version: 66.06
glider: 146
mission: 6
dive: 203
start: 6 4 111 17 43 2
data:
$ID,146
$MISSION,6
$DIVE,203
$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,-272586.12
$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,43
$R_STBD_OVSHOOT,65
$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
$GPS1,173303,2249.779,-15759.680,12,1.4,31,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.0
$GPS2,174208,2249.849,-15759.717,13,1.3,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.224,-0.071
$KALMAN_X,-89571.4,-44.2,80.3,84545.4,60.4
$KALMAN_Y,-111130.2,-288.1,-358.8,122793.2,840.7
$MHEAD_RNG_PITCHd_Wd,97.4,4646,-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,-71.07,0.000,2,0.000,0.000,479,1785,3296,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.9,-7.8,9,118,12.32,2.53,-3.58,0.000,4,0.150,0.043,2839,3358,3499,0,0,0,0,0,0
$GC,131,-0.38,-116.8,18.7,-38.0,13,140,1.00,2.50,0.00,0.000,6,0.100,0.030,3057,1818,3501,0,0,0,0,0,0
$GC,423,-0.69,-116.8,42.3,-7.0,46,429,0.25,2.70,0.00,0.000,4,0.045,0.057,2978,219,3502,0,0,0,0,0,0
$GC,447,-0.92,-116.8,44.4,-7.9,47,452,0.12,2.42,0.00,0.000,6,0.069,0.015,2934,1831,3502,0,0,0,0,0,0
$GC,715,-1.01,-116.8,74.0,-10.2,71,720,0.00,2.70,0.00,0.000,4,0.000,0.058,2934,223,3503,0,0,0,0,0,0
$GC,762,-1.08,-116.8,79.2,-11.0,74,766,0.00,2.33,0.00,0.000,6,0.000,0.014,2933,1788,3503,0,0,0,0,0,0
$GC,1025,-1.19,-116.8,105.4,-9.5,98,1030,0.17,2.42,0.00,0.000,4,0.057,0.026,2874,3335,3504,0,0,0,0,0,0
$GC,1095,-1.23,-116.8,113.0,-12.4,103,1099,0.00,2.50,0.00,0.000,6,0.000,0.034,2873,1768,3504,0,0,0,0,0,0
$GC,1361,-1.23,-116.8,146.9,-11.8,127,1365,0.00,2.45,0.00,0.000,4,0.000,0.028,2873,3337,3504,0,0,0,0,0,0
$GC,1425,-1.28,-116.8,155.0,-11.4,132,1429,0.00,2.45,0.00,0.000,6,0.000,0.032,2874,1790,3504,0,0,0,0,0,0
$GC,1689,-1.28,-116.8,185.8,-11.2,156,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1790,3505,0,0,0,0,0,0
$GC,1944,-1.32,-116.8,213.8,-10.9,172,1948,0.00,2.42,0.00,0.000,4,0.000,0.026,2873,3328,3504,0,0,0,0,0,0
$GC,2020,-1.41,-116.8,221.8,-10.7,173,2025,0.12,2.40,0.00,0.000,6,0.070,0.033,2826,1803,3505,0,0,0,0,0,0
$GC,2269,-1.41,-116.8,252.6,-12.1,179,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1803,3505,0,0,0,0,0,0
$GC,2513,-1.41,-116.8,283.3,-12.6,185,2517,0.00,2.42,0.00,0.000,4,0.000,0.034,2826,3328,3504,0,0,0,0,0,0
$GC,2541,-1.41,-116.8,286.7,-12.1,185,2545,0.00,2.45,0.00,0.000,6,0.000,0.031,2825,1811,3504,0,0,0,0,0,0
$GC,2791,-1.41,-116.8,317.1,-12.0,191,2795,0.00,2.42,0.00,0.000,4,0.000,0.038,2826,3327,3505,0,0,0,0,0,0
$GC,2845,-1.41,-116.8,323.3,-10.5,192,2850,0.00,2.45,0.00,0.000,6,0.000,0.039,2826,1818,3504,0,0,0,0,0,0
$GC,3113,-1.41,-116.8,351.0,-10.4,199,3118,0.00,2.40,0.00,0.000,4,0.000,0.041,2826,3320,3503,0,0,0,0,0,0
$GC,3129,-1.41,-116.8,352.9,-10.3,199,3134,0.00,2.47,0.00,0.000,6,0.000,0.041,2826,1810,3503,0,0,0,0,0,0
$GC,3391,-1.41,-116.8,380.8,-10.9,206,3395,0.00,2.50,0.00,0.000,4,0.000,0.041,2825,3328,3502,0,0,0,0,0,0
$GC,3431,-1.41,-116.8,385.5,-11.5,207,3435,0.00,2.53,0.00,0.000,6,0.000,0.051,2826,1822,3502,0,0,0,0,0,0
$GC,3714,-1.41,-116.8,419.1,-12.0,214,3718,0.00,2.45,0.00,0.000,4,0.000,0.048,2826,3317,3500,0,0,0,0,0,0
$GC,3746,-1.45,-116.8,422.9,-11.3,214,3752,0.00,2.50,0.00,0.000,6,0.000,0.052,2826,1829,3500,0,0,0,0,0,0
$GC,3998,-1.45,-116.8,448.3,-9.8,221,4002,0.00,2.45,0.00,0.000,4,0.000,0.049,2826,3318,3498,0,0,0,0,0,0
$GC,4014,-1.45,-116.8,450.0,-9.5,221,4018,0.00,2.55,0.00,0.000,6,0.000,0.061,2826,1825,3498,0,0,0,0,0,0
$GC,4275,-1.45,-116.8,474.8,-9.6,228,4279,0.00,2.47,0.00,0.000,4,0.000,0.054,2826,3323,3496,0,0,0,0,0,0
$GC,4343,-1.50,-116.8,481.5,-9.8,229,4347,0.00,2.55,0.00,0.000,6,0.000,0.061,2826,1836,3496,0,0,0,0,0,0
$STATE,4556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4556,begin apogee
$GC,4562,-0.31,0.0,503.1,10.1,235,4662,1.12,0.00,96.75,0.925,6,0.082,0.000,3078,1941,3020,0,0,0,0,0,0
$STATE,4663,end apogee,CONTROL_FINISHED_OK
$STATE,4663,begin climb
$GC,4666,1.38,116.8,505.6,0.0,237,4773,1.58,0.00,98.93,0.904,6,0.048,0.000,3451,1941,2541,0,0,0,0,0,0
$GC,5035,1.34,155.8,486.6,7.8,246,5074,0.00,0.00,33.38,0.879,6,0.000,0.000,3451,1941,2384,0,0,0,0,0,0
$GC,5320,1.27,158.5,460.1,9.9,253,5325,0.12,2.75,0.00,0.000,4,0.123,0.047,3427,3559,2376,0,0,0,0,0,0
$GC,5376,1.28,160.6,454.4,9.9,254,5385,0.00,2.70,4.12,0.575,6,0.000,0.048,3427,1975,2365,0,0,0,0,0,0
$GC,5647,1.31,191.3,431.9,8.3,261,5681,0.00,2.72,28.42,0.862,4,0.000,0.045,3427,3553,2239,0,0,0,0,0,0
$GC,5706,1.33,203.5,426.8,9.3,262,5726,0.00,2.67,12.20,0.790,6,0.000,0.044,3427,1987,2190,0,0,0,0,0,0
$GC,5976,1.35,225.2,402.9,8.8,269,6001,0.00,2.67,19.77,0.825,4,0.000,0.044,3427,3563,2102,0,0,0,0,0,0
$GC,6025,1.36,232.8,398.4,9.6,270,6039,0.00,2.65,8.50,0.732,6,0.000,0.045,3427,1994,2069,0,0,0,0,0,0
$GC,6301,1.36,232.8,370.3,10.2,277,6302,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1994,2064,0,0,0,0,0,0
$GC,6544,1.36,232.8,343.2,11.1,283,6545,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1994,2062,0,0,0,0,0,0
$GC,6790,1.36,233.0,318.3,10.0,289,6791,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1994,2061,0,0,0,0,0,0
$GC,7032,1.40,263.0,297.0,8.3,295,7061,0.12,0.00,26.60,0.785,6,0.079,0.000,3461,1994,1947,0,0,0,0,0,0
$GC,7276,1.40,263.0,268.6,12.1,301,7277,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1994,1942,0,0,0,0,0,0
$GC,7519,1.40,263.0,238.9,12.3,307,7520,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1994,1941,0,0,0,0,0,0
$GC,7764,1.40,263.0,212.1,10.9,313,7769,0.00,2.55,0.00,0.000,4,0.000,0.036,3461,3564,1940,0,0,0,0,0,0
$GC,7780,1.40,263.0,210.2,10.6,313,7785,0.00,2.55,0.00,0.000,6,0.000,0.035,3461,1983,1939,0,0,0,0,0,0
$GC,8042,1.40,263.0,182.5,10.6,331,8047,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1983,1938,0,0,0,0,0,0
$GC,8304,1.40,263.0,153.0,11.1,356,8305,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1983,1938,0,0,0,0,0,0
$GC,8558,1.40,266.2,128.1,9.9,380,8563,0.00,2.55,0.00,0.000,4,0.000,0.036,3461,3561,1938,0,0,0,0,0,0
$GC,8605,1.45,266.2,124.1,10.4,383,8610,0.00,2.53,0.00,0.000,6,0.000,0.033,3461,1992,1937,0,0,0,0,0,0
$GC,8872,1.52,290.4,100.6,8.6,407,8901,0.00,2.55,23.15,0.613,4,0.000,0.033,3461,3563,1835,0,0,0,0,0,0
$GC,8919,1.61,318.3,96.4,8.4,410,8952,0.12,2.60,25.08,0.600,6,0.043,0.030,3505,1983,1721,0,0,0,0,0,0
$GC,9207,1.62,323.2,65.0,9.8,437,9222,0.00,2.60,5.12,0.447,4,0.000,0.032,3505,3563,1701,0,0,0,0,0,0
$GC,9301,1.66,323.2,54.8,11.3,444,9306,0.00,2.53,0.00,0.000,6,0.000,0.028,3505,1997,1701,0,0,0,0,0,0
$GC,9584,1.66,323.2,21.2,11.8,473,9593,0.00,2.67,0.00,0.000,4,0.000,0.054,3505,412,1700,0,0,0,0,0,0
$GC,9686,1.62,323.2,7.9,14.0,487,9696,0.00,2.50,0.00,0.000,6,0.000,0.017,3505,2017,1699,0,0,0,0,0,0
$STATE,9710,end climb,SURFACE_DEPTH_REACHED
$STATE,9710,begin surface coast
$FINISH,0.9,0.980034
$STATE,9746,end surface coast,CONTROL_FINISHED_OK
$STATE,9746,begin surface
$SM_CCo,9768,46.38,0.524,0,0,1470,380.21
$SM_GC,1.26,0.00,0.00,46.38,0.000,0.000,0.524,474,1789,1470,-12.31,-0.31,380.21
$IRIDIUM_FIX,2241.69,-15801.49,280800,171751
$TT8_MAMPS,0.025311
$HUMID,59.33
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,22.20
$XPDR_PINGS,39
$24V_AH,23.5,25.479
$10V_AH,10.4,22.225
$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,29.300,106.750,382.025,46.375,0.000,59.395,65.193,221.329,9.750,0.000,14.646,991.162,6444.271,486.024,1826.974,616.282,33.371,1153.795,0.000,1830.836,0.000,0.536,0.000
$DEVICE_MAMPS,150.332,96.642,925.002,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,335.756,286.588,386.659,743.642,1124.817,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355476
$DATA_FILE_SIZE,38158,495
$CAP_FILE_SIZE,102639,0
$CFSIZE,260165632,171638784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040611,202806,2249.676,-15758.460,42,0.9,47,10.1