version: 66.06
glider: 146
mission: 6
dive: 282
start: 6 14 111 7 42 4
data:
$ID,146
$MISSION,6
$DIVE,282
$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,-274779.53
$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,1850
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,62
$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
$GPS1,072806,2250.170,-15759.699,16,1.3,32,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-71.0
$GPS2,074108,2250.278,-15759.859,13,1.4,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,0.023
$KALMAN_X,-126906.4,173.1,-119.1,121621.5,-850.5
$KALMAN_Y,-61017.5,401.0,409.2,72015.3,-387.5
$MHEAD_RNG_PITCHd_Wd,74.2,4907,-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,16,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-71.07,0.000,2,0.000,0.000,479,1828,3248,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.3,-5.1,9,117,11.95,0.00,-4.45,0.000,6,0.137,0.000,2844,1828,3485,0,0,0,0,0,0
$GC,398,-1.25,-116.8,66.4,-16.3,43,403,0.20,2.47,0.00,0.000,4,0.102,0.023,2888,3407,3487,0,0,0,0,0,0
$GC,444,-1.28,-116.8,72.5,-11.9,46,449,0.00,2.47,0.00,0.000,6,0.000,0.029,2888,1858,3487,0,0,0,0,0,0
$GC,708,-1.28,-116.8,104.5,-12.6,70,712,0.00,2.45,0.00,0.000,4,0.000,0.025,2888,3407,3488,0,0,0,0,0,0
$GC,760,-1.35,-116.8,111.3,-11.8,74,765,0.00,2.47,0.00,0.000,6,0.000,0.030,2888,1856,3487,0,0,0,0,0,0
$GC,1021,-1.35,-116.8,140.1,-10.2,98,1025,0.00,2.45,0.00,0.000,4,0.000,0.025,2887,3407,3488,0,0,0,0,0,0
$GC,1043,-1.35,-116.8,141.8,-10.0,99,1047,0.00,2.45,0.00,0.000,6,0.000,0.028,2888,1850,3489,0,0,0,0,0,0
$GC,1306,-1.39,-116.8,168.7,-8.8,123,1311,0.12,2.65,0.00,0.000,4,0.071,0.058,2838,280,3489,0,0,0,0,0,0
$GC,1337,-1.32,-116.8,172.1,-11.0,125,1342,0.15,2.38,0.00,0.000,6,0.111,0.020,2869,1877,3489,0,0,0,0,0,0
$GC,1598,-1.32,-116.8,198.2,-9.4,149,1602,0.00,2.35,0.00,0.000,4,0.000,0.028,2869,3389,3489,0,0,0,0,0,0
$GC,1633,-1.37,-116.8,200.7,-8.9,151,1637,0.00,2.40,0.00,0.000,6,0.000,0.023,2869,1855,3489,0,0,0,0,0,0
$GC,1884,-1.40,-116.8,225.4,-9.9,157,1888,0.00,2.42,0.00,0.000,4,0.000,0.033,2869,3388,3489,0,0,0,0,0,0
$GC,1911,-1.47,-116.8,228.5,-11.0,157,1915,0.12,2.40,0.00,0.000,6,0.071,0.031,2821,1862,3489,0,0,0,0,0,0
$GC,2162,-1.43,-116.8,259.4,-12.3,163,2167,0.12,2.42,0.00,0.000,4,0.108,0.029,2848,3388,3489,0,0,0,0,0,0
$GC,2212,-1.48,-116.8,265.8,-12.0,164,2216,0.00,2.42,0.00,0.000,6,0.000,0.031,2848,1867,3490,0,0,0,0,0,0
$GC,2484,-1.48,-116.8,294.9,-9.9,171,2488,0.00,2.78,0.00,0.000,4,0.000,0.076,2848,267,3489,0,0,0,0,0,0
$GC,2517,-1.48,-116.8,298.4,-10.5,171,2523,0.00,2.42,0.00,0.000,6,0.000,0.022,2848,1816,3489,0,0,0,0,0,0
$GC,2768,-1.48,-116.8,321.4,-9.0,178,2769,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1815,3488,0,0,0,0,0,0
$GC,3012,-1.52,-116.8,342.7,-8.8,184,3016,0.00,2.60,0.00,0.000,4,0.000,0.048,2848,3428,3487,0,0,0,0,0,0
$GC,3057,-1.59,-116.8,346.9,-9.2,185,3063,0.15,2.55,0.00,0.000,6,0.063,0.042,2796,1869,3487,0,0,0,0,0,0
$GC,3336,-1.54,-116.8,378.3,-11.6,192,3341,0.12,2.53,0.00,0.000,4,0.107,0.042,2823,3424,3485,0,0,0,0,0,0
$GC,3380,-1.54,-116.8,383.5,-11.0,193,3384,0.00,2.58,0.00,0.000,6,0.000,0.053,2823,1870,3485,0,0,0,0,0,0
$GC,3658,-1.54,-116.8,412.6,-10.4,200,3660,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1870,3483,0,0,0,0,0,0
$GC,3901,-1.54,-116.8,438.3,-10.7,206,3905,0.00,2.55,0.00,0.000,4,0.000,0.049,2823,3420,3482,0,0,0,0,0,0
$GC,3987,-1.60,-116.8,447.2,-10.2,208,3991,0.00,2.60,0.00,0.000,6,0.000,0.053,2823,1884,3482,0,0,0,0,0,0
$GC,4270,-1.60,-116.8,475.0,-9.7,215,4275,0.00,3.00,0.00,0.000,4,0.000,0.115,2823,264,3480,0,0,0,0,0,0
$GC,4319,-1.60,-116.8,480.2,-10.5,216,4324,0.00,2.60,0.00,0.000,6,0.000,0.039,2823,1863,3479,0,0,0,0,0,0
$STATE,4548,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4549,begin apogee
$GC,4556,-0.31,0.0,501.4,9.1,222,4656,1.17,0.00,96.22,0.916,6,0.078,0.000,3090,2008,3010,0,0,0,0,0,0
$STATE,4657,end apogee,CONTROL_FINISHED_OK
$STATE,4657,begin climb
$GC,4659,1.38,116.8,503.2,0.0,224,4772,1.55,2.80,99.68,0.893,4,0.044,0.064,3461,3565,2532,0,0,0,0,0,0
$GC,4834,1.29,144.2,497.1,8.5,228,4864,0.00,2.67,23.92,0.851,6,0.000,0.048,3461,1994,2422,0,0,0,0,0,0
$GC,5115,1.23,169.1,472.8,8.6,235,5145,0.15,3.10,22.60,0.848,4,0.118,0.109,3430,410,2319,0,0,0,0,0,0
$GC,5198,1.15,173.5,465.4,9.8,236,5208,0.00,2.60,4.93,0.620,6,0.000,0.031,3430,1987,2302,0,0,0,0,0,0
$GC,5486,1.17,193.6,439.1,8.9,244,5511,0.00,2.88,18.92,0.832,4,0.000,0.074,3430,404,2219,0,0,0,0,0,0
$GC,5577,1.11,193.6,430.5,10.6,246,5582,0.12,2.58,0.00,0.000,6,0.125,0.033,3405,1980,2216,0,0,0,0,0,0
$GC,5861,1.15,223.9,406.2,8.3,253,5895,0.00,2.78,27.25,0.839,4,0.000,0.048,3405,3580,2097,0,0,0,0,0,0
$GC,5962,1.21,232.8,397.1,9.5,255,5977,0.00,2.67,9.25,0.745,6,0.000,0.044,3405,1981,2061,0,0,0,0,0,0
$GC,6233,1.28,244.9,371.4,9.3,262,6247,0.15,0.00,11.98,0.772,6,0.080,0.000,3443,1981,2011,0,0,0,0,0,0
$GC,6477,1.28,244.9,343.9,11.3,268,6482,0.00,2.65,0.00,0.000,4,0.000,0.040,3443,3587,2006,0,0,0,0,0,0
$GC,6573,1.28,244.9,332.8,11.5,270,6578,0.00,2.62,0.00,0.000,6,0.000,0.041,3443,2001,2005,0,0,0,0,0,0
$GC,6845,1.28,244.9,304.5,10.4,277,6849,0.00,2.78,0.00,0.000,4,0.000,0.071,3443,411,2005,0,0,0,0,0,0
$GC,6860,1.28,244.9,302.7,10.2,277,6864,0.00,2.55,0.00,0.000,6,0.000,0.026,3443,2025,2004,0,0,0,0,0,0
$GC,7122,1.28,245.0,275.9,10.0,284,7126,0.00,2.75,0.00,0.000,4,0.000,0.057,3443,403,2003,0,0,0,0,0,0
$GC,7194,1.28,245.0,268.1,10.6,285,7199,0.00,2.47,0.00,0.000,6,0.000,0.020,3443,1987,2002,0,0,0,0,0,0
$GC,7446,1.28,245.0,242.7,10.4,291,7450,0.00,2.58,0.00,0.000,4,0.000,0.035,3443,3570,2002,0,0,0,0,0,0
$GC,7489,1.28,245.0,237.8,11.0,292,7494,0.00,2.55,0.00,0.000,6,0.000,0.038,3443,1990,2001,0,0,0,0,0,0
$GC,7769,1.35,272.4,212.8,8.5,299,7798,0.00,2.65,24.00,0.715,4,0.000,0.035,3443,3567,1899,0,0,0,0,0,0
$GC,7850,1.43,285.9,205.7,9.3,300,7870,0.12,2.60,13.38,0.672,6,0.076,0.038,3479,1988,1843,0,0,0,0,0,0
$GC,8131,1.43,285.9,176.8,10.9,321,8135,0.00,2.67,0.00,0.000,4,0.000,0.066,3479,415,1839,0,0,0,0,0,0
$GC,8171,1.37,285.9,172.1,12.4,324,8176,0.00,2.50,0.00,0.000,6,0.000,0.021,3479,2011,1838,0,0,0,0,0,0
$GC,8435,1.37,285.9,142.9,11.0,348,8439,0.00,2.70,0.00,0.000,4,0.000,0.054,3479,415,1838,0,0,0,0,0,0
$GC,8480,1.37,285.9,137.8,12.2,351,8485,0.00,2.45,0.00,0.000,6,0.000,0.025,3479,1990,1836,0,0,0,0,0,0
$GC,8746,1.37,285.9,107.0,11.5,375,8751,0.00,0.00,0.00,0.000,6,0.000,0.000,3479,1991,1837,0,0,0,0,0,0
$GC,9012,1.37,285.9,78.8,10.7,400,9017,0.00,2.47,0.00,0.000,4,0.000,0.038,3479,3549,1837,0,0,0,0,0,0
$GC,9108,1.45,285.9,68.0,10.1,407,9117,0.00,2.58,0.00,0.000,6,0.000,0.033,3479,1973,1836,0,0,0,0,0,0
$GC,9376,1.54,311.9,44.3,8.5,432,9408,0.00,2.62,22.38,0.553,4,0.000,0.030,3479,3551,1737,0,0,0,0,0,0
$GC,9438,1.64,333.0,38.8,8.8,437,9467,0.15,2.55,19.65,0.540,6,0.066,0.028,3524,1978,1649,0,0,0,0,0,0
$STATE,9724,end climb,SURFACE_DEPTH_REACHED
$STATE,9725,begin surface coast
$FINISH,0.5,0.975792
$STATE,9774,end surface coast,CONTROL_FINISHED_OK
$STATE,9774,begin surface
$SM_CCo,9796,37.50,0.519,0,0,1460,380.21
$SM_GC,1.33,0.00,0.00,37.50,0.000,0.000,0.519,481,1828,1460,-12.32,-0.62,380.21
$IRIDIUM_FIX,2244.02,-15801.49,070900,070735
$TT8_MAMPS,0.026078
$HUMID,61.53
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.80
$XPDR_PINGS,48
$24V_AH,23.5,35.566
$10V_AH,10.3,30.994
$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,28.775,129.675,394.150,37.500,0.000,78.915,120.840,311.969,12.000,0.000,14.702,1022.052,6402.686,477.429,1908.665,810.615,33.363,1215.853,0.000,1910.821,0.000,0.535,0.000
$DEVICE_MAMPS,136.526,125.021,915.798,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,327.155,280.008,368.252,702.950,1063.110,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,38334,482
$CAP_FILE_SIZE,115302,0
$CFSIZE,260165632,167481344
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140611,102724,2250.236,-15758.912,27,1.1,44,10.1