version: 66.06
glider: 146
mission: 6
dive: 270
start: 6 12 111 21 58 17
data:
$ID,146
$MISSION,6
$DIVE,270
$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,-274478.28
$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,3160
$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,45
$R_STBD_OVSHOOT,64
$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,3010
$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
$GPS1,214219,2249.735,-15757.850,46,1.6,57,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-69.6
$GPS2,215724,2249.655,-15758.008,34,1.8,44,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.222,0.078
$KALMAN_X,-113545.2,-241.5,112.6,111612.2,-711.9
$KALMAN_Y,-64550.1,-87.3,-20.4,75314.7,-218.9
$MHEAD_RNG_PITCHd_Wd,60.6,1836,-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,-70.43,0.000,2,0.000,0.000,474,1811,3251,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.4,-6.1,9,117,11.93,2.55,-4.45,0.000,4,0.133,0.038,2849,3388,3489,0,0,0,0,0,0
$GC,130,-0.42,-116.8,15.9,-33.0,13,140,0.90,2.50,0.00,0.000,6,0.074,0.035,3058,1849,3489,0,0,0,0,0,0
$GC,439,-0.71,-116.8,39.6,-6.8,50,444,0.22,2.70,0.00,0.000,4,0.047,0.055,2986,246,3491,0,0,0,0,0,0
$GC,487,-0.84,-116.8,44.0,-10.4,53,491,0.00,2.40,0.00,0.000,6,0.000,0.018,2986,1846,3490,0,0,0,0,0,0
$GC,755,-0.99,-116.8,69.0,-9.2,77,760,0.17,2.40,0.00,0.000,4,0.058,0.025,2932,3375,3491,0,0,0,0,0,0
$GC,803,-1.10,-116.8,74.2,-11.2,80,807,0.00,2.42,0.00,0.000,6,0.000,0.025,2932,1836,3491,0,0,0,0,0,0
$GC,1066,-1.18,-116.8,102.2,-9.9,104,1071,0.12,2.65,0.00,0.000,4,0.069,0.062,2886,257,3491,0,0,0,0,0,0
$GC,1112,-1.13,-116.8,107.5,-13.4,107,1117,0.12,2.38,0.00,0.000,6,0.114,0.020,2914,1836,3491,0,0,0,0,0,0
$GC,1378,-1.20,-116.8,135.4,-10.0,131,1382,0.00,2.40,0.00,0.000,4,0.000,0.033,2913,3367,3492,0,0,0,0,0,0
$GC,1459,-1.31,-116.8,143.1,-9.0,137,1464,0.17,2.42,0.00,0.000,6,0.052,0.030,2845,1832,3492,0,0,0,0,0,0
$GC,1722,-1.31,-116.8,176.5,-13.0,161,1727,0.12,2.42,0.00,0.000,4,0.110,0.033,2874,3376,3492,0,0,0,0,0,0
$GC,1756,-1.31,-116.8,180.0,-11.8,163,1761,0.00,2.45,0.00,0.000,6,0.000,0.024,2874,1825,3492,0,0,0,0,0,0
$GC,2024,-1.31,-116.8,208.6,-9.7,182,2029,0.00,2.42,0.00,0.000,4,0.000,0.030,2874,3369,3492,0,0,0,0,0,0
$GC,2041,-1.36,-116.8,210.3,-9.9,182,2045,0.00,2.42,0.00,0.000,6,0.000,0.024,2874,1824,3492,0,0,0,0,0,0
$GC,2303,-1.41,-116.8,236.4,-10.1,189,2308,0.00,2.65,0.00,0.000,4,0.000,0.071,2874,258,3492,0,0,0,0,0,0
$GC,2324,-1.45,-116.8,239.1,-11.1,189,2330,0.12,2.38,0.00,0.000,6,0.072,0.021,2834,1825,3493,0,0,0,0,0,0
$GC,2580,-1.45,-116.8,267.7,-11.1,196,2584,0.00,2.47,0.00,0.000,4,0.000,0.037,2834,3388,3493,0,0,0,0,0,0
$GC,2597,-1.45,-116.8,269.6,-10.7,196,2601,0.00,2.47,0.00,0.000,6,0.000,0.029,2833,1842,3492,0,0,0,0,0,0
$GC,2857,-1.45,-116.8,297.2,-10.6,203,2861,0.00,2.45,0.00,0.000,4,0.000,0.032,2834,3377,3492,0,0,0,0,0,0
$GC,2883,-1.45,-116.8,300.2,-11.2,203,2888,0.00,2.47,0.00,0.000,6,0.000,0.033,2833,1836,3492,0,0,0,0,0,0
$GC,3135,-1.45,-116.8,328.0,-11.2,209,3139,0.00,2.80,0.00,0.000,4,0.000,0.081,2833,251,3491,0,0,0,0,0,0
$GC,3201,-1.45,-116.8,336.0,-11.5,210,3205,0.00,2.42,0.00,0.000,6,0.000,0.029,2833,1793,3491,0,0,0,0,0,0
$GC,3463,-1.45,-116.8,361.5,-9.5,217,3467,0.00,2.62,0.00,0.000,4,0.000,0.046,2833,3413,3490,0,0,0,0,0,0
$GC,3485,-1.45,-116.8,363.7,-9.9,217,3490,0.00,2.62,0.00,0.000,6,0.000,0.049,2833,1832,3490,0,0,0,0,0,0
$GC,3740,-1.45,-116.8,388.4,-9.7,224,3741,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1832,3488,0,0,0,0,0,0
$GC,3984,-1.45,-116.8,411.8,-9.5,230,3988,0.00,2.58,0.00,0.000,4,0.000,0.043,2833,3407,3487,0,0,0,0,0,0
$GC,4025,-1.51,-116.8,415.6,-10.0,231,4030,0.00,2.70,0.00,0.000,6,0.000,0.055,2833,1824,3487,0,0,0,0,0,0
$GC,4308,-1.56,-116.8,445.9,-11.0,238,4313,0.00,2.60,0.00,0.000,4,0.000,0.051,2833,3404,3485,0,0,0,0,0,0
$GC,4330,-1.61,-116.8,448.7,-12.2,238,4335,0.10,2.67,0.00,0.000,6,0.082,0.062,2793,1827,3485,0,0,0,0,0,0
$GC,4587,-1.61,-116.8,483.3,-13.8,245,4588,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1827,3483,0,0,0,0,0,0
$STATE,4746,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4746,begin apogee
$GC,4752,-0.31,0.0,504.8,13.2,249,4852,1.33,0.00,96.90,0.914,6,0.079,0.000,3092,2011,3010,0,0,0,0,0,0
$STATE,4853,end apogee,CONTROL_FINISHED_OK
$STATE,4853,begin climb
$GC,4856,1.38,116.8,508.3,0.0,251,4966,1.58,2.72,99.07,0.894,4,0.042,0.064,3469,3551,2532,0,0,0,0,0,0
$GC,4990,1.31,180.6,507.7,6.4,255,5052,0.12,2.70,55.55,0.876,6,0.128,0.051,3446,1993,2273,0,0,0,0,0,0
$GC,5313,1.26,180.6,474.0,11.0,263,5314,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1993,2264,0,0,0,0,0,0
$GC,5557,1.21,180.6,448.9,10.2,269,5562,0.10,2.62,0.00,0.000,4,0.137,0.044,3425,3557,2261,0,0,0,0,0,0
$GC,5585,1.22,189.8,446.1,9.5,269,5599,0.00,2.65,7.20,0.723,6,0.000,0.054,3425,2002,2236,0,0,0,0,0,0
$GC,5884,1.25,213.6,419.5,8.7,277,5908,0.00,0.00,22.48,0.836,6,0.000,0.000,3425,2002,2139,0,0,0,0,0,0
$GC,6127,1.26,225.2,396.3,9.4,283,6146,0.00,2.67,11.50,0.779,4,0.000,0.043,3425,3561,2089,0,0,0,0,0,0
$GC,6232,1.27,229.9,386.3,9.8,285,6243,0.00,2.65,5.35,0.638,6,0.000,0.046,3425,1990,2071,0,0,0,0,0,0
$GC,6499,1.28,237.7,361.3,9.6,292,6509,0.00,0.00,8.18,0.723,6,0.000,0.000,3425,1990,2039,0,0,0,0,0,0
$GC,6782,1.32,237.7,331.5,10.7,299,6787,0.10,2.80,0.00,0.000,4,0.091,0.079,3453,407,2037,0,0,0,0,0,0
$GC,6799,1.32,237.7,329.5,10.9,299,6803,0.00,2.53,0.00,0.000,6,0.000,0.020,3453,2004,2036,0,0,0,0,0,0
$GC,7060,1.32,237.7,299.9,11.2,306,7065,0.00,2.72,0.00,0.000,4,0.000,0.061,3453,406,2036,0,0,0,0,0,0
$GC,7116,1.27,237.7,293.5,12.6,307,7120,0.00,2.53,0.00,0.000,6,0.000,0.024,3453,2005,2034,0,0,0,0,0,0
$GC,7383,1.28,241.1,267.2,9.8,314,7388,0.00,2.55,0.00,0.000,4,0.000,0.039,3452,3567,2033,0,0,0,0,0,0
$GC,7433,1.28,241.1,261.6,10.2,315,7437,0.00,2.58,0.00,0.000,6,0.000,0.035,3453,1986,2033,0,0,0,0,0,0
$GC,7706,1.28,247.9,235.1,9.6,322,7720,0.00,2.60,9.27,0.672,4,0.000,0.035,3453,3562,1998,0,0,0,0,0,0
$GC,7761,1.29,249.7,229.5,9.9,323,7765,0.00,2.55,0.00,0.000,6,0.000,0.036,3453,2005,1997,0,0,0,0,0,0
$GC,8033,1.30,258.1,203.3,9.6,330,8049,0.00,2.78,10.73,0.659,4,0.000,0.065,3453,407,1956,0,0,0,0,0,0
$GC,8100,1.30,258.1,196.2,10.7,333,8109,0.00,2.53,0.00,0.000,6,0.000,0.025,3453,2001,1954,0,0,0,0,0,0
$GC,8367,1.36,271.4,171.5,9.3,358,8388,0.00,2.60,12.70,0.642,4,0.000,0.040,3453,3560,1902,0,0,0,0,0,0
$GC,8419,1.42,273.5,165.9,9.9,362,8425,0.00,2.55,0.00,0.000,6,0.000,0.031,3453,1996,1901,0,0,0,0,0,0
$GC,8686,1.47,273.5,139.6,10.1,387,8691,0.12,2.55,0.00,0.000,4,0.077,0.035,3489,3560,1900,0,0,0,0,0,0
$GC,8743,1.47,273.5,133.2,12.1,391,8747,0.00,2.53,0.00,0.000,6,0.000,0.035,3490,1999,1898,0,0,0,0,0,0
$GC,9009,1.47,273.5,104.2,11.5,415,9013,0.00,2.55,0.00,0.000,4,0.000,0.037,3489,3565,1899,0,0,0,0,0,0
$GC,9049,1.47,273.5,99.1,10.8,418,9053,0.00,2.53,0.00,0.000,6,0.000,0.028,3489,2000,1899,0,0,0,0,0,0
$GC,9316,1.49,286.4,73.8,9.3,442,9335,0.00,0.00,14.00,0.559,6,0.000,0.000,3489,1999,1841,0,0,0,0,0,0
$GC,9596,1.55,298.3,47.1,9.4,468,9614,0.00,2.72,11.57,0.524,4,0.000,0.054,3489,418,1793,0,0,0,0,0,0
$GC,9638,1.55,298.3,42.5,10.2,471,9643,0.00,2.45,0.00,0.000,6,0.000,0.018,3489,2016,1792,0,0,0,0,0,0
$GC,9947,1.60,298.3,10.7,10.4,508,9956,0.00,2.47,0.00,0.000,4,0.000,0.037,3489,3546,1792,0,0,0,0,0,0
$GC,10001,1.64,298.3,4.7,11.2,515,10011,0.08,2.47,0.00,0.000,6,0.049,0.028,3521,2019,1791,0,0,0,0,0,0
$STATE,10018,end climb,SURFACE_DEPTH_REACHED
$STATE,10018,begin surface coast
$FINISH,0.4,0.970737
$STATE,10068,end surface coast,CONTROL_FINISHED_OK
$STATE,10068,begin surface
$SM_CCo,10092,66.62,0.518,0,0,1459,380.21
$SM_GC,1.08,0.00,0.00,66.62,0.000,0.000,0.518,472,1819,1459,-12.37,-0.31,380.21
$IRIDIUM_FIX,2241.69,-15757.16,050900,212118
$TT8_MAMPS,0.025311
$HUMID,59.76
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.00
$XPDR_PINGS,50
$24V_AH,23.5,34.205
$10V_AH,10.3,29.714
$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,29.725,138.650,364.500,66.625,0.000,78.710,129.130,386.727,12.500,0.000,45.522,1073.763,6516.592,499.915,2055.022,919.910,33.363,1231.247,0.000,2033.253,0.000,0.535,0.000
$DEVICE_MAMPS,136.526,81.302,914.264,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,355.857,302.229,413.401,821.204,1241.935,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,41361,524
$CAP_FILE_SIZE,120138,0
$CFSIZE,260165632,168095744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130611,004901,2250.349,-15757.302,44,1.9,44,10.1