version: 66.06
glider: 146
mission: 6
dive: 213
start: 6 5 111 22 6 53
data:
$ID,146
$MISSION,6
$DIVE,213
$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,-272869.81
$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,1830
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,53
$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
$GPS1,215928,2247.149,-15802.749,9,3.1,28,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-70.5
$GPS2,220600,2247.208,-15802.770,40,1.5,40,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.018,0.234
$KALMAN_X,-89518.4,121.1,-20.6,79217.0,-83.9
$KALMAN_Y,-104682.0,-590.8,240.3,111150.5,1155.2
$MHEAD_RNG_PITCHd_Wd,345.4,5187,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,90,0.00,0.00,-70.40,0.000,2,0.000,0.000,476,1797,3279,0,0,0,0,0,0
$GC,93,-1.38,-116.8,4.0,-7.9,9,119,12.32,2.58,-3.92,0.000,4,0.150,0.036,2844,3394,3498,0,0,0,0,0,0
$GC,272,-1.28,-116.8,42.3,-17.6,30,277,0.15,2.45,0.00,0.000,6,0.122,0.026,2875,1846,3501,0,0,0,0,0,0
$GC,536,-1.24,-116.8,82.7,-13.9,54,541,0.00,2.70,0.00,0.000,4,0.000,0.066,2874,251,3501,0,0,0,0,0,0
$GC,595,-1.17,-116.8,92.3,-15.4,58,603,0.08,2.45,0.00,0.000,6,0.104,0.016,2895,1862,3501,0,0,0,0,0,0
$GC,863,-1.21,-116.8,123.7,-10.9,83,867,0.00,2.38,0.00,0.000,4,0.000,0.031,2895,3375,3503,0,0,0,0,0,0
$GC,880,-1.26,-116.8,126.3,-10.7,84,884,0.00,2.45,0.00,0.000,6,0.000,0.030,2895,1827,3502,0,0,0,0,0,0
$GC,1142,-1.32,-116.8,154.9,-10.8,108,1148,0.12,2.67,0.00,0.000,4,0.068,0.060,2846,257,3503,0,0,0,0,0,0
$GC,1173,-1.26,-116.8,158.8,-12.9,110,1178,0.15,2.33,0.00,0.000,6,0.110,0.019,2878,1826,3503,0,0,0,0,0,0
$GC,1435,-1.31,-116.8,187.2,-10.1,134,1439,0.00,2.40,0.00,0.000,4,0.000,0.033,2879,3367,3504,0,0,0,0,0,0
$GC,1492,-1.40,-116.8,193.0,-10.1,138,1502,0.08,2.45,0.00,0.000,6,0.044,0.030,2839,1839,3504,0,0,0,0,0,0
$GC,1764,-1.40,-116.8,226.6,-12.6,150,1769,0.00,2.67,0.00,0.000,4,0.000,0.063,2839,260,3504,0,0,0,0,0,0
$GC,1808,-1.35,-116.8,232.4,-13.6,151,1812,0.00,2.35,0.00,0.000,6,0.000,0.021,2839,1813,3504,0,0,0,0,0,0
$GC,2085,-1.35,-116.8,262.9,-10.7,158,2090,0.10,2.50,0.00,0.000,4,0.123,0.039,2860,3385,3504,0,0,0,0,0,0
$GC,2170,-1.44,-116.8,271.1,-9.2,160,2175,0.00,2.47,0.00,0.000,6,0.000,0.035,2860,1837,3504,0,0,0,0,0,0
$GC,2456,-1.50,-116.8,298.8,-10.0,167,2458,0.12,0.00,0.00,0.000,6,0.069,0.000,2812,1837,3504,0,0,0,0,0,0
$GC,2697,-1.50,-116.8,328.3,-12.1,173,2702,0.00,2.47,0.00,0.000,4,0.000,0.042,2811,3379,3504,0,0,0,0,0,0
$GC,2719,-1.50,-116.8,331.0,-12.4,173,2723,0.00,2.50,0.00,0.000,6,0.000,0.044,2811,1842,3503,0,0,0,0,0,0
$GC,2975,-1.50,-116.8,361.4,-11.9,180,2980,0.00,2.50,0.00,0.000,4,0.000,0.043,2811,3377,3502,0,0,0,0,0,0
$GC,3008,-1.50,-116.8,365.6,-11.6,180,3014,0.00,2.55,0.00,0.000,6,0.000,0.045,2812,1836,3502,0,0,0,0,0,0
$GC,3258,-1.50,-116.8,394.1,-11.4,187,3262,0.00,2.50,0.00,0.000,4,0.000,0.046,2811,3373,3501,0,0,0,0,0,0
$GC,3314,-1.50,-116.8,400.7,-11.4,188,3319,0.00,2.58,0.00,0.000,6,0.000,0.056,2811,1850,3500,0,0,0,0,0,0
$GC,3580,-1.50,-116.8,429.1,-10.5,195,3584,0.00,2.50,0.00,0.000,4,0.000,0.042,2811,3377,3499,0,0,0,0,0,0
$GC,3597,-1.50,-116.8,431.0,-10.5,195,3601,0.00,2.58,0.00,0.000,6,0.000,0.061,2811,1862,3499,0,0,0,0,0,0
$GC,3858,-1.50,-116.8,457.5,-10.2,202,3859,0.00,0.00,0.00,0.000,6,0.000,0.000,2811,1861,3497,0,0,0,0,0,0
$GC,4101,-1.50,-116.8,482.1,-10.3,208,4106,0.00,3.05,0.00,0.000,4,0.000,0.117,2811,243,3495,0,0,0,0,0,0
$GC,4122,-1.50,-116.8,484.5,-10.9,208,4126,0.00,2.55,0.00,0.000,6,0.000,0.040,2811,1815,3495,0,0,0,0,0,0
$STATE,4299,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4299,begin apogee
$GC,4307,-0.31,0.0,503.0,10.3,213,4408,1.23,0.00,97.05,0.920,6,0.085,0.000,3084,2002,3020,0,0,0,0,0,0
$STATE,4408,end apogee,CONTROL_FINISHED_OK
$STATE,4409,begin climb
$GC,4411,1.38,116.8,505.5,0.0,215,4515,1.58,0.00,99.45,0.908,6,0.046,0.000,3459,2002,2543,0,0,0,0,0,0
$GC,4738,1.33,160.6,491.1,7.5,223,4782,0.00,2.80,37.20,0.884,4,0.000,0.064,3459,3573,2364,0,0,0,0,0,0
$GC,4850,1.24,160.6,481.0,10.6,225,4855,0.17,2.67,0.00,0.000,6,0.117,0.055,3425,2006,2360,0,0,0,0,0,0
$GC,5111,1.26,180.8,457.0,8.9,232,5135,0.00,3.12,18.23,0.845,4,0.000,0.115,3424,411,2281,0,0,0,0,0,0
$GC,5155,1.21,180.8,452.8,10.7,233,5159,0.00,2.62,0.00,0.000,6,0.000,0.034,3425,2008,2279,0,0,0,0,0,0
$GC,5438,1.22,192.2,425.5,9.4,240,5454,0.00,2.88,10.77,0.795,4,0.000,0.075,3425,401,2235,0,0,0,0,0,0
$GC,5489,1.17,192.2,420.4,10.4,241,5493,0.00,2.60,0.00,0.000,6,0.000,0.031,3425,1995,2232,0,0,0,0,0,0
$GC,5761,1.20,213.8,395.9,8.8,248,5786,0.00,2.70,19.88,0.835,4,0.000,0.051,3424,3583,2147,0,0,0,0,0,0
$GC,5819,1.22,225.5,390.5,9.4,249,5840,0.00,2.67,11.77,0.782,6,0.000,0.041,3425,1984,2100,0,0,0,0,0,0
$GC,6085,1.22,229.8,365.2,9.8,256,6092,0.00,0.00,4.55,0.598,6,0.000,0.000,3425,1984,2082,0,0,0,0,0,0
$GC,6328,1.23,235.7,341.5,9.7,262,6336,0.00,0.00,6.53,0.688,6,0.000,0.000,3424,1984,2059,0,0,0,0,0,0
$GC,6571,1.23,235.7,315.8,10.8,268,6575,0.00,2.62,0.00,0.000,4,0.000,0.038,3425,3588,2057,0,0,0,0,0,0
$GC,6588,1.23,235.7,314.1,10.9,268,6592,0.00,2.62,0.00,0.000,6,0.000,0.035,3425,1984,2056,0,0,0,0,0,0
$GC,6850,1.27,235.7,287.3,10.2,275,6855,0.00,2.72,0.00,0.000,4,0.000,0.071,3425,413,2055,0,0,0,0,0,0
$GC,6877,1.27,235.7,284.1,10.8,275,6881,0.00,2.53,0.00,0.000,6,0.000,0.020,3424,2012,2054,0,0,0,0,0,0
$GC,7129,1.35,258.8,261.9,8.7,281,7153,0.10,0.00,21.58,0.762,6,0.091,0.000,3453,2012,1964,0,0,0,0,0,0
$GC,7370,1.35,262.4,238.1,9.8,287,7380,0.00,2.53,4.07,0.509,4,0.000,0.041,3453,3560,1950,0,0,0,0,0,0
$GC,7386,1.35,262.4,236.3,10.5,287,7391,0.00,2.60,0.00,0.000,6,0.000,0.035,3453,1970,1950,0,0,0,0,0,0
$GC,7653,1.35,262.4,207.7,10.6,294,7658,0.00,2.65,0.00,0.000,4,0.000,0.064,3453,414,1948,0,0,0,0,0,0
$GC,7692,1.35,262.4,203.0,11.9,295,7697,0.00,2.45,0.00,0.000,6,0.000,0.023,3453,1972,1947,0,0,0,0,0,0
$GC,7956,1.35,262.4,174.8,10.8,317,7961,0.00,2.58,0.00,0.000,4,0.000,0.038,3453,3558,1947,0,0,0,0,0,0
$GC,8001,1.35,262.4,169.6,11.5,320,8007,0.00,2.58,0.00,0.000,6,0.000,0.030,3453,1969,1946,0,0,0,0,0,0
$GC,8268,1.35,264.7,142.7,9.9,345,8272,0.00,2.65,0.00,0.000,4,0.000,0.064,3453,407,1946,0,0,0,0,0,0
$GC,8356,1.35,264.7,132.9,10.8,352,8361,0.00,2.42,0.00,0.000,6,0.000,0.024,3453,1968,1946,0,0,0,0,0,0
$GC,8619,1.42,279.8,108.5,9.2,376,8643,0.00,2.62,16.38,0.615,4,0.000,0.038,3453,3556,1878,0,0,0,0,0,0
$GC,8708,1.49,279.8,100.0,10.4,383,8713,0.10,2.58,0.00,0.000,6,0.087,0.029,3482,1966,1877,0,0,0,0,0,0
$GC,8972,1.49,279.8,71.5,10.1,407,8977,0.00,2.62,0.00,0.000,4,0.000,0.055,3482,410,1876,0,0,0,0,0,0
$GC,9068,1.49,279.8,61.0,10.3,414,9072,0.00,2.40,0.00,0.000,6,0.000,0.018,3482,1958,1874,0,0,0,0,0,0
$GC,9335,1.56,290.5,37.8,9.4,438,9351,0.00,2.65,10.45,0.525,4,0.000,0.031,3482,3564,1834,0,0,0,0,0,0
$GC,9437,1.63,290.5,27.5,10.4,447,9447,0.08,2.62,0.00,0.000,6,0.052,0.031,3514,1960,1832,0,0,0,0,0,0
$STATE,9662,end climb,SURFACE_DEPTH_REACHED
$STATE,9662,begin surface coast
$FINISH,0.5,0.978293
$STATE,9759,end surface coast,CONTROL_FINISHED_OK
$STATE,9759,begin surface
$SM_CCo,9782,72.90,0.527,0,0,1469,380.21
$SM_GC,1.32,0.00,0.00,72.90,0.000,0.000,0.527,478,1788,1469,-12.31,-1.16,380.21
$IRIDIUM_FIX,2241.69,-15802.37,290800,191943
$TT8_MAMPS,0.026078
$HUMID,58.82
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.20
$XPDR_PINGS,52
$24V_AH,23.5,26.625
$10V_AH,10.4,23.303
$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,28.725,129.650,357.900,72.900,0.000,31.340,39.930,158.264,13.000,0.000,42.017,1018.338,6299.315,515.957,1907.508,507.418,33.371,1195.455,0.000,1879.955,0.000,0.535,0.000
$DEVICE_MAMPS,149.565,116.584,920.400,526.929,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.864,271.361,381.598,730.719,1105.393,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,38314,493
$CAP_FILE_SIZE,105178,0
$CFSIZE,260165632,171118592
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060611,005229,2248.782,-15802.903,39,1.3,40,10.1