version: 66.06
glider: 146
mission: 6
dive: 206
start: 6 5 111 2 27 14
data:
$ID,146
$MISSION,6
$DIVE,206
$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,-272658.31
$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,57
$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
$GPS1,021655,2249.376,-15757.712,39,1.4,39,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-69.7
$GPS2,022620,2249.479,-15757.714,12,1.3,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.021,-0.234
$KALMAN_X,-89523.9,-205.3,-44.9,88214.3,150.9
$KALMAN_Y,-109255.8,-79.1,110.4,119550.1,543.9
$MHEAD_RNG_PITCHd_Wd,175.1,4593,-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,14,begin dive
$GC,16,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-70.50,0.000,2,0.000,0.000,478,1807,3255,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.5,-5.8,9,118,12.43,2.65,-4.45,0.000,4,0.153,0.064,2846,257,3500,0,0,0,0,0,0
$GC,197,-1.20,-116.8,32.5,-20.0,23,205,0.17,2.42,0.00,0.000,6,0.106,0.014,2886,1851,3501,0,0,0,0,0,0
$GC,464,-1.20,-116.8,72.0,-13.0,48,469,0.00,2.67,0.00,0.000,4,0.000,0.055,2887,256,3502,0,0,0,0,0,0
$GC,544,-1.20,-116.8,83.9,-14.0,54,548,0.00,2.33,0.00,0.000,6,0.000,0.016,2886,1803,3503,0,0,0,0,0,0
$GC,816,-1.20,-116.8,115.1,-11.3,79,820,0.00,2.42,0.00,0.000,4,0.000,0.029,2887,3370,3504,0,0,0,0,0,0
$GC,874,-1.27,-116.8,121.2,-11.4,83,878,0.00,2.45,0.00,0.000,6,0.000,0.032,2887,1817,3504,0,0,0,0,0,0
$GC,1138,-1.32,-116.8,151.7,-10.7,107,1143,0.00,0.00,0.00,0.000,6,0.000,0.000,2886,1817,3504,0,0,0,0,0,0
$GC,1403,-1.37,-116.8,178.1,-9.6,132,1408,0.12,2.47,0.00,0.000,4,0.069,0.032,2835,3371,3504,0,0,0,0,0,0
$GC,1425,-1.37,-116.8,180.2,-9.7,133,1430,0.10,2.47,0.00,0.000,6,0.117,0.024,2857,1797,3504,0,0,0,0,0,0
$GC,1682,-1.37,-116.8,210.1,-11.2,151,1686,0.00,2.47,0.00,0.000,4,0.000,0.030,2857,3367,3505,0,0,0,0,0,0
$GC,1699,-1.37,-116.8,212.0,-11.1,151,1704,0.00,2.47,0.00,0.000,6,0.000,0.031,2857,1808,3505,0,0,0,0,0,0
$GC,1960,-1.37,-116.8,240.2,-10.6,158,1965,0.00,2.45,0.00,0.000,4,0.000,0.028,2857,3362,3505,0,0,0,0,0,0
$GC,2010,-1.44,-116.8,245.7,-11.3,159,2015,0.00,2.45,0.00,0.000,6,0.000,0.033,2857,1825,3505,0,0,0,0,0,0
$GC,2284,-1.48,-116.8,276.7,-11.7,166,2286,0.10,0.00,0.00,0.000,6,0.085,0.000,2821,1825,3505,0,0,0,0,0,0
$GC,2526,-1.48,-116.8,306.3,-12.0,172,2530,0.00,2.47,0.00,0.000,4,0.000,0.034,2821,3366,3505,0,0,0,0,0,0
$GC,2603,-1.48,-116.8,315.4,-11.4,173,2609,0.00,2.50,0.00,0.000,6,0.000,0.044,2820,1827,3505,0,0,0,0,0,0
$GC,2855,-1.48,-116.8,346.0,-12.3,180,2859,0.00,2.47,0.00,0.000,4,0.000,0.038,2821,3359,3503,0,0,0,0,0,0
$GC,2894,-1.48,-116.8,351.2,-13.7,181,2898,0.00,2.53,0.00,0.000,6,0.000,0.050,2821,1825,3503,0,0,0,0,0,0
$GC,3176,-1.48,-116.8,384.5,-11.4,188,3178,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1824,3502,0,0,0,0,0,0
$GC,3421,-1.48,-116.8,411.9,-11.4,194,3426,0.00,2.55,0.00,0.000,4,0.000,0.049,2821,3360,3501,0,0,0,0,0,0
$GC,3511,-1.51,-116.8,422.2,-10.5,196,3515,0.00,2.60,0.00,0.000,6,0.000,0.060,2821,1830,3500,0,0,0,0,0,0
$GC,3788,-1.51,-116.8,452.0,-10.8,203,3789,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1830,3499,0,0,0,0,0,0
$GC,4033,-1.51,-116.8,478.8,-10.9,209,4037,0.00,2.58,0.00,0.000,4,0.000,0.058,2821,3351,3497,0,0,0,0,0,0
$GC,4112,-1.56,-116.8,487.8,-11.6,210,4118,0.00,2.60,0.00,0.000,6,0.000,0.062,2821,1842,3496,0,0,0,0,0,0
$STATE,4237,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4238,begin apogee
$GC,4245,-0.31,0.0,502.2,11.3,214,4346,1.17,0.00,96.95,0.912,6,0.084,0.000,3084,1968,3020,0,0,0,0,0,0
$STATE,4346,end apogee,CONTROL_FINISHED_OK
$STATE,4347,begin climb
$GC,4349,1.38,116.8,505.5,0.0,216,4453,1.60,0.00,99.85,0.898,6,0.046,0.000,3460,1968,2543,0,0,0,0,0,0
$GC,4684,1.34,171.9,492.4,6.9,225,4734,0.00,0.00,47.35,0.884,6,0.000,0.000,3460,1968,2319,0,0,0,0,0,0
$GC,4971,1.26,171.9,463.2,11.0,232,4976,0.15,2.67,0.00,0.000,4,0.117,0.052,3430,3564,2311,0,0,0,0,0,0
$GC,5032,1.26,171.9,456.1,11.3,233,5037,0.00,2.65,0.00,0.000,6,0.000,0.054,3430,2009,2309,0,0,0,0,0,0
$GC,5295,1.29,191.9,432.0,8.9,240,5320,0.00,3.05,17.38,0.833,4,0.000,0.102,3430,414,2236,0,0,0,0,0,0
$GC,5348,1.23,199.8,427.0,9.6,241,5363,0.00,2.55,8.35,0.743,6,0.000,0.026,3430,1987,2205,0,0,0,0,0,0
$GC,5624,1.23,199.8,399.9,10.2,248,5628,0.00,2.65,0.00,0.000,4,0.000,0.043,3430,3582,2200,0,0,0,0,0,0
$GC,5674,1.23,199.8,394.6,10.7,249,5679,0.00,2.62,0.00,0.000,6,0.000,0.042,3430,2004,2199,0,0,0,0,0,0
$GC,5946,1.24,211.5,368.1,9.4,256,5959,0.00,0.00,11.02,0.775,6,0.000,0.000,3430,2004,2157,0,0,0,0,0,0
$GC,6190,1.26,226.1,345.3,9.2,262,6206,0.00,0.00,14.02,0.785,6,0.000,0.000,3430,2003,2098,0,0,0,0,0,0
$GC,6435,1.29,250.1,323.8,8.7,268,6464,0.00,2.90,22.12,0.797,4,0.000,0.071,3430,408,1999,0,0,0,0,0,0
$GC,6481,1.29,250.1,318.5,11.2,269,6486,0.00,2.58,0.00,0.000,6,0.000,0.023,3430,2026,1997,0,0,0,0,0,0
$GC,6761,1.33,250.1,288.2,10.7,276,6762,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2027,1995,0,0,0,0,0,0
$GC,7004,1.39,268.2,266.9,9.0,282,7028,0.12,2.62,16.67,0.744,4,0.222,0.037,3462,3573,1925,0,0,0,0,0,0
$GC,7072,1.39,268.2,258.5,12.8,283,7077,0.00,2.60,0.00,0.000,6,0.000,0.032,3463,1990,1922,0,0,0,0,0,0
$GC,7329,1.39,268.2,230.0,10.8,290,7333,0.00,2.58,0.00,0.000,4,0.000,0.038,3463,3570,1920,0,0,0,0,0,0
$GC,7372,1.39,268.2,225.1,10.5,291,7377,0.00,2.55,0.00,0.000,6,0.000,0.033,3463,2015,1919,0,0,0,0,0,0
$GC,7631,1.39,268.2,197.5,11.1,299,7636,0.00,2.72,0.00,0.000,4,0.000,0.066,3463,421,1919,0,0,0,0,0,0
$GC,7666,1.35,268.2,194.2,12.4,301,7670,0.00,2.50,0.00,0.000,6,0.000,0.020,3463,2026,1918,0,0,0,0,0,0
$GC,7932,1.35,268.2,166.2,10.4,325,7937,0.00,2.72,0.00,0.000,4,0.000,0.058,3463,421,1918,0,0,0,0,0,0
$GC,7977,1.35,268.2,159.8,13.2,328,7983,0.00,2.47,0.00,0.000,6,0.000,0.025,3463,2008,1917,0,0,0,0,0,0
$GC,8245,1.35,268.2,132.7,10.1,353,8250,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2009,1917,0,0,0,0,0,0
$GC,8506,1.35,268.2,104.3,10.5,378,8510,0.00,2.47,0.00,0.000,4,0.000,0.035,3463,3566,1917,0,0,0,0,0,0
$GC,8588,1.43,277.0,96.5,9.5,384,8601,0.00,2.55,7.82,0.535,6,0.000,0.031,3463,1995,1890,0,0,0,0,0,0
$GC,8861,1.50,283.2,70.1,9.7,409,8875,0.00,2.67,6.95,0.500,4,0.000,0.058,3463,420,1864,0,0,0,0,0,0
$GC,8993,1.57,294.8,57.0,9.4,419,9015,0.10,2.47,11.62,0.532,6,0.044,0.017,3499,2006,1816,0,0,0,0,0,0
$GC,9271,1.57,300.6,30.0,9.7,445,9286,0.00,2.53,6.47,0.457,4,0.000,0.030,3499,3554,1793,0,0,0,0,0,0
$GC,9310,1.57,300.6,26.0,10.7,449,9319,0.00,2.55,0.00,0.000,6,0.000,0.028,3499,1991,1792,0,0,0,0,0,0
$STATE,9521,end climb,SURFACE_DEPTH_REACHED
$STATE,9522,begin surface coast
$FINISH,0.4,0.975842
$STATE,9571,end surface coast,CONTROL_FINISHED_OK
$STATE,9571,begin surface
$SM_CCo,9593,64.45,0.522,0,0,1470,380.21
$SM_GC,1.21,0.00,0.00,64.45,0.000,0.000,0.522,474,1793,1470,-12.33,-0.76,380.21
$IRIDIUM_FIX,2241.69,-15834.92,290800,020248
$TT8_MAMPS,0.025311
$HUMID,58.26
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,22.50
$XPDR_PINGS,41
$24V_AH,23.5,25.834
$10V_AH,10.4,22.560
$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,28.300,108.200,366.600,64.450,0.000,53.611,76.032,239.953,10.250,0.000,14.262,987.454,6274.764,513.313,1809.931,640.620,33.370,1169.157,0.000,1816.264,0.000,0.535,0.000
$DEVICE_MAMPS,222.430,171.041,911.963,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.324,281.990,378.127,712.652,1078.925,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355548
$DATA_FILE_SIZE,38408,486
$CAP_FILE_SIZE,101299,0
$CFSIZE,260165632,171487232
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050611,050924,2248.613,-15758.029,11,99.0,30,10.1