version: 66.06
glider: 146
mission: 6
dive: 225
start: 6 7 111 8 50 40
data:
$ID,146
$MISSION,6
$DIVE,225
$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,623.79791
$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,-273164.06
$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,52
$R_STBD_OVSHOOT,73
$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
$GPS1,083437,2247.233,-15800.658,28,1.1,28,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.5
$GPS2,084944,2247.383,-15800.623,13,1.2,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.199,-0.125
$KALMAN_X,-89406.6,-53.8,-67.4,82993.4,168.6
$KALMAN_Y,-95325.9,233.3,11.9,101522.5,926.7
$MHEAD_RNG_PITCHd_Wd,227.8,4120,-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,-70.85,0.000,2,0.000,0.000,474,1804,3248,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.1,-4.9,9,117,12.70,2.60,-4.70,0.000,4,0.162,0.068,2845,279,3498,0,0,0,0,0,0
$GC,367,-1.23,-116.8,62.2,-18.6,38,375,0.15,2.38,0.00,0.000,6,0.101,0.014,2881,1831,3500,0,0,0,0,0,0
$GC,633,-1.23,-116.8,99.9,-14.0,63,638,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1832,3500,0,0,0,0,0,0
$GC,895,-1.23,-116.8,134.4,-12.7,88,896,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1832,3500,0,0,0,0,0,0
$GC,1153,-1.23,-116.8,163.0,-11.3,112,1157,0.00,2.45,0.00,0.000,4,0.000,0.028,2881,3389,3501,0,0,0,0,0,0
$GC,1170,-1.23,-116.8,165.2,-10.9,113,1175,0.00,2.47,0.00,0.000,6,0.000,0.029,2881,1824,3501,0,0,0,0,0,0
$GC,1434,-1.28,-116.8,192.5,-9.9,137,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1824,3502,0,0,0,0,0,0
$GC,1711,-1.34,-116.8,219.9,-9.7,149,1715,0.00,2.65,0.00,0.000,4,0.000,0.063,2881,262,3502,0,0,0,0,0,0
$GC,1750,-1.38,-116.8,224.1,-10.4,150,1755,0.12,2.38,0.00,0.000,6,0.077,0.015,2840,1834,3502,0,0,0,0,0,0
$GC,2033,-1.38,-116.8,255.0,-11.0,157,2037,0.00,2.45,0.00,0.000,4,0.000,0.031,2840,3378,3502,0,0,0,0,0,0
$GC,2056,-1.38,-116.8,257.8,-11.8,157,2061,0.00,2.47,0.00,0.000,6,0.000,0.028,2839,1832,3502,0,0,0,0,0,0
$GC,2311,-1.38,-116.8,287.0,-11.1,164,2312,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1832,3502,0,0,0,0,0,0
$GC,2555,-1.38,-116.8,312.9,-10.4,170,2559,0.00,2.47,0.00,0.000,4,0.000,0.032,2839,3375,3501,0,0,0,0,0,0
$GC,2617,-1.43,-116.8,318.8,-9.5,171,2622,0.00,2.53,0.00,0.000,6,0.000,0.039,2840,1831,3501,0,0,0,0,0,0
$GC,2879,-1.47,-116.8,344.9,-10.2,178,2883,0.00,2.83,0.00,0.000,4,0.000,0.094,2839,249,3500,0,0,0,0,0,0
$GC,2894,-1.47,-116.8,346.7,-10.0,178,2899,0.00,2.42,0.00,0.000,6,0.000,0.022,2839,1795,3500,0,0,0,0,0,0
$GC,3157,-1.51,-116.8,373.9,-10.4,185,3161,0.00,2.65,0.00,0.000,4,0.000,0.047,2839,3406,3499,0,0,0,0,0,0
$GC,3212,-1.58,-116.8,380.1,-10.7,186,3217,0.12,2.62,0.00,0.000,6,0.072,0.046,2796,1834,3499,0,0,0,0,0,0
$GC,3479,-1.58,-116.8,412.8,-12.5,193,3483,0.00,2.58,0.00,0.000,4,0.000,0.049,2796,3400,3497,0,0,0,0,0,0
$GC,3506,-1.58,-116.8,416.5,-13.9,193,3511,0.00,2.65,0.00,0.000,6,0.000,0.052,2796,1836,3497,0,0,0,0,0,0
$GC,3756,-1.58,-116.8,448.3,-12.8,199,3760,0.00,2.60,0.00,0.000,4,0.000,0.048,2796,3401,3495,0,0,0,0,0,0
$GC,3795,-1.58,-116.8,453.3,-12.4,200,3800,0.00,2.65,0.00,0.000,6,0.000,0.055,2796,1843,3495,0,0,0,0,0,0
$GC,4079,-1.58,-116.8,487.0,-11.5,207,4080,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1843,3493,0,0,0,0,0,0
$STATE,4197,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4197,begin apogee
$GC,4203,-0.31,0.0,500.0,10.8,210,4303,1.30,0.00,96.15,0.910,6,0.084,0.000,3087,2001,3020,0,0,0,0,0,0
$STATE,4304,end apogee,CONTROL_FINISHED_OK
$STATE,4304,begin climb
$GC,4306,1.38,116.8,502.1,0.0,212,4417,1.55,3.08,98.85,0.890,4,0.046,0.105,3458,408,2542,0,0,0,0,0,0
$GC,4429,1.34,198.5,499.9,5.3,215,4505,0.00,2.60,70.07,0.874,6,0.000,0.036,3458,1972,2210,0,0,0,0,0,0
$GC,4750,1.27,198.5,465.7,11.3,222,4755,0.12,2.75,0.00,0.000,4,0.126,0.061,3434,3579,2201,0,0,0,0,0,0
$GC,4828,1.27,198.5,457.1,10.6,223,4833,0.00,2.70,0.00,0.000,6,0.000,0.053,3434,1997,2199,0,0,0,0,0,0
$GC,5078,1.27,198.5,431.3,10.3,230,5082,0.00,2.65,0.00,0.000,4,0.000,0.043,3434,3587,2197,0,0,0,0,0,0
$GC,5100,1.27,199.0,429.1,10.0,230,5105,0.00,2.70,0.00,0.000,6,0.000,0.051,3434,1995,2196,0,0,0,0,0,0
$GC,5357,1.27,199.5,403.3,10.0,237,5358,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1995,2195,0,0,0,0,0,0
$GC,5599,1.27,199.7,379.0,10.0,243,5600,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1995,2194,0,0,0,0,0,0
$GC,5844,1.29,210.3,355.8,9.4,249,5858,0.00,2.67,8.57,0.731,4,0.000,0.039,3434,3583,2162,0,0,0,0,0,0
$GC,5875,1.29,211.3,352.4,10.0,249,5880,0.00,2.65,0.00,0.000,6,0.000,0.040,3434,1988,2160,0,0,0,0,0,0
$GC,6125,1.30,225.2,328.5,9.2,255,6145,0.00,2.83,14.45,0.769,4,0.000,0.080,3434,413,2101,0,0,0,0,0,0
$GC,6164,1.30,225.8,324.8,10.0,256,6169,0.00,2.55,0.00,0.000,6,0.000,0.025,3434,2013,2099,0,0,0,0,0,0
$GC,6447,1.31,233.5,297.5,9.6,263,6461,0.00,2.58,8.45,0.698,4,0.000,0.038,3435,3554,2067,0,0,0,0,0,0
$GC,6495,1.31,233.5,292.6,10.0,264,6499,0.00,2.60,0.00,0.000,6,0.000,0.031,3434,1976,2065,0,0,0,0,0,0
$GC,6775,1.31,233.7,264.6,10.0,271,6779,0.00,2.60,0.00,0.000,4,0.000,0.040,3434,3566,2063,0,0,0,0,0,0
$GC,6807,1.32,239.9,261.2,9.7,271,6821,0.00,2.58,6.80,0.644,6,0.000,0.038,3434,1983,2041,0,0,0,0,0,0
$GC,7101,1.37,248.5,234.5,9.5,279,7115,0.00,2.78,8.68,0.663,4,0.000,0.071,3434,414,2007,0,0,0,0,0,0
$GC,7144,1.37,248.5,230.1,10.8,280,7149,0.00,2.50,0.00,0.000,6,0.000,0.019,3434,1991,2005,0,0,0,0,0,0
$GC,7429,1.45,271.8,204.9,8.7,287,7454,0.15,0.00,22.12,0.699,6,0.071,0.000,3477,1991,1911,0,0,0,0,0,0
$GC,7681,1.45,271.8,176.5,11.1,305,7685,0.00,2.70,0.00,0.000,4,0.000,0.061,3478,411,1906,0,0,0,0,0,0
$GC,7747,1.40,271.8,168.7,11.8,310,7751,0.00,2.47,0.00,0.000,6,0.000,0.024,3477,1984,1905,0,0,0,0,0,0
$GC,8011,1.40,271.8,136.4,11.8,334,8015,0.00,2.67,0.00,0.000,4,0.000,0.055,3477,409,1904,0,0,0,0,0,0
$GC,8063,1.40,271.8,129.5,11.9,338,8067,0.00,2.45,0.00,0.000,6,0.000,0.025,3477,1976,1904,0,0,0,0,0,0
$GC,8327,1.44,300.3,103.4,8.4,362,8364,0.00,2.65,24.62,0.611,4,0.000,0.035,3477,3560,1793,0,0,0,0,0,0
$GC,8415,1.45,307.4,95.5,9.6,369,8429,0.00,2.60,7.32,0.522,6,0.000,0.030,3477,1959,1765,0,0,0,0,0,0
$GC,8695,1.49,307.4,65.4,10.1,395,8700,0.00,2.60,0.00,0.000,4,0.000,0.055,3477,408,1762,0,0,0,0,0,0
$GC,8727,1.49,307.4,61.8,11.1,397,8732,0.00,2.38,0.00,0.000,6,0.000,0.017,3477,1958,1761,0,0,0,0,0,0
$GC,8997,1.55,311.9,36.3,9.8,421,9006,0.00,0.00,5.12,0.430,6,0.000,0.000,3477,1960,1746,0,0,0,0,0,0
$GC,9312,1.67,344.0,4.6,8.2,465,9322,0.17,0.00,7.90,0.463,2,0.067,0.000,3525,1960,1717,0,0,0,0,0,0
$STATE,9323,end climb,SURFACE_DEPTH_REACHED
$STATE,9323,begin surface coast
$FINISH,0.5,0.980083
$STATE,9387,end surface coast,CONTROL_FINISHED_OK
$STATE,9387,begin surface
$SM_CCo,9410,241.18,0.513,0,0,476,623.80
$SM_GC,1.12,0.00,0.00,241.18,0.000,0.000,0.513,477,1814,476,-12.32,-0.45,623.80
$IRIDIUM_FIX,2239.35,-15759.32,310800,080845
$TT8_MAMPS,0.025311
$HUMID,56.14
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,22.00
$XPDR_PINGS,43
$24V_AH,23.5,28.132
$10V_AH,10.4,24.633
$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,28.825,109.625,379.125,241.175,0.000,134.700,400.401,0.000,10.750,0.000,18.375,963.401,6328.896,664.672,1808.369,798.218,33.366,1334.401,0.000,1810.121,0.000,0.536,0.000
$DEVICE_MAMPS,161.837,105.079,910.429,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.203,286.417,367.187,709.842,1075.270,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,38508,475
$CAP_FILE_SIZE,98186,0
$CFSIZE,260165632,170475520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070611,113246,2247.402,-15801.833,13,6.7,32,10.1