version: 66.06
glider: 146
mission: 6
dive: 286
start: 6 14 111 19 21 51
data:
$ID,146
$MISSION,6
$DIVE,286
$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,-274861.03
$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,1890
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,30
$R_STBD_OVSHOOT,85
$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
$GPS1,191437,2250.034,-15757.544,30,1.5,30,10.1
$_CALLS,1
$_XMS_NAKs,1
$_XMS_TOUTs,1
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.2
$GPS2,192055,2250.073,-15757.604,9,1.6,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.082,-0.220
$KALMAN_X,-131695.4,-368.1,-49.0,130734.8,-917.1
$KALMAN_Y,-59462.7,-464.6,383.8,70970.5,496.7
$MHEAD_RNG_PITCHd_Wd,149.5,5702,-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,-71.15,0.000,2,0.000,0.000,480,1882,3234,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.2,-4.8,9,119,11.98,2.67,-4.72,0.000,4,0.137,0.057,2850,311,3488,0,0,0,0,0,0
$GC,222,-1.19,-116.8,35.0,-19.7,25,227,0.22,2.38,0.00,0.000,6,0.116,0.015,2896,1883,3490,0,0,0,0,0,0
$GC,490,-1.19,-116.8,76.1,-13.5,49,494,0.00,2.62,0.00,0.000,4,0.000,0.049,2896,315,3491,0,0,0,0,0,0
$GC,511,-1.19,-116.8,79.5,-13.6,50,515,0.00,2.38,0.00,0.000,6,0.000,0.014,2896,1886,3491,0,0,0,0,0,0
$GC,773,-1.19,-116.8,113.6,-11.9,74,777,0.00,2.40,0.00,0.000,4,0.000,0.026,2896,3428,3492,0,0,0,0,0,0
$GC,821,-1.27,-116.8,118.4,-11.4,77,826,0.00,2.45,0.00,0.000,6,0.000,0.025,2896,1879,3492,0,0,0,0,0,0
$GC,1087,-1.27,-116.8,147.9,-10.4,101,1092,0.00,2.42,0.00,0.000,4,0.000,0.025,2896,3428,3493,0,0,0,0,0,0
$GC,1141,-1.36,-116.8,153.9,-10.2,105,1146,0.15,2.40,0.00,0.000,6,0.061,0.025,2839,1895,3492,0,0,0,0,0,0
$GC,1403,-1.31,-116.8,187.8,-12.5,129,1407,0.15,2.42,0.00,0.000,4,0.104,0.031,2872,3431,3493,0,0,0,0,0,0
$GC,1424,-1.31,-116.8,189.8,-11.5,130,1429,0.00,2.42,0.00,0.000,6,0.000,0.023,2872,1894,3494,0,0,0,0,0,0
$GC,1701,-1.31,-116.8,216.6,-9.6,144,1705,0.00,2.65,0.00,0.000,4,0.000,0.064,2872,313,3494,0,0,0,0,0,0
$GC,1778,-1.31,-116.8,225.3,-10.9,145,1784,0.00,2.38,0.00,0.000,6,0.000,0.022,2872,1885,3494,0,0,0,0,0,0
$GC,2030,-1.35,-116.8,251.3,-10.6,152,2034,0.00,2.47,0.00,0.000,4,0.000,0.030,2872,3445,3495,0,0,0,0,0,0
$GC,2085,-1.44,-116.8,257.9,-11.4,153,2090,0.12,2.42,0.00,0.000,6,0.070,0.025,2824,1906,3494,0,0,0,0,0,0
$GC,2351,-1.44,-116.8,290.3,-11.8,160,2353,0.10,0.00,0.00,0.000,6,0.116,0.000,2846,1906,3495,0,0,0,0,0,0
$GC,2597,-1.44,-116.8,313.5,-9.0,166,2602,0.00,2.75,0.00,0.000,4,0.000,0.081,2845,318,3495,0,0,0,0,0,0
$GC,2618,-1.44,-116.8,315.7,-8.9,166,2623,0.00,2.45,0.00,0.000,6,0.000,0.028,2845,1878,3495,0,0,0,0,0,0
$GC,2874,-1.48,-116.8,338.6,-9.3,173,2879,0.00,2.70,0.00,0.000,4,0.000,0.067,2846,315,3494,0,0,0,0,0,0
$GC,2897,-1.48,-116.8,341.1,-10.7,173,2901,0.00,2.50,0.00,0.000,6,0.000,0.030,2845,1901,3494,0,0,0,0,0,0
$GC,3152,-1.53,-116.8,368.5,-10.8,180,3156,0.00,2.55,0.00,0.000,4,0.000,0.051,2845,3469,3493,0,0,0,0,0,0
$GC,3173,-1.58,-116.8,370.9,-10.6,180,3179,0.12,2.58,0.00,0.000,6,0.071,0.044,2800,1916,3493,0,0,0,0,0,0
$GC,3430,-1.54,-116.8,401.4,-11.8,187,3435,0.10,2.55,0.00,0.000,4,0.123,0.044,2821,3470,3491,0,0,0,0,0,0
$GC,3470,-1.54,-116.8,405.8,-10.7,188,3474,0.00,2.65,0.00,0.000,6,0.000,0.054,2821,1901,3492,0,0,0,0,0,0
$GC,3753,-1.54,-116.8,434.4,-10.2,195,3757,0.00,2.58,0.00,0.000,4,0.000,0.045,2821,3466,3489,0,0,0,0,0,0
$GC,3770,-1.54,-116.8,436.3,-10.6,195,3774,0.00,2.65,0.00,0.000,6,0.000,0.051,2821,1899,3489,0,0,0,0,0,0
$GC,4030,-1.54,-116.8,462.9,-10.1,202,4035,0.00,2.97,0.00,0.000,4,0.000,0.108,2821,298,3488,0,0,0,0,0,0
$GC,4045,-1.54,-116.8,464.7,-10.1,202,4050,0.00,2.60,0.00,0.000,6,0.000,0.032,2821,1892,3487,0,0,0,0,0,0
$GC,4308,-1.54,-116.8,491.5,-10.2,209,4309,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1892,3486,0,0,0,0,0,0
$STATE,4425,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4426,begin apogee
$GC,4432,-0.31,0.0,503.9,10.2,212,4533,1.20,0.00,97.95,0.917,6,0.083,0.000,3091,2006,3010,0,0,0,0,0,0
$STATE,4534,end apogee,CONTROL_FINISHED_OK
$STATE,4534,begin climb
$GC,4537,1.38,116.8,507.0,0.0,214,4641,1.55,0.00,100.32,0.898,6,0.043,0.000,3462,2006,2532,0,0,0,0,0,0
$GC,4865,1.34,175.4,495.4,6.7,222,4922,0.00,2.75,50.78,0.886,4,0.000,0.066,3462,3567,2293,0,0,0,0,0,0
$GC,5019,1.25,175.4,480.2,11.7,225,5024,0.15,2.67,0.00,0.000,6,0.123,0.051,3433,1993,2287,0,0,0,0,0,0
$GC,5274,1.25,175.4,453.8,10.4,232,5279,0.00,2.97,0.00,0.000,4,0.000,0.104,3433,404,2284,0,0,0,0,0,0
$GC,5353,1.18,175.4,444.9,11.3,233,5359,0.00,2.58,0.00,0.000,6,0.000,0.035,3433,1974,2282,0,0,0,0,0,0
$GC,5605,1.21,198.5,422.1,8.7,240,5626,0.00,0.00,19.85,0.838,6,0.000,0.000,3433,1974,2199,0,0,0,0,0,0
$GC,5847,1.24,225.3,401.5,8.5,246,5877,0.00,2.75,24.58,0.835,4,0.000,0.048,3433,3580,2091,0,0,0,0,0,0
$GC,5888,1.24,227.3,397.4,9.9,247,5892,0.00,2.72,0.00,0.000,6,0.000,0.043,3433,1976,2088,0,0,0,0,0,0
$GC,6167,1.24,227.3,368.8,10.5,254,6171,0.00,2.65,0.00,0.000,4,0.000,0.037,3433,3581,2085,0,0,0,0,0,0
$GC,6238,1.24,227.3,360.5,10.9,255,6243,0.00,2.67,0.00,0.000,6,0.000,0.044,3433,1977,2084,0,0,0,0,0,0
$GC,6488,1.24,227.3,334.1,10.6,261,6489,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1977,2082,0,0,0,0,0,0
$GC,6734,1.24,230.8,310.1,9.8,267,6740,0.00,0.00,4.65,0.581,6,0.000,0.000,3433,1977,2069,0,0,0,0,0,0
$GC,6976,1.26,244.6,287.2,9.2,273,6996,0.00,2.80,14.15,0.748,4,0.000,0.072,3433,404,2011,0,0,0,0,0,0
$GC,7024,1.26,244.6,282.5,10.1,274,7029,0.00,2.53,0.00,0.000,6,0.000,0.020,3433,1988,2010,0,0,0,0,0,0
$GC,7299,1.33,271.3,257.9,8.5,281,7329,0.00,2.65,24.85,0.748,4,0.000,0.038,3433,3568,1903,0,0,0,0,0,0
$GC,7398,1.41,285.9,248.8,9.2,283,7419,0.15,2.62,14.05,0.707,6,0.072,0.037,3473,1972,1844,0,0,0,0,0,0
$GC,7665,1.41,285.9,220.0,11.2,289,7669,0.00,2.62,0.00,0.000,4,0.000,0.038,3473,3573,1839,0,0,0,0,0,0
$GC,7703,1.41,285.9,215.2,12.3,290,7708,0.00,2.62,0.00,0.000,6,0.000,0.038,3473,1975,1837,0,0,0,0,0,0
$GC,7962,1.41,285.9,186.7,11.7,303,7966,0.00,2.67,0.00,0.000,4,0.000,0.064,3473,411,1837,0,0,0,0,0,0
$GC,8051,1.41,285.9,175.4,13.1,310,8055,0.00,2.45,0.00,0.000,6,0.000,0.020,3473,1977,1836,0,0,0,0,0,0
$GC,8315,1.41,285.9,145.3,10.9,334,8319,0.00,2.55,0.00,0.000,4,0.000,0.037,3473,3557,1836,0,0,0,0,0,0
$GC,8344,1.41,285.9,141.9,10.7,336,8348,0.00,2.58,0.00,0.000,6,0.000,0.035,3473,1956,1835,0,0,0,0,0,0
$GC,8606,1.41,287.9,115.7,9.9,360,8611,0.00,2.60,0.00,0.000,4,0.000,0.035,3473,3562,1835,0,0,0,0,0,0
$GC,8628,1.41,287.9,113.7,10.4,361,8633,0.00,2.60,0.00,0.000,6,0.000,0.031,3473,1957,1835,0,0,0,0,0,0
$GC,8895,1.42,292.0,87.2,9.8,385,8902,0.00,0.00,5.25,0.469,6,0.000,0.000,3473,1957,1819,0,0,0,0,0,0
$GC,9163,1.50,309.2,61.2,9.0,410,9191,0.00,2.67,16.48,0.556,4,0.000,0.059,3473,413,1748,0,0,0,0,0,0
$GC,9257,1.54,309.2,52.2,10.2,417,9262,0.10,2.40,0.00,0.000,6,0.088,0.018,3503,1970,1747,0,0,0,0,0,0
$GC,9537,1.54,309.2,22.9,10.4,445,9546,0.00,0.00,0.00,0.000,6,0.000,0.000,3503,1972,1747,0,0,0,0,0,0
$STATE,9711,end climb,SURFACE_DEPTH_REACHED
$STATE,9711,begin surface coast
$FINISH,0.6,0.980053
$STATE,9762,end surface coast,CONTROL_FINISHED_OK
$STATE,9762,begin surface
$SM_CCo,9786,58.88,0.522,0,0,1460,380.21
$SM_GC,1.28,0.00,0.00,58.88,0.000,0.000,0.522,481,1862,1460,-12.32,-0.79,380.21
$IRIDIUM_FIX,2241.69,-15759.32,070900,161629
$TT8_MAMPS,0.026078
$HUMID,60.86
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.00
$XPDR_PINGS,45
$24V_AH,23.5,36.040
$10V_AH,10.4,31.440
$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,28.375,124.475,372.900,58.875,0.000,29.205,38.017,170.799,11.250,0.000,14.869,993.240,6380.040,507.083,1818.622,525.505,33.394,1172.187,0.000,1822.201,0.000,0.535,0.000
$DEVICE_MAMPS,136.526,187.915,916.565,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,324.031,257.939,362.196,693.372,1048.610,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,38474,477
$CAP_FILE_SIZE,103959,0
$CFSIZE,260165632,167276544
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140611,220707,2248.974,-15757.892,31,1.0,31,10.1