version: 66.06
glider: 146
mission: 6
dive: 190
start: 6 3 111 4 3 59
data:
$ID,146
$MISSION,6
$DIVE,190
$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,-272266.03
$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,33
$R_STBD_OVSHOOT,60
$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
$GPS1,033448,2250.009,-15758.776,14,2.2,33,10.1
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.06
$_SM_ANGLEo,-64.7
$GPS2,040306,2250.524,-15758.719,38,1.2,44,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.149,-0.181
$KALMAN_X,-91108.4,-198.8,-100.3,88123.3,369.2
$KALMAN_Y,-121594.2,295.6,-124.3,133678.3,1198.4
$MHEAD_RNG_PITCHd_Wd,130.5,3091,-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,-116.8,0.0,0.0,0,127,0.00,0.00,-109.12,0.000,2,0.000,0.000,474,1786,3335,0,0,0,0,0,0
$GC,130,-1.38,-116.8,4.1,-7.9,14,156,12.30,2.65,-2.85,0.000,4,0.149,0.068,2842,236,3498,0,0,0,0,0,0
$GC,248,-1.21,-116.8,36.3,-20.1,28,256,0.15,2.40,0.00,0.000,6,0.215,0.015,2877,1813,3499,0,0,0,0,0,0
$GC,515,-1.21,-116.8,73.6,-10.9,53,519,0.00,2.38,0.00,0.000,4,0.000,0.023,2877,3345,3500,0,0,0,0,0,0
$GC,563,-1.26,-116.8,79.3,-11.4,56,567,0.00,2.45,0.00,0.000,6,0.000,0.025,2877,1803,3500,0,0,0,0,0,0
$GC,824,-1.26,-116.8,113.7,-13.5,80,825,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1803,3500,0,0,0,0,0,0
$GC,1080,-1.26,-116.8,144.6,-11.5,104,1084,0.00,2.40,0.00,0.000,4,0.000,0.031,2877,3344,3500,0,0,0,0,0,0
$GC,1147,-1.34,-116.8,152.1,-11.3,109,1152,0.00,2.38,0.00,0.000,6,0.000,0.029,2877,1831,3500,0,0,0,0,0,0
$GC,1416,-1.38,-116.8,181.7,-10.6,133,1420,0.12,2.38,0.00,0.000,4,0.068,0.026,2826,3345,3500,0,0,0,0,0,0
$GC,1437,-1.38,-116.8,185.0,-11.4,134,1443,0.10,2.38,0.00,0.000,6,0.117,0.028,2847,1834,3500,0,0,0,0,0,0
$GC,1694,-1.38,-116.8,214.8,-11.7,150,1698,0.00,2.35,0.00,0.000,4,0.000,0.028,2848,3346,3499,0,0,0,0,0,0
$GC,1716,-1.38,-116.8,217.5,-11.2,150,1721,0.00,2.40,0.00,0.000,6,0.000,0.031,2848,1836,3499,0,0,0,0,0,0
$GC,1971,-1.38,-116.8,246.5,-11.3,157,1976,0.00,2.38,0.00,0.000,4,0.000,0.028,2847,3346,3499,0,0,0,0,0,0
$GC,2033,-1.42,-116.8,253.5,-10.8,158,2037,0.00,2.40,0.00,0.000,6,0.000,0.029,2848,1846,3499,0,0,0,0,0,0
$GC,2294,-1.42,-116.8,281.6,-10.7,165,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1846,3498,0,0,0,0,0,0
$GC,2537,-1.42,-116.8,307.5,-10.5,171,2541,0.00,2.40,0.00,0.000,4,0.000,0.033,2848,3339,3497,0,0,0,0,0,0
$GC,2576,-1.49,-116.8,311.5,-10.6,172,2580,0.00,2.40,0.00,0.000,6,0.000,0.035,2847,1863,3497,0,0,0,0,0,0
$GC,2861,-1.53,-116.8,339.0,-9.8,179,2866,0.12,2.92,0.00,0.000,4,0.074,0.091,2806,227,3495,0,0,0,0,0,0
$GC,2889,-1.46,-116.8,342.6,-12.6,179,2894,0.12,2.53,0.00,0.000,6,0.116,0.031,2831,1820,3495,0,0,0,0,0,0
$GC,3140,-1.46,-116.8,370.7,-11.1,185,3141,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1820,3494,0,0,0,0,0,0
$GC,3382,-1.46,-116.8,396.7,-10.6,191,3386,0.00,2.55,0.00,0.000,4,0.000,0.047,2831,3378,3492,0,0,0,0,0,0
$GC,3431,-1.52,-116.8,402.2,-10.7,192,3436,0.00,2.55,0.00,0.000,6,0.000,0.051,2831,1865,3492,0,0,0,0,0,0
$GC,3704,-1.52,-116.8,429.8,-10.0,199,3705,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1865,3489,0,0,0,0,0,0
$GC,3949,-1.56,-116.8,452.0,-8.9,205,3954,0.00,2.50,0.00,0.000,4,0.000,0.051,2831,3373,3488,0,0,0,0,0,0
$GC,3973,-1.61,-116.8,454.4,-9.5,205,3978,0.12,2.55,0.00,0.000,6,0.070,0.056,2784,1877,3488,0,0,0,0,0,0
$GC,4230,-1.56,-116.8,484.4,-11.9,212,4232,0.12,0.00,0.00,0.000,6,0.117,0.000,2810,1877,3486,0,0,0,0,0,0
$STATE,4388,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4388,begin apogee
$GC,4395,-0.31,0.0,502.0,10.8,216,4493,1.20,0.00,95.05,0.917,6,0.079,0.000,3082,1998,3020,0,0,0,0,0,0
$STATE,4494,end apogee,CONTROL_FINISHED_OK
$STATE,4494,begin climb
$GC,4497,1.38,116.8,504.3,0.0,218,4601,1.55,0.00,99.97,0.894,6,0.047,0.000,3451,1998,2543,0,0,0,0,0,0
$GC,4822,1.36,170.9,488.9,6.9,226,4876,0.00,2.75,46.45,0.879,4,0.000,0.051,3451,3552,2322,0,0,0,0,0,0
$GC,4918,1.29,173.2,480.8,9.9,228,4922,0.00,2.65,0.00,0.000,6,0.000,0.053,3451,2002,2318,0,0,0,0,0,0
$GC,5191,1.22,173.2,453.0,10.2,235,5193,0.17,0.00,0.00,0.000,6,0.114,0.000,3416,2002,2314,0,0,0,0,0,0
$GC,5433,1.25,200.7,431.9,8.5,241,5464,0.00,3.03,25.45,0.849,4,0.000,0.105,3415,404,2201,0,0,0,0,0,0
$GC,5482,1.28,223.8,427.8,8.7,242,5513,0.00,2.58,22.08,0.829,6,0.000,0.028,3415,1976,2106,0,0,0,0,0,0
$GC,5757,1.28,223.8,399.5,10.6,249,5761,0.00,2.67,0.00,0.000,4,0.000,0.050,3415,3579,2098,0,0,0,0,0,0
$GC,5778,1.28,223.8,396.9,11.3,249,5782,0.00,2.67,0.00,0.000,6,0.000,0.042,3415,1974,2097,0,0,0,0,0,0
$GC,6035,1.28,223.8,369.2,10.8,256,6036,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1973,2096,0,0,0,0,0,0
$GC,6277,1.30,235.8,346.1,9.3,262,6289,0.00,0.00,9.77,0.748,6,0.000,0.000,3416,1973,2058,0,0,0,0,0,0
$GC,6522,1.35,241.9,322.9,9.7,268,6536,0.12,2.83,6.80,0.683,4,0.081,0.076,3451,404,2032,0,0,0,0,0,0
$GC,6560,1.28,241.9,318.5,12.9,268,6566,0.10,2.55,0.00,0.000,6,0.131,0.027,3432,2001,2031,0,0,0,0,0,0
$GC,6809,1.28,241.9,291.1,10.6,275,6814,0.00,2.55,0.00,0.000,4,0.000,0.042,3432,3559,2029,0,0,0,0,0,0
$GC,6865,1.33,241.9,285.4,11.1,276,6869,0.00,2.60,0.00,0.000,6,0.000,0.033,3432,1969,2027,0,0,0,0,0,0
$GC,7132,1.34,250.7,260.7,9.5,283,7147,0.00,2.67,8.50,0.688,4,0.000,0.037,3432,3559,1997,0,0,0,0,0,0
$GC,7181,1.39,250.7,255.2,11.1,284,7186,0.00,2.58,0.00,0.000,6,0.000,0.034,3432,1987,1996,0,0,0,0,0,0
$GC,7462,1.44,256.1,227.5,9.7,291,7476,0.12,2.65,6.35,0.618,4,0.084,0.034,3468,3563,1973,0,0,0,0,0,0
$GC,7498,1.44,256.1,223.2,11.7,291,7504,0.00,2.58,0.00,0.000,6,0.000,0.038,3468,1988,1972,0,0,0,0,0,0
$GC,7748,1.44,256.1,195.2,11.3,298,7749,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,1988,1972,0,0,0,0,0,0
$GC,8008,1.44,256.1,163.2,11.9,322,8013,0.00,2.55,0.00,0.000,4,0.000,0.033,3468,3557,1971,0,0,0,0,0,0
$GC,8095,1.44,256.1,152.2,11.5,329,8099,0.00,2.50,0.00,0.000,6,0.000,0.037,3468,2001,1970,0,0,0,0,0,0
$GC,8362,1.46,269.2,125.2,9.3,353,8381,0.00,0.00,12.18,0.612,6,0.000,0.000,3468,2001,1921,0,0,0,0,0,0
$GC,8639,1.46,269.2,96.6,10.4,379,8643,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,2001,1919,0,0,0,0,0,0
$GC,8905,1.46,270.3,69.1,10.0,404,8913,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,2001,1919,0,0,0,0,0,0
$GC,9170,1.59,321.8,47.2,7.1,429,9225,0.12,2.58,44.97,0.568,4,0.081,0.028,3506,3551,1708,0,0,0,0,0,0
$GC,9330,1.65,321.8,31.3,10.2,441,9335,0.00,2.50,0.00,0.000,6,0.000,0.031,3505,2009,1704,0,0,0,0,0,0
$STATE,9555,end climb,SURFACE_DEPTH_REACHED
$STATE,9555,begin surface coast
$FINISH,0.5,0.980047
$STATE,9598,end surface coast,CONTROL_FINISHED_OK
$STATE,9598,begin surface
$SM_CCo,9621,46.40,0.523,0,0,1470,380.21
$SM_GC,1.16,0.00,0.00,46.40,0.000,0.000,0.523,479,1791,1470,-12.29,-0.25,380.21
$IRIDIUM_FIX,2241.69,-15759.32,270800,040426
$TT8_MAMPS,0.026078
$HUMID,60.86
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.00
$XPDR_PINGS,37
$24V_AH,23.6,23.813
$10V_AH,10.4,20.782
$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,28.825,97.300,377.575,46.400,0.000,103.894,152.381,1077.572,9.250,0.000,46.024,947.406,6518.520,485.272,1805.345,1609.871,33.379,1159.928,0.000,1777.798,0.000,0.536,0.000
$DEVICE_MAMPS,214.760,115.050,916.565,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,323.356,265.880,365.161,705.313,1066.790,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,38428,478
$CAP_FILE_SIZE,116822,0
$CFSIZE,260165632,172310528
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030611,064616,2250.200,-15757.738,8,99.0,27,10.1