version: 66.06
glider: 146
mission: 6
dive: 259
start: 6 11 111 13 42 29
data:
$ID,146
$MISSION,6
$DIVE,259
$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,-274166.03
$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,31
$R_STBD_OVSHOOT,62
$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,3010
$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
$GPS1,132840,2247.274,-15758.396,8,99.0,27,10.1
$_CALLS,2
$_XMS_NAKs,17
$_XMS_TOUTs,2
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.4
$GPS2,134136,2247.398,-15758.448,16,1.1,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.219,-0.086
$KALMAN_X,-103378.6,-355.7,-360.2,101282.6,-359.3
$KALMAN_Y,-70222.5,116.5,-217.0,76797.9,615.2
$MHEAD_RNG_PITCHd_Wd,238.4,7807,-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,-116.8,0.0,0.0,0,96,0.00,0.00,-77.18,0.000,6,0.000,0.000,481,1898,3487,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.8,-9.6,10,117,11.95,2.78,0.00,0.000,4,0.136,0.054,2850,251,3490,0,0,0,0,0,0
$GC,213,-1.21,-116.8,37.3,-21.0,24,218,0.22,2.40,0.00,0.000,6,0.171,0.015,2896,1835,3491,0,0,0,0,0,0
$GC,479,-1.21,-116.8,74.6,-12.2,48,483,0.00,2.65,0.00,0.000,4,0.000,0.058,2897,250,3492,0,0,0,0,0,0
$GC,502,-1.21,-116.8,78.9,-14.9,49,511,0.00,2.42,0.00,0.000,6,0.000,0.015,2897,1844,3492,0,0,0,0,0,0
$GC,765,-1.21,-116.8,114.4,-13.6,74,769,0.00,2.67,0.00,0.000,4,0.000,0.058,2896,255,3493,0,0,0,0,0,0
$GC,798,-1.21,-116.8,119.4,-13.7,76,809,0.00,2.35,0.00,0.000,6,0.000,0.017,2897,1810,3493,0,0,0,0,0,0
$GC,1067,-1.25,-116.8,148.0,-9.0,101,1072,0.00,2.45,0.00,0.000,4,0.000,0.031,2896,3370,3493,0,0,0,0,0,0
$GC,1102,-1.32,-116.8,151.3,-9.0,103,1107,0.10,2.47,0.00,0.000,6,0.082,0.024,2851,1807,3493,0,0,0,0,0,0
$GC,1368,-1.32,-116.8,182.1,-11.2,127,1373,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1807,3494,0,0,0,0,0,0
$GC,1644,-1.32,-116.8,213.8,-11.2,145,1648,0.00,2.45,0.00,0.000,4,0.000,0.031,2851,3374,3494,0,0,0,0,0,0
$GC,1666,-1.32,-116.8,216.4,-11.4,145,1670,0.00,2.47,0.00,0.000,6,0.000,0.028,2851,1813,3494,0,0,0,0,0,0
$GC,1922,-1.32,-116.8,246.3,-11.9,152,1927,0.00,2.47,0.00,0.000,4,0.000,0.030,2851,3376,3494,0,0,0,0,0,0
$GC,1980,-1.39,-116.8,252.7,-10.6,153,1984,0.00,2.47,0.00,0.000,6,0.000,0.029,2851,1829,3494,0,0,0,0,0,0
$GC,2246,-1.43,-116.8,279.3,-9.9,160,2251,0.00,2.72,0.00,0.000,4,0.000,0.071,2851,250,3494,0,0,0,0,0,0
$GC,2281,-1.43,-116.8,283.3,-11.7,160,2286,0.00,2.40,0.00,0.000,6,0.000,0.025,2851,1795,3495,0,0,0,0,0,0
$GC,2531,-1.48,-116.8,306.9,-9.0,167,2535,0.00,2.58,0.00,0.000,4,0.000,0.037,2851,3407,3494,0,0,0,0,0,0
$GC,2592,-1.55,-116.8,312.6,-9.3,168,2597,0.12,2.55,0.00,0.000,6,0.069,0.040,2800,1839,3494,0,0,0,0,0,0
$GC,2855,-1.51,-116.8,343.6,-12.4,175,2860,0.12,2.85,0.00,0.000,4,0.110,0.082,2829,243,3493,0,0,0,0,0,0
$GC,2871,-1.47,-116.8,346.1,-12.3,175,2876,0.00,2.50,0.00,0.000,6,0.000,0.030,2829,1825,3493,0,0,0,0,0,0
$GC,3132,-1.47,-116.8,373.6,-10.3,182,3137,0.00,2.58,0.00,0.000,4,0.000,0.053,2829,3406,3492,0,0,0,0,0,0
$GC,3178,-1.53,-116.8,378.6,-10.7,183,3183,0.00,2.62,0.00,0.000,6,0.000,0.053,2829,1841,3492,0,0,0,0,0,0
$GC,3455,-1.53,-116.8,409.1,-11.1,190,3460,0.00,2.58,0.00,0.000,4,0.000,0.044,2829,3406,3490,0,0,0,0,0,0
$GC,3483,-1.57,-116.8,412.1,-10.5,190,3487,0.00,2.65,0.00,0.000,6,0.000,0.058,2829,1840,3490,0,0,0,0,0,0
$GC,3735,-1.61,-116.8,435.9,-9.2,196,3739,0.00,2.58,0.00,0.000,4,0.000,0.050,2829,3411,3488,0,0,0,0,0,0
$GC,3751,-1.65,-116.8,437.6,-8.9,196,3756,0.12,2.65,0.00,0.000,6,0.071,0.052,2786,1842,3488,0,0,0,0,0,0
$GC,4014,-1.61,-116.8,465.0,-10.9,203,4015,0.10,0.00,0.00,0.000,6,0.121,0.000,2807,1843,3486,0,0,0,0,0,0
$GC,4256,-1.61,-116.8,491.5,-11.1,209,4260,0.00,3.03,0.00,0.000,4,0.000,0.119,2806,240,3484,0,0,0,0,0,0
$GC,4277,-1.61,-116.8,494.2,-11.8,209,4281,0.00,2.60,0.00,0.000,6,0.000,0.042,2807,1831,3484,0,0,0,0,0,0
$STATE,4332,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4332,begin apogee
$GC,4339,-0.31,0.0,500.7,11.4,211,4440,1.25,0.00,96.97,0.911,6,0.084,0.000,3088,2004,3010,0,0,0,0,0,0
$STATE,4441,end apogee,CONTROL_FINISHED_OK
$STATE,4441,begin climb
$GC,4443,1.38,116.8,503.7,0.0,213,4553,1.60,2.83,99.72,0.888,4,0.051,0.070,3469,3569,2531,0,0,0,0,0,0
$GC,4583,1.30,171.3,501.7,6.9,217,4638,0.12,2.70,47.45,0.870,6,0.126,0.052,3446,1991,2310,0,0,0,0,0,0
$GC,4906,1.25,171.3,470.9,10.1,225,4907,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1991,2301,0,0,0,0,0,0
$GC,5149,1.21,178.8,446.9,9.6,231,5158,0.10,0.00,6.20,0.690,6,0.137,0.000,3426,1991,2280,0,0,0,0,0,0
$GC,5395,1.25,207.5,426.0,8.4,237,5423,0.00,0.00,26.70,0.843,6,0.000,0.000,3426,1992,2163,0,0,0,0,0,0
$GC,5637,1.29,244.7,406.7,7.9,243,5676,0.00,0.00,33.85,0.838,6,0.000,0.000,3426,1991,2011,0,0,0,0,0,0
$GC,5920,1.29,244.7,378.1,11.0,250,5924,0.00,2.65,0.00,0.000,4,0.000,0.040,3426,3583,2005,0,0,0,0,0,0
$GC,5954,1.29,244.7,374.1,11.9,250,5959,0.00,2.67,0.00,0.000,6,0.000,0.039,3426,1987,2004,0,0,0,0,0,0
$GC,6203,1.29,244.7,345.8,10.8,257,6204,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1987,2002,0,0,0,0,0,0
$GC,6447,1.33,244.7,321.1,10.3,263,6453,0.10,2.78,0.00,0.000,4,0.091,0.078,3454,403,2001,0,0,0,0,0,0
$GC,6493,1.27,244.7,315.1,13.2,264,6498,0.00,2.55,0.00,0.000,6,0.000,0.024,3454,2013,2000,0,0,0,0,0,0
$GC,6770,1.27,244.7,283.6,10.6,271,6775,0.00,2.50,0.00,0.000,4,0.000,0.044,3454,3557,2000,0,0,0,0,0,0
$GC,6865,1.30,269.4,274.2,8.6,273,6892,0.00,2.55,21.17,0.753,6,0.000,0.038,3454,1995,1911,0,0,0,0,0,0
$GC,7137,1.30,269.4,246.5,10.8,279,7141,0.00,2.78,0.00,0.000,4,0.000,0.070,3454,407,1907,0,0,0,0,0,0
$GC,7186,1.30,269.4,239.9,13.1,280,7190,0.00,2.50,0.00,0.000,6,0.000,0.025,3454,1993,1905,0,0,0,0,0,0
$GC,7459,1.30,269.4,209.2,11.1,287,7463,0.00,2.55,0.00,0.000,4,0.000,0.034,3454,3565,1905,0,0,0,0,0,0
$GC,7491,1.30,269.4,204.9,12.5,287,7497,0.00,2.60,0.00,0.000,6,0.000,0.032,3454,1974,1904,0,0,0,0,0,0
$GC,7751,1.30,269.4,177.1,10.4,309,7755,0.00,2.58,0.00,0.000,4,0.000,0.031,3454,3562,1903,0,0,0,0,0,0
$GC,7772,1.30,269.4,175.3,10.9,310,7776,0.00,2.55,0.00,0.000,6,0.000,0.030,3454,1987,1902,0,0,0,0,0,0
$GC,8039,1.38,279.2,149.6,9.5,334,8054,0.00,2.70,8.70,0.595,4,0.000,0.064,3454,408,1872,0,0,0,0,0,0
$GC,8115,1.42,279.2,141.4,10.7,340,8120,0.00,2.47,0.00,0.000,6,0.000,0.025,3454,1998,1870,0,0,0,0,0,0
$GC,8378,1.50,294.8,115.8,9.1,364,8403,0.15,2.78,15.00,0.602,4,0.070,0.052,3497,408,1807,0,0,0,0,0,0
$GC,8429,1.46,294.8,110.2,11.7,368,8433,0.00,2.42,0.00,0.000,6,0.000,0.018,3497,1959,1805,0,0,0,0,0,0
$GC,8691,1.46,294.8,80.3,11.1,392,8696,0.00,2.58,0.00,0.000,4,0.000,0.051,3497,415,1804,0,0,0,0,0,0
$GC,8725,1.46,294.8,76.5,12.4,394,8729,0.00,2.40,0.00,0.000,6,0.000,0.018,3497,1968,1804,0,0,0,0,0,0
$GC,8993,1.49,294.8,47.0,11.5,418,8997,0.00,2.58,0.00,0.000,4,0.000,0.050,3497,416,1804,0,0,0,0,0,0
$GC,9013,1.49,294.8,44.6,10.1,419,9017,0.00,2.35,0.00,0.000,6,0.000,0.023,3497,1944,1804,0,0,0,0,0,0
$GC,9306,1.58,317.4,18.2,8.7,453,9332,0.00,0.00,20.58,0.522,6,0.000,0.000,3497,1946,1714,0,0,0,0,0,0
$STATE,9440,end climb,SURFACE_DEPTH_REACHED
$STATE,9440,begin surface coast
$FINISH,0.5,0.979952
$STATE,9484,end surface coast,CONTROL_FINISHED_OK
$STATE,9484,begin surface
$SM_CCo,9508,50.45,0.518,0,0,1459,380.21
$SM_GC,1.10,0.00,0.00,50.45,0.000,0.000,0.518,478,1822,1459,-12.34,-0.23,380.21
$IRIDIUM_FIX,2239.35,-15719.39,040900,131335
$TT8_MAMPS,0.026078
$HUMID,60.35
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.00
$XPDR_PINGS,51
$24V_AH,23.5,32.763
$10V_AH,10.3,28.461
$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,28.300,124.450,376.350,50.450,0.000,60.041,73.495,429.450,12.750,0.000,32.100,977.559,6227.992,505.879,1779.211,845.319,33.367,1164.716,0.000,1769.701,0.000,0.537,0.000
$DEVICE_MAMPS,171.041,118.885,911.196,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,323.748,274.241,368.223,702.951,1062.125,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,38321,478
$CAP_FILE_SIZE,108599,0
$CFSIZE,260165632,168689664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,110611,162357,2247.598,-15800.238,69,2.7,88,10.1