version: 66.06
glider: 146
mission: 6
dive: 287
start: 6 14 111 22 13 56
data:
$ID,146
$MISSION,6
$DIVE,287
$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,-274874.41
$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,53
$R_STBD_OVSHOOT,60
$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
$GPS1,220707,2248.974,-15757.892,31,1.0,31,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-71.0
$GPS2,221302,2248.994,-15758.008,11,1.4,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.114,-0.205
$KALMAN_X,-133170.0,-395.2,-44.4,131546.0,-957.3
$KALMAN_Y,-59343.4,-185.2,184.7,68775.7,111.9
$MHEAD_RNG_PITCHd_Wd,140.7,3710,-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,-70.62,0.000,2,0.000,0.000,480,1862,3222,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.1,-4.8,9,119,11.93,2.58,-5.07,0.000,4,0.134,0.061,2850,334,3487,0,0,0,0,0,0
$GC,236,-1.20,-116.8,35.8,-19.8,27,241,0.22,2.38,0.00,0.000,6,0.119,0.015,2897,1903,3488,0,0,0,0,0,0
$GC,504,-1.20,-116.8,74.9,-12.8,51,508,0.00,2.62,0.00,0.000,4,0.000,0.051,2897,337,3490,0,0,0,0,0,0
$GC,525,-1.20,-116.8,78.4,-14.2,52,529,0.00,2.35,0.00,0.000,6,0.000,0.015,2897,1903,3490,0,0,0,0,0,0
$GC,787,-1.20,-116.8,111.8,-11.7,76,792,0.00,2.62,0.00,0.000,4,0.000,0.055,2897,337,3490,0,0,0,0,0,0
$GC,823,-1.20,-116.8,116.3,-13.2,78,832,0.00,2.33,0.00,0.000,6,0.000,0.017,2897,1865,3491,0,0,0,0,0,0
$GC,1089,-1.24,-116.8,148.1,-12.1,103,1093,0.00,2.45,0.00,0.000,4,0.000,0.027,2897,3436,3491,0,0,0,0,0,0
$GC,1118,-1.31,-116.8,152.0,-11.8,105,1123,0.00,2.42,0.00,0.000,6,0.000,0.025,2897,1891,3491,0,0,0,0,0,0
$GC,1383,-1.36,-116.8,179.0,-9.9,129,1392,0.15,0.00,0.00,0.000,6,0.063,0.000,2841,1891,3492,0,0,0,0,0,0
$GC,1653,-1.36,-116.8,209.7,-11.8,149,1658,0.10,2.67,0.00,0.000,4,0.114,0.066,2863,318,3492,0,0,0,0,0,0
$GC,1686,-1.32,-116.8,214.4,-13.3,149,1691,0.00,2.35,0.00,0.000,6,0.000,0.016,2863,1872,3492,0,0,0,0,0,0
$GC,1935,-1.32,-116.8,244.1,-11.9,156,1940,0.00,2.45,0.00,0.000,4,0.000,0.035,2863,3435,3492,0,0,0,0,0,0
$GC,1992,-1.39,-116.8,250.7,-11.6,157,1997,0.00,2.45,0.00,0.000,6,0.000,0.028,2862,1894,3492,0,0,0,0,0,0
$GC,2259,-1.44,-116.8,277.2,-9.6,164,2263,0.00,2.45,0.00,0.000,4,0.000,0.028,2863,3443,3493,0,0,0,0,0,0
$GC,2304,-1.52,-116.8,281.4,-9.0,165,2310,0.15,2.47,0.00,0.000,6,0.062,0.030,2811,1895,3493,0,0,0,0,0,0
$GC,2583,-1.52,-116.8,312.5,-11.0,172,2588,0.00,2.75,0.00,0.000,4,0.000,0.077,2810,311,3493,0,0,0,0,0,0
$GC,2627,-1.45,-116.8,317.9,-11.5,173,2632,0.15,2.45,0.00,0.000,6,0.110,0.027,2841,1864,3493,0,0,0,0,0,0
$GC,2907,-1.45,-116.8,346.4,-10.3,180,2911,0.00,2.62,0.00,0.000,4,0.000,0.048,2841,3474,3492,0,0,0,0,0,0
$GC,2922,-1.45,-116.8,348.4,-10.6,180,2926,0.00,2.58,0.00,0.000,6,0.000,0.041,2841,1903,3492,0,0,0,0,0,0
$GC,3189,-1.49,-116.8,377.1,-10.7,187,3190,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1903,3491,0,0,0,0,0,0
$GC,3433,-1.54,-116.8,400.8,-9.6,193,3434,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1903,3489,0,0,0,0,0,0
$GC,3678,-1.58,-116.8,423.6,-9.4,199,3683,0.12,2.60,0.00,0.000,4,0.076,0.051,2797,3469,3488,0,0,0,0,0,0
$GC,3700,-1.58,-116.8,426.2,-10.6,199,3704,0.00,2.62,0.00,0.000,6,0.000,0.054,2797,1902,3488,0,0,0,0,0,0
$GC,3955,-1.58,-116.8,453.5,-10.6,206,3959,0.00,2.58,0.00,0.000,4,0.000,0.051,2797,3464,3486,0,0,0,0,0,0
$GC,3979,-1.58,-116.8,455.8,-10.2,206,3983,0.00,2.62,0.00,0.000,6,0.000,0.053,2797,1906,3486,0,0,0,0,0,0
$GC,4233,-1.58,-116.8,483.8,-11.4,213,4238,0.00,3.00,0.00,0.000,4,0.000,0.109,2796,299,3485,0,0,0,0,0,0
$GC,4273,-1.53,-116.8,488.7,-12.4,214,4278,0.15,2.62,0.00,0.000,6,0.107,0.044,2828,1896,3484,0,0,0,0,0,0
$STATE,4391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4392,begin apogee
$GC,4399,-0.31,0.0,501.3,10.0,217,4501,1.15,0.00,97.82,0.913,6,0.078,0.000,3089,2010,3010,0,0,0,0,0,0
$STATE,4501,end apogee,CONTROL_FINISHED_OK
$STATE,4501,begin climb
$GC,4504,1.38,116.8,503.9,0.0,219,4613,1.58,2.80,100.53,0.893,4,0.043,0.063,3465,3572,2532,0,0,0,0,0,0
$GC,4631,1.35,198.9,503.4,5.3,222,4711,0.00,2.70,71.38,0.880,6,0.000,0.047,3465,1991,2198,0,0,0,0,0,0
$GC,4963,1.26,198.9,464.3,12.8,231,4968,0.15,2.65,0.00,0.000,4,0.119,0.044,3435,3573,2190,0,0,0,0,0,0
$GC,4988,1.21,198.9,461.3,12.7,231,4992,0.00,2.70,0.00,0.000,6,0.000,0.046,3435,1992,2188,0,0,0,0,0,0
$GC,5243,1.21,202.4,434.8,9.8,238,5247,0.00,2.65,0.00,0.000,4,0.000,0.048,3435,3575,2187,0,0,0,0,0,0
$GC,5275,1.22,206.1,431.4,9.8,238,5286,0.00,2.70,5.75,0.669,6,0.000,0.050,3435,1984,2169,0,0,0,0,0,0
$GC,5566,1.23,217.5,403.5,9.4,246,5585,0.00,2.72,11.62,0.784,4,0.000,0.041,3435,3576,2122,0,0,0,0,0,0
$GC,5609,1.24,219.6,399.2,9.9,247,5613,0.00,2.65,0.00,0.000,6,0.000,0.048,3435,1995,2121,0,0,0,0,0,0
$GC,5893,1.25,232.3,372.3,9.3,254,5911,0.00,0.00,14.23,0.790,6,0.000,0.000,3435,1995,2062,0,0,0,0,0,0
$GC,6180,1.25,233.2,344.2,10.0,261,6185,0.00,2.65,0.00,0.000,4,0.000,0.040,3435,3584,2058,0,0,0,0,0,0
$GC,6213,1.25,233.2,340.4,11.0,261,6219,0.00,2.62,0.00,0.000,6,0.000,0.041,3435,2001,2057,0,0,0,0,0,0
$GC,6464,1.25,233.2,314.9,10.2,268,6465,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,2001,2056,0,0,0,0,0,0
$GC,6707,1.26,242.8,291.3,9.5,274,6722,0.00,2.80,9.82,0.715,4,0.000,0.074,3435,408,2020,0,0,0,0,0,0
$GC,6784,1.26,242.8,283.1,11.1,275,6790,0.00,2.55,0.00,0.000,6,0.000,0.021,3435,2012,2018,0,0,0,0,0,0
$GC,7035,1.27,247.2,258.3,9.8,282,7046,0.00,2.55,5.35,0.590,4,0.000,0.037,3435,3563,2001,0,0,0,0,0,0
$GC,7108,1.34,254.3,250.9,9.6,283,7122,0.00,2.58,8.15,0.663,6,0.000,0.038,3435,1980,1972,0,0,0,0,0,0
$GC,7410,1.41,270.9,223.9,9.1,291,7429,0.15,0.00,16.25,0.705,6,0.070,0.000,3477,1980,1904,0,0,0,0,0,0
$GC,7650,1.41,270.9,198.4,10.5,297,7654,0.00,2.67,0.00,0.000,4,0.000,0.067,3477,413,1900,0,0,0,0,0,0
$GC,7683,1.34,270.9,194.5,11.8,299,7690,0.12,2.50,0.00,0.000,6,0.123,0.025,3453,2005,1900,0,0,0,0,0,0
$GC,7947,1.34,270.9,166.3,10.6,324,7952,0.00,2.67,0.00,0.000,4,0.000,0.060,3453,413,1900,0,0,0,0,0,0
$GC,7992,1.34,270.9,160.5,12.6,327,8002,0.00,2.50,0.00,0.000,6,0.000,0.025,3453,1997,1899,0,0,0,0,0,0
$GC,8256,1.42,287.8,135.3,9.1,352,8273,0.00,0.00,15.45,0.624,6,0.000,0.000,3452,1998,1836,0,0,0,0,0,0
$GC,8531,1.51,303.2,112.4,9.1,378,8555,0.15,2.78,14.65,0.594,4,0.070,0.058,3496,409,1772,0,0,0,0,0,0
$GC,8581,1.45,303.2,106.7,12.2,382,8585,0.00,2.45,0.00,0.000,6,0.000,0.020,3496,1991,1770,0,0,0,0,0,0
$GC,8847,1.45,303.2,77.7,11.3,406,8851,0.00,2.65,0.00,0.000,4,0.000,0.056,3496,412,1770,0,0,0,0,0,0
$GC,8881,1.45,303.2,73.7,12.2,408,8885,0.00,2.42,0.00,0.000,6,0.000,0.018,3496,1994,1769,0,0,0,0,0,0
$GC,9148,1.45,303.2,45.3,10.1,432,9157,0.00,0.00,0.00,0.000,6,0.000,0.000,3496,1996,1769,0,0,0,0,0,0
$GC,9450,1.45,303.2,14.4,10.1,468,9459,0.00,0.00,0.00,0.000,6,0.000,0.000,3496,1996,1769,0,0,0,0,0,0
$STATE,9548,end climb,SURFACE_DEPTH_REACHED
$STATE,9548,begin surface coast
$FINISH,0.5,0.971767
$STATE,9597,end surface coast,CONTROL_FINISHED_OK
$STATE,9597,begin surface
$SM_CCo,9620,62.90,0.521,0,0,1459,380.21
$SM_GC,1.30,0.00,0.00,62.90,0.000,0.000,0.521,476,1873,1459,-12.34,-0.48,380.21
$IRIDIUM_FIX,2239.35,-15757.16,070900,191939
$TT8_MAMPS,0.026078
$HUMID,60.35
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.80
$XPDR_PINGS,46
$24V_AH,23.5,36.151
$10V_AH,10.4,31.548
$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,28.500,119.375,371.000,62.900,0.000,23.714,33.794,165.434,11.500,0.000,12.755,993.891,6195.369,521.107,1829.182,501.781,33.370,1193.906,0.000,1837.264,0.000,0.533,0.000
$DEVICE_MAMPS,134.225,157.235,913.497,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.863,265.272,377.634,715.750,1082.467,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,38384,489
$CAP_FILE_SIZE,102631,0
$CFSIZE,260165632,167223296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150611,005631,2247.803,-15758.296,10,8.1,29,10.1