version: 66.06
glider: 146
mission: 6
dive: 248
start: 6 10 111 5 1 31
data:
$ID,146
$MISSION,6
$DIVE,248
$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,-273797.97
$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,3160
$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,40
$R_STBD_OVSHOOT,55
$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
$GPS1,043007,2247.214,-15801.246,37,1.1,37,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.00
$_SM_ANGLEo,-65.1
$GPS2,050037,2247.387,-15801.474,10,1.6,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.208,-0.110
$KALMAN_X,-96834.3,-675.0,-191.5,89720.5,-129.9
$KALMAN_Y,-76684.4,3.1,384.9,82749.2,490.8
$MHEAD_RNG_PITCHd_Wd,232.0,2703,-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,17,-1.38,-116.8,0.0,0.0,0,128,0.00,0.00,-108.35,0.000,2,0.000,0.000,475,1813,3311,0,0,0,0,0,0
$GC,131,-1.38,-116.8,3.4,-5.5,14,157,12.23,2.62,-3.45,0.000,4,0.145,0.070,2850,271,3499,0,0,0,0,0,0
$GC,310,-1.25,-116.8,44.7,-18.4,34,315,0.17,2.38,0.00,0.000,6,0.226,0.014,2886,1853,3500,0,0,0,0,0,0
$GC,572,-1.25,-116.8,84.0,-13.7,58,576,0.00,2.38,0.00,0.000,4,0.000,0.033,2886,3374,3500,0,0,0,0,0,0
$GC,606,-1.25,-116.8,89.0,-13.3,60,616,0.00,2.45,0.00,0.000,6,0.000,0.031,2886,1846,3500,0,0,0,0,0,0
$GC,873,-1.25,-116.8,119.9,-11.1,85,877,0.00,2.40,0.00,0.000,4,0.000,0.031,2886,3381,3500,0,0,0,0,0,0
$GC,904,-1.29,-116.8,123.5,-11.2,87,909,0.00,2.45,0.00,0.000,6,0.000,0.030,2886,1841,3500,0,0,0,0,0,0
$GC,1169,-1.34,-116.8,152.3,-11.9,111,1177,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1841,3500,0,0,0,0,0,0
$GC,1434,-1.40,-116.8,181.9,-11.1,136,1439,0.12,0.00,0.00,0.000,6,0.067,0.000,2833,1840,3500,0,0,0,0,0,0
$GC,1691,-1.40,-116.8,216.7,-13.2,152,1696,0.10,2.45,0.00,0.000,4,0.117,0.028,2855,3380,3500,0,0,0,0,0,0
$GC,1730,-1.45,-116.8,221.6,-11.8,153,1735,0.00,2.45,0.00,0.000,6,0.000,0.026,2855,1844,3500,0,0,0,0,0,0
$GC,2014,-1.45,-116.8,253.3,-10.7,160,2018,0.00,2.40,0.00,0.000,4,0.000,0.028,2855,3371,3499,0,0,0,0,0,0
$GC,2042,-1.49,-116.8,256.1,-10.3,160,2047,0.00,2.42,0.00,0.000,6,0.000,0.034,2855,1845,3499,0,0,0,0,0,0
$GC,2292,-1.54,-116.8,281.3,-10.1,166,2297,0.12,2.45,0.00,0.000,4,0.072,0.038,2809,3374,3498,0,0,0,0,0,0
$GC,2325,-1.54,-116.8,285.1,-11.6,166,2331,0.00,2.42,0.00,0.000,6,0.000,0.036,2809,1865,3498,0,0,0,0,0,0
$GC,2576,-1.54,-116.8,315.3,-12.2,173,2581,0.00,2.83,0.00,0.000,4,0.000,0.081,2808,248,3498,0,0,0,0,0,0
$GC,2620,-1.47,-116.8,321.1,-13.3,174,2625,0.15,2.47,0.00,0.000,6,0.110,0.029,2841,1820,3497,0,0,0,0,0,0
$GC,2900,-1.51,-116.8,347.7,-9.6,181,2901,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1820,3496,0,0,0,0,0,0
$GC,3142,-1.55,-116.8,373.1,-10.4,187,3146,0.00,2.62,0.00,0.000,4,0.000,0.052,2840,3414,3495,0,0,0,0,0,0
$GC,3175,-1.61,-116.8,376.7,-10.8,187,3181,0.12,2.58,0.00,0.000,6,0.067,0.048,2791,1874,3494,0,0,0,0,0,0
$GC,3426,-1.57,-116.8,406.5,-12.1,194,3428,0.12,0.00,0.00,0.000,6,0.110,0.000,2817,1874,3493,0,0,0,0,0,0
$GC,3668,-1.57,-116.8,435.2,-11.8,200,3672,0.00,2.55,0.00,0.000,4,0.000,0.046,2817,3411,3491,0,0,0,0,0,0
$GC,3694,-1.57,-116.8,438.4,-12.1,200,3699,0.00,2.62,0.00,0.000,6,0.000,0.061,2817,1862,3491,0,0,0,0,0,0
$GC,3944,-1.57,-116.8,465.0,-10.3,206,3949,0.00,2.58,0.00,0.000,4,0.000,0.056,2817,3405,3488,0,0,0,0,0,0
$GC,3967,-1.57,-116.8,467.3,-10.6,206,3971,0.00,2.60,0.00,0.000,6,0.000,0.061,2818,1872,3488,0,0,0,0,0,0
$GC,4222,-1.57,-116.8,494.9,-11.0,213,4226,0.00,2.58,0.00,0.000,4,0.000,0.056,2817,3399,3486,0,0,0,0,0,0
$GC,4242,-1.57,-116.8,497.4,-11.5,213,4247,0.00,2.62,0.00,0.000,6,0.000,0.063,2817,1872,3486,0,0,0,0,0,0
$STATE,4292,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4292,begin apogee
$GC,4300,-0.31,0.0,503.3,11.6,215,4399,1.20,0.00,95.57,0.910,6,0.078,0.000,3089,2008,3020,0,0,0,0,0,0
$STATE,4400,end apogee,CONTROL_FINISHED_OK
$STATE,4400,begin climb
$GC,4402,1.38,116.8,506.4,0.0,217,4514,1.55,2.75,99.78,0.888,4,0.045,0.058,3461,3552,2541,0,0,0,0,0,0
$GC,4566,1.30,150.8,503.9,8.1,220,4601,0.00,2.70,29.80,0.855,6,0.000,0.051,3461,1990,2405,0,0,0,0,0,0
$GC,4853,1.21,150.8,476.3,10.1,228,4858,0.17,2.65,0.00,0.000,4,0.216,0.044,3426,3567,2396,0,0,0,0,0,0
$GC,4882,1.17,152.9,473.2,9.9,228,4887,0.00,2.67,0.00,0.000,6,0.000,0.055,3426,2004,2395,0,0,0,0,0,0
$GC,5132,1.20,176.5,451.0,8.7,234,5162,0.00,2.70,22.25,0.844,4,0.000,0.041,3426,3558,2299,0,0,0,0,0,0
$GC,5207,1.21,182.1,444.2,9.7,235,5218,0.00,2.62,6.35,0.691,6,0.000,0.053,3426,2024,2276,0,0,0,0,0,0
$GC,5463,1.23,196.9,420.7,9.2,242,5479,0.00,0.00,14.10,0.808,6,0.000,0.000,3426,2024,2217,0,0,0,0,0,0
$GC,5705,1.23,196.9,395.4,10.5,248,5707,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,2024,2212,0,0,0,0,0,0
$GC,5949,1.24,210.1,372.0,9.3,254,5969,0.00,2.62,12.05,0.779,4,0.000,0.038,3426,3560,2163,0,0,0,0,0,0
$GC,5976,1.27,230.4,369.7,8.9,254,6001,0.00,2.60,19.70,0.801,6,0.000,0.036,3426,2008,2079,0,0,0,0,0,0
$GC,6275,1.30,252.9,343.0,8.7,262,6298,0.00,0.00,20.90,0.792,6,0.000,0.000,3426,2008,1987,0,0,0,0,0,0
$GC,6518,1.30,252.9,317.8,10.6,268,6523,0.00,2.83,0.00,0.000,4,0.000,0.079,3426,410,1982,0,0,0,0,0,0
$GC,6567,1.30,252.9,311.7,12.0,269,6572,0.00,2.55,0.00,0.000,6,0.000,0.025,3426,2018,1980,0,0,0,0,0,0
$GC,6842,1.36,270.4,286.5,9.0,276,6864,0.12,2.83,15.75,0.749,4,0.081,0.060,3461,412,1915,0,0,0,0,0,0
$GC,6910,1.31,270.4,278.5,12.9,277,6915,0.00,2.55,0.00,0.000,6,0.000,0.024,3461,2004,1912,0,0,0,0,0,0
$GC,7166,1.31,270.4,248.0,12.0,284,7167,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2004,1911,0,0,0,0,0,0
$GC,7410,1.31,270.4,218.9,11.8,290,7411,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2005,1909,0,0,0,0,0,0
$GC,7657,1.31,270.4,192.5,10.0,299,7658,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2005,1909,0,0,0,0,0,0
$GC,7910,1.31,272.2,165.2,9.9,323,7912,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2005,1908,0,0,0,0,0,0
$GC,8171,1.37,286.4,141.3,9.2,347,8190,0.00,0.00,13.32,0.624,6,0.000,0.000,3461,2005,1853,0,0,0,0,0,0
$GC,8448,1.42,287.2,112.8,10.0,373,8453,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2005,1850,0,0,0,0,0,0
$GC,8711,1.53,314.0,88.3,8.5,398,8742,0.12,0.00,24.90,0.591,6,0.077,0.000,3498,2006,1737,0,0,0,0,0,0
$GC,8999,1.53,314.0,55.8,12.0,425,9003,0.00,2.67,0.00,0.000,4,0.000,0.054,3498,403,1733,0,0,0,0,0,0
$GC,9105,1.53,314.0,41.7,11.6,433,9109,0.00,2.50,0.00,0.000,6,0.000,0.018,3498,2012,1732,0,0,0,0,0,0
$GC,9407,1.53,314.0,7.5,11.6,471,9416,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,2015,1732,0,0,0,0,0,0
$STATE,9430,end climb,SURFACE_DEPTH_REACHED
$STATE,9430,begin surface coast
$FINISH,0.5,0.979867
$STATE,9466,end surface coast,CONTROL_FINISHED_OK
$STATE,9466,begin surface
$SM_CCo,9490,52.55,0.521,0,0,1469,380.21
$SM_GC,1.22,0.00,0.00,52.55,0.000,0.000,0.521,482,1813,1469,-12.32,-0.48,380.21
$IRIDIUM_FIX,2237.01,-15802.37,030900,040444
$TT8_MAMPS,0.026078
$HUMID,60.98
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.70
$XPDR_PINGS,40
$24V_AH,23.6,31.291
$10V_AH,10.4,27.215
$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,28.625,93.100,374.475,52.550,0.000,147.676,189.836,1059.656,10.000,0.000,17.335,941.523,6482.909,495.927,1740.175,1715.278,33.373,1160.472,0.000,1741.394,0.000,0.536,0.000
$DEVICE_MAMPS,226.265,97.409,910.429,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,323.979,275.193,370.069,691.761,1041.380,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355812
$DATA_FILE_SIZE,38358,479
$CAP_FILE_SIZE,117502,0
$CFSIZE,260165632,169263104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,100611,074146,2247.067,-15802.822,11,99.0,30,10.1