version: 66.06
glider: 146
mission: 6
dive: 176
start: 6 1 111 11 36 23
data:
$ID,146
$MISSION,6
$DIVE,176
$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,-271779.09
$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,37
$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
$GPS1,111456,2250.056,-15758.103,33,1.8,45,10.1
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.7
$GPS2,113528,2250.097,-15758.176,12,2.2,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.231,0.044
$KALMAN_X,-89304.8,462.1,267.8,86216.5,-740.0
$KALMAN_Y,-130896.0,-43.2,114.9,142293.5,-577.8
$MHEAD_RNG_PITCHd_Wd,69.0,2015,-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,-70.65,0.000,2,0.000,0.000,474,1758,3288,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.7,-7.0,9,118,12.50,2.67,-3.67,0.000,4,0.156,0.067,2840,203,3499,0,0,0,0,0,0
$GC,130,-0.38,-116.8,18.7,-37.6,13,139,1.00,2.42,0.00,0.000,6,0.091,0.015,3063,1792,3500,0,0,0,0,0,0
$GC,426,-0.70,-116.8,41.4,-6.0,47,431,0.25,2.38,0.00,0.000,4,0.045,0.023,2978,3313,3500,0,0,0,0,0,0
$GC,460,-0.93,-116.8,44.1,-8.4,49,465,0.12,2.45,0.00,0.000,6,0.066,0.026,2926,1777,3500,0,0,0,0,0,0
$GC,730,-1.00,-116.8,71.9,-10.4,73,734,0.00,2.42,0.00,0.000,4,0.000,0.025,2926,3314,3500,0,0,0,0,0,0
$GC,800,-1.15,-116.8,79.6,-10.1,78,805,0.12,2.42,0.00,0.000,6,0.073,0.034,2879,1781,3501,0,0,0,0,0,0
$GC,1064,-1.15,-116.8,110.2,-11.5,102,1069,0.10,2.42,0.00,0.000,4,0.119,0.025,2900,3310,3501,0,0,0,0,0,0
$GC,1087,-1.21,-116.8,113.0,-10.4,103,1092,0.00,2.40,0.00,0.000,6,0.000,0.033,2900,1782,3502,0,0,0,0,0,0
$GC,1349,-1.27,-116.8,140.3,-10.2,128,1351,0.12,0.00,0.00,0.000,6,0.074,0.000,2856,1782,3503,0,0,0,0,0,0
$GC,1605,-1.27,-116.8,167.6,-10.9,152,1609,0.00,2.40,0.00,0.000,4,0.000,0.031,2855,3306,3502,0,0,0,0,0,0
$GC,1661,-1.32,-116.8,173.9,-10.3,156,1670,0.00,2.42,0.00,0.000,6,0.000,0.030,2856,1799,3502,0,0,0,0,0,0
$GC,1931,-1.32,-116.8,205.3,-11.9,179,1935,0.00,2.35,0.00,0.000,4,0.000,0.030,2855,3305,3502,0,0,0,0,0,0
$GC,1981,-1.38,-116.8,211.6,-11.9,180,1986,0.00,2.40,0.00,0.000,6,0.000,0.026,2855,1799,3502,0,0,0,0,0,0
$GC,2253,-1.38,-116.8,241.4,-10.7,187,2254,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1799,3502,0,0,0,0,0,0
$GC,2499,-1.38,-116.8,265.6,-9.9,193,2503,0.00,2.40,0.00,0.000,4,0.000,0.029,2855,3304,3502,0,0,0,0,0,0
$GC,2559,-1.45,-116.8,272.1,-10.6,194,2564,0.00,2.40,0.00,0.000,6,0.000,0.035,2855,1817,3502,0,0,0,0,0,0
$GC,2822,-1.50,-116.8,298.5,-9.9,201,2828,0.12,2.88,0.00,0.000,4,0.074,0.087,2813,192,3500,0,0,0,0,0,0
$GC,2845,-1.46,-116.8,301.3,-10.9,201,2849,0.00,2.45,0.00,0.000,6,0.000,0.024,2813,1761,3500,0,0,0,0,0,0
$GC,3099,-1.46,-116.8,332.3,-12.3,208,3104,0.00,2.58,0.00,0.000,4,0.000,0.048,2813,3347,3500,0,0,0,0,0,0
$GC,3179,-1.46,-116.8,342.1,-12.7,209,3184,0.00,2.53,0.00,0.000,6,0.000,0.045,2813,1826,3499,0,0,0,0,0,0
$GC,3428,-1.46,-116.8,373.2,-12.3,216,3432,0.00,2.47,0.00,0.000,4,0.000,0.044,2813,3347,3498,0,0,0,0,0,0
$GC,3483,-1.46,-116.8,380.1,-12.3,217,3488,0.00,2.55,0.00,0.000,6,0.000,0.054,2813,1824,3497,0,0,0,0,0,0
$GC,3752,-1.46,-116.8,411.9,-12.0,224,3756,0.00,2.50,0.00,0.000,4,0.000,0.044,2814,3344,3495,0,0,0,0,0,0
$GC,3801,-1.46,-116.8,417.7,-11.1,225,3805,0.00,2.53,0.00,0.000,6,0.000,0.053,2813,1840,3495,0,0,0,0,0,0
$GC,4073,-1.46,-116.8,446.4,-10.6,232,4078,0.00,3.10,0.00,0.000,4,0.000,0.112,2813,190,3493,0,0,0,0,0,0
$GC,4102,-1.42,-116.8,449.6,-11.4,232,4107,0.12,2.65,0.00,0.000,6,0.118,0.034,2839,1813,3493,0,0,0,0,0,0
$GC,4352,-1.47,-116.8,471.7,-8.7,238,4357,0.00,2.60,0.00,0.000,4,0.000,0.065,2839,3359,3491,0,0,0,0,0,0
$GC,4375,-1.53,-116.8,473.8,-8.5,238,4380,0.10,2.58,0.00,0.000,6,0.084,0.057,2805,1840,3491,0,0,0,0,0,0
$GC,4631,-1.53,-116.8,499.5,-10.3,245,4635,0.00,2.03,0.00,0.000,3,0.000,0.048,2805,3086,3489,0,0,0,0,0,0
$STATE,4636,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4636,begin apogee
$GC,4644,-0.31,0.0,500.2,10.3,245,4744,1.20,0.00,96.32,0.922,6,0.081,0.000,3079,1969,3020,0,0,0,0,0,0
$STATE,4745,end apogee,CONTROL_FINISHED_OK
$STATE,4745,begin climb
$GC,4747,1.38,116.8,503.0,0.0,247,4852,1.60,0.00,100.97,0.899,6,0.045,0.000,3456,1969,2543,0,0,0,0,0,0
$GC,5085,1.33,150.4,485.1,8.1,256,5120,0.00,2.75,29.05,0.871,4,0.000,0.053,3456,3554,2406,0,0,0,0,0,0
$GC,5160,1.23,153.6,478.3,9.9,257,5172,0.17,2.72,3.90,0.538,6,0.117,0.054,3422,1972,2393,0,0,0,0,0,0
$GC,5417,1.28,188.0,457.1,8.1,264,5457,0.00,2.78,31.45,0.869,4,0.000,0.048,3421,3557,2252,0,0,0,0,0,0
$GC,5526,1.28,192.8,447.0,9.8,266,5536,0.00,2.72,5.10,0.635,6,0.000,0.054,3421,1970,2234,0,0,0,0,0,0
$GC,5788,1.31,212.6,423.8,8.9,273,5812,0.00,3.05,18.75,0.832,4,0.000,0.107,3421,380,2152,0,0,0,0,0,0
$GC,5857,1.31,212.6,416.5,11.1,274,5862,0.00,2.60,0.00,0.000,6,0.000,0.026,3422,1977,2150,0,0,0,0,0,0
$GC,6113,1.31,217.0,391.2,9.8,281,6123,0.00,2.62,4.72,0.607,4,0.000,0.043,3422,3556,2134,0,0,0,0,0,0
$GC,6163,1.31,217.0,386.2,10.6,282,6168,0.00,2.62,0.00,0.000,6,0.000,0.040,3421,1975,2133,0,0,0,0,0,0
$GC,6435,1.32,219.7,359.4,9.9,289,6436,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1974,2130,0,0,0,0,0,0
$GC,6679,1.33,234.5,336.8,9.2,295,6700,0.00,2.62,16.00,0.794,4,0.000,0.034,3421,3554,2065,0,0,0,0,0,0
$GC,6719,1.35,248.0,333.1,9.3,296,6739,0.10,2.62,14.10,0.772,6,0.099,0.035,3449,1978,2008,0,0,0,0,0,0
$GC,7008,1.35,248.0,301.1,11.0,303,7012,0.00,2.58,0.00,0.000,4,0.000,0.040,3449,3559,2004,0,0,0,0,0,0
$GC,7069,1.35,248.0,294.0,11.5,304,7074,0.00,2.60,0.00,0.000,6,0.000,0.039,3449,1987,2002,0,0,0,0,0,0
$GC,7330,1.35,248.0,266.7,10.1,311,7335,0.00,2.75,0.00,0.000,4,0.000,0.071,3449,389,2001,0,0,0,0,0,0
$GC,7374,1.31,248.0,261.6,12.5,312,7379,0.00,2.58,0.00,0.000,6,0.000,0.021,3449,2011,2000,0,0,0,0,0,0
$GC,7653,1.31,248.0,229.6,12.0,319,7657,0.00,2.47,0.00,0.000,4,0.000,0.035,3450,3540,1999,0,0,0,0,0,0
$GC,7674,1.31,248.0,226.6,12.7,319,7678,0.00,2.53,0.00,0.000,6,0.000,0.032,3450,1982,1998,0,0,0,0,0,0
$GC,7934,1.31,248.0,198.2,10.4,326,7939,0.00,2.53,0.00,0.000,4,0.000,0.039,3449,3538,1998,0,0,0,0,0,0
$GC,7970,1.31,249.9,194.7,9.9,328,7976,0.00,2.47,0.00,0.000,6,0.000,0.035,3449,1994,1997,0,0,0,0,0,0
$GC,8234,1.32,257.3,170.8,9.6,353,8244,0.00,0.00,7.57,0.613,6,0.000,0.000,3450,1994,1971,0,0,0,0,0,0
$GC,8499,1.36,257.3,144.0,10.7,378,8508,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1994,1970,0,0,0,0,0,0
$GC,8764,1.41,257.3,115.8,10.4,403,8769,0.00,2.67,0.00,0.000,4,0.000,0.063,3450,396,1970,0,0,0,0,0,0
$GC,8833,1.41,257.3,107.9,11.3,408,8843,0.00,2.55,0.00,0.000,6,0.000,0.018,3450,2021,1969,0,0,0,0,0,0
$GC,9100,1.49,278.7,85.6,8.8,433,9126,0.10,2.53,19.92,0.600,4,0.093,0.031,3480,3541,1884,0,0,0,0,0,0
$GC,9192,1.49,278.7,75.6,11.7,440,9196,0.00,2.45,0.00,0.000,6,0.000,0.028,3480,2009,1882,0,0,0,0,0,0
$GC,9458,1.49,278.7,47.3,11.0,464,9463,0.00,2.45,0.00,0.000,4,0.000,0.028,3480,3548,1881,0,0,0,0,0,0
$GC,9555,1.56,288.8,37.3,9.5,471,9578,0.00,2.47,10.02,0.522,6,0.000,0.030,3480,2029,1842,0,0,0,0,0,0
$GC,9880,1.66,323.3,7.3,8.0,515,9916,0.12,2.05,30.17,0.532,3,0.077,0.044,3517,821,1701,0,0,0,0,0,0
$STATE,9917,end climb,SURFACE_DEPTH_REACHED
$STATE,9917,begin surface coast
$FINISH,0.5,0.975033
$STATE,9966,end surface coast,CONTROL_FINISHED_OK
$STATE,9966,begin surface
$SM_CCo,9990,45.47,0.528,0,0,1470,380.21
$SM_GC,1.53,0.00,0.00,45.47,0.000,0.000,0.528,476,1824,1470,-12.30,1.53,380.21
$IRIDIUM_FIX,2239.35,-15759.32,250800,111110
$TT8_MAMPS,0.026078
$HUMID,58.66
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.10
$XPDR_PINGS,47
$24V_AH,23.5,22.017
$10V_AH,10.4,19.230
$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,30.250,135.600,388.075,45.475,0.000,132.502,193.285,477.344,11.750,0.000,33.649,1064.924,6516.553,499.762,2054.318,1133.261,33.366,1241.697,0.000,2051.641,0.000,0.536,0.000
$DEVICE_MAMPS,156.468,111.982,921.934,527.696,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,356.442,323.401,419.084,826.656,1250.358,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,41425,526
$CAP_FILE_SIZE,122279,0
$CFSIZE,260165632,173039616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010611,142506,2250.217,-15757.137,46,1.0,46,10.1