version: 66.06
glider: 146
mission: 6
dive: 232
start: 6 8 111 5 34 52
data:
$ID,146
$MISSION,6
$DIVE,232
$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,-273357.34
$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,48
$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
$GPS1,051816,2250.175,-15759.345,9,99.0,28,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.08
$_SM_ANGLEo,-65.1
$GPS2,053358,2250.311,-15759.311,13,99.0,32,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.206,-0.112
$KALMAN_X,-90644.3,-157.6,61.3,86445.5,41.5
$KALMAN_Y,-88701.8,-93.5,-8.5,100669.8,813.8
$MHEAD_RNG_PITCHd_Wd,108.5,3986,-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,-116.8,0.0,0.0,0,135,0.00,0.00,-116.53,0.000,6,0.000,0.000,474,1803,3498,0,0,0,0,0,0
$GC,140,-1.38,-116.8,4.8,-9.7,15,157,12.70,2.55,0.00,0.000,4,0.161,0.046,2845,272,3500,0,0,0,0,0,0
$GC,176,-0.32,-116.8,21.8,-45.0,19,186,1.05,2.42,0.00,0.000,6,0.093,0.018,3079,1850,3501,0,0,0,0,0,0
$GC,463,-0.67,-116.8,42.8,-5.7,49,468,0.25,2.40,0.00,0.000,4,0.042,0.024,2990,3382,3501,0,0,0,0,0,0
$GC,509,-0.88,-116.8,47.2,-10.5,52,515,0.12,2.45,0.00,0.000,6,0.071,0.025,2942,1843,3501,0,0,0,0,0,0
$GC,779,-0.97,-116.8,79.3,-12.8,76,783,0.00,2.42,0.00,0.000,4,0.000,0.024,2943,3381,3501,0,0,0,0,0,0
$GC,823,-1.13,-116.8,85.4,-11.8,79,828,0.15,2.42,0.00,0.000,6,0.058,0.027,2884,1844,3501,0,0,0,0,0,0
$GC,1091,-1.13,-116.8,121.3,-14.0,103,1096,0.10,2.65,0.00,0.000,4,0.120,0.059,2907,260,3501,0,0,0,0,0,0
$GC,1125,-1.13,-116.8,127.0,-13.5,105,1131,0.00,2.40,0.00,0.000,6,0.000,0.021,2907,1856,3501,0,0,0,0,0,0
$GC,1393,-1.20,-116.8,157.1,-11.2,130,1397,0.00,2.35,0.00,0.000,4,0.000,0.032,2907,3373,3501,0,0,0,0,0,0
$GC,1439,-1.32,-116.8,162.3,-10.9,133,1444,0.17,2.38,0.00,0.000,6,0.054,0.028,2842,1853,3501,0,0,0,0,0,0
$GC,1705,-1.32,-116.8,196.4,-12.0,157,1711,0.12,2.70,0.00,0.000,4,0.104,0.060,2871,255,3501,0,0,0,0,0,0
$GC,1728,-1.32,-116.8,199.9,-12.0,158,1734,0.00,2.42,0.00,0.000,6,0.000,0.019,2871,1871,3501,0,0,0,0,0,0
$GC,1979,-1.37,-116.8,225.5,-9.9,165,1980,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1872,3502,0,0,0,0,0,0
$GC,2222,-1.43,-116.8,248.3,-9.4,171,2227,0.12,2.35,0.00,0.000,4,0.074,0.037,2825,3360,3502,0,0,0,0,0,0
$GC,2263,-1.43,-116.8,252.7,-11.3,172,2267,0.00,2.38,0.00,0.000,6,0.000,0.032,2825,1866,3502,0,0,0,0,0,0
$GC,2546,-1.43,-116.8,286.2,-11.8,179,2547,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1866,3501,0,0,0,0,0,0
$GC,2789,-1.43,-116.8,315.1,-12.0,185,2793,0.00,2.38,0.00,0.000,4,0.000,0.038,2825,3358,3500,0,0,0,0,0,0
$GC,2857,-1.43,-116.8,323.3,-11.5,186,2862,0.00,2.40,0.00,0.000,6,0.000,0.037,2825,1881,3500,0,0,0,0,0,0
$GC,3118,-1.43,-116.8,351.6,-10.4,193,3119,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1881,3498,0,0,0,0,0,0
$GC,3362,-1.43,-116.8,375.0,-9.6,199,3366,0.00,2.40,0.00,0.000,4,0.000,0.039,2825,3353,3497,0,0,0,0,0,0
$GC,3385,-1.43,-116.8,377.3,-9.9,199,3390,0.00,2.45,0.00,0.000,6,0.000,0.045,2825,1885,3497,0,0,0,0,0,0
$GC,3641,-1.43,-116.8,402.4,-9.9,206,3642,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1885,3495,0,0,0,0,0,0
$GC,3884,-1.43,-116.8,427.3,-10.3,212,3886,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1885,3493,0,0,0,0,0,0
$GC,4128,-1.43,-116.8,454.4,-11.2,218,4132,0.00,2.42,0.00,0.000,4,0.000,0.054,2825,3354,3492,0,0,0,0,0,0
$GC,4185,-1.48,-116.8,461.0,-11.6,219,4189,0.00,2.47,0.00,0.000,6,0.000,0.056,2825,1887,3492,0,0,0,0,0,0
$GC,4451,-1.52,-116.8,489.9,-10.6,226,4453,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1887,3490,0,0,0,0,0,0
$STATE,4570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4571,begin apogee
$GC,4577,-0.31,0.0,502.7,10.4,229,4676,1.15,0.00,96.10,0.911,6,0.077,0.000,3087,1946,3020,0,0,0,0,0,0
$STATE,4677,end apogee,CONTROL_FINISHED_OK
$STATE,4677,begin climb
$GC,4681,1.38,116.8,505.1,0.0,231,4789,1.58,2.85,100.22,0.890,4,0.053,0.065,3460,3562,2543,0,0,0,0,0,0
$GC,4802,1.36,199.6,504.4,5.2,234,4882,0.00,2.67,71.75,0.876,6,0.000,0.054,3460,2009,2205,0,0,0,0,0,0
$GC,5141,1.29,199.6,465.4,12.4,243,5146,0.12,2.60,0.00,0.000,4,0.122,0.048,3436,3564,2195,0,0,0,0,0,0
$GC,5169,1.25,199.6,462.0,11.7,243,5173,0.00,2.70,0.00,0.000,6,0.000,0.049,3436,1990,2194,0,0,0,0,0,0
$GC,5420,1.25,199.6,435.0,10.6,249,5424,0.00,2.62,0.00,0.000,4,0.000,0.041,3436,3564,2192,0,0,0,0,0,0
$GC,5474,1.25,199.6,428.6,11.0,250,5479,0.00,2.62,0.00,0.000,6,0.000,0.044,3436,2001,2191,0,0,0,0,0,0
$GC,5741,1.26,207.2,402.0,9.6,257,5748,0.00,0.00,5.32,0.645,6,0.000,0.000,3436,2001,2175,0,0,0,0,0,0
$GC,5986,1.27,216.9,378.8,9.5,263,5998,0.00,0.00,10.10,0.759,6,0.000,0.000,3436,2001,2135,0,0,0,0,0,0
$GC,6228,1.28,229.3,356.1,9.3,269,6242,0.00,0.00,12.30,0.769,6,0.000,0.000,3436,2001,2085,0,0,0,0,0,0
$GC,6472,1.29,232.2,332.3,9.9,275,6476,0.00,2.58,0.00,0.000,4,0.000,0.034,3436,3567,2080,0,0,0,0,0,0
$GC,6500,1.29,232.2,329.3,11.1,275,6505,0.00,2.60,0.00,0.000,6,0.000,0.040,3436,1992,2079,0,0,0,0,0,0
$GC,6750,1.29,232.2,302.1,11.0,281,6751,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1993,2078,0,0,0,0,0,0
$GC,6993,1.29,232.2,275.5,10.8,287,6998,0.00,2.58,0.00,0.000,4,0.000,0.039,3436,3569,2076,0,0,0,0,0,0
$GC,7026,1.29,232.2,271.8,11.3,287,7032,0.00,2.55,0.00,0.000,6,0.000,0.038,3436,2006,2076,0,0,0,0,0,0
$GC,7278,1.32,254.8,248.7,8.7,294,7307,0.00,2.62,22.38,0.739,4,0.000,0.035,3436,3559,1980,0,0,0,0,0,0
$GC,7353,1.37,265.4,241.6,9.4,295,7369,0.00,2.53,10.65,0.680,6,0.000,0.037,3436,2025,1937,0,0,0,0,0,0
$GC,7651,1.43,272.3,213.0,9.6,303,7666,0.12,2.60,6.88,0.610,4,0.079,0.033,3470,3569,1909,0,0,0,0,0,0
$GC,7721,1.43,272.3,204.6,12.4,304,7726,0.00,2.53,0.00,0.000,6,0.000,0.033,3470,2021,1907,0,0,0,0,0,0
$GC,7987,1.43,272.3,173.7,12.1,325,7991,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,2022,1906,0,0,0,0,0,0
$GC,8248,1.44,279.1,146.3,9.6,350,8263,0.00,2.78,6.75,0.561,4,0.000,0.060,3470,414,1882,0,0,0,0,0,0
$GC,8279,1.44,279.1,142.8,11.0,352,8289,0.00,2.58,0.00,0.000,6,0.000,0.019,3470,2041,1882,0,0,0,0,0,0
$GC,8547,1.48,312.7,119.1,8.1,377,8584,0.00,2.55,29.92,0.624,4,0.000,0.035,3470,3565,1744,0,0,0,0,0,0
$GC,8620,1.54,312.7,112.3,10.5,383,8624,0.00,2.47,0.00,0.000,6,0.000,0.029,3470,2043,1741,0,0,0,0,0,0
$GC,8886,1.59,312.7,81.0,11.5,407,8891,0.12,2.75,0.00,0.000,4,0.074,0.060,3508,410,1740,0,0,0,0,0,0
$GC,8946,1.54,312.7,72.3,13.4,411,8955,0.00,2.55,0.00,0.000,6,0.000,0.017,3508,2032,1738,0,0,0,0,0,0
$GC,9213,1.54,312.7,42.3,12.5,436,9217,0.00,2.45,0.00,0.000,4,0.000,0.028,3508,3556,1738,0,0,0,0,0,0
$GC,9306,1.54,312.7,30.8,11.8,443,9310,0.00,2.45,0.00,0.000,6,0.000,0.029,3508,2033,1738,0,0,0,0,0,0
$STATE,9532,end climb,SURFACE_DEPTH_REACHED
$STATE,9532,begin surface coast
$FINISH,0.5,0.979964
$STATE,9574,end surface coast,CONTROL_FINISHED_OK
$STATE,9575,begin surface
$SM_CCo,9597,53.90,0.518,0,0,1469,380.21
$SM_GC,1.17,0.00,0.00,53.90,0.000,0.000,0.518,473,1819,1469,-12.34,-0.31,380.21
$IRIDIUM_FIX,2241.69,-15801.49,010900,050541
$TT8_MAMPS,0.026078
$HUMID,60.63
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.90
$XPDR_PINGS,38
$24V_AH,23.5,29.092
$10V_AH,10.4,25.419
$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,30.200,106.450,372.375,53.900,0.000,73.900,117.042,457.459,9.500,0.000,34.444,961.013,6371.093,507.950,1813.278,944.383,33.368,1175.299,0.000,1801.590,0.000,0.536,0.000
$DEVICE_MAMPS,161.070,121.953,911.196,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.957,281.052,373.423,738.081,1116.149,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355420
$DATA_FILE_SIZE,38461,482
$CAP_FILE_SIZE,107114,0
$CFSIZE,260165632,170115072
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,080611,081730,2250.039,-15758.029,64,1.2,64,10.1