version: 66.06
glider: 146
mission: 6
dive: 189
start: 6 3 111 0 50 59
data:
$ID,146
$MISSION,6
$DIVE,189
$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,623.79791
$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,-272219.38
$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,57
$R_STBD_OVSHOOT,64
$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
$GPS1,002306,2249.875,-15759.983,69,0.9,69,10.1
$_CALLS,5
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.4
$GPS2,005002,2250.073,-15800.085,10,1.7,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.228,-0.055
$KALMAN_X,-91147.1,-439.4,120.5,85849.7,47.5
$KALMAN_Y,-122773.4,-68.9,40.7,134222.0,493.7
$MHEAD_RNG_PITCHd_Wd,93.5,5268,-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,-116.8,0.0,0.0,0,89,0.00,0.00,-71.38,0.000,2,0.000,0.000,473,1769,3356,0,0,0,0,0,0
$GC,92,-1.38,-116.8,4.0,-6.9,9,118,12.25,2.55,-2.50,0.000,4,0.146,0.038,2841,3352,3500,0,0,0,0,0,0
$GC,177,-1.28,-116.8,28.0,-17.4,20,186,0.10,2.45,0.00,0.000,6,0.104,0.025,2866,1829,3501,0,0,0,0,0,0
$GC,445,-1.28,-116.8,67.7,-13.4,45,449,0.00,2.40,0.00,0.000,4,0.000,0.029,2866,3362,3501,0,0,0,0,0,0
$GC,466,-1.28,-116.8,70.7,-12.5,46,470,0.00,2.47,0.00,0.000,6,0.000,0.025,2866,1796,3501,0,0,0,0,0,0
$GC,728,-1.28,-116.8,104.4,-12.9,70,732,0.00,2.65,0.00,0.000,4,0.000,0.061,2866,228,3502,0,0,0,0,0,0
$GC,748,-1.28,-116.8,106.8,-12.6,71,752,0.00,2.38,0.00,0.000,6,0.000,0.015,2866,1835,3502,0,0,0,0,0,0
$GC,1016,-1.28,-116.8,140.5,-12.8,95,1020,0.00,2.33,0.00,0.000,4,0.000,0.028,2866,3331,3503,0,0,0,0,0,0
$GC,1080,-1.34,-116.8,149.1,-12.2,100,1084,0.00,2.40,0.00,0.000,6,0.000,0.025,2865,1806,3502,0,0,0,0,0,0
$GC,1347,-1.34,-116.8,179.2,-11.0,124,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1806,3503,0,0,0,0,0,0
$GC,1615,-1.34,-116.8,209.0,-10.6,144,1619,0.00,2.38,0.00,0.000,4,0.000,0.026,2866,3324,3503,0,0,0,0,0,0
$GC,1699,-1.42,-116.8,218.3,-11.4,146,1704,0.10,2.38,0.00,0.000,6,0.083,0.026,2826,1818,3503,0,0,0,0,0,0
$GC,1984,-1.42,-116.8,254.7,-12.9,153,1988,0.00,2.38,0.00,0.000,4,0.000,0.028,2826,3322,3502,0,0,0,0,0,0
$GC,2017,-1.42,-116.8,259.2,-12.6,153,2023,0.00,2.42,0.00,0.000,6,0.000,0.036,2826,1809,3502,0,0,0,0,0,0
$GC,2267,-1.42,-116.8,288.9,-11.8,160,2271,0.00,2.45,0.00,0.000,4,0.000,0.035,2826,3324,3502,0,0,0,0,0,0
$GC,2307,-1.42,-116.8,293.3,-11.3,161,2312,0.00,2.45,0.00,0.000,6,0.000,0.040,2826,1819,3502,0,0,0,0,0,0
$GC,2591,-1.42,-116.8,325.7,-11.8,168,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1818,3501,0,0,0,0,0,0
$GC,2834,-1.42,-116.8,353.4,-11.1,174,2835,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1819,3499,0,0,0,0,0,0
$GC,3079,-1.42,-116.8,379.0,-10.4,180,3084,0.00,2.45,0.00,0.000,4,0.000,0.046,2826,3316,3498,0,0,0,0,0,0
$GC,3119,-1.46,-116.8,383.4,-10.9,181,3124,0.00,2.53,0.00,0.000,6,0.000,0.052,2826,1817,3497,0,0,0,0,0,0
$GC,3403,-1.46,-116.8,415.7,-11.4,188,3404,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1817,3495,0,0,0,0,0,0
$GC,3646,-1.46,-116.8,442.0,-10.6,194,3651,0.00,2.50,0.00,0.000,4,0.000,0.050,2826,3323,3494,0,0,0,0,0,0
$GC,3698,-1.52,-116.8,447.1,-9.7,195,3703,0.00,2.55,0.00,0.000,6,0.000,0.064,2826,1824,3494,0,0,0,0,0,0
$GC,3971,-1.52,-116.8,473.1,-9.4,202,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1824,3492,0,0,0,0,0,0
$GC,4214,-1.52,-116.8,497.9,-10.3,208,4219,0.00,2.50,0.00,0.000,4,0.000,0.054,2826,3308,3490,0,0,0,0,0,0
$STATE,4234,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4234,begin apogee
$GC,4243,-0.31,0.0,500.3,10.6,208,4343,1.10,0.00,96.00,0.920,6,0.084,0.000,3077,1985,3020,0,0,0,0,0,0
$STATE,4344,end apogee,CONTROL_FINISHED_OK
$STATE,4344,begin climb
$GC,4346,1.38,116.8,504.0,0.0,211,4459,1.58,3.05,99.32,0.899,4,0.048,0.114,3450,402,2541,0,0,0,0,0,0
$GC,4510,1.28,163.4,499.7,7.3,214,4557,0.10,2.53,40.05,0.875,6,0.133,0.040,3430,1921,2353,0,0,0,0,0,0
$GC,4803,1.26,179.8,474.4,9.1,222,4823,0.00,2.75,14.62,0.822,4,0.000,0.058,3430,3496,2285,0,0,0,0,0,0
$GC,4873,1.26,179.8,466.6,10.8,223,4878,0.00,2.55,0.00,0.000,6,0.000,0.048,3430,1988,2283,0,0,0,0,0,0
$GC,5124,1.28,195.4,443.2,9.1,229,5140,0.00,0.00,14.40,0.818,6,0.000,0.000,3430,1987,2223,0,0,0,0,0,0
$GC,5369,1.30,212.1,420.9,9.1,235,5390,0.00,2.55,15.73,0.820,4,0.000,0.040,3430,3510,2154,0,0,0,0,0,0
$GC,5445,1.30,212.1,413.3,10.3,236,5451,0.00,2.58,0.00,0.000,6,0.000,0.043,3430,1987,2152,0,0,0,0,0,0
$GC,5695,1.30,212.1,388.2,10.1,243,5700,0.00,2.88,0.00,0.000,4,0.000,0.089,3430,403,2149,0,0,0,0,0,0
$GC,5736,1.25,212.1,383.8,11.6,244,5740,0.00,2.45,0.00,0.000,6,0.000,0.028,3430,1946,2148,0,0,0,0,0,0
$GC,6019,1.25,215.2,355.3,9.9,251,6024,0.00,2.67,0.00,0.000,4,0.000,0.040,3430,3574,2147,0,0,0,0,0,0
$GC,6075,1.25,215.2,349.5,10.6,252,6080,0.00,2.62,0.00,0.000,6,0.000,0.041,3430,1987,2145,0,0,0,0,0,0
$GC,6341,1.28,233.4,324.9,9.0,259,6366,0.00,2.88,18.58,0.790,4,0.000,0.077,3430,390,2067,0,0,0,0,0,0
$GC,6411,1.28,233.4,317.9,10.3,260,6416,0.00,2.60,0.00,0.000,6,0.000,0.024,3430,2012,2066,0,0,0,0,0,0
$GC,6668,1.30,251.3,294.4,9.0,267,6692,0.00,2.62,16.88,0.765,4,0.000,0.038,3430,3558,1994,0,0,0,0,0,0
$GC,6763,1.35,255.5,285.4,9.8,269,6773,0.00,2.53,5.05,0.586,6,0.000,0.037,3430,2006,1978,0,0,0,0,0,0
$GC,7042,1.40,271.6,259.9,9.1,276,7061,0.10,0.00,15.77,0.732,6,0.222,0.000,3458,2006,1912,0,0,0,0,0,0
$GC,7284,1.40,271.6,233.3,11.3,282,7285,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,2006,1908,0,0,0,0,0,0
$GC,7527,1.40,271.6,205.1,11.5,288,7532,0.00,2.53,0.00,0.000,4,0.000,0.038,3458,3560,1907,0,0,0,0,0,0
$GC,7550,1.40,271.6,202.3,12.2,288,7555,0.00,2.53,0.00,0.000,6,0.000,0.033,3458,2011,1905,0,0,0,0,0,0
$GC,7819,1.40,271.6,172.7,10.7,310,7823,0.00,2.53,0.00,0.000,4,0.000,0.038,3458,3569,1905,0,0,0,0,0,0
$GC,7835,1.40,271.6,170.4,10.8,311,7840,0.00,2.53,0.00,0.000,6,0.000,0.035,3458,2009,1904,0,0,0,0,0,0
$GC,8103,1.41,281.9,143.6,9.4,335,8118,0.00,2.72,9.38,0.604,4,0.000,0.060,3458,409,1869,0,0,0,0,0,0
$GC,8157,1.41,281.9,137.9,10.8,339,8161,0.00,2.55,0.00,0.000,6,0.000,0.019,3458,2037,1868,0,0,0,0,0,0
$GC,8424,1.42,288.4,112.5,9.7,363,8438,0.00,2.50,6.93,0.536,4,0.000,0.038,3458,3552,1843,0,0,0,0,0,0
$GC,8458,1.48,294.1,108.5,9.7,366,8472,0.00,2.47,6.82,0.529,6,0.000,0.034,3458,2010,1819,0,0,0,0,0,0
$GC,8727,1.53,294.1,80.4,11.2,391,8733,0.10,2.70,0.00,0.000,4,0.094,0.055,3488,407,1818,0,0,0,0,0,0
$GC,8796,1.53,294.1,71.0,14.5,396,8801,0.00,2.47,0.00,0.000,6,0.000,0.017,3488,2020,1817,0,0,0,0,0,0
$GC,9066,1.58,301.9,44.6,9.6,420,9081,0.00,2.47,7.93,0.504,4,0.000,0.029,3488,3541,1788,0,0,0,0,0,0
$GC,9173,1.64,314.1,34.0,9.3,428,9190,0.00,2.45,12.23,0.521,6,0.000,0.028,3488,2001,1738,0,0,0,0,0,0
$STATE,9449,end climb,SURFACE_DEPTH_REACHED
$STATE,9450,begin surface coast
$FINISH,0.4,0.978052
$STATE,9486,end surface coast,CONTROL_FINISHED_OK
$STATE,9486,begin surface
$SM_CCo,9508,245.35,0.520,0,0,476,623.80
$SM_GC,1.32,0.00,0.00,245.35,0.000,0.000,0.520,476,1787,476,-12.31,-0.37,623.80
$IRIDIUM_FIX,2241.69,-15757.16,270800,000049
$TT8_MAMPS,0.026078
$HUMID,55.74
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,22.30
$XPDR_PINGS,42
$24V_AH,23.5,23.640
$10V_AH,10.4,20.660
$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,27.600,116.925,379.675,245.350,0.000,131.121,215.280,851.576,10.500,0.000,11.889,967.398,6421.671,673.459,1795.694,1517.967,33.371,1352.811,0.000,1798.673,0.000,0.538,0.000
$DEVICE_MAMPS,222.430,114.283,919.633,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,320.060,282.183,361.039,690.505,1040.308,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355708
$DATA_FILE_SIZE,38386,472
$CAP_FILE_SIZE,119824,0
$CFSIZE,260165632,172355584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030611,033448,2250.009,-15758.776,14,2.2,33,10.1