version: 66.06
glider: 146
mission: 6
dive: 238
start: 6 8 111 23 7 20
data:
$ID,146
$MISSION,6
$DIVE,238
$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,-273500.94
$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,3160
$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,54
$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
$GPS1,225607,2247.491,-15801.138,37,1.4,37,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-62.7
$GPS2,230626,2247.658,-15801.236,15,1.5,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.159,-0.173
$KALMAN_X,-92303.9,-420.2,50.4,85091.6,-362.1
$KALMAN_Y,-84786.3,-282.9,6.4,92012.5,941.9
$MHEAD_RNG_PITCHd_Wd,212.4,3250,-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,-109.85,0.000,2,0.000,0.000,477,1798,3273,0,0,0,0,0,0
$GC,132,-1.38,-116.8,3.1,-4.7,14,158,12.85,2.58,-4.12,0.000,4,0.165,0.058,2853,280,3499,0,0,0,0,0,0
$GC,372,-1.24,-116.8,57.2,-19.1,40,380,0.12,2.40,0.00,0.000,6,0.102,0.015,2884,1842,3500,0,0,0,0,0,0
$GC,639,-1.24,-116.8,95.1,-13.9,65,643,0.00,2.40,0.00,0.000,4,0.000,0.026,2884,3380,3500,0,0,0,0,0,0
$GC,656,-1.24,-116.8,98.5,-13.8,66,661,0.00,2.40,0.00,0.000,6,0.000,0.025,2884,1853,3500,0,0,0,0,0,0
$GC,920,-1.24,-116.8,133.1,-13.2,90,925,0.00,2.70,0.00,0.000,4,0.000,0.062,2884,258,3500,0,0,0,0,0,0
$GC,954,-1.24,-116.8,138.3,-13.7,92,964,0.00,2.42,0.00,0.000,6,0.000,0.015,2884,1843,3500,0,0,0,0,0,0
$GC,1217,-1.24,-116.8,165.9,-9.8,117,1221,0.00,2.67,0.00,0.000,4,0.000,0.056,2884,259,3500,0,0,0,0,0,0
$GC,1258,-1.24,-116.8,170.5,-11.2,120,1262,0.00,2.38,0.00,0.000,6,0.000,0.015,2884,1843,3500,0,0,0,0,0,0
$GC,1521,-1.30,-116.8,197.0,-10.4,144,1525,0.00,2.38,0.00,0.000,4,0.000,0.028,2884,3365,3500,0,0,0,0,0,0
$GC,1573,-1.39,-116.8,202.8,-10.0,147,1578,0.12,2.42,0.00,0.000,6,0.067,0.029,2836,1838,3501,0,0,0,0,0,0
$GC,1845,-1.39,-116.8,235.3,-11.9,154,1849,0.10,2.42,0.00,0.000,4,0.118,0.035,2858,3362,3501,0,0,0,0,0,0
$GC,1894,-1.44,-116.8,241.0,-11.2,155,1899,0.00,2.42,0.00,0.000,6,0.000,0.033,2858,1842,3501,0,0,0,0,0,0
$GC,2168,-1.44,-116.8,270.1,-10.5,162,2172,0.00,2.72,0.00,0.000,4,0.000,0.071,2857,254,3501,0,0,0,0,0,0
$GC,2194,-1.44,-116.8,273.1,-10.5,162,2198,0.00,2.40,0.00,0.000,6,0.000,0.018,2858,1809,3501,0,0,0,0,0,0
$GC,2450,-1.48,-116.8,298.5,-10.1,169,2455,0.00,2.53,0.00,0.000,4,0.000,0.041,2857,3396,3500,0,0,0,0,0,0
$GC,2484,-1.56,-116.8,302.2,-10.9,169,2491,0.15,2.53,0.00,0.000,6,0.062,0.031,2805,1839,3500,0,0,0,0,0,0
$GC,2735,-1.52,-116.8,333.9,-12.9,176,2736,0.10,0.00,0.00,0.000,6,0.115,0.000,2828,1839,3500,0,0,0,0,0,0
$GC,2978,-1.52,-116.8,362.0,-11.3,182,2982,0.00,2.50,0.00,0.000,4,0.000,0.044,2827,3391,3498,0,0,0,0,0,0
$GC,3028,-1.56,-116.8,367.5,-10.7,183,3033,0.00,2.58,0.00,0.000,6,0.000,0.051,2827,1851,3499,0,0,0,0,0,0
$GC,3300,-1.56,-116.8,395.7,-10.4,190,3305,0.00,2.92,0.00,0.000,4,0.000,0.100,2827,238,3496,0,0,0,0,0,0
$GC,3315,-1.56,-116.8,397.5,-10.6,190,3320,0.00,2.55,0.00,0.000,6,0.000,0.031,2828,1827,3496,0,0,0,0,0,0
$GC,3578,-1.56,-116.8,425.2,-10.6,197,3582,0.00,2.62,0.00,0.000,4,0.000,0.059,2828,3413,3495,0,0,0,0,0,0
$GC,3599,-1.56,-116.8,427.7,-11.1,197,3603,0.00,2.62,0.00,0.000,6,0.000,0.058,2827,1848,3495,0,0,0,0,0,0
$GC,3855,-1.56,-116.8,453.3,-10.0,204,3859,0.00,2.60,0.00,0.000,4,0.000,0.048,2828,3411,3493,0,0,0,0,0,0
$GC,3889,-1.60,-116.8,456.8,-10.1,204,3895,0.00,2.65,0.00,0.000,6,0.000,0.056,2828,1860,3493,0,0,0,0,0,0
$GC,4139,-1.64,-116.8,480.5,-9.5,211,4144,0.10,2.62,0.00,0.000,4,0.087,0.051,2794,3414,3491,0,0,0,0,0,0
$GC,4172,-1.64,-116.8,484.1,-10.5,211,4178,0.00,2.65,0.00,0.000,6,0.000,0.064,2794,1868,3490,0,0,0,0,0,0
$STATE,4338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4338,begin apogee
$GC,4346,-0.31,0.0,502.9,11.1,216,4446,1.33,0.00,96.57,0.910,6,0.084,0.000,3089,2020,3020,0,0,0,0,0,0
$STATE,4447,end apogee,CONTROL_FINISHED_OK
$STATE,4447,begin climb
$GC,4450,1.38,116.8,505.6,0.0,218,4562,1.55,2.75,99.75,0.890,4,0.051,0.063,3461,3552,2541,0,0,0,0,0,0
$GC,4647,1.31,152.5,500.6,8.0,222,4685,0.00,2.70,31.08,0.862,6,0.000,0.055,3461,1991,2398,0,0,0,0,0,0
$GC,4951,1.24,175.3,474.6,8.7,230,4974,0.15,0.00,20.52,0.844,6,0.117,0.000,3431,1991,2305,0,0,0,0,0,0
$GC,5192,1.27,198.9,453.6,8.7,236,5221,0.00,2.72,21.75,0.844,4,0.000,0.046,3431,3557,2207,0,0,0,0,0,0
$GC,5249,1.28,205.7,448.1,9.6,237,5263,0.00,2.67,7.20,0.713,6,0.000,0.048,3431,1998,2181,0,0,0,0,0,0
$GC,5521,1.28,205.7,420.8,10.2,244,5526,0.00,2.97,0.00,0.000,4,0.000,0.103,3431,407,2175,0,0,0,0,0,0
$GC,5548,1.24,205.7,417.6,11.7,244,5552,0.00,2.55,0.00,0.000,6,0.000,0.029,3431,1977,2174,0,0,0,0,0,0
$GC,5798,1.24,205.7,391.3,10.4,250,5799,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1978,2173,0,0,0,0,0,0
$GC,6043,1.24,205.7,366.0,10.4,256,6044,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1977,2171,0,0,0,0,0,0
$GC,6285,1.25,219.5,343.1,9.2,262,6304,0.00,2.83,11.70,0.765,4,0.000,0.062,3431,400,2124,0,0,0,0,0,0
$GC,6315,1.25,219.5,340.0,10.2,262,6320,0.00,2.58,0.00,0.000,6,0.000,0.025,3431,1999,2123,0,0,0,0,0,0
$GC,6567,1.26,222.8,315.5,9.9,268,6576,0.00,2.58,4.15,0.546,4,0.000,0.044,3431,3570,2111,0,0,0,0,0,0
$GC,6632,1.26,222.8,308.4,10.5,269,6637,0.00,2.60,0.00,0.000,6,0.000,0.034,3431,1987,2110,0,0,0,0,0,0
$GC,6901,1.27,233.3,283.3,9.4,276,6917,0.00,2.75,10.50,0.719,4,0.000,0.072,3431,413,2068,0,0,0,0,0,0
$GC,6930,1.27,233.3,280.1,10.3,276,6935,0.00,2.55,0.00,0.000,6,0.000,0.026,3431,2007,2067,0,0,0,0,0,0
$GC,7180,1.31,233.3,253.7,10.5,282,7185,0.00,2.72,0.00,0.000,4,0.000,0.060,3431,412,2065,0,0,0,0,0,0
$GC,7207,1.31,233.3,250.5,11.9,282,7211,0.00,2.53,0.00,0.000,6,0.000,0.025,3431,2009,2064,0,0,0,0,0,0
$GC,7459,1.39,256.0,227.9,8.7,288,7488,0.12,2.80,21.12,0.719,4,0.086,0.061,3464,405,1974,0,0,0,0,0,0
$GC,7500,1.39,256.0,223.5,11.3,289,7504,0.00,2.55,0.00,0.000,6,0.000,0.018,3464,2006,1973,0,0,0,0,0,0
$GC,7753,1.39,256.0,196.8,10.6,296,7757,0.00,2.50,0.00,0.000,4,0.000,0.035,3464,3560,1971,0,0,0,0,0,0
$GC,7822,1.39,256.0,189.9,10.2,301,7828,0.00,2.55,0.00,0.000,6,0.000,0.031,3464,1994,1968,0,0,0,0,0,0
$GC,8084,1.39,256.0,163.4,11.4,326,8086,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,1994,1968,0,0,0,0,0,0
$GC,8340,1.42,256.0,137.2,10.4,350,8344,0.00,2.67,0.00,0.000,4,0.000,0.062,3463,406,1968,0,0,0,0,0,0
$GC,8370,1.42,256.0,133.4,11.9,352,8374,0.00,2.53,0.00,0.000,6,0.000,0.019,3464,2035,1966,0,0,0,0,0,0
$GC,8634,1.51,286.8,109.5,8.3,376,8664,0.10,0.00,26.40,0.618,6,0.091,0.000,3493,2035,1850,0,0,0,0,0,0
$GC,8919,1.51,286.8,79.9,11.2,403,8923,0.00,2.70,0.00,0.000,4,0.000,0.057,3493,415,1845,0,0,0,0,0,0
$GC,8977,1.51,286.8,72.5,12.4,407,8981,0.00,2.55,0.00,0.000,6,0.000,0.018,3493,2051,1843,0,0,0,0,0,0
$GC,9244,1.51,291.2,43.2,9.8,431,9259,0.00,2.80,4.60,0.415,4,0.000,0.051,3493,413,1831,0,0,0,0,0,0
$GC,9363,1.51,291.2,30.2,11.3,440,9367,0.00,2.47,0.00,0.000,6,0.000,0.018,3493,2025,1831,0,0,0,0,0,0
$STATE,9629,end climb,SURFACE_DEPTH_REACHED
$STATE,9629,begin surface coast
$FINISH,0.5,0.975412
$STATE,9679,end surface coast,CONTROL_FINISHED_OK
$STATE,9679,begin surface
$SM_CCo,9703,71.62,0.520,0,0,1470,380.21
$SM_GC,1.10,0.00,0.00,71.62,0.000,0.000,0.520,476,1811,1470,-12.35,-0.54,380.21
$IRIDIUM_FIX,2241.69,-15809.75,010900,202018
$TT8_MAMPS,0.026078
$HUMID,59.84
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.00
$XPDR_PINGS,48
$24V_AH,23.5,29.888
$10V_AH,10.4,26.089
$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,29.075,130.275,355.350,71.625,0.000,29.775,33.888,418.849,12.000,0.000,16.704,987.433,6289.177,510.680,1849.874,757.751,33.371,1224.277,0.000,1845.181,0.000,0.535,0.000
$DEVICE_MAMPS,164.905,117.351,909.662,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.559,277.557,373.291,708.421,1071.576,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355736
$DATA_FILE_SIZE,38310,485
$CAP_FILE_SIZE,108277,0
$CFSIZE,260165632,169795584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090611,015133,2247.422,-15802.673,38,1.6,38,10.1