version: 66.06
glider: 146
mission: 6
dive: 199
start: 6 4 111 6 36 59
data:
$ID,146
$MISSION,6
$DIVE,199
$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,-272508.75
$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,46
$R_STBD_OVSHOOT,59
$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
$GPS1,062007,2246.781,-15803.186,39,1.1,39,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-72.0
$GPS2,063606,2246.969,-15803.015,10,1.4,26,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.033,0.220
$KALMAN_X,-90704.4,182.4,-100.6,80004.2,343.2
$KALMAN_Y,-113193.7,291.4,-200.6,118781.8,1479.4
$MHEAD_RNG_PITCHd_Wd,341.3,5614,-21.1,-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,-1.45,-103.6,0.0,0.0,0,89,0.00,0.00,-69.93,0.000,2,0.000,0.000,476,1781,3246,0,0,0,0,0,0
$GC,92,-1.46,-116.8,3.3,-5.2,9,118,12.32,2.55,-4.65,0.000,4,0.154,0.041,2820,3363,3498,0,0,0,0,0,0
$GC,308,-1.40,-116.8,50.4,-19.1,33,313,0.10,2.47,0.00,0.000,6,0.139,0.028,2840,1809,3500,0,0,0,0,0,0
$GC,574,-1.40,-116.8,94.3,-14.9,57,578,0.00,2.67,0.00,0.000,4,0.000,0.062,2840,225,3501,0,0,0,0,0,0
$GC,643,-1.35,-116.8,105.7,-15.3,62,653,0.00,2.40,0.00,0.000,6,0.000,0.015,2840,1811,3500,0,0,0,0,0,0
$GC,909,-1.35,-116.8,140.1,-12.7,87,913,0.00,2.38,0.00,0.000,4,0.000,0.031,2840,3335,3501,0,0,0,0,0,0
$GC,977,-1.39,-116.8,149.5,-12.1,92,986,0.00,2.47,0.00,0.000,6,0.000,0.025,2840,1792,3501,0,0,0,0,0,0
$GC,1240,-1.39,-116.8,181.6,-12.8,117,1245,0.00,2.67,0.00,0.000,4,0.000,0.066,2840,222,3501,0,0,0,0,0,0
$GC,1285,-1.39,-116.8,188.2,-13.2,120,1295,0.00,2.38,0.00,0.000,6,0.000,0.021,2840,1791,3501,0,0,0,0,0,0
$GC,1563,-1.39,-116.8,221.9,-12.8,135,1564,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1791,3502,0,0,0,0,0,0
$GC,1804,-1.43,-116.8,251.1,-11.4,141,1809,0.00,2.42,0.00,0.000,4,0.000,0.038,2840,3335,3502,0,0,0,0,0,0
$GC,1838,-1.48,-116.8,254.8,-10.8,141,1844,0.00,2.47,0.00,0.000,6,0.000,0.029,2840,1796,3502,0,0,0,0,0,0
$GC,2089,-1.54,-116.8,281.7,-10.6,148,2094,0.10,2.47,0.00,0.000,4,0.082,0.037,2800,3337,3501,0,0,0,0,0,0
$GC,2122,-1.54,-116.8,285.7,-12.2,148,2128,0.00,2.47,0.00,0.000,6,0.000,0.032,2799,1804,3501,0,0,0,0,0,0
$GC,2372,-1.54,-116.8,314.4,-11.6,155,2376,0.00,2.42,0.00,0.000,4,0.000,0.036,2799,3331,3500,0,0,0,0,0,0
$GC,2387,-1.54,-116.8,316.4,-11.1,155,2392,0.00,2.47,0.00,0.000,6,0.000,0.041,2799,1816,3500,0,0,0,0,0,0
$GC,2650,-1.54,-116.8,345.8,-11.4,162,2654,0.00,2.45,0.00,0.000,4,0.000,0.034,2799,3334,3499,0,0,0,0,0,0
$GC,2690,-1.54,-116.8,350.7,-11.8,163,2695,0.00,2.53,0.00,0.000,6,0.000,0.050,2799,1815,3499,0,0,0,0,0,0
$GC,2973,-1.54,-116.8,384.5,-12.1,170,2977,0.00,2.45,0.00,0.000,4,0.000,0.046,2799,3328,3497,0,0,0,0,0,0
$GC,3013,-1.54,-116.8,389.3,-12.7,171,3018,0.00,2.58,0.00,0.000,6,0.000,0.055,2799,1808,3497,0,0,0,0,0,0
$GC,3297,-1.54,-116.8,422.1,-11.3,178,3301,0.00,2.47,0.00,0.000,4,0.000,0.044,2799,3324,3495,0,0,0,0,0,0
$GC,3336,-1.58,-116.8,426.5,-11.4,179,3340,0.00,2.58,0.00,0.000,6,0.000,0.059,2799,1813,3495,0,0,0,0,0,0
$GC,3620,-1.58,-116.8,457.6,-10.7,186,3624,0.00,2.50,0.00,0.000,4,0.000,0.054,2799,3329,3493,0,0,0,0,0,0
$GC,3681,-1.63,-116.8,464.7,-11.1,187,3686,0.00,2.58,0.00,0.000,6,0.000,0.066,2799,1829,3493,0,0,0,0,0,0
$GC,3943,-1.63,-116.8,492.5,-10.7,194,3944,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1829,3491,0,0,0,0,0,0
$STATE,4021,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4021,begin apogee
$GC,4027,-0.31,0.0,501.0,10.7,196,4127,1.25,0.00,96.12,0.916,6,0.088,0.000,3078,1947,3020,0,0,0,0,0,0
$STATE,4127,end apogee,CONTROL_FINISHED_OK
$STATE,4127,begin climb
$GC,4130,1.46,116.8,503.4,0.0,198,4234,1.67,0.00,100.22,0.901,6,0.048,0.000,3470,1947,2542,0,0,0,0,0,0
$GC,4469,1.42,147.1,484.8,8.1,207,4497,0.00,0.00,26.00,0.866,6,0.000,0.000,3470,1947,2419,0,0,0,0,0,0
$GC,4711,1.36,155.2,462.5,9.5,213,4726,0.12,2.95,7.68,0.742,4,0.124,0.097,3446,403,2387,0,0,0,0,0,0
$GC,4732,1.31,167.5,460.5,9.2,213,4753,0.00,2.60,12.60,0.807,6,0.000,0.035,3446,1980,2336,0,0,0,0,0,0
$GC,4999,1.32,173.9,435.4,9.6,220,5012,0.00,2.78,6.55,0.714,4,0.000,0.050,3446,3580,2310,0,0,0,0,0,0
$GC,5046,1.32,173.9,430.1,10.6,221,5051,0.00,2.67,0.00,0.000,6,0.000,0.044,3446,1992,2308,0,0,0,0,0,0
$GC,5325,1.32,173.9,402.1,10.1,228,5330,0.00,2.62,0.00,0.000,4,0.000,0.038,3445,3577,2306,0,0,0,0,0,0
$GC,5341,1.32,173.9,400.3,10.3,228,5345,0.00,2.62,0.00,0.000,6,0.000,0.045,3446,1994,2305,0,0,0,0,0,0
$GC,5602,1.33,176.8,374.2,9.9,235,5606,0.00,2.60,0.00,0.000,4,0.000,0.041,3446,3577,2304,0,0,0,0,0,0
$GC,5628,1.33,178.9,371.4,9.9,235,5642,0.00,2.60,5.00,0.630,6,0.000,0.038,3446,2003,2289,0,0,0,0,0,0
$GC,5885,1.34,189.2,347.3,9.4,242,5901,0.00,2.85,10.82,0.771,4,0.000,0.077,3446,409,2246,0,0,0,0,0,0
$GC,5918,1.35,197.9,343.9,9.5,242,5932,0.00,2.60,9.05,0.736,6,0.000,0.028,3446,2023,2212,0,0,0,0,0,0
$GC,6212,1.37,210.7,316.6,9.2,250,6231,0.00,2.62,12.12,0.765,4,0.000,0.043,3446,3567,2160,0,0,0,0,0,0
$GC,6266,1.37,210.7,311.3,10.1,251,6270,0.00,2.58,0.00,0.000,6,0.000,0.035,3446,1999,2159,0,0,0,0,0,0
$GC,6538,1.38,224.5,286.3,9.1,258,6557,0.00,2.65,13.25,0.752,4,0.000,0.035,3446,3568,2103,0,0,0,0,0,0
$GC,6570,1.39,228.0,283.1,9.8,258,6581,0.00,2.58,4.57,0.555,6,0.000,0.031,3446,1998,2090,0,0,0,0,0,0
$GC,6825,1.44,235.0,258.3,9.6,265,6834,0.00,0.00,7.15,0.662,6,0.000,0.000,3446,1998,2062,0,0,0,0,0,0
$GC,7070,1.49,237.2,234.0,9.9,271,7075,0.12,2.60,0.00,0.000,4,0.078,0.036,3479,3574,2059,0,0,0,0,0,0
$GC,7097,1.49,237.2,230.6,11.7,271,7102,0.00,2.53,0.00,0.000,6,0.000,0.031,3479,2009,2058,0,0,0,0,0,0
$GC,7353,1.49,237.2,203.6,10.3,278,7357,0.00,2.72,0.00,0.000,4,0.000,0.064,3479,410,2058,0,0,0,0,0,0
$GC,7398,1.43,237.2,198.2,12.2,279,7407,0.00,2.55,0.00,0.000,6,0.000,0.020,3479,2017,2057,0,0,0,0,0,0
$GC,7664,1.43,237.2,169.1,10.2,304,7668,0.00,0.00,0.00,0.000,6,0.000,0.000,3479,2017,2057,0,0,0,0,0,0
$GC,7930,1.44,242.2,141.8,9.7,329,7944,0.00,2.80,7.22,0.588,4,0.000,0.058,3480,411,2032,0,0,0,0,0,0
$GC,8002,1.44,242.2,133.5,11.4,335,8007,0.00,2.50,0.00,0.000,6,0.000,0.025,3479,2004,2030,0,0,0,0,0,0
$GC,8269,1.46,256.7,108.2,9.1,359,8294,0.00,2.58,14.25,0.615,4,0.000,0.035,3480,3559,1971,0,0,0,0,0,0
$GC,8419,1.50,256.7,92.3,11.7,371,8423,0.00,2.53,0.00,0.000,6,0.000,0.032,3479,2003,1970,0,0,0,0,0,0
$GC,8687,1.57,273.4,65.6,8.9,395,8715,0.00,2.75,15.38,0.574,4,0.000,0.054,3479,417,1903,0,0,0,0,0,0
$GC,8818,1.62,273.4,50.9,11.2,405,8823,0.00,2.45,0.00,0.000,6,0.000,0.018,3479,1993,1902,0,0,0,0,0,0
$GC,9090,1.76,314.3,28.3,7.4,430,9133,0.22,2.70,35.65,0.552,4,0.056,0.049,3542,407,1736,0,0,0,0,0,0
$GC,9177,1.70,314.3,18.6,13.5,441,9187,0.08,2.50,0.00,0.000,6,0.094,0.018,3522,1992,1734,0,0,0,0,0,0
$STATE,9297,end climb,SURFACE_DEPTH_REACHED
$STATE,9297,begin surface coast
$FINISH,0.6,0.978401
$STATE,9343,end surface coast,CONTROL_FINISHED_OK
$STATE,9343,begin surface
$SM_CCo,9365,52.53,0.528,0,0,1469,380.21
$SM_GC,1.43,0.00,0.00,52.53,0.000,0.000,0.528,478,1767,1469,-12.30,-0.93,380.21
$IRIDIUM_FIX,2237.01,-15754.99,280800,060621
$TT8_MAMPS,0.025311
$HUMID,60.43
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.80
$XPDR_PINGS,45
$24V_AH,23.5,25.018
$10V_AH,10.3,21.790
$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,28.400,123.900,383.650,52.525,0.000,113.595,135.798,361.390,11.250,0.000,27.889,946.943,6254.125,519.724,1759.247,897.578,33.365,1196.934,0.000,1747.613,0.000,0.535,0.000
$DEVICE_MAMPS,154.167,150.332,915.798,527.696,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,313.594,252.635,352.832,677.391,1024.525,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,35228,464
$CAP_FILE_SIZE,109855,0
$CFSIZE,260165632,171843584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,040611,091455,2248.692,-15803.182,7,1.7,18,10.1