version: 66.06
glider: 146
mission: 6
dive: 205
start: 6 4 111 23 33 21
data:
$ID,146
$MISSION,6
$DIVE,205
$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,-272643.44
$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,1820
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,38
$R_STBD_OVSHOOT,51
$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
$GPS1,232127,2250.101,-15757.052,10,2.1,29,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.4
$GPS2,233226,2250.270,-15757.050,18,2.2,37,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.083,-0.220
$KALMAN_X,-89170.5,-171.4,-144.8,89054.2,475.5
$KALMAN_Y,-109957.4,-374.8,386.2,121734.3,515.9
$MHEAD_RNG_PITCHd_Wd,190.7,6190,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.80,0.000,2,0.000,0.000,474,1795,3264,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.5,-6.2,9,119,12.60,2.65,-4.20,0.000,4,0.159,0.064,2843,250,3499,0,0,0,0,0,0
$GC,233,-1.16,-116.8,39.7,-20.8,26,238,0.28,2.40,0.00,0.000,6,0.119,0.014,2898,1854,3501,0,0,0,0,0,0
$GC,501,-1.16,-116.8,80.0,-14.0,50,510,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1855,3502,0,0,0,0,0,0
$GC,766,-1.22,-116.8,111.7,-11.2,75,770,0.00,2.35,0.00,0.000,4,0.000,0.031,2899,3363,3503,0,0,0,0,0,0
$GC,783,-1.27,-116.8,114.0,-11.1,76,787,0.00,2.40,0.00,0.000,6,0.000,0.025,2899,1835,3503,0,0,0,0,0,0
$GC,1047,-1.34,-116.8,140.4,-9.0,100,1052,0.15,2.42,0.00,0.000,4,0.067,0.029,2849,3362,3504,0,0,0,0,0,0
$GC,1081,-1.34,-116.8,144.5,-11.3,102,1090,0.00,2.42,0.00,0.000,6,0.000,0.026,2849,1847,3503,0,0,0,0,0,0
$GC,1349,-1.34,-116.8,176.2,-12.3,127,1353,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1847,3504,0,0,0,0,0,0
$GC,1617,-1.34,-116.8,210.1,-12.4,147,1621,0.00,2.40,0.00,0.000,4,0.000,0.029,2849,3364,3504,0,0,0,0,0,0
$GC,1645,-1.34,-116.8,213.7,-12.6,147,1649,0.00,2.38,0.00,0.000,6,0.000,0.024,2849,1851,3503,0,0,0,0,0,0
$GC,1896,-1.34,-116.8,241.8,-11.2,153,1897,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1851,3504,0,0,0,0,0,0
$GC,2138,-1.34,-116.8,268.0,-10.8,159,2139,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1851,3504,0,0,0,0,0,0
$GC,2382,-1.34,-116.8,294.3,-11.0,165,2386,0.00,2.45,0.00,0.000,4,0.000,0.040,2849,3359,3504,0,0,0,0,0,0
$GC,2433,-1.41,-116.8,299.7,-10.4,166,2437,0.00,2.45,0.00,0.000,6,0.000,0.038,2849,1853,3504,0,0,0,0,0,0
$GC,2705,-1.45,-116.8,327.4,-10.0,173,2709,0.00,2.42,0.00,0.000,4,0.000,0.032,2849,3359,3503,0,0,0,0,0,0
$GC,2734,-1.51,-116.8,330.1,-9.8,173,2739,0.10,2.50,0.00,0.000,6,0.082,0.039,2814,1841,3503,0,0,0,0,0,0
$GC,2985,-1.51,-116.8,356.7,-10.6,179,2989,0.00,2.47,0.00,0.000,4,0.000,0.044,2814,3354,3502,0,0,0,0,0,0
$GC,3000,-1.51,-116.8,358.6,-10.5,179,3004,0.00,2.47,0.00,0.000,6,0.000,0.049,2814,1850,3501,0,0,0,0,0,0
$GC,3261,-1.51,-116.8,388.1,-11.5,186,3266,0.00,2.45,0.00,0.000,4,0.000,0.045,2814,3349,3500,0,0,0,0,0,0
$GC,3290,-1.51,-116.8,391.5,-11.9,186,3294,0.00,2.50,0.00,0.000,6,0.000,0.048,2814,1860,3500,0,0,0,0,0,0
$GC,3539,-1.51,-116.8,420.3,-11.5,192,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1860,3499,0,0,0,0,0,0
$GC,3783,-1.51,-116.8,448.7,-11.6,198,3787,0.00,2.50,0.00,0.000,4,0.000,0.051,2814,3349,3497,0,0,0,0,0,0
$GC,3828,-1.51,-116.8,453.7,-11.1,199,3833,0.00,2.53,0.00,0.000,6,0.000,0.061,2814,1874,3497,0,0,0,0,0,0
$GC,4107,-1.51,-116.8,481.5,-9.7,206,4111,0.00,2.47,0.00,0.000,4,0.000,0.057,2814,3343,3495,0,0,0,0,0,0
$GC,4167,-1.51,-116.8,487.8,-10.5,207,4171,0.00,2.50,0.00,0.000,6,0.000,0.065,2814,1882,3494,0,0,0,0,0,0
$STATE,4304,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4304,begin apogee
$GC,4312,-0.31,0.0,501.1,9.7,211,4412,1.20,0.00,96.80,0.923,6,0.082,0.000,3083,1956,3020,0,0,0,0,0,0
$STATE,4413,end apogee,CONTROL_FINISHED_OK
$STATE,4413,begin climb
$GC,4415,1.38,116.8,503.4,0.0,213,4519,1.55,0.00,99.18,0.903,6,0.045,0.000,3454,1957,2542,0,0,0,0,0,0
$GC,4741,1.35,167.8,488.0,7.1,221,4791,0.00,3.00,43.33,0.885,4,0.000,0.103,3454,417,2335,0,0,0,0,0,0
$GC,4810,1.24,178.5,482.6,9.4,222,4827,0.15,2.58,10.80,0.794,6,0.124,0.037,3426,1972,2292,0,0,0,0,0,0
$GC,5072,1.28,211.7,461.4,8.1,229,5107,0.00,2.80,29.67,0.864,4,0.000,0.060,3426,3583,2155,0,0,0,0,0,0
$GC,5159,1.29,219.0,453.5,9.6,230,5173,0.00,2.70,7.62,0.736,6,0.000,0.047,3426,1995,2126,0,0,0,0,0,0
$GC,5442,1.29,219.0,425.1,10.3,237,5447,0.00,2.65,0.00,0.000,4,0.000,0.044,3426,3585,2121,0,0,0,0,0,0
$GC,5463,1.29,219.0,422.5,11.4,237,5468,0.00,2.67,0.00,0.000,6,0.000,0.045,3426,1997,2120,0,0,0,0,0,0
$GC,5719,1.29,219.0,394.2,11.2,244,5720,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1996,2119,0,0,0,0,0,0
$GC,5963,1.29,221.4,369.5,9.9,250,5964,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1996,2117,0,0,0,0,0,0
$GC,6208,1.31,238.8,347.4,9.0,256,6227,0.00,0.00,17.33,0.805,6,0.000,0.000,3426,1996,2046,0,0,0,0,0,0
$GC,6450,1.33,250.4,324.6,9.4,262,6469,0.00,2.85,11.40,0.762,4,0.000,0.081,3425,411,1997,0,0,0,0,0,0
$GC,6486,1.33,250.4,320.7,11.4,262,6492,0.00,2.58,0.00,0.000,6,0.000,0.027,3425,2022,1996,0,0,0,0,0,0
$GC,6737,1.33,250.4,294.7,10.3,269,6738,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,2022,1995,0,0,0,0,0,0
$GC,6980,1.37,251.5,270.3,10.0,275,6982,0.12,0.00,0.00,0.000,6,0.081,0.000,3460,2022,1994,0,0,0,0,0,0
$GC,7223,1.37,254.6,245.7,9.9,281,7229,0.00,0.00,4.18,0.529,6,0.000,0.000,3460,2022,1982,0,0,0,0,0,0
$GC,7468,1.37,254.6,221.0,10.4,287,7469,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2022,1981,0,0,0,0,0,0
$GC,7712,1.37,254.6,194.9,10.7,296,7714,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2023,1981,0,0,0,0,0,0
$GC,7967,1.37,254.6,166.8,11.5,320,7972,0.00,2.72,0.00,0.000,4,0.000,0.056,3460,403,1980,0,0,0,0,0,0
$GC,7991,1.37,254.6,164.2,12.0,321,8001,0.00,2.55,0.00,0.000,6,0.000,0.020,3461,2015,1979,0,0,0,0,0,0
$GC,8254,1.37,257.2,136.0,9.9,346,8259,0.00,2.72,0.00,0.000,4,0.000,0.055,3460,404,1979,0,0,0,0,0,0
$GC,8300,1.37,257.2,130.8,11.2,349,8305,0.00,2.47,0.00,0.000,6,0.000,0.019,3460,2003,1978,0,0,0,0,0,0
$GC,8564,1.38,262.5,105.6,9.7,374,8578,0.00,2.53,8.32,0.572,4,0.000,0.038,3460,3572,1949,0,0,0,0,0,0
$GC,8739,1.42,262.5,87.6,10.1,388,8748,0.00,2.58,0.00,0.000,6,0.000,0.029,3461,1991,1947,0,0,0,0,0,0
$GC,9005,1.50,286.6,64.9,8.6,413,9033,0.00,2.67,22.27,0.581,4,0.000,0.054,3460,422,1849,0,0,0,0,0,0
$GC,9062,1.50,286.6,59.6,10.1,417,9066,0.00,2.47,0.00,0.000,6,0.000,0.024,3460,2017,1849,0,0,0,0,0,0
$GC,9330,1.63,313.0,35.7,8.5,441,9359,0.20,2.72,22.83,0.546,4,0.058,0.051,3517,423,1744,0,0,0,0,0,0
$GC,9451,1.59,313.0,22.1,12.2,454,9460,0.00,2.45,0.00,0.000,6,0.000,0.017,3517,1985,1742,0,0,0,0,0,0
$STATE,9605,end climb,SURFACE_DEPTH_REACHED
$STATE,9605,begin surface coast
$FINISH,0.6,0.980017
$STATE,9656,end surface coast,CONTROL_FINISHED_OK
$STATE,9656,begin surface
$SM_CCo,9678,54.67,0.525,0,0,1469,380.21
$SM_GC,1.37,0.00,0.00,54.67,0.000,0.000,0.525,478,1806,1469,-12.31,-0.40,380.21
$IRIDIUM_FIX,2241.69,-15759.32,280800,232315
$TT8_MAMPS,0.026078
$HUMID,59.21
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.10
$XPDR_PINGS,34
$24V_AH,23.5,25.717
$10V_AH,10.4,22.449
$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,28.725,97.250,373.725,54.675,0.000,51.400,74.972,310.652,8.500,0.000,39.938,954.586,6462.358,475.663,1795.141,708.715,33.371,1126.019,0.000,1776.900,0.000,0.535,0.000
$DEVICE_MAMPS,158.769,267.683,923.468,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,327.305,267.997,374.511,715.730,1081.905,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355468
$DATA_FILE_SIZE,38597,483
$CAP_FILE_SIZE,99258,0
$CFSIZE,260165632,171540480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050611,021655,2249.376,-15757.712,39,1.4,39,10.1