version: 66.06
glider: 146
mission: 6
dive: 184
start: 6 2 111 10 44 26
data:
$ID,146
$MISSION,6
$DIVE,184
$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,-272037.66
$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,1800
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$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
$GPS1,103307,2247.241,-15801.173,35,1.6,35,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-71.7
$GPS2,104333,2247.259,-15801.225,9,2.6,28,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.234,-0.020
$KALMAN_X,-91384.2,607.9,148.8,83062.7,-412.2
$KALMAN_Y,-125173.1,26.1,329.9,131033.5,-234.9
$MHEAD_RNG_PITCHd_Wd,255.0,3069,-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,-71.03,0.000,2,0.000,0.000,477,1776,3286,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.5,-6.0,9,119,12.32,2.65,-3.83,0.000,4,0.151,0.067,2839,241,3499,0,0,0,0,0,0
$GC,222,-1.26,-116.8,38.0,-19.8,24,227,0.17,2.38,0.00,0.000,6,0.122,0.014,2874,1824,3500,0,0,0,0,0,0
$GC,490,-1.26,-116.8,76.1,-12.6,48,494,0.00,2.67,0.00,0.000,4,0.000,0.056,2874,239,3502,0,0,0,0,0,0
$GC,535,-1.22,-116.8,83.0,-14.7,51,540,0.00,2.35,0.00,0.000,6,0.000,0.018,2874,1808,3502,0,0,0,0,0,0
$GC,802,-1.22,-116.8,115.9,-13.5,75,806,0.00,2.38,0.00,0.000,4,0.000,0.032,2874,3332,3502,0,0,0,0,0,0
$GC,895,-1.28,-116.8,128.0,-12.0,82,904,0.00,2.40,0.00,0.000,6,0.000,0.031,2874,1834,3502,0,0,0,0,0,0
$GC,1157,-1.28,-116.8,157.8,-11.4,107,1161,0.00,2.72,0.00,0.000,4,0.000,0.064,2874,229,3503,0,0,0,0,0,0
$GC,1209,-1.28,-116.8,164.1,-12.1,111,1213,0.00,2.35,0.00,0.000,6,0.000,0.021,2874,1813,3503,0,0,0,0,0,0
$GC,1473,-1.34,-116.8,191.8,-9.7,135,1477,0.00,2.38,0.00,0.000,4,0.000,0.033,2874,3337,3503,0,0,0,0,0,0
$GC,1543,-1.43,-116.8,198.4,-8.7,140,1549,0.15,2.40,0.00,0.000,6,0.063,0.033,2824,1815,3504,0,0,0,0,0,0
$GC,1803,-1.43,-116.8,229.0,-11.8,148,1805,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1815,3504,0,0,0,0,0,0
$GC,2047,-1.43,-116.8,257.5,-11.7,154,2051,0.00,2.42,0.00,0.000,4,0.000,0.037,2824,3337,3503,0,0,0,0,0,0
$GC,2070,-1.43,-116.8,260.2,-12.1,154,2074,0.00,2.45,0.00,0.000,6,0.000,0.035,2824,1814,3504,0,0,0,0,0,0
$GC,2324,-1.43,-116.8,289.2,-11.4,161,2329,0.00,2.42,0.00,0.000,4,0.000,0.030,2824,3329,3503,0,0,0,0,0,0
$GC,2385,-1.43,-116.8,296.3,-11.1,162,2390,0.00,2.40,0.00,0.000,6,0.000,0.041,2824,1837,3503,0,0,0,0,0,0
$GC,2653,-1.43,-116.8,326.6,-11.5,169,2658,0.00,2.90,0.00,0.000,4,0.000,0.090,2824,216,3502,0,0,0,0,0,0
$GC,2674,-1.43,-116.8,329.5,-12.3,169,2679,0.00,2.47,0.00,0.000,6,0.000,0.025,2823,1782,3502,0,0,0,0,0,0
$GC,2930,-1.43,-116.8,357.7,-10.9,176,2931,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1782,3501,0,0,0,0,0,0
$GC,3174,-1.43,-116.8,385.1,-11.3,182,3178,0.00,2.60,0.00,0.000,4,0.000,0.048,2824,3376,3499,0,0,0,0,0,0
$GC,3190,-1.43,-116.8,387.0,-11.3,182,3195,0.00,2.58,0.00,0.000,6,0.000,0.050,2824,1834,3499,0,0,0,0,0,0
$GC,3451,-1.43,-116.8,415.0,-10.7,189,3456,0.00,2.97,0.00,0.000,4,0.000,0.100,2823,210,3498,0,0,0,0,0,0
$GC,3472,-1.43,-116.8,417.5,-11.3,189,3477,0.00,2.60,0.00,0.000,6,0.000,0.031,2824,1820,3498,0,0,0,0,0,0
$GC,3729,-1.43,-116.8,444.2,-10.5,196,3733,0.00,2.62,0.00,0.000,4,0.000,0.061,2824,3384,3496,0,0,0,0,0,0
$GC,3789,-1.48,-116.8,451.0,-10.6,197,3794,0.00,2.60,0.00,0.000,6,0.000,0.054,2823,1840,3496,0,0,0,0,0,0
$GC,4050,-1.48,-116.8,478.7,-10.6,204,4055,0.00,2.58,0.00,0.000,4,0.000,0.050,2824,3382,3494,0,0,0,0,0,0
$GC,4091,-1.54,-116.8,483.1,-11.0,205,4096,0.00,2.62,0.00,0.000,6,0.000,0.065,2824,1854,3494,0,0,0,0,0,0
$STATE,4250,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4250,begin apogee
$GC,4256,-0.31,0.0,501.3,11.2,209,4356,1.12,0.00,96.50,0.919,6,0.081,0.000,3079,2011,3020,0,0,0,0,0,0
$STATE,4357,end apogee,CONTROL_FINISHED_OK
$STATE,4357,begin climb
$GC,4360,1.38,116.8,504.8,0.0,211,4472,1.55,2.67,99.62,0.896,4,0.054,0.059,3451,3551,2541,0,0,0,0,0,0
$GC,4489,1.39,211.6,504.7,4.6,214,4578,0.00,2.70,81.45,0.887,6,0.000,0.057,3451,1994,2156,0,0,0,0,0,0
$GC,4854,1.33,211.6,464.2,12.2,223,4859,0.00,2.65,0.00,0.000,4,0.000,0.046,3451,3559,2148,0,0,0,0,0,0
$GC,4876,1.28,211.6,461.4,12.8,223,4881,0.12,2.67,0.00,0.000,6,0.126,0.048,3428,1998,2146,0,0,0,0,0,0
$GC,5132,1.28,211.6,432.9,10.9,230,5137,0.00,2.60,0.00,0.000,4,0.000,0.042,3427,3550,2145,0,0,0,0,0,0
$GC,5172,1.28,211.6,428.4,11.2,231,5176,0.00,2.62,0.00,0.000,6,0.000,0.045,3427,2004,2143,0,0,0,0,0,0
$GC,5455,1.28,216.5,399.6,9.8,238,5459,0.00,2.58,0.00,0.000,4,0.000,0.041,3427,3559,2142,0,0,0,0,0,0
$GC,5477,1.28,217.3,397.4,10.0,238,5482,0.00,2.60,0.00,0.000,6,0.000,0.044,3428,2008,2141,0,0,0,0,0,0
$GC,5732,1.29,223.9,372.5,9.7,245,5747,0.00,2.88,9.30,0.755,4,0.000,0.084,3427,403,2106,0,0,0,0,0,0
$GC,5786,1.29,223.9,367.0,10.4,246,5790,0.00,2.55,0.00,0.000,6,0.000,0.027,3427,2001,2105,0,0,0,0,0,0
$GC,6055,1.30,228.1,341.2,9.8,253,6065,0.00,2.80,5.10,0.626,4,0.000,0.064,3427,404,2090,0,0,0,0,0,0
$GC,6081,1.30,228.1,338.0,11.1,253,6086,0.00,2.55,0.00,0.000,6,0.000,0.025,3427,2002,2089,0,0,0,0,0,0
$GC,6331,1.30,233.2,313.3,9.7,259,6339,0.00,0.00,5.97,0.656,6,0.000,0.000,3428,2002,2069,0,0,0,0,0,0
$GC,6577,1.32,245.6,290.2,9.3,265,6596,0.00,2.85,12.68,0.752,4,0.000,0.064,3427,402,2017,0,0,0,0,0,0
$GC,6641,1.32,245.6,283.2,10.9,266,6645,0.00,2.53,0.00,0.000,6,0.000,0.020,3427,1994,2015,0,0,0,0,0,0
$GC,6903,1.36,251.5,258.3,9.7,273,6916,0.00,2.58,6.32,0.643,4,0.000,0.040,3428,3558,1993,0,0,0,0,0,0
$GC,6961,1.42,251.5,251.5,11.5,274,6967,0.12,2.60,0.00,0.000,6,0.083,0.031,3461,1972,1992,0,0,0,0,0,0
$GC,7228,1.42,251.5,220.9,10.9,281,7229,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1972,1991,0,0,0,0,0,0
$GC,7473,1.44,271.0,198.0,8.9,287,7498,0.00,2.62,18.25,0.708,4,0.000,0.032,3461,3556,1913,0,0,0,0,0,0
$GC,7526,1.44,271.0,192.6,10.2,291,7535,0.00,2.62,0.00,0.000,6,0.000,0.031,3461,1970,1912,0,0,0,0,0,0
$GC,7793,1.44,271.0,165.4,10.9,316,7797,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1970,1911,0,0,0,0,0,0
$GC,8059,1.44,271.0,135.4,10.8,341,8063,0.00,2.62,0.00,0.000,4,0.000,0.064,3461,411,1910,0,0,0,0,0,0
$GC,8113,1.44,271.0,128.7,12.4,345,8118,0.00,2.45,0.00,0.000,6,0.000,0.019,3461,1987,1909,0,0,0,0,0,0
$GC,8381,1.44,271.8,102.3,10.0,369,8386,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1988,1909,0,0,0,0,0,0
$GC,8648,1.51,289.4,76.7,9.0,394,8676,0.00,2.75,16.38,0.584,4,0.000,0.058,3461,404,1838,0,0,0,0,0,0
$GC,8731,1.51,289.4,68.8,10.3,400,8735,0.00,2.42,0.00,0.000,6,0.000,0.018,3460,1968,1837,0,0,0,0,0,0
$GC,8998,1.61,313.4,43.9,8.7,424,9025,0.15,2.65,21.70,0.557,4,0.068,0.051,3506,409,1740,0,0,0,0,0,0
$GC,9044,1.61,316.9,39.5,9.8,427,9059,0.00,2.40,4.07,0.383,6,0.000,0.018,3506,1962,1729,0,0,0,0,0,0
$GC,9358,1.57,316.9,9.1,12.0,468,9367,0.00,2.65,0.00,0.000,4,0.000,0.057,3507,406,1727,0,0,0,0,0,0
$GC,9391,1.57,316.9,4.8,12.1,472,9400,0.00,2.40,0.00,0.000,6,0.000,0.018,3506,1944,1726,0,0,0,0,0,0
$STATE,9408,end climb,SURFACE_DEPTH_REACHED
$STATE,9408,begin surface coast
$FINISH,0.5,0.979976
$STATE,9457,end surface coast,CONTROL_FINISHED_OK
$STATE,9457,begin surface
$SM_CCo,9479,51.80,0.525,0,0,1470,380.21
$SM_GC,1.27,0.00,0.00,51.80,0.000,0.000,0.525,478,1776,1470,-12.30,-0.68,380.21
$IRIDIUM_FIX,2239.35,-15800.20,260800,101055
$TT8_MAMPS,0.026078
$HUMID,59.80
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.00
$XPDR_PINGS,47
$24V_AH,23.5,22.987
$10V_AH,10.4,20.109
$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,28.000,129.425,377.350,51.800,0.000,53.638,84.377,272.525,11.750,0.000,30.894,977.789,6148.004,484.350,1858.618,692.312,33.362,1196.469,0.000,1844.539,0.000,0.535,0.000
$DEVICE_MAMPS,151.099,99.710,918.866,524.628,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.152,275.184,373.314,718.873,1087.282,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,38344,481
$CAP_FILE_SIZE,107040,0
$CFSIZE,260165632,172638208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020611,132427,2247.014,-15802.645,7,99.0,26,10.1