version: 66.06
glider: 146
mission: 6
dive: 284
start: 6 14 111 13 32 27
data:
$ID,146
$MISSION,6
$DIVE,284
$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,-274829.59
$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,29
$R_STBD_OVSHOOT,61
$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
$GPS1,132522,2250.024,-15758.545,7,99.0,26,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-71.6
$GPS2,133134,2250.035,-15758.630,15,99.0,34,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.230,-0.049
$KALMAN_X,-129371.9,0.3,-31.1,126277.9,-1229.2
$KALMAN_Y,-60219.5,-341.5,-406.6,72327.7,466.7
$MHEAD_RNG_PITCHd_Wd,92.1,2782,-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,-116.8,0.0,0.0,0,90,0.00,0.00,-70.80,0.000,2,0.000,0.000,475,1767,3280,0,0,0,0,0,0
$GC,93,-1.38,-116.8,4.1,-8.3,9,119,12.00,2.55,-3.75,0.000,4,0.137,0.067,2850,268,3490,0,0,0,0,0,0
$GC,139,-0.69,-116.8,19.6,-33.3,14,149,0.68,2.45,0.00,0.000,6,0.095,0.015,3001,1863,3491,0,0,0,0,0,0
$GC,426,-0.84,-116.8,52.3,-9.5,44,431,0.10,2.42,0.00,0.000,4,0.084,0.026,2963,3402,3492,0,0,0,0,0,0
$GC,452,-0.97,-116.8,55.4,-10.3,45,461,0.00,2.50,0.00,0.000,6,0.000,0.025,2962,1853,3492,0,0,0,0,0,0
$GC,715,-1.10,-116.8,82.7,-9.4,70,720,0.17,2.45,0.00,0.000,4,0.059,0.031,2905,3397,3493,0,0,0,0,0,0
$GC,761,-1.15,-116.8,87.4,-11.7,73,765,0.00,2.42,0.00,0.000,6,0.000,0.027,2904,1858,3493,0,0,0,0,0,0
$GC,1027,-1.15,-116.8,119.2,-11.0,97,1031,0.00,2.45,0.00,0.000,4,0.000,0.025,2905,3398,3493,0,0,0,0,0,0
$GC,1074,-1.23,-116.8,124.9,-11.0,100,1082,0.00,2.45,0.00,0.000,6,0.000,0.031,2905,1867,3493,0,0,0,0,0,0
$GC,1336,-1.28,-116.8,155.9,-13.6,125,1341,0.10,2.45,0.00,0.000,4,0.079,0.025,2858,3406,3494,0,0,0,0,0,0
$GC,1377,-1.28,-116.8,161.5,-13.3,128,1381,0.10,2.40,0.00,0.000,6,0.113,0.031,2881,1872,3494,0,0,0,0,0,0
$GC,1641,-1.32,-116.8,188.9,-10.3,152,1645,0.00,2.67,0.00,0.000,4,0.000,0.062,2881,271,3495,0,0,0,0,0,0
$GC,1681,-1.32,-116.8,193.8,-11.6,155,1685,0.00,2.42,0.00,0.000,6,0.000,0.014,2881,1876,3495,0,0,0,0,0,0
$GC,1945,-1.37,-116.8,221.4,-10.3,165,1946,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1878,3495,0,0,0,0,0,0
$GC,2187,-1.43,-116.8,246.7,-10.3,171,2192,0.15,2.42,0.00,0.000,4,0.066,0.035,2832,3399,3496,0,0,0,0,0,0
$GC,2203,-1.43,-116.8,248.6,-10.1,171,2207,0.00,2.38,0.00,0.000,6,0.000,0.022,2832,1872,3495,0,0,0,0,0,0
$GC,2466,-1.43,-116.8,279.5,-12.1,178,2470,0.00,2.42,0.00,0.000,4,0.000,0.035,2832,3400,3495,0,0,0,0,0,0
$GC,2521,-1.43,-116.8,286.0,-10.6,179,2525,0.00,2.42,0.00,0.000,6,0.000,0.033,2832,1885,3496,0,0,0,0,0,0
$GC,2788,-1.43,-116.8,314.7,-10.4,186,2789,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1884,3496,0,0,0,0,0,0
$GC,3033,-1.43,-116.8,341.1,-10.6,192,3037,0.00,2.83,0.00,0.000,4,0.000,0.081,2832,274,3495,0,0,0,0,0,0
$GC,3059,-1.43,-116.8,344.2,-10.5,192,3064,0.00,2.47,0.00,0.000,6,0.000,0.024,2832,1839,3495,0,0,0,0,0,0
$GC,3309,-1.43,-116.8,370.1,-10.4,198,3314,0.00,2.65,0.00,0.000,4,0.000,0.046,2832,3436,3494,0,0,0,0,0,0
$GC,3366,-1.48,-116.8,376.1,-10.4,199,3371,0.00,2.55,0.00,0.000,6,0.000,0.051,2832,1897,3494,0,0,0,0,0,0
$GC,3632,-1.48,-116.8,404.1,-10.5,206,3637,0.00,2.53,0.00,0.000,4,0.000,0.046,2832,3435,3492,0,0,0,0,0,0
$GC,3654,-1.48,-116.8,406.7,-11.1,206,3658,0.00,2.60,0.00,0.000,6,0.000,0.051,2832,1890,3493,0,0,0,0,0,0
$GC,3910,-1.48,-116.8,432.9,-10.1,213,3911,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1890,3490,0,0,0,0,0,0
$GC,4155,-1.48,-116.8,456.3,-9.5,219,4156,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1890,3489,0,0,0,0,0,0
$GC,4398,-1.52,-116.8,480.2,-9.9,225,4399,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1890,3487,0,0,0,0,0,0
$STATE,4598,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4598,begin apogee
$GC,4604,-0.31,0.0,500.1,9.8,230,4706,1.12,0.00,97.90,0.915,6,0.074,0.000,3089,2016,3011,0,0,0,0,0,0
$STATE,4706,end apogee,CONTROL_FINISHED_OK
$STATE,4706,begin climb
$GC,4710,1.38,116.8,502.7,0.0,232,4821,1.55,2.72,99.62,0.895,4,0.041,0.064,3464,3557,2531,0,0,0,0,0,0
$GC,4913,1.31,165.6,498.2,7.2,236,4965,0.00,2.70,42.45,0.872,6,0.000,0.054,3464,1991,2333,0,0,0,0,0,0
$GC,5211,1.23,175.3,471.2,9.5,244,5222,0.17,0.00,8.75,0.756,6,0.118,0.000,3429,1991,2295,0,0,0,0,0,0
$GC,5454,1.26,203.3,450.3,8.4,250,5485,0.00,3.00,25.55,0.849,4,0.000,0.101,3429,407,2182,0,0,0,0,0,0
$GC,5519,1.20,203.3,443.8,10.7,251,5523,0.00,2.58,0.00,0.000,6,0.000,0.034,3428,1973,2178,0,0,0,0,0,0
$GC,5774,1.21,212.9,419.3,9.5,258,5785,0.00,0.00,9.57,0.766,6,0.000,0.000,3428,1973,2141,0,0,0,0,0,0
$GC,6019,1.23,225.0,396.5,9.3,264,6038,0.00,2.78,12.07,0.786,4,0.000,0.048,3429,3580,2091,0,0,0,0,0,0
$GC,6089,1.24,230.7,389.4,9.7,265,6104,0.00,2.67,6.38,0.680,6,0.000,0.044,3429,1990,2068,0,0,0,0,0,0
$GC,6349,1.25,243.6,365.2,9.3,272,6368,0.00,2.70,12.82,0.779,4,0.000,0.041,3428,3578,2015,0,0,0,0,0,0
$GC,6408,1.25,244.7,359.1,10.0,273,6413,0.00,2.65,0.00,0.000,6,0.000,0.043,3428,1995,2014,0,0,0,0,0,0
$GC,6675,1.25,244.7,332.3,10.1,280,6679,0.00,2.83,0.00,0.000,4,0.000,0.077,3428,403,2012,0,0,0,0,0,0
$GC,6731,1.25,244.7,325.7,11.9,281,6735,0.00,2.55,0.00,0.000,6,0.000,0.027,3429,2010,2011,0,0,0,0,0,0
$GC,6997,1.25,244.7,296.8,11.1,288,7001,0.00,2.75,0.00,0.000,4,0.000,0.058,3428,407,2010,0,0,0,0,0,0
$GC,7029,1.25,244.7,292.9,11.2,288,7035,0.00,2.53,0.00,0.000,6,0.000,0.026,3429,2001,2009,0,0,0,0,0,0
$GC,7280,1.28,262.5,270.1,9.0,295,7305,0.00,2.65,17.17,0.742,4,0.000,0.041,3428,3559,1938,0,0,0,0,0,0
$GC,7345,1.36,286.7,264.3,8.6,296,7375,0.12,2.58,22.75,0.744,6,0.083,0.035,3461,1986,1840,0,0,0,0,0,0
$GC,7657,1.37,296.7,234.7,9.5,304,7671,0.00,2.62,9.52,0.665,4,0.000,0.038,3462,3565,1800,0,0,0,0,0,0
$GC,7710,1.37,296.7,229.1,10.5,305,7715,0.00,2.58,0.00,0.000,6,0.000,0.031,3462,1997,1799,0,0,0,0,0,0
$GC,7977,1.37,296.7,199.6,11.3,312,7982,0.00,2.72,0.00,0.000,4,0.000,0.068,3461,413,1796,0,0,0,0,0,0
$GC,8034,1.37,296.7,192.8,13.3,316,8039,0.00,2.50,0.00,0.000,6,0.000,0.020,3461,2006,1795,0,0,0,0,0,0
$GC,8301,1.37,296.7,160.0,12.1,340,8305,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,2008,1795,0,0,0,0,0,0
$GC,8567,1.41,296.7,129.9,10.6,365,8571,0.00,2.50,0.00,0.000,4,0.000,0.035,3462,3560,1795,0,0,0,0,0,0
$GC,8607,1.46,296.7,125.2,10.3,368,8612,0.00,2.53,0.00,0.000,6,0.000,0.035,3461,1986,1793,0,0,0,0,0,0
$GC,8872,1.56,326.6,101.5,8.3,392,8906,0.15,0.00,26.62,0.610,6,0.067,0.000,3506,1986,1676,0,0,0,0,0,0
$GC,9161,1.56,326.6,69.0,11.6,419,9165,0.00,2.53,0.00,0.000,4,0.000,0.035,3506,3565,1674,0,0,0,0,0,0
$GC,9193,1.56,326.6,64.9,12.4,421,9198,0.00,2.53,0.00,0.000,6,0.000,0.027,3506,1992,1674,0,0,0,0,0,0
$GC,9461,1.56,326.6,35.6,11.3,445,9465,0.00,2.65,0.00,0.000,4,0.000,0.058,3506,411,1673,0,0,0,0,0,0
$GC,9493,1.56,326.6,31.3,12.6,447,9498,0.00,2.45,0.00,0.000,6,0.000,0.018,3506,2002,1673,0,0,0,0,0,0
$STATE,9738,end climb,SURFACE_DEPTH_REACHED
$STATE,9738,begin surface coast
$FINISH,0.6,0.976792
$STATE,9780,end surface coast,CONTROL_FINISHED_OK
$STATE,9780,begin surface
$SM_CCo,9803,43.85,0.520,0,0,1460,380.21
$SM_GC,1.39,0.00,0.00,43.85,0.000,0.000,0.520,474,1817,1460,-12.36,-0.93,380.21
$IRIDIUM_FIX,2239.35,-15800.20,070900,101011
$TT8_MAMPS,0.026078
$HUMID,60.75
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.90
$XPDR_PINGS,46
$24V_AH,23.5,35.806
$10V_AH,10.4,31.214
$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,28.750,118.625,391.200,43.850,0.000,23.111,40.701,152.644,11.500,0.000,36.459,988.991,6370.542,491.632,1877.999,490.361,33.369,1184.008,0.000,1855.848,0.000,0.535,0.000
$DEVICE_MAMPS,136.526,125.788,915.031,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.890,275.039,375.372,733.246,1104.218,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,38356,488
$CAP_FILE_SIZE,102637,0
$CFSIZE,260165632,167383040
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140611,161754,2249.917,-15758.066,38,1.5,38,10.1