version: 66.06
glider: 146
mission: 6
dive: 188
start: 6 2 111 21 40 7
data:
$ID,146
$MISSION,6
$DIVE,188
$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,-272206.88
$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,44
$R_STBD_OVSHOOT,66
$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
$GPS1,213215,2249.412,-15801.442,8,1.9,15,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.8
$GPS2,213914,2249.445,-15801.425,11,1.8,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,0.027
$KALMAN_X,-91120.6,-415.2,103.5,83525.1,88.8
$KALMAN_Y,-123750.3,-304.9,365.1,133960.5,59.6
$MHEAD_RNG_PITCHd_Wd,73.4,7622,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,82,0.00,0.00,-63.28,0.000,2,0.000,0.000,476,1779,3062,0,0,0,0,0,0
$GC,85,-1.38,-116.8,3.2,-5.6,8,119,12.50,2.67,-8.55,0.000,4,0.156,0.066,2839,235,3499,0,0,0,0,0,0
$GC,145,-1.16,-116.8,18.3,-21.1,15,155,0.22,2.42,0.00,0.000,6,0.098,0.015,2891,1810,3499,0,0,0,0,0,0
$GC,425,-1.16,-116.8,57.5,-11.5,44,434,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1812,3501,0,0,0,0,0,0
$GC,691,-1.16,-116.8,90.4,-12.8,69,695,0.00,2.65,0.00,0.000,4,0.000,0.057,2891,234,3502,0,0,0,0,0,0
$GC,723,-1.16,-116.8,94.3,-12.7,71,728,0.00,2.35,0.00,0.000,6,0.000,0.016,2891,1811,3502,0,0,0,0,0,0
$GC,991,-1.20,-116.8,124.5,-11.1,95,996,0.00,2.38,0.00,0.000,4,0.000,0.027,2892,3335,3503,0,0,0,0,0,0
$GC,1084,-1.29,-116.8,135.5,-10.4,102,1093,0.08,2.45,0.00,0.000,6,0.044,0.033,2851,1811,3503,0,0,0,0,0,0
$GC,1348,-1.29,-116.8,167.8,-12.0,127,1352,0.00,2.67,0.00,0.000,4,0.000,0.066,2851,225,3504,0,0,0,0,0,0
$GC,1391,-1.29,-116.8,173.2,-12.8,130,1395,0.00,2.35,0.00,0.000,6,0.000,0.022,2851,1790,3504,0,0,0,0,0,0
$GC,1673,-1.29,-116.8,205.8,-11.2,153,1677,0.00,2.45,0.00,0.000,4,0.000,0.031,2851,3346,3504,0,0,0,0,0,0
$GC,1752,-1.35,-116.8,214.7,-10.9,154,1757,0.00,2.45,0.00,0.000,6,0.000,0.026,2851,1803,3504,0,0,0,0,0,0
$GC,2001,-1.35,-116.8,244.5,-11.9,161,2002,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1803,3504,0,0,0,0,0,0
$GC,2245,-1.35,-116.8,270.8,-10.4,167,2249,0.00,2.45,0.00,0.000,4,0.000,0.038,2851,3338,3504,0,0,0,0,0,0
$GC,2279,-1.40,-116.8,274.4,-10.8,167,2285,0.00,2.47,0.00,0.000,6,0.000,0.030,2852,1806,3504,0,0,0,0,0,0
$GC,2529,-1.45,-116.8,301.0,-10.7,174,2533,0.00,2.42,0.00,0.000,4,0.000,0.038,2851,3333,3504,0,0,0,0,0,0
$GC,2562,-1.52,-116.8,304.6,-10.8,174,2568,0.15,2.47,0.00,0.000,6,0.063,0.041,2799,1806,3504,0,0,0,0,0,0
$GC,2813,-1.47,-116.8,336.5,-13.0,181,2818,0.12,2.88,0.00,0.000,4,0.110,0.090,2826,213,3504,0,0,0,0,0,0
$GC,2829,-1.43,-116.8,338.9,-12.6,181,2834,0.00,2.42,0.00,0.000,6,0.000,0.022,2826,1761,3504,0,0,0,0,0,0
$GC,3090,-1.43,-116.8,368.6,-11.1,188,3095,0.00,2.70,0.00,0.000,4,0.000,0.074,2826,213,3503,0,0,0,0,0,0
$GC,3107,-1.43,-116.8,370.5,-10.8,188,3111,0.00,2.53,0.00,0.000,6,0.000,0.026,2826,1806,3502,0,0,0,0,0,0
$GC,3368,-1.43,-116.8,397.4,-9.9,195,3372,0.00,2.60,0.00,0.000,4,0.000,0.049,2826,3380,3501,0,0,0,0,0,0
$GC,3423,-1.48,-116.8,403.3,-10.7,196,3428,0.00,2.65,0.00,0.000,6,0.000,0.051,2826,1817,3501,0,0,0,0,0,0
$GC,3690,-1.48,-116.8,431.1,-10.5,203,3695,0.00,2.58,0.00,0.000,4,0.000,0.050,2826,3384,3499,0,0,0,0,0,0
$GC,3730,-1.54,-116.8,435.4,-10.3,204,3735,0.00,2.67,0.00,0.000,6,0.000,0.056,2826,1812,3499,0,0,0,0,0,0
$GC,4014,-1.54,-116.8,465.1,-10.6,211,4019,0.00,2.62,0.00,0.000,4,0.000,0.056,2826,3380,3497,0,0,0,0,0,0
$GC,4030,-1.54,-116.8,467.1,-10.7,211,4035,0.00,2.67,0.00,0.000,6,0.000,0.063,2826,1821,3497,0,0,0,0,0,0
$GC,4292,-1.58,-116.8,494.3,-10.2,218,4296,0.00,2.62,0.00,0.000,4,0.000,0.058,2826,3380,3495,0,0,0,0,0,0
$STATE,4350,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4350,begin apogee
$GC,4360,-0.31,0.0,500.5,10.1,219,4461,1.10,0.00,97.22,0.923,6,0.085,0.000,3075,1983,3020,0,0,0,0,0,0
$STATE,4462,end apogee,CONTROL_FINISHED_OK
$STATE,4462,begin climb
$GC,4464,1.38,116.8,503.4,0.0,222,4569,1.62,0.00,100.20,0.900,6,0.056,0.000,3455,1983,2543,0,0,0,0,0,0
$GC,4785,1.33,157.4,485.7,7.7,230,4827,0.00,2.80,35.12,0.880,4,0.000,0.049,3454,3567,2376,0,0,0,0,0,0
$GC,4864,1.25,165.0,479.0,9.6,231,4879,0.15,2.70,7.95,0.746,6,0.125,0.051,3425,1991,2346,0,0,0,0,0,0
$GC,5159,1.29,195.5,454.5,8.3,239,5193,0.00,2.75,27.23,0.866,4,0.000,0.042,3426,3575,2221,0,0,0,0,0,0
$GC,5211,1.31,215.8,449.7,8.9,240,5236,0.00,2.72,18.85,0.838,6,0.000,0.047,3425,1989,2139,0,0,0,0,0,0
$GC,5487,1.32,223.0,423.0,9.6,247,5501,0.00,2.72,6.97,0.720,4,0.000,0.046,3425,3574,2109,0,0,0,0,0,0
$GC,5531,1.32,223.0,418.6,10.1,248,5536,0.00,2.67,0.00,0.000,6,0.000,0.044,3426,1991,2108,0,0,0,0,0,0
$GC,5814,1.33,231.4,391.4,9.6,255,5829,0.00,2.95,8.43,0.750,4,0.000,0.087,3425,402,2075,0,0,0,0,0,0
$GC,5851,1.33,231.4,387.5,11.3,255,5857,0.00,2.55,0.00,0.000,6,0.000,0.021,3425,1987,2073,0,0,0,0,0,0
$GC,6102,1.33,231.4,361.3,10.5,262,6107,0.00,2.58,0.00,0.000,4,0.000,0.041,3425,3567,2071,0,0,0,0,0,0
$GC,6129,1.33,231.4,357.9,12.1,262,6134,0.00,2.65,0.00,0.000,6,0.000,0.043,3425,1976,2071,0,0,0,0,0,0
$GC,6379,1.33,231.4,331.6,10.4,268,6383,0.00,2.75,0.00,0.000,4,0.000,0.074,3425,401,2070,0,0,0,0,0,0
$GC,6413,1.33,231.4,327.8,11.4,268,6418,0.00,2.55,0.00,0.000,6,0.000,0.027,3425,1998,2069,0,0,0,0,0,0
$GC,6664,1.35,243.1,303.9,9.4,275,6680,0.00,2.83,10.88,0.749,4,0.000,0.068,3425,399,2026,0,0,0,0,0,0
$GC,6749,1.35,243.1,294.5,11.0,277,6753,0.00,2.53,0.00,0.000,6,0.000,0.025,3425,1984,2024,0,0,0,0,0,0
$GC,7034,1.40,249.8,267.1,9.7,284,7048,0.12,2.65,7.05,0.667,4,0.081,0.038,3460,3557,2000,0,0,0,0,0,0
$GC,7110,1.40,249.8,258.1,11.5,285,7114,0.00,2.60,0.00,0.000,6,0.000,0.032,3460,1968,1999,0,0,0,0,0,0
$GC,7365,1.40,249.8,230.7,10.7,292,7370,0.00,2.65,0.00,0.000,4,0.000,0.069,3460,410,1998,0,0,0,0,0,0
$GC,7388,1.35,249.8,228.2,11.6,292,7393,0.00,2.47,0.00,0.000,6,0.000,0.025,3460,1983,1997,0,0,0,0,0,0
$GC,7643,1.35,249.8,201.5,10.3,299,7647,0.00,2.55,0.00,0.000,4,0.000,0.041,3460,3562,1996,0,0,0,0,0,0
$GC,7721,1.35,249.8,192.2,11.7,303,7730,0.00,2.60,0.00,0.000,6,0.000,0.034,3460,1974,1995,0,0,0,0,0,0
$GC,7987,1.35,249.8,162.5,11.5,328,7992,0.00,2.55,0.00,0.000,4,0.000,0.038,3460,3551,1995,0,0,0,0,0,0
$GC,8017,1.35,249.8,158.9,11.3,330,8022,0.00,2.55,0.00,0.000,6,0.000,0.032,3460,1975,1995,0,0,0,0,0,0
$GC,8281,1.36,255.4,131.8,9.7,354,8296,0.00,2.70,5.70,0.536,4,0.000,0.061,3461,404,1978,0,0,0,0,0,0
$GC,8323,1.36,255.4,127.5,11.1,357,8327,0.00,2.45,0.00,0.000,6,0.000,0.018,3460,1986,1978,0,0,0,0,0,0
$GC,8590,1.36,255.4,102.5,10.2,381,8594,0.00,2.47,0.00,0.000,4,0.000,0.033,3461,3546,1978,0,0,0,0,0,0
$GC,8654,1.40,255.4,94.9,10.9,386,8658,0.00,2.53,0.00,0.000,6,0.000,0.035,3461,1975,1977,0,0,0,0,0,0
$GC,8922,1.44,286.1,70.6,8.3,410,8963,0.00,2.75,28.08,0.593,4,0.000,0.054,3460,405,1852,0,0,0,0,0,0
$GC,9004,1.44,286.1,62.4,11.5,416,9008,0.00,2.45,0.00,0.000,6,0.000,0.021,3460,1980,1850,0,0,0,0,0,0
$GC,9272,1.58,337.1,38.0,7.1,440,9327,0.12,2.58,43.67,0.563,4,0.078,0.030,3499,3541,1644,0,0,0,0,0,0
$GC,9358,1.63,337.1,29.4,11.5,446,9367,0.00,2.55,0.00,0.000,6,0.000,0.029,3498,1982,1642,0,0,0,0,0,0
$STATE,9569,end climb,SURFACE_DEPTH_REACHED
$STATE,9570,begin surface coast
$FINISH,0.6,0.980034
$STATE,9612,end surface coast,CONTROL_FINISHED_OK
$STATE,9612,begin surface
$SM_CCo,9634,34.15,0.526,0,0,1470,380.21
$SM_GC,1.31,0.00,0.00,34.15,0.000,0.000,0.526,473,1771,1470,-12.31,-0.82,380.21
$IRIDIUM_FIX,2241.69,-15801.49,260800,181822
$TT8_MAMPS,0.026078
$HUMID,59.56
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.70
$XPDR_PINGS,57
$24V_AH,23.5,23.448
$10V_AH,10.4,20.539
$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,28.425,145.175,397.350,34.150,0.000,33.012,62.866,178.751,14.250,0.000,31.930,992.509,6135.058,518.822,1895.177,548.834,33.366,1241.757,0.000,1880.172,0.000,0.534,0.000
$DEVICE_MAMPS,156.468,89.739,923.468,526.162,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.108,258.462,371.301,724.426,1095.798,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,38497,482
$CAP_FILE_SIZE,105509,0
$CFSIZE,260165632,172433408
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030611,002306,2249.875,-15759.983,69,0.9,69,10.1