version: 66.06
glider: 146
mission: 6
dive: 191
start: 6 3 111 7 0 53
data:
$ID,146
$MISSION,6
$DIVE,191
$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,-272309.38
$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,45
$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
$GPS1,064616,2250.200,-15757.738,8,99.0,27,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.1
$GPS2,070000,2250.440,-15757.596,37,1.9,41,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.059,-0.227
$KALMAN_X,-91034.0,167.9,-109.8,89610.1,502.2
$KALMAN_Y,-120633.9,623.5,235.0,131878.9,721.4
$MHEAD_RNG_PITCHd_Wd,184.4,6381,-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,-69.82,0.000,2,0.000,0.000,478,1790,3251,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.5,-6.1,9,118,12.20,2.65,-4.50,0.000,4,0.146,0.059,2840,230,3498,0,0,0,0,0,0
$GC,331,-1.24,-116.8,57.8,-17.6,34,336,0.17,2.42,0.00,0.000,6,0.120,0.014,2876,1832,3500,0,0,0,0,0,0
$GC,593,-1.24,-116.8,91.8,-12.6,58,595,0.00,0.00,0.00,0.000,6,0.000,0.000,2876,1833,3500,0,0,0,0,0,0
$GC,848,-1.24,-116.8,123.7,-11.5,82,852,0.00,2.38,0.00,0.000,4,0.000,0.028,2876,3352,3501,0,0,0,0,0,0
$GC,868,-1.24,-116.8,125.9,-11.8,83,872,0.00,2.45,0.00,0.000,6,0.000,0.031,2876,1789,3501,0,0,0,0,0,0
$GC,1130,-1.24,-116.8,156.7,-11.9,107,1135,0.00,2.45,0.00,0.000,4,0.000,0.027,2876,3344,3502,0,0,0,0,0,0
$GC,1188,-1.31,-116.8,163.0,-10.2,111,1197,0.00,2.47,0.00,0.000,6,0.000,0.030,2876,1801,3502,0,0,0,0,0,0
$GC,1455,-1.36,-116.8,189.9,-10.3,136,1459,0.00,2.67,0.00,0.000,4,0.000,0.067,2876,218,3503,0,0,0,0,0,0
$GC,1478,-1.36,-116.8,192.7,-10.0,137,1483,0.00,2.40,0.00,0.000,6,0.000,0.022,2876,1818,3503,0,0,0,0,0,0
$GC,1751,-1.41,-116.8,221.0,-10.3,149,1756,0.15,2.40,0.00,0.000,4,0.067,0.034,2825,3339,3503,0,0,0,0,0,0
$GC,1811,-1.41,-116.8,228.4,-12.1,150,1816,0.00,2.42,0.00,0.000,6,0.000,0.030,2825,1802,3503,0,0,0,0,0,0
$GC,2074,-1.41,-116.8,260.8,-12.4,157,2078,0.00,2.42,0.00,0.000,4,0.000,0.028,2825,3329,3503,0,0,0,0,0,0
$GC,2106,-1.41,-116.8,264.9,-11.0,157,2112,0.00,2.40,0.00,0.000,6,0.000,0.035,2825,1814,3503,0,0,0,0,0,0
$GC,2356,-1.41,-116.8,293.6,-11.3,164,2357,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1814,3502,0,0,0,0,0,0
$GC,2601,-1.41,-116.8,319.5,-10.6,170,2602,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1814,3501,0,0,0,0,0,0
$GC,2843,-1.41,-116.8,345.6,-10.8,176,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1814,3501,0,0,0,0,0,0
$GC,3087,-1.41,-116.8,371.9,-10.8,182,3091,0.00,2.47,0.00,0.000,4,0.000,0.040,2825,3325,3500,0,0,0,0,0,0
$GC,3120,-1.41,-116.8,375.6,-10.9,182,3126,0.00,2.50,0.00,0.000,6,0.000,0.048,2825,1820,3499,0,0,0,0,0,0
$GC,3371,-1.41,-116.8,402.2,-10.8,189,3376,0.00,2.47,0.00,0.000,4,0.000,0.045,2825,3329,3498,0,0,0,0,0,0
$GC,3398,-1.41,-116.8,405.3,-10.5,189,3403,0.00,2.55,0.00,0.000,6,0.000,0.051,2825,1820,3497,0,0,0,0,0,0
$GC,3648,-1.41,-116.8,431.1,-10.3,195,3653,0.00,2.47,0.00,0.000,4,0.000,0.049,2825,3328,3496,0,0,0,0,0,0
$GC,3694,-1.46,-116.8,435.9,-10.4,196,3699,0.00,2.55,0.00,0.000,6,0.000,0.055,2825,1822,3496,0,0,0,0,0,0
$GC,3971,-1.46,-116.8,463.9,-10.0,203,3972,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1822,3494,0,0,0,0,0,0
$GC,4215,-1.46,-116.8,489.8,-10.7,209,4216,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1822,3492,0,0,0,0,0,0
$STATE,4334,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4335,begin apogee
$GC,4342,-0.31,0.0,502.7,10.8,212,4442,1.12,0.00,95.95,0.923,6,0.081,0.000,3079,1943,3019,0,0,0,0,0,0
$STATE,4442,end apogee,CONTROL_FINISHED_OK
$STATE,4442,begin climb
$GC,4445,1.38,116.8,505.7,0.0,214,4549,1.58,0.00,99.88,0.902,6,0.046,0.000,3452,1943,2543,0,0,0,0,0,0
$GC,4772,1.37,181.0,492.5,6.3,222,4833,0.00,2.78,55.65,0.891,4,0.000,0.052,3452,3549,2280,0,0,0,0,0,0
$GC,4941,1.31,181.0,477.1,10.8,226,4945,0.00,2.70,0.00,0.000,6,0.000,0.056,3452,1983,2275,0,0,0,0,0,0
$GC,5226,1.25,181.0,448.7,10.1,233,5231,0.15,2.97,0.00,0.000,4,0.118,0.111,3423,401,2271,0,0,0,0,0,0
$GC,5275,1.20,181.0,442.9,11.4,234,5280,0.00,2.55,0.00,0.000,6,0.000,0.034,3423,1965,2270,0,0,0,0,0,0
$GC,5547,1.22,201.0,418.3,8.9,241,5571,0.00,2.80,16.77,0.833,4,0.000,0.052,3422,3582,2199,0,0,0,0,0,0
$GC,5618,1.24,209.5,411.8,9.5,242,5634,0.00,2.70,8.95,0.758,6,0.000,0.044,3423,1976,2164,0,0,0,0,0,0
$GC,5878,1.24,214.0,386.2,9.8,249,5888,0.00,2.88,4.82,0.621,4,0.000,0.087,3423,400,2147,0,0,0,0,0,0
$GC,5900,1.24,214.0,383.9,10.4,249,5904,0.00,2.58,0.00,0.000,6,0.000,0.025,3423,2005,2146,0,0,0,0,0,0
$GC,6155,1.26,226.9,359.8,9.3,256,6170,0.00,0.00,13.07,0.792,6,0.000,0.000,3423,2005,2094,0,0,0,0,0,0
$GC,6399,1.27,239.3,336.8,9.3,262,6417,0.00,2.65,11.88,0.769,4,0.000,0.041,3423,3564,2043,0,0,0,0,0,0
$GC,6436,1.28,244.1,333.1,9.8,262,6447,0.00,2.65,5.55,0.631,6,0.000,0.039,3423,1973,2025,0,0,0,0,0,0
$GC,6725,1.28,244.1,303.0,10.5,270,6730,0.00,2.75,0.00,0.000,4,0.000,0.073,3422,400,2022,0,0,0,0,0,0
$GC,6752,1.28,244.1,299.7,11.9,270,6756,0.00,2.50,0.00,0.000,6,0.000,0.027,3423,1987,2021,0,0,0,0,0,0
$GC,7002,1.32,244.1,273.6,10.3,276,7003,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,1987,2020,0,0,0,0,0,0
$GC,7246,1.40,264.3,251.6,8.9,282,7271,0.12,2.65,18.62,0.747,4,0.088,0.038,3457,3558,1941,0,0,0,0,0,0
$GC,7323,1.40,264.3,243.4,11.1,283,7327,0.00,2.58,0.00,0.000,6,0.000,0.037,3457,1985,1939,0,0,0,0,0,0
$GC,7573,1.40,264.3,215.8,11.2,289,7577,0.00,2.55,0.00,0.000,4,0.000,0.039,3457,3558,1936,0,0,0,0,0,0
$GC,7599,1.40,264.3,212.5,12.0,289,7603,0.00,2.53,0.00,0.000,6,0.000,0.037,3457,1999,1936,0,0,0,0,0,0
$GC,7860,1.40,264.3,184.7,11.6,304,7865,0.00,0.00,0.00,0.000,6,0.000,0.000,3457,1999,1935,0,0,0,0,0,0
$GC,8121,1.40,264.3,154.0,11.7,329,8125,0.00,2.67,0.00,0.000,4,0.000,0.064,3457,410,1935,0,0,0,0,0,0
$GC,8161,1.40,264.3,149.0,13.2,332,8165,0.00,2.50,0.00,0.000,6,0.000,0.019,3457,2013,1933,0,0,0,0,0,0
$GC,8425,1.41,273.2,123.1,9.5,356,8439,0.00,2.72,8.10,0.581,4,0.000,0.056,3457,409,1905,0,0,0,0,0,0
$GC,8468,1.41,274.8,118.5,10.0,359,8474,0.00,2.47,0.00,0.000,6,0.000,0.021,3457,1997,1903,0,0,0,0,0,0
$GC,8733,1.42,282.3,91.8,9.6,384,8748,0.00,2.45,9.80,0.570,4,0.000,0.037,3457,3550,1866,0,0,0,0,0,0
$GC,8776,1.46,285.1,87.5,9.9,387,8780,0.00,2.53,0.00,0.000,6,0.000,0.033,3457,1979,1865,0,0,0,0,0,0
$GC,9043,1.52,285.1,61.0,10.1,411,9048,0.10,2.62,0.00,0.000,4,0.094,0.061,3488,412,1864,0,0,0,0,0,0
$GC,9138,1.52,285.1,48.8,12.0,418,9143,0.00,2.42,0.00,0.000,6,0.000,0.018,3488,1983,1863,0,0,0,0,0,0
$GC,9415,1.58,303.4,26.1,9.0,445,9442,0.00,2.58,18.35,0.538,4,0.000,0.038,3488,3534,1784,0,0,0,0,0,0
$GC,9492,1.66,303.4,16.8,11.8,455,9502,0.00,2.60,0.00,0.000,6,0.000,0.037,3488,1952,1782,0,0,0,0,0,0
$STATE,9633,end climb,SURFACE_DEPTH_REACHED
$STATE,9633,begin surface coast
$FINISH,0.5,0.975097
$STATE,9685,end surface coast,CONTROL_FINISHED_OK
$STATE,9686,begin surface
$SM_CCo,9708,62.20,0.529,0,0,1469,380.21
$SM_GC,1.53,0.00,0.00,62.20,0.000,0.000,0.529,473,1783,1469,-12.31,-0.48,380.21
$IRIDIUM_FIX,2241.69,-15754.11,270800,060620
$TT8_MAMPS,0.026078
$HUMID,59.56
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.00
$XPDR_PINGS,43
$24V_AH,23.5,23.944
$10V_AH,10.4,20.895
$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,27.825,113.375,367.400,62.200,0.000,61.581,89.890,444.822,10.750,0.000,42.706,969.855,6424.084,484.060,1848.199,868.906,33.375,1157.410,0.000,1818.887,0.000,0.536,0.000
$DEVICE_MAMPS,145.730,111.215,922.701,529.230,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.843,265.468,372.149,712.474,1077.545,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355688
$DATA_FILE_SIZE,38258,482
$CAP_FILE_SIZE,105602,0
$CFSIZE,260165632,172269568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030611,094536,2249.843,-15757.953,61,1.0,73,10.1