version: 66.06
glider: 146
mission: 6
dive: 207
start: 6 5 111 5 17 30
data:
$ID,146
$MISSION,6
$DIVE,207
$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,-272692.47
$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,3155
$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,1820
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,63
$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
$GPS1,050924,2248.613,-15758.029,11,99.0,30,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-72.0
$GPS2,051637,2248.735,-15757.963,32,1.1,32,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.016,-0.234
$KALMAN_X,-89791.6,-166.3,-28.8,87997.8,-50.8
$KALMAN_Y,-108377.0,350.7,-255.1,117226.7,1054.6
$MHEAD_RNG_PITCHd_Wd,166.0,3225,-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,-70.40,0.000,2,0.000,0.000,474,1793,3258,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.7,-6.5,9,118,12.45,2.60,-4.28,0.000,4,0.154,0.059,2843,264,3498,0,0,0,0,0,0
$GC,182,-1.20,-116.8,29.3,-21.3,21,191,0.20,2.40,0.00,0.000,6,0.106,0.014,2888,1839,3500,0,0,0,0,0,0
$GC,452,-1.16,-116.8,73.1,-15.3,46,460,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1840,3500,0,0,0,0,0,0
$GC,716,-1.16,-116.8,108.9,-12.2,71,720,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1841,3501,0,0,0,0,0,0
$GC,978,-1.16,-116.8,140.0,-11.6,96,982,0.00,2.35,0.00,0.000,4,0.000,0.027,2888,3356,3502,0,0,0,0,0,0
$GC,1054,-1.24,-116.8,148.6,-11.2,102,1058,0.00,2.40,0.00,0.000,6,0.000,0.031,2888,1829,3502,0,0,0,0,0,0
$GC,1318,-1.28,-116.8,176.4,-10.0,126,1323,0.00,2.38,0.00,0.000,4,0.000,0.027,2888,3356,3503,0,0,0,0,0,0
$GC,1341,-1.34,-116.8,178.3,-9.6,127,1347,0.10,2.42,0.00,0.000,6,0.083,0.031,2845,1813,3503,0,0,0,0,0,0
$GC,1621,-1.34,-116.8,211.2,-12.5,147,1623,0.00,0.00,0.00,0.000,6,0.000,0.000,2846,1813,3503,0,0,0,0,0,0
$GC,1865,-1.34,-116.8,239.6,-11.3,153,1869,0.00,2.42,0.00,0.000,4,0.000,0.029,2845,3356,3503,0,0,0,0,0,0
$GC,1891,-1.34,-116.8,242.7,-10.2,153,1896,0.00,2.42,0.00,0.000,6,0.000,0.025,2846,1824,3503,0,0,0,0,0,0
$GC,2141,-1.34,-116.8,268.5,-10.2,159,2146,0.00,2.45,0.00,0.000,4,0.000,0.035,2846,3356,3503,0,0,0,0,0,0
$GC,2204,-1.38,-116.8,275.0,-11.4,160,2209,0.00,2.42,0.00,0.000,6,0.000,0.028,2845,1829,3503,0,0,0,0,0,0
$GC,2465,-1.38,-116.8,303.5,-10.7,167,2469,0.00,2.42,0.00,0.000,4,0.000,0.030,2845,3357,3503,0,0,0,0,0,0
$GC,2505,-1.44,-116.8,307.7,-10.8,168,2510,0.00,2.45,0.00,0.000,6,0.000,0.033,2845,1835,3503,0,0,0,0,0,0
$GC,2790,-1.48,-116.8,336.9,-10.3,175,2791,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1835,3502,0,0,0,0,0,0
$GC,3032,-1.52,-116.8,361.5,-10.0,181,3037,0.00,2.47,0.00,0.000,4,0.000,0.040,2845,3358,3502,0,0,0,0,0,0
$GC,3060,-1.58,-116.8,364.3,-10.1,181,3065,0.15,2.50,0.00,0.000,6,0.064,0.044,2797,1847,3501,0,0,0,0,0,0
$GC,3311,-1.54,-116.8,393.6,-11.9,187,3313,0.10,0.00,0.00,0.000,6,0.122,0.000,2817,1847,3500,0,0,0,0,0,0
$GC,3553,-1.54,-116.8,420.8,-11.0,193,3557,0.00,2.45,0.00,0.000,4,0.000,0.049,2817,3345,3499,0,0,0,0,0,0
$GC,3603,-1.54,-116.8,426.7,-11.1,194,3607,0.00,2.53,0.00,0.000,6,0.000,0.062,2817,1850,3499,0,0,0,0,0,0
$GC,3877,-1.54,-116.8,455.3,-10.3,201,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1850,3497,0,0,0,0,0,0
$GC,4119,-1.54,-116.8,480.6,-10.4,207,4123,0.00,2.50,0.00,0.000,4,0.000,0.058,2817,3346,3495,0,0,0,0,0,0
$GC,4145,-1.54,-116.8,483.6,-10.6,207,4150,0.00,2.55,0.00,0.000,6,0.000,0.066,2817,1846,3495,0,0,0,0,0,0
$STATE,4312,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4312,begin apogee
$GC,4319,-0.31,0.0,500.8,10.2,211,4420,1.17,0.00,96.65,0.913,6,0.081,0.000,3083,1971,3020,0,0,0,0,0,0
$STATE,4420,end apogee,CONTROL_FINISHED_OK
$STATE,4421,begin climb
$GC,4423,1.38,116.8,502.9,0.0,213,4527,1.58,0.00,99.22,0.900,6,0.047,0.000,3457,1971,2543,0,0,0,0,0,0
$GC,4750,1.33,156.9,485.6,7.7,221,4790,0.00,0.00,34.05,0.876,6,0.000,0.000,3457,1970,2379,0,0,0,0,0,0
$GC,5035,1.26,165.5,458.6,9.5,228,5046,0.12,0.00,8.15,0.754,6,0.123,0.000,3432,1970,2345,0,0,0,0,0,0
$GC,5278,1.29,187.6,436.9,8.8,234,5301,0.00,0.00,20.80,0.848,6,0.000,0.000,3431,1970,2255,0,0,0,0,0,0
$GC,5523,1.31,210.1,415.2,8.7,240,5546,0.00,0.00,20.77,0.839,6,0.000,0.000,3432,1971,2163,0,0,0,0,0,0
$GC,5766,1.32,214.6,391.9,9.8,246,5776,0.00,2.67,4.72,0.613,4,0.000,0.040,3431,3567,2145,0,0,0,0,0,0
$GC,5804,1.32,214.6,387.9,11.1,247,5809,0.00,2.65,0.00,0.000,6,0.000,0.038,3431,1987,2143,0,0,0,0,0,0
$GC,6088,1.32,214.6,358.6,10.3,254,6089,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1987,2141,0,0,0,0,0,0
$GC,6331,1.32,214.6,333.8,10.3,260,6335,0.00,2.58,0.00,0.000,4,0.000,0.040,3431,3564,2140,0,0,0,0,0,0
$GC,6370,1.32,214.6,329.6,11.0,261,6374,0.00,2.58,0.00,0.000,6,0.000,0.032,3432,1992,2139,0,0,0,0,0,0
$GC,6654,1.32,216.0,301.2,10.0,268,6655,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1991,2138,0,0,0,0,0,0
$GC,6896,1.34,229.1,278.6,9.3,274,6916,0.00,2.80,13.32,0.746,4,0.000,0.067,3431,425,2084,0,0,0,0,0,0
$GC,6940,1.34,229.1,274.4,10.4,275,6944,0.00,2.53,0.00,0.000,6,0.000,0.025,3431,2012,2083,0,0,0,0,0,0
$GC,7225,1.41,258.2,249.9,8.4,282,7259,0.12,2.65,26.48,0.746,4,0.086,0.037,3465,3569,1967,0,0,0,0,0,0
$GC,7316,1.41,258.2,240.0,11.7,284,7321,0.00,2.58,0.00,0.000,6,0.000,0.038,3465,1998,1964,0,0,0,0,0,0
$GC,7596,1.41,258.2,208.7,11.1,291,7597,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,1998,1962,0,0,0,0,0,0
$GC,7843,1.41,258.2,181.1,11.7,306,7848,0.00,2.70,0.00,0.000,4,0.000,0.060,3465,417,1961,0,0,0,0,0,0
$GC,7873,1.37,258.2,177.2,12.7,308,7878,0.00,2.47,0.00,0.000,6,0.000,0.020,3465,2008,1960,0,0,0,0,0,0
$GC,8138,1.38,263.5,148.8,9.7,332,8148,0.00,0.00,4.78,0.501,6,0.000,0.000,3465,2008,1945,0,0,0,0,0,0
$GC,8405,1.38,263.5,121.8,10.4,357,8409,0.00,2.50,0.00,0.000,4,0.000,0.038,3465,3563,1945,0,0,0,0,0,0
$GC,8437,1.38,263.5,118.4,10.8,359,8442,0.00,2.55,0.00,0.000,6,0.000,0.030,3465,1984,1944,0,0,0,0,0,0
$GC,8704,1.43,306.3,94.0,7.6,383,8752,0.00,2.62,38.10,0.613,4,0.000,0.036,3465,3559,1769,0,0,0,0,0,0
$GC,8793,1.51,306.3,85.8,10.2,390,8803,0.00,2.58,0.00,0.000,6,0.000,0.037,3465,1994,1768,0,0,0,0,0,0
$GC,9060,1.60,313.1,61.2,9.6,415,9075,0.15,2.55,6.88,0.493,4,0.071,0.034,3509,3569,1742,0,0,0,0,0,0
$GC,9142,1.60,313.1,52.6,10.9,421,9146,0.00,2.53,0.00,0.000,6,0.000,0.029,3508,1989,1740,0,0,0,0,0,0
$GC,9423,1.60,313.1,21.9,10.7,450,9432,0.00,2.65,0.00,0.000,4,0.000,0.053,3507,424,1739,0,0,0,0,0,0
$GC,9464,1.60,313.1,17.7,10.6,455,9473,0.00,2.45,0.00,0.000,6,0.000,0.017,3508,1999,1739,0,0,0,0,0,0
$STATE,9598,end climb,SURFACE_DEPTH_REACHED
$STATE,9598,begin surface coast
$FINISH,0.5,0.970289
$STATE,9656,end surface coast,CONTROL_FINISHED_OK
$STATE,9656,begin surface
$SM_CCo,9678,55.42,0.520,0,0,1470,380.21
$SM_GC,1.41,0.00,0.00,55.42,0.000,0.000,0.520,473,1793,1470,-12.34,-0.76,380.21
$IRIDIUM_FIX,2239.35,-15834.92,290800,020208
$TT8_MAMPS,0.025311
$HUMID,58.86
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,22.60
$XPDR_PINGS,33
$24V_AH,23.5,25.947
$10V_AH,10.4,22.667
$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,28.400,91.250,373.925,55.425,0.000,30.491,36.134,214.607,8.250,0.000,33.541,953.831,6409.896,484.871,1777.881,543.227,33.371,1128.529,0.000,1766.245,0.000,0.535,0.000
$DEVICE_MAMPS,154.167,167.973,912.730,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.677,270.494,371.502,707.200,1070.401,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,38389,482
$CAP_FILE_SIZE,95236,0
$CFSIZE,260165632,171438080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050611,080106,2247.936,-15757.939,40,1.3,40,10.1