version: 66.06
glider: 146
mission: 6
dive: 198
start: 6 4 111 3 39 16
data:
$ID,146
$MISSION,6
$DIVE,198
$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,-272480.25
$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,41
$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
$GPS1,032846,2246.943,-15802.091,11,99.0,30,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-69.8
$GPS2,033823,2247.100,-15802.040,18,99.0,37,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.179,-0.152
$KALMAN_X,-90626.8,-26.1,-92.4,81786.8,475.4
$KALMAN_Y,-113896.7,-2.1,-480.3,120301.3,1370.6
$MHEAD_RNG_PITCHd_Wd,219.4,1650,-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,-71.20,0.000,2,0.000,0.000,481,1780,3269,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.4,-5.4,9,118,12.15,2.65,-4.22,0.000,4,0.146,0.070,2839,239,3499,0,0,0,0,0,0
$GC,283,-1.16,-116.8,50.7,-21.6,30,291,0.22,2.40,0.00,0.000,6,0.148,0.015,2890,1809,3501,0,0,0,0,0,0
$GC,549,-1.16,-116.8,88.4,-10.7,55,554,0.00,2.62,0.00,0.000,4,0.000,0.058,2890,239,3501,0,0,0,0,0,0
$GC,585,-1.12,-116.8,92.5,-12.9,57,589,0.00,2.38,0.00,0.000,6,0.000,0.018,2890,1825,3501,0,0,0,0,0,0
$GC,851,-1.12,-116.8,124.6,-11.7,81,855,0.00,2.38,0.00,0.000,4,0.000,0.028,2890,3336,3503,0,0,0,0,0,0
$GC,883,-1.16,-116.8,128.2,-11.4,83,887,0.00,2.40,0.00,0.000,6,0.000,0.031,2890,1818,3503,0,0,0,0,0,0
$GC,1147,-1.20,-116.8,158.7,-11.4,107,1151,0.00,2.35,0.00,0.000,4,0.000,0.032,2890,3328,3503,0,0,0,0,0,0
$GC,1235,-1.29,-116.8,168.8,-11.1,114,1239,0.00,2.38,0.00,0.000,6,0.000,0.027,2890,1826,3503,0,0,0,0,0,0
$GC,1500,-1.35,-116.8,196.0,-9.4,138,1505,0.15,2.72,0.00,0.000,4,0.066,0.063,2840,226,3504,0,0,0,0,0,0
$GC,1562,-1.30,-116.8,203.8,-12.7,141,1567,0.10,2.40,0.00,0.000,6,0.123,0.023,2864,1810,3504,0,0,0,0,0,0
$GC,1824,-1.30,-116.8,230.7,-10.5,148,1828,0.00,2.40,0.00,0.000,4,0.000,0.032,2864,3349,3504,0,0,0,0,0,0
$GC,1839,-1.30,-116.8,232.6,-10.7,148,1844,0.00,2.42,0.00,0.000,6,0.000,0.029,2864,1814,3504,0,0,0,0,0,0
$GC,2107,-1.34,-116.8,261.4,-11.1,155,2111,0.00,2.42,0.00,0.000,4,0.000,0.032,2864,3342,3504,0,0,0,0,0,0
$GC,2147,-1.41,-116.8,266.0,-11.6,156,2152,0.00,2.42,0.00,0.000,6,0.000,0.028,2863,1828,3504,0,0,0,0,0,0
$GC,2431,-1.45,-116.8,297.5,-11.0,163,2436,0.12,2.45,0.00,0.000,4,0.076,0.030,2822,3349,3504,0,0,0,0,0,0
$GC,2459,-1.45,-116.8,300.9,-12.7,163,2464,0.00,2.45,0.00,0.000,6,0.000,0.039,2822,1838,3504,0,0,0,0,0,0
$GC,2709,-1.45,-116.8,330.3,-11.7,169,2710,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1837,3503,0,0,0,0,0,0
$GC,2953,-1.45,-116.8,358.4,-11.5,175,2957,0.00,2.42,0.00,0.000,4,0.000,0.043,2821,3339,3502,0,0,0,0,0,0
$GC,2974,-1.45,-116.8,361.0,-11.8,175,2978,0.00,2.50,0.00,0.000,6,0.000,0.042,2822,1830,3502,0,0,0,0,0,0
$GC,3230,-1.45,-116.8,391.0,-11.9,182,3234,0.00,2.45,0.00,0.000,4,0.000,0.041,2822,3335,3501,0,0,0,0,0,0
$GC,3252,-1.45,-116.8,393.9,-12.0,182,3257,0.00,2.53,0.00,0.000,6,0.000,0.054,2822,1830,3501,0,0,0,0,0,0
$GC,3507,-1.45,-116.8,422.3,-10.9,189,3511,0.00,2.47,0.00,0.000,4,0.000,0.044,2822,3336,3499,0,0,0,0,0,0
$GC,3548,-1.50,-116.8,426.6,-10.5,190,3552,0.00,2.53,0.00,0.000,6,0.000,0.058,2822,1847,3499,0,0,0,0,0,0
$GC,3831,-1.50,-116.8,454.8,-9.8,197,3835,0.00,2.47,0.00,0.000,4,0.000,0.047,2822,3342,3497,0,0,0,0,0,0
$GC,3864,-1.54,-116.8,458.1,-10.4,197,3869,0.00,2.55,0.00,0.000,6,0.000,0.061,2822,1854,3497,0,0,0,0,0,0
$GC,4115,-1.54,-116.8,484.2,-10.5,204,4119,0.00,3.10,0.00,0.000,4,0.000,0.120,2821,215,3495,0,0,0,0,0,0
$GC,4147,-1.54,-116.8,488.1,-11.7,204,4153,0.00,2.58,0.00,0.000,6,0.000,0.037,2822,1792,3495,0,0,0,0,0,0
$STATE,4273,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4273,begin apogee
$GC,4279,-0.31,0.0,501.6,10.7,208,4380,1.15,0.00,97.10,0.916,6,0.084,0.000,3080,2002,3020,0,0,0,0,0,0
$STATE,4380,end apogee,CONTROL_FINISHED_OK
$STATE,4381,begin climb
$GC,4384,1.38,116.8,504.3,0.0,210,4494,1.58,2.83,100.22,0.903,4,0.054,0.067,3453,3566,2541,0,0,0,0,0,0
$GC,4505,1.39,211.8,503.7,4.5,213,4597,0.00,2.72,81.88,0.893,6,0.000,0.048,3453,1983,2155,0,0,0,0,0,0
$GC,4841,1.33,211.8,469.4,11.2,222,4846,0.00,3.00,0.00,0.000,4,0.000,0.112,3453,406,2146,0,0,0,0,0,0
$GC,4868,1.23,211.8,466.2,11.8,222,4874,0.17,2.60,0.00,0.000,6,0.113,0.036,3418,1983,2145,0,0,0,0,0,0
$GC,5119,1.23,211.8,440.6,10.3,228,5124,0.00,2.67,0.00,0.000,4,0.000,0.056,3418,3574,2144,0,0,0,0,0,0
$GC,5146,1.23,211.8,437.4,11.5,228,5151,0.00,2.67,0.00,0.000,6,0.000,0.047,3418,1995,2142,0,0,0,0,0,0
$GC,5397,1.23,215.2,412.3,9.8,234,5401,0.00,2.62,0.00,0.000,4,0.000,0.039,3418,3578,2141,0,0,0,0,0,0
$GC,5412,1.24,222.0,410.7,9.6,234,5427,0.00,2.65,8.07,0.742,6,0.000,0.046,3418,1998,2113,0,0,0,0,0,0
$GC,5679,1.26,241.6,387.0,8.9,241,5704,0.00,3.00,18.50,0.819,4,0.000,0.090,3417,392,2033,0,0,0,0,0,0
$GC,5727,1.26,241.6,382.3,10.3,242,5731,0.00,2.60,0.00,0.000,6,0.000,0.022,3418,2005,2031,0,0,0,0,0,0
$GC,6006,1.26,241.6,354.7,10.1,249,6007,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,2005,2028,0,0,0,0,0,0
$GC,6248,1.31,241.6,329.2,10.4,255,6253,0.00,2.55,0.00,0.000,4,0.000,0.042,3418,3570,2026,0,0,0,0,0,0
$GC,6265,1.35,241.6,327.3,10.7,255,6270,0.10,2.60,0.00,0.000,6,0.094,0.037,3446,1983,2026,0,0,0,0,0,0
$GC,6527,1.35,241.6,298.5,11.0,262,6531,0.00,2.75,0.00,0.000,4,0.000,0.077,3446,407,2025,0,0,0,0,0,0
$GC,6567,1.31,241.6,293.9,11.8,263,6572,0.00,2.50,0.00,0.000,6,0.000,0.020,3446,1992,2024,0,0,0,0,0,0
$GC,6850,1.32,253.5,267.3,9.4,270,6866,0.00,2.55,10.27,0.708,4,0.000,0.035,3445,3556,1986,0,0,0,0,0,0
$GC,6945,1.32,253.5,257.6,10.4,272,6950,0.00,2.58,0.00,0.000,6,0.000,0.038,3446,1983,1983,0,0,0,0,0,0
$GC,7217,1.32,253.5,228.0,11.0,279,7221,0.00,2.70,0.00,0.000,4,0.000,0.064,3446,413,1982,0,0,0,0,0,0
$GC,7283,1.32,253.5,219.9,12.0,280,7287,0.00,2.45,0.00,0.000,6,0.000,0.024,3446,1974,1981,0,0,0,0,0,0
$GC,7542,1.34,262.0,194.6,9.6,290,7556,0.00,2.62,8.32,0.629,4,0.000,0.034,3446,3558,1952,0,0,0,0,0,0
$GC,7604,1.38,262.0,187.8,10.5,295,7610,0.00,2.58,0.00,0.000,6,0.000,0.035,3446,1977,1950,0,0,0,0,0,0
$GC,7868,1.38,262.0,161.0,10.5,320,7873,0.00,2.67,0.00,0.000,4,0.000,0.063,3446,403,1949,0,0,0,0,0,0
$GC,7925,1.38,262.0,154.0,11.9,324,7934,0.00,2.47,0.00,0.000,6,0.000,0.020,3446,1979,1948,0,0,0,0,0,0
$GC,8193,1.43,262.0,125.2,11.2,349,8197,0.00,2.53,0.00,0.000,4,0.000,0.038,3445,3553,1948,0,0,0,0,0,0
$GC,8237,1.49,262.0,119.4,11.2,352,8248,0.08,2.58,0.00,0.000,6,0.052,0.036,3478,1974,1948,0,0,0,0,0,0
$GC,8502,1.49,262.0,91.9,10.5,377,8506,0.00,2.53,0.00,0.000,4,0.000,0.037,3478,3559,1948,0,0,0,0,0,0
$GC,8593,1.49,262.0,80.5,12.4,384,8603,0.00,2.55,0.00,0.000,6,0.000,0.038,3478,1994,1948,0,0,0,0,0,0
$GC,8861,1.53,295.8,56.2,8.1,409,8903,0.00,2.75,30.02,0.568,4,0.000,0.060,3478,414,1813,0,0,0,0,0,0
$GC,8968,1.53,295.8,46.1,10.4,417,8973,0.00,2.47,0.00,0.000,6,0.000,0.022,3478,2009,1811,0,0,0,0,0,0
$GC,9261,1.58,295.8,19.0,10.3,449,9270,0.00,2.47,0.00,0.000,4,0.000,0.031,3478,3544,1810,0,0,0,0,0,0
$GC,9314,1.67,295.8,13.5,10.8,456,9324,0.10,2.50,0.00,0.000,6,0.051,0.026,3516,1994,1808,0,0,0,0,0,0
$STATE,9415,end climb,SURFACE_DEPTH_REACHED
$STATE,9415,begin surface coast
$FINISH,0.5,0.975945
$STATE,9481,end surface coast,CONTROL_FINISHED_OK
$STATE,9481,begin surface
$SM_CCo,9503,68.00,0.523,0,0,1470,380.21
$SM_GC,1.08,0.00,0.00,68.00,0.000,0.000,0.523,476,1782,1470,-12.30,-0.51,380.21
$IRIDIUM_FIX,2239.35,-15800.20,280800,030336
$TT8_MAMPS,0.026078
$HUMID,58.07
$INTERNAL_PRESSURE,9.18004
$TCM_TEMP,22.40
$XPDR_PINGS,59
$24V_AH,23.5,24.890
$10V_AH,10.4,21.681
$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,28.175,144.275,354.400,68.000,0.000,58.681,70.829,223.582,14.750,0.000,39.780,989.415,6123.877,515.473,1876.895,644.964,33.367,1217.798,0.000,1857.802,0.000,0.535,0.000
$DEVICE_MAMPS,148.031,120.419,915.798,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,324.167,268.763,371.563,714.020,1081.367,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,38380,479
$CAP_FILE_SIZE,108997,0
$CFSIZE,260165632,171892736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040611,062007,2246.781,-15803.186,39,1.1,39,10.1