version: 66.06
glider: 146
mission: 6
dive: 175
start: 6 1 111 8 30 0
data:
$ID,146
$MISSION,6
$DIVE,175
$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,-271744.81
$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,3150
$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,1770
$C_ROLL_CLIMB,1970
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$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
$GPS1,081830,2249.808,-15759.565,64,1.4,70,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.7
$GPS2,082907,2249.829,-15759.542,12,1.4,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.222,0.075
$KALMAN_X,-89482.6,414.8,378.3,83995.3,-232.4
$KALMAN_Y,-131332.5,302.5,467.2,141538.5,-605.1
$MHEAD_RNG_PITCHd_Wd,61.2,4351,-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,-70.53,0.000,2,0.000,0.000,476,1735,3310,0,0,0,0,0,0
$GC,93,-1.38,-116.8,4.1,-8.0,9,119,12.30,2.58,-3.33,0.000,4,0.150,0.064,2841,226,3501,0,0,0,0,0,0
$GC,132,-0.41,-116.8,19.2,-38.7,13,141,0.98,2.38,0.00,0.000,6,0.095,0.014,3056,1796,3502,0,0,0,0,0,0
$GC,418,-0.72,-116.8,39.6,-5.1,45,423,0.25,2.65,0.00,0.000,4,0.045,0.052,2973,221,3503,0,0,0,0,0,0
$GC,442,-0.98,-116.8,41.3,-6.3,46,447,0.15,2.30,0.00,0.000,6,0.063,0.015,2925,1788,3503,0,0,0,0,0,0
$GC,710,-1.06,-116.8,71.5,-12.7,70,714,0.00,2.33,0.00,0.000,4,0.000,0.031,2924,3284,3504,0,0,0,0,0,0
$GC,820,-1.20,-116.8,84.3,-10.1,78,829,0.12,2.38,0.00,0.000,6,0.034,0.029,2870,1804,3504,0,0,0,0,0,0
$GC,1086,-1.20,-116.8,115.6,-12.0,103,1091,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1804,3505,0,0,0,0,0,0
$GC,1348,-1.20,-116.8,149.3,-12.4,128,1352,0.00,2.33,0.00,0.000,4,0.000,0.031,2870,3292,3505,0,0,0,0,0,0
$GC,1424,-1.26,-116.8,158.3,-11.4,134,1428,0.00,2.40,0.00,0.000,6,0.000,0.026,2870,1777,3506,0,0,0,0,0,0
$GC,1688,-1.26,-116.8,187.6,-11.2,158,1692,0.00,2.35,0.00,0.000,4,0.000,0.029,2870,3287,3506,0,0,0,0,0,0
$GC,1721,-1.31,-116.8,191.0,-10.8,160,1725,0.00,2.40,0.00,0.000,6,0.000,0.027,2870,1781,3506,0,0,0,0,0,0
$GC,2007,-1.36,-116.8,220.5,-9.9,172,2011,0.00,2.35,0.00,0.000,4,0.000,0.032,2870,3284,3506,0,0,0,0,0,0
$GC,2034,-1.44,-116.8,223.7,-10.8,172,2039,0.15,2.40,0.00,0.000,6,0.064,0.029,2818,1783,3506,0,0,0,0,0,0
$GC,2284,-1.40,-116.8,255.7,-13.0,178,2289,0.12,2.38,0.00,0.000,4,0.111,0.030,2843,3281,3506,0,0,0,0,0,0
$GC,2306,-1.40,-116.8,258.6,-12.6,178,2311,0.00,2.40,0.00,0.000,6,0.000,0.035,2844,1788,3506,0,0,0,0,0,0
$GC,2561,-1.40,-116.8,286.4,-10.5,185,2566,0.00,2.38,0.00,0.000,4,0.000,0.031,2844,3288,3506,0,0,0,0,0,0
$GC,2589,-1.44,-116.8,289.3,-10.8,185,2593,0.00,2.42,0.00,0.000,6,0.000,0.036,2844,1794,3506,0,0,0,0,0,0
$GC,2840,-1.44,-116.8,313.2,-9.6,191,2845,0.00,2.83,0.00,0.000,4,0.000,0.084,2844,190,3505,0,0,0,0,0,0
$GC,2867,-1.44,-116.8,316.3,-10.8,191,2871,0.00,2.40,0.00,0.000,6,0.000,0.028,2844,1719,3505,0,0,0,0,0,0
$GC,3123,-1.48,-116.8,339.8,-9.2,198,3128,0.00,2.55,0.00,0.000,4,0.000,0.047,2844,3284,3504,0,0,0,0,0,0
$GC,3231,-1.55,-116.8,351.1,-10.7,200,3236,0.15,2.47,0.00,0.000,6,0.067,0.051,2796,1800,3504,0,0,0,0,0,0
$GC,3492,-1.51,-116.8,385.3,-13.3,207,3497,0.10,2.40,0.00,0.000,4,0.121,0.038,2817,3276,3502,0,0,0,0,0,0
$GC,3536,-1.51,-116.8,391.4,-12.9,208,3540,0.00,2.45,0.00,0.000,6,0.000,0.058,2817,1808,3502,0,0,0,0,0,0
$GC,3815,-1.51,-116.8,426.0,-12.4,215,3820,0.00,2.42,0.00,0.000,4,0.000,0.044,2817,3277,3501,0,0,0,0,0,0
$GC,3877,-1.55,-116.8,433.6,-11.9,216,3881,0.00,2.50,0.00,0.000,6,0.000,0.055,2817,1813,3500,0,0,0,0,0,0
$GC,4138,-1.55,-116.8,462.1,-10.9,223,4143,0.00,3.08,0.00,0.000,4,0.000,0.114,2817,186,3498,0,0,0,0,0,0
$GC,4165,-1.55,-116.8,465.3,-11.2,223,4169,0.00,2.53,0.00,0.000,6,0.000,0.035,2817,1732,3498,0,0,0,0,0,0
$GC,4415,-1.55,-116.8,490.5,-9.7,229,4420,0.00,2.78,0.00,0.000,4,0.000,0.061,2817,3360,3497,0,0,0,0,0,0
$GC,4491,-1.60,-116.8,498.0,-9.9,230,4495,0.00,2.62,0.00,0.000,6,0.000,0.061,2817,1821,3496,0,0,0,0,0,0
$STATE,4535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4535,begin apogee
$GC,4541,-0.31,0.0,503.1,10.4,231,4642,1.17,0.00,97.78,0.920,6,0.081,0.000,3082,1998,3020,0,0,0,0,0,0
$STATE,4643,end apogee,CONTROL_FINISHED_OK
$STATE,4643,begin climb
$GC,4646,1.38,116.8,505.8,0.0,233,4759,1.60,2.65,100.18,0.900,4,0.058,0.057,3456,3523,2540,0,0,0,0,0,0
$GC,4782,1.35,197.1,504.2,5.4,237,4858,0.00,2.67,69.47,0.887,6,0.000,0.050,3456,1970,2215,0,0,0,0,0,0
$GC,5110,1.28,197.1,470.4,11.3,245,5115,0.15,2.62,0.00,0.000,4,0.119,0.048,3426,3528,2208,0,0,0,0,0,0
$GC,5176,1.28,197.1,463.0,10.5,246,5181,0.00,2.65,0.00,0.000,6,0.000,0.055,3427,1984,2206,0,0,0,0,0,0
$GC,5432,1.28,197.9,437.4,10.0,253,5437,0.00,3.03,0.00,0.000,4,0.000,0.110,3426,384,2203,0,0,0,0,0,0
$GC,5513,1.22,197.9,428.3,11.6,254,5518,0.00,2.55,0.00,0.000,6,0.000,0.031,3427,1950,2201,0,0,0,0,0,0
$GC,5762,1.24,208.7,404.2,9.4,261,5777,0.00,2.70,9.07,0.759,4,0.000,0.048,3427,3550,2169,0,0,0,0,0,0
$GC,5806,1.25,217.3,399.8,9.5,262,5821,0.00,2.65,9.20,0.759,6,0.000,0.044,3426,1968,2134,0,0,0,0,0,0
$GC,6096,1.25,217.3,369.3,10.8,269,6097,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1968,2130,0,0,0,0,0,0
$GC,6338,1.25,218.9,344.6,9.9,275,6342,0.00,2.58,0.00,0.000,4,0.000,0.033,3426,3552,2129,0,0,0,0,0,0
$GC,6387,1.25,221.7,339.5,9.9,276,6397,0.00,2.60,4.53,0.588,6,0.000,0.035,3426,1970,2115,0,0,0,0,0,0
$GC,6660,1.28,244.6,315.4,8.7,283,6689,0.00,2.70,22.08,0.792,4,0.000,0.039,3426,3553,2022,0,0,0,0,0,0
$GC,6754,1.33,245.2,306.5,10.0,285,6759,0.00,2.60,0.00,0.000,6,0.000,0.038,3426,1979,2019,0,0,0,0,0,0
$GC,7034,1.34,254.3,280.2,9.5,292,7048,0.00,2.80,9.35,0.700,4,0.000,0.074,3426,388,1982,0,0,0,0,0,0
$GC,7098,1.34,254.3,272.7,11.9,293,7103,0.00,2.55,0.00,0.000,6,0.000,0.019,3426,2006,1981,0,0,0,0,0,0
$GC,7356,1.38,254.3,245.4,10.6,300,7361,0.10,2.50,0.00,0.000,4,0.109,0.035,3454,3538,1980,0,0,0,0,0,0
$GC,7377,1.38,254.3,242.5,12.3,300,7381,0.00,2.53,0.00,0.000,6,0.000,0.038,3453,1977,1978,0,0,0,0,0,0
$GC,7638,1.38,254.3,212.8,11.0,307,7639,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1977,1978,0,0,0,0,0,0
$GC,7891,1.39,269.7,188.9,9.1,319,7913,0.00,2.60,14.52,0.681,4,0.000,0.034,3454,3544,1919,0,0,0,0,0,0
$GC,7948,1.39,269.7,182.6,10.3,324,7952,0.00,2.55,0.00,0.000,6,0.000,0.035,3454,1989,1918,0,0,0,0,0,0
$GC,8210,1.39,269.7,153.4,11.3,348,8215,0.00,2.72,0.00,0.000,4,0.000,0.059,3454,392,1917,0,0,0,0,0,0
$GC,8233,1.39,269.7,151.2,11.7,349,8238,0.00,2.53,0.00,0.000,6,0.000,0.019,3454,2020,1916,0,0,0,0,0,0
$GC,8499,1.39,269.7,121.7,10.0,373,8503,0.00,2.40,0.00,0.000,4,0.000,0.032,3454,3533,1915,0,0,0,0,0,0
$GC,8522,1.43,269.7,118.8,10.4,374,8531,0.00,2.50,0.00,0.000,6,0.000,0.035,3454,1999,1915,0,0,0,0,0,0
$GC,8788,1.51,289.6,94.0,8.9,399,8813,0.10,2.75,17.83,0.602,4,0.087,0.061,3485,392,1839,0,0,0,0,0,0
$GC,8844,1.46,289.6,87.3,12.5,403,8850,0.00,2.53,0.00,0.000,6,0.000,0.024,3485,2009,1837,0,0,0,0,0,0
$GC,9110,1.46,289.6,58.8,10.7,428,9114,0.00,2.42,0.00,0.000,4,0.000,0.029,3485,3528,1837,0,0,0,0,0,0
$GC,9206,1.50,289.6,48.8,11.3,435,9210,0.00,2.42,0.00,0.000,6,0.000,0.028,3485,2023,1837,0,0,0,0,0,0
$GC,9496,1.55,289.8,20.1,10.0,466,9505,0.00,2.75,0.00,0.000,4,0.000,0.055,3485,392,1837,0,0,0,0,0,0
$GC,9528,1.55,289.8,16.3,10.8,470,9538,0.00,2.55,0.00,0.000,6,0.000,0.018,3485,2031,1836,0,0,0,0,0,0
$STATE,9660,end climb,SURFACE_DEPTH_REACHED
$STATE,9660,begin surface coast
$FINISH,0.4,0.979969
$STATE,9713,end surface coast,CONTROL_FINISHED_OK
$STATE,9713,begin surface
$SM_CCo,9735,75.32,0.528,0,0,1470,380.21
$SM_GC,1.31,0.00,0.00,75.32,0.000,0.000,0.528,475,1758,1470,-12.31,-0.34,380.21
$IRIDIUM_FIX,2241.69,-15802.37,250800,080816
$TT8_MAMPS,0.026078
$HUMID,58.42
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.90
$XPDR_PINGS,54
$24V_AH,23.5,21.876
$10V_AH,10.4,19.101
$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,29.600,143.200,354.000,75.325,0.000,58.590,75.086,287.897,13.500,0.000,30.908,1036.830,6193.833,499.226,1999.459,719.936,33.367,1234.538,0.000,1986.250,0.000,0.535,0.000
$DEVICE_MAMPS,149.565,114.283,920.400,528.463,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.485,287.065,389.922,779.083,1174.282,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,38501,496
$CAP_FILE_SIZE,114557,0
$CFSIZE,260165632,173109248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010611,111456,2250.056,-15758.103,33,1.8,45,10.1