version: 66.06
glider: 146
mission: 6
dive: 249
start: 6 10 111 7 58 12
data:
$ID,146
$MISSION,6
$DIVE,249
$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,-273833.66
$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,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
$GPS1,074146,2247.067,-15802.822,11,99.0,30,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-73.1
$GPS2,075716,2247.196,-15802.923,10,99.0,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.004,0.235
$KALMAN_X,-97568.4,-479.7,-59.1,87644.5,-28.6
$KALMAN_Y,-76009.8,362.7,80.5,81663.1,254.7
$MHEAD_RNG_PITCHd_Wd,349.0,5195,-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,-116.8,0.0,0.0,0,88,0.00,0.00,-70.47,0.000,2,0.000,0.000,482,1812,3229,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.0,-4.7,9,117,11.90,2.55,-5.15,0.000,4,0.135,0.039,2849,3398,3498,0,0,0,0,0,0
$GC,216,-1.32,-116.8,29.9,-16.4,26,225,0.08,2.53,0.00,0.000,6,0.104,0.028,2869,1838,3500,0,0,0,0,0,0
$GC,482,-1.24,-116.8,76.4,-15.8,51,486,0.00,2.67,0.00,0.000,4,0.000,0.058,2869,246,3500,0,0,0,0,0,0
$GC,504,-1.16,-116.8,80.2,-15.7,52,509,0.17,2.40,0.00,0.000,6,0.114,0.021,2905,1864,3500,0,0,0,0,0,0
$GC,768,-1.20,-116.8,114.8,-11.7,76,772,0.00,2.33,0.00,0.000,4,0.000,0.026,2905,3366,3501,0,0,0,0,0,0
$GC,837,-1.30,-116.8,122.1,-10.6,81,842,0.12,2.42,0.00,0.000,6,0.070,0.028,2852,1826,3500,0,0,0,0,0,0
$GC,1098,-1.26,-116.8,156.8,-12.1,105,1103,0.15,2.65,0.00,0.000,4,0.104,0.065,2886,258,3501,0,0,0,0,0,0
$GC,1132,-1.26,-116.8,161.2,-12.8,107,1138,0.00,2.38,0.00,0.000,6,0.000,0.018,2885,1834,3501,0,0,0,0,0,0
$GC,1396,-1.31,-116.8,188.9,-10.6,132,1401,0.00,2.65,0.00,0.000,4,0.000,0.061,2886,255,3501,0,0,0,0,0,0
$GC,1452,-1.31,-116.8,195.4,-12.4,136,1456,0.00,2.35,0.00,0.000,6,0.000,0.020,2886,1826,3502,0,0,0,0,0,0
$GC,1736,-1.37,-116.8,224.9,-9.9,145,1740,0.10,2.42,0.00,0.000,4,0.083,0.032,2845,3374,3502,0,0,0,0,0,0
$GC,1796,-1.37,-116.8,231.7,-10.8,146,1800,0.00,2.45,0.00,0.000,6,0.000,0.031,2846,1825,3502,0,0,0,0,0,0
$GC,2059,-1.37,-116.8,259.9,-10.9,153,2063,0.00,2.45,0.00,0.000,4,0.000,0.031,2845,3380,3502,0,0,0,0,0,0
$GC,2121,-1.42,-116.8,267.0,-11.0,154,2126,0.00,2.47,0.00,0.000,6,0.000,0.028,2845,1828,3502,0,0,0,0,0,0
$GC,2382,-1.42,-116.8,295.7,-10.9,161,2387,0.00,2.75,0.00,0.000,4,0.000,0.079,2845,252,3502,0,0,0,0,0,0
$GC,2414,-1.42,-116.8,299.9,-13.1,161,2420,0.00,2.40,0.00,0.000,6,0.000,0.023,2845,1800,3501,0,0,0,0,0,0
$GC,2666,-1.46,-116.8,328.5,-11.1,168,2671,0.00,2.58,0.00,0.000,4,0.000,0.045,2845,3405,3501,0,0,0,0,0,0
$GC,2738,-1.53,-116.8,336.4,-10.7,169,2743,0.00,2.55,0.00,0.000,6,0.000,0.041,2845,1847,3501,0,0,0,0,0,0
$GC,2990,-1.57,-116.8,359.0,-8.8,175,2992,0.12,0.00,0.00,0.000,6,0.074,0.000,2803,1847,3500,0,0,0,0,0,0
$GC,3231,-1.57,-116.8,385.7,-11.2,181,3236,0.00,2.50,0.00,0.000,4,0.000,0.044,2804,3400,3499,0,0,0,0,0,0
$GC,3264,-1.57,-116.8,389.7,-12.1,181,3270,0.00,2.62,0.00,0.000,6,0.000,0.051,2803,1841,3499,0,0,0,0,0,0
$GC,3514,-1.57,-116.8,417.8,-11.3,188,3515,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1841,3497,0,0,0,0,0,0
$GC,3759,-1.57,-116.8,443.0,-10.3,194,3763,0.00,2.58,0.00,0.000,4,0.000,0.054,2803,3404,3495,0,0,0,0,0,0
$GC,3830,-1.57,-116.8,450.7,-10.4,195,3835,0.00,2.62,0.00,0.000,6,0.000,0.058,2803,1850,3496,0,0,0,0,0,0
$GC,4081,-1.57,-116.8,475.6,-10.0,201,4085,0.00,2.55,0.00,0.000,4,0.000,0.049,2803,3395,3493,0,0,0,0,0,0
$GC,4103,-1.57,-116.8,478.0,-10.3,201,4108,0.00,2.62,0.00,0.000,6,0.000,0.063,2803,1850,3493,0,0,0,0,0,0
$STATE,4315,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4316,begin apogee
$GC,4322,-0.31,0.0,502.1,11.3,207,4422,1.27,0.00,96.88,0.910,6,0.084,0.000,3089,2004,3020,0,0,0,0,0,0
$STATE,4423,end apogee,CONTROL_FINISHED_OK
$STATE,4423,begin climb
$GC,4426,1.38,116.8,504.9,0.0,209,4530,1.58,0.00,100.25,0.889,6,0.050,0.000,3464,2004,2543,0,0,0,0,0,0
$GC,4766,1.32,160.3,489.8,7.5,218,4810,0.00,3.10,37.33,0.870,4,0.000,0.101,3464,408,2365,0,0,0,0,0,0
$GC,4833,1.17,160.3,483.5,10.4,219,4838,0.25,2.58,0.00,0.000,6,0.113,0.033,3414,1961,2362,0,0,0,0,0,0
$GC,5090,1.21,200.0,462.9,7.7,226,5131,0.00,2.83,35.62,0.863,4,0.000,0.060,3414,3582,2203,0,0,0,0,0,0
$GC,5189,1.23,210.2,454.0,9.4,228,5204,0.00,2.75,9.80,0.765,6,0.000,0.055,3413,1976,2162,0,0,0,0,0,0
$GC,5462,1.24,221.4,428.7,9.4,235,5478,0.00,2.72,10.82,0.782,4,0.000,0.041,3413,3583,2116,0,0,0,0,0,0
$GC,5510,1.24,221.4,423.6,10.1,236,5515,0.00,2.67,0.00,0.000,6,0.000,0.050,3414,1995,2114,0,0,0,0,0,0
$GC,5784,1.24,221.4,395.9,10.3,243,5785,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,1995,2111,0,0,0,0,0,0
$GC,6027,1.25,229.3,372.3,9.6,249,6041,0.00,2.92,7.35,0.716,4,0.000,0.093,3414,413,2084,0,0,0,0,0,0
$GC,6086,1.25,229.3,365.9,10.8,250,6090,0.00,2.55,0.00,0.000,6,0.000,0.028,3414,2019,2083,0,0,0,0,0,0
$GC,6354,1.31,240.1,340.9,9.4,257,6373,0.15,2.85,10.98,0.762,4,0.080,0.067,3451,400,2040,0,0,0,0,0,0
$GC,6401,1.25,240.1,335.0,13.2,258,6405,0.00,2.53,0.00,0.000,6,0.000,0.026,3452,1996,2038,0,0,0,0,0,0
$GC,6678,1.25,240.1,304.2,10.8,265,6679,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1995,2036,0,0,0,0,0,0
$GC,6923,1.25,240.1,279.4,10.2,271,6928,0.00,2.72,0.00,0.000,4,0.000,0.063,3451,406,2035,0,0,0,0,0,0
$GC,6938,1.25,240.1,277.6,10.4,271,6943,0.00,2.45,0.00,0.000,6,0.000,0.025,3451,1979,2034,0,0,0,0,0,0
$GC,7200,1.26,254.6,252.9,9.2,278,7219,0.00,2.65,13.38,0.723,4,0.000,0.043,3452,3558,1981,0,0,0,0,0,0
$GC,7249,1.26,254.6,248.1,10.2,279,7253,0.00,2.60,0.00,0.000,6,0.000,0.032,3451,1976,1979,0,0,0,0,0,0
$GC,7526,1.28,266.6,221.5,9.3,286,7545,0.00,2.72,11.68,0.683,4,0.000,0.064,3452,410,1932,0,0,0,0,0,0
$GC,7562,1.28,266.6,217.8,10.8,286,7568,0.00,2.50,0.00,0.000,6,0.000,0.023,3451,1998,1931,0,0,0,0,0,0
$GC,7815,1.28,266.6,192.1,10.7,296,7816,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1999,1930,0,0,0,0,0,0
$GC,8069,1.32,269.2,166.3,9.9,320,8074,0.00,2.67,0.00,0.000,4,0.000,0.054,3451,406,1928,0,0,0,0,0,0
$GC,8102,1.32,269.2,163.1,11.8,322,8106,0.00,2.45,0.00,0.000,6,0.000,0.018,3452,1991,1928,0,0,0,0,0,0
$GC,8366,1.38,269.2,133.7,10.1,346,8370,0.00,2.65,0.00,0.000,4,0.000,0.053,3451,406,1927,0,0,0,0,0,0
$GC,8422,1.38,269.2,127.7,10.3,350,8432,0.00,2.47,0.00,0.000,6,0.000,0.021,3451,1982,1927,0,0,0,0,0,0
$GC,8691,1.47,287.0,103.9,9.0,375,8716,0.12,2.55,18.48,0.600,4,0.077,0.037,3489,3557,1849,0,0,0,0,0,0
$GC,8745,1.47,287.0,97.8,10.9,379,8751,0.00,2.58,0.00,0.000,6,0.000,0.034,3489,1976,1848,0,0,0,0,0,0
$GC,9013,1.48,293.6,71.7,9.7,404,9027,0.00,2.58,7.00,0.501,4,0.000,0.029,3489,3548,1822,0,0,0,0,0,0
$GC,9056,1.48,293.6,67.1,10.5,407,9061,0.00,2.50,0.00,0.000,6,0.000,0.029,3489,1989,1820,0,0,0,0,0,0
$GC,9325,1.55,317.6,41.5,8.7,431,9352,0.00,2.70,21.75,0.544,4,0.000,0.054,3489,412,1722,0,0,0,0,0,0
$GC,9405,1.55,317.6,32.9,12.3,437,9410,0.00,2.45,0.00,0.000,6,0.000,0.017,3489,1993,1721,0,0,0,0,0,0
$STATE,9683,end climb,SURFACE_DEPTH_REACHED
$STATE,9683,begin surface coast
$FINISH,0.5,0.980052
$STATE,9725,end surface coast,CONTROL_FINISHED_OK
$STATE,9725,begin surface
$SM_CCo,9748,243.00,0.511,0,0,477,623.80
$SM_GC,1.09,0.00,0.00,243.00,0.000,0.000,0.511,482,1812,477,-12.32,-0.51,623.80
$IRIDIUM_FIX,2239.35,-15805.41,030900,080859
$TT8_MAMPS,0.026078
$HUMID,55.90
$INTERNAL_PRESSURE,9.09215
$TCM_TEMP,21.90
$XPDR_PINGS,48
$24V_AH,23.5,31.438
$10V_AH,10.4,27.328
$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,28.225,129.750,381.300,243.000,0.000,139.966,400.400,0.000,12.000,0.000,35.072,985.555,6595.359,693.451,1837.525,813.970,33.370,1375.946,0.000,1819.255,0.000,0.535,0.000
$DEVICE_MAMPS,134.992,101.244,909.662,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.842,260.887,367.116,698.925,1055.824,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,38396,481
$CAP_FILE_SIZE,103421,0
$CFSIZE,260165632,169201664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100611,104620,2248.381,-15803.397,35,2.2,54,10.1