version: 66.06
glider: 146
mission: 6
dive: 187
start: 6 2 111 18 55 20
data:
$ID,146
$MISSION,6
$DIVE,187
$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,-272174.31
$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,1800
$C_ROLL_CLIMB,1990
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,37
$R_STBD_OVSHOOT,61
$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
$GPS1,184628,2249.569,-15802.830,9,99.0,28,10.1
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-69.1
$GPS2,185427,2249.686,-15802.762,44,2.6,63,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.220,-0.081
$KALMAN_X,-91296.9,-176.6,-51.1,81330.9,-123.0
$KALMAN_Y,-123774.2,-406.1,134.6,134761.0,926.9
$MHEAD_RNG_PITCHd_Wd,100.0,9853,-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,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.38,0.000,2,0.000,0.000,476,1783,3261,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.7,-6.4,9,118,12.48,0.00,-4.30,0.000,6,0.155,0.000,2841,1784,3499,0,0,0,0,0,0
$GC,396,-1.28,-116.8,66.4,-17.0,42,401,0.12,2.50,0.00,0.000,4,0.133,0.025,2867,3364,3501,0,0,0,0,0,0
$GC,493,-1.28,-116.8,80.2,-12.8,49,497,0.00,2.50,0.00,0.000,6,0.000,0.028,2866,1801,3502,0,0,0,0,0,0
$GC,759,-1.28,-116.8,116.8,-12.6,73,763,0.00,2.47,0.00,0.000,4,0.000,0.029,2867,3364,3502,0,0,0,0,0,0
$GC,800,-1.28,-116.8,122.4,-12.0,76,804,0.00,2.50,0.00,0.000,6,0.000,0.026,2866,1795,3502,0,0,0,0,0,0
$GC,1068,-1.28,-116.8,153.2,-11.8,100,1072,0.00,2.47,0.00,0.000,4,0.000,0.031,2866,3360,3503,0,0,0,0,0,0
$GC,1120,-1.34,-116.8,160.3,-12.0,104,1125,0.00,2.45,0.00,0.000,6,0.000,0.028,2866,1808,3503,0,0,0,0,0,0
$GC,1383,-1.34,-116.8,190.0,-11.1,128,1387,0.00,2.45,0.00,0.000,4,0.000,0.025,2867,3360,3503,0,0,0,0,0,0
$GC,1416,-1.41,-116.8,194.2,-11.4,130,1423,0.10,2.45,0.00,0.000,6,0.081,0.029,2828,1811,3503,0,0,0,0,0,0
$GC,1669,-1.41,-116.8,227.0,-13.0,140,1674,0.00,2.45,0.00,0.000,4,0.000,0.028,2828,3357,3504,0,0,0,0,0,0
$GC,1709,-1.41,-116.8,232.5,-12.7,141,1713,0.00,2.45,0.00,0.000,6,0.000,0.031,2828,1822,3503,0,0,0,0,0,0
$GC,1992,-1.41,-116.8,267.0,-11.8,148,1996,0.00,2.42,0.00,0.000,4,0.000,0.037,2828,3357,3504,0,0,0,0,0,0
$GC,2048,-1.41,-116.8,273.3,-11.3,149,2052,0.00,2.45,0.00,0.000,6,0.000,0.030,2828,1834,3504,0,0,0,0,0,0
$GC,2313,-1.41,-116.8,303.2,-11.3,156,2318,0.00,2.42,0.00,0.000,4,0.000,0.040,2828,3356,3504,0,0,0,0,0,0
$GC,2335,-1.41,-116.8,306.1,-12.6,156,2339,0.00,2.47,0.00,0.000,6,0.000,0.041,2828,1843,3503,0,0,0,0,0,0
$GC,2592,-1.41,-116.8,335.2,-11.4,163,2597,0.00,2.90,0.00,0.000,4,0.000,0.088,2827,217,3503,0,0,0,0,0,0
$GC,2607,-1.41,-116.8,337.2,-11.0,163,2612,0.00,2.53,0.00,0.000,6,0.000,0.030,2827,1810,3503,0,0,0,0,0,0
$GC,2868,-1.41,-116.8,365.3,-10.6,170,2873,0.00,2.58,0.00,0.000,4,0.000,0.044,2827,3386,3502,0,0,0,0,0,0
$GC,2891,-1.41,-116.8,367.7,-10.3,170,2896,0.00,2.58,0.00,0.000,6,0.000,0.045,2828,1842,3502,0,0,0,0,0,0
$GC,3146,-1.41,-116.8,393.5,-9.9,177,3150,0.00,2.50,0.00,0.000,4,0.000,0.047,2828,3378,3500,0,0,0,0,0,0
$GC,3191,-1.46,-116.8,398.2,-9.8,178,3195,0.00,2.60,0.00,0.000,6,0.000,0.056,2828,1839,3500,0,0,0,0,0,0
$GC,3470,-1.46,-116.8,425.2,-9.8,185,3474,0.00,2.53,0.00,0.000,4,0.000,0.051,2828,3375,3498,0,0,0,0,0,0
$GC,3520,-1.53,-116.8,430.6,-10.0,186,3524,0.00,2.60,0.00,0.000,6,0.000,0.061,2827,1847,3498,0,0,0,0,0,0
$GC,3791,-1.53,-116.8,459.4,-10.9,193,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1847,3496,0,0,0,0,0,0
$GC,4037,-1.57,-116.8,486.8,-11.2,199,4038,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1847,3495,0,0,0,0,0,0
$STATE,4154,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4154,begin apogee
$GC,4160,-0.31,0.0,500.0,10.8,202,4260,1.12,0.00,96.30,0.923,6,0.082,0.000,3081,2002,3020,0,0,0,0,0,0
$STATE,4261,end apogee,CONTROL_FINISHED_OK
$STATE,4261,begin climb
$GC,4264,1.38,116.8,502.9,0.0,204,4371,1.60,2.75,99.53,0.902,4,0.054,0.064,3458,3541,2541,0,0,0,0,0,0
$GC,4386,1.37,206.1,502.4,4.9,207,4470,0.00,2.67,77.18,0.888,6,0.000,0.054,3458,1991,2177,0,0,0,0,0,0
$GC,4729,1.31,206.1,463.6,12.3,216,4735,0.12,2.65,0.00,0.000,4,0.127,0.051,3435,3560,2169,0,0,0,0,0,0
$GC,4747,1.25,206.1,461.2,12.5,216,4752,0.00,2.70,0.00,0.000,6,0.000,0.051,3435,1987,2168,0,0,0,0,0,0
$GC,5008,1.25,206.1,431.9,11.1,223,5009,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1986,2167,0,0,0,0,0,0
$GC,5254,1.25,206.3,407.0,10.0,229,5258,0.00,2.60,0.00,0.000,4,0.000,0.041,3435,3555,2164,0,0,0,0,0,0
$GC,5274,1.25,206.3,404.7,10.1,229,5279,0.00,2.62,0.00,0.000,6,0.000,0.040,3434,1988,2164,0,0,0,0,0,0
$GC,5530,1.28,226.4,381.7,8.9,236,5548,0.00,0.00,16.42,0.817,6,0.000,0.000,3435,1988,2097,0,0,0,0,0,0
$GC,5773,1.28,226.4,356.3,10.6,242,5778,0.00,2.55,0.00,0.000,4,0.000,0.039,3434,3556,2092,0,0,0,0,0,0
$GC,5796,1.28,226.4,353.8,10.9,242,5801,0.00,2.60,0.00,0.000,6,0.000,0.042,3435,1991,2092,0,0,0,0,0,0
$GC,6051,1.28,226.4,327.3,10.4,249,6052,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1990,2091,0,0,0,0,0,0
$GC,6295,1.29,236.9,303.9,9.4,255,6310,0.00,2.78,9.73,0.727,4,0.000,0.074,3434,408,2054,0,0,0,0,0,0
$GC,6350,1.29,236.9,298.2,11.2,256,6354,0.00,2.50,0.00,0.000,6,0.000,0.025,3434,1986,2052,0,0,0,0,0,0
$GC,6616,1.31,252.7,273.2,9.1,263,6637,0.00,2.60,15.57,0.750,4,0.000,0.041,3434,3551,1988,0,0,0,0,0,0
$GC,6694,1.35,252.7,265.5,10.4,264,6700,0.00,2.58,0.00,0.000,6,0.000,0.037,3434,1984,1986,0,0,0,0,0,0
$GC,6944,1.36,257.9,240.9,9.7,271,6955,0.00,2.58,5.32,0.589,4,0.000,0.039,3435,3557,1969,0,0,0,0,0,0
$GC,6967,1.36,257.9,238.3,10.6,271,6971,0.00,2.55,0.00,0.000,6,0.000,0.037,3434,1996,1968,0,0,0,0,0,0
$GC,7222,1.39,258.6,212.9,10.0,278,7227,0.00,2.55,0.00,0.000,4,0.000,0.035,3435,3558,1967,0,0,0,0,0,0
$GC,7272,1.45,258.6,207.4,11.0,279,7277,0.12,2.50,0.00,0.000,6,0.079,0.035,3470,2010,1966,0,0,0,0,0,0
$GC,7533,1.45,258.6,177.6,11.5,299,7538,0.00,2.72,0.00,0.000,4,0.000,0.064,3470,411,1966,0,0,0,0,0,0
$GC,7553,1.45,258.6,175.4,11.6,300,7557,0.00,2.50,0.00,0.000,6,0.000,0.021,3470,2024,1965,0,0,0,0,0,0
$GC,7815,1.45,258.6,148.2,10.4,324,7820,0.00,2.72,0.00,0.000,4,0.000,0.055,3470,413,1964,0,0,0,0,0,0
$GC,7838,1.45,258.6,146.3,10.7,325,7842,0.00,2.47,0.00,0.000,6,0.000,0.024,3470,2009,1964,0,0,0,0,0,0
$GC,8104,1.45,258.6,117.8,10.2,349,8108,0.00,2.47,0.00,0.000,4,0.000,0.032,3470,3552,1964,0,0,0,0,0,0
$GC,8168,1.45,258.6,110.4,11.1,354,8172,0.00,2.47,0.00,0.000,6,0.000,0.030,3470,2014,1964,0,0,0,0,0,0
$GC,8432,1.46,262.1,83.0,9.8,378,8441,0.00,0.00,5.00,0.472,6,0.000,0.000,3469,2015,1950,0,0,0,0,0,0
$GC,8699,1.47,271.1,56.9,9.5,403,8714,0.00,2.70,9.55,0.537,4,0.000,0.053,3470,413,1913,0,0,0,0,0,0
$GC,8757,1.47,271.1,51.1,11.2,407,8761,0.00,2.47,0.00,0.000,6,0.000,0.017,3470,2026,1913,0,0,0,0,0,0
$GC,9036,1.61,316.6,25.6,7.4,435,9078,0.12,0.00,39.53,0.554,6,0.076,0.000,3508,2029,1729,0,0,0,0,0,0
$STATE,9240,end climb,SURFACE_DEPTH_REACHED
$STATE,9240,begin surface coast
$FINISH,0.6,0.980022
$STATE,9284,end surface coast,CONTROL_FINISHED_OK
$STATE,9284,begin surface
$SM_CCo,9306,51.28,0.529,0,0,1469,380.21
$SM_GC,1.12,0.00,0.00,51.28,0.000,0.000,0.529,476,1779,1469,-12.30,-0.59,380.21
$IRIDIUM_FIX,2237.01,-15825.37,260800,161626
$TT8_MAMPS,0.026078
$HUMID,59.60
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.70
$XPDR_PINGS,47
$24V_AH,23.5,23.334
$10V_AH,10.4,20.429
$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,28.025,118.200,374.125,51.275,0.000,28.906,42.516,226.056,11.750,0.000,65.802,957.355,6055.164,471.949,1793.327,562.243,33.364,1126.270,0.000,1747.048,0.000,0.536,0.000
$DEVICE_MAMPS,154.934,88.205,922.701,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,318.887,268.350,361.975,693.307,1048.283,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,38338,470
$CAP_FILE_SIZE,99074,0
$CFSIZE,260165632,172490752
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,020611,213215,2249.412,-15801.442,8,1.9,15,10.1