version: 66.06
glider: 146
mission: 6
dive: 219
start: 6 6 111 14 59 21
data:
$ID,146
$MISSION,6
$DIVE,219
$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,-272998.81
$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,57
$R_STBD_OVSHOOT,51
$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
$GPS1,144836,2250.362,-15756.924,31,1.3,31,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-69.2
$GPS2,145828,2250.508,-15756.973,12,4.4,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.086,-0.218
$KALMAN_X,-88044.2,204.0,-82.7,87622.2,406.5
$KALMAN_Y,-100205.1,74.6,207.8,112148.0,86.8
$MHEAD_RNG_PITCHd_Wd,191.5,6649,-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,16,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-70.72,0.000,2,0.000,0.000,473,1797,3248,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.3,-5.4,9,118,12.52,2.58,-4.62,0.000,4,0.156,0.065,2844,284,3498,0,0,0,0,0,0
$GC,259,-1.23,-116.8,43.9,-19.9,28,269,0.15,2.40,0.00,0.000,6,0.108,0.016,2879,1865,3500,0,0,0,0,0,0
$GC,525,-1.23,-116.8,83.6,-13.5,53,529,0.00,2.65,0.00,0.000,4,0.000,0.053,2879,285,3501,0,0,0,0,0,0
$GC,567,-1.19,-116.8,90.4,-15.5,56,571,0.00,2.30,0.00,0.000,6,0.000,0.016,2878,1831,3501,0,0,0,0,0,0
$GC,830,-1.19,-116.8,124.6,-11.6,80,831,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1831,3501,0,0,0,0,0,0
$GC,1084,-1.19,-116.8,152.7,-10.7,104,1088,0.00,2.40,0.00,0.000,4,0.000,0.033,2879,3371,3503,0,0,0,0,0,0
$GC,1136,-1.27,-116.8,158.8,-11.3,108,1141,0.00,2.38,0.00,0.000,6,0.000,0.031,2879,1858,3502,0,0,0,0,0,0
$GC,1401,-1.32,-116.8,185.3,-9.1,132,1409,0.00,0.00,0.00,0.000,6,0.000,0.000,2879,1858,3503,0,0,0,0,0,0
$GC,1680,-1.38,-116.8,211.7,-9.5,150,1685,0.10,2.40,0.00,0.000,4,0.086,0.025,2841,3366,3503,0,0,0,0,0,0
$GC,1720,-1.38,-116.8,216.3,-11.8,151,1725,0.00,2.40,0.00,0.000,6,0.000,0.029,2841,1839,3503,0,0,0,0,0,0
$GC,2005,-1.38,-116.8,251.3,-12.3,158,2009,0.00,2.40,0.00,0.000,4,0.000,0.034,2841,3367,3503,0,0,0,0,0,0
$GC,2046,-1.38,-116.8,256.2,-11.5,159,2051,0.00,2.40,0.00,0.000,6,0.000,0.027,2841,1847,3503,0,0,0,0,0,0
$GC,2330,-1.38,-116.8,288.8,-11.5,166,2331,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1848,3503,0,0,0,0,0,0
$GC,2575,-1.38,-116.8,316.1,-11.0,172,2576,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1847,3503,0,0,0,0,0,0
$GC,2817,-1.42,-116.8,341.2,-10.1,178,2819,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1848,3502,0,0,0,0,0,0
$GC,3061,-1.46,-116.8,366.3,-10.3,184,3065,0.00,2.45,0.00,0.000,4,0.000,0.038,2841,3361,3501,0,0,0,0,0,0
$GC,3105,-1.54,-116.8,371.2,-10.7,185,3109,0.00,2.47,0.00,0.000,6,0.000,0.048,2841,1859,3501,0,0,0,0,0,0
$GC,3384,-1.59,-116.8,400.8,-10.8,192,3389,0.15,2.45,0.00,0.000,4,0.069,0.048,2794,3356,3500,0,0,0,0,0,0
$GC,3423,-1.59,-116.8,405.8,-12.9,193,3428,0.00,2.55,0.00,0.000,6,0.000,0.054,2794,1849,3500,0,0,0,0,0,0
$GC,3707,-1.59,-116.8,439.7,-11.8,200,3708,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1849,3498,0,0,0,0,0,0
$GC,3950,-1.59,-116.8,467.8,-11.5,206,3951,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,1849,3497,0,0,0,0,0,0
$GC,4193,-1.59,-116.8,496.6,-12.0,212,4198,0.00,2.58,0.00,0.000,4,0.000,0.058,2794,3357,3495,0,0,0,0,0,0
$GC,4209,-1.59,-116.8,498.5,-11.6,212,4213,0.00,2.58,0.00,0.000,6,0.000,0.061,2794,1849,3495,0,0,0,0,0,0
$STATE,4223,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4223,begin apogee
$GC,4231,-0.31,0.0,500.5,12.3,212,4332,1.27,0.00,97.18,0.909,6,0.086,0.000,3081,1957,3020,0,0,0,0,0,0
$STATE,4332,end apogee,CONTROL_FINISHED_OK
$STATE,4333,begin climb
$GC,4335,1.38,116.8,503.2,0.0,215,4439,1.60,0.00,99.95,0.891,6,0.046,0.000,3460,1957,2543,0,0,0,0,0,0
$GC,4683,1.33,156.9,484.8,7.7,224,4724,0.00,2.97,33.85,0.867,4,0.000,0.108,3460,410,2379,0,0,0,0,0,0
$GC,4759,1.17,157.7,478.0,10.0,225,4764,0.22,2.55,0.00,0.000,6,0.111,0.035,3414,1955,2376,0,0,0,0,0,0
$GC,5009,1.23,202.4,458.5,7.5,231,5055,0.00,2.80,40.35,0.863,4,0.000,0.058,3413,3578,2193,0,0,0,0,0,0
$GC,5073,1.28,242.8,453.9,7.7,232,5117,0.00,2.75,36.55,0.848,6,0.000,0.047,3414,1976,2029,0,0,0,0,0,0
$GC,5375,1.28,242.8,424.3,10.4,240,5380,0.00,2.90,0.00,0.000,4,0.000,0.104,3414,408,2022,0,0,0,0,0,0
$GC,5409,1.28,242.8,420.3,11.8,240,5414,0.00,2.55,0.00,0.000,6,0.000,0.025,3414,1977,2020,0,0,0,0,0,0
$GC,5659,1.32,242.8,394.2,10.0,247,5664,0.12,2.65,0.00,0.000,4,0.088,0.043,3445,3581,2019,0,0,0,0,0,0
$GC,5686,1.32,242.8,391.2,10.8,247,5691,0.00,2.72,0.00,0.000,6,0.000,0.045,3446,1955,2018,0,0,0,0,0,0
$GC,5937,1.32,242.8,363.8,11.0,253,5938,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1956,2016,0,0,0,0,0,0
$GC,6180,1.32,242.8,335.5,11.7,259,6184,0.00,2.65,0.00,0.000,4,0.000,0.035,3446,3579,2015,0,0,0,0,0,0
$GC,6223,1.32,242.8,330.3,11.4,260,6228,0.00,2.65,0.00,0.000,6,0.000,0.034,3446,1972,2014,0,0,0,0,0,0
$GC,6503,1.32,242.8,300.4,10.7,267,6507,0.00,2.72,0.00,0.000,4,0.000,0.074,3446,407,2014,0,0,0,0,0,0
$GC,6557,1.32,242.8,293.6,11.9,268,6562,0.00,2.45,0.00,0.000,6,0.000,0.026,3446,1973,2013,0,0,0,0,0,0
$GC,6825,1.32,249.7,267.2,9.6,275,6834,0.00,2.62,4.15,0.525,4,0.000,0.041,3446,3569,2001,0,0,0,0,0,0
$GC,6858,1.33,252.1,263.9,9.9,275,6871,0.00,2.65,3.90,0.496,6,0.000,0.037,3446,1948,1992,0,0,0,0,0,0
$GC,7113,1.35,267.0,240.5,9.2,282,7130,0.00,0.00,15.18,0.716,6,0.000,0.000,3446,1948,1931,0,0,0,0,0,0
$GC,7357,1.35,267.0,215.5,10.5,288,7361,0.00,2.62,0.00,0.000,4,0.000,0.066,3446,408,1928,0,0,0,0,0,0
$GC,7373,1.35,267.0,213.5,11.2,288,7377,0.00,2.42,0.00,0.000,6,0.000,0.025,3447,1962,1927,0,0,0,0,0,0
$GC,7630,1.36,276.9,187.9,9.5,303,7645,0.00,2.65,9.68,0.637,4,0.000,0.036,3446,3557,1891,0,0,0,0,0,0
$GC,7669,1.40,276.9,183.6,10.8,306,7678,0.00,2.62,0.00,0.000,6,0.000,0.036,3446,1965,1889,0,0,0,0,0,0
$GC,7936,1.44,276.9,156.0,10.1,331,7941,0.10,2.60,0.00,0.000,4,0.225,0.031,3475,3561,1888,0,0,0,0,0,0
$GC,7953,1.44,276.9,153.5,10.6,332,7958,0.00,2.58,0.00,0.000,6,0.000,0.029,3474,1959,1889,0,0,0,0,0,0
$GC,8217,1.44,276.9,126.0,10.1,356,8221,0.00,2.58,0.00,0.000,4,0.000,0.031,3474,3556,1888,0,0,0,0,0,0
$GC,8284,1.44,276.9,119.0,10.9,361,8288,0.00,2.55,0.00,0.000,6,0.000,0.037,3474,1983,1887,0,0,0,0,0,0
$GC,8551,1.44,276.9,91.7,10.2,385,8556,0.00,2.65,0.00,0.000,4,0.000,0.056,3474,410,1887,0,0,0,0,0,0
$GC,8654,1.44,276.9,80.6,10.5,393,8659,0.00,2.40,0.00,0.000,6,0.000,0.017,3474,1982,1886,0,0,0,0,0,0
$GC,8923,1.53,296.8,56.0,8.9,417,8951,0.00,2.58,18.00,0.556,4,0.000,0.032,3475,3542,1809,0,0,0,0,0,0
$GC,8992,1.61,296.8,49.3,10.1,422,8997,0.12,2.55,0.00,0.000,6,0.077,0.029,3510,1969,1809,0,0,0,0,0,0
$GC,9284,1.61,296.8,15.7,11.2,454,9293,0.00,0.00,0.00,0.000,6,0.000,0.000,3510,1969,1808,0,0,0,0,0,0
$STATE,9404,end climb,SURFACE_DEPTH_REACHED
$STATE,9404,begin surface coast
$FINISH,0.5,0.970764
$STATE,9461,end surface coast,CONTROL_FINISHED_OK
$STATE,9462,begin surface
$SM_CCo,9484,68.18,0.522,0,0,1469,380.21
$SM_GC,1.30,0.00,0.00,68.18,0.000,0.000,0.522,473,1815,1469,-12.34,-0.42,380.21
$IRIDIUM_FIX,2241.69,-15759.32,300800,151521
$TT8_MAMPS,0.025311
$HUMID,59.13
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.20
$XPDR_PINGS,39
$24V_AH,23.5,27.291
$10V_AH,10.4,23.962
$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,28.675,108.200,358.775,68.175,0.000,53.475,69.677,248.155,9.750,0.000,36.282,961.147,6236.599,506.170,1796.752,646.317,33.377,1151.320,0.000,1784.428,0.000,0.536,0.000
$DEVICE_MAMPS,225.498,191.750,908.895,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,324.566,262.888,371.350,702.880,1063.116,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355452
$DATA_FILE_SIZE,38308,479
$CAP_FILE_SIZE,99362,0
$CFSIZE,260165632,170811392
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,060611,173946,2249.456,-15757.827,11,2.5,30,10.1