version: 66.06
glider: 146
mission: 6
dive: 242
start: 6 9 111 11 1 23
data:
$ID,146
$MISSION,6
$DIVE,242
$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,-273652.19
$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,32
$R_STBD_OVSHOOT,54
$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
$GPS1,104207,2249.617,-15800.312,38,1.5,38,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-68.8
$GPS2,110027,2249.841,-15800.202,13,1.9,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.217,-0.091
$KALMAN_X,-94397.2,315.3,159.4,88105.7,-383.4
$KALMAN_Y,-80814.4,482.9,-242.3,91571.6,999.5
$MHEAD_RNG_PITCHd_Wd,102.6,5474,-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,15,-1.38,-116.8,0.0,0.0,0,134,0.00,0.00,-115.97,0.000,6,0.000,0.000,476,1815,3497,0,0,0,0,0,0
$GC,139,-1.38,-116.8,4.6,-8.9,15,156,12.05,2.60,0.00,0.000,4,0.139,0.047,2850,250,3499,0,0,0,0,0,0
$GC,187,-0.85,-116.8,25.0,-37.2,21,197,0.52,2.45,0.00,0.000,6,0.106,0.014,2967,1841,3500,0,0,0,0,0,0
$GC,466,-0.93,-116.8,58.2,-9.9,47,470,0.00,2.42,0.00,0.000,4,0.000,0.033,2967,3389,3500,0,0,0,0,0,0
$GC,524,-1.08,-116.8,64.7,-9.9,51,529,0.17,2.47,0.00,0.000,6,0.054,0.024,2905,1834,3500,0,0,0,0,0,0
$GC,792,-1.08,-116.8,101.2,-12.6,75,796,0.00,2.42,0.00,0.000,4,0.000,0.031,2905,3386,3500,0,0,0,0,0,0
$GC,848,-1.18,-116.8,107.8,-10.4,79,853,0.00,2.45,0.00,0.000,6,0.000,0.031,2905,1834,3500,0,0,0,0,0,0
$GC,1115,-1.22,-116.8,140.1,-11.7,103,1120,0.00,0.00,0.00,0.000,6,0.000,0.000,2905,1834,3500,0,0,0,0,0,0
$GC,1379,-1.30,-116.8,166.5,-9.6,128,1384,0.12,2.45,0.00,0.000,4,0.069,0.026,2853,3390,3500,0,0,0,0,0,0
$GC,1399,-1.36,-116.8,168.6,-9.7,129,1403,0.00,2.47,0.00,0.000,6,0.000,0.031,2853,1830,3500,0,0,0,0,0,0
$GC,1661,-1.36,-116.8,198.4,-11.1,153,1666,0.00,2.67,0.00,0.000,4,0.000,0.061,2853,257,3500,0,0,0,0,0,0
$GC,1694,-1.36,-116.8,202.9,-13.0,154,1700,0.00,2.38,0.00,0.000,6,0.000,0.015,2853,1847,3500,0,0,0,0,0,0
$GC,1944,-1.36,-116.8,231.8,-11.7,161,1948,0.00,2.38,0.00,0.000,4,0.000,0.035,2853,3375,3500,0,0,0,0,0,0
$GC,1967,-1.36,-116.8,234.6,-12.2,161,1972,0.00,2.42,0.00,0.000,6,0.000,0.028,2853,1837,3500,0,0,0,0,0,0
$GC,2222,-1.36,-116.8,265.2,-11.9,168,2226,0.00,2.42,0.00,0.000,4,0.000,0.027,2853,3373,3500,0,0,0,0,0,0
$GC,2306,-1.42,-116.8,274.9,-11.0,170,2311,0.00,2.42,0.00,0.000,6,0.000,0.030,2853,1843,3500,0,0,0,0,0,0
$GC,2592,-1.46,-116.8,302.9,-9.6,177,2596,0.00,2.75,0.00,0.000,4,0.000,0.077,2853,254,3499,0,0,0,0,0,0
$GC,2613,-1.46,-116.8,305.3,-9.8,177,2617,0.00,2.42,0.00,0.000,6,0.000,0.025,2853,1812,3499,0,0,0,0,0,0
$GC,2870,-1.51,-116.8,329.1,-9.3,184,2874,0.00,2.58,0.00,0.000,4,0.000,0.044,2853,3406,3498,0,0,0,0,0,0
$GC,2903,-1.58,-116.8,332.5,-9.9,184,2909,0.15,2.55,0.00,0.000,6,0.064,0.044,2799,1852,3498,0,0,0,0,0,0
$GC,3153,-1.54,-116.8,364.2,-13.1,191,3155,0.12,0.00,0.00,0.000,6,0.110,0.000,2825,1852,3496,0,0,0,0,0,0
$GC,3397,-1.54,-116.8,391.2,-10.9,197,3402,0.00,2.50,0.00,0.000,4,0.000,0.045,2825,3399,3495,0,0,0,0,0,0
$GC,3470,-1.59,-116.8,399.2,-11.0,198,3475,0.00,2.60,0.00,0.000,6,0.000,0.052,2825,1844,3495,0,0,0,0,0,0
$GC,3720,-1.59,-116.8,424.6,-10.0,204,3721,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1844,3493,0,0,0,0,0,0
$GC,3965,-1.59,-116.8,447.0,-9.0,210,3969,0.00,2.55,0.00,0.000,4,0.000,0.048,2825,3396,3491,0,0,0,0,0,0
$GC,3993,-1.63,-116.8,449.7,-9.6,210,3997,0.00,2.65,0.00,0.000,6,0.000,0.056,2825,1844,3491,0,0,0,0,0,0
$GC,4243,-1.63,-116.8,473.2,-9.3,216,4247,0.00,2.60,0.00,0.000,4,0.000,0.055,2825,3399,3489,0,0,0,0,0,0
$GC,4266,-1.67,-116.8,475.4,-9.9,216,4271,0.12,2.65,0.00,0.000,6,0.077,0.060,2785,1851,3489,0,0,0,0,0,0
$STATE,4478,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4478,begin apogee
$GC,4484,-0.31,0.0,500.7,11.9,222,4584,1.38,0.00,95.88,0.905,6,0.084,0.000,3091,2005,3020,0,0,0,0,0,0
$STATE,4585,end apogee,CONTROL_FINISHED_OK
$STATE,4585,begin climb
$GC,4587,1.38,116.8,503.5,0.0,224,4695,1.58,2.72,100.47,0.886,4,0.044,0.060,3464,3549,2542,0,0,0,0,0,0
$GC,4708,1.38,210.9,503.0,4.6,227,4799,0.00,2.67,81.03,0.875,6,0.000,0.055,3464,1986,2159,0,0,0,0,0,0
$GC,5044,1.30,210.9,464.5,12.5,236,5046,0.10,0.00,0.00,0.000,6,0.135,0.000,3444,1985,2150,0,0,0,0,0,0
$GC,5286,1.30,210.9,437.6,10.8,242,5291,0.00,2.62,0.00,0.000,4,0.000,0.049,3444,3563,2147,0,0,0,0,0,0
$GC,5341,1.30,210.9,431.3,11.3,243,5345,0.00,2.67,0.00,0.000,6,0.000,0.053,3444,1994,2146,0,0,0,0,0,0
$GC,5608,1.30,210.9,403.7,10.3,250,5609,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1994,2144,0,0,0,0,0,0
$GC,5853,1.30,210.9,378.9,10.2,256,5854,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1994,2142,0,0,0,0,0,0
$GC,6095,1.30,210.9,353.3,10.4,262,6099,0.00,2.58,0.00,0.000,4,0.000,0.039,3444,3569,2141,0,0,0,0,0,0
$GC,6135,1.30,210.9,349.1,10.8,263,6140,0.00,2.60,0.00,0.000,6,0.000,0.036,3444,1984,2140,0,0,0,0,0,0
$GC,6420,1.30,210.9,318.8,10.7,270,6421,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1984,2139,0,0,0,0,0,0
$GC,6662,1.30,210.9,293.8,10.1,276,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1984,2138,0,0,0,0,0,0
$GC,6906,1.30,210.9,268.8,10.4,282,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1984,2137,0,0,0,0,0,0
$GC,7150,1.32,233.9,246.9,8.7,288,7174,0.00,2.67,17.08,0.725,4,0.000,0.035,3444,3563,2065,0,0,0,0,0,0
$GC,7232,1.33,237.5,239.5,9.8,289,7242,0.00,2.60,4.68,0.537,6,0.000,0.032,3444,1982,2050,0,0,0,0,0,0
$GC,7522,1.35,254.5,213.0,9.1,297,7545,0.00,2.62,16.30,0.690,4,0.000,0.038,3444,3566,1980,0,0,0,0,0,0
$GC,7603,1.40,258.6,205.2,9.8,298,7613,0.00,2.58,4.93,0.528,6,0.000,0.038,3444,2000,1964,0,0,0,0,0,0
$GC,7869,1.47,270.3,179.3,9.4,318,7887,0.15,2.78,11.38,0.643,4,0.069,0.062,3487,415,1917,0,0,0,0,0,0
$GC,7956,1.40,270.3,169.6,12.6,325,7961,0.10,2.50,0.00,0.000,6,0.128,0.019,3467,2004,1915,0,0,0,0,0,0
$GC,8222,1.40,270.3,141.1,10.7,349,8227,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,2005,1914,0,0,0,0,0,0
$GC,8483,1.41,280.7,114.7,9.4,374,8499,0.00,2.70,10.38,0.581,4,0.000,0.050,3467,412,1874,0,0,0,0,0,0
$GC,8534,1.41,280.7,109.0,12.2,378,8539,0.00,2.50,0.00,0.000,6,0.000,0.019,3466,2010,1872,0,0,0,0,0,0
$GC,8799,1.50,304.8,83.3,8.6,402,8826,0.00,2.78,21.25,0.584,4,0.000,0.049,3466,411,1776,0,0,0,0,0,0
$GC,8862,1.50,304.8,76.9,11.7,407,8866,0.00,2.45,0.00,0.000,6,0.000,0.021,3466,1991,1774,0,0,0,0,0,0
$GC,9131,1.61,317.2,51.7,9.3,431,9149,0.17,2.58,11.48,0.526,4,0.067,0.032,3515,3552,1726,0,0,0,0,0,0
$GC,9209,1.61,317.2,42.1,11.1,437,9219,0.00,2.55,0.00,0.000,6,0.000,0.031,3515,1988,1725,0,0,0,0,0,0
$GC,9516,1.61,317.2,7.3,11.4,475,9526,0.00,2.65,0.00,0.000,4,0.000,0.058,3515,417,1723,0,0,0,0,0,0
$STATE,9540,end climb,SURFACE_DEPTH_REACHED
$STATE,9540,begin surface coast
$FINISH,0.5,0.979698
$STATE,9583,end surface coast,CONTROL_FINISHED_OK
$STATE,9583,begin surface
$SM_CCo,9608,51.25,0.521,0,0,1469,380.21
$SM_GC,1.29,0.00,0.00,51.25,0.000,0.000,0.521,474,1869,1469,-12.36,1.10,380.21
$IRIDIUM_FIX,2239.35,-15759.32,020900,111145
$TT8_MAMPS,0.025311
$HUMID,60.82
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.90
$XPDR_PINGS,42
$24V_AH,23.5,30.435
$10V_AH,10.4,26.537
$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,29.100,112.575,374.825,51.250,0.000,108.253,260.113,405.117,10.500,0.000,15.253,965.348,6435.833,506.533,1802.696,1054.736,33.373,1186.451,0.000,1806.471,0.000,0.536,0.000
$DEVICE_MAMPS,138.827,131.157,905.060,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.966,266.845,375.320,717.345,1079.182,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355572
$DATA_FILE_SIZE,38418,484
$CAP_FILE_SIZE,108104,0
$CFSIZE,260165632,169586688
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090611,134401,2249.822,-15759.104,53,1.3,58,10.1