version: 66.06
glider: 146
mission: 6
dive: 243
start: 6 9 111 14 0 27
data:
$ID,146
$MISSION,6
$DIVE,243
$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,-273689.41
$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,30
$R_STBD_OVSHOOT,42
$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
$GPS1,134401,2249.822,-15759.104,53,1.3,58,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-69.5
$GPS2,135931,2249.897,-15759.050,17,1.1,32,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,-0.028
$KALMAN_X,-94633.2,490.3,25.3,90267.2,-580.8
$KALMAN_Y,-80061.1,258.9,235.8,90667.8,372.7
$MHEAD_RNG_PITCHd_Wd,86.7,3504,-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,-70.93,0.000,2,0.000,0.000,473,1869,3270,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.5,-6.7,9,117,11.98,0.00,-4.28,0.000,6,0.137,0.000,2849,1869,3498,0,0,0,0,0,0
$GC,398,-1.24,-116.8,66.2,-19.9,43,407,0.17,0.00,0.00,0.000,6,0.119,0.000,2885,1869,3500,0,0,0,0,0,0
$GC,659,-1.24,-116.8,98.9,-9.4,68,660,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1870,3500,0,0,0,0,0,0
$GC,915,-1.24,-116.8,126.1,-10.7,92,920,0.00,2.72,0.00,0.000,4,0.000,0.056,2885,257,3501,0,0,0,0,0,0
$GC,961,-1.24,-116.8,131.0,-12.3,95,965,0.00,2.42,0.00,0.000,6,0.000,0.022,2885,1868,3501,0,0,0,0,0,0
$GC,1225,-1.28,-116.8,160.9,-10.8,119,1229,0.00,2.35,0.00,0.000,4,0.000,0.025,2885,3381,3501,0,0,0,0,0,0
$GC,1258,-1.35,-116.8,164.4,-10.7,121,1263,0.00,2.45,0.00,0.000,6,0.000,0.027,2885,1822,3501,0,0,0,0,0,0
$GC,1525,-1.41,-116.8,193.4,-10.5,145,1530,0.15,0.00,0.00,0.000,6,0.064,0.000,2833,1822,3501,0,0,0,0,0,0
$GC,1787,-1.41,-116.8,225.1,-11.7,156,1791,0.00,2.47,0.00,0.000,4,0.000,0.033,2833,3376,3502,0,0,0,0,0,0
$GC,1843,-1.41,-116.8,231.6,-11.8,157,1848,0.00,2.45,0.00,0.000,6,0.000,0.028,2833,1826,3502,0,0,0,0,0,0
$GC,2110,-1.41,-116.8,261.8,-10.9,164,2111,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1826,3502,0,0,0,0,0,0
$GC,2355,-1.41,-116.8,287.0,-10.1,170,2359,0.00,2.45,0.00,0.000,4,0.000,0.038,2833,3374,3502,0,0,0,0,0,0
$GC,2381,-1.41,-116.8,290.0,-10.1,170,2386,0.00,2.47,0.00,0.000,6,0.000,0.037,2833,1830,3501,0,0,0,0,0,0
$GC,2631,-1.41,-116.8,318.8,-11.9,176,2636,0.00,2.50,0.00,0.000,4,0.000,0.038,2833,3375,3501,0,0,0,0,0,0
$GC,2666,-1.45,-116.8,323.0,-12.7,176,2672,0.00,2.53,0.00,0.000,6,0.000,0.038,2833,1839,3500,0,0,0,0,0,0
$GC,2916,-1.45,-116.8,353.4,-12.1,183,2920,0.00,2.45,0.00,0.000,4,0.000,0.039,2833,3370,3500,0,0,0,0,0,0
$GC,2943,-1.49,-116.8,356.5,-11.3,183,2947,0.00,2.55,0.00,0.000,6,0.000,0.050,2833,1838,3500,0,0,0,0,0,0
$GC,3192,-1.49,-116.8,382.6,-10.3,189,3196,0.00,2.47,0.00,0.000,4,0.000,0.040,2833,3370,3499,0,0,0,0,0,0
$GC,3268,-1.54,-116.8,389.6,-9.2,190,3272,0.00,2.58,0.00,0.000,6,0.000,0.050,2834,1838,3498,0,0,0,0,0,0
$GC,3518,-1.58,-116.8,412.2,-9.0,196,3519,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1838,3496,0,0,0,0,0,0
$GC,3764,-1.62,-116.8,435.1,-9.3,202,3769,0.12,2.53,0.00,0.000,4,0.073,0.046,2787,3367,3495,0,0,0,0,0,0
$GC,3785,-1.62,-116.8,437.7,-10.8,202,3789,0.00,2.55,0.00,0.000,6,0.000,0.057,2787,1850,3495,0,0,0,0,0,0
$GC,4041,-1.58,-116.8,467.1,-11.7,209,4046,0.12,2.53,0.00,0.000,4,0.111,0.052,2814,3373,3493,0,0,0,0,0,0
$GC,4075,-1.58,-116.8,470.9,-11.0,209,4080,0.00,2.60,0.00,0.000,6,0.000,0.058,2814,1847,3493,0,0,0,0,0,0
$GC,4325,-1.58,-116.8,497.4,-10.7,216,4329,0.00,2.55,0.00,0.000,4,0.000,0.053,2814,3363,3491,0,0,0,0,0,0
$GC,4340,-1.58,-116.8,499.2,-10.5,216,4344,0.00,2.58,0.00,0.000,6,0.000,0.057,2814,1856,3491,0,0,0,0,0,0
$STATE,4348,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4348,begin apogee
$GC,4354,-0.31,0.0,500.3,11.1,216,4454,1.20,0.00,96.25,0.910,6,0.081,0.000,3087,1976,3020,0,0,0,0,0,0
$STATE,4455,end apogee,CONTROL_FINISHED_OK
$STATE,4455,begin climb
$GC,4459,1.38,116.8,502.8,0.0,219,4568,1.60,2.72,99.12,0.892,4,0.041,0.055,3469,3545,2542,0,0,0,0,0,0
$GC,4575,1.37,219.4,502.7,4.1,222,4670,0.00,2.65,88.07,0.879,6,0.000,0.054,3470,1992,2124,0,0,0,0,0,0
$GC,4927,1.29,219.4,460.6,13.1,231,4929,0.15,0.00,0.00,0.000,6,0.115,0.000,3440,1992,2115,0,0,0,0,0,0
$GC,5171,1.29,219.4,431.8,11.7,237,5175,0.00,2.62,0.00,0.000,4,0.000,0.048,3440,3558,2112,0,0,0,0,0,0
$GC,5203,1.29,219.4,427.8,12.3,237,5209,0.00,2.65,0.00,0.000,6,0.000,0.053,3440,1997,2111,0,0,0,0,0,0
$GC,5453,1.29,219.4,398.6,11.7,244,5454,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1997,2110,0,0,0,0,0,0
$GC,5697,1.29,219.4,371.3,11.2,250,5701,0.00,2.58,0.00,0.000,4,0.000,0.042,3439,3550,2108,0,0,0,0,0,0
$GC,5730,1.29,219.4,367.6,10.5,250,5736,0.00,2.58,0.00,0.000,6,0.000,0.041,3440,1988,2107,0,0,0,0,0,0
$GC,5980,1.29,220.0,342.4,10.0,257,5981,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1988,2106,0,0,0,0,0,0
$GC,6224,1.29,221.0,318.1,10.0,263,6225,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1988,2105,0,0,0,0,0,0
$GC,6467,1.30,227.1,294.5,9.7,269,6473,0.00,0.00,4.07,0.532,6,0.000,0.000,3440,1988,2094,0,0,0,0,0,0
$GC,6712,1.30,227.1,269.1,10.5,275,6717,0.00,2.58,0.00,0.000,4,0.000,0.034,3440,3559,2092,0,0,0,0,0,0
$GC,6767,1.30,227.1,263.0,10.8,276,6772,0.00,2.55,0.00,0.000,6,0.000,0.038,3440,1987,2092,0,0,0,0,0,0
$GC,7034,1.32,245.1,238.7,9.0,283,7059,0.00,2.80,17.50,0.722,4,0.000,0.064,3440,414,2019,0,0,0,0,0,0
$GC,7079,1.32,245.7,234.6,10.0,284,7083,0.00,2.50,0.00,0.000,6,0.000,0.021,3440,1985,2018,0,0,0,0,0,0
$GC,7363,1.39,263.0,208.8,9.0,291,7387,0.00,2.67,16.73,0.693,4,0.000,0.041,3440,3566,1946,0,0,0,0,0,0
$GC,7498,1.45,263.0,195.3,10.7,294,7503,0.15,2.55,0.00,0.000,6,0.074,0.031,3480,1998,1943,0,0,0,0,0,0
$GC,7761,1.45,263.0,166.3,10.1,318,7762,0.00,0.00,0.00,0.000,6,0.000,0.000,3480,1998,1942,0,0,0,0,0,0
$GC,8016,1.46,275.7,141.8,9.3,342,8030,0.00,0.00,11.88,0.616,6,0.000,0.000,3480,1998,1895,0,0,0,0,0,0
$GC,8286,1.46,275.7,114.2,10.9,367,8291,0.00,2.67,0.00,0.000,4,0.000,0.062,3480,409,1891,0,0,0,0,0,0
$GC,8343,1.46,275.7,107.8,11.2,371,8348,0.00,2.50,0.00,0.000,6,0.000,0.023,3480,2015,1890,0,0,0,0,0,0
$GC,8609,1.48,291.8,81.3,9.1,395,8634,0.00,2.55,14.70,0.571,4,0.000,0.039,3480,3553,1829,0,0,0,0,0,0
$GC,8653,1.56,319.2,77.5,8.5,398,8684,0.00,2.50,24.48,0.577,6,0.000,0.030,3481,2004,1719,0,0,0,0,0,0
$GC,8951,1.62,319.2,47.7,10.1,425,8956,0.15,2.67,0.00,0.000,4,0.067,0.054,3524,415,1715,0,0,0,0,0,0
$GC,8987,1.62,319.2,43.2,12.9,427,8991,0.00,2.47,0.00,0.000,6,0.000,0.018,3524,2006,1714,0,0,0,0,0,0
$GC,9290,1.56,319.2,6.0,11.3,466,9300,0.12,0.00,0.00,0.000,6,0.116,0.000,3499,2008,1714,0,0,0,0,0,0
$STATE,9309,end climb,SURFACE_DEPTH_REACHED
$STATE,9309,begin surface coast
$FINISH,0.6,0.980113
$STATE,9345,end surface coast,CONTROL_FINISHED_OK
$STATE,9345,begin surface
$SM_CCo,9369,241.32,0.512,0,0,476,623.80
$SM_GC,1.14,0.00,0.00,241.32,0.000,0.000,0.512,483,1810,476,-12.32,-0.57,623.80
$IRIDIUM_FIX,2234.68,-16208.72,020900,141427
$TT8_MAMPS,0.026078
$HUMID,56.34
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,21.70
$XPDR_PINGS,40
$24V_AH,23.5,30.580
$10V_AH,10.4,26.648
$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,28.200,97.475,372.800,241.325,0.000,139.567,400.405,0.000,10.000,0.000,36.597,941.125,6399.410,658.560,1744.916,800.516,33.371,1306.504,0.000,1733.071,0.000,0.535,0.000
$DEVICE_MAMPS,136.526,69.030,909.662,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,320.256,283.163,366.195,693.378,1048.593,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355716
$DATA_FILE_SIZE,38402,473
$CAP_FILE_SIZE,93757,0
$CFSIZE,260165632,169529344
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090611,164206,2250.093,-15757.642,37,1.2,48,10.1