version: 66.06
glider: 146
mission: 6
dive: 174
start: 6 1 111 5 30 27
data:
$ID,146
$MISSION,6
$DIVE,174
$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,-271713.28
$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,58
$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
$GPS1,052252,2249.599,-15801.394,17,2.7,36,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.3
$GPS2,052934,2249.697,-15801.358,11,3.1,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,-0.020
$KALMAN_X,-89599.8,217.0,-73.8,81662.6,323.3
$KALMAN_Y,-131543.2,492.8,42.1,141740.4,401.7
$MHEAD_RNG_PITCHd_Wd,84.9,7461,-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,-116.8,0.0,0.0,0,90,0.00,0.00,-71.00,0.000,2,0.000,0.000,480,1737,3295,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.9,-7.7,9,119,12.40,2.60,-3.60,0.000,4,0.154,0.064,2839,218,3499,0,0,0,0,0,0
$GC,132,-0.39,-116.8,18.4,-37.8,13,142,1.00,2.40,0.00,0.000,6,0.096,0.017,3060,1793,3501,0,0,0,0,0,0
$GC,426,-0.69,-116.8,40.4,-5.2,46,431,0.25,2.38,0.00,0.000,4,0.045,0.022,2978,3314,3502,0,0,0,0,0,0
$GC,559,-0.88,-116.8,52.1,-7.9,56,563,0.00,2.40,0.00,0.000,6,0.000,0.025,2978,1802,3502,0,0,0,0,0,0
$GC,829,-1.08,-116.8,73.1,-7.7,80,839,0.25,0.00,0.00,0.000,6,0.046,0.000,2896,1802,3503,0,0,0,0,0,0
$GC,1096,-1.12,-116.8,102.9,-11.4,105,1100,0.00,2.35,0.00,0.000,4,0.000,0.031,2896,3310,3504,0,0,0,0,0,0
$GC,1117,-1.17,-116.8,106.1,-11.3,106,1126,0.00,2.45,0.00,0.000,6,0.000,0.033,2896,1782,3504,0,0,0,0,0,0
$GC,1385,-1.23,-116.8,134.4,-9.8,131,1389,0.00,2.40,0.00,0.000,4,0.000,0.024,2896,3310,3505,0,0,0,0,0,0
$GC,1440,-1.31,-116.8,140.3,-10.0,135,1445,0.15,2.40,0.00,0.000,6,0.059,0.033,2835,1783,3505,0,0,0,0,0,0
$GC,1701,-1.27,-116.8,175.3,-13.5,159,1703,0.17,0.00,0.00,0.000,6,0.100,0.000,2873,1784,3505,0,0,0,0,0,0
$GC,1979,-1.31,-116.8,204.6,-9.9,182,1983,0.00,2.38,0.00,0.000,4,0.000,0.025,2874,3310,3506,0,0,0,0,0,0
$GC,2069,-1.40,-116.8,213.6,-9.9,184,2074,0.12,2.40,0.00,0.000,6,0.072,0.034,2829,1803,3506,0,0,0,0,0,0
$GC,2346,-1.40,-116.8,246.3,-11.9,191,2350,0.00,2.38,0.00,0.000,4,0.000,0.031,2829,3316,3506,0,0,0,0,0,0
$GC,2397,-1.40,-116.8,252.3,-11.3,192,2401,0.00,2.40,0.00,0.000,6,0.000,0.030,2829,1809,3506,0,0,0,0,0,0
$GC,2669,-1.40,-116.8,284.6,-12.1,199,2673,0.00,2.40,0.00,0.000,4,0.000,0.030,2829,3312,3506,0,0,0,0,0,0
$GC,2707,-1.40,-116.8,289.5,-12.9,200,2712,0.00,2.40,0.00,0.000,6,0.000,0.041,2829,1819,3506,0,0,0,0,0,0
$GC,2992,-1.40,-116.8,322.1,-11.4,207,2993,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1819,3506,0,0,0,0,0,0
$GC,3234,-1.40,-116.8,348.3,-10.9,213,3239,0.00,2.40,0.00,0.000,4,0.000,0.035,2829,3301,3505,0,0,0,0,0,0
$GC,3313,-1.45,-116.8,357.0,-10.7,214,3318,0.00,2.47,0.00,0.000,6,0.000,0.046,2829,1823,3504,0,0,0,0,0,0
$GC,3563,-1.45,-116.8,383.7,-10.8,221,3565,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1823,3503,0,0,0,0,0,0
$GC,3806,-1.45,-116.8,410.6,-10.9,227,3810,0.00,2.42,0.00,0.000,4,0.000,0.046,2828,3298,3501,0,0,0,0,0,0
$GC,3838,-1.49,-116.8,414.1,-11.0,227,3844,0.00,2.50,0.00,0.000,6,0.000,0.053,2828,1826,3501,0,0,0,0,0,0
$GC,4089,-1.49,-116.8,439.7,-10.4,234,4091,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1826,3500,0,0,0,0,0,0
$GC,4332,-1.53,-116.8,463.2,-9.5,240,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1826,3498,0,0,0,0,0,0
$GC,4576,-1.57,-116.8,486.7,-9.6,246,4577,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1826,3497,0,0,0,0,0,0
$STATE,4736,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4736,begin apogee
$GC,4743,-0.31,0.0,503.3,10.2,250,4844,1.10,0.00,97.32,0.921,6,0.078,0.000,3079,1931,3019,0,0,0,0,0,0
$STATE,4845,end apogee,CONTROL_FINISHED_OK
$STATE,4845,begin climb
$GC,4847,1.38,116.8,506.2,0.0,252,4959,1.55,3.00,99.65,0.899,4,0.048,0.112,3448,392,2541,0,0,0,0,0,0
$GC,4973,1.36,205.1,505.0,4.9,255,5057,0.00,2.58,76.18,0.887,6,0.000,0.037,3448,1951,2182,0,0,0,0,0,0
$GC,5343,1.30,205.1,465.9,11.2,264,5347,0.00,2.75,0.00,0.000,4,0.000,0.061,3449,3558,2174,0,0,0,0,0,0
$GC,5388,1.26,205.1,460.8,11.2,265,5393,0.12,2.72,0.00,0.000,6,0.124,0.048,3424,1965,2172,0,0,0,0,0,0
$GC,5666,1.26,208.6,433.2,9.8,272,5667,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1965,2170,0,0,0,0,0,0
$GC,5911,1.26,209.0,409.0,10.0,278,5912,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1965,2169,0,0,0,0,0,0
$GC,6155,1.26,209.7,384.4,10.0,284,6159,0.00,2.62,0.00,0.000,4,0.000,0.041,3424,3556,2168,0,0,0,0,0,0
$GC,6209,1.26,209.7,378.2,10.7,285,6214,0.00,2.65,0.00,0.000,6,0.000,0.044,3424,1968,2166,0,0,0,0,0,0
$GC,6476,1.27,215.2,351.8,9.7,292,6485,0.00,0.00,6.93,0.701,6,0.000,0.000,3425,1968,2142,0,0,0,0,0,0
$GC,6721,1.29,230.5,329.3,9.2,298,6742,0.00,2.65,15.18,0.786,4,0.000,0.035,3424,3563,2079,0,0,0,0,0,0
$GC,6826,1.29,230.5,317.8,11.0,300,6830,0.00,2.62,0.00,0.000,6,0.000,0.035,3425,1977,2076,0,0,0,0,0,0
$GC,7087,1.29,234.4,291.8,9.8,307,7093,0.00,0.00,4.15,0.541,6,0.000,0.000,3424,1977,2064,0,0,0,0,0,0
$GC,7332,1.34,244.4,268.2,9.5,313,7348,0.00,2.78,10.85,0.722,4,0.000,0.067,3424,389,2021,0,0,0,0,0,0
$GC,7376,1.34,244.4,263.6,10.4,314,7380,0.00,2.58,0.00,0.000,6,0.000,0.020,3424,2009,2020,0,0,0,0,0,0
$GC,7655,1.41,260.7,238.2,9.1,321,7673,0.15,0.00,15.55,0.728,6,0.072,0.000,3465,2009,1957,0,0,0,0,0,0
$GC,7897,1.41,260.7,212.4,10.7,327,7898,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2009,1954,0,0,0,0,0,0
$GC,8146,1.41,260.7,184.3,10.9,342,8147,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2010,1952,0,0,0,0,0,0
$GC,8402,1.41,260.7,155.6,11.8,366,8404,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,2010,1951,0,0,0,0,0,0
$GC,8656,1.42,266.5,128.1,9.7,390,8671,0.00,2.50,5.80,0.536,4,0.000,0.036,3465,3534,1932,0,0,0,0,0,0
$GC,8708,1.42,266.5,122.7,10.7,394,8713,0.00,2.55,0.00,0.000,6,0.000,0.033,3465,1958,1932,0,0,0,0,0,0
$GC,8970,1.42,266.5,94.9,11.2,418,8975,0.00,2.62,0.00,0.000,4,0.000,0.059,3465,392,1931,0,0,0,0,0,0
$GC,9023,1.42,266.5,88.1,12.8,422,9027,0.00,2.45,0.00,0.000,6,0.000,0.018,3465,1976,1931,0,0,0,0,0,0
$GC,9291,1.46,269.9,59.7,9.8,446,9300,0.00,0.00,4.53,0.435,6,0.000,0.000,3465,1977,1918,0,0,0,0,0,0
$GC,9560,1.59,321.1,36.0,7.1,471,9615,0.12,2.55,44.67,0.565,4,0.078,0.030,3501,3521,1710,0,0,0,0,0,0
$GC,9621,1.59,322.8,29.7,9.9,475,9630,0.00,2.58,0.00,0.000,6,0.000,0.028,3501,1957,1709,0,0,0,0,0,0
$STATE,9859,end climb,SURFACE_DEPTH_REACHED
$STATE,9859,begin surface coast
$FINISH,0.8,0.980032
$STATE,9902,end surface coast,CONTROL_FINISHED_OK
$STATE,9902,begin surface
$SM_CCo,9924,47.60,0.528,0,0,1469,380.21
$SM_GC,1.25,0.00,0.00,47.60,0.000,0.000,0.528,477,1737,1469,-12.30,-0.93,380.21
$IRIDIUM_FIX,2239.35,-15802.37,250800,020204
$TT8_MAMPS,0.026078
$HUMID,59.80
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.80
$XPDR_PINGS,36
$24V_AH,23.5,21.754
$10V_AH,10.4,18.981
$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,29.675,86.175,380.800,47.600,0.000,40.385,37.194,176.811,9.000,0.000,32.957,1009.984,6409.096,461.808,1978.161,517.273,33.365,1153.618,0.000,1969.415,0.000,0.535,0.000
$DEVICE_MAMPS,154.167,177.177,921.167,527.696,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,349.422,298.207,404.951,817.919,1237.081,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,41430,515
$CAP_FILE_SIZE,97111,0
$CFSIZE,260165632,173174784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010611,081830,2249.808,-15759.565,64,1.4,70,10.1