version: 66.06
glider: 146
mission: 6
dive: 178
start: 6 1 111 17 40 23
data:
$ID,146
$MISSION,6
$DIVE,178
$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,-271816.94
$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,33
$R_STBD_OVSHOOT,81
$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
$GPS1,171904,2249.408,-15757.660,9,2.7,28,10.1
$_CALLS,5
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-69.8
$GPS2,173929,2249.741,-15757.690,17,1.4,18,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.013,-0.235
$KALMAN_X,-89586.5,-116.9,-356.8,88538.5,79.4
$KALMAN_Y,-129394.0,-262.6,43.5,140419.4,1094.4
$MHEAD_RNG_PITCHd_Wd,173.0,5080,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-71.05,0.000,2,0.000,0.000,471,1858,3361,0,0,0,0,0,0
$GC,92,-1.38,-116.8,4.3,-8.6,9,118,12.40,2.88,-2.35,0.000,4,0.153,0.069,2838,204,3500,0,0,0,0,0,0
$GC,220,-1.20,-116.8,38.8,-19.2,24,225,0.22,2.38,0.00,0.000,6,0.119,0.014,2885,1774,3501,0,0,0,0,0,0
$GC,487,-1.20,-116.8,76.5,-11.9,48,492,0.00,2.42,0.00,0.000,4,0.000,0.023,2885,3320,3501,0,0,0,0,0,0
$GC,558,-1.25,-116.8,84.5,-10.2,53,562,0.00,2.45,0.00,0.000,6,0.000,0.033,2885,1772,3502,0,0,0,0,0,0
$GC,825,-1.25,-116.8,115.6,-11.1,77,830,0.00,2.40,0.00,0.000,4,0.000,0.028,2885,3313,3502,0,0,0,0,0,0
$GC,858,-1.30,-116.8,119.4,-10.8,79,862,0.00,2.40,0.00,0.000,6,0.000,0.031,2885,1784,3503,0,0,0,0,0,0
$GC,1124,-1.34,-116.8,150.7,-11.9,103,1130,0.12,0.00,0.00,0.000,6,0.071,0.000,2841,1784,3503,0,0,0,0,0,0
$GC,1386,-1.34,-116.8,183.1,-11.9,128,1391,0.00,2.67,0.00,0.000,4,0.000,0.070,2841,202,3503,0,0,0,0,0,0
$GC,1420,-1.28,-116.8,186.8,-13.0,130,1425,0.12,2.38,0.00,0.000,6,0.116,0.021,2869,1802,3502,0,0,0,0,0,0
$GC,1708,-1.32,-116.8,217.8,-10.4,145,1712,0.00,2.35,0.00,0.000,4,0.000,0.025,2869,3309,3503,0,0,0,0,0,0
$GC,1752,-1.40,-116.8,223.1,-10.5,146,1757,0.10,2.40,0.00,0.000,6,0.078,0.029,2825,1795,3503,0,0,0,0,0,0
$GC,2031,-1.40,-116.8,255.8,-11.8,153,2032,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1795,3503,0,0,0,0,0,0
$GC,2273,-1.40,-116.8,285.2,-12.2,159,2277,0.00,2.40,0.00,0.000,4,0.000,0.034,2825,3297,3503,0,0,0,0,0,0
$GC,2290,-1.40,-116.8,287.1,-12.3,159,2294,0.00,2.40,0.00,0.000,6,0.000,0.035,2825,1804,3503,0,0,0,0,0,0
$GC,2550,-1.40,-116.8,316.7,-11.2,166,2554,0.00,2.38,0.00,0.000,4,0.000,0.038,2825,3298,3502,0,0,0,0,0,0
$GC,2584,-1.40,-116.8,320.4,-11.3,166,2590,0.00,2.45,0.00,0.000,6,0.000,0.041,2825,1812,3502,0,0,0,0,0,0
$GC,2834,-1.40,-116.8,347.0,-10.8,173,2838,0.00,2.40,0.00,0.000,4,0.000,0.041,2825,3299,3500,0,0,0,0,0,0
$GC,2918,-1.40,-116.8,356.3,-11.4,175,2922,0.00,2.45,0.00,0.000,6,0.000,0.046,2825,1820,3500,0,0,0,0,0,0
$GC,3202,-1.40,-116.8,386.4,-10.6,182,3203,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1820,3498,0,0,0,0,0,0
$GC,3444,-1.40,-116.8,411.7,-10.4,188,3448,0.00,2.42,0.00,0.000,4,0.000,0.047,2825,3295,3497,0,0,0,0,0,0
$GC,3511,-1.45,-116.8,418.4,-9.7,189,3515,0.00,2.47,0.00,0.000,6,0.000,0.058,2824,1829,3496,0,0,0,0,0,0
$GC,3767,-1.45,-116.8,444.2,-10.2,196,3772,0.00,3.05,0.00,0.000,4,0.000,0.113,2824,188,3494,0,0,0,0,0,0
$GC,3799,-1.45,-116.8,448.0,-11.9,196,3805,0.00,2.53,0.00,0.000,6,0.000,0.034,2825,1755,3494,0,0,0,0,0,0
$GC,4049,-1.45,-116.8,474.3,-10.5,203,4050,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1755,3492,0,0,0,0,0,0
$STATE,4291,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4291,begin apogee
$GC,4298,-0.31,0.0,501.3,11.1,209,4398,1.15,0.00,96.70,0.923,6,0.085,0.000,3082,1983,3020,0,0,0,0,0,0
$STATE,4399,end apogee,CONTROL_FINISHED_OK
$STATE,4399,begin climb
$GC,4402,1.38,116.8,504.6,0.0,211,4506,1.55,0.00,100.32,0.902,6,0.047,0.000,3452,1983,2543,0,0,0,0,0,0
$GC,4730,1.35,162.2,489.7,7.4,219,4771,0.00,0.00,39.33,0.882,6,0.000,0.000,3452,1983,2358,0,0,0,0,0,0
$GC,5011,1.29,166.9,462.9,9.8,226,5017,0.00,0.00,4.60,0.610,6,0.000,0.000,3452,1983,2339,0,0,0,0,0,0
$GC,5255,1.25,186.5,440.7,8.9,232,5280,0.15,2.95,18.80,0.844,4,0.117,0.084,3421,381,2258,0,0,0,0,0,0
$GC,5315,1.20,191.2,435.3,9.8,233,5326,0.00,2.58,5.38,0.653,6,0.000,0.030,3421,1968,2240,0,0,0,0,0,0
$GC,5582,1.21,199.5,409.7,9.6,240,5592,0.00,0.00,8.48,0.757,6,0.000,0.000,3421,1967,2206,0,0,0,0,0,0
$GC,5825,1.25,229.4,388.8,8.3,246,5859,0.00,2.72,27.50,0.844,4,0.000,0.047,3421,3552,2083,0,0,0,0,0,0
$GC,5889,1.25,229.4,382.9,10.3,247,5894,0.00,2.67,0.00,0.000,6,0.000,0.042,3422,1963,2081,0,0,0,0,0,0
$GC,6150,1.25,229.4,356.5,10.4,254,6155,0.00,2.83,0.00,0.000,4,0.000,0.080,3421,381,2077,0,0,0,0,0,0
$GC,6165,1.25,229.4,354.6,11.0,254,6170,0.00,2.55,0.00,0.000,6,0.000,0.022,3421,1978,2076,0,0,0,0,0,0
$GC,6434,1.25,231.9,327.8,9.9,261,6438,0.00,2.58,0.00,0.000,4,0.000,0.044,3421,3548,2075,0,0,0,0,0,0
$GC,6507,1.30,231.9,320.3,10.5,262,6512,0.00,2.62,0.00,0.000,6,0.000,0.034,3421,1955,2073,0,0,0,0,0,0
$GC,6758,1.31,244.0,296.6,9.3,268,6777,0.00,2.67,12.45,0.755,4,0.000,0.034,3421,3542,2024,0,0,0,0,0,0
$GC,6806,1.37,244.0,291.5,10.8,269,6812,0.12,2.58,0.00,0.000,6,0.085,0.039,3454,1972,2023,0,0,0,0,0,0
$GC,7086,1.37,244.0,259.9,11.1,276,7090,0.00,2.75,0.00,0.000,4,0.000,0.071,3454,384,2021,0,0,0,0,0,0
$GC,7114,1.32,244.0,256.5,11.9,276,7118,0.00,2.55,0.00,0.000,6,0.000,0.025,3454,1993,2020,0,0,0,0,0,0
$GC,7363,1.32,244.0,228.9,10.6,282,7368,0.00,2.50,0.00,0.000,4,0.000,0.036,3454,3541,2020,0,0,0,0,0,0
$GC,7385,1.32,244.0,226.3,11.5,282,7390,0.00,2.55,0.00,0.000,6,0.000,0.036,3454,1973,2019,0,0,0,0,0,0
$GC,7642,1.32,244.0,200.0,10.3,289,7647,0.00,2.55,0.00,0.000,4,0.000,0.033,3454,3542,2018,0,0,0,0,0,0
$GC,7687,1.32,244.0,195.3,10.5,290,7692,0.00,2.55,0.00,0.000,6,0.000,0.033,3454,1972,2018,0,0,0,0,0,0
$GC,7949,1.33,254.2,168.8,9.5,315,7964,0.00,2.72,9.70,0.643,4,0.000,0.060,3454,385,1982,0,0,0,0,0,0
$GC,8006,1.33,254.2,162.9,10.5,319,8011,0.00,2.47,0.00,0.000,6,0.000,0.025,3454,1981,1980,0,0,0,0,0,0
$GC,8268,1.35,266.4,137.7,9.3,344,8285,0.00,2.53,11.95,0.629,4,0.000,0.037,3454,3527,1932,0,0,0,0,0,0
$GC,8333,1.39,266.4,131.6,10.4,349,8338,0.00,2.53,0.00,0.000,6,0.000,0.033,3454,1972,1932,0,0,0,0,0,0
$GC,8599,1.40,274.8,104.6,9.6,373,8613,0.00,2.58,8.55,0.568,4,0.000,0.035,3454,3528,1898,0,0,0,0,0,0
$GC,8673,1.46,274.8,96.7,11.1,379,8678,0.00,2.50,0.00,0.000,6,0.000,0.035,3454,1983,1898,0,0,0,0,0,0
$GC,8940,1.52,277.0,69.9,9.9,403,8945,0.10,2.53,0.00,0.000,4,0.086,0.037,3487,3537,1897,0,0,0,0,0,0
$GC,8987,1.52,277.0,64.8,11.1,406,8992,0.00,2.45,0.00,0.000,6,0.000,0.028,3487,2012,1897,0,0,0,0,0,0
$GC,9254,1.56,277.0,37.2,10.3,430,9258,0.00,2.42,0.00,0.000,4,0.000,0.031,3487,3537,1897,0,0,0,0,0,0
$GC,9276,1.61,277.3,35.0,10.0,431,9280,0.00,2.45,0.00,0.000,6,0.000,0.028,3486,2008,1897,0,0,0,0,0,0
$GC,9591,1.66,320.4,7.9,7.5,474,9635,0.10,0.65,39.80,0.534,3,0.092,0.044,3517,1615,1712,0,0,0,0,0,0
$STATE,9635,end climb,SURFACE_DEPTH_REACHED
$STATE,9635,begin surface coast
$FINISH,0.7,0.980047
$STATE,9687,end surface coast,CONTROL_FINISHED_OK
$STATE,9687,begin surface
$SM_CCo,9709,48.05,0.525,0,0,1469,380.21
$SM_GC,1.28,0.00,0.00,48.05,0.000,0.000,0.525,474,1853,1469,-12.31,2.35,380.21
$IRIDIUM_FIX,2244.02,-15756.28,250800,171710
$TT8_MAMPS,0.025311
$HUMID,59.25
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.30
$XPDR_PINGS,45
$24V_AH,23.5,22.281
$10V_AH,10.4,19.457
$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,28.475,118.275,383.550,48.050,0.000,133.828,184.438,504.038,11.250,0.000,19.990,989.630,6592.516,490.326,1797.662,1116.194,33.364,1147.900,0.000,1795.418,0.000,0.535,0.000
$DEVICE_MAMPS,152.633,112.749,923.468,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.626,277.829,374.156,722.142,1091.938,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,38377,486
$CAP_FILE_SIZE,113922,0
$CFSIZE,260165632,172949504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010611,202425,2248.925,-15758.018,44,1.6,44,10.1