version: 66.06
glider: 146
mission: 6
dive: 193
start: 6 3 111 13 14 26
data:
$ID,146
$MISSION,6
$DIVE,193
$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,-272338.19
$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,41
$R_STBD_OVSHOOT,54
$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
$GPS1,125338,2248.766,-15757.978,182,1.0,183,10.1
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-71.2
$GPS2,131332,2248.900,-15757.983,10,1.4,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.069,-0.225
$KALMAN_X,-91472.4,354.1,31.5,89062.5,-486.5
$KALMAN_Y,-118483.4,466.7,-29.3,127299.1,14.0
$MHEAD_RNG_PITCHd_Wd,152.9,3533,-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,17,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-69.78,0.000,2,0.000,0.000,474,1785,3295,0,0,0,0,0,0
$GC,92,-1.38,-116.8,4.0,-8.4,9,118,12.38,2.62,-3.55,0.000,4,0.152,0.064,2838,240,3500,0,0,0,0,0,0
$GC,209,-1.21,-116.8,36.0,-20.9,23,214,0.22,2.40,0.00,0.000,6,0.119,0.015,2884,1821,3501,0,0,0,0,0,0
$GC,475,-1.21,-116.8,75.0,-11.4,47,479,0.00,2.42,0.00,0.000,4,0.000,0.028,2884,3365,3501,0,0,0,0,0,0
$GC,547,-1.28,-116.8,83.8,-11.1,52,556,0.00,2.45,0.00,0.000,6,0.000,0.030,2884,1829,3501,0,0,0,0,0,0
$GC,814,-1.28,-116.8,113.9,-11.8,77,818,0.00,2.70,0.00,0.000,4,0.000,0.061,2884,230,3502,0,0,0,0,0,0
$GC,847,-1.28,-116.8,118.8,-13.1,79,853,0.00,2.40,0.00,0.000,6,0.000,0.015,2884,1843,3502,0,0,0,0,0,0
$GC,1111,-1.28,-116.8,147.8,-11.3,104,1115,0.00,2.70,0.00,0.000,4,0.000,0.056,2884,230,3502,0,0,0,0,0,0
$GC,1144,-1.28,-116.8,151.5,-12.0,106,1149,0.00,2.33,0.00,0.000,6,0.000,0.022,2884,1808,3502,0,0,0,0,0,0
$GC,1413,-1.34,-116.8,179.6,-10.0,130,1418,0.10,2.38,0.00,0.000,4,0.084,0.034,2844,3328,3502,0,0,0,0,0,0
$GC,1445,-1.34,-116.8,183.9,-10.5,132,1455,0.00,2.42,0.00,0.000,6,0.000,0.030,2844,1811,3503,0,0,0,0,0,0
$GC,1712,-1.34,-116.8,215.2,-11.8,149,1716,0.00,2.38,0.00,0.000,4,0.000,0.025,2844,3327,3503,0,0,0,0,0,0
$GC,1802,-1.34,-116.8,225.9,-10.5,151,1807,0.00,2.40,0.00,0.000,6,0.000,0.032,2844,1816,3502,0,0,0,0,0,0
$GC,2086,-1.34,-116.8,256.8,-10.9,158,2090,0.00,2.72,0.00,0.000,4,0.000,0.073,2844,224,3503,0,0,0,0,0,0
$GC,2108,-1.34,-116.8,259.3,-11.6,158,2112,0.00,2.40,0.00,0.000,6,0.000,0.019,2844,1791,3503,0,0,0,0,0,0
$GC,2363,-1.34,-116.8,287.6,-11.2,165,2367,0.00,2.50,0.00,0.000,4,0.000,0.034,2843,3357,3502,0,0,0,0,0,0
$GC,2378,-1.34,-116.8,289.4,-10.8,165,2382,0.00,2.42,0.00,0.000,6,0.000,0.028,2844,1831,3502,0,0,0,0,0,0
$GC,2641,-1.34,-116.8,319.0,-11.3,172,2645,0.00,2.42,0.00,0.000,4,0.000,0.034,2844,3359,3501,0,0,0,0,0,0
$GC,2718,-1.40,-116.8,327.6,-10.4,173,2724,0.00,2.47,0.00,0.000,6,0.000,0.040,2844,1847,3500,0,0,0,0,0,0
$GC,2968,-1.44,-116.8,353.2,-10.3,180,2972,0.00,2.42,0.00,0.000,4,0.000,0.041,2844,3355,3500,0,0,0,0,0,0
$GC,2997,-1.49,-116.8,356.1,-10.0,180,3002,0.00,2.47,0.00,0.000,6,0.000,0.046,2844,1846,3500,0,0,0,0,0,0
$GC,3248,-1.54,-116.8,381.4,-10.2,186,3249,0.12,0.00,0.00,0.000,6,0.075,0.000,2803,1846,3498,0,0,0,0,0,0
$GC,3491,-1.54,-116.8,409.6,-11.4,192,3492,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1846,3497,0,0,0,0,0,0
$GC,3734,-1.54,-116.8,436.2,-10.9,198,3736,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1846,3495,0,0,0,0,0,0
$GC,3978,-1.54,-116.8,462.3,-10.5,204,3982,0.00,2.50,0.00,0.000,4,0.000,0.057,2803,3356,3493,0,0,0,0,0,0
$GC,4027,-1.54,-116.8,467.9,-11.2,205,4032,0.00,2.58,0.00,0.000,6,0.000,0.065,2802,1840,3493,0,0,0,0,0,0
$GC,4300,-1.54,-116.8,498.7,-11.6,212,4305,0.00,3.10,0.00,0.000,4,0.000,0.125,2803,216,3491,0,0,0,0,0,0
$STATE,4307,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4308,begin apogee
$GC,4318,-0.31,0.0,500.1,11.3,212,4418,1.23,0.00,96.18,0.920,6,0.087,0.000,3079,1959,3020,0,0,0,0,0,0
$STATE,4419,end apogee,CONTROL_FINISHED_OK
$STATE,4419,begin climb
$GC,4421,1.38,116.8,503.3,0.0,214,4534,1.58,2.95,99.53,0.900,4,0.047,0.071,3453,3578,2540,0,0,0,0,0,0
$GC,4551,1.39,211.6,502.3,4.6,217,4641,0.00,2.75,81.88,0.892,6,0.000,0.050,3453,1981,2156,0,0,0,0,0,0
$GC,4917,1.33,211.6,465.6,10.9,226,4918,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1981,2148,0,0,0,0,0,0
$GC,5160,1.29,211.6,438.4,11.1,232,5165,0.12,2.67,0.00,0.000,4,0.128,0.044,3429,3581,2145,0,0,0,0,0,0
$GC,5215,1.29,211.6,432.4,10.8,233,5220,0.00,2.67,0.00,0.000,6,0.000,0.045,3428,1990,2143,0,0,0,0,0,0
$GC,5483,1.29,211.6,405.9,10.1,240,5488,0.00,2.90,0.00,0.000,4,0.000,0.095,3429,400,2141,0,0,0,0,0,0
$GC,5509,1.29,211.6,402.7,11.2,240,5514,0.00,2.58,0.00,0.000,6,0.000,0.025,3429,2016,2141,0,0,0,0,0,0
$GC,5760,1.29,217.8,378.6,9.7,246,5764,0.00,2.55,0.00,0.000,4,0.000,0.042,3427,3573,2140,0,0,0,0,0,0
$GC,5782,1.29,218.6,376.4,10.0,246,5792,0.00,2.62,4.57,0.598,6,0.000,0.039,3428,1988,2128,0,0,0,0,0,0
$GC,6037,1.30,220.9,351.1,9.9,252,6042,0.00,2.78,0.00,0.000,4,0.000,0.079,3429,407,2126,0,0,0,0,0,0
$GC,6080,1.30,220.9,346.2,11.0,253,6085,0.00,2.53,0.00,0.000,6,0.000,0.022,3429,1995,2125,0,0,0,0,0,0
$GC,6360,1.31,231.2,319.7,9.4,260,6379,0.00,2.65,12.25,0.760,4,0.000,0.039,3428,3558,2076,0,0,0,0,0,0
$GC,6429,1.31,231.2,312.0,10.8,261,6434,0.00,2.60,0.00,0.000,6,0.000,0.038,3429,1980,2074,0,0,0,0,0,0
$GC,6686,1.32,236.2,287.0,9.8,268,6697,0.00,2.62,5.70,0.625,4,0.000,0.033,3428,3567,2056,0,0,0,0,0,0
$GC,6759,1.36,236.2,278.7,11.3,269,6763,0.00,2.60,0.00,0.000,6,0.000,0.038,3428,1981,2055,0,0,0,0,0,0
$GC,7009,1.42,254.4,255.6,9.0,275,7034,0.12,2.78,17.40,0.734,4,0.213,0.068,3461,416,1982,0,0,0,0,0,0
$GC,7053,1.37,254.4,251.4,10.7,276,7058,0.00,2.50,0.00,0.000,6,0.000,0.019,3461,1994,1980,0,0,0,0,0,0
$GC,7336,1.37,254.4,222.9,10.1,283,7337,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1994,1978,0,0,0,0,0,0
$GC,7580,1.37,254.4,198.5,10.3,289,7584,0.00,2.53,0.00,0.000,4,0.000,0.038,3461,3555,1977,0,0,0,0,0,0
$GC,7624,1.37,254.4,194.1,11.2,292,7628,0.00,2.58,0.00,0.000,6,0.000,0.036,3461,1969,1976,0,0,0,0,0,0
$GC,7890,1.37,254.4,165.9,10.4,316,7895,0.00,2.55,0.00,0.000,4,0.000,0.031,3461,3557,1976,0,0,0,0,0,0
$GC,8013,1.37,254.4,152.7,10.4,326,8017,0.00,2.53,0.00,0.000,6,0.000,0.035,3461,1990,1975,0,0,0,0,0,0
$GC,8275,1.37,254.4,124.6,10.6,350,8276,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1990,1975,0,0,0,0,0,0
$GC,8530,1.39,269.5,100.4,9.2,374,8549,0.00,2.67,13.60,0.590,4,0.000,0.055,3461,412,1920,0,0,0,0,0,0
$GC,8623,1.39,269.5,89.5,12.7,381,8628,0.00,2.47,0.00,0.000,6,0.000,0.018,3461,2005,1918,0,0,0,0,0,0
$GC,8891,1.46,278.5,62.7,9.5,405,8910,0.00,0.00,9.20,0.528,6,0.000,0.000,3461,2006,1883,0,0,0,0,0,0
$GC,9169,1.61,329.0,40.0,7.1,431,9224,0.17,2.55,44.17,0.558,4,0.061,0.032,3511,3540,1677,0,0,0,0,0,0
$GC,9301,1.61,329.0,25.0,12.7,443,9311,0.00,2.55,0.00,0.000,6,0.000,0.029,3511,1980,1674,0,0,0,0,0,0
$STATE,9498,end climb,SURFACE_DEPTH_REACHED
$STATE,9498,begin surface coast
$FINISH,0.5,0.977851
$STATE,9547,end surface coast,CONTROL_FINISHED_OK
$STATE,9548,begin surface
$SM_CCo,9571,40.35,0.521,0,0,1470,380.21
$SM_GC,1.27,0.00,0.00,40.35,0.000,0.000,0.521,475,1779,1470,-12.30,-0.59,380.21
$IRIDIUM_FIX,2239.35,-15759.32,270800,131325
$TT8_MAMPS,0.026078
$HUMID,59.76
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.20
$XPDR_PINGS,48
$24V_AH,23.5,24.255
$10V_AH,10.4,21.134
$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,28.400,124.000,384.475,40.350,0.000,81.674,104.007,740.315,12.000,0.000,12.381,975.511,6293.680,458.444,1862.251,1216.338,33.367,1180.276,0.000,1871.679,0.000,0.536,0.000
$DEVICE_MAMPS,213.226,125.021,919.633,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,323.813,270.401,372.268,718.911,1087.301,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355696
$DATA_FILE_SIZE,38560,478
$CAP_FILE_SIZE,113057,0
$CFSIZE,260165632,172154880
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030611,155615,2247.597,-15757.806,37,2.1,57,10.1