0,0,0,0,0,0
$GC,4008,-1.62,-116.8,480.6,-10.0,194,4013,0.12,2.60,0.00,0.000,6,0.073,0.064,2786,1840,3493,0,0,0,0,0,0
$STATE,4167,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4167,begin apogee
$GC,4173,-0.31,0.0,500.4,12.5,198,4274,1.33,0.00,96.68,0.907,6,0.084,0.000,3083,1958,3020,0,0,0,0,0,0
$STATE,4275,end apogee,CONTROL_FINISHED_OK
$STATE,4275,begin climb
$GC,4277,1.38,116.8,503.5,0.0,200,4382,1.60,0.00,100.35,0.888,6,0.054,0.000,3460,1958,2543,0,0,0,0,0,0
$GC,4616,1.34,170.5,488.7,6.9,209,4670,0.00,2.78,46.25,0.874,4,0.000,0.055,3460,3565,2324,0,0,0,0,0,0
$GC,4688,1.26,176.4,482.4,9.7,210,4703,0.15,2.70,6.75,0.697,6,0.118,0.056,3431,2000,2300,0,0,0,0,0,0
$GC,4990,1.26,176.4,452.5,10.0,218,4994,0.00,2.62,0.00,0.000,4,0.000,0.049,3431,3564,2293,0,0,0,0,0,0
$GC,5022,1.26,176.4,448.8,10.3,218,5028,0.00,2.67,0.00,0.000,6,0.000,0.051,3431,1996,2293,0,0,0,0,0,0
$GC,5273,1.28,197.3,426.2,8.8,225,5298,0.00,2.70,18.52,0.831,4,0.000,0.043,3431,3567,2214,0,0,0,0,0,0
$GC,5349,1.28,197.3,418.6,10.1,226,5353,0.00,2.62,0.00,0.000,6,0.000,0.048,3431,2010,2212,0,0,0,0,0,0
$GC,5599,1.30,208.0,395.0,9.4,232,5615,0.00,2.95,10.38,0.770,4,0.000,0.090,3431,403,2171,0,0,0,0,0,0
$GC,5633,1.26,208.0,391.6,10.1,232,5639,0.00,2.60,0.00,0.000,6,0.000,0.025,3431,2003,2169,0,0,0,0,0,0
$GC,5883,1.26,211.0,367.0,9.9,239,5887,0.00,2.58,0.00,0.000,4,0.000,0.040,3430,3573,2167,0,0,0,0,0,0
$GC,5926,1.26,211.0,362.4,10.5,240,5931,0.00,2.60,0.00,0.000,6,0.000,0.036,3431,2001,2165,0,0,0,0,0,0
$GC,6206,1.28,220.8,335.4,9.5,247,6225,0.00,2.90,11.95,0.760,4,0.000,0.079,3430,405,2118,0,0,0,0,0,0
$GC,6237,1.29,236.1,332.3,9.2,247,6257,0.00,2.58,14.95,0.765,6,0.000,0.025,3431,2016,2057,0,0,0,0,0,0
$GC,6531,1.32,259.7,306.6,8.7,255,6560,0.00,2.65,21.90,0.774,4,0.000,0.043,3431,3569,1960,0,0,0,0,0,0
$GC,6595,1.37,261.9,300.3,9.9,256,6600,0.10,2.62,0.00,0.000,6,0.097,0.038,3459,1987,1958,0,0,0,0,0,0
$GC,6856,1.37,261.9,271.7,10.8,263,6861,0.00,2.75,0.00,0.000,4,0.000,0.067,3459,403,1955,0,0,0,0,0,0
$GC,6897,1.32,261.9,267.5,10.9,264,6901,0.00,2.53,0.00,0.000,6,0.000,0.020,3459,1993,1954,0,0,0,0,0,0
$GC,7180,1.32,261.9,236.8,11.0,271,7184,0.00,2.55,0.00,0.000,4,0.000,0.041,3459,3562,1953,0,0,0,0,0,0
$GC,7224,1.32,261.9,231.3,12.5,272,7228,0.00,2.58,0.00,0.000,6,0.000,0.034,3459,1987,1952,0,0,0,0,0,0
$GC,7503,1.32,261.9,199.7,11.2,279,7508,0.00,2.53,0.00,0.000,4,0.000,0.038,3459,3560,1951,0,0,0,0,0,0
$GC,7559,1.33,265.6,194.3,9.8,283,7570,0.00,2.53,4.95,0.535,6,0.000,0.031,3459,2008,1937,0,0,0,0,0,0
$GC,7824,1.35,282.9,167.7,9.0,308,7848,0.00,2.75,17.12,0.657,4,0.000,0.064,3459,411,1864,0,0,0,0,0,0
$GC,7948,1.35,282.9,154.4,10.9,318,7957,0.00,2.53,0.00,0.000,6,0.000,0.018,3459,2002,1861,0,0,0,0,0,0
$GC,8216,1.41,290.2,129.0,9.6,343,8230,0.00,2.78,7.20,0.549,4,0.000,0.057,3459,406,1835,0,0,0,0,0,0
$GC,8289,1.41,290.2,121.2,11.1,349,8293,0.00,2.42,0.00,0.000,6,0.000,0.018,3459,1963,1834,0,0,0,0,0,0
$GC,8557,1.50,305.5,94.0,9.2,373,8582,0.00,2.62,14.27,0.575,4,0.000,0.038,3459,3548,1773,0,0,0,0,0,0
$GC,8611,1.59,305.5,87.6,10.8,377,8617,0.17,2.60,0.00,0.000,6,0.064,0.035,3508,1954,1772,0,0,0,0,0,0
$GC,8879,1.59,305.5,56.5,11.4,402,8883,0.00,2.60,0.00,0.000,4,0.000,0.030,3508,3567,1771,0,0,0,0,0,0
$GC,8901,1.59,305.5,53.1,11.7,403,8910,0.00,2.62,0.00,0.000,6,0.000,0.035,3508,1957,1771,0,0,0,0,0,0
$GC,9179,1.59,305.5,24.3,11.1,431,9188,0.00,2.62,0.00,0.000,4,0.000,0.055,3508,410,1771,0,0,0,0,0,0
$GC,9232,1.59,305.5,17.7,12.2,438,9241,0.00,2.40,0.00,0.000,6,0.000,0.017,3508,1951,1771,0,0,0,0,0,0
$STATE,9364,end climb,SURFACE_DEPTH_REACHED
$STATE,9364,begin surface coast
$FINISH,0.6,0.976385
$STATE,9415,end surface coast,CONTROL_FINISHED_OK
$STATE,9415,begin surface
$SM_CCo,9439,253.95,0.510,0,0,476,623.80
$SM_GC,0.98,0.00,0.00,253.95,0.000,0.000,0.510,477,1798,476,-12.32,-0.90,623.80
$IRIDIUM_FIX,2239.35,-15751.94,010900,202031
$TT8_MAMPS,0.026078
$HUMID,56.02
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,22.10
$XPDR_PINGS,50
$24V_AH,23.5,29.764
$10V_AH,10.4,25.977
$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,28.575,129.450,371.275,253.950,0.000,144.520,400.409,0.000,12.500,0.000,14.785,960.841,6332.041,714.334,1791.509,812.475,33.368,1397.508,0.000,1791.527,0.000,0.536,0.000
$DEVICE_MAMPS,157.235,175.643,907.361,510.055,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,313.971,251.044,352.938,660.294,999.117,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355612
$DATA_FILE_SIZE,35296,464
$CAP_FILE_SIZE,101409,0
$CFSIZE,260165632,169840640
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080611,225607,2247.491,-15801.138,37,1.4,37,10.1