version: 66.06
glider: 146
mission: 6
dive: 208
start: 6 5 111 8 8 30
data:
$ID,146
$MISSION,6
$DIVE,208
$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,-272724.44
$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,1820
$C_ROLL_CLIMB,2000
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,48
$R_STBD_OVSHOOT,62
$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
$GPS1,080106,2247.936,-15757.939,40,1.3,40,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.8
$GPS2,080737,2248.005,-15757.858,18,1.6,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.002,-0.235
$KALMAN_X,-89835.4,-91.3,-46.8,88158.8,91.3
$KALMAN_Y,-107749.5,594.3,-139.3,114892.4,951.3
$MHEAD_RNG_PITCHd_Wd,170.3,1864,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-69.53,0.000,2,0.000,0.000,473,1793,3239,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.6,-6.2,9,118,12.43,2.60,-4.78,0.000,4,0.152,0.061,2846,266,3500,0,0,0,0,0,0
$GC,210,-1.17,-116.8,35.8,-21.8,24,218,0.20,2.40,0.00,0.000,6,0.109,0.014,2892,1846,3501,0,0,0,0,0,0
$GC,477,-1.17,-116.8,77.7,-14.2,49,481,0.00,2.35,0.00,0.000,4,0.000,0.027,2892,3355,3502,0,0,0,0,0,0
$GC,512,-1.17,-116.8,82.5,-12.6,51,516,0.00,2.40,0.00,0.000,6,0.000,0.032,2892,1836,3503,0,0,0,0,0,0
$GC,778,-1.17,-116.8,114.8,-11.1,75,782,0.00,2.38,0.00,0.000,4,0.000,0.027,2892,3357,3503,0,0,0,0,0,0
$GC,801,-1.22,-116.8,117.8,-11.1,76,812,0.00,2.45,0.00,0.000,6,0.000,0.025,2892,1827,3504,0,0,0,0,0,0
$GC,1068,-1.26,-116.8,148.3,-11.5,101,1072,0.00,2.40,0.00,0.000,4,0.000,0.031,2892,3362,3504,0,0,0,0,0,0
$GC,1124,-1.34,-116.8,155.7,-11.3,105,1134,0.10,2.45,0.00,0.000,6,0.038,0.031,2844,1832,3504,0,0,0,0,0,0
$GC,1391,-1.34,-116.8,188.2,-12.3,130,1395,0.00,2.38,0.00,0.000,4,0.000,0.031,2845,3359,3505,0,0,0,0,0,0
$GC,1408,-1.34,-116.8,191.2,-12.4,131,1412,0.00,2.38,0.00,0.000,6,0.000,0.029,2845,1836,3505,0,0,0,0,0,0
$GC,1682,-1.34,-116.8,224.6,-12.0,142,1683,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1836,3505,0,0,0,0,0,0
$GC,1925,-1.34,-116.8,252.7,-11.6,148,1929,0.00,2.42,0.00,0.000,4,0.000,0.035,2844,3362,3505,0,0,0,0,0,0
$GC,1985,-1.34,-116.8,259.5,-10.5,149,1989,0.00,2.40,0.00,0.000,6,0.000,0.034,2844,1847,3505,0,0,0,0,0,0
$GC,2252,-1.34,-116.8,288.2,-10.6,156,2256,0.00,2.40,0.00,0.000,4,0.000,0.037,2845,3353,3505,0,0,0,0,0,0
$GC,2273,-1.38,-116.8,290.4,-9.9,156,2278,0.00,2.40,0.00,0.000,6,0.000,0.036,2845,1853,3505,0,0,0,0,0,0
$GC,2529,-1.38,-116.8,316.0,-10.0,163,2534,0.00,2.85,0.00,0.000,4,0.000,0.086,2844,242,3505,0,0,0,0,0,0
$GC,2550,-1.38,-116.8,318.5,-11.3,163,2554,0.00,2.45,0.00,0.000,6,0.000,0.026,2844,1805,3505,0,0,0,0,0,0
$GC,2808,-1.42,-116.8,344.2,-9.9,170,2812,0.00,2.58,0.00,0.000,4,0.000,0.042,2844,3397,3504,0,0,0,0,0,0
$GC,2852,-1.49,-116.8,348.8,-9.5,171,2856,0.00,2.53,0.00,0.000,6,0.000,0.042,2844,1857,3503,0,0,0,0,0,0
$GC,3131,-1.54,-116.8,374.6,-9.2,178,3133,0.10,0.00,0.00,0.000,6,0.090,0.000,2807,1857,3502,0,0,0,0,0,0
$GC,3373,-1.54,-116.8,400.9,-10.9,184,3377,0.00,2.53,0.00,0.000,4,0.000,0.043,2807,3392,3501,0,0,0,0,0,0
$GC,3405,-1.54,-116.8,404.8,-11.8,184,3411,0.00,2.58,0.00,0.000,6,0.000,0.055,2807,1857,3501,0,0,0,0,0,0
$GC,3656,-1.54,-116.8,433.6,-11.6,191,3657,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1856,3499,0,0,0,0,0,0
$GC,3899,-1.54,-116.8,460.1,-10.7,197,3903,0.00,2.55,0.00,0.000,4,0.000,0.049,2807,3389,3497,0,0,0,0,0,0
$GC,3931,-1.54,-116.8,463.7,-10.8,197,3937,0.00,2.60,0.00,0.000,6,0.000,0.062,2807,1866,3497,0,0,0,0,0,0
$GC,4181,-1.54,-116.8,489.5,-10.6,204,4186,0.00,3.08,0.00,0.000,4,0.000,0.116,2807,234,3495,0,0,0,0,0,0
$GC,4203,-1.54,-116.8,492.0,-11.2,204,4208,0.00,2.62,0.00,0.000,6,0.000,0.037,2807,1842,3495,0,0,0,0,0,0
$STATE,4294,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4294,begin apogee
$GC,4300,-0.31,0.0,502.0,10.8,207,4401,1.25,0.00,97.32,0.918,6,0.086,0.000,3086,2012,3020,0,0,0,0,0,0
$STATE,4402,end apogee,CONTROL_FINISHED_OK
$STATE,4402,begin climb
$GC,4404,1.38,116.8,504.5,0.0,209,4509,1.55,0.00,99.95,0.903,6,0.047,0.000,3454,2012,2543,0,0,0,0,0,0
$GC,4733,1.34,158.1,488.3,7.7,217,4774,0.00,2.75,35.38,0.874,4,0.000,0.057,3454,3583,2374,0,0,0,0,0,0
$GC,4867,1.26,158.1,475.1,11.0,220,4872,0.12,2.67,0.00,0.000,6,0.125,0.052,3430,2013,2369,0,0,0,0,0,0
$GC,5150,1.28,180.1,449.7,8.8,227,5175,0.00,3.10,19.55,0.842,4,0.000,0.110,3430,406,2284,0,0,0,0,0,0
$GC,5192,1.24,199.0,445.9,8.9,228,5217,0.00,2.65,18.33,0.828,6,0.000,0.033,3429,2013,2207,0,0,0,0,0,0
$GC,5474,1.25,207.3,419.0,9.6,235,5484,0.00,0.00,7.65,0.732,6,0.000,0.000,3430,2013,2175,0,0,0,0,0,0
$GC,5717,1.26,212.3,395.6,9.7,241,5724,0.00,0.00,5.78,0.670,6,0.000,0.000,3430,2013,2154,0,0,0,0,0,0
$GC,5960,1.26,212.3,370.9,10.1,247,5965,0.00,2.58,0.00,0.000,4,0.000,0.041,3430,3588,2151,0,0,0,0,0,0
$GC,5983,1.26,212.3,368.5,10.2,247,5988,0.00,2.62,0.00,0.000,6,0.000,0.035,3430,2000,2150,0,0,0,0,0,0
$GC,6238,1.27,223.6,344.2,9.4,254,6256,0.00,2.83,11.10,0.765,4,0.000,0.080,3430,413,2107,0,0,0,0,0,0
$GC,6285,1.27,223.6,339.3,10.7,255,6290,0.00,2.55,0.00,0.000,6,0.000,0.023,3430,2016,2105,0,0,0,0,0,0
$GC,6565,1.28,228.4,312.3,9.8,262,6575,0.00,2.55,5.53,0.637,4,0.000,0.036,3429,3572,2088,0,0,0,0,0,0
$GC,6608,1.28,228.4,307.5,10.8,263,6613,0.00,2.58,0.00,0.000,6,0.000,0.038,3430,1993,2086,0,0,0,0,0,0
$GC,6888,1.28,230.5,279.5,9.9,270,6893,0.00,2.72,0.00,0.000,4,0.000,0.066,3430,418,2084,0,0,0,0,0,0
$GC,6950,1.28,230.5,272.8,10.7,271,6954,0.00,2.45,0.00,0.000,6,0.000,0.019,3430,1990,2084,0,0,0,0,0,0
$GC,7217,1.34,248.5,248.6,9.0,278,7241,0.00,2.65,18.23,0.740,4,0.000,0.038,3430,3563,2007,0,0,0,0,0,0
$GC,7282,1.39,248.5,242.2,10.4,279,7287,0.12,2.58,0.00,0.000,6,0.084,0.031,3462,1980,2004,0,0,0,0,0,0
$GC,7543,1.39,248.5,213.0,11.3,286,7547,0.00,2.67,0.00,0.000,4,0.000,0.062,3463,423,2003,0,0,0,0,0,0
$GC,7566,1.35,248.5,210.3,12.1,286,7570,0.00,2.47,0.00,0.000,6,0.000,0.021,3462,1997,2002,0,0,0,0,0,0
$GC,7828,1.36,252.8,182.8,9.8,302,7836,0.00,0.00,4.78,0.532,6,0.000,0.000,3462,1997,1989,0,0,0,0,0,0
$GC,8091,1.36,252.8,154.5,10.6,327,8095,0.00,2.55,0.00,0.000,4,0.000,0.041,3462,3571,1988,0,0,0,0,0,0
$GC,8171,1.36,254.5,147.1,9.9,333,8176,0.00,2.55,0.00,0.000,6,0.000,0.030,3462,1981,1986,0,0,0,0,0,0
$GC,8438,1.38,267.7,122.0,9.3,357,8463,0.00,2.70,14.48,0.627,4,0.000,0.059,3463,430,1927,0,0,0,0,0,0
$GC,8499,1.38,267.7,115.2,11.3,362,8504,0.00,2.45,0.00,0.000,6,0.000,0.018,3462,1998,1926,0,0,0,0,0,0
$GC,8762,1.40,283.1,90.1,9.1,386,8786,0.00,2.55,14.73,0.586,4,0.000,0.031,3462,3562,1864,0,0,0,0,0,0
$GC,8805,1.45,293.5,86.6,9.4,389,8820,0.00,2.58,10.23,0.558,6,0.000,0.036,3462,1981,1822,0,0,0,0,0,0
$GC,9080,1.58,322.9,59.1,8.3,414,9112,0.15,2.67,26.00,0.574,4,0.067,0.062,3506,422,1702,0,0,0,0,0,0
$GC,9227,1.58,322.9,41.2,13.4,425,9231,0.00,2.38,0.00,0.000,6,0.000,0.017,3506,1969,1700,0,0,0,0,0,0
$GC,9538,1.58,322.9,5.7,10.2,464,9548,0.00,2.55,0.00,0.000,4,0.000,0.035,3506,3555,1699,0,0,0,0,0,0
$STATE,9557,end climb,SURFACE_DEPTH_REACHED
$STATE,9557,begin surface coast
$FINISH,2.9,0.980019
$STATE,9566,end surface coast,CONTROL_FINISHED_OK
$STATE,9566,begin surface
$SM_CCo,9591,46.40,0.528,0,0,1470,380.21
$SM_GC,1.52,0.00,0.00,46.40,0.000,0.000,0.528,480,1814,1470,-12.31,-0.17,380.21
$IRIDIUM_FIX,2239.35,-15757.16,290800,050516
$TT8_MAMPS,0.026078
$HUMID,59.64
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.90
$XPDR_PINGS,46
$24V_AH,23.5,26.059
$10V_AH,10.4,22.771
$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,28.550,128.700,389.000,46.400,0.000,27.951,36.871,179.211,11.500,0.000,31.359,961.139,6299.465,504.135,1753.328,513.099,33.367,1182.925,0.000,1737.243,0.000,0.538,0.000
$DEVICE_MAMPS,151.866,125.021,918.099,528.463,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,316.372,256.130,351.940,657.326,994.267,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,38359,467
$CAP_FILE_SIZE,102298,0
$CFSIZE,260165632,171388928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,050611,105040,2247.177,-15757.898,37,2.0,52,10.1