version: 66.06
glider: 146
mission: 6
dive: 177
start: 6 1 111 14 37 2
data:
$ID,146
$MISSION,6
$DIVE,177
$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,-271796.31
$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,31
$R_STBD_OVSHOOT,45
$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
$GPS1,142506,2250.217,-15757.137,46,1.0,46,10.1
$_CALLS,2
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.5
$GPS2,143607,2250.326,-15757.225,10,1.0,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.003,-0.235
$KALMAN_X,-89244.0,247.8,-251.3,88515.0,-313.7
$KALMAN_Y,-130239.9,-304.6,-309.8,142744.9,583.2
$MHEAD_RNG_PITCHd_Wd,169.1,6237,-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,-70.85,0.000,2,0.000,0.000,475,1824,3295,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.8,-6.8,9,118,12.27,2.83,-3.55,0.000,4,0.148,0.071,2841,197,3501,0,0,0,0,0,0
$GC,256,-1.26,-116.8,45.1,-17.3,27,262,0.15,2.42,0.00,0.000,6,0.123,0.014,2871,1803,3502,0,0,0,0,0,0
$GC,524,-1.26,-116.8,80.8,-12.5,51,528,0.00,2.35,0.00,0.000,4,0.000,0.023,2871,3316,3504,0,0,0,0,0,0
$GC,558,-1.26,-116.8,85.0,-12.0,53,562,0.00,2.42,0.00,0.000,6,0.000,0.025,2871,1781,3504,0,0,0,0,0,0
$GC,824,-1.26,-116.8,117.2,-12.1,77,828,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1781,3504,0,0,0,0,0,0
$GC,1084,-1.26,-116.8,149.4,-12.1,102,1086,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1781,3504,0,0,0,0,0,0
$GC,1339,-1.26,-116.8,179.4,-11.4,126,1344,0.00,2.40,0.00,0.000,4,0.000,0.026,2871,3317,3505,0,0,0,0,0,0
$GC,1386,-1.33,-116.8,184.7,-10.9,129,1395,0.00,2.47,0.00,0.000,6,0.000,0.031,2871,1784,3505,0,0,0,0,0,0
$GC,1652,-1.38,-116.8,212.0,-9.8,146,1656,0.00,2.42,0.00,0.000,4,0.000,0.025,2871,3326,3505,0,0,0,0,0,0
$GC,1669,-1.43,-116.8,213.7,-10.0,146,1674,0.12,2.42,0.00,0.000,6,0.074,0.033,2825,1792,3505,0,0,0,0,0,0
$GC,1931,-1.43,-116.8,246.0,-12.3,153,1933,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1792,3505,0,0,0,0,0,0
$GC,2174,-1.43,-116.8,273.1,-11.1,159,2175,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1792,3505,0,0,0,0,0,0
$GC,2417,-1.43,-116.8,304.7,-13.1,165,2422,0.00,2.42,0.00,0.000,4,0.000,0.041,2825,3310,3505,0,0,0,0,0,0
$GC,2479,-1.43,-116.8,312.5,-11.9,166,2484,0.00,2.47,0.00,0.000,6,0.000,0.041,2825,1799,3505,0,0,0,0,0,0
$GC,2740,-1.43,-116.8,341.7,-10.9,173,2741,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1799,3504,0,0,0,0,0,0
$GC,2983,-1.43,-116.8,368.0,-10.8,179,2988,0.00,2.47,0.00,0.000,4,0.000,0.041,2825,3309,3502,0,0,0,0,0,0
$GC,3040,-1.47,-116.8,374.5,-12.0,180,3045,0.00,2.53,0.00,0.000,6,0.000,0.052,2825,1804,3502,0,0,0,0,0,0
$GC,3306,-1.47,-116.8,403.9,-11.0,187,3311,0.00,2.47,0.00,0.000,4,0.000,0.041,2825,3312,3501,0,0,0,0,0,0
$GC,3339,-1.47,-116.8,407.6,-11.4,187,3345,0.00,2.55,0.00,0.000,6,0.000,0.059,2825,1808,3501,0,0,0,0,0,0
$GC,3590,-1.47,-116.8,434.9,-11.2,194,3591,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1808,3499,0,0,0,0,0,0
$GC,3833,-1.47,-116.8,463.4,-11.6,200,3837,0.00,2.47,0.00,0.000,4,0.000,0.048,2825,3304,3498,0,0,0,0,0,0
$GC,3854,-1.47,-116.8,465.8,-11.0,200,3858,0.00,2.53,0.00,0.000,6,0.000,0.067,2825,1822,3497,0,0,0,0,0,0
$GC,4111,-1.47,-116.8,491.1,-9.5,207,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1822,3495,0,0,0,0,0,0
$STATE,4228,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4228,begin apogee
$GC,4234,-0.31,0.0,503.3,9.9,210,4335,1.12,0.00,97.47,0.925,6,0.081,0.000,3079,1940,3020,0,0,0,0,0,0
$STATE,4336,end apogee,CONTROL_FINISHED_OK
$STATE,4336,begin climb
$GC,4339,1.38,116.8,505.7,0.0,212,4444,1.60,0.00,100.35,0.901,6,0.046,0.000,3455,1940,2543,0,0,0,0,0,0
$GC,4675,1.34,163.7,488.7,7.3,221,4718,0.00,0.00,40.75,0.884,6,0.000,0.000,3455,1940,2351,0,0,0,0,0,0
$GC,4959,1.30,190.0,464.5,8.5,228,4985,0.00,0.00,23.75,0.858,6,0.000,0.000,3455,1940,2244,0,0,0,0,0,0
$GC,5204,1.25,197.3,442.0,9.6,234,5214,0.15,0.00,7.20,0.732,6,0.118,0.000,3423,1940,2215,0,0,0,0,0,0
$GC,5446,1.25,199.3,417.9,9.9,240,5451,0.00,2.67,0.00,0.000,4,0.000,0.041,3423,3546,2211,0,0,0,0,0,0
$GC,5479,1.25,199.3,414.4,10.9,240,5485,0.00,2.65,0.00,0.000,6,0.000,0.043,3423,1962,2210,0,0,0,0,0,0
$GC,5731,1.27,215.6,391.0,9.1,247,5755,0.00,2.72,16.80,0.827,4,0.000,0.041,3423,3549,2140,0,0,0,0,0,0
$GC,5789,1.27,215.6,385.1,10.4,248,5793,0.00,2.65,0.00,0.000,6,0.000,0.039,3423,1973,2138,0,0,0,0,0,0
$GC,6056,1.29,235.8,361.1,8.9,255,6077,0.00,0.00,18.95,0.815,6,0.000,0.000,3423,1972,2058,0,0,0,0,0,0
$GC,6301,1.31,252.7,339.0,9.1,261,6322,0.00,2.62,16.05,0.792,4,0.000,0.038,3423,3548,1988,0,0,0,0,0,0
$GC,6425,1.36,252.7,325.9,11.2,263,6431,0.10,2.58,0.00,0.000,6,0.098,0.038,3450,1982,1985,0,0,0,0,0,0
$GC,6676,1.36,252.7,296.9,11.7,270,6680,0.00,2.55,0.00,0.000,4,0.000,0.039,3450,3542,1983,0,0,0,0,0,0
$GC,6708,1.36,252.7,292.7,12.0,270,6714,0.00,2.55,0.00,0.000,6,0.000,0.038,3450,1990,1983,0,0,0,0,0,0
$GC,6960,1.36,252.7,265.1,10.7,277,6961,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1990,1982,0,0,0,0,0,0
$GC,7202,1.36,252.7,239.3,10.6,283,7203,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1990,1981,0,0,0,0,0,0
$GC,7447,1.36,252.7,213.7,10.5,289,7451,0.00,2.72,0.00,0.000,4,0.000,0.067,3450,390,1981,0,0,0,0,0,0
$GC,7468,1.36,252.7,211.2,11.1,289,7472,0.00,2.55,0.00,0.000,6,0.000,0.022,3450,2017,1979,0,0,0,0,0,0
$GC,7727,1.36,252.7,185.2,10.6,304,7732,0.00,2.42,0.00,0.000,4,0.000,0.034,3450,3535,1979,0,0,0,0,0,0
$GC,7785,1.36,252.7,178.7,10.5,308,7791,0.00,2.50,0.00,0.000,6,0.000,0.031,3451,1988,1979,0,0,0,0,0,0
$GC,8047,1.36,252.7,152.0,10.4,333,8049,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1988,1979,0,0,0,0,0,0
$GC,8307,1.43,282.1,128.9,8.3,357,8334,0.00,0.00,25.35,0.647,6,0.000,0.000,3451,1988,1868,0,0,0,0,0,0
$GC,8589,1.49,282.1,99.4,10.6,384,8591,0.10,0.00,0.00,0.000,6,0.096,0.000,3480,1988,1865,0,0,0,0,0,0
$GC,8847,1.49,282.1,71.7,10.2,408,8851,0.00,2.47,0.00,0.000,4,0.000,0.031,3480,3536,1865,0,0,0,0,0,0
$GC,8927,1.49,282.1,62.2,11.5,414,8932,0.00,2.45,0.00,0.000,6,0.000,0.028,3480,2008,1863,0,0,0,0,0,0
$GC,9197,1.56,303.1,35.3,8.8,438,9218,0.00,0.00,18.62,0.547,6,0.000,0.000,3480,2008,1784,0,0,0,0,0,0
$GC,9524,1.62,303.1,5.0,10.7,484,9534,0.10,2.75,0.00,0.000,4,0.087,0.055,3511,401,1782,0,0,0,0,0,0
$STATE,9542,end climb,SURFACE_DEPTH_REACHED
$STATE,9542,begin surface coast
$FINISH,0.6,0.980031
$STATE,9564,end surface coast,CONTROL_FINISHED_OK
$STATE,9564,begin surface
$SM_CCo,9590,62.72,0.529,0,0,1470,380.21
$SM_GC,1.23,0.00,0.00,62.72,0.000,0.000,0.529,472,1858,1470,-12.32,2.46,380.21
$IRIDIUM_FIX,2239.35,-15849.69,250800,141419
$TT8_MAMPS,0.026078
$HUMID,58.62
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.10
$XPDR_PINGS,31
$24V_AH,23.5,22.139
$10V_AH,10.4,19.340
$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,28.050,80.875,365.300,62.725,0.000,54.396,86.769,308.442,7.750,0.000,16.600,945.237,6443.790,491.748,1724.029,709.009,33.364,1085.079,0.000,1730.278,0.000,0.536,0.000
$DEVICE_MAMPS,148.031,82.069,925.002,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.517,286.869,377.232,718.924,1087.265,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,38299,489
$CAP_FILE_SIZE,93499,0
$CFSIZE,260165632,173010944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010611,171904,2249.408,-15757.660,9,2.7,28,10.1