version: 66.06
glider: 146
mission: 6
dive: 197
start: 6 4 111 0 48 8
data:
$ID,146
$MISSION,6
$DIVE,197
$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,-272439.84
$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,32
$R_STBD_OVSHOOT,61
$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
$GPS1,004124,2247.275,-15801.019,37,1.0,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-71.8
$GPS2,004714,2247.308,-15801.018,13,1.0,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.212,-0.101
$KALMAN_X,-90942.3,-245.4,83.7,83892.2,122.1
$KALMAN_Y,-114669.9,-356.6,23.6,121312.8,673.9
$MHEAD_RNG_PITCHd_Wd,234.3,3434,-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,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-69.62,0.000,2,0.000,0.000,474,1797,3237,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.8,-7.2,9,117,12.40,2.62,-4.70,0.000,4,0.153,0.060,2838,226,3497,0,0,0,0,0,0
$GC,365,-1.22,-116.8,67.9,-19.8,37,370,0.22,2.40,0.00,0.000,6,0.116,0.014,2884,1828,3499,0,0,0,0,0,0
$GC,633,-1.22,-116.8,102.5,-11.1,61,637,0.00,2.38,0.00,0.000,4,0.000,0.028,2885,3339,3500,0,0,0,0,0,0
$GC,666,-1.22,-116.8,106.7,-11.3,63,670,0.00,2.42,0.00,0.000,6,0.000,0.031,2884,1810,3500,0,0,0,0,0,0
$GC,934,-1.22,-116.8,136.7,-11.6,87,938,0.00,0.00,0.00,0.000,6,0.000,0.000,2884,1810,3501,0,0,0,0,0,0
$GC,1199,-1.26,-116.8,166.4,-12.0,112,1203,0.00,2.40,0.00,0.000,4,0.000,0.031,2884,3334,3502,0,0,0,0,0,0
$GC,1217,-1.31,-116.8,168.9,-12.1,113,1222,0.00,2.40,0.00,0.000,6,0.000,0.026,2885,1815,3502,0,0,0,0,0,0
$GC,1482,-1.37,-116.8,197.0,-10.0,137,1487,0.15,2.40,0.00,0.000,4,0.065,0.033,2835,3340,3502,0,0,0,0,0,0
$GC,1515,-1.37,-116.8,200.5,-11.7,139,1519,0.00,2.40,0.00,0.000,6,0.000,0.031,2834,1821,3502,0,0,0,0,0,0
$GC,1765,-1.37,-116.8,231.2,-12.3,145,1769,0.00,2.72,0.00,0.000,4,0.000,0.064,2834,229,3503,0,0,0,0,0,0
$GC,1805,-1.33,-116.8,236.7,-14.2,146,1811,0.12,2.38,0.00,0.000,6,0.114,0.024,2860,1789,3502,0,0,0,0,0,0
$GC,2089,-1.37,-116.8,269.9,-11.3,153,2090,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1790,3503,0,0,0,0,0,0
$GC,2334,-1.42,-116.8,295.0,-10.2,159,2335,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1790,3503,0,0,0,0,0,0
$GC,2577,-1.49,-116.8,319.0,-9.6,165,2582,0.15,2.55,0.00,0.000,4,0.064,0.040,2809,3353,3503,0,0,0,0,0,0
$GC,2609,-1.49,-116.8,322.7,-11.6,165,2615,0.00,2.53,0.00,0.000,6,0.000,0.045,2809,1816,3502,0,0,0,0,0,0
$GC,2861,-1.49,-116.8,349.9,-11.0,172,2865,0.00,2.50,0.00,0.000,4,0.000,0.043,2809,3359,3502,0,0,0,0,0,0
$GC,2893,-1.49,-116.8,354.0,-11.5,172,2899,0.00,2.58,0.00,0.000,6,0.000,0.044,2809,1811,3501,0,0,0,0,0,0
$GC,3143,-1.49,-116.8,382.8,-11.7,179,3144,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1812,3501,0,0,0,0,0,0
$GC,3387,-1.49,-116.8,412.5,-12.5,185,3391,0.00,2.53,0.00,0.000,4,0.000,0.045,2809,3346,3499,0,0,0,0,0,0
$GC,3431,-1.49,-116.8,418.2,-12.7,186,3436,0.00,2.60,0.00,0.000,6,0.000,0.060,2810,1821,3499,0,0,0,0,0,0
$GC,3709,-1.49,-116.8,451.1,-11.5,193,3713,0.00,2.53,0.00,0.000,4,0.000,0.052,2809,3350,3497,0,0,0,0,0,0
$GC,3780,-1.49,-116.8,459.1,-11.0,194,3785,0.00,2.60,0.00,0.000,6,0.000,0.061,2809,1836,3497,0,0,0,0,0,0
$GC,4032,-1.49,-116.8,484.7,-10.2,200,4033,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1836,3495,0,0,0,0,0,0
$STATE,4190,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4190,begin apogee
$GC,4196,-0.31,0.0,501.5,10.4,204,4297,1.20,0.00,97.05,0.919,6,0.084,0.000,3079,1971,3020,0,0,0,0,0,0
$STATE,4298,end apogee,CONTROL_FINISHED_OK
$STATE,4298,begin climb
$GC,4300,1.38,116.8,504.1,0.0,206,4405,1.60,0.00,100.62,0.906,6,0.054,0.000,3454,1971,2543,0,0,0,0,0,0
$GC,4639,1.38,187.2,491.2,6.0,215,4705,0.00,2.78,60.83,0.900,4,0.000,0.061,3454,3550,2255,0,0,0,0,0,0
$GC,4724,1.30,195.9,484.5,9.5,217,4738,0.00,2.72,8.57,0.757,6,0.000,0.055,3454,1986,2221,0,0,0,0,0,0
$GC,5007,1.25,195.9,455.5,10.2,224,5009,0.15,0.00,0.00,0.000,6,0.117,0.000,3423,1986,2214,0,0,0,0,0,0
$GC,5249,1.26,206.8,432.7,9.4,230,5264,0.00,2.67,9.65,0.782,4,0.000,0.048,3423,3560,2176,0,0,0,0,0,0
$GC,5292,1.26,206.8,428.4,10.5,231,5296,0.00,2.67,0.00,0.000,6,0.000,0.047,3423,1987,2174,0,0,0,0,0,0
$GC,5571,1.27,216.5,401.6,9.5,238,5586,0.00,2.65,9.52,0.776,4,0.000,0.044,3423,3559,2137,0,0,0,0,0,0
$GC,5641,1.27,216.5,394.1,10.2,239,5646,0.00,2.60,0.00,0.000,6,0.000,0.041,3423,2004,2135,0,0,0,0,0,0
$GC,5904,1.27,218.4,368.0,9.9,246,5909,0.00,2.85,0.00,0.000,4,0.000,0.087,3423,408,2132,0,0,0,0,0,0
$GC,5936,1.27,218.4,364.3,11.5,246,5942,0.00,2.55,0.00,0.000,6,0.000,0.024,3423,1997,2131,0,0,0,0,0,0
$GC,6187,1.29,232.8,341.2,9.2,253,6207,0.00,2.62,14.93,0.794,4,0.000,0.041,3423,3563,2070,0,0,0,0,0,0
$GC,6253,1.30,243.6,334.9,9.4,254,6269,0.00,2.58,10.93,0.757,6,0.000,0.034,3423,2006,2027,0,0,0,0,0,0
$GC,6513,1.35,252.4,310.1,9.5,261,6528,0.00,2.60,9.02,0.731,4,0.000,0.039,3423,3563,1990,0,0,0,0,0,0
$GC,6553,1.41,254.9,306.3,9.9,261,6559,0.15,2.55,0.00,0.000,6,0.079,0.038,3461,2024,1989,0,0,0,0,0,0
$GC,6802,1.41,254.9,280.2,10.5,268,6807,0.00,2.80,0.00,0.000,4,0.000,0.067,3461,409,1987,0,0,0,0,0,0
$GC,6853,1.36,254.9,274.1,12.1,269,6858,0.00,2.58,0.00,0.000,6,0.000,0.025,3462,2027,1987,0,0,0,0,0,0
$GC,7125,1.36,254.9,242.9,11.6,276,7129,0.00,2.50,0.00,0.000,4,0.000,0.038,3461,3562,1986,0,0,0,0,0,0
$GC,7146,1.36,254.9,240.2,11.8,276,7150,0.00,2.50,0.00,0.000,6,0.000,0.031,3461,2023,1985,0,0,0,0,0,0
$GC,7402,1.36,254.9,213.6,10.1,283,7406,0.00,2.75,0.00,0.000,4,0.000,0.065,3461,413,1985,0,0,0,0,0,0
$GC,7458,1.32,254.9,207.7,11.4,284,7463,0.12,2.55,0.00,0.000,6,0.120,0.025,3437,2028,1984,0,0,0,0,0,0
$GC,7724,1.39,269.5,185.0,9.2,302,7748,0.00,2.55,15.50,0.684,4,0.000,0.039,3437,3559,1919,0,0,0,0,0,0
$GC,7766,1.46,269.5,180.6,10.4,305,7773,0.12,2.53,0.00,0.000,6,0.077,0.029,3471,2008,1918,0,0,0,0,0,0
$GC,8029,1.46,269.5,149.6,11.7,330,8030,0.00,0.00,0.00,0.000,6,0.000,0.000,3471,2008,1917,0,0,0,0,0,0
$GC,8284,1.46,271.7,122.2,9.9,354,8288,0.00,2.50,0.00,0.000,4,0.000,0.033,3471,3558,1916,0,0,0,0,0,0
$GC,8360,1.46,271.7,113.7,11.5,360,8364,0.00,2.47,0.00,0.000,6,0.000,0.030,3471,2026,1916,0,0,0,0,0,0
$GC,8624,1.47,276.0,86.5,9.8,384,8638,0.00,2.72,6.78,0.519,4,0.000,0.059,3471,409,1893,0,0,0,0,0,0
$GC,8826,1.50,299.3,64.7,8.7,400,8854,0.00,2.50,21.27,0.578,6,0.000,0.018,3471,2037,1798,0,0,0,0,0,0
$GC,9110,1.61,330.2,41.6,8.3,426,9144,0.12,2.80,27.35,0.558,4,0.075,0.049,3509,404,1672,0,0,0,0,0,0
$GC,9161,1.61,330.2,36.3,10.8,430,9165,0.00,2.50,0.00,0.000,6,0.000,0.017,3509,2007,1671,0,0,0,0,0,0
$STATE,9447,end climb,SURFACE_DEPTH_REACHED
$STATE,9447,begin surface coast
$FINISH,0.5,0.975409
$STATE,9503,end surface coast,CONTROL_FINISHED_OK
$STATE,9503,begin surface
$SM_CCo,9525,39.35,0.523,0,0,1469,380.21
$SM_GC,1.36,0.00,0.00,39.35,0.000,0.000,0.523,481,1780,1469,-12.28,-0.57,380.21
$IRIDIUM_FIX,2237.01,-15800.20,270800,222225
$TT8_MAMPS,0.025311
$HUMID,59.01
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,22.40
$XPDR_PINGS,42
$24V_AH,23.5,24.773
$10V_AH,10.4,21.569
$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,28.775,113.575,392.025,39.350,0.000,29.672,42.695,148.805,10.500,0.000,14.717,966.587,6192.795,486.221,1781.742,491.322,33.359,1146.518,0.000,1792.925,0.000,0.534,0.000
$DEVICE_MAMPS,152.633,158.002,918.866,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.166,267.912,367.552,689.941,1045.833,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355500
$DATA_FILE_SIZE,38233,476
$CAP_FILE_SIZE,98490,0
$CFSIZE,260165632,171954176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040611,032846,2246.943,-15802.091,11,99.0,30,10.1