version: 66.06
glider: 146
mission: 6
dive: 240
start: 6 9 111 4 57 52
data:
$ID,146
$MISSION,6
$DIVE,240
$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,-273576.69
$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,31
$R_STBD_OVSHOOT,52
$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
$GPS1,044901,2249.382,-15802.894,50,1.3,50,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.04
$_SM_ANGLEo,-64.1
$GPS2,045656,2249.495,-15802.897,12,1.9,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.232,-0.039
$KALMAN_X,-93547.9,-305.9,-131.9,83563.5,-29.0
$KALMAN_Y,-82658.0,156.3,215.0,92642.6,596.8
$MHEAD_RNG_PITCHd_Wd,89.4,10110,-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,-109.70,0.000,2,0.000,0.000,474,1817,3295,0,0,0,0,0,0
$GC,131,-1.38,-116.8,3.6,-6.4,14,157,12.68,2.67,-3.62,0.000,4,0.160,0.061,2849,257,3498,0,0,0,0,0,0
$GC,215,-1.20,-116.8,27.2,-19.5,25,224,0.17,2.45,0.00,0.000,6,0.104,0.015,2890,1865,3500,0,0,0,0,0,0
$GC,492,-1.16,-116.8,66.6,-12.9,51,496,0.00,2.38,0.00,0.000,4,0.000,0.025,2890,3372,3500,0,0,0,0,0,0
$GC,579,-1.21,-116.8,78.8,-13.1,57,589,0.00,2.47,0.00,0.000,6,0.000,0.030,2890,1838,3499,0,0,0,0,0,0
$GC,840,-1.21,-116.8,111.2,-12.7,82,845,0.00,2.65,0.00,0.000,4,0.000,0.058,2890,257,3499,0,0,0,0,0,0
$GC,874,-1.21,-116.8,116.2,-14.9,84,883,0.00,2.38,0.00,0.000,6,0.000,0.017,2890,1824,3499,0,0,0,0,0,0
$GC,1142,-1.25,-116.8,147.6,-11.4,109,1147,0.00,2.40,0.00,0.000,4,0.000,0.027,2890,3367,3500,0,0,0,0,0,0
$GC,1247,-1.33,-116.8,159.5,-10.2,117,1256,0.00,2.45,0.00,0.000,6,0.000,0.026,2890,1842,3500,0,0,0,0,0,0
$GC,1514,-1.39,-116.8,187.9,-10.4,142,1519,0.15,2.67,0.00,0.000,4,0.067,0.066,2840,257,3500,0,0,0,0,0,0
$GC,1536,-1.39,-116.8,191.2,-11.1,143,1542,0.00,2.38,0.00,0.000,6,0.000,0.017,2840,1840,3500,0,0,0,0,0,0
$GC,1821,-1.39,-116.8,226.5,-12.6,156,1822,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1842,3500,0,0,0,0,0,0
$GC,2063,-1.39,-116.8,253.3,-11.0,162,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1842,3500,0,0,0,0,0,0
$GC,2307,-1.39,-116.8,281.0,-11.3,168,2311,0.00,2.40,0.00,0.000,4,0.000,0.033,2840,3364,3500,0,0,0,0,0,0
$GC,2356,-1.44,-116.8,286.9,-11.9,169,2361,0.00,2.42,0.00,0.000,6,0.000,0.031,2840,1853,3500,0,0,0,0,0,0
$GC,2630,-1.44,-116.8,318.7,-11.7,176,2634,0.00,2.42,0.00,0.000,4,0.000,0.031,2839,3366,3500,0,0,0,0,0,0
$GC,2674,-1.50,-116.8,324.3,-12.2,177,2678,0.00,2.47,0.00,0.000,6,0.000,0.040,2840,1851,3500,0,0,0,0,0,0
$GC,2952,-1.50,-116.8,355.5,-11.3,184,2953,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1851,3499,0,0,0,0,0,0
$GC,3195,-1.55,-116.8,382.3,-10.8,190,3199,0.00,2.45,0.00,0.000,4,0.000,0.036,2840,3360,3497,0,0,0,0,0,0
$GC,3256,-1.62,-116.8,388.7,-9.7,191,3261,0.15,2.53,0.00,0.000,6,0.061,0.051,2786,1860,3497,0,0,0,0,0,0
$GC,3519,-1.58,-116.8,418.4,-11.3,198,3524,0.12,2.47,0.00,0.000,4,0.110,0.046,2814,3364,3495,0,0,0,0,0,0
$GC,3551,-1.58,-116.8,422.1,-10.2,198,3557,0.00,2.53,0.00,0.000,6,0.000,0.052,2814,1871,3495,0,0,0,0,0,0
$GC,3801,-1.58,-116.8,447.9,-10.5,205,3802,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1872,3493,0,0,0,0,0,0
$GC,4045,-1.58,-116.8,474.3,-10.8,211,4046,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1872,3492,0,0,0,0,0,0
$STATE,4287,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4287,begin apogee
$GC,4294,-0.31,0.0,501.3,11.2,217,4394,1.23,0.00,96.50,0.907,6,0.082,0.000,3089,1959,3020,0,0,0,0,0,0
$STATE,4395,end apogee,CONTROL_FINISHED_OK
$STATE,4395,begin climb
$GC,4398,1.38,116.8,504.3,0.0,219,4511,1.55,3.05,99.85,0.886,4,0.043,0.104,3462,409,2541,0,0,0,0,0,0
$GC,4539,1.25,175.9,502.6,6.6,222,4599,0.15,2.60,51.58,0.869,6,0.123,0.034,3434,1977,2303,0,0,0,0,0,0
$GC,4850,1.21,176.4,473.3,10.0,230,4854,0.00,2.75,0.00,0.000,4,0.000,0.063,3434,3583,2294,0,0,0,0,0,0
$GC,4922,1.18,176.4,465.7,10.0,231,4926,0.00,2.70,0.00,0.000,6,0.000,0.051,3434,1998,2291,0,0,0,0,0,0
$GC,5172,1.18,176.6,440.6,10.0,237,5177,0.00,3.00,0.00,0.000,4,0.000,0.107,3434,408,2289,0,0,0,0,0,0
$GC,5189,1.13,176.6,438.8,10.2,237,5194,0.15,2.60,0.00,0.000,6,0.117,0.033,3405,2003,2288,0,0,0,0,0,0
$GC,5450,1.16,202.6,416.0,8.5,244,5475,0.00,0.00,22.80,0.833,6,0.000,0.000,3405,2003,2193,0,0,0,0,0,0
$GC,5694,1.22,219.6,394.0,9.1,250,5712,0.00,0.00,15.85,0.805,6,0.000,0.000,3405,2003,2123,0,0,0,0,0,0
$GC,5939,1.26,219.6,369.2,10.4,256,5941,0.12,0.00,0.00,0.000,6,0.087,0.000,3437,2003,2119,0,0,0,0,0,0
$GC,6181,1.26,219.6,343.0,10.5,262,6185,0.00,2.60,0.00,0.000,4,0.000,0.040,3436,3587,2117,0,0,0,0,0,0
$GC,6207,1.26,219.6,340.0,11.1,262,6212,0.00,2.62,0.00,0.000,6,0.000,0.040,3437,1983,2116,0,0,0,0,0,0
$GC,6459,1.27,228.5,315.6,9.5,268,6473,0.00,2.67,7.85,0.703,4,0.000,0.036,3437,3571,2088,0,0,0,0,0,0
$GC,6503,1.29,245.5,311.5,9.1,269,6527,0.00,2.62,16.77,0.765,6,0.000,0.038,3437,1981,2018,0,0,0,0,0,0
$GC,6790,1.31,262.6,285.5,9.1,276,6813,0.00,2.67,16.20,0.747,4,0.000,0.033,3437,3582,1947,0,0,0,0,0,0
$GC,6827,1.32,269.1,281.9,9.7,276,6839,0.00,2.60,7.00,0.644,6,0.000,0.036,3437,2000,1923,0,0,0,0,0,0
$GC,7118,1.36,270.1,252.8,10.0,284,7119,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1999,1918,0,0,0,0,0,0
$GC,7363,1.41,270.1,227.2,10.7,290,7368,0.12,2.60,0.00,0.000,4,0.166,0.032,3471,3580,1916,0,0,0,0,0,0
$GC,7402,1.41,270.1,222.5,11.9,291,7407,0.00,2.55,0.00,0.000,6,0.000,0.032,3471,2007,1915,0,0,0,0,0,0
$GC,7660,1.41,270.1,194.7,11.0,298,7664,0.00,2.70,0.00,0.000,4,0.000,0.067,3471,415,1914,0,0,0,0,0,0
$GC,7682,1.41,270.1,191.5,12.3,299,7688,0.00,2.53,0.00,0.000,6,0.000,0.019,3471,2033,1914,0,0,0,0,0,0
$GC,7945,1.41,270.1,163.5,11.0,324,7949,0.00,2.75,0.00,0.000,4,0.000,0.055,3470,406,1914,0,0,0,0,0,0
$GC,7973,1.41,270.1,159.9,11.9,326,7978,0.00,2.50,0.00,0.000,6,0.000,0.025,3471,2007,1913,0,0,0,0,0,0
$GC,8237,1.41,270.1,133.0,10.2,350,8241,0.00,2.50,0.00,0.000,4,0.000,0.035,3471,3563,1913,0,0,0,0,0,0
$GC,8291,1.45,270.1,127.1,11.5,354,8295,0.00,2.50,0.00,0.000,6,0.000,0.035,3470,2002,1912,0,0,0,0,0,0
$GC,8556,1.53,294.5,102.3,8.6,378,8583,0.00,2.75,21.58,0.601,4,0.000,0.058,3471,421,1818,0,0,0,0,0,0
$GC,8649,1.53,294.5,92.9,11.0,386,8654,0.10,2.45,0.00,0.000,6,0.087,0.024,3500,2012,1815,0,0,0,0,0,0
$GC,8913,1.53,294.5,67.7,10.1,410,8917,0.00,2.45,0.00,0.000,4,0.000,0.037,3501,3549,1815,0,0,0,0,0,0
$GC,8983,1.53,294.5,59.7,12.1,415,8987,0.00,2.45,0.00,0.000,6,0.000,0.033,3501,2005,1813,0,0,0,0,0,0
$GC,9251,1.54,308.0,34.8,9.3,439,9268,0.00,2.50,12.32,0.515,4,0.000,0.028,3501,3559,1764,0,0,0,0,0,0
$GC,9371,1.63,336.1,23.6,8.4,453,9406,0.00,2.50,25.17,0.525,6,0.000,0.028,3501,2023,1647,0,0,0,0,0,0
$STATE,9543,end climb,SURFACE_DEPTH_REACHED
$STATE,9543,begin surface coast
$FINISH,0.5,0.980060
$STATE,9585,end surface coast,CONTROL_FINISHED_OK
$STATE,9585,begin surface
$SM_CCo,9608,34.80,0.512,0,0,1469,380.21
$SM_GC,1.07,0.00,0.00,34.80,0.000,0.000,0.512,475,1817,1469,-12.36,-0.34,380.21
$IRIDIUM_FIX,2239.35,-15800.20,020900,020247
$TT8_MAMPS,0.025311
$HUMID,60.27
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.20
$XPDR_PINGS,39
$24V_AH,23.5,30.152
$10V_AH,10.4,26.310
$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,28.925,113.250,393.475,34.800,0.000,24.593,35.947,282.608,9.750,0.000,14.175,966.786,6241.476,484.079,1816.229,614.491,33.370,1192.703,0.000,1820.483,0.000,0.536,0.000
$DEVICE_MAMPS,165.672,212.459,907.361,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.504,281.251,374.320,727.641,1100.576,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,38476,483
$CAP_FILE_SIZE,102421,0
$CFSIZE,260165632,169693184
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090611,073946,2249.479,-15801.505,9,99.0,28,10.1