version: 66.06
glider: 146
mission: 6
dive: 215
start: 6 6 111 3 24 57
data:
$ID,146
$MISSION,6
$DIVE,215
$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,-272916.72
$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,55
$R_STBD_OVSHOOT,55
$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
$GPS1,031813,2249.877,-15802.991,11,1.8,28,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.8
$GPS2,032404,2249.907,-15803.020,10,2.1,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.227,-0.061
$KALMAN_X,-89350.8,-156.9,-3.2,78881.6,38.5
$KALMAN_Y,-103919.2,212.4,-248.8,115078.0,644.3
$MHEAD_RNG_PITCHd_Wd,94.9,10276,-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,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.40,0.000,2,0.000,0.000,477,1800,3252,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.5,-6.0,9,117,12.50,0.00,-4.53,0.000,6,0.155,0.000,2846,1800,3498,0,0,0,0,0,0
$GC,391,-1.27,-116.8,64.5,-16.9,42,400,0.15,0.00,0.00,0.000,6,0.129,0.000,2876,1800,3501,0,0,0,0,0,0
$GC,655,-1.27,-116.8,103.5,-13.8,67,659,0.00,2.55,0.00,0.000,4,0.000,0.055,2876,273,3502,0,0,0,0,0,0
$GC,672,-1.27,-116.8,106.2,-12.8,68,676,0.00,2.35,0.00,0.000,6,0.000,0.015,2876,1877,3502,0,0,0,0,0,0
$GC,934,-1.27,-116.8,136.7,-12.5,92,936,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1878,3503,0,0,0,0,0,0
$GC,1189,-1.27,-116.8,166.9,-10.9,116,1193,0.00,2.30,0.00,0.000,4,0.000,0.031,2876,3359,3504,0,0,0,0,0,0
$GC,1223,-1.33,-116.8,170.3,-10.5,118,1227,0.00,2.35,0.00,0.000,6,0.000,0.025,2876,1858,3504,0,0,0,0,0,0
$GC,1491,-1.38,-116.8,197.0,-10.8,142,1496,0.00,2.70,0.00,0.000,4,0.000,0.067,2876,259,3504,0,0,0,0,0,0
$GC,1508,-1.38,-116.8,199.7,-11.1,143,1512,0.00,2.33,0.00,0.000,6,0.000,0.023,2876,1814,3504,0,0,0,0,0,0
$GC,1764,-1.43,-116.8,228.7,-11.4,150,1769,0.15,2.45,0.00,0.000,4,0.067,0.034,2828,3376,3504,0,0,0,0,0,0
$GC,1826,-1.43,-116.8,236.6,-12.8,151,1830,0.00,2.42,0.00,0.000,6,0.000,0.031,2828,1841,3504,0,0,0,0,0,0
$GC,2086,-1.43,-116.8,268.9,-12.0,158,2090,0.00,2.45,0.00,0.000,4,0.000,0.029,2828,3371,3504,0,0,0,0,0,0
$GC,2130,-1.43,-116.8,274.1,-11.7,159,2134,0.00,2.42,0.00,0.000,6,0.000,0.026,2828,1854,3504,0,0,0,0,0,0
$GC,2415,-1.43,-116.8,306.2,-11.4,166,2419,0.00,2.40,0.00,0.000,4,0.000,0.031,2827,3370,3504,0,0,0,0,0,0
$GC,2443,-1.43,-116.8,309.5,-11.5,166,2447,0.00,2.45,0.00,0.000,6,0.000,0.033,2827,1856,3504,0,0,0,0,0,0
$GC,2692,-1.43,-116.8,338.6,-11.5,172,2697,0.00,2.45,0.00,0.000,4,0.000,0.041,2828,3373,3503,0,0,0,0,0,0
$GC,2719,-1.43,-116.8,342.0,-11.4,172,2724,0.00,2.45,0.00,0.000,6,0.000,0.040,2828,1867,3504,0,0,0,0,0,0
$GC,2971,-1.43,-116.8,369.2,-10.9,178,2975,0.00,2.45,0.00,0.000,4,0.000,0.038,2828,3364,3502,0,0,0,0,0,0
$GC,2997,-1.43,-116.8,372.3,-10.5,178,3002,0.00,2.45,0.00,0.000,6,0.000,0.051,2828,1876,3502,0,0,0,0,0,0
$GC,3248,-1.43,-116.8,398.2,-10.3,184,3252,0.00,2.97,0.00,0.000,4,0.000,0.098,2827,244,3501,0,0,0,0,0,0
$GC,3288,-1.43,-116.8,402.6,-11.5,185,3292,0.00,2.53,0.00,0.000,6,0.000,0.031,2827,1821,3501,0,0,0,0,0,0
$GC,3571,-1.43,-116.8,431.2,-9.7,192,3575,0.00,2.65,0.00,0.000,4,0.000,0.057,2827,3413,3499,0,0,0,0,0,0
$GC,3649,-1.48,-116.8,439.3,-10.2,193,3654,0.00,2.62,0.00,0.000,6,0.000,0.055,2828,1868,3499,0,0,0,0,0,0
$GC,3900,-1.48,-116.8,465.2,-10.3,200,3904,0.00,3.03,0.00,0.000,4,0.000,0.112,2827,240,3497,0,0,0,0,0,0
$GC,3926,-1.48,-116.8,468.5,-11.8,200,3931,0.00,2.65,0.00,0.000,6,0.000,0.035,2828,1859,3497,0,0,0,0,0,0
$GC,4177,-1.52,-116.8,493.8,-10.1,206,4181,0.00,2.97,0.00,0.000,4,0.000,0.097,2827,244,3495,0,0,0,0,0,0
$GC,4199,-1.52,-116.8,496.2,-11.0,206,4203,0.00,2.65,0.00,0.000,6,0.000,0.037,2827,1863,3495,0,0,0,0,0,0
$STATE,4248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4248,begin apogee
$GC,4254,-0.31,0.0,501.6,10.4,208,4355,1.15,0.00,97.20,0.916,6,0.081,0.000,3088,2003,3020,0,0,0,0,0,0
$STATE,4356,end apogee,CONTROL_FINISHED_OK
$STATE,4356,begin climb
$GC,4358,1.38,116.8,503.9,0.0,210,4466,1.58,2.80,99.57,0.898,4,0.044,0.069,3460,3570,2542,0,0,0,0,0,0
$GC,4486,1.37,209.6,503.7,4.7,213,4572,0.00,2.70,79.70,0.888,6,0.000,0.048,3461,1994,2164,0,0,0,0,0,0
$GC,4818,1.30,209.6,468.2,11.6,222,4819,0.10,0.00,0.00,0.000,6,0.133,0.000,3441,1994,2157,0,0,0,0,0,0
$GC,5060,1.26,209.6,442.5,10.5,228,5065,0.00,2.95,0.00,0.000,4,0.000,0.106,3440,410,2154,0,0,0,0,0,0
$GC,5082,1.19,209.6,439.9,11.3,228,5087,0.12,2.58,0.00,0.000,6,0.127,0.028,3416,1990,2153,0,0,0,0,0,0
$GC,5338,1.20,217.7,414.9,9.6,235,5351,0.00,2.67,6.28,0.691,4,0.000,0.051,3415,3588,2131,0,0,0,0,0,0
$GC,5391,1.20,217.7,409.3,10.6,236,5396,0.00,2.67,0.00,0.000,6,0.000,0.044,3415,1981,2130,0,0,0,0,0,0
$GC,5664,1.20,223.4,383.4,9.7,243,5677,0.00,2.85,6.10,0.679,4,0.000,0.091,3415,406,2110,0,0,0,0,0,0
$GC,5695,1.20,223.4,379.9,11.8,243,5700,0.00,2.55,0.00,0.000,6,0.000,0.029,3415,1991,2109,0,0,0,0,0,0
$GC,5945,1.21,229.0,355.1,9.7,249,5959,0.00,2.67,6.90,0.699,4,0.000,0.039,3415,3571,2085,0,0,0,0,0,0
$GC,5982,1.25,229.0,351.4,10.1,249,5987,0.00,2.62,0.00,0.000,6,0.000,0.034,3415,1986,2083,0,0,0,0,0,0
$GC,6233,1.33,257.0,329.4,8.4,256,6268,0.12,2.65,26.15,0.801,4,0.080,0.035,3451,3575,1970,0,0,0,0,0,0
$GC,6290,1.33,257.0,323.8,10.0,257,6294,0.00,2.62,0.00,0.000,6,0.000,0.034,3451,1991,1968,0,0,0,0,0,0
$GC,6558,1.34,264.3,297.8,9.6,264,6567,0.00,0.00,7.22,0.670,6,0.000,0.000,3451,1990,1941,0,0,0,0,0,0
$GC,6800,1.34,264.3,270.4,11.5,270,6802,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1990,1939,0,0,0,0,0,0
$GC,7046,1.34,264.3,244.4,10.2,276,7047,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1990,1937,0,0,0,0,0,0
$GC,7288,1.35,275.7,221.0,9.4,282,7301,0.00,0.00,10.98,0.680,6,0.000,0.000,3451,1990,1895,0,0,0,0,0,0
$GC,7535,1.35,275.7,194.8,11.0,291,7539,0.00,2.55,0.00,0.000,4,0.000,0.032,3451,3573,1892,0,0,0,0,0,0
$GC,7575,1.35,275.7,190.1,11.6,294,7579,0.00,2.55,0.00,0.000,6,0.000,0.030,3451,1990,1891,0,0,0,0,0,0
$GC,7839,1.36,284.9,163.6,9.5,318,7853,0.00,2.70,8.90,0.613,4,0.000,0.061,3451,411,1858,0,0,0,0,0,0
$GC,7876,1.36,284.9,159.7,10.4,321,7880,0.00,2.50,0.00,0.000,6,0.000,0.021,3451,2009,1857,0,0,0,0,0,0
$GC,8142,1.40,284.9,133.0,10.6,345,8147,0.00,2.47,0.00,0.000,4,0.000,0.038,3451,3552,1856,0,0,0,0,0,0
$GC,8247,1.46,284.9,121.6,10.5,353,8251,0.00,2.50,0.00,0.000,6,0.000,0.032,3451,1997,1855,0,0,0,0,0,0
$GC,8513,1.55,304.5,96.6,8.9,377,8539,0.17,2.70,18.40,0.592,4,0.065,0.058,3499,412,1777,0,0,0,0,0,0
$GC,8581,1.55,304.5,88.3,12.7,382,8590,0.00,2.50,0.00,0.000,6,0.000,0.018,3499,1994,1775,0,0,0,0,0,0
$GC,8847,1.55,304.5,58.5,12.0,407,8851,0.00,2.50,0.00,0.000,4,0.000,0.031,3499,3558,1775,0,0,0,0,0,0
$GC,8880,1.55,304.5,54.8,10.8,409,8885,0.00,2.53,0.00,0.000,6,0.000,0.030,3500,1990,1774,0,0,0,0,0,0
$GC,9157,1.55,304.5,24.0,11.5,437,9167,0.00,2.65,0.00,0.000,4,0.000,0.054,3500,424,1774,0,0,0,0,0,0
$GC,9212,1.55,304.5,16.9,13.4,444,9221,0.00,2.42,0.00,0.000,6,0.000,0.017,3499,1990,1774,0,0,0,0,0,0
$STATE,9331,end climb,SURFACE_DEPTH_REACHED
$STATE,9331,begin surface coast
$FINISH,0.4,0.975187
$STATE,9376,end surface coast,CONTROL_FINISHED_OK
$STATE,9377,begin surface
$SM_CCo,9399,61.38,0.523,0,0,1470,380.21
$SM_GC,1.50,0.00,0.00,61.38,0.000,0.000,0.523,474,1804,1470,-12.33,-0.74,380.21
$IRIDIUM_FIX,2239.35,-15802.37,300800,010105
$TT8_MAMPS,0.026078
$HUMID,58.15
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,22.10
$XPDR_PINGS,43
$24V_AH,23.5,26.839
$10V_AH,10.4,23.507
$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,28.300,124.450,367.400,61.375,0.000,30.292,33.623,147.909,10.750,0.000,31.374,948.745,6149.216,502.116,1743.605,470.914,33.369,1159.733,0.000,1732.502,0.000,0.534,0.000
$DEVICE_MAMPS,154.934,111.982,915.798,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,316.427,271.477,361.195,677.402,1023.509,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355476
$DATA_FILE_SIZE,38279,467
$CAP_FILE_SIZE,98860,0
$CFSIZE,260165632,171024384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060611,060401,2249.945,-15801.301,42,0.9,42,10.1