version: 66.06
glider: 146
mission: 6
dive: 251
start: 6 10 111 13 54 24
data:
$ID,146
$MISSION,6
$DIVE,251
$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,-273911.91
$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,44
$R_STBD_OVSHOOT,56
$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
$GPS1,133757,2250.064,-15803.178,40,2.2,59,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-68.8
$GPS2,135328,2250.201,-15803.166,12,2.2,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.222,-0.077
$KALMAN_X,-99557.8,173.2,-67.5,88574.9,-533.4
$KALMAN_Y,-74793.0,407.8,-83.9,86128.7,709.6
$MHEAD_RNG_PITCHd_Wd,99.1,10531,-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,-71.15,0.000,2,0.000,0.000,478,1811,3297,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.7,-6.2,9,118,11.98,2.62,-3.75,0.000,4,0.137,0.064,2849,268,3500,0,0,0,0,0,0
$GC,136,-0.67,-116.8,17.9,-30.7,14,146,0.70,2.42,0.00,0.000,6,0.091,0.015,3005,1851,3501,0,0,0,0,0,0
$GC,429,-0.85,-116.8,47.9,-9.6,47,434,0.12,2.40,0.00,0.000,4,0.072,0.023,2961,3387,3501,0,0,0,0,0,0
$GC,453,-1.00,-116.8,49.9,-8.9,48,457,0.00,2.45,0.00,0.000,6,0.000,0.025,2961,1836,3501,0,0,0,0,0,0
$GC,721,-1.13,-116.8,79.5,-8.6,72,726,0.20,2.40,0.00,0.000,4,0.053,0.030,2896,3374,3502,0,0,0,0,0,0
$GC,755,-1.18,-116.8,83.9,-11.1,74,764,0.00,2.45,0.00,0.000,6,0.000,0.031,2896,1843,3502,0,0,0,0,0,0
$GC,1021,-1.18,-116.8,117.6,-11.2,99,1025,0.00,2.40,0.00,0.000,4,0.000,0.025,2896,3381,3502,0,0,0,0,0,0
$GC,1066,-1.26,-116.8,123.7,-11.9,102,1076,0.00,2.47,0.00,0.000,6,0.000,0.033,2896,1842,3503,0,0,0,0,0,0
$GC,1335,-1.31,-116.8,152.7,-11.2,127,1340,0.10,2.67,0.00,0.000,4,0.080,0.061,2848,256,3503,0,0,0,0,0,0
$GC,1368,-1.24,-116.8,158.0,-14.2,129,1376,0.15,2.42,0.00,0.000,6,0.082,0.017,2887,1845,3503,0,0,0,0,0,0
$GC,1638,-1.31,-116.8,186.3,-9.7,154,1643,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1846,3504,0,0,0,0,0,0
$GC,1905,-1.38,-116.8,211.9,-9.2,171,1906,0.12,0.00,0.00,0.000,6,0.069,0.000,2839,1846,3504,0,0,0,0,0,0
$GC,2149,-1.38,-116.8,239.0,-11.3,177,2150,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1846,3504,0,0,0,0,0,0
$GC,2391,-1.38,-116.8,268.5,-12.3,183,2395,0.00,2.42,0.00,0.000,4,0.000,0.030,2839,3375,3504,0,0,0,0,0,0
$GC,2452,-1.43,-116.8,276.0,-12.1,184,2456,0.00,2.45,0.00,0.000,6,0.000,0.034,2839,1850,3504,0,0,0,0,0,0
$GC,2712,-1.43,-116.8,305.3,-11.5,191,2713,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1850,3503,0,0,0,0,0,0
$GC,2958,-1.43,-116.8,330.3,-10.0,197,2962,0.00,2.45,0.00,0.000,4,0.000,0.038,2840,3377,3502,0,0,0,0,0,0
$GC,2985,-1.48,-116.8,333.5,-10.9,197,2989,0.00,2.47,0.00,0.000,6,0.000,0.044,2839,1861,3502,0,0,0,0,0,0
$GC,3235,-1.48,-116.8,357.5,-9.6,203,3239,0.00,2.42,0.00,0.000,4,0.000,0.041,2839,3371,3501,0,0,0,0,0,0
$GC,3263,-1.53,-116.8,360.2,-10.1,203,3268,0.00,2.50,0.00,0.000,6,0.000,0.049,2839,1860,3501,0,0,0,0,0,0
$GC,3513,-1.53,-116.8,383.6,-9.2,209,3518,0.00,2.45,0.00,0.000,4,0.000,0.044,2839,3367,3500,0,0,0,0,0,0
$GC,3555,-1.59,-116.8,387.4,-9.5,210,3561,0.12,2.50,0.00,0.000,6,0.071,0.051,2796,1864,3500,0,0,0,0,0,0
$GC,3840,-1.59,-116.8,419.4,-11.2,217,3845,0.00,2.97,0.00,0.000,4,0.000,0.100,2796,244,3498,0,0,0,0,0,0
$GC,3862,-1.53,-116.8,422.2,-11.5,217,3867,0.15,2.53,0.00,0.000,6,0.108,0.031,2827,1822,3497,0,0,0,0,0,0
$GC,4118,-1.53,-116.8,449.2,-10.7,224,4119,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1822,3496,0,0,0,0,0,0
$GC,4360,-1.53,-116.8,475.7,-10.9,230,4365,0.00,2.67,0.00,0.000,4,0.000,0.060,2827,3416,3494,0,0,0,0,0,0
$GC,4404,-1.59,-116.8,480.6,-10.6,231,4409,0.00,2.62,0.00,0.000,6,0.000,0.060,2827,1870,3494,0,0,0,0,0,0
$STATE,4598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4598,begin apogee
$GC,4606,-0.31,0.0,501.9,10.9,236,4706,1.15,0.00,96.72,0.910,6,0.078,0.000,3089,2026,3020,0,0,0,0,0,0
$STATE,4707,end apogee,CONTROL_FINISHED_OK
$STATE,4707,begin climb
$GC,4710,1.38,116.8,505.2,0.0,238,4821,1.55,2.72,99.75,0.890,4,0.041,0.061,3462,3555,2542,0,0,0,0,0,0
$GC,4873,1.33,177.9,504.2,6.5,241,4933,0.00,2.67,53.38,0.874,6,0.000,0.049,3462,1996,2293,0,0,0,0,0,0
$GC,5207,1.24,177.9,470.1,11.0,250,5212,0.15,2.62,0.00,0.000,4,0.121,0.051,3433,3553,2284,0,0,0,0,0,0
$GC,5236,1.20,177.9,466.8,10.8,250,5240,0.00,2.65,0.00,0.000,6,0.000,0.054,3433,1995,2283,0,0,0,0,0,0
$GC,5485,1.20,177.9,439.9,10.8,256,5490,0.00,2.60,0.00,0.000,4,0.000,0.046,3433,3557,2281,0,0,0,0,0,0
$GC,5546,1.20,177.9,433.1,11.4,257,5550,0.00,2.65,0.00,0.000,6,0.000,0.052,3433,1999,2280,0,0,0,0,0,0
$GC,5808,1.21,187.3,407.6,9.5,264,5822,0.00,3.03,7.05,0.713,4,0.000,0.099,3433,402,2255,0,0,0,0,0,0
$GC,5868,1.14,189.8,401.6,9.9,265,5873,0.12,2.55,0.00,0.000,6,0.126,0.029,3408,1979,2254,0,0,0,0,0,0
$GC,6136,1.19,227.1,380.3,7.9,272,6178,0.00,2.80,36.12,0.831,4,0.000,0.071,3408,403,2093,0,0,0,0,0,0
$GC,6194,1.21,249.3,375.0,8.8,273,6221,0.00,2.58,21.05,0.797,6,0.000,0.024,3408,1991,2003,0,0,0,0,0,0
$GC,6465,1.28,254.9,349.0,9.7,280,6476,0.12,2.65,5.53,0.631,4,0.079,0.044,3443,3578,1980,0,0,0,0,0,0
$GC,6528,1.28,254.9,341.6,11.7,281,6532,0.00,2.62,0.00,0.000,6,0.000,0.035,3443,1990,1977,0,0,0,0,0,0
$GC,6788,1.28,254.9,312.9,10.6,288,6793,0.00,2.78,0.00,0.000,4,0.000,0.074,3443,410,1976,0,0,0,0,0,0
$GC,6822,1.24,254.9,309.0,12.9,288,6828,0.00,2.53,0.00,0.000,6,0.000,0.025,3443,1999,1975,0,0,0,0,0,0
$GC,7072,1.24,254.9,280.4,11.4,295,7076,0.00,2.55,0.00,0.000,4,0.000,0.044,3442,3574,1974,0,0,0,0,0,0
$GC,7098,1.24,254.9,277.2,11.7,295,7103,0.00,2.60,0.00,0.000,6,0.000,0.038,3443,1987,1973,0,0,0,0,0,0
$GC,7349,1.26,270.3,252.9,9.2,301,7365,0.00,0.00,14.10,0.722,6,0.000,0.000,3443,1987,1917,0,0,0,0,0,0
$GC,7594,1.32,281.7,230.1,9.4,307,7610,0.00,2.60,11.12,0.682,4,0.000,0.032,3443,3567,1871,0,0,0,0,0,0
$GC,7650,1.39,291.8,224.4,9.5,308,7665,0.00,2.60,10.15,0.663,6,0.000,0.037,3443,1990,1830,0,0,0,0,0,0
$GC,7917,1.44,291.8,197.3,10.5,315,7919,0.12,0.00,0.00,0.000,6,0.077,0.000,3479,1990,1826,0,0,0,0,0,0
$GC,8170,1.44,291.8,168.4,10.9,339,8171,0.00,0.00,0.00,0.000,6,0.000,0.000,3479,1990,1824,0,0,0,0,0,0
$GC,8430,1.44,291.8,139.5,11.5,363,8434,0.00,2.55,0.00,0.000,4,0.000,0.037,3479,3575,1824,0,0,0,0,0,0
$GC,8451,1.44,291.8,136.5,10.7,364,8460,0.00,2.60,0.00,0.000,6,0.000,0.036,3479,1992,1823,0,0,0,0,0,0
$GC,8717,1.46,313.5,112.1,8.8,389,8742,0.00,2.65,19.05,0.609,4,0.000,0.059,3479,415,1739,0,0,0,0,0,0
$GC,8779,1.46,313.5,105.8,11.1,394,8783,0.00,2.50,0.00,0.000,6,0.000,0.019,3478,2015,1738,0,0,0,0,0,0
$GC,9045,1.51,313.5,76.4,10.8,418,9049,0.00,2.47,0.00,0.000,4,0.000,0.030,3479,3559,1737,0,0,0,0,0,0
$GC,9081,1.56,313.5,72.2,10.6,420,9090,0.00,2.58,0.00,0.000,6,0.000,0.034,3479,1983,1736,0,0,0,0,0,0
$GC,9347,1.63,315.7,46.1,9.9,445,9357,0.15,0.00,0.00,0.000,6,0.067,0.000,3524,1982,1736,0,0,0,0,0,0
$GC,9650,1.58,318.7,13.3,9.9,481,9659,0.00,0.00,5.57,0.429,6,0.000,0.000,3524,1982,1720,0,0,0,0,0,0
$STATE,9733,end climb,SURFACE_DEPTH_REACHED
$STATE,9733,begin surface coast
$FINISH,0.4,0.972011
$STATE,9775,end surface coast,CONTROL_FINISHED_OK
$STATE,9776,begin surface
$SM_CCo,9799,242.32,0.512,0,0,477,623.80
$SM_GC,1.14,0.00,0.00,242.32,0.000,0.000,0.512,477,1818,477,-12.34,-0.34,623.80
$IRIDIUM_FIX,2244.02,-15814.09,030900,131322
$TT8_MAMPS,0.026078
$HUMID,56.49
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,21.90
$XPDR_PINGS,48
$24V_AH,23.5,31.711
$10V_AH,10.4,27.559
$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,29.300,118.825,379.600,242.325,0.000,140.211,400.396,0.000,12.000,0.000,36.359,1011.093,6542.734,678.364,1925.152,820.318,33.364,1382.704,0.000,1914.773,0.000,0.536,0.000
$DEVICE_MAMPS,136.526,100.477,909.662,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,338.052,284.664,389.702,769.091,1162.660,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355764
$DATA_FILE_SIZE,38423,499
$CAP_FILE_SIZE,104946,0
$CFSIZE,260165632,169095168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100611,164306,2250.178,-15801.797,39,1.6,39,10.1