version: 66.06
glider: 146
mission: 6
dive: 288
start: 6 15 111 1 3 19
data:
$ID,146
$MISSION,6
$DIVE,288
$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,-274887
$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,38
$R_STBD_OVSHOOT,63
$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
$GPS1,005631,2247.803,-15758.296,10,8.1,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-73.4
$GPS2,010225,2247.818,-15758.388,10,1.4,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.183,-0.147
$KALMAN_X,-134951.8,-272.5,-163.5,132677.4,-1158.0
$KALMAN_Y,-59278.8,206.6,-404.8,66730.6,458.1
$MHEAD_RNG_PITCHd_Wd,118.8,1817,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,90,0.00,0.00,-70.45,0.000,2,0.000,0.000,476,1874,3219,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.2,-4.7,9,118,11.93,2.58,-5.15,0.000,4,0.134,0.061,2849,319,3488,0,0,0,0,0,0
$GC,137,-0.73,-116.8,16.7,-31.0,14,146,0.65,2.42,0.00,0.000,6,0.084,0.015,2997,1899,3490,0,0,0,0,0,0
$GC,423,-0.88,-116.8,48.7,-9.9,46,428,0.12,2.45,0.00,0.000,4,0.071,0.031,2953,3434,3491,0,0,0,0,0,0
$GC,447,-1.00,-116.8,51.2,-10.2,47,451,0.00,2.42,0.00,0.000,6,0.000,0.025,2952,1895,3491,0,0,0,0,0,0
$GC,714,-1.10,-116.8,81.1,-10.0,71,719,0.15,2.65,0.00,0.000,4,0.062,0.052,2897,310,3492,0,0,0,0,0,0
$GC,733,-1.15,-116.8,83.7,-10.8,72,737,0.00,2.40,0.00,0.000,6,0.000,0.022,2898,1898,3492,0,0,0,0,0,0
$GC,1003,-1.15,-116.8,115.8,-10.8,97,1007,0.00,2.65,0.00,0.000,4,0.000,0.051,2897,316,3492,0,0,0,0,0,0
$GC,1024,-1.15,-116.8,118.7,-11.2,98,1033,0.00,2.40,0.00,0.000,6,0.000,0.021,2897,1903,3493,0,0,0,0,0,0
$GC,1292,-1.19,-116.8,149.4,-11.5,123,1297,0.00,2.65,0.00,0.000,4,0.000,0.057,2897,314,3493,0,0,0,0,0,0
$GC,1332,-1.19,-116.8,155.1,-12.3,126,1336,0.00,2.35,0.00,0.000,6,0.000,0.019,2897,1885,3493,0,0,0,0,0,0
$GC,1597,-1.25,-116.8,182.8,-10.0,150,1601,0.00,2.40,0.00,0.000,4,0.000,0.027,2897,3429,3494,0,0,0,0,0,0
$GC,1660,-1.37,-116.8,188.8,-8.5,155,1665,0.15,2.40,0.00,0.000,6,0.059,0.024,2837,1894,3494,0,0,0,0,0,0
$GC,1937,-1.33,-116.8,218.2,-10.9,169,1938,0.15,0.00,0.00,0.000,6,0.102,0.000,2871,1894,3495,0,0,0,0,0,0
$GC,2179,-1.33,-116.8,242.4,-9.9,175,2183,0.00,2.67,0.00,0.000,4,0.000,0.062,2871,318,3495,0,0,0,0,0,0
$GC,2200,-1.33,-116.8,245.1,-12.1,175,2204,0.00,2.38,0.00,0.000,6,0.000,0.022,2871,1879,3495,0,0,0,0,0,0
$GC,2462,-1.36,-116.8,273.1,-10.7,182,2466,0.00,2.47,0.00,0.000,4,0.000,0.038,2871,3449,3495,0,0,0,0,0,0
$GC,2485,-1.42,-116.8,275.5,-9.9,182,2489,0.00,2.42,0.00,0.000,6,0.000,0.030,2871,1903,3495,0,0,0,0,0,0
$GC,2740,-1.49,-116.8,299.4,-9.1,189,2745,0.15,2.47,0.00,0.000,4,0.064,0.037,2818,3446,3495,0,0,0,0,0,0
$GC,2826,-1.49,-116.8,308.6,-11.4,191,2830,0.00,2.45,0.00,0.000,6,0.000,0.035,2818,1911,3495,0,0,0,0,0,0
$GC,3109,-1.49,-116.8,340.4,-11.4,198,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1911,3494,0,0,0,0,0,0
$GC,3352,-1.49,-116.8,369.5,-12.3,204,3356,0.00,2.50,0.00,0.000,4,0.000,0.045,2818,3446,3493,0,0,0,0,0,0
$GC,3386,-1.49,-116.8,373.7,-12.1,204,3391,0.00,2.55,0.00,0.000,6,0.000,0.050,2818,1914,3493,0,0,0,0,0,0
$GC,3635,-1.49,-116.8,403.9,-12.1,211,3640,0.00,2.90,0.00,0.000,4,0.000,0.096,2818,304,3492,0,0,0,0,0,0
$GC,3724,-1.49,-116.8,415.5,-13.1,213,3728,0.00,2.50,0.00,0.000,6,0.000,0.035,2818,1864,3492,0,0,0,0,0,0
$GC,4008,-1.49,-116.8,448.9,-11.6,220,4013,0.00,2.70,0.00,0.000,4,0.000,0.064,2818,3470,3490,0,0,0,0,0,0
$GC,4058,-1.49,-116.8,454.7,-11.5,221,4062,0.00,2.65,0.00,0.000,6,0.000,0.055,2818,1908,3490,0,0,0,0,0,0
$GC,4331,-1.49,-116.8,481.6,-9.8,228,4336,0.00,2.62,0.00,0.000,4,0.000,0.051,2818,3474,3488,0,0,0,0,0,0
$GC,4353,-1.49,-116.8,484.0,-9.9,228,4358,0.00,2.67,0.00,0.000,6,0.000,0.061,2818,1906,3488,0,0,0,0,0,0
$STATE,4525,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4525,begin apogee
$GC,4531,-0.31,0.0,500.9,9.7,233,4633,1.20,0.00,98.18,0.906,6,0.077,0.000,3090,2016,3010,0,0,0,0,0,0
$STATE,4634,end apogee,CONTROL_FINISHED_OK
$STATE,4634,begin climb
$GC,4638,1.38,116.8,503.6,0.0,235,4749,1.58,2.75,99.32,0.887,4,0.048,0.064,3469,3555,2532,0,0,0,0,0,0
$GC,4926,1.26,125.8,490.5,9.5,242,4941,0.17,2.65,7.78,0.733,6,0.117,0.054,3435,1994,2497,0,0,0,0,0,0
$GC,5197,1.25,161.7,468.5,8.0,249,5239,0.00,2.72,32.60,0.861,4,0.000,0.047,3435,3558,2349,0,0,0,0,0,0
$GC,5292,1.21,161.7,460.0,10.1,251,5296,0.00,2.65,0.00,0.000,6,0.000,0.049,3435,1997,2346,0,0,0,0,0,0
$GC,5569,1.24,190.1,435.3,8.4,258,5600,0.00,2.65,25.70,0.842,4,0.000,0.047,3435,3563,2233,0,0,0,0,0,0
$GC,5641,1.28,219.8,429.5,8.3,259,5675,0.00,2.67,27.73,0.833,6,0.000,0.047,3435,2001,2111,0,0,0,0,0,0
$GC,5937,1.29,227.2,401.6,9.6,267,5946,0.00,0.00,6.80,0.695,6,0.000,0.000,3435,2001,2083,0,0,0,0,0,0
$GC,6181,1.29,227.2,377.0,10.3,273,6185,0.00,2.88,0.00,0.000,4,0.000,0.088,3434,406,2079,0,0,0,0,0,0
$GC,6243,1.25,227.2,370.0,11.6,274,6247,0.00,2.55,0.00,0.000,6,0.000,0.027,3434,1994,2078,0,0,0,0,0,0
$GC,6504,1.27,248.8,346.3,8.8,281,6529,0.00,2.67,19.80,0.791,4,0.000,0.042,3434,3576,1995,0,0,0,0,0,0
$GC,6552,1.28,252.0,341.5,9.9,282,6562,0.00,2.65,4.35,0.549,6,0.000,0.036,3434,1993,1982,0,0,0,0,0,0
$GC,6824,1.28,254.5,314.6,9.9,289,6828,0.00,2.78,0.00,0.000,4,0.000,0.075,3435,410,1979,0,0,0,0,0,0
$GC,6884,1.28,254.5,307.0,12.8,290,6888,0.00,2.53,0.00,0.000,6,0.000,0.025,3434,2010,1977,0,0,0,0,0,0
$GC,7152,1.28,254.5,277.6,10.8,297,7157,0.00,2.55,0.00,0.000,4,0.000,0.039,3434,3567,1976,0,0,0,0,0,0
$GC,7208,1.34,254.5,271.7,10.4,298,7212,0.00,2.58,0.00,0.000,6,0.000,0.037,3435,1994,1975,0,0,0,0,0,0
$GC,7475,1.42,279.0,248.3,8.6,305,7505,0.15,2.78,24.48,0.734,4,0.180,0.070,3476,415,1870,0,0,0,0,0,0
$GC,7529,1.36,279.0,242.5,11.6,306,7534,0.00,2.55,0.00,0.000,6,0.000,0.025,3476,2012,1869,0,0,0,0,0,0
$GC,7795,1.36,279.0,213.7,10.9,313,7796,0.00,0.00,0.00,0.000,6,0.000,0.000,3476,2012,1867,0,0,0,0,0,0
$GC,8048,1.36,279.0,187.8,10.2,325,8052,0.00,2.70,0.00,0.000,4,0.000,0.060,3476,410,1865,0,0,0,0,0,0
$GC,8076,1.31,279.0,184.0,12.0,327,8081,0.15,2.50,0.00,0.000,6,0.118,0.023,3447,2006,1864,0,0,0,0,0,0
$GC,8339,1.39,296.5,160.1,9.0,351,8364,0.00,2.58,15.38,0.638,4,0.000,0.035,3446,3556,1800,0,0,0,0,0,0
$GC,8400,1.48,296.5,153.6,10.6,356,8405,0.15,2.55,0.00,0.000,6,0.068,0.036,3488,1991,1799,0,0,0,0,0,0
$GC,8662,1.48,296.5,123.1,10.7,380,8667,0.00,2.65,0.00,0.000,4,0.000,0.058,3488,412,1798,0,0,0,0,0,0
$GC,8718,1.48,296.5,115.9,12.7,384,8728,0.00,2.50,0.00,0.000,6,0.000,0.018,3488,2005,1797,0,0,0,0,0,0
$GC,8985,1.49,304.1,89.8,9.6,409,8999,0.00,2.72,7.80,0.524,4,0.000,0.051,3488,418,1769,0,0,0,0,0,0
$GC,9034,1.49,304.1,84.4,11.9,413,9039,0.00,2.45,0.00,0.000,6,0.000,0.023,3488,1997,1768,0,0,0,0,0,0
$GC,9301,1.49,306.1,58.6,9.9,437,9305,0.00,2.47,0.00,0.000,4,0.000,0.039,3488,3554,1768,0,0,0,0,0,0
$GC,9361,1.55,308.0,52.2,9.9,441,9371,0.00,2.55,4.75,0.417,6,0.000,0.030,3488,1988,1753,0,0,0,0,0,0
$GC,9634,1.61,316.1,27.8,9.6,467,9652,0.00,2.67,9.07,0.488,4,0.000,0.053,3488,421,1719,0,0,0,0,0,0
$GC,9677,1.61,316.1,23.4,10.2,472,9687,0.05,2.45,0.00,0.000,6,0.062,0.018,3512,1987,1719,0,0,0,0,0,0
$STATE,9846,end climb,SURFACE_DEPTH_REACHED
$STATE,9846,begin surface coast
$FINISH,0.5,0.974938
$STATE,9888,end surface coast,CONTROL_FINISHED_OK
$STATE,9889,begin surface
$SM_CCo,9911,51.92,0.517,0,0,1459,380.21
$SM_GC,1.36,0.00,0.00,51.92,0.000,0.000,0.517,479,1843,1459,-12.34,-1.36,380.21
$IRIDIUM_FIX,2239.35,-15757.16,070900,222253
$TT8_MAMPS,0.025311
$HUMID,59.72
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.20
$XPDR_PINGS,84
$24V_AH,23.5,36.264
$10V_AH,10.3,31.663
$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,29.100,139.450,383.725,51.925,0.000,29.645,35.406,158.727,21.000,0.000,11.972,1048.044,6278.383,491.900,1993.397,508.964,33.369,1248.312,0.000,1994.552,0.000,0.534,0.000
$DEVICE_MAMPS,180.245,190.216,905.827,516.958,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,340.160,287.292,389.721,760.836,1152.580,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,38302,502
$CAP_FILE_SIZE,111716,0
$CFSIZE,260165632,167161856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150611,035034,2247.354,-15758.018,10,99.0,29,10.1