version: 66.06
glider: 146
mission: 6
dive: 154
start: 5 29 111 20 32 3
data:
$ID,146
$MISSION,6
$DIVE,154
$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,400
$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,-271187.5
$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,3130
$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,1770
$C_ROLL_CLIMB,1970
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,36
$R_STBD_OVSHOOT,59
$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,3001
$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
$GPS1,201540,2248.544,-15757.853,83,1.2,83,10.1
$_CALLS,3
$_XMS_NAKs,28
$_XMS_TOUTs,3
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.9
$GPS2,203110,2248.651,-15757.812,11,3.8,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.057,-0.228
$KALMAN_X,-86475.2,-71.7,247.7,84566.5,-555.3
$KALMAN_Y,-134983.7,192.5,287.5,143298.4,-178.6
$MHEAD_RNG_PITCHd_Wd,155.8,3058,-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,-116.8,0.0,0.0,0,98,0.00,0.00,-78.90,0.000,2,0.000,0.000,474,1757,3430,0,0,0,0,0,0
$GC,101,-1.38,-116.8,4.3,-8.1,10,119,12.27,2.70,-0.80,0.000,4,0.152,0.073,2821,202,3479,0,0,0,0,0,0
$GC,139,-0.36,-116.8,20.4,-42.0,14,147,1.02,2.42,0.00,0.000,6,0.097,0.014,3045,1786,3479,0,0,0,0,0,0
$GC,420,-0.64,-116.8,42.7,-5.0,44,425,0.22,2.42,0.00,0.000,4,0.049,0.023,2974,3320,3481,0,0,0,0,0,0
$GC,469,-0.81,-116.8,46.4,-8.3,47,473,0.00,2.45,0.00,0.000,6,0.000,0.024,2974,1772,3481,0,0,0,0,0,0
$GC,736,-0.99,-116.8,68.7,-6.8,71,745,0.25,0.00,0.00,0.000,6,0.048,0.000,2895,1772,3481,0,0,0,0,0,0
$GC,997,-0.99,-116.8,96.4,-11.3,96,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1772,3482,0,0,0,0,0,0
$GC,1251,-1.04,-116.8,124.8,-10.9,120,1255,0.00,2.42,0.00,0.000,4,0.000,0.028,2895,3312,3482,0,0,0,0,0,0
$GC,1282,-1.12,-116.8,128.0,-10.5,122,1286,0.00,2.40,0.00,0.000,6,0.000,0.032,2895,1784,3482,0,0,0,0,0,0
$GC,1545,-1.19,-116.8,153.7,-10.2,146,1550,0.10,2.40,0.00,0.000,4,0.084,0.026,2854,3312,3482,0,0,0,0,0,0
$GC,1579,-1.19,-116.8,157.1,-11.6,148,1584,0.00,2.40,0.00,0.000,6,0.000,0.025,2853,1785,3483,0,0,0,0,0,0
$GC,1846,-1.19,-116.8,188.3,-11.6,172,1850,0.00,2.40,0.00,0.000,4,0.000,0.027,2853,3318,3483,0,0,0,0,0,0
$GC,1878,-1.19,-116.8,192.7,-11.3,174,1888,0.00,2.45,0.00,0.000,6,0.000,0.026,2853,1798,3483,0,0,0,0,0,0
$GC,2152,-1.19,-116.8,223.7,-11.4,186,2153,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1798,3483,0,0,0,0,0,0
$GC,2394,-1.19,-116.8,248.7,-10.1,192,2398,0.00,2.40,0.00,0.000,4,0.000,0.035,2854,3318,3483,0,0,0,0,0,0
$GC,2455,-1.26,-116.8,255.2,-10.6,193,2459,0.00,2.42,0.00,0.000,6,0.000,0.034,2854,1809,3483,0,0,0,0,0,0
$GC,2716,-1.29,-116.8,282.3,-10.2,200,2718,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1809,3482,0,0,0,0,0,0
$GC,2959,-1.34,-116.8,308.0,-10.9,206,2963,0.00,2.40,0.00,0.000,4,0.000,0.041,2854,3313,3481,0,0,0,0,0,0
$GC,2980,-1.39,-116.8,310.5,-10.9,206,2985,0.10,2.42,0.00,0.000,6,0.087,0.036,2814,1813,3481,0,0,0,0,0,0
$GC,3237,-1.39,-116.8,339.8,-11.0,213,3238,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1813,3480,0,0,0,0,0,0
$GC,3479,-1.39,-116.8,365.5,-10.7,219,3480,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1812,3479,0,0,0,0,0,0
$GC,3723,-1.39,-116.8,394.3,-11.8,225,3727,0.00,2.42,0.00,0.000,4,0.000,0.041,2814,3306,3477,0,0,0,0,0,0
$GC,3755,-1.39,-116.8,398.2,-11.7,225,3761,0.00,2.53,0.00,0.000,6,0.000,0.054,2814,1808,3477,0,0,0,0,0,0
$GC,4006,-1.39,-116.8,425.7,-11.0,232,4010,0.00,2.45,0.00,0.000,4,0.000,0.044,2814,3306,3476,0,0,0,0,0,0
$GC,4033,-1.39,-116.8,429.0,-11.3,232,4038,0.00,2.53,0.00,0.000,6,0.000,0.060,2814,1807,3476,0,0,0,0,0,0
$GC,4283,-1.39,-116.8,454.6,-10.3,238,4288,0.00,2.45,0.00,0.000,4,0.000,0.049,2814,3301,3474,0,0,0,0,0,0
$GC,4306,-1.39,-116.8,457.1,-10.9,238,4311,0.00,2.58,0.00,0.000,6,0.000,0.063,2814,1804,3474,0,0,0,0,0,0
$GC,4561,-1.39,-116.8,483.1,-10.0,245,4565,0.00,2.47,0.00,0.000,4,0.000,0.051,2814,3298,3472,0,0,0,0,0,0
$GC,4617,-1.43,-116.8,489.0,-10.5,246,4621,0.00,2.55,0.00,0.000,6,0.000,0.066,2814,1819,3472,0,0,0,0,0,0
$STATE,4758,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4759,begin apogee
$GC,4766,-0.31,0.0,504.0,10.4,250,4865,1.08,0.00,95.75,0.933,6,0.079,0.000,3059,1940,3001,0,0,0,0,0,0
$STATE,4866,end apogee,CONTROL_FINISHED_OK
$STATE,4866,begin climb
$GC,4869,1.38,116.8,507.4,0.0,252,4976,1.58,0.00,99.18,0.911,6,0.051,0.000,3430,1939,2524,0,0,0,0,0,0
$GC,5238,1.41,178.0,491.4,6.5,261,5298,0.00,3.10,52.72,0.904,4,0.000,0.117,3430,380,2274,0,0,0,0,0,0
$GC,5328,1.33,178.0,483.5,11.3,263,5333,0.00,2.60,0.00,0.000,6,0.000,0.039,3430,1940,2270,0,0,0,0,0,0
$GC,5607,1.33,178.0,453.6,10.8,270,5612,0.00,2.75,0.00,0.000,4,0.000,0.052,3430,3563,2266,0,0,0,0,0,0
$GC,5668,1.33,178.0,446.4,11.2,271,5672,0.00,2.70,0.00,0.000,6,0.000,0.044,3430,1956,2264,0,0,0,0,0,0
$GC,5928,1.33,178.0,419.7,10.1,278,5930,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1955,2262,0,0,0,0,0,0
$GC,6172,1.34,191.7,397.0,9.3,284,6185,0.00,0.00,10.98,0.804,6,0.000,0.000,3430,1955,2219,0,0,0,0,0,0
$GC,6416,1.39,233.8,377.7,7.6,290,6460,0.00,2.72,38.10,0.858,4,0.000,0.041,3429,3549,2045,0,0,0,0,0,0
$GC,6490,1.39,233.8,371.2,10.1,291,6494,0.00,2.70,0.00,0.000,6,0.000,0.042,3430,1949,2043,0,0,0,0,0,0
$GC,6739,1.39,233.8,343.0,11.8,297,6744,0.00,2.62,0.00,0.000,4,0.000,0.035,3430,3559,2039,0,0,0,0,0,0
$GC,6766,1.39,233.8,339.6,12.4,297,6770,0.00,2.65,0.00,0.000,6,0.000,0.041,3430,1960,2038,0,0,0,0,0,0
$GC,7016,1.39,233.8,311.0,11.3,303,7020,0.00,2.62,0.00,0.000,4,0.000,0.039,3430,3559,2037,0,0,0,0,0,0
$GC,7049,1.39,233.8,307.2,11.2,303,7055,0.00,2.62,0.00,0.000,6,0.000,0.033,3429,1968,2036,0,0,0,0,0,0
$GC,7299,1.39,233.8,280.4,10.3,310,7300,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1967,2036,0,0,0,0,0,0
$GC,7543,1.42,254.3,258.5,8.9,316,7562,0.00,0.00,17.50,0.759,6,0.000,0.000,3430,1967,1964,0,0,0,0,0,0
$GC,7788,1.46,254.3,232.8,10.8,322,7789,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1967,1960,0,0,0,0,0,0
$GC,8031,1.52,258.6,208.2,9.8,328,8041,0.12,2.62,4.55,0.534,4,0.199,0.032,3463,3559,1946,0,0,0,0,0,0
$GC,8057,1.52,258.6,205.1,10.9,328,8062,0.00,2.60,0.00,0.000,6,0.000,0.031,3463,1966,1945,0,0,0,0,0,0
$GC,8323,1.52,258.6,174.8,11.4,349,8328,0.00,2.60,0.00,0.000,4,0.000,0.038,3463,3563,1945,0,0,0,0,0,0
$GC,8351,1.52,258.6,170.7,12.2,351,8355,0.00,2.55,0.00,0.000,6,0.000,0.035,3463,1979,1944,0,0,0,0,0,0
$GC,8619,1.53,269.1,142.3,9.4,375,8634,0.00,2.58,10.27,0.626,4,0.000,0.035,3463,3564,1904,0,0,0,0,0,0
$GC,8651,1.55,284.8,139.2,9.1,377,8676,0.00,2.58,15.43,0.642,6,0.000,0.031,3463,1983,1838,0,0,0,0,0,0
$GC,8932,1.55,284.8,107.6,12.0,403,8936,0.00,2.67,0.00,0.000,4,0.000,0.062,3463,393,1836,0,0,0,0,0,0
$GC,8972,1.55,284.8,101.4,13.8,406,8976,0.00,2.55,0.00,0.000,6,0.000,0.020,3463,2030,1834,0,0,0,0,0,0
$GC,9238,1.55,284.8,70.2,12.8,430,9242,0.00,2.75,0.00,0.000,4,0.000,0.058,3463,390,1834,0,0,0,0,0,0
$GC,9296,1.55,284.8,62.6,13.0,434,9300,0.00,2.50,0.00,0.000,6,0.000,0.018,3463,2017,1834,0,0,0,0,0,0
$GC,9564,1.62,288.0,36.4,9.9,458,9568,0.00,2.40,0.00,0.000,4,0.000,0.029,3463,3525,1834,0,0,0,0,0,0
$GC,9643,1.71,290.1,28.3,9.9,464,9661,0.12,2.50,5.25,0.443,6,0.043,0.028,3507,1985,1818,0,0,0,0,0,0
$STATE,9860,end climb,SURFACE_DEPTH_REACHED
$STATE,9860,begin surface coast
$FINISH,0.4,0.975688
$STATE,9916,end surface coast,CONTROL_FINISHED_OK
$STATE,9916,begin surface
$SM_CCo,9939,90.00,0.541,0,0,1369,400.08
$SM_GC,1.14,0.00,0.00,90.00,0.000,0.000,0.541,474,1763,1369,-12.22,-0.23,400.08
$IRIDIUM_FIX,2239.35,-15800.20,220800,202040
$TT8_MAMPS,0.026078
$HUMID,58.86
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.70
$XPDR_PINGS,40
$24V_AH,23.5,19.441
$10V_AH,10.4,16.777
$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,29.125,112.625,349.725,90.000,0.000,80.573,110.972,438.128,10.000,0.000,32.406,1006.748,6621.284,503.023,1901.962,927.769,33.366,1169.617,0.000,1890.601,0.000,0.537,0.000
$DEVICE_MAMPS,198.653,116.584,933.439,540.735,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,342.401,297.957,393.426,790.726,1196.120,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,38460,504
$CAP_FILE_SIZE,109143,0
$CFSIZE,260165632,174219264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290511,232022,2247.128,-15757.699,9,99.0,28,10.1