version: 66.06
glider: 146
mission: 6
dive: 196
start: 6 3 111 22 1 16
data:
$ID,146
$MISSION,6
$DIVE,196
$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,-272424.5
$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,28
$R_STBD_OVSHOOT,56
$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
$GPS1,215237,2247.755,-15800.051,34,1.0,34,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-72.1
$GPS2,220020,2247.817,-15800.034,13,1.9,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.192,-0.135
$KALMAN_X,-91184.4,-315.4,169.0,85800.5,-13.7
$KALMAN_Y,-115319.8,-526.4,427.2,122665.8,768.1
$MHEAD_RNG_PITCHd_Wd,224.9,5286,-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,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.50,0.000,2,0.000,0.000,475,1788,3279,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.8,-7.3,9,118,12.40,2.67,-3.83,0.000,4,0.153,0.061,2840,221,3498,0,0,0,0,0,0
$GC,317,-1.19,-116.8,58.3,-19.7,32,322,0.22,2.42,0.00,0.000,6,0.110,0.014,2887,1823,3500,0,0,0,0,0,0
$GC,581,-1.19,-116.8,94.4,-11.2,56,585,0.00,2.38,0.00,0.000,4,0.000,0.029,2887,3349,3501,0,0,0,0,0,0
$GC,604,-1.23,-116.8,97.6,-11.6,57,609,0.00,2.47,0.00,0.000,6,0.000,0.028,2887,1792,3501,0,0,0,0,0,0
$GC,866,-1.23,-116.8,128.9,-12.7,82,870,0.00,2.45,0.00,0.000,4,0.000,0.031,2887,3344,3502,0,0,0,0,0,0
$GC,895,-1.28,-116.8,132.7,-12.6,84,899,0.00,2.45,0.00,0.000,6,0.000,0.031,2887,1800,3502,0,0,0,0,0,0
$GC,1159,-1.33,-116.8,162.9,-11.8,108,1164,0.12,2.67,0.00,0.000,4,0.074,0.067,2842,226,3503,0,0,0,0,0,0
$GC,1218,-1.28,-116.8,171.7,-14.2,112,1225,0.12,2.35,0.00,0.000,6,0.114,0.022,2869,1805,3503,0,0,0,0,0,0
$GC,1483,-1.31,-116.8,199.8,-10.4,137,1487,0.00,2.40,0.00,0.000,4,0.000,0.032,2869,3332,3503,0,0,0,0,0,0
$GC,1499,-1.36,-116.8,201.9,-10.7,137,1503,0.00,2.45,0.00,0.000,6,0.000,0.027,2870,1779,3503,0,0,0,0,0,0
$GC,1760,-1.40,-116.8,230.5,-10.8,144,1765,0.12,2.67,0.00,0.000,4,0.072,0.066,2823,228,3503,0,0,0,0,0,0
$GC,1777,-1.40,-116.8,232.5,-10.9,144,1781,0.00,2.33,0.00,0.000,6,0.000,0.021,2824,1761,3504,0,0,0,0,0,0
$GC,2037,-1.40,-116.8,264.4,-12.1,151,2039,0.10,0.00,0.00,0.000,6,0.120,0.000,2845,1761,3504,0,0,0,0,0,0
$GC,2281,-1.40,-116.8,290.4,-10.5,157,2282,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1761,3504,0,0,0,0,0,0
$GC,2526,-1.40,-116.8,315.2,-10.3,163,2530,0.00,2.58,0.00,0.000,4,0.000,0.041,2845,3348,3503,0,0,0,0,0,0
$GC,2547,-1.45,-116.8,317.7,-10.5,163,2552,0.00,2.58,0.00,0.000,6,0.000,0.041,2845,1783,3503,0,0,0,0,0,0
$GC,2803,-1.49,-116.8,345.8,-11.0,170,2807,0.00,2.50,0.00,0.000,4,0.000,0.035,2845,3342,3502,0,0,0,0,0,0
$GC,2829,-1.55,-116.8,348.9,-11.4,170,2835,0.15,2.58,0.00,0.000,6,0.064,0.046,2796,1790,3502,0,0,0,0,0,0
$GC,3081,-1.51,-116.8,378.5,-11.8,176,3086,0.10,2.55,0.00,0.000,4,0.120,0.042,2818,3339,3501,0,0,0,0,0,0
$GC,3136,-1.55,-116.8,385.0,-10.7,177,3141,0.00,2.60,0.00,0.000,6,0.000,0.051,2818,1798,3501,0,0,0,0,0,0
$GC,3404,-1.55,-116.8,413.9,-11.1,184,3408,0.00,2.55,0.00,0.000,4,0.000,0.048,2818,3348,3499,0,0,0,0,0,0
$GC,3419,-1.55,-116.8,415.9,-11.3,184,3424,0.00,2.62,0.00,0.000,6,0.000,0.058,2818,1795,3500,0,0,0,0,0,0
$GC,3680,-1.55,-116.8,444.4,-10.7,191,3684,0.00,2.55,0.00,0.000,4,0.000,0.053,2818,3337,3498,0,0,0,0,0,0
$GC,3713,-1.55,-116.8,448.0,-10.2,191,3719,0.00,2.62,0.00,0.000,6,0.000,0.063,2818,1806,3497,0,0,0,0,0,0
$GC,3963,-1.55,-116.8,473.8,-10.4,198,3967,0.00,2.55,0.00,0.000,4,0.000,0.055,2818,3335,3495,0,0,0,0,0,0
$GC,4018,-1.60,-116.8,480.0,-10.5,199,4023,0.00,2.60,0.00,0.000,6,0.000,0.061,2818,1827,3495,0,0,0,0,0,0
$STATE,4241,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4241,begin apogee
$GC,4249,-0.31,0.0,502.9,10.1,205,4349,1.15,0.00,97.05,0.921,6,0.081,0.000,3079,1965,3020,0,0,0,0,0,0
$STATE,4350,end apogee,CONTROL_FINISHED_OK
$STATE,4350,begin climb
$GC,4353,1.38,116.8,505.0,0.0,207,4461,1.58,2.78,98.72,0.909,4,0.047,0.063,3452,3552,2542,0,0,0,0,0,0
$GC,4502,1.33,166.9,500.9,7.1,210,4552,0.00,2.70,43.30,0.885,6,0.000,0.051,3453,1989,2339,0,0,0,0,0,0
$GC,4805,1.26,166.9,471.0,10.2,218,4810,0.15,3.05,0.00,0.000,4,0.120,0.114,3423,397,2329,0,0,0,0,0,0
$GC,4873,1.19,166.9,463.8,10.1,219,4878,0.00,2.55,0.00,0.000,6,0.000,0.031,3423,1950,2327,0,0,0,0,0,0
$GC,5128,1.21,184.0,440.5,9.0,226,5149,0.00,2.78,14.68,0.828,4,0.000,0.051,3423,3574,2269,0,0,0,0,0,0
$GC,5223,1.23,194.1,431.7,9.5,228,5238,0.00,2.70,10.00,0.778,6,0.000,0.044,3423,1975,2227,0,0,0,0,0,0
$GC,5496,1.25,213.5,407.0,8.9,235,5520,0.00,2.97,17.83,0.828,4,0.000,0.095,3423,408,2148,0,0,0,0,0,0
$GC,5555,1.25,213.5,401.0,10.6,236,5560,0.00,2.55,0.00,0.000,6,0.000,0.025,3423,1983,2146,0,0,0,0,0,0
$GC,5821,1.27,229.8,376.4,9.1,243,5842,0.00,2.65,15.45,0.807,4,0.000,0.044,3423,3567,2081,0,0,0,0,0,0
$GC,5864,1.29,245.0,372.5,9.2,244,5884,0.00,2.65,14.68,0.791,6,0.000,0.040,3423,1975,2021,0,0,0,0,0,0
$GC,6147,1.29,249.5,344.9,9.8,251,6154,0.00,0.00,4.85,0.607,6,0.000,0.000,3423,1974,2001,0,0,0,0,0,0
$GC,6389,1.29,249.5,318.9,11.0,257,6393,0.00,2.62,0.00,0.000,4,0.000,0.038,3423,3573,1999,0,0,0,0,0,0
$GC,6410,1.29,249.5,316.4,11.5,257,6414,0.00,2.62,0.00,0.000,6,0.000,0.036,3423,1977,1998,0,0,0,0,0,0
$GC,6667,1.34,249.5,289.0,10.3,264,6668,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,1977,1997,0,0,0,0,0,0
$GC,6910,1.39,261.9,266.3,9.3,270,6930,0.12,2.83,11.77,0.726,4,0.090,0.067,3457,400,1951,0,0,0,0,0,0
$GC,6942,1.35,261.9,262.9,10.5,270,6947,0.00,2.53,0.00,0.000,6,0.000,0.025,3457,1987,1950,0,0,0,0,0,0
$GC,7194,1.35,261.9,235.5,11.0,276,7195,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1988,1948,0,0,0,0,0,0
$GC,7435,1.35,261.9,208.5,11.2,282,7440,0.00,2.70,0.00,0.000,4,0.000,0.058,3457,407,1947,0,0,0,0,0,0
$GC,7456,1.35,261.9,205.7,12.3,282,7461,0.00,2.47,0.00,0.000,6,0.000,0.021,3457,1983,1947,0,0,0,0,0,0
$GC,7725,1.35,261.9,176.4,11.3,301,7729,0.00,2.55,0.00,0.000,4,0.000,0.035,3457,3556,1946,0,0,0,0,0,0
$GC,7769,1.35,261.9,171.4,11.6,304,7773,0.00,2.58,0.00,0.000,6,0.000,0.035,3457,1966,1945,0,0,0,0,0,0
$GC,8033,1.35,261.9,143.3,10.5,328,8037,0.00,2.62,0.00,0.000,4,0.000,0.064,3457,403,1945,0,0,0,0,0,0
$GC,8102,1.35,261.9,134.7,11.6,333,8108,0.00,2.42,0.00,0.000,6,0.000,0.019,3457,1969,1944,0,0,0,0,0,0
$GC,8365,1.35,261.9,107.5,10.1,358,8369,0.00,2.53,0.00,0.000,4,0.000,0.034,3457,3548,1944,0,0,0,0,0,0
$GC,8411,1.40,261.9,103.1,10.2,361,8415,0.00,2.58,0.00,0.000,6,0.000,0.031,3457,1956,1944,0,0,0,0,0,0
$GC,8677,1.43,288.4,76.7,8.5,385,8705,0.00,2.67,23.20,0.590,4,0.000,0.029,3457,3556,1843,0,0,0,0,0,0
$GC,8761,1.51,288.4,68.5,10.5,391,8766,0.10,2.55,0.00,0.000,6,0.092,0.029,3488,1984,1841,0,0,0,0,0,0
$GC,9026,1.60,320.4,43.1,8.2,415,9067,0.00,2.75,28.02,0.558,4,0.000,0.054,3488,412,1711,0,0,0,0,0,0
$GC,9122,1.60,320.4,34.0,11.4,422,9126,0.00,2.45,0.00,0.000,6,0.000,0.017,3487,1986,1710,0,0,0,0,0,0
$STATE,9407,end climb,SURFACE_DEPTH_REACHED
$STATE,9407,begin surface coast
$FINISH,0.4,0.974930
$STATE,9458,end surface coast,CONTROL_FINISHED_OK
$STATE,9458,begin surface
$SM_CCo,9482,47.95,0.528,0,0,1470,380.21
$SM_GC,1.53,0.00,0.00,47.95,0.000,0.000,0.528,475,1797,1470,-12.31,-0.08,380.21
$IRIDIUM_FIX,2239.35,-15757.16,270800,191919
$TT8_MAMPS,0.026078
$HUMID,60.55
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.00
$XPDR_PINGS,48
$24V_AH,23.5,24.662
$10V_AH,10.4,21.464
$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,28.700,129.950,379.550,47.950,0.000,27.605,34.147,271.111,12.000,0.000,14.546,970.905,6162.420,470.313,1786.663,606.660,33.363,1156.038,0.000,1787.836,0.000,0.536,0.000
$DEVICE_MAMPS,152.633,113.516,921.167,528.463,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,317.686,250.644,357.050,677.427,1024.596,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355800
$DATA_FILE_SIZE,38327,468
$CAP_FILE_SIZE,104886,0
$CFSIZE,260165632,172003328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040611,004124,2247.275,-15801.019,37,1.0,37,10.1