version: 66.06
glider: 146
mission: 6
dive: 179
start: 6 1 111 20 36 45
data:
$ID,146
$MISSION,6
$DIVE,179
$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,-271833.97
$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,34
$R_STBD_OVSHOOT,58
$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
$GPS1,202425,2248.925,-15758.018,44,1.6,44,10.1
$_CALLS,2
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.3
$GPS2,203549,2249.033,-15757.992,9,1.6,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.030,-0.233
$KALMAN_X,-90019.9,-479.7,61.9,88399.8,-127.7
$KALMAN_Y,-128951.1,-46.3,416.8,138082.1,382.8
$MHEAD_RNG_PITCHd_Wd,162.7,3779,-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,-70.65,0.000,2,0.000,0.000,473,1854,3260,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.3,-5.6,9,118,12.32,2.88,-4.38,0.000,4,0.150,0.069,2840,199,3499,0,0,0,0,0,0
$GC,209,-1.18,-116.8,34.1,-19.5,24,214,0.25,2.40,0.00,0.000,6,0.114,0.014,2891,1807,3500,0,0,0,0,0,0
$GC,476,-1.18,-116.8,70.7,-12.2,48,480,0.00,2.35,0.00,0.000,4,0.000,0.027,2891,3304,3501,0,0,0,0,0,0
$GC,546,-1.25,-116.8,79.2,-10.9,53,550,0.00,2.40,0.00,0.000,6,0.000,0.026,2891,1785,3501,0,0,0,0,0,0
$GC,814,-1.25,-116.8,108.7,-11.3,77,818,0.00,2.38,0.00,0.000,4,0.000,0.031,2891,3305,3502,0,0,0,0,0,0
$GC,855,-1.32,-116.8,114.1,-11.4,80,860,0.12,2.40,0.00,0.000,6,0.071,0.032,2845,1782,3502,0,0,0,0,0,0
$GC,1118,-1.32,-116.8,149.9,-12.6,104,1122,0.00,2.40,0.00,0.000,4,0.000,0.025,2846,3309,3502,0,0,0,0,0,0
$GC,1150,-1.32,-116.8,153.7,-13.6,106,1155,0.00,2.40,0.00,0.000,6,0.000,0.033,2846,1786,3502,0,0,0,0,0,0
$GC,1417,-1.32,-116.8,185.9,-12.0,130,1421,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1786,3503,0,0,0,0,0,0
$GC,1703,-1.32,-116.8,218.6,-11.1,146,1707,0.00,2.40,0.00,0.000,4,0.000,0.026,2845,3311,3503,0,0,0,0,0,0
$GC,1730,-1.32,-116.8,221.8,-10.8,146,1734,0.00,2.40,0.00,0.000,6,0.000,0.031,2846,1788,3503,0,0,0,0,0,0
$GC,1986,-1.32,-116.8,249.5,-11.0,153,1990,0.00,2.40,0.00,0.000,4,0.000,0.035,2846,3299,3503,0,0,0,0,0,0
$GC,2019,-1.36,-116.8,253.4,-11.8,153,2024,0.00,2.40,0.00,0.000,6,0.000,0.033,2846,1803,3503,0,0,0,0,0,0
$GC,2269,-1.36,-116.8,282.2,-11.4,160,2271,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1803,3503,0,0,0,0,0,0
$GC,2512,-1.36,-116.8,306.4,-9.9,166,2513,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1803,3502,0,0,0,0,0,0
$GC,2756,-1.39,-116.8,331.2,-10.3,172,2760,0.00,2.40,0.00,0.000,4,0.000,0.041,2845,3299,3501,0,0,0,0,0,0
$GC,2790,-1.46,-116.8,335.2,-11.7,172,2796,0.00,2.45,0.00,0.000,6,0.000,0.049,2845,1809,3501,0,0,0,0,0,0
$GC,3040,-1.51,-116.8,362.2,-10.7,179,3045,0.10,2.42,0.00,0.000,4,0.091,0.044,2812,3294,3500,0,0,0,0,0,0
$GC,3112,-1.51,-116.8,370.6,-11.4,180,3116,0.00,2.45,0.00,0.000,6,0.000,0.047,2812,1819,3499,0,0,0,0,0,0
$GC,3369,-1.51,-116.8,398.9,-11.1,187,3370,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1819,3498,0,0,0,0,0,0
$GC,3611,-1.51,-116.8,425.0,-10.7,193,3615,0.00,2.42,0.00,0.000,4,0.000,0.050,2812,3293,3496,0,0,0,0,0,0
$GC,3654,-1.51,-116.8,429.8,-10.8,194,3659,0.00,2.50,0.00,0.000,6,0.000,0.058,2812,1821,3496,0,0,0,0,0,0
$GC,3940,-1.51,-116.8,460.4,-10.9,201,3941,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1821,3494,0,0,0,0,0,0
$GC,4182,-1.51,-116.8,487.8,-11.2,207,4186,0.00,2.47,0.00,0.000,4,0.000,0.058,2812,3292,3492,0,0,0,0,0,0
$GC,4208,-1.51,-116.8,490.8,-11.4,207,4213,0.00,2.50,0.00,0.000,6,0.000,0.067,2812,1826,3492,0,0,0,0,0,0
$STATE,4293,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4294,begin apogee
$GC,4300,-0.31,0.0,500.5,11.1,209,4400,1.20,0.00,97.18,0.922,6,0.084,0.000,3080,1933,3020,0,0,0,0,0,0
$STATE,4401,end apogee,CONTROL_FINISHED_OK
$STATE,4401,begin climb
$GC,4405,1.38,116.8,503.5,0.0,211,4510,1.60,0.00,100.95,0.900,6,0.048,0.000,3454,1933,2542,0,0,0,0,0,0
$GC,4741,1.34,163.4,487.4,7.3,220,4786,0.00,2.75,40.25,0.883,4,0.000,0.054,3454,3534,2352,0,0,0,0,0,0
$GC,4812,1.28,182.2,481.5,9.0,221,4837,0.12,2.67,17.77,0.834,6,0.127,0.051,3431,1974,2276,0,0,0,0,0,0
$GC,5111,1.28,182.2,451.4,10.2,229,5115,0.00,2.62,0.00,0.000,4,0.000,0.049,3430,3538,2268,0,0,0,0,0,0
$GC,5191,1.28,182.2,442.7,10.9,230,5197,0.00,2.65,0.00,0.000,6,0.000,0.052,3431,1981,2267,0,0,0,0,0,0
$GC,5441,1.28,182.2,416.8,10.3,237,5445,0.00,3.00,0.00,0.000,4,0.000,0.109,3431,378,2265,0,0,0,0,0,0
$GC,5490,1.20,182.2,411.3,11.1,238,5495,0.00,2.55,0.00,0.000,6,0.000,0.030,3431,1968,2264,0,0,0,0,0,0
$GC,5764,1.22,193.4,385.0,9.4,245,5775,0.00,0.00,8.85,0.762,6,0.000,0.000,3431,1968,2231,0,0,0,0,0,0
$GC,6006,1.22,194.0,360.9,10.0,251,6011,0.00,2.62,0.00,0.000,4,0.000,0.042,3430,3556,2228,0,0,0,0,0,0
$GC,6102,1.22,194.0,350.7,11.0,253,6107,0.00,2.65,0.00,0.000,6,0.000,0.042,3431,1960,2227,0,0,0,0,0,0
$GC,6376,1.25,216.9,326.3,8.7,260,6404,0.00,2.72,21.52,0.809,4,0.000,0.040,3430,3553,2134,0,0,0,0,0,0
$GC,6461,1.25,216.9,317.8,10.3,262,6466,0.00,2.62,0.00,0.000,6,0.000,0.035,3431,1963,2131,0,0,0,0,0,0
$GC,6746,1.26,229.3,291.3,9.3,269,6759,0.00,0.00,11.60,0.747,6,0.000,0.000,3430,1963,2085,0,0,0,0,0,0
$GC,6990,1.27,238.2,268.4,9.5,275,7001,0.00,0.00,9.27,0.707,6,0.000,0.000,3431,1964,2048,0,0,0,0,0,0
$GC,7232,1.30,261.0,246.6,8.7,281,7255,0.00,0.00,21.65,0.751,6,0.000,0.000,3430,1963,1954,0,0,0,0,0,0
$GC,7477,1.37,271.8,223.8,9.4,287,7493,0.00,2.62,10.50,0.683,4,0.000,0.032,3430,3558,1910,0,0,0,0,0,0
$GC,7506,1.41,273.0,220.8,10.0,287,7511,0.12,2.62,0.00,0.000,6,0.083,0.031,3463,1957,1909,0,0,0,0,0,0
$GC,7757,1.41,273.0,192.7,11.4,296,7762,0.00,2.62,0.00,0.000,4,0.000,0.033,3464,3561,1907,0,0,0,0,0,0
$GC,7811,1.41,273.0,186.4,12.2,300,7815,0.00,2.60,0.00,0.000,6,0.000,0.037,3464,1969,1906,0,0,0,0,0,0
$GC,8073,1.42,274.9,157.8,9.9,324,8078,0.00,2.70,0.00,0.000,4,0.000,0.064,3463,388,1905,0,0,0,0,0,0
$GC,8130,1.38,274.9,152.0,11.8,328,8135,0.00,2.50,0.00,0.000,6,0.000,0.018,3463,1992,1903,0,0,0,0,0,0
$GC,8392,1.38,274.9,124.2,10.3,352,8397,0.00,2.45,0.00,0.000,4,0.000,0.035,3464,3527,1904,0,0,0,0,0,0
$GC,8439,1.38,274.9,118.7,10.9,355,8445,0.00,2.55,0.00,0.000,6,0.000,0.030,3464,1948,1903,0,0,0,0,0,0
$GC,8703,1.38,274.9,91.5,10.4,380,8707,0.00,2.53,0.00,0.000,4,0.000,0.033,3464,3530,1903,0,0,0,0,0,0
$GC,8771,1.42,274.9,84.2,11.0,385,8776,0.00,2.55,0.00,0.000,6,0.000,0.034,3464,1950,1903,0,0,0,0,0,0
$GC,9039,1.48,285.4,56.8,9.4,409,9057,0.00,2.58,12.02,0.557,4,0.000,0.028,3464,3521,1855,0,0,0,0,0,0
$GC,9093,1.55,287.3,51.3,9.9,413,9098,0.10,2.53,0.00,0.000,6,0.086,0.028,3495,1959,1855,0,0,0,0,0,0
$GC,9376,1.57,301.3,22.2,9.2,442,9402,0.00,2.58,15.00,0.534,4,0.000,0.031,3495,3521,1789,0,0,0,0,0,0
$GC,9420,1.58,305.4,18.0,9.8,447,9431,0.00,2.53,4.85,0.411,6,0.000,0.030,3495,1978,1775,0,0,0,0,0,0
$STATE,9552,end climb,SURFACE_DEPTH_REACHED
$STATE,9552,begin surface coast
$FINISH,0.5,0.979966
$STATE,9604,end surface coast,CONTROL_FINISHED_OK
$STATE,9604,begin surface
$SM_CCo,9626,60.97,0.534,0,0,1469,380.21
$SM_GC,1.42,0.00,0.00,60.97,0.000,0.000,0.534,474,1759,1469,-12.31,-0.31,380.21
$IRIDIUM_FIX,2237.01,-15757.16,250800,202012
$TT8_MAMPS,0.026078
$HUMID,59.68
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.70
$XPDR_PINGS,40
$24V_AH,23.5,22.406
$10V_AH,10.4,19.566
$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,28.150,112.150,371.425,60.975,0.000,48.183,75.505,352.856,10.000,0.000,16.404,967.755,6395.872,511.465,1742.466,757.504,33.393,1143.786,0.000,1747.225,0.000,0.536,0.000
$DEVICE_MAMPS,150.332,108.914,921.934,533.832,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,321.008,262.818,360.900,693.330,1048.633,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355552
$DATA_FILE_SIZE,38258,473
$CAP_FILE_SIZE,102222,0
$CFSIZE,260165632,172904448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010611,232004,2247.922,-15757.977,51,99.0,70,10.1