version: 66.06
glider: 146
mission: 6
dive: 226
start: 6 7 111 11 44 20
data:
$ID,146
$MISSION,6
$DIVE,226
$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,-273217.12
$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,3155
$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,34
$R_STBD_OVSHOOT,60
$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
$GPS1,113246,2247.402,-15801.833,13,6.7,32,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-67.7
$GPS2,114327,2247.466,-15801.854,31,99.0,50,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.184,-0.146
$KALMAN_X,-89758.8,181.3,-62.3,81003.8,-36.8
$KALMAN_Y,-94301.3,376.4,226.9,100292.7,629.2
$MHEAD_RNG_PITCHd_Wd,221.6,2139,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,127,0.00,0.00,-109.25,0.000,2,0.000,0.000,476,1814,3265,0,0,0,0,0,0
$GC,131,-1.38,-116.8,3.3,-5.8,14,157,12.70,2.65,-4.28,0.000,4,0.161,0.063,2846,265,3499,0,0,0,0,0,0
$GC,357,-1.21,-116.8,56.6,-20.7,38,362,0.20,2.40,0.00,0.000,6,0.119,0.014,2887,1845,3500,0,0,0,0,0,0
$GC,621,-1.21,-116.8,95.9,-12.9,62,625,0.00,2.67,0.00,0.000,4,0.000,0.057,2886,254,3500,0,0,0,0,0,0
$GC,644,-1.17,-116.8,99.9,-14.0,63,650,0.00,2.38,0.00,0.000,6,0.000,0.018,2887,1841,3500,0,0,0,0,0,0
$GC,908,-1.17,-116.8,130.1,-10.1,88,912,0.00,2.35,0.00,0.000,4,0.000,0.033,2887,3357,3500,0,0,0,0,0,0
$GC,999,-1.26,-116.8,139.8,-10.3,95,1004,0.00,2.45,0.00,0.000,6,0.000,0.030,2887,1814,3500,0,0,0,0,0,0
$GC,1263,-1.32,-116.8,166.7,-10.1,119,1268,0.00,2.62,0.00,0.000,4,0.000,0.057,2887,258,3501,0,0,0,0,0,0
$GC,1281,-1.36,-116.8,168.9,-10.2,120,1286,0.12,2.33,0.00,0.000,6,0.072,0.015,2842,1825,3501,0,0,0,0,0,0
$GC,1543,-1.36,-116.8,200.6,-11.3,144,1547,0.00,2.38,0.00,0.000,4,0.000,0.025,2842,3352,3501,0,0,0,0,0,0
$GC,1570,-1.36,-116.8,203.9,-10.8,144,1574,0.00,2.45,0.00,0.000,6,0.000,0.025,2842,1807,3501,0,0,0,0,0,0
$GC,1820,-1.36,-116.8,232.4,-11.6,150,1824,0.00,2.65,0.00,0.000,4,0.000,0.065,2842,255,3501,0,0,0,0,0,0
$GC,1835,-1.36,-116.8,234.5,-12.1,150,1839,0.00,2.33,0.00,0.000,6,0.000,0.017,2842,1801,3501,0,0,0,0,0,0
$GC,2102,-1.36,-116.8,264.9,-11.2,157,2106,0.00,2.47,0.00,0.000,4,0.000,0.030,2842,3371,3501,0,0,0,0,0,0
$GC,2146,-1.40,-116.8,269.7,-10.6,158,2150,0.00,2.50,0.00,0.000,6,0.000,0.028,2842,1813,3501,0,0,0,0,0,0
$GC,2423,-1.40,-116.8,298.9,-10.8,165,2427,0.00,2.47,0.00,0.000,4,0.000,0.035,2842,3368,3500,0,0,0,0,0,0
$GC,2491,-1.45,-116.8,306.9,-12.3,166,2495,0.00,2.47,0.00,0.000,6,0.000,0.038,2842,1831,3500,0,0,0,0,0,0
$GC,2745,-1.45,-116.8,335.5,-10.8,173,2746,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1831,3499,0,0,0,0,0,0
$GC,2989,-1.45,-116.8,360.4,-10.2,179,2993,0.00,2.47,0.00,0.000,4,0.000,0.035,2842,3364,3498,0,0,0,0,0,0
$GC,3011,-1.50,-116.8,362.5,-10.1,179,3016,0.00,2.55,0.00,0.000,6,0.000,0.049,2843,1831,3498,0,0,0,0,0,0
$GC,3267,-1.55,-116.8,387.3,-9.5,186,3269,0.10,0.00,0.00,0.000,6,0.084,0.000,2800,1831,3496,0,0,0,0,0,0
$GC,3510,-1.55,-116.8,415.9,-12.0,192,3514,0.00,2.53,0.00,0.000,4,0.000,0.049,2800,3367,3495,0,0,0,0,0,0
$GC,3532,-1.55,-116.8,418.7,-12.5,192,3537,0.00,2.60,0.00,0.000,6,0.000,0.054,2800,1832,3495,0,0,0,0,0,0
$GC,3787,-1.55,-116.8,449.4,-11.8,199,3791,0.00,2.53,0.00,0.000,4,0.000,0.052,2800,3359,3493,0,0,0,0,0,0
$GC,3815,-1.55,-116.8,452.5,-11.9,199,3819,0.00,2.60,0.00,0.000,6,0.000,0.057,2800,1833,3493,0,0,0,0,0,0
$GC,4066,-1.55,-116.8,480.1,-11.0,205,4070,0.00,2.53,0.00,0.000,4,0.000,0.058,2800,3357,3490,0,0,0,0,0,0
$GC,4109,-1.55,-116.8,485.2,-11.5,206,4114,0.00,2.58,0.00,0.000,6,0.000,0.062,2800,1852,3490,0,0,0,0,0,0
$STATE,4265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4265,begin apogee
$GC,4271,-0.31,0.0,502.8,11.4,210,4371,1.27,0.00,95.80,0.914,6,0.084,0.000,3084,1954,3019,0,0,0,0,0,0
$STATE,4371,end apogee,CONTROL_FINISHED_OK
$STATE,4372,begin climb
$GC,4375,1.38,116.8,505.8,0.0,212,4487,1.58,2.88,99.57,0.894,4,0.052,0.062,3459,3557,2541,0,0,0,0,0,0
$GC,4550,1.32,166.9,502.8,7.1,216,4600,0.00,2.70,43.47,0.873,6,0.000,0.054,3460,1992,2338,0,0,0,0,0,0
$GC,4877,1.24,175.4,473.3,9.5,224,4887,0.17,0.00,7.43,0.729,6,0.114,0.000,3425,1993,2304,0,0,0,0,0,0
$GC,5117,1.26,192.9,451.1,9.0,230,5141,0.00,2.75,16.52,0.831,4,0.000,0.050,3425,3572,2231,0,0,0,0,0,0
$GC,5160,1.29,212.9,447.3,8.9,231,5185,0.00,2.70,18.75,0.827,6,0.000,0.048,3425,1997,2151,0,0,0,0,0,0
$GC,5447,1.31,229.6,420.1,9.1,238,5465,0.00,0.00,15.48,0.813,6,0.000,0.000,3425,1997,2083,0,0,0,0,0,0
$GC,5692,1.31,229.6,395.8,10.2,244,5697,0.00,2.92,0.00,0.000,4,0.000,0.099,3425,403,2077,0,0,0,0,0,0
$GC,5707,1.31,229.6,393.7,10.9,244,5712,0.00,2.53,0.00,0.000,6,0.000,0.027,3425,1990,2076,0,0,0,0,0,0
$GC,5974,1.31,229.6,365.1,10.7,251,5979,0.00,2.78,0.00,0.000,4,0.000,0.071,3425,404,2075,0,0,0,0,0,0
$GC,5996,1.31,229.6,362.4,11.7,251,6000,0.00,2.55,0.00,0.000,6,0.000,0.025,3425,1999,2074,0,0,0,0,0,0
$GC,6253,1.31,231.0,336.4,10.0,258,6254,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1999,2073,0,0,0,0,0,0
$GC,6496,1.36,244.9,313.3,9.2,264,6512,0.12,0.00,13.30,0.759,6,0.081,0.000,3460,2000,2020,0,0,0,0,0,0
$GC,6739,1.36,244.9,286.7,11.1,270,6743,0.00,2.58,0.00,0.000,4,0.000,0.043,3460,3573,2016,0,0,0,0,0,0
$GC,6801,1.36,244.9,279.8,11.5,271,6805,0.00,2.60,0.00,0.000,6,0.000,0.032,3460,1983,2015,0,0,0,0,0,0
$GC,7061,1.36,244.9,250.8,11.2,278,7065,0.00,2.70,0.00,0.000,4,0.000,0.064,3460,414,2014,0,0,0,0,0,0
$GC,7106,1.32,244.9,245.1,12.7,279,7110,0.00,2.50,0.00,0.000,6,0.000,0.022,3460,1995,2013,0,0,0,0,0,0
$GC,7384,1.32,244.9,215.9,10.4,286,7389,0.00,2.55,0.00,0.000,4,0.000,0.039,3460,3572,2013,0,0,0,0,0,0
$GC,7400,1.32,244.9,213.8,10.7,286,7405,0.00,2.58,0.00,0.000,6,0.000,0.035,3460,1982,2012,0,0,0,0,0,0
$GC,7662,1.33,254.1,187.3,9.5,301,7673,0.00,0.00,8.23,0.621,6,0.000,0.000,3460,1981,1983,0,0,0,0,0,0
$GC,7930,1.33,254.1,159.2,10.9,326,7931,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1981,1980,0,0,0,0,0,0
$GC,8183,1.33,254.1,132.5,10.2,350,8187,0.00,2.65,0.00,0.000,4,0.000,0.057,3460,411,1981,0,0,0,0,0,0
$GC,8204,1.33,254.1,130.7,10.9,351,8209,0.00,2.45,0.00,0.000,6,0.000,0.019,3460,2001,1980,0,0,0,0,0,0
$GC,8471,1.40,277.1,106.7,8.7,375,8497,0.00,0.00,21.15,0.607,6,0.000,0.000,3461,2002,1889,0,0,0,0,0,0
$GC,8755,1.47,277.1,80.5,10.3,402,8764,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2002,1885,0,0,0,0,0,0
$GC,9021,1.61,327.5,57.9,7.1,427,9076,0.20,2.75,43.30,0.567,4,0.061,0.052,3515,422,1682,0,0,0,0,0,0
$GC,9094,1.61,327.5,50.8,11.1,432,9099,0.00,2.42,0.00,0.000,6,0.000,0.017,3515,1973,1681,0,0,0,0,0,0
$GC,9387,1.61,327.5,14.4,12.0,465,9397,0.00,2.58,0.00,0.000,4,0.000,0.038,3515,3558,1678,0,0,0,0,0,0
$GC,9408,1.61,327.5,12.2,11.2,467,9418,0.00,2.60,0.00,0.000,6,0.000,0.036,3515,1964,1677,0,0,0,0,0,0
$STATE,9473,end climb,SURFACE_DEPTH_REACHED
$STATE,9473,begin surface coast
$FINISH,0.5,0.976563
$STATE,9509,end surface coast,CONTROL_FINISHED_OK
$STATE,9509,begin surface
$SM_CCo,9531,41.30,0.515,0,0,1470,380.21
$SM_GC,1.28,0.00,0.00,41.30,0.000,0.000,0.515,476,1801,1470,-12.32,-0.82,380.21
$IRIDIUM_FIX,2237.01,-15802.37,310800,080834
$TT8_MAMPS,0.026078
$HUMID,60.31
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.90
$XPDR_PINGS,45
$24V_AH,23.5,28.257
$10V_AH,10.4,24.743
$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,28.825,113.075,383.000,41.300,0.000,24.073,38.917,408.031,11.250,0.000,52.423,960.462,6206.294,485.190,1829.789,733.843,33.366,1182.369,0.000,1794.499,0.000,0.536,0.000
$DEVICE_MAMPS,161.070,98.943,914.264,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.544,264.462,372.185,693.376,1048.673,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355700
$DATA_FILE_SIZE,38464,481
$CAP_FILE_SIZE,102832,0
$CFSIZE,260165632,170434560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070611,142507,2247.087,-15802.894,33,1.3,33,10.1