version: 66.06
glider: 146
mission: 6
dive: 245
start: 6 9 111 19 52 21
data:
$ID,146
$MISSION,6
$DIVE,245
$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,-273729.03
$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,36
$R_STBD_OVSHOOT,58
$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
$GPS1,193606,2248.844,-15757.755,18,1.5,25,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-71.5
$GPS2,195125,2248.840,-15757.850,19,2.0,19,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.053,-0.229
$KALMAN_X,-94750.1,143.7,23.7,92786.6,-479.8
$KALMAN_Y,-78446.9,-361.4,-110.8,88063.5,373.9
$MHEAD_RNG_PITCHd_Wd,156.9,3408,-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,-71.25,0.000,2,0.000,0.000,472,1818,3308,0,0,0,0,0,0
$GC,92,-1.38,-116.8,4.0,-7.6,9,118,12.10,2.67,-3.40,0.000,4,0.140,0.068,2850,262,3499,0,0,0,0,0,0
$GC,136,-0.68,-116.8,19.8,-34.0,14,145,0.70,2.42,0.00,0.000,6,0.096,0.019,3005,1845,3501,0,0,0,0,0,0
$GC,417,-0.85,-116.8,49.9,-9.6,44,426,0.12,0.00,0.00,0.000,6,0.067,0.000,2959,1847,3502,0,0,0,0,0,0
$GC,685,-0.96,-116.8,77.6,-9.6,69,690,0.00,2.40,0.00,0.000,4,0.000,0.026,2958,3370,3502,0,0,0,0,0,0
$GC,744,-1.13,-116.8,83.0,-8.1,73,749,0.20,2.42,0.00,0.000,6,0.048,0.032,2888,1831,3502,0,0,0,0,0,0
$GC,1011,-1.13,-116.8,116.8,-11.9,97,1016,0.10,2.65,0.00,0.000,4,0.117,0.063,2911,251,3502,0,0,0,0,0,0
$GC,1028,-1.13,-116.8,119.4,-11.7,98,1032,0.00,2.35,0.00,0.000,6,0.000,0.022,2911,1846,3502,0,0,0,0,0,0
$GC,1291,-1.23,-116.8,143.7,-10.2,122,1295,0.00,2.67,0.00,0.000,4,0.000,0.060,2910,257,3503,0,0,0,0,0,0
$GC,1337,-1.31,-116.8,148.0,-10.9,125,1342,0.15,2.30,0.00,0.000,6,0.064,0.021,2862,1820,3503,0,0,0,0,0,0
$GC,1598,-1.31,-116.8,179.1,-11.4,149,1602,0.00,2.62,0.00,0.000,4,0.000,0.063,2862,254,3504,0,0,0,0,0,0
$GC,1632,-1.31,-116.8,182.5,-12.9,151,1637,0.00,2.33,0.00,0.000,6,0.000,0.017,2862,1817,3504,0,0,0,0,0,0
$GC,1888,-1.31,-116.8,214.9,-12.3,166,1892,0.00,2.42,0.00,0.000,4,0.000,0.031,2862,3370,3504,0,0,0,0,0,0
$GC,1915,-1.35,-116.8,218.3,-11.4,166,1919,0.00,2.45,0.00,0.000,6,0.000,0.026,2862,1831,3504,0,0,0,0,0,0
$GC,2166,-1.35,-116.8,246.1,-10.7,172,2170,0.00,2.40,0.00,0.000,4,0.000,0.035,2862,3364,3504,0,0,0,0,0,0
$GC,2232,-1.42,-116.8,253.1,-10.1,173,2237,0.00,2.42,0.00,0.000,6,0.000,0.028,2862,1843,3504,0,0,0,0,0,0
$GC,2488,-1.47,-116.8,279.8,-10.8,180,2489,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1843,3504,0,0,0,0,0,0
$GC,2733,-1.52,-116.8,305.0,-10.4,186,2738,0.15,2.45,0.00,0.000,4,0.066,0.037,2812,3367,3503,0,0,0,0,0,0
$GC,2760,-1.52,-116.8,308.4,-11.3,186,2764,0.00,2.47,0.00,0.000,6,0.000,0.033,2812,1843,3503,0,0,0,0,0,0
$GC,3010,-1.52,-116.8,338.1,-12.0,192,3014,0.00,2.42,0.00,0.000,4,0.000,0.032,2812,3369,3502,0,0,0,0,0,0
$GC,3050,-1.52,-116.8,342.9,-12.3,193,3055,0.00,2.50,0.00,0.000,6,0.000,0.043,2812,1846,3502,0,0,0,0,0,0
$GC,3334,-1.52,-116.8,375.3,-11.2,200,3335,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1846,3501,0,0,0,0,0,0
$GC,3577,-1.52,-116.8,403.6,-11.6,206,3582,0.00,2.47,0.00,0.000,4,0.000,0.042,2812,3366,3500,0,0,0,0,0,0
$GC,3636,-1.52,-116.8,410.6,-12.3,207,3640,0.00,2.53,0.00,0.000,6,0.000,0.054,2812,1857,3500,0,0,0,0,0,0
$GC,3901,-1.52,-116.8,442.1,-11.7,214,3906,0.00,2.47,0.00,0.000,4,0.000,0.046,2812,3360,3498,0,0,0,0,0,0
$GC,3929,-1.52,-116.8,445.4,-12.4,214,3933,0.00,2.55,0.00,0.000,6,0.000,0.055,2812,1862,3498,0,0,0,0,0,0
$GC,4180,-1.52,-116.8,473.7,-11.4,220,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1861,3496,0,0,0,0,0,0
$STATE,4420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4420,begin apogee
$GC,4426,-0.31,0.0,501.2,11.3,226,4527,1.23,0.00,96.75,0.903,6,0.080,0.000,3089,1949,3020,0,0,0,0,0,0
$STATE,4528,end apogee,CONTROL_FINISHED_OK
$STATE,4528,begin climb
$GC,4530,1.38,116.8,503.7,0.0,228,4634,1.58,0.00,99.97,0.884,6,0.041,0.000,3464,1949,2543,0,0,0,0,0,0
$GC,4868,1.29,134.1,483.2,9.0,237,4889,0.12,2.83,14.77,0.815,4,0.128,0.060,3440,3568,2472,0,0,0,0,0,0
$GC,4947,1.25,149.6,476.0,9.1,238,4967,0.00,2.70,14.60,0.810,6,0.000,0.050,3440,1997,2410,0,0,0,0,0,0
$GC,5238,1.25,182.5,451.9,8.1,246,5273,0.00,2.70,29.77,0.848,4,0.000,0.049,3440,3570,2275,0,0,0,0,0,0
$GC,5319,1.27,203.7,444.6,8.8,247,5344,0.00,2.65,19.65,0.821,6,0.000,0.048,3440,2002,2189,0,0,0,0,0,0
$GC,5601,1.27,203.7,417.0,10.2,254,5605,0.00,2.60,0.00,0.000,4,0.000,0.039,3440,3567,2182,0,0,0,0,0,0
$GC,5644,1.27,203.7,412.0,11.1,255,5649,0.00,2.60,0.00,0.000,6,0.000,0.047,3441,2003,2181,0,0,0,0,0,0
$GC,5923,1.27,206.4,384.4,9.9,262,5927,0.00,2.58,0.00,0.000,4,0.000,0.042,3440,3568,2178,0,0,0,0,0,0
$GC,5990,1.28,208.2,377.7,9.9,263,5995,0.00,2.58,0.00,0.000,6,0.000,0.038,3440,2009,2177,0,0,0,0,0,0
$GC,6246,1.29,218.6,353.2,9.4,270,6265,0.00,2.90,12.45,0.768,4,0.000,0.081,3440,411,2127,0,0,0,0,0,0
$GC,6276,1.29,218.6,350.0,10.0,270,6280,0.00,2.58,0.00,0.000,6,0.000,0.026,3440,2022,2126,0,0,0,0,0,0
$GC,6528,1.29,220.2,325.0,10.0,276,6529,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,2022,2125,0,0,0,0,0,0
$GC,6770,1.31,232.0,301.9,9.4,282,6789,0.00,2.58,12.57,0.742,4,0.000,0.040,3440,3556,2073,0,0,0,0,0,0
$GC,6813,1.32,245.8,298.0,9.2,283,6833,0.00,2.55,13.77,0.734,6,0.000,0.033,3440,1999,2017,0,0,0,0,0,0
$GC,7101,1.32,245.8,268.8,10.6,290,7102,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1998,2012,0,0,0,0,0,0
$GC,7343,1.33,255.5,244.8,9.5,296,7354,0.00,0.00,8.93,0.669,6,0.000,0.000,3440,1998,1978,0,0,0,0,0,0
$GC,7588,1.39,269.7,222.5,9.2,302,7604,0.10,0.00,14.12,0.690,6,0.096,0.000,3469,1998,1920,0,0,0,0,0,0
$GC,7834,1.39,269.7,195.4,10.8,311,7838,0.00,2.55,0.00,0.000,4,0.000,0.038,3469,3573,1916,0,0,0,0,0,0
$GC,7878,1.39,269.7,190.3,11.3,314,7884,0.00,2.55,0.00,0.000,6,0.000,0.037,3470,2013,1915,0,0,0,0,0,0
$GC,8142,1.39,269.7,161.5,12.5,339,8147,0.00,2.72,0.00,0.000,4,0.000,0.060,3469,414,1914,0,0,0,0,0,0
$GC,8221,1.39,269.7,150.7,13.2,345,8231,0.00,2.50,0.00,0.000,6,0.000,0.025,3469,1998,1913,0,0,0,0,0,0
$GC,8486,1.45,277.9,121.9,9.6,370,8496,0.00,0.00,7.90,0.562,6,0.000,0.000,3469,1998,1885,0,0,0,0,0,0
$GC,8753,1.54,303.2,99.1,8.6,395,8782,0.10,2.72,22.90,0.601,4,0.095,0.051,3498,409,1781,0,0,0,0,0,0
$GC,8819,1.54,303.2,91.7,12.1,400,8823,0.00,2.50,0.00,0.000,6,0.000,0.025,3498,2001,1779,0,0,0,0,0,0
$GC,9085,1.54,303.2,59.9,11.2,424,9089,0.00,2.50,0.00,0.000,4,0.000,0.030,3498,3560,1778,0,0,0,0,0,0
$GC,9120,1.54,303.2,56.2,11.4,426,9124,0.00,2.55,0.00,0.000,6,0.000,0.029,3498,1986,1777,0,0,0,0,0,0
$GC,9390,1.54,303.2,27.7,11.1,451,9400,0.00,2.65,0.00,0.000,4,0.000,0.054,3498,421,1777,0,0,0,0,0,0
$GC,9444,1.54,303.2,21.0,12.3,458,9453,0.00,2.45,0.00,0.000,6,0.000,0.018,3498,1991,1777,0,0,0,0,0,0
$STATE,9605,end climb,SURFACE_DEPTH_REACHED
$STATE,9605,begin surface coast
$FINISH,0.6,0.971954
$STATE,9671,end surface coast,CONTROL_FINISHED_OK
$STATE,9671,begin surface
$SM_CCo,9693,253.40,0.512,0,0,477,623.80
$SM_GC,1.00,0.00,0.00,253.40,0.000,0.000,0.512,480,1793,477,-12.33,-1.05,623.80
$IRIDIUM_FIX,2241.69,-15754.11,020900,191928
$TT8_MAMPS,0.026078
$HUMID,56.57
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,21.70
$XPDR_PINGS,43
$24V_AH,23.5,30.846
$10V_AH,10.4,26.876
$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,28.925,112.350,368.175,253.400,0.000,141.220,400.406,0.000,10.750,0.000,23.928,992.193,6520.325,699.950,1841.724,816.857,33.369,1349.438,0.000,1843.204,0.000,0.536,0.000
$DEVICE_MAMPS,140.361,88.972,902.759,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,332.386,276.301,383.458,753.183,1139.227,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,38337,490
$CAP_FILE_SIZE,98910,0
$CFSIZE,260165632,169418752
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,090611,223930,2247.610,-15757.986,36,1.4,41,10.1