version: 66.06
glider: 146
mission: 6
dive: 183
start: 6 2 111 7 52 2
data:
$ID,146
$MISSION,6
$DIVE,183
$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,-272006.12
$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,3150
$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,1800
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$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
$GPS1,074454,2247.516,-15800.090,29,1.3,46,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-68.8
$GPS2,075108,2247.565,-15800.084,11,1.6,11,10.1
$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,-91134.4,364.2,-81.9,85239.3,178.7
$KALMAN_Y,-125865.7,276.2,478.2,131890.5,437.5
$MHEAD_RNG_PITCHd_Wd,238.4,5088,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,90,0.00,0.00,-70.85,0.000,2,0.000,0.000,475,1785,3287,0,0,0,0,0,0
$GC,93,-1.38,-116.8,4.0,-8.1,9,119,12.27,2.67,-3.72,0.000,4,0.149,0.065,2841,235,3499,0,0,0,0,0,0
$GC,210,-1.26,-116.8,36.2,-19.3,23,215,0.15,2.40,0.00,0.000,6,0.126,0.021,2870,1825,3501,0,0,0,0,0,0
$GC,476,-1.26,-116.8,74.1,-13.0,47,481,0.00,2.67,0.00,0.000,4,0.000,0.052,2871,232,3502,0,0,0,0,0,0
$GC,523,-1.22,-116.8,80.7,-14.9,50,528,0.00,2.35,0.00,0.000,6,0.000,0.014,2870,1800,3502,0,0,0,0,0,0
$GC,786,-1.22,-116.8,114.8,-12.6,74,790,0.00,2.40,0.00,0.000,4,0.000,0.032,2870,3332,3503,0,0,0,0,0,0
$GC,869,-1.29,-116.8,124.7,-11.9,80,878,0.00,2.42,0.00,0.000,6,0.000,0.026,2870,1820,3503,0,0,0,0,0,0
$GC,1131,-1.29,-116.8,154.0,-10.6,105,1135,0.00,2.70,0.00,0.000,4,0.000,0.065,2870,229,3504,0,0,0,0,0,0
$GC,1176,-1.29,-116.8,159.9,-12.6,108,1185,0.00,2.38,0.00,0.000,6,0.000,0.017,2870,1798,3504,0,0,0,0,0,0
$GC,1443,-1.33,-116.8,188.3,-11.1,133,1447,0.00,2.42,0.00,0.000,4,0.000,0.031,2871,3341,3504,0,0,0,0,0,0
$GC,1499,-1.40,-116.8,194.7,-9.7,137,1505,0.12,2.45,0.00,0.000,6,0.074,0.028,2825,1802,3505,0,0,0,0,0,0
$GC,1752,-1.40,-116.8,227.0,-13.1,147,1756,0.00,2.40,0.00,0.000,4,0.000,0.027,2825,3329,3505,0,0,0,0,0,0
$GC,1773,-1.40,-116.8,230.0,-12.7,147,1777,0.00,2.42,0.00,0.000,6,0.000,0.028,2825,1809,3505,0,0,0,0,0,0
$GC,2040,-1.40,-116.8,263.0,-12.1,154,2041,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1809,3505,0,0,0,0,0,0
$GC,2285,-1.40,-116.8,288.7,-10.3,160,2289,0.00,2.45,0.00,0.000,4,0.000,0.036,2825,3333,3505,0,0,0,0,0,0
$GC,2318,-1.40,-116.8,292.4,-10.0,160,2323,0.00,2.45,0.00,0.000,6,0.000,0.033,2825,1822,3505,0,0,0,0,0,0
$GC,2567,-1.40,-116.8,320.7,-11.7,167,2572,0.00,2.85,0.00,0.000,4,0.000,0.088,2825,219,3505,0,0,0,0,0,0
$GC,2601,-1.36,-116.8,324.9,-13.3,167,2608,0.12,2.42,0.00,0.000,6,0.117,0.024,2850,1758,3504,0,0,0,0,0,0
$GC,2852,-1.42,-116.8,350.8,-9.8,174,2856,0.00,2.65,0.00,0.000,4,0.000,0.042,2850,3378,3503,0,0,0,0,0,0
$GC,2879,-1.49,-116.8,353.5,-9.7,174,2884,0.12,2.60,0.00,0.000,6,0.071,0.048,2806,1813,3503,0,0,0,0,0,0
$GC,3130,-1.49,-116.8,383.0,-12.0,180,3134,0.00,2.55,0.00,0.000,4,0.000,0.040,2805,3371,3502,0,0,0,0,0,0
$GC,3169,-1.49,-116.8,387.8,-11.7,181,3174,0.00,2.62,0.00,0.000,6,0.000,0.051,2806,1818,3502,0,0,0,0,0,0
$GC,3452,-1.49,-116.8,420.9,-11.5,188,3456,0.00,2.60,0.00,0.000,4,0.000,0.045,2806,3372,3500,0,0,0,0,0,0
$GC,3474,-1.49,-116.8,423.3,-11.1,188,3479,0.00,2.65,0.00,0.000,6,0.000,0.055,2806,1818,3501,0,0,0,0,0,0
$GC,3729,-1.49,-116.8,451.8,-11.1,195,3733,0.00,2.58,0.00,0.000,4,0.000,0.048,2805,3377,3499,0,0,0,0,0,0
$GC,3778,-1.49,-116.8,457.2,-10.8,196,3782,0.00,2.67,0.00,0.000,6,0.000,0.058,2805,1820,3498,0,0,0,0,0,0
$GC,4052,-1.49,-116.8,487.2,-11.0,203,4056,0.00,2.58,0.00,0.000,4,0.000,0.051,2806,3367,3497,0,0,0,0,0,0
$GC,4084,-1.49,-116.8,491.0,-10.9,203,4090,0.00,2.67,0.00,0.000,6,0.000,0.067,2806,1820,3496,0,0,0,0,0,0
$STATE,4169,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4169,begin apogee
$GC,4175,-0.31,0.0,500.4,10.8,206,4277,1.23,0.00,97.85,0.917,6,0.084,0.000,3079,2005,3020,0,0,0,0,0,0
$STATE,4278,end apogee,CONTROL_FINISHED_OK
$STATE,4278,begin climb
$GC,4281,1.38,116.8,503.1,0.0,208,4386,1.58,0.00,100.53,0.897,6,0.044,0.000,3453,2005,2543,0,0,0,0,0,0
$GC,4616,1.34,155.1,485.8,7.8,217,4657,0.00,2.70,32.88,0.872,4,0.000,0.051,3452,3542,2386,0,0,0,0,0,0
$GC,4665,1.28,180.1,481.8,8.6,218,4695,0.12,2.70,23.38,0.844,6,0.130,0.051,3429,1986,2284,0,0,0,0,0,0
$GC,4946,1.30,195.3,455.9,9.2,225,4966,0.00,2.70,13.65,0.817,4,0.000,0.044,3429,3543,2223,0,0,0,0,0,0
$GC,5016,1.30,195.3,448.6,10.0,226,5021,0.00,2.65,0.00,0.000,6,0.000,0.051,3429,1990,2220,0,0,0,0,0,0
$GC,5273,1.30,196.9,423.4,9.9,233,5278,0.00,2.62,0.00,0.000,4,0.000,0.041,3429,3552,2218,0,0,0,0,0,0
$GC,5328,1.30,196.9,417.5,10.7,234,5332,0.00,2.60,0.00,0.000,6,0.000,0.041,3430,2005,2217,0,0,0,0,0,0
$GC,5595,1.30,196.9,390.7,10.1,241,5596,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2005,2215,0,0,0,0,0,0
$GC,5838,1.31,205.2,367.5,9.6,247,5852,0.00,2.90,8.62,0.744,4,0.000,0.083,3429,402,2183,0,0,0,0,0,0
$GC,5882,1.25,205.2,363.0,11.0,248,5886,0.00,2.55,0.00,0.000,6,0.000,0.021,3429,1998,2181,0,0,0,0,0,0
$GC,6166,1.27,220.7,336.8,9.1,255,6183,0.00,0.00,15.12,0.792,6,0.000,0.000,3429,1999,2120,0,0,0,0,0,0
$GC,6408,1.27,220.7,312.3,10.2,261,6409,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1999,2115,0,0,0,0,0,0
$GC,6652,1.27,220.7,287.3,10.1,267,6656,0.00,2.75,0.00,0.000,4,0.000,0.061,3429,403,2114,0,0,0,0,0,0
$GC,6706,1.27,220.7,281.2,11.1,268,6711,0.00,2.55,0.00,0.000,6,0.000,0.021,3429,2016,2113,0,0,0,0,0,0
$GC,6975,1.28,229.0,255.5,9.6,275,6989,0.00,2.58,7.60,0.676,4,0.000,0.041,3429,3559,2086,0,0,0,0,0,0
$GC,7035,1.32,229.0,249.1,10.6,276,7040,0.00,2.58,0.00,0.000,6,0.000,0.031,3429,1980,2084,0,0,0,0,0,0
$GC,7304,1.38,244.6,224.1,9.1,283,7321,0.00,0.00,15.18,0.720,6,0.000,0.000,3429,1981,2021,0,0,0,0,0,0
$GC,7546,1.47,273.6,203.3,8.4,289,7576,0.17,0.00,26.48,0.716,6,0.085,0.000,3475,1980,1903,0,0,0,0,0,0
$GC,7838,1.47,273.6,170.8,11.7,313,7843,0.00,2.58,0.00,0.000,4,0.000,0.032,3475,3560,1899,0,0,0,0,0,0
$GC,7883,1.47,273.6,165.5,12.5,316,7888,0.00,2.55,0.00,0.000,6,0.000,0.033,3475,1991,1898,0,0,0,0,0,0
$GC,8145,1.47,273.6,133.1,12.2,340,8150,0.00,2.67,0.00,0.000,4,0.000,0.058,3475,413,1897,0,0,0,0,0,0
$GC,8193,1.44,273.6,127.5,13.8,343,8197,0.00,2.47,0.00,0.000,6,0.000,0.018,3475,2008,1895,0,0,0,0,0,0
$GC,8459,1.44,273.6,97.2,10.9,367,8463,0.00,2.45,0.00,0.000,4,0.000,0.036,3475,3544,1896,0,0,0,0,0,0
$GC,8477,1.44,273.6,94.7,11.3,368,8481,0.00,2.47,0.00,0.000,6,0.000,0.035,3475,2006,1896,0,0,0,0,0,0
$GC,8743,1.44,273.6,67.7,10.4,392,8747,0.00,2.65,0.00,0.000,4,0.000,0.060,3475,415,1895,0,0,0,0,0,0
$GC,8800,1.44,273.6,61.5,10.1,396,8805,0.00,2.45,0.00,0.000,6,0.000,0.018,3475,2001,1895,0,0,0,0,0,0
$GC,9069,1.53,296.6,35.7,8.7,420,9100,0.00,0.00,19.95,0.551,6,0.000,0.000,3475,2002,1809,0,0,0,0,0,0
$GC,9408,1.62,296.6,6.0,10.9,467,9418,0.12,2.53,0.00,0.000,4,0.081,0.033,3510,3548,1807,0,0,0,0,0,0
$GC,9429,1.73,316.9,4.2,8.9,469,9439,0.00,2.50,5.55,0.424,2,0.000,0.027,3510,2001,1787,0,0,0,0,0,0
$STATE,9440,end climb,SURFACE_DEPTH_REACHED
$STATE,9440,begin surface coast
$FINISH,0.6,0.977494
$STATE,9502,end surface coast,CONTROL_FINISHED_OK
$STATE,9502,begin surface
$SM_CCo,9525,63.80,0.527,0,0,1469,380.21
$SM_GC,1.21,0.00,0.00,63.80,0.000,0.000,0.527,478,1777,1469,-12.30,-0.65,380.21
$IRIDIUM_FIX,2237.01,-15803.24,260800,050502
$TT8_MAMPS,0.026078
$HUMID,58.62
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.00
$XPDR_PINGS,47
$24V_AH,23.5,22.866
$10V_AH,10.4,19.997
$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,28.400,123.850,366.775,63.800,0.000,24.353,41.274,177.332,11.750,0.000,13.405,982.559,6153.125,517.952,1794.108,518.781,33.361,1174.772,0.000,1804.638,0.000,0.534,0.000
$DEVICE_MAMPS,148.798,118.885,916.565,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.096,275.275,368.865,728.470,1101.749,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,38428,479
$CAP_FILE_SIZE,100309,0
$CFSIZE,260165632,172699648
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020611,103307,2247.241,-15801.173,35,1.6,35,10.1