version: 66.06
glider: 146
mission: 6
dive: 241
start: 6 9 111 7 56 42
data:
$ID,146
$MISSION,6
$DIVE,241
$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,-273636.31
$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,39
$R_STBD_OVSHOOT,61
$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
$GPS1,073946,2249.479,-15801.505,9,99.0,28,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-68.7
$GPS2,075546,2249.728,-15801.520,34,2.5,53,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.224,-0.069
$KALMAN_X,-93943.2,8.6,-5.7,85871.6,89.3
$KALMAN_Y,-81675.8,438.9,-237.3,92260.3,842.0
$MHEAD_RNG_PITCHd_Wd,97.0,7731,-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,-116.8,0.0,0.0,0,89,0.00,0.00,-71.18,0.000,2,0.000,0.000,474,1816,3328,0,0,0,0,0,0
$GC,92,-1.38,-116.8,4.0,-7.0,9,118,12.68,2.55,-2.97,0.000,4,0.160,0.041,2850,3387,3501,0,0,0,0,0,0
$GC,183,-1.32,-116.8,27.9,-16.2,21,193,0.08,2.53,0.00,0.000,6,0.100,0.029,2869,1840,3502,0,0,0,0,0,0
$GC,450,-1.23,-116.8,72.0,-16.0,46,455,0.10,2.45,0.00,0.000,4,0.132,0.025,2889,3387,3502,0,0,0,0,0,0
$GC,546,-1.23,-116.8,85.9,-14.0,53,551,0.00,2.47,0.00,0.000,6,0.000,0.027,2889,1843,3502,0,0,0,0,0,0
$GC,814,-1.23,-116.8,122.8,-11.6,77,818,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1843,3502,0,0,0,0,0,0
$GC,1076,-1.26,-116.8,154.3,-10.3,102,1080,0.00,2.42,0.00,0.000,4,0.000,0.029,2890,3392,3503,0,0,0,0,0,0
$GC,1134,-1.34,-116.8,160.0,-9.3,106,1140,0.00,2.47,0.00,0.000,6,0.000,0.031,2889,1837,3503,0,0,0,0,0,0
$GC,1397,-1.41,-116.8,185.9,-10.1,131,1402,0.15,2.72,0.00,0.000,4,0.064,0.070,2835,250,3504,0,0,0,0,0,0
$GC,1431,-1.37,-116.8,189.4,-11.7,133,1436,0.12,2.42,0.00,0.000,6,0.113,0.022,2861,1850,3504,0,0,0,0,0,0
$GC,1695,-1.37,-116.8,219.6,-11.4,146,1696,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1851,3504,0,0,0,0,0,0
$GC,1940,-1.37,-116.8,247.8,-11.3,152,1944,0.00,2.42,0.00,0.000,4,0.000,0.031,2861,3382,3504,0,0,0,0,0,0
$GC,1962,-1.37,-116.8,250.5,-11.5,152,1966,0.00,2.45,0.00,0.000,6,0.000,0.031,2861,1833,3504,0,0,0,0,0,0
$GC,2217,-1.40,-116.8,277.9,-10.9,159,2221,0.00,2.47,0.00,0.000,4,0.000,0.036,2861,3385,3504,0,0,0,0,0,0
$GC,2262,-1.48,-116.8,282.8,-10.2,160,2267,0.10,2.47,0.00,0.000,6,0.087,0.035,2822,1840,3504,0,0,0,0,0,0
$GC,2541,-1.48,-116.8,314.2,-11.2,167,2545,0.00,2.45,0.00,0.000,4,0.000,0.036,2822,3375,3504,0,0,0,0,0,0
$GC,2579,-1.48,-116.8,318.9,-12.2,168,2584,0.00,2.47,0.00,0.000,6,0.000,0.036,2822,1846,3504,0,0,0,0,0,0
$GC,2864,-1.48,-116.8,350.9,-11.2,175,2868,0.00,2.50,0.00,0.000,4,0.000,0.041,2822,3381,3503,0,0,0,0,0,0
$GC,2885,-1.48,-116.8,353.5,-10.8,175,2889,0.00,2.53,0.00,0.000,6,0.000,0.042,2822,1849,3503,0,0,0,0,0,0
$GC,3145,-1.48,-116.8,380.7,-10.1,182,3146,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1848,3501,0,0,0,0,0,0
$GC,3389,-1.48,-116.8,404.5,-9.7,188,3394,0.00,2.47,0.00,0.000,4,0.000,0.048,2822,3370,3500,0,0,0,0,0,0
$GC,3436,-1.52,-116.8,409.0,-10.0,189,3440,0.00,2.55,0.00,0.000,6,0.000,0.058,2822,1852,3500,0,0,0,0,0,0
$GC,3713,-1.52,-116.8,435.6,-9.6,196,3717,0.00,2.50,0.00,0.000,4,0.000,0.045,2822,3375,3498,0,0,0,0,0,0
$GC,3729,-1.52,-116.8,437.2,-9.6,196,3734,0.00,2.58,0.00,0.000,6,0.000,0.061,2822,1854,3498,0,0,0,0,0,0
$GC,3991,-1.52,-116.8,463.2,-10.3,203,3992,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1854,3496,0,0,0,0,0,0
$GC,4233,-1.52,-116.8,489.5,-10.8,209,4234,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1854,3494,0,0,0,0,0,0
$STATE,4353,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4353,begin apogee
$GC,4359,-0.31,0.0,502.7,10.9,212,4459,1.17,0.00,96.80,0.913,6,0.077,0.000,3089,1972,3019,0,0,0,0,0,0
$STATE,4460,end apogee,CONTROL_FINISHED_OK
$STATE,4460,begin climb
$GC,4464,1.38,116.8,505.4,0.0,214,4568,1.58,0.00,100.15,0.891,6,0.047,0.000,3469,1972,2543,0,0,0,0,0,0
$GC,4799,1.31,156.6,489.8,7.7,223,4841,0.12,2.80,34.17,0.868,4,0.122,0.059,3444,3558,2380,0,0,0,0,0,0
$GC,4914,1.24,156.6,479.2,10.2,225,4918,0.00,2.70,0.00,0.000,6,0.000,0.054,3444,1991,2377,0,0,0,0,0,0
$GC,5169,1.20,165.3,454.8,9.5,232,5180,0.10,0.00,8.10,0.744,6,0.135,0.000,3424,1990,2345,0,0,0,0,0,0
$GC,5412,1.24,198.5,434.7,8.1,238,5445,0.00,0.00,30.55,0.853,6,0.000,0.000,3424,1990,2210,0,0,0,0,0,0
$GC,5657,1.28,232.6,415.1,8.1,244,5693,0.00,2.67,30.52,0.843,4,0.000,0.042,3424,3570,2071,0,0,0,0,0,0
$GC,5710,1.31,249.9,410.4,9.0,244,5736,0.00,2.70,16.73,0.802,6,0.000,0.048,3424,1985,2000,0,0,0,0,0,0
$GC,5981,1.31,256.5,384.8,9.7,251,5995,0.00,2.97,6.50,0.688,4,0.000,0.097,3424,404,1972,0,0,0,0,0,0
$GC,6012,1.31,256.5,381.1,11.2,251,6016,0.00,2.53,0.00,0.000,6,0.000,0.029,3424,1984,1971,0,0,0,0,0,0
$GC,6262,1.35,256.5,354.2,10.9,257,6268,0.12,2.62,0.00,0.000,4,0.081,0.039,3460,3572,1969,0,0,0,0,0,0
$GC,6291,1.35,256.5,350.7,12.3,257,6296,0.00,2.62,0.00,0.000,6,0.000,0.038,3460,1989,1969,0,0,0,0,0,0
$GC,6540,1.35,256.5,320.1,12.2,263,6542,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1989,1967,0,0,0,0,0,0
$GC,6784,1.35,256.5,292.6,11.1,269,6789,0.00,2.60,0.00,0.000,4,0.000,0.040,3460,3579,1966,0,0,0,0,0,0
$GC,6818,1.35,256.5,288.7,11.7,269,6824,0.00,2.60,0.00,0.000,6,0.000,0.040,3460,1999,1965,0,0,0,0,0,0
$GC,7068,1.35,256.5,262.7,10.2,276,7072,0.00,2.58,0.00,0.000,4,0.000,0.038,3460,3574,1965,0,0,0,0,0,0
$GC,7100,1.35,256.5,259.1,11.2,276,7108,0.00,2.53,0.00,0.000,6,0.000,0.032,3460,2008,1964,0,0,0,0,0,0
$GC,7350,1.35,256.5,232.1,10.7,283,7355,0.00,2.55,0.00,0.000,4,0.000,0.040,3460,3574,1963,0,0,0,0,0,0
$GC,7391,1.35,256.5,227.8,10.3,284,7395,0.00,2.55,0.00,0.000,6,0.000,0.032,3460,2011,1962,0,0,0,0,0,0
$GC,7674,1.35,256.5,196.9,11.1,291,7678,0.00,2.53,0.00,0.000,4,0.000,0.035,3460,3577,1962,0,0,0,0,0,0
$GC,7719,1.39,256.5,191.4,11.7,294,7728,0.00,2.55,0.00,0.000,6,0.000,0.031,3460,2024,1962,0,0,0,0,0,0
$GC,7987,1.39,256.5,164.4,10.1,319,7991,0.00,2.72,0.00,0.000,4,0.000,0.058,3460,413,1962,0,0,0,0,0,0
$GC,8038,1.39,256.5,158.2,11.0,323,8042,0.00,2.53,0.00,0.000,6,0.000,0.018,3460,2037,1961,0,0,0,0,0,0
$GC,8306,1.42,282.3,132.0,8.5,347,8331,0.00,0.00,21.80,0.631,6,0.000,0.000,3460,2037,1867,0,0,0,0,0,0
$GC,8589,1.48,288.4,106.1,9.7,374,8601,0.10,0.00,6.05,0.504,6,0.091,0.000,3490,2038,1844,0,0,0,0,0,0
$GC,8858,1.50,307.4,79.6,8.9,399,8887,0.00,2.53,17.75,0.571,4,0.000,0.031,3490,3559,1764,0,0,0,0,0,0
$GC,8904,1.50,307.4,75.1,10.2,402,8908,0.00,2.55,0.00,0.000,6,0.000,0.028,3490,1992,1763,0,0,0,0,0,0
$GC,9172,1.59,333.0,50.0,8.6,426,9201,0.00,2.55,22.98,0.549,4,0.000,0.032,3490,3552,1660,0,0,0,0,0,0
$GC,9267,1.65,333.0,39.1,10.9,433,9275,0.08,2.53,0.00,0.000,6,0.048,0.029,3523,2012,1658,0,0,0,0,0,0
$STATE,9556,end climb,SURFACE_DEPTH_REACHED
$STATE,9556,begin surface coast
$FINISH,0.7,0.980072
$STATE,9592,end surface coast,CONTROL_FINISHED_OK
$STATE,9592,begin surface
$SM_CCo,9614,230.00,0.511,0,0,475,623.80
$SM_GC,1.05,0.00,0.00,230.00,0.000,0.000,0.511,477,1815,475,-12.34,-0.42,623.80
$IRIDIUM_FIX,2241.69,-15802.37,020900,080810
$TT8_MAMPS,0.025311
$HUMID,56.14
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,22.10
$XPDR_PINGS,38
$24V_AH,23.5,30.299
$10V_AH,10.4,26.421
$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,28.825,107.900,392.100,230.000,0.000,148.305,400.392,0.000,9.500,0.000,59.007,952.448,6581.547,699.600,1757.866,819.497,33.368,1336.621,0.000,1729.029,0.000,0.536,0.000
$DEVICE_MAMPS,160.303,178.711,913.497,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.763,272.281,367.157,689.381,1042.582,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,38334,477
$CAP_FILE_SIZE,95778,0
$CFSIZE,260165632,169627648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090611,104207,2249.617,-15800.312,38,1.5,38,10.1