version: 66.06
glider: 146
mission: 6
dive: 274
start: 6 13 111 9 18 10
data:
$ID,146
$MISSION,6
$DIVE,274
$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,-274596.75
$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,37
$R_STBD_OVSHOOT,57
$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
$GPS1,091100,2247.194,-15758.043,45,1.1,49,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.8
$GPS2,091717,2247.207,-15758.100,11,1.9,20,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.233,0.030
$KALMAN_X,-118262.7,-17.3,17.2,116041.5,-993.9
$KALMAN_Y,-63504.9,120.9,33.3,69472.4,-451.7
$MHEAD_RNG_PITCHd_Wd,267.2,8377,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,90,0.00,0.00,-70.45,0.000,2,0.000,0.000,473,1811,3215,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.1,-5.1,9,119,12.02,2.55,-5.25,0.000,4,0.137,0.037,2850,3396,3488,0,0,0,0,0,0
$GC,297,-1.33,-116.8,44.1,-16.5,33,302,0.00,2.47,0.00,0.000,6,0.000,0.025,2850,1836,3491,0,0,0,0,0,0
$GC,565,-1.23,-116.8,86.7,-13.7,57,571,0.17,2.70,0.00,0.000,4,0.100,0.065,2889,257,3491,0,0,0,0,0,0
$GC,589,-1.15,-116.8,91.0,-13.8,58,599,0.00,2.42,0.00,0.000,6,0.000,0.016,2889,1855,3491,0,0,0,0,0,0
$GC,855,-1.15,-116.8,124.3,-12.5,83,859,0.00,2.70,0.00,0.000,4,0.000,0.060,2889,257,3492,0,0,0,0,0,0
$GC,876,-1.15,-116.8,127.6,-12.2,84,885,0.00,2.35,0.00,0.000,6,0.000,0.021,2889,1818,3492,0,0,0,0,0,0
$GC,1143,-1.20,-116.8,155.0,-9.6,109,1147,0.00,2.40,0.00,0.000,4,0.000,0.028,2889,3363,3493,0,0,0,0,0,0
$GC,1207,-1.30,-116.8,161.9,-9.9,114,1212,0.00,2.45,0.00,0.000,6,0.000,0.033,2889,1826,3493,0,0,0,0,0,0
$GC,1471,-1.36,-116.8,187.4,-9.1,138,1475,0.10,2.42,0.00,0.000,4,0.087,0.025,2849,3356,3493,0,0,0,0,0,0
$GC,1536,-1.36,-116.8,194.5,-11.5,143,1540,0.00,2.40,0.00,0.000,6,0.000,0.025,2849,1843,3493,0,0,0,0,0,0
$GC,1789,-1.36,-116.8,224.4,-11.9,152,1793,0.00,2.40,0.00,0.000,4,0.000,0.027,2849,3365,3493,0,0,0,0,0,0
$GC,1816,-1.39,-116.8,227.8,-11.5,152,1821,0.00,2.40,0.00,0.000,6,0.000,0.029,2849,1857,3494,0,0,0,0,0,0
$GC,2067,-1.39,-116.8,256.3,-11.4,158,2068,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1857,3494,0,0,0,0,0,0
$GC,2309,-1.39,-116.8,284.5,-11.7,164,2313,0.00,2.38,0.00,0.000,4,0.000,0.028,2849,3355,3494,0,0,0,0,0,0
$GC,2343,-1.45,-116.8,288.6,-12.0,164,2347,0.00,2.42,0.00,0.000,6,0.000,0.034,2849,1857,3494,0,0,0,0,0,0
$GC,2594,-1.49,-116.8,315.8,-10.7,170,2598,0.00,2.38,0.00,0.000,4,0.000,0.036,2849,3356,3494,0,0,0,0,0,0
$GC,2655,-1.57,-116.8,322.9,-11.5,171,2660,0.12,2.40,0.00,0.000,6,0.067,0.035,2803,1884,3494,0,0,0,0,0,0
$GC,2915,-1.57,-116.8,355.7,-12.3,178,2917,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1884,3493,0,0,0,0,0,0
$GC,3160,-1.57,-116.8,382.2,-11.0,184,3165,0.00,2.95,0.00,0.000,4,0.000,0.097,2802,248,3492,0,0,0,0,0,0
$GC,3187,-1.51,-116.8,385.8,-12.9,184,3193,0.12,2.47,0.00,0.000,6,0.115,0.026,2829,1814,3492,0,0,0,0,0,0
$GC,3437,-1.51,-116.8,413.4,-11.3,190,3441,0.00,2.67,0.00,0.000,4,0.000,0.059,2829,3417,3490,0,0,0,0,0,0
$GC,3460,-1.54,-116.8,416.0,-11.2,190,3464,0.00,2.58,0.00,0.000,6,0.000,0.054,2829,1886,3490,0,0,0,0,0,0
$GC,3715,-1.54,-116.8,442.4,-10.1,197,3716,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1886,3489,0,0,0,0,0,0
$GC,3959,-1.58,-116.8,466.6,-9.9,203,3963,0.00,2.53,0.00,0.000,4,0.000,0.048,2829,3415,3487,0,0,0,0,0,0
$GC,3982,-1.62,-116.8,468.7,-10.0,203,3987,0.10,2.60,0.00,0.000,6,0.084,0.057,2793,1892,3487,0,0,0,0,0,0
$GC,4237,-1.62,-116.8,498.8,-12.2,210,4241,0.00,2.55,0.00,0.000,4,0.000,0.058,2792,3407,3485,0,0,0,0,0,0
$STATE,4244,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4245,begin apogee
$GC,4253,-0.31,0.0,500.1,12.5,210,4358,1.27,0.00,97.57,0.909,6,0.079,0.000,3084,1997,3009,0,0,0,0,0,0
$STATE,4359,end apogee,CONTROL_FINISHED_OK
$STATE,4359,begin climb
$GC,4363,1.38,116.8,504.3,0.0,213,4474,1.58,2.78,99.28,0.890,4,0.055,0.061,3461,3573,2531,0,0,0,0,0,0
$GC,4486,1.35,190.9,502.5,5.8,216,4556,0.00,2.72,64.10,0.874,6,0.000,0.057,3461,1988,2231,0,0,0,0,0,0
$GC,4807,1.28,190.9,464.6,13.2,224,4809,0.10,0.00,0.00,0.000,6,0.132,0.000,3441,1988,2222,0,0,0,0,0,0
$GC,5050,1.28,190.9,437.0,10.9,230,5054,0.00,2.67,0.00,0.000,4,0.000,0.044,3440,3585,2219,0,0,0,0,0,0
$GC,5119,1.28,190.9,429.8,10.8,231,5123,0.00,2.70,0.00,0.000,6,0.000,0.052,3440,2001,2218,0,0,0,0,0,0
$GC,5374,1.29,204.6,404.8,9.2,238,5392,0.00,2.95,11.18,0.777,4,0.000,0.097,3440,402,2174,0,0,0,0,0,0
$GC,5422,1.22,210.4,400.5,9.7,239,5435,0.00,2.58,6.53,0.683,6,0.000,0.029,3440,1987,2152,0,0,0,0,0,0
$GC,5704,1.26,240.8,376.9,8.3,246,5738,0.00,2.72,28.25,0.818,4,0.000,0.044,3440,3574,2027,0,0,0,0,0,0
$GC,5767,1.26,244.6,370.8,9.8,247,5777,0.00,2.67,4.88,0.594,6,0.000,0.044,3440,1982,2012,0,0,0,0,0,0
$GC,6029,1.26,244.6,342.2,11.3,254,6033,0.00,2.78,0.00,0.000,4,0.000,0.078,3440,404,2008,0,0,0,0,0,0
$GC,6072,1.26,244.6,336.4,12.6,255,6077,0.00,2.53,0.00,0.000,6,0.000,0.027,3440,1986,2007,0,0,0,0,0,0
$GC,6350,1.26,244.6,305.2,11.0,262,6355,0.00,2.60,0.00,0.000,4,0.000,0.045,3440,3569,2006,0,0,0,0,0,0
$GC,6379,1.26,244.6,302.1,10.9,262,6383,0.00,2.65,0.00,0.000,6,0.000,0.037,3440,1965,2005,0,0,0,0,0,0
$GC,6628,1.26,244.6,276.1,10.1,268,6630,0.00,0.00,0.00,0.000,6,0.000,0.000,3440,1965,2005,0,0,0,0,0,0
$GC,6873,1.32,261.0,253.9,9.1,274,6893,0.00,2.67,14.85,0.723,4,0.000,0.035,3440,3569,1944,0,0,0,0,0,0
$GC,6914,1.36,261.0,250.2,10.1,275,6918,0.00,2.67,0.00,0.000,6,0.000,0.038,3440,1953,1943,0,0,0,0,0,0
$GC,7197,1.42,265.5,222.5,9.8,282,7208,0.12,2.70,4.93,0.551,4,0.218,0.065,3473,404,1927,0,0,0,0,0,0
$GC,7239,1.36,265.5,217.8,11.9,283,7243,0.00,2.50,0.00,0.000,6,0.000,0.025,3473,1990,1926,0,0,0,0,0,0
$GC,7495,1.36,265.5,189.4,10.3,296,7500,0.00,2.55,0.00,0.000,4,0.000,0.035,3473,3558,1926,0,0,0,0,0,0
$GC,7536,1.36,265.5,184.9,11.5,299,7540,0.00,2.58,0.00,0.000,6,0.000,0.037,3473,1969,1924,0,0,0,0,0,0
$GC,7800,1.36,267.9,158.8,9.9,323,7804,0.00,2.65,0.00,0.000,4,0.000,0.064,3473,411,1924,0,0,0,0,0,0
$GC,7816,1.36,267.9,156.8,10.2,324,7821,0.00,2.45,0.00,0.000,6,0.000,0.021,3473,1986,1924,0,0,0,0,0,0
$GC,8080,1.36,267.9,127.5,11.4,348,8085,0.00,2.53,0.00,0.000,4,0.000,0.033,3473,3556,1923,0,0,0,0,0,0
$GC,8172,1.40,267.9,117.5,11.1,355,8177,0.00,2.58,0.00,0.000,6,0.000,0.030,3473,1963,1923,0,0,0,0,0,0
$GC,8440,1.41,279.0,94.4,9.4,379,8465,0.00,2.67,12.98,0.578,4,0.000,0.056,3473,417,1871,0,0,0,0,0,0
$GC,8515,1.41,279.0,85.7,12.0,385,8520,0.00,2.42,0.00,0.000,6,0.000,0.018,3473,1979,1870,0,0,0,0,0,0
$GC,8784,1.52,315.0,59.8,8.0,409,8825,0.00,0.00,31.98,0.569,6,0.000,0.000,3473,1980,1723,0,0,0,0,0,0
$GC,9082,1.58,315.0,31.4,10.3,437,9091,0.12,0.00,0.00,0.000,6,0.077,0.000,3509,1980,1721,0,0,0,0,0,0
$STATE,9307,end climb,SURFACE_DEPTH_REACHED
$STATE,9307,begin surface coast
$FINISH,0.5,0.979860
$STATE,9357,end surface coast,CONTROL_FINISHED_OK
$STATE,9357,begin surface
$SM_CCo,9379,52.65,0.518,0,0,1460,380.21
$SM_GC,1.26,0.00,0.00,52.65,0.000,0.000,0.518,479,1811,1460,-12.34,-0.54,380.21
$IRIDIUM_FIX,2241.69,-15757.16,060900,060613
$TT8_MAMPS,0.026078
$HUMID,60.59
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.80
$XPDR_PINGS,52
$24V_AH,23.5,34.649
$10V_AH,10.4,30.146
$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,28.175,123.600,376.500,52.650,0.000,30.955,33.259,174.190,13.000,0.000,21.780,969.786,6035.342,474.100,1823.799,506.646,33.359,1170.196,0.000,1819.236,0.000,0.534,0.000
$DEVICE_MAMPS,217.828,97.409,908.895,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.856,272.505,372.536,712.514,1077.594,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355536
$DATA_FILE_SIZE,38285,476
$CAP_FILE_SIZE,102373,0
$CFSIZE,260165632,167911424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130611,115634,2246.982,-15800.037,11,6.0,30,10.1