version: 66.06
glider: 146
mission: 6
dive: 216
start: 6 6 111 6 11 18
data:
$ID,146
$MISSION,6
$DIVE,216
$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,-272933.66
$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,63
$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
$GPS1,060401,2249.945,-15801.301,42,0.9,42,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-71.5
$GPS2,061022,2250.066,-15801.346,14,1.5,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.195,-0.132
$KALMAN_X,-88805.8,-191.5,87.0,81134.5,352.7
$KALMAN_Y,-103143.0,520.5,-434.7,114468.9,1273.6
$MHEAD_RNG_PITCHd_Wd,114.0,7419,-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,-70.60,0.000,2,0.000,0.000,474,1804,3279,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.9,-7.2,9,118,12.62,2.58,-3.85,0.000,4,0.158,0.059,2847,286,3499,0,0,0,0,0,0
$GC,130,-0.43,-116.8,18.3,-37.3,13,140,0.93,2.38,0.00,0.000,6,0.084,0.018,3057,1823,3501,0,0,0,0,0,0
$GC,424,-0.72,-116.8,42.3,-6.5,46,429,0.25,2.45,0.00,0.000,4,0.045,0.024,2977,3386,3502,0,0,0,0,0,0
$GC,447,-0.96,-116.8,44.3,-7.6,47,452,0.12,2.42,0.00,0.000,6,0.068,0.025,2931,1849,3502,0,0,0,0,0,0
$GC,716,-1.02,-116.8,77.9,-12.7,71,721,0.00,2.67,0.00,0.000,4,0.000,0.055,2931,254,3502,0,0,0,0,0,0
$GC,749,-1.06,-116.8,82.7,-13.4,73,754,0.00,2.42,0.00,0.000,6,0.000,0.014,2930,1860,3503,0,0,0,0,0,0
$GC,1016,-1.16,-116.8,113.7,-10.3,97,1022,0.12,0.00,0.00,0.000,6,0.072,0.000,2887,1862,3503,0,0,0,0,0,0
$GC,1279,-1.16,-116.8,144.2,-10.5,122,1283,0.00,2.35,0.00,0.000,4,0.000,0.030,2888,3377,3504,0,0,0,0,0,0
$GC,1325,-1.24,-116.8,148.4,-9.8,125,1329,0.00,2.45,0.00,0.000,6,0.000,0.031,2887,1814,3504,0,0,0,0,0,0
$GC,1589,-1.28,-116.8,178.6,-12.9,149,1593,0.00,2.42,0.00,0.000,4,0.000,0.025,2887,3371,3504,0,0,0,0,0,0
$GC,1641,-1.37,-116.8,185.1,-11.7,153,1646,0.12,2.42,0.00,0.000,6,0.067,0.025,2833,1826,3504,0,0,0,0,0,0
$GC,1917,-1.33,-116.8,220.2,-12.1,167,1922,0.15,2.45,0.00,0.000,4,0.101,0.032,2866,3380,3504,0,0,0,0,0,0
$GC,1944,-1.33,-116.8,223.6,-10.6,167,1948,0.00,2.45,0.00,0.000,6,0.000,0.025,2866,1816,3505,0,0,0,0,0,0
$GC,2194,-1.33,-116.8,249.0,-10.4,173,2198,0.00,2.45,0.00,0.000,4,0.000,0.031,2866,3377,3505,0,0,0,0,0,0
$GC,2234,-1.40,-116.8,253.0,-10.3,174,2239,0.00,2.47,0.00,0.000,6,0.000,0.027,2866,1829,3505,0,0,0,0,0,0
$GC,2518,-1.46,-116.8,281.2,-10.0,181,2523,0.12,2.47,0.00,0.000,4,0.072,0.037,2823,3375,3505,0,0,0,0,0,0
$GC,2539,-1.46,-116.8,283.9,-11.8,181,2544,0.00,2.45,0.00,0.000,6,0.000,0.032,2822,1831,3505,0,0,0,0,0,0
$GC,2796,-1.46,-116.8,315.0,-12.2,188,2801,0.00,2.47,0.00,0.000,4,0.000,0.033,2822,3373,3505,0,0,0,0,0,0
$GC,2837,-1.46,-116.8,320.0,-12.0,189,2842,0.00,2.47,0.00,0.000,6,0.000,0.043,2823,1842,3505,0,0,0,0,0,0
$GC,3120,-1.46,-116.8,353.0,-11.5,196,3124,0.00,2.47,0.00,0.000,4,0.000,0.041,2822,3371,3505,0,0,0,0,0,0
$GC,3166,-1.50,-116.8,358.1,-11.6,197,3170,0.00,2.53,0.00,0.000,6,0.000,0.046,2823,1847,3504,0,0,0,0,0,0
$GC,3443,-1.50,-116.8,386.6,-10.2,204,3444,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1847,3503,0,0,0,0,0,0
$GC,3687,-1.50,-116.8,411.7,-10.2,210,3691,0.00,2.53,0.00,0.000,4,0.000,0.051,2822,3365,3502,0,0,0,0,0,0
$GC,3732,-1.54,-116.8,416.4,-11.0,211,3737,0.00,2.58,0.00,0.000,6,0.000,0.055,2822,1850,3502,0,0,0,0,0,0
$GC,4009,-1.54,-116.8,444.9,-10.3,218,4014,0.00,3.03,0.00,0.000,4,0.000,0.116,2822,236,3500,0,0,0,0,0,0
$GC,4036,-1.54,-116.8,448.2,-12.1,218,4040,0.00,2.53,0.00,0.000,6,0.000,0.034,2822,1792,3499,0,0,0,0,0,0
$GC,4288,-1.54,-116.8,472.8,-9.7,224,4292,0.00,2.72,0.00,0.000,4,0.000,0.064,2822,3411,3498,0,0,0,0,0,0
$GC,4309,-1.54,-116.8,475.1,-9.8,224,4313,0.00,2.62,0.00,0.000,6,0.000,0.060,2822,1852,3498,0,0,0,0,0,0
$GC,4564,-1.54,-116.8,499.1,-9.2,231,4565,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1851,3496,0,0,0,0,0,0
$STATE,4602,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4602,begin apogee
$GC,4610,-0.31,0.0,502.8,9.1,232,4710,1.15,0.00,97.18,0.917,6,0.073,0.000,3086,2022,3020,0,0,0,0,0,0
$STATE,4711,end apogee,CONTROL_FINISHED_OK
$STATE,4711,begin climb
$GC,4714,1.38,116.8,504.4,0.0,234,4822,1.55,2.67,98.93,0.897,4,0.052,0.063,3459,3558,2541,0,0,0,0,0,0
$GC,4845,1.34,190.1,502.3,5.8,237,4916,0.00,2.70,63.17,0.886,6,0.000,0.048,3459,1990,2243,0,0,0,0,0,0
$GC,5160,1.26,190.1,468.1,11.3,245,5162,0.15,0.00,0.00,0.000,6,0.117,0.000,3429,1990,2235,0,0,0,0,0,0
$GC,5405,1.26,190.1,443.0,10.3,251,5406,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1990,2232,0,0,0,0,0,0
$GC,5648,1.28,199.5,419.6,9.5,257,5662,0.00,2.97,7.25,0.732,4,0.000,0.096,3429,406,2206,0,0,0,0,0,0
$GC,5696,1.22,199.5,414.3,11.2,258,5701,0.00,2.55,0.00,0.000,6,0.000,0.026,3428,1975,2204,0,0,0,0,0,0
$GC,5975,1.22,200.4,386.9,10.0,265,5979,0.00,2.65,0.00,0.000,4,0.000,0.050,3429,3586,2202,0,0,0,0,0,0
$GC,6048,1.22,200.4,379.4,10.2,266,6053,0.00,2.65,0.00,0.000,6,0.000,0.042,3429,1989,2201,0,0,0,0,0,0
$GC,6298,1.23,210.4,355.1,9.5,272,6310,0.00,0.00,10.27,0.769,6,0.000,0.000,3429,1989,2162,0,0,0,0,0,0
$GC,6543,1.26,238.2,334.1,8.4,278,6571,0.00,0.00,26.02,0.811,6,0.000,0.000,3429,1989,2047,0,0,0,0,0,0
$GC,6785,1.28,249.5,311.5,9.4,284,6801,0.00,2.62,10.85,0.742,4,0.000,0.032,3428,3578,2001,0,0,0,0,0,0
$GC,6835,1.32,249.5,305.9,11.4,285,6840,0.00,2.62,0.00,0.000,6,0.000,0.038,3429,1987,1999,0,0,0,0,0,0
$GC,7109,1.32,249.5,276.6,10.8,292,7110,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1987,1998,0,0,0,0,0,0
$GC,7352,1.36,249.5,251.2,10.6,298,7354,0.10,0.00,0.00,0.000,6,0.097,0.000,3456,1987,1996,0,0,0,0,0,0
$GC,7595,1.36,249.5,225.8,10.5,304,7596,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1987,1996,0,0,0,0,0,0
$GC,7840,1.36,249.5,199.9,10.7,310,7841,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1987,1995,0,0,0,0,0,0
$GC,8098,1.39,276.9,174.6,8.5,334,8133,0.00,2.67,23.90,0.683,4,0.000,0.038,3456,3575,1889,0,0,0,0,0,0
$GC,8180,1.39,276.9,166.3,10.5,341,8184,0.00,2.58,0.00,0.000,6,0.000,0.035,3456,1997,1888,0,0,0,0,0,0
$GC,8447,1.39,276.9,140.2,10.8,365,8451,0.00,2.67,0.00,0.000,4,0.000,0.062,3456,419,1886,0,0,0,0,0,0
$GC,8478,1.39,276.9,136.0,11.8,367,8483,0.00,2.53,0.00,0.000,6,0.000,0.023,3456,2037,1885,0,0,0,0,0,0
$GC,8746,1.44,276.9,109.0,10.4,391,8751,0.00,2.42,0.00,0.000,4,0.000,0.032,3456,3564,1885,0,0,0,0,0,0
$GC,8768,1.50,276.9,106.0,10.2,392,8777,0.08,2.58,0.00,0.000,6,0.053,0.031,3487,1986,1884,0,0,0,0,0,0
$GC,9036,1.50,282.2,79.3,9.7,417,9051,0.00,2.58,5.28,0.470,4,0.000,0.036,3486,3556,1869,0,0,0,0,0,0
$GC,9117,1.50,282.2,70.8,10.2,423,9121,0.00,2.53,0.00,0.000,6,0.000,0.030,3487,1989,1868,0,0,0,0,0,0
$GC,9385,1.51,292.1,45.3,9.5,447,9400,0.00,2.53,10.35,0.524,4,0.000,0.028,3487,3561,1828,0,0,0,0,0,0
$GC,9478,1.59,300.2,35.8,9.6,454,9493,0.00,2.50,8.38,0.497,6,0.000,0.028,3487,2002,1795,0,0,0,0,0,0
$STATE,9773,end climb,SURFACE_DEPTH_REACHED
$STATE,9773,begin surface coast
$FINISH,0.5,0.980071
$STATE,9815,end surface coast,CONTROL_FINISHED_OK
$STATE,9815,begin surface
$SM_CCo,9838,64.95,0.526,0,0,1469,380.21
$SM_GC,1.26,0.00,0.00,64.95,0.000,0.000,0.526,476,1813,1469,-12.32,-0.45,380.21
$IRIDIUM_FIX,2239.35,-15802.37,300800,030356
$TT8_MAMPS,0.026078
$HUMID,58.30
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.40
$XPDR_PINGS,42
$24V_AH,23.5,26.950
$10V_AH,10.4,23.621
$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,29.625,112.825,361.575,64.950,0.000,28.696,33.813,187.751,10.500,0.000,16.320,1015.683,6385.003,486.850,1878.568,524.751,33.367,1159.103,0.000,1885.228,0.000,0.535,0.000
$DEVICE_MAMPS,158.002,115.817,917.332,526.162,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.912,294.742,393.495,769.271,1163.391,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355476
$DATA_FILE_SIZE,38397,501
$CAP_FILE_SIZE,102521,0
$CFSIZE,260165632,170967040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060611,085714,2249.828,-15800.085,11,1.7,11,10.1