version: 66.06
glider: 146
mission: 6
dive: 239
start: 6 9 111 2 8 24
data:
$ID,146
$MISSION,6
$DIVE,239
$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,-273561.88
$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,42
$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
$GPS1,015133,2247.422,-15802.673,38,1.6,38,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-70.1
$GPS2,020728,2247.686,-15802.754,35,2.7,54,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.006,0.235
$KALMAN_X,-93122.5,-492.4,-54.9,83499.9,-386.0
$KALMAN_Y,-83531.4,-145.2,373.5,90302.5,917.5
$MHEAD_RNG_PITCHd_Wd,351.4,4306,-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,-116.8,0.0,0.0,0,96,0.00,0.00,-78.18,0.000,6,0.000,0.000,475,1812,3497,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.6,-9.3,10,117,12.50,2.50,0.00,0.000,4,0.155,0.032,2850,3392,3500,0,0,0,0,0,0
$GC,237,-1.31,-116.8,38.9,-16.7,26,243,0.10,2.47,0.00,0.000,6,0.134,0.028,2871,1839,3502,0,0,0,0,0,0
$GC,500,-1.25,-116.8,82.2,-14.8,50,504,0.00,2.42,0.00,0.000,4,0.000,0.024,2871,3390,3502,0,0,0,0,0,0
$GC,534,-1.25,-116.8,88.0,-15.4,52,543,0.00,2.55,0.00,0.000,6,0.000,0.035,2871,1815,3502,0,0,0,0,0,0
$GC,801,-1.25,-116.8,124.8,-13.3,77,805,0.00,2.62,0.00,0.000,4,0.000,0.060,2871,255,3502,0,0,0,0,0,0
$GC,834,-1.19,-116.8,129.8,-16.0,79,839,0.12,2.38,0.00,0.000,6,0.120,0.018,2897,1828,3502,0,0,0,0,0,0
$GC,1102,-1.26,-116.8,159.8,-10.3,103,1107,0.00,0.00,0.00,0.000,6,0.000,0.000,2897,1830,3502,0,0,0,0,0,0
$GC,1363,-1.34,-116.8,185.7,-10.1,128,1365,0.12,0.00,0.00,0.000,6,0.074,0.000,2849,1829,3503,0,0,0,0,0,0
$GC,1626,-1.34,-116.8,213.2,-10.5,144,1627,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1829,3503,0,0,0,0,0,0
$GC,1867,-1.34,-116.8,239.6,-11.2,150,1871,0.00,2.45,0.00,0.000,4,0.000,0.033,2850,3391,3503,0,0,0,0,0,0
$GC,1922,-1.41,-116.8,246.1,-11.8,151,1926,0.00,2.50,0.00,0.000,6,0.000,0.035,2850,1821,3503,0,0,0,0,0,0
$GC,2189,-1.41,-116.8,275.7,-10.8,158,2193,0.00,2.47,0.00,0.000,4,0.000,0.035,2850,3385,3503,0,0,0,0,0,0
$GC,2210,-1.46,-116.8,278.2,-10.4,158,2215,0.00,2.50,0.00,0.000,6,0.000,0.033,2850,1830,3504,0,0,0,0,0,0
$GC,2466,-1.50,-116.8,305.5,-10.9,165,2470,0.00,2.47,0.00,0.000,4,0.000,0.031,2850,3380,3503,0,0,0,0,0,0
$GC,2489,-1.55,-116.8,308.0,-10.8,165,2495,0.12,2.53,0.00,0.000,6,0.068,0.039,2801,1831,3503,0,0,0,0,0,0
$GC,2745,-1.51,-116.8,341.5,-13.5,172,2750,0.12,2.53,0.00,0.000,4,0.111,0.038,2830,3385,3502,0,0,0,0,0,0
$GC,2772,-1.51,-116.8,345.2,-12.5,172,2777,0.00,2.55,0.00,0.000,6,0.000,0.048,2830,1832,3502,0,0,0,0,0,0
$GC,3024,-1.51,-116.8,375.1,-11.9,178,3025,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1832,3500,0,0,0,0,0,0
$GC,3266,-1.51,-116.8,401.3,-10.6,184,3267,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1832,3499,0,0,0,0,0,0
$GC,3510,-1.51,-116.8,425.2,-9.7,190,3514,0.00,2.53,0.00,0.000,4,0.000,0.051,2830,3373,3497,0,0,0,0,0,0
$GC,3561,-1.57,-116.8,429.9,-9.0,191,3566,0.00,2.62,0.00,0.000,6,0.000,0.062,2830,1836,3497,0,0,0,0,0,0
$GC,3833,-1.61,-116.8,455.8,-9.5,198,3838,0.00,2.55,0.00,0.000,4,0.000,0.051,2829,3371,3495,0,0,0,0,0,0
$GC,3901,-1.68,-116.8,462.4,-9.4,199,3906,0.15,2.62,0.00,0.000,6,0.064,0.064,2780,1838,3495,0,0,0,0,0,0
$GC,4158,-1.63,-116.8,492.3,-12.0,206,4163,0.12,2.58,0.00,0.000,4,0.114,0.060,2805,3369,3493,0,0,0,0,0,0
$GC,4197,-1.63,-116.8,497.0,-11.1,207,4201,0.00,2.60,0.00,0.000,6,0.000,0.064,2805,1847,3492,0,0,0,0,0,0
$STATE,4227,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4227,begin apogee
$GC,4235,-0.31,0.0,500.5,10.8,207,4335,1.25,0.00,96.47,0.910,6,0.084,0.000,3089,1975,3020,0,0,0,0,0,0
$STATE,4336,end apogee,CONTROL_FINISHED_OK
$STATE,4336,begin climb
$GC,4338,1.38,116.8,502.9,0.0,210,4447,1.58,2.78,99.43,0.889,4,0.048,0.060,3465,3549,2542,0,0,0,0,0,0
$GC,4466,1.35,196.2,501.1,5.4,213,4540,0.00,2.70,68.62,0.875,6,0.000,0.052,3465,1987,2220,0,0,0,0,0,0
$GC,4808,1.26,196.2,462.6,11.9,222,4813,0.15,2.65,0.00,0.000,4,0.117,0.048,3435,3561,2210,0,0,0,0,0,0
$GC,4837,1.23,196.2,459.2,11.9,222,4841,0.00,2.67,0.00,0.000,6,0.000,0.055,3435,2000,2209,0,0,0,0,0,0
$GC,5087,1.23,196.2,430.9,11.3,228,5091,0.00,2.60,0.00,0.000,4,0.000,0.048,3435,3557,2207,0,0,0,0,0,0
$GC,5152,1.23,196.2,423.1,11.5,229,5157,0.00,2.62,0.00,0.000,6,0.000,0.045,3434,2008,2206,0,0,0,0,0,0
$GC,5410,1.24,206.8,398.1,9.4,236,5420,0.00,0.00,8.40,0.738,6,0.000,0.000,3435,2008,2176,0,0,0,0,0,0
$GC,5651,1.27,232.9,376.9,8.5,242,5678,0.00,0.00,24.45,0.818,6,0.000,0.000,3434,2008,2069,0,0,0,0,0,0
$GC,5895,1.28,237.9,353.5,9.7,248,5906,0.00,2.88,5.15,0.617,4,0.000,0.087,3434,408,2049,0,0,0,0,0,0
$GC,5924,1.28,237.9,350.4,11.2,248,5928,0.00,2.55,0.00,0.000,6,0.000,0.027,3434,1998,2048,0,0,0,0,0,0
$GC,6173,1.28,237.9,323.8,10.6,254,6178,0.00,2.58,0.00,0.000,4,0.000,0.037,3434,3573,2047,0,0,0,0,0,0
$GC,6189,1.28,237.9,321.9,10.8,254,6194,0.00,2.60,0.00,0.000,6,0.000,0.034,3434,1993,2045,0,0,0,0,0,0
$GC,6452,1.28,237.9,294.8,10.3,261,6453,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1993,2045,0,0,0,0,0,0
$GC,6694,1.29,244.5,271.2,9.7,267,6706,0.00,2.58,6.15,0.638,4,0.000,0.032,3435,3567,2025,0,0,0,0,0,0
$GC,6716,1.29,244.5,268.8,10.3,267,6721,0.00,2.53,0.00,0.000,6,0.000,0.033,3434,2011,2024,0,0,0,0,0,0
$GC,6974,1.33,247.5,243.9,9.9,274,6984,0.00,2.78,4.62,0.550,4,0.000,0.067,3435,417,2010,0,0,0,0,0,0
$GC,7024,1.33,247.5,238.1,11.4,275,7029,0.00,2.53,0.00,0.000,6,0.000,0.021,3434,2015,2009,0,0,0,0,0,0
$GC,7298,1.39,256.3,211.9,9.5,282,7313,0.12,2.55,9.27,0.657,4,0.077,0.040,3470,3563,1975,0,0,0,0,0,0
$GC,7392,1.39,256.3,200.7,12.4,284,7397,0.00,2.53,0.00,0.000,6,0.000,0.037,3470,2020,1974,0,0,0,0,0,0
$GC,7665,1.39,256.3,169.9,10.5,307,7670,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2020,1972,0,0,0,0,0,0
$GC,7928,1.43,288.2,143.8,8.2,332,7966,0.00,2.83,28.95,0.655,4,0.000,0.060,3470,414,1842,0,0,0,0,0,0
$GC,7971,1.44,303.3,139.7,9.2,335,7992,0.00,2.60,14.02,0.613,6,0.000,0.020,3470,2051,1783,0,0,0,0,0,0
$GC,8246,1.48,303.3,111.5,10.6,361,8250,0.00,2.78,0.00,0.000,4,0.000,0.058,3470,413,1778,0,0,0,0,0,0
$GC,8302,1.48,303.3,104.4,13.2,365,8306,0.00,2.58,0.00,0.000,6,0.000,0.024,3470,2053,1776,0,0,0,0,0,0
$GC,8571,1.54,307.8,75.7,9.8,389,8586,0.10,2.83,4.43,0.430,4,0.087,0.058,3501,410,1764,0,0,0,0,0,0
$GC,8616,1.50,307.8,69.4,12.9,392,8626,0.00,2.58,0.00,0.000,6,0.000,0.018,3501,2039,1763,0,0,0,0,0,0
$GC,8883,1.50,307.8,42.9,10.6,417,8887,0.00,2.42,0.00,0.000,4,0.000,0.031,3501,3559,1763,0,0,0,0,0,0
$GC,8904,1.50,307.8,40.3,10.5,418,8908,0.00,2.42,0.00,0.000,6,0.000,0.028,3501,2033,1762,0,0,0,0,0,0
$GC,9208,1.50,307.8,8.3,11.6,457,9218,0.00,2.47,0.00,0.000,4,0.000,0.032,3501,3560,1762,0,0,0,0,0,0
$STATE,9239,end climb,SURFACE_DEPTH_REACHED
$STATE,9239,begin surface coast
$FINISH,0.5,0.980116
$STATE,9268,end surface coast,CONTROL_FINISHED_OK
$STATE,9268,begin surface
$SM_CCo,9293,251.95,0.514,0,0,476,623.80
$SM_GC,0.98,0.00,0.00,251.95,0.000,0.000,0.514,475,1817,476,-12.35,-0.40,623.80
$IRIDIUM_FIX,2241.69,-15802.37,020900,020201
$TT8_MAMPS,0.026078
$HUMID,56.81
$INTERNAL_PRESSURE,9.08238
$TCM_TEMP,21.70
$XPDR_PINGS,44
$24V_AH,23.5,30.035
$10V_AH,10.4,26.199
$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,28.775,119.025,369.975,251.950,0.000,140.238,400.410,0.000,11.000,0.000,60.298,949.475,6289.272,684.173,1770.665,812.011,33.368,1343.906,0.000,1737.150,0.000,0.536,0.000
$DEVICE_MAMPS,154.934,87.438,909.662,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,315.025,265.673,358.003,671.005,1014.778,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,35156,465
$CAP_FILE_SIZE,99171,0
$CFSIZE,260165632,169734144
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090611,044901,2249.382,-15802.894,50,1.3,50,10.1