version: 66.06
glider: 146
mission: 6
dive: 222
start: 6 6 111 23 51 29
data:
$ID,146
$MISSION,6
$DIVE,222
$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,-273081.44
$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,3155
$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,1830
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,55
$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
$GPS1,234121,2247.947,-15757.995,10,3.3,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-66.6
$GPS2,235036,2248.005,-15757.939,14,1.3,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.027,-0.233
$KALMAN_X,-88853.0,-251.9,-0.4,87154.8,-75.4
$KALMAN_Y,-97562.5,-246.7,103.9,105307.9,815.9
$MHEAD_RNG_PITCHd_Wd,163.4,1877,-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,-116.8,0.0,0.0,0,128,0.00,0.00,-108.45,0.000,2,0.000,0.000,477,1819,3239,0,0,0,0,0,0
$GC,131,-1.38,-116.8,3.1,-4.6,14,157,12.57,2.65,-4.97,0.000,4,0.158,0.063,2844,266,3500,0,0,0,0,0,0
$GC,216,-1.21,-116.8,24.6,-20.2,25,225,0.17,2.42,0.00,0.000,6,0.103,0.015,2885,1846,3500,0,0,0,0,0,0
$GC,490,-1.14,-116.8,68.0,-14.8,51,495,0.10,2.42,0.00,0.000,4,0.137,0.024,2905,3380,3501,0,0,0,0,0,0
$GC,561,-1.21,-116.8,76.3,-10.2,56,565,0.00,2.42,0.00,0.000,6,0.000,0.032,2905,1855,3500,0,0,0,0,0,0
$GC,821,-1.21,-116.8,108.5,-11.0,80,826,0.00,2.67,0.00,0.000,4,0.000,0.055,2905,254,3501,0,0,0,0,0,0
$GC,833,-1.21,-116.8,109.6,-10.7,80,842,0.00,2.42,0.00,0.000,6,0.000,0.020,2905,1874,3501,0,0,0,0,0,0
$GC,1099,-1.27,-116.8,137.6,-10.0,105,1105,0.12,0.00,0.00,0.000,6,0.077,0.000,2861,1875,3501,0,0,0,0,0,0
$GC,1367,-1.27,-116.8,170.3,-11.7,130,1372,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1875,3501,0,0,0,0,0,0
$GC,1628,-1.27,-116.8,200.4,-11.9,155,1632,0.00,2.72,0.00,0.000,4,0.000,0.064,2860,257,3502,0,0,0,0,0,0
$GC,1655,-1.27,-116.8,203.7,-12.1,155,1659,0.00,2.33,0.00,0.000,6,0.000,0.015,2861,1810,3502,0,0,0,0,0,0
$GC,1906,-1.27,-116.8,230.6,-10.6,161,1910,0.00,2.45,0.00,0.000,4,0.000,0.035,2860,3375,3502,0,0,0,0,0,0
$GC,1927,-1.31,-116.8,233.2,-11.2,161,1931,0.00,2.40,0.00,0.000,6,0.000,0.028,2861,1844,3502,0,0,0,0,0,0
$GC,2183,-1.36,-116.8,258.9,-10.0,168,2184,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1843,3502,0,0,0,0,0,0
$GC,2428,-1.41,-116.8,282.4,-9.5,174,2432,0.00,2.42,0.00,0.000,4,0.000,0.037,2861,3378,3501,0,0,0,0,0,0
$GC,2472,-1.50,-116.8,286.8,-9.2,175,2477,0.15,2.45,0.00,0.000,6,0.063,0.032,2808,1842,3501,0,0,0,0,0,0
$GC,2751,-1.50,-116.8,319.3,-12.2,182,2757,0.10,2.83,0.00,0.000,4,0.120,0.081,2828,246,3500,0,0,0,0,0,0
$GC,2769,-1.46,-116.8,321.7,-12.5,182,2774,0.00,2.40,0.00,0.000,6,0.000,0.022,2829,1796,3500,0,0,0,0,0,0
$GC,3030,-1.46,-116.8,350.6,-10.8,189,3035,0.00,2.60,0.00,0.000,4,0.000,0.048,2829,3404,3499,0,0,0,0,0,0
$GC,3065,-1.46,-116.8,353.9,-9.9,189,3070,0.00,2.58,0.00,0.000,6,0.000,0.043,2828,1836,3499,0,0,0,0,0,0
$GC,3315,-1.46,-116.8,378.8,-9.9,196,3319,0.00,2.53,0.00,0.000,4,0.000,0.044,2828,3400,3497,0,0,0,0,0,0
$GC,3336,-1.46,-116.8,381.0,-10.0,196,3341,0.00,2.60,0.00,0.000,6,0.000,0.047,2829,1833,3497,0,0,0,0,0,0
$GC,3591,-1.46,-116.8,407.1,-10.5,203,3595,0.00,2.55,0.00,0.000,4,0.000,0.049,2829,3399,3495,0,0,0,0,0,0
$GC,3642,-1.52,-116.8,412.6,-11.0,204,3646,0.00,2.60,0.00,0.000,6,0.000,0.058,2829,1849,3495,0,0,0,0,0,0
$GC,3913,-1.52,-116.8,441.9,-10.9,211,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1849,3493,0,0,0,0,0,0
$GC,4157,-1.52,-116.8,470.0,-11.6,217,4161,0.00,2.60,0.00,0.000,4,0.000,0.051,2828,3399,3491,0,0,0,0,0,0
$GC,4179,-1.56,-116.8,472.6,-11.5,217,4184,0.00,2.62,0.00,0.000,6,0.000,0.062,2829,1854,3491,0,0,0,0,0,0
$STATE,4432,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4432,begin apogee
$GC,4438,-0.31,0.0,501.1,10.9,224,4538,1.12,0.00,95.88,0.917,6,0.079,0.000,3083,2008,3020,0,0,0,0,0,0
$STATE,4539,end apogee,CONTROL_FINISHED_OK
$STATE,4539,begin climb
$GC,4542,1.38,116.8,503.7,0.0,226,4647,1.58,0.00,99.95,0.897,6,0.054,0.000,3459,2008,2543,0,0,0,0,0,0
$GC,4870,1.32,149.1,487.1,8.2,234,4904,0.00,2.72,27.80,0.867,4,0.000,0.054,3459,3548,2410,0,0,0,0,0,0
$GC,5038,1.23,158.4,471.5,9.5,237,5053,0.17,2.67,8.27,0.759,6,0.118,0.053,3425,1987,2375,0,0,0,0,0,0
$GC,5333,1.30,211.3,450.4,7.0,245,5382,0.00,0.00,47.25,0.881,6,0.000,0.000,3425,1987,2159,0,0,0,0,0,0
$GC,5619,1.30,211.3,422.4,10.4,252,5624,0.00,2.62,0.00,0.000,4,0.000,0.039,3425,3559,2150,0,0,0,0,0,0
$GC,5651,1.30,211.3,418.5,11.4,252,5657,0.00,2.65,0.00,0.000,6,0.000,0.044,3425,1994,2149,0,0,0,0,0,0
$GC,5901,1.30,211.3,391.8,10.6,259,5906,0.00,2.60,0.00,0.000,4,0.000,0.038,3425,3564,2148,0,0,0,0,0,0
$GC,5935,1.30,211.3,388.3,10.8,259,5941,0.00,2.62,0.00,0.000,6,0.000,0.044,3425,1995,2146,0,0,0,0,0,0
$GC,6185,1.32,226.5,364.8,9.2,266,6204,0.00,2.90,12.65,0.784,4,0.000,0.083,3425,414,2095,0,0,0,0,0,0
$GC,6232,1.32,226.5,360.0,10.8,267,6237,0.00,2.53,0.00,0.000,6,0.000,0.025,3425,2001,2094,0,0,0,0,0,0
$GC,6512,1.32,226.5,332.2,10.2,274,6516,0.00,2.55,0.00,0.000,4,0.000,0.043,3425,3566,2091,0,0,0,0,0,0
$GC,6555,1.32,226.5,327.1,11.2,275,6560,0.00,2.55,0.00,0.000,6,0.000,0.038,3425,1997,2090,0,0,0,0,0,0
$GC,6833,1.32,231.9,299.3,9.7,282,6840,0.00,0.00,5.22,0.614,6,0.000,0.000,3425,1996,2073,0,0,0,0,0,0
$GC,7079,1.35,254.4,277.4,8.7,288,7108,0.10,2.80,21.38,0.763,4,0.091,0.067,3453,413,1981,0,0,0,0,0,0
$GC,7120,1.31,254.4,273.0,10.4,289,7125,0.00,2.53,0.00,0.000,6,0.000,0.023,3453,2004,1980,0,0,0,0,0,0
$GC,7406,1.31,254.4,243.5,10.3,296,7410,0.00,2.70,0.00,0.000,4,0.000,0.062,3453,415,1977,0,0,0,0,0,0
$GC,7449,1.31,254.4,238.6,10.9,297,7453,0.00,2.45,0.00,0.000,6,0.000,0.021,3453,1995,1975,0,0,0,0,0,0
$GC,7728,1.31,260.3,212.1,9.7,304,7735,0.00,0.00,5.78,0.587,6,0.000,0.000,3453,1995,1958,0,0,0,0,0,0
$GC,7980,1.31,260.3,187.1,10.4,316,7986,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1995,1956,0,0,0,0,0,0
$GC,8241,1.33,271.4,160.0,9.4,341,8257,0.00,2.70,11.02,0.631,4,0.000,0.056,3453,411,1912,0,0,0,0,0,0
$GC,8307,1.33,271.4,153.3,11.5,346,8312,0.00,2.45,0.00,0.000,6,0.000,0.025,3453,1997,1909,0,0,0,0,0,0
$GC,8572,1.39,277.3,127.4,9.7,370,8581,0.00,0.00,6.07,0.531,6,0.000,0.000,3453,1998,1888,0,0,0,0,0,0
$GC,8841,1.49,297.2,103.8,8.9,395,8866,0.10,2.53,18.42,0.602,4,0.087,0.031,3483,3560,1807,0,0,0,0,0,0
$GC,8896,1.53,299.6,97.9,9.9,399,8901,0.00,2.55,0.00,0.000,6,0.000,0.035,3483,1984,1805,0,0,0,0,0,0
$GC,9164,1.59,321.9,71.7,8.8,424,9194,0.00,2.55,21.85,0.574,4,0.000,0.031,3484,3561,1705,0,0,0,0,0,0
$GC,9247,1.65,321.9,63.7,10.1,430,9252,0.12,2.50,0.00,0.000,6,0.077,0.028,3518,1999,1704,0,0,0,0,0,0
$GC,9515,1.65,321.9,32.3,11.9,454,9519,0.00,2.62,0.00,0.000,4,0.000,0.053,3518,419,1702,0,0,0,0,0,0
$GC,9542,1.60,321.9,28.4,12.7,456,9551,0.00,2.47,0.00,0.000,6,0.000,0.017,3518,2010,1702,0,0,0,0,0,0
$STATE,9737,end climb,SURFACE_DEPTH_REACHED
$STATE,9737,begin surface coast
$FINISH,0.5,0.974949
$STATE,9778,end surface coast,CONTROL_FINISHED_OK
$STATE,9778,begin surface
$SM_CCo,9802,46.00,0.519,0,0,1470,380.21
$SM_GC,1.15,0.00,0.00,46.00,0.000,0.000,0.519,474,1814,1470,-12.33,-0.45,380.21
$IRIDIUM_FIX,2241.69,-15757.16,300800,202031
$TT8_MAMPS,0.025311
$HUMID,60.71
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.00
$XPDR_PINGS,42
$24V_AH,23.5,27.703
$10V_AH,10.4,24.297
$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,28.775,113.500,381.550,46.000,0.000,30.790,35.398,342.124,10.500,0.000,31.693,976.619,6416.755,509.828,1822.301,679.890,33.364,1205.692,0.000,1811.426,0.000,0.536,0.000
$DEVICE_MAMPS,158.002,131.924,916.565,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.898,267.660,377.505,709.390,1072.960,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355420
$DATA_FILE_SIZE,38410,491
$CAP_FILE_SIZE,104996,0
$CFSIZE,260165632,170647552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,070611,023700,2247.010,-15758.045,37,1.6,42,10.1