version: 66.06
glider: 146
mission: 6
dive: 210
start: 6 5 111 13 45 0
data:
$ID,146
$MISSION,6
$DIVE,210
$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,-272780.66
$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,1830
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,54
$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
$GPS1,133421,2247.053,-15759.038,15,99.0,34,10.1
$_CALLS,2
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.6
$GPS2,134407,2247.058,-15759.007,32,1.4,32,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.234,0.022
$KALMAN_X,-89823.3,139.2,77.2,85829.3,12.2
$KALMAN_Y,-106714.8,192.7,150.2,112216.7,-255.3
$MHEAD_RNG_PITCHd_Wd,265.3,6820,-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,-70.85,0.000,2,0.000,0.000,474,1797,3257,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.5,-5.9,9,118,12.48,2.55,-4.32,0.000,4,0.153,0.066,2844,293,3498,0,0,0,0,0,0
$GC,318,-1.25,-116.8,57.3,-17.8,32,323,0.17,2.33,0.00,0.000,6,0.179,0.014,2880,1857,3500,0,0,0,0,0,0
$GC,582,-1.25,-116.8,95.7,-13.2,56,586,0.00,2.62,0.00,0.000,4,0.000,0.055,2880,287,3501,0,0,0,0,0,0
$GC,674,-1.25,-116.8,107.9,-12.6,63,678,0.00,2.25,0.00,0.000,6,0.000,0.021,2880,1804,3501,0,0,0,0,0,0
$GC,940,-1.25,-116.8,139.8,-11.7,87,944,0.00,2.45,0.00,0.000,4,0.000,0.027,2880,3368,3502,0,0,0,0,0,0
$GC,973,-1.29,-116.8,143.4,-11.6,89,978,0.00,2.42,0.00,0.000,6,0.000,0.032,2880,1834,3503,0,0,0,0,0,0
$GC,1238,-1.34,-116.8,175.6,-11.2,113,1242,0.00,2.67,0.00,0.000,4,0.000,0.058,2880,251,3503,0,0,0,0,0,0
$GC,1271,-1.34,-116.8,179.1,-11.4,115,1275,0.00,2.30,0.00,0.000,6,0.000,0.021,2880,1816,3503,0,0,0,0,0,0
$GC,1541,-1.38,-116.8,209.1,-11.2,134,1545,0.12,2.45,0.00,0.000,4,0.074,0.031,2834,3365,3503,0,0,0,0,0,0
$GC,1567,-1.38,-116.8,212.9,-12.6,134,1572,0.00,2.42,0.00,0.000,6,0.000,0.031,2834,1818,3503,0,0,0,0,0,0
$GC,1819,-1.38,-116.8,245.5,-13.1,140,1820,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1817,3503,0,0,0,0,0,0
$GC,2061,-1.38,-116.8,273.8,-11.4,146,2065,0.00,2.45,0.00,0.000,4,0.000,0.036,2834,3359,3503,0,0,0,0,0,0
$GC,2093,-1.38,-116.8,277.5,-11.6,146,2099,0.00,2.45,0.00,0.000,6,0.000,0.035,2834,1824,3503,0,0,0,0,0,0
$GC,2345,-1.38,-116.8,305.5,-11.3,153,2349,0.00,2.75,0.00,0.000,4,0.000,0.083,2834,250,3503,0,0,0,0,0,0
$GC,2372,-1.38,-116.8,309.1,-12.5,153,2375,0.00,2.35,0.00,0.000,6,0.000,0.027,2834,1760,3503,0,0,0,0,0,0
$GC,2627,-1.38,-116.8,337.0,-10.8,160,2632,0.00,2.58,0.00,0.000,4,0.000,0.041,2834,3350,3503,0,0,0,0,0,0
$GC,2690,-1.43,-116.8,343.8,-10.8,161,2694,0.00,2.53,0.00,0.000,6,0.000,0.046,2834,1818,3503,0,0,0,0,0,0
$GC,2950,-1.43,-116.8,370.9,-10.6,168,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1818,3501,0,0,0,0,0,0
$GC,3194,-1.43,-116.8,396.9,-10.8,174,3198,0.00,2.47,0.00,0.000,4,0.000,0.044,2834,3345,3500,0,0,0,0,0,0
$GC,3221,-1.47,-116.8,400.0,-11.2,174,3225,0.00,2.58,0.00,0.000,6,0.000,0.056,2834,1819,3500,0,0,0,0,0,0
$GC,3472,-1.47,-116.8,427.1,-10.9,180,3476,0.00,2.53,0.00,0.000,4,0.000,0.049,2834,3348,3499,0,0,0,0,0,0
$GC,3527,-1.54,-116.8,433.2,-10.8,181,3531,0.00,2.58,0.00,0.000,6,0.000,0.056,2834,1836,3498,0,0,0,0,0,0
$GC,3795,-1.58,-116.8,460.4,-10.4,188,3799,0.00,2.97,0.00,0.000,4,0.000,0.116,2834,237,3497,0,0,0,0,0,0
$GC,3816,-1.58,-116.8,463.0,-10.7,188,3821,0.10,2.47,0.00,0.000,6,0.087,0.033,2800,1767,3496,0,0,0,0,0,0
$GC,4071,-1.58,-116.8,492.6,-11.7,195,4075,0.00,2.70,0.00,0.000,4,0.000,0.067,2800,3349,3494,0,0,0,0,0,0
$GC,4086,-1.58,-116.8,494.5,-11.5,195,4091,0.00,2.58,0.00,0.000,6,0.000,0.058,2800,1834,3494,0,0,0,0,0,0
$STATE,4142,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4142,begin apogee
$GC,4150,-0.31,0.0,501.2,11.7,197,4250,1.27,0.00,97.03,0.914,6,0.083,0.000,3086,1944,3020,0,0,0,0,0,0
$STATE,4251,end apogee,CONTROL_FINISHED_OK
$STATE,4251,begin climb
$GC,4254,1.38,116.8,504.1,0.0,199,4363,1.58,2.72,99.60,0.900,4,0.046,0.055,3459,3506,2541,0,0,0,0,0,0
$GC,4377,1.36,206.1,504.3,4.9,202,4462,0.00,2.60,76.95,0.887,6,0.000,0.048,3459,1994,2178,0,0,0,0,0,0
$GC,4714,1.29,206.1,467.7,11.5,211,4716,0.12,0.00,0.00,0.000,6,0.124,0.000,3435,1994,2169,0,0,0,0,0,0
$GC,4959,1.29,206.1,441.6,10.5,217,4963,0.00,2.92,0.00,0.000,4,0.000,0.100,3435,409,2167,0,0,0,0,0,0
$GC,4991,1.21,206.1,437.6,11.5,217,4997,0.00,2.45,0.00,0.000,6,0.000,0.028,3435,1910,2165,0,0,0,0,0,0
$GC,5241,1.21,206.1,411.5,10.4,224,5245,0.00,2.65,0.00,0.000,4,0.000,0.051,3435,3511,2164,0,0,0,0,0,0
$GC,5314,1.21,206.1,403.6,11.6,225,5318,0.00,2.55,0.00,0.000,6,0.000,0.044,3435,1988,2163,0,0,0,0,0,0
$GC,5563,1.21,206.1,376.6,10.9,231,5565,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1988,2162,0,0,0,0,0,0
$GC,5807,1.21,207.4,352.0,10.0,237,5808,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1989,2160,0,0,0,0,0,0
$GC,6052,1.23,218.7,329.0,9.4,243,6063,0.00,0.00,9.02,0.727,6,0.000,0.000,3435,1988,2128,0,0,0,0,0,0
$GC,6295,1.25,234.7,306.5,9.1,249,6316,0.00,2.83,15.52,0.763,4,0.000,0.076,3435,404,2061,0,0,0,0,0,0
$GC,6350,1.21,236.3,301.1,9.9,250,6354,0.00,2.45,0.00,0.000,6,0.000,0.019,3435,1953,2060,0,0,0,0,0,0
$GC,6617,1.22,248.0,276.5,9.4,257,6637,0.00,2.70,12.62,0.731,4,0.000,0.038,3435,3556,2008,0,0,0,0,0,0
$GC,6653,1.22,248.0,272.6,10.1,257,6659,0.00,2.55,0.00,0.000,6,0.000,0.035,3435,1998,2007,0,0,0,0,0,0
$GC,6904,1.26,248.0,246.5,10.4,264,6905,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1998,2006,0,0,0,0,0,0
$GC,7149,1.32,262.4,223.4,9.2,270,7168,0.00,2.78,13.75,0.701,4,0.000,0.068,3435,417,1950,0,0,0,0,0,0
$GC,7202,1.32,262.4,217.9,10.6,271,7206,0.00,2.50,0.00,0.000,6,0.000,0.025,3435,1998,1948,0,0,0,0,0,0
$GC,7458,1.37,268.9,193.7,9.7,282,7472,0.00,2.75,7.12,0.609,4,0.000,0.061,3435,418,1922,0,0,0,0,0,0
$GC,7485,1.37,268.9,190.8,10.6,284,7490,0.00,2.50,0.00,0.000,6,0.000,0.022,3435,2007,1921,0,0,0,0,0,0
$GC,7748,1.42,268.9,163.2,10.3,308,7753,0.12,2.50,0.00,0.000,4,0.077,0.039,3470,3559,1920,0,0,0,0,0,0
$GC,7859,1.42,268.9,149.7,12.3,317,7863,0.00,2.50,0.00,0.000,6,0.000,0.031,3471,2009,1919,0,0,0,0,0,0
$GC,8125,1.42,268.9,121.2,11.0,341,8130,0.00,2.67,0.00,0.000,4,0.000,0.056,3470,420,1919,0,0,0,0,0,0
$GC,8181,1.42,268.9,114.5,12.6,345,8186,0.00,2.47,0.00,0.000,6,0.000,0.019,3470,2018,1918,0,0,0,0,0,0
$GC,8448,1.43,276.9,87.9,9.6,369,8462,0.00,2.75,8.00,0.545,4,0.000,0.056,3471,421,1890,0,0,0,0,0,0
$GC,8510,1.43,276.9,80.9,10.9,374,8519,0.00,2.47,0.00,0.000,6,0.000,0.020,3470,1995,1889,0,0,0,0,0,0
$GC,8778,1.50,292.8,56.3,9.1,399,8806,0.00,2.75,15.15,0.555,4,0.000,0.051,3471,414,1824,0,0,0,0,0,0
$GC,8837,1.50,292.8,49.7,11.7,403,8846,0.00,2.50,0.00,0.000,6,0.000,0.018,3470,1998,1823,0,0,0,0,0,0
$GC,9115,1.63,324.2,25.1,8.2,432,9150,0.17,2.55,27.48,0.542,4,0.063,0.036,3519,3563,1698,0,0,0,0,0,0
$GC,9170,1.65,337.2,20.5,9.3,438,9188,0.00,2.58,12.52,0.505,6,0.000,0.030,3519,1997,1644,0,0,0,0,0,0
$STATE,9295,end climb,SURFACE_DEPTH_REACHED
$STATE,9295,begin surface coast
$FINISH,0.4,0.980030
$STATE,9332,end surface coast,CONTROL_FINISHED_OK
$STATE,9333,begin surface
$SM_CCo,9355,34.20,0.521,0,0,1469,380.21
$SM_GC,1.14,0.00,0.00,34.20,0.000,0.000,0.521,476,1796,1469,-12.32,-0.99,380.21
$IRIDIUM_FIX,2237.01,-15800.20,290800,131304
$TT8_MAMPS,0.026078
$HUMID,59.88
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.00
$XPDR_PINGS,47
$24V_AH,23.5,26.289
$10V_AH,10.4,22.980
$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,28.550,123.575,394.775,34.200,0.000,55.777,68.776,244.766,11.750,0.000,33.747,939.952,6173.417,476.067,1740.704,649.264,33.369,1154.217,0.000,1726.740,0.000,0.536,0.000
$DEVICE_MAMPS,179.478,189.449,914.264,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,311.836,264.776,354.332,674.152,1019.604,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,35088,461
$CAP_FILE_SIZE,102983,0
$CFSIZE,260165632,171282432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050611,162237,2246.885,-15800.320,26,1.5,26,10.1