version: 66.06
glider: 146
mission: 6
dive: 254
start: 6 10 111 22 42 57
data:
$ID,146
$MISSION,6
$DIVE,254
$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,-274031.75
$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,56
$R_STBD_OVSHOOT,63
$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
$GPS1,223327,2250.363,-15759.334,34,99.0,53,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-71.6
$GPS2,224201,2250.455,-15759.391,15,2.0,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,-0.101
$KALMAN_X,-100404.8,342.4,144.3,95486.2,-949.0
$KALMAN_Y,-72612.5,-339.7,-271.0,85352.8,763.5
$MHEAD_RNG_PITCHd_Wd,105.3,4166,-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,17,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-69.53,0.000,2,0.000,0.000,478,1804,3226,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.3,-5.5,9,117,12.38,2.58,-5.10,0.000,4,0.151,0.061,2849,287,3499,0,0,0,0,0,0
$GC,162,-1.22,-116.8,22.6,-20.1,18,170,0.17,2.40,0.00,0.000,6,0.098,0.016,2890,1849,3501,0,0,0,0,0,0
$GC,441,-1.22,-116.8,65.2,-14.5,46,445,0.00,2.62,0.00,0.000,4,0.000,0.051,2890,275,3501,0,0,0,0,0,0
$GC,474,-1.17,-116.8,70.2,-14.3,48,479,0.00,2.35,0.00,0.000,6,0.000,0.014,2890,1839,3501,0,0,0,0,0,0
$GC,736,-1.17,-116.8,104.9,-11.9,72,741,0.00,2.40,0.00,0.000,4,0.000,0.026,2890,3370,3502,0,0,0,0,0,0
$GC,770,-1.22,-116.8,109.2,-12.2,74,780,0.00,2.42,0.00,0.000,6,0.000,0.027,2890,1858,3502,0,0,0,0,0,0
$GC,1039,-1.27,-116.8,140.0,-10.8,99,1043,0.00,2.38,0.00,0.000,4,0.000,0.025,2890,3368,3503,0,0,0,0,0,0
$GC,1079,-1.36,-116.8,145.0,-10.4,102,1084,0.12,2.45,0.00,0.000,6,0.074,0.025,2842,1825,3503,0,0,0,0,0,0
$GC,1340,-1.36,-116.8,176.4,-11.5,126,1345,0.10,2.67,0.00,0.000,4,0.118,0.061,2863,256,3503,0,0,0,0,0,0
$GC,1364,-1.36,-116.8,179.2,-12.0,127,1370,0.00,2.33,0.00,0.000,6,0.000,0.021,2863,1821,3503,0,0,0,0,0,0
$GC,1632,-1.36,-116.8,209.0,-10.9,147,1636,0.00,2.40,0.00,0.000,4,0.000,0.032,2863,3370,3504,0,0,0,0,0,0
$GC,1673,-1.42,-116.8,213.4,-11.1,148,1677,0.00,2.45,0.00,0.000,6,0.000,0.027,2863,1828,3504,0,0,0,0,0,0
$GC,1956,-1.47,-116.8,243.8,-10.4,155,1961,0.10,2.42,0.00,0.000,4,0.087,0.028,2825,3364,3504,0,0,0,0,0,0
$GC,2040,-1.47,-116.8,253.6,-11.1,157,2044,0.00,2.42,0.00,0.000,6,0.000,0.028,2825,1837,3504,0,0,0,0,0,0
$GC,2324,-1.47,-116.8,286.8,-11.9,164,2329,0.00,2.72,0.00,0.000,4,0.000,0.079,2825,255,3504,0,0,0,0,0,0
$GC,2340,-1.43,-116.8,288.8,-11.9,164,2345,0.10,2.38,0.00,0.000,6,0.123,0.019,2845,1797,3504,0,0,0,0,0,0
$GC,2602,-1.43,-116.8,315.5,-10.0,171,2607,0.00,2.55,0.00,0.000,4,0.000,0.037,2845,3400,3504,0,0,0,0,0,0
$GC,2687,-1.50,-116.8,324.8,-10.7,173,2692,0.00,2.50,0.00,0.000,6,0.000,0.033,2845,1847,3504,0,0,0,0,0,0
$GC,2971,-1.55,-116.8,355.3,-11.1,180,2972,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1848,3502,0,0,0,0,0,0
$GC,3216,-1.60,-116.8,381.8,-11.0,186,3221,0.15,2.53,0.00,0.000,4,0.065,0.042,2797,3399,3501,0,0,0,0,0,0
$GC,3255,-1.60,-116.8,386.6,-12.0,187,3260,0.00,2.58,0.00,0.000,6,0.000,0.045,2797,1855,3501,0,0,0,0,0,0
$GC,3538,-1.60,-116.8,419.1,-11.2,194,3543,0.00,2.50,0.00,0.000,4,0.000,0.048,2797,3396,3499,0,0,0,0,0,0
$GC,3589,-1.60,-116.8,425.0,-11.6,195,3594,0.00,2.62,0.00,0.000,6,0.000,0.057,2797,1849,3499,0,0,0,0,0,0
$GC,3861,-1.60,-116.8,456.4,-11.7,202,3862,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1849,3498,0,0,0,0,0,0
$GC,4105,-1.60,-116.8,487.1,-12.6,208,4109,0.00,2.60,0.00,0.000,4,0.000,0.059,2797,3393,3497,0,0,0,0,0,0
$GC,4127,-1.60,-116.8,489.9,-12.4,208,4132,0.00,2.65,0.00,0.000,6,0.000,0.066,2797,1854,3496,0,0,0,0,0,0
$STATE,4217,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4217,begin apogee
$GC,4223,-0.31,0.0,501.5,12.5,211,4324,1.30,0.00,97.53,0.901,6,0.080,0.000,3090,1995,3020,0,0,0,0,0,0
$STATE,4325,end apogee,CONTROL_FINISHED_OK
$STATE,4325,begin climb
$GC,4327,1.38,116.8,504.5,0.0,213,4438,1.58,2.72,99.40,0.881,4,0.042,0.056,3467,3551,2542,0,0,0,0,0,0
$GC,4462,1.32,181.8,503.1,6.3,217,4526,0.00,2.67,56.20,0.865,6,0.000,0.051,3467,1990,2278,0,0,0,0,0,0
$GC,4788,1.23,181.8,466.0,12.1,225,4793,0.17,2.62,0.00,0.000,4,0.112,0.044,3431,3555,2270,0,0,0,0,0,0
$GC,4821,1.23,181.8,461.9,11.9,225,4827,0.00,2.67,0.00,0.000,6,0.000,0.050,3431,1996,2268,0,0,0,0,0,0
$GC,5071,1.23,181.8,435.7,10.4,232,5076,0.00,2.97,0.00,0.000,4,0.000,0.110,3431,408,2267,0,0,0,0,0,0
$GC,5094,1.18,181.8,433.4,10.5,232,5098,0.00,2.55,0.00,0.000,6,0.000,0.034,3431,1979,2266,0,0,0,0,0,0
$GC,5349,1.21,204.1,410.1,8.8,239,5369,0.00,0.00,18.98,0.814,6,0.000,0.000,3431,1979,2187,0,0,0,0,0,0
$GC,5593,1.22,213.2,387.3,9.5,245,5607,0.00,2.70,8.93,0.736,4,0.000,0.043,3431,3578,2149,0,0,0,0,0,0
$GC,5625,1.22,214.5,384.1,10.0,245,5630,0.00,2.65,0.00,0.000,6,0.000,0.039,3431,1994,2149,0,0,0,0,0,0
$GC,5875,1.22,214.5,358.2,10.3,251,5880,0.00,2.83,0.00,0.000,4,0.000,0.083,3431,410,2146,0,0,0,0,0,0
$GC,5896,1.22,214.5,355.5,11.8,251,5900,0.00,2.55,0.00,0.000,6,0.000,0.021,3431,2012,2145,0,0,0,0,0,0
$GC,6153,1.23,226.9,330.9,9.3,258,6172,0.00,2.85,13.07,0.756,4,0.000,0.064,3431,412,2093,0,0,0,0,0,0
$GC,6190,1.24,230.1,327.1,9.9,258,6199,0.00,2.50,4.25,0.538,6,0.000,0.021,3431,1992,2081,0,0,0,0,0,0
$GC,6485,1.27,257.0,301.2,8.5,266,6515,0.00,2.62,24.88,0.769,4,0.000,0.044,3431,3569,1972,0,0,0,0,0,0
$GC,6544,1.31,257.0,295.5,10.3,267,6549,0.00,2.60,0.00,0.000,6,0.000,0.032,3431,1983,1969,0,0,0,0,0,0
$GC,6807,1.36,257.9,269.5,10.0,274,6808,0.10,0.00,0.00,0.000,6,0.097,0.000,3460,1983,1967,0,0,0,0,0,0
$GC,7050,1.36,257.9,240.6,11.8,280,7054,0.00,2.70,0.00,0.000,4,0.000,0.065,3460,407,1965,0,0,0,0,0,0
$GC,7093,1.32,257.9,234.9,12.9,281,7098,0.00,2.50,0.00,0.000,6,0.000,0.022,3460,2003,1964,0,0,0,0,0,0
$GC,7371,1.32,259.6,206.0,9.9,288,7376,0.00,2.50,0.00,0.000,4,0.000,0.035,3460,3559,1964,0,0,0,0,0,0
$GC,7439,1.32,259.6,199.0,10.6,289,7443,0.00,2.55,0.00,0.000,6,0.000,0.036,3460,1988,1962,0,0,0,0,0,0
$GC,7707,1.33,262.7,172.3,9.9,314,7718,0.00,2.70,4.75,0.505,4,0.000,0.065,3460,416,1949,0,0,0,0,0,0
$GC,7739,1.35,279.0,169.2,9.1,316,7760,0.00,2.47,16.30,0.647,6,0.000,0.019,3460,2008,1882,0,0,0,0,0,0
$GC,8015,1.41,283.5,144.0,9.8,342,8028,0.00,0.00,4.97,0.492,6,0.000,0.000,3460,2009,1863,0,0,0,0,0,0
$GC,8287,1.48,294.1,117.5,9.4,367,8302,0.00,2.47,10.70,0.576,4,0.000,0.031,3460,3547,1819,0,0,0,0,0,0
$GC,8327,1.55,294.1,112.6,10.0,370,8332,0.15,2.50,0.00,0.000,6,0.072,0.035,3502,1994,1818,0,0,0,0,0,0
$GC,8587,1.55,294.1,82.6,11.8,394,8591,0.00,2.50,0.00,0.000,4,0.000,0.031,3502,3548,1817,0,0,0,0,0,0
$GC,8644,1.55,294.1,76.2,13.0,398,8648,0.00,2.47,0.00,0.000,6,0.000,0.031,3502,2006,1816,0,0,0,0,0,0
$GC,8911,1.55,294.1,43.8,10.7,422,8916,0.00,2.67,0.00,0.000,4,0.000,0.054,3502,414,1816,0,0,0,0,0,0
$GC,8968,1.55,294.1,37.3,10.6,426,8973,0.00,2.45,0.00,0.000,6,0.000,0.018,3502,2002,1816,0,0,0,0,0,0
$STATE,9278,end climb,SURFACE_DEPTH_REACHED
$STATE,9278,begin surface coast
$FINISH,0.6,0.974279
$STATE,9327,end surface coast,CONTROL_FINISHED_OK
$STATE,9328,begin surface
$SM_CCo,9351,69.32,0.519,0,0,1469,380.21
$SM_GC,1.30,0.00,0.00,69.32,0.000,0.000,0.519,475,1806,1469,-12.35,-0.68,380.21
$IRIDIUM_FIX,2241.69,-15604.15,030900,191956
$TT8_MAMPS,0.026078
$HUMID,59.96
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.90
$XPDR_PINGS,46
$24V_AH,23.5,32.073
$10V_AH,10.4,27.886
$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,28.650,128.425,359.950,69.325,0.000,26.990,45.238,308.217,11.500,0.000,16.851,982.831,5997.964,495.520,1805.268,659.430,33.394,1173.283,0.000,1810.960,0.000,0.536,0.000
$DEVICE_MAMPS,151.099,124.254,901.225,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,321.939,282.390,368.298,692.374,1047.395,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355776
$DATA_FILE_SIZE,38456,475
$CAP_FILE_SIZE,105810,0
$CFSIZE,260165632,168960000
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110611,012106,2250.281,-15758.422,27,1.4,27,10.1