version: 66.06
glider: 146
mission: 6
dive: 289
start: 6 15 111 3 57 40
data:
$ID,146
$MISSION,6
$DIVE,289
$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,-274902.75
$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,77
$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
$GPS1,035034,2247.354,-15758.018,10,99.0,29,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-69.6
$GPS2,035644,2247.424,-15758.072,13,1.2,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.202,-0.120
$KALMAN_X,-136421.2,-87.8,-165.3,134497.1,-929.2
$KALMAN_Y,-58887.6,462.7,-322.1,65265.8,924.2
$MHEAD_RNG_PITCHd_Wd,229.1,8452,-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,-71.12,0.000,2,0.000,0.000,479,1843,3271,0,0,0,0,0,0
$GC,94,-1.38,-116.8,3.6,-6.5,9,119,11.95,2.50,-3.95,0.000,4,0.134,0.057,2851,362,3489,0,0,0,0,0,0
$GC,259,-1.19,-116.8,41.1,-18.5,29,264,0.22,2.35,0.00,0.000,6,0.104,0.015,2899,1905,3491,0,0,0,0,0,0
$GC,527,-1.19,-116.8,79.9,-13.0,53,536,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1906,3491,0,0,0,0,0,0
$GC,789,-1.19,-116.8,114.6,-12.1,78,793,0.00,2.42,0.00,0.000,4,0.000,0.026,2899,3443,3492,0,0,0,0,0,0
$GC,809,-1.19,-116.8,116.9,-12.2,79,813,0.00,2.42,0.00,0.000,6,0.000,0.031,2899,1915,3492,0,0,0,0,0,0
$GC,1076,-1.19,-116.8,148.0,-12.1,103,1081,0.00,2.67,0.00,0.000,4,0.000,0.058,2899,319,3493,0,0,0,0,0,0
$GC,1119,-1.19,-116.8,153.7,-12.7,106,1124,0.00,2.38,0.00,0.000,6,0.000,0.022,2899,1892,3493,0,0,0,0,0,0
$GC,1388,-1.26,-116.8,182.1,-9.7,130,1392,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1893,3493,0,0,0,0,0,0
$GC,1667,-1.33,-116.8,209.1,-10.0,151,1672,0.12,2.42,0.00,0.000,4,0.077,0.028,2857,3432,3494,0,0,0,0,0,0
$GC,1707,-1.33,-116.8,213.7,-12.1,152,1712,0.00,2.47,0.00,0.000,6,0.000,0.025,2857,1867,3494,0,0,0,0,0,0
$GC,1990,-1.33,-116.8,246.8,-11.5,159,1991,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1866,3494,0,0,0,0,0,0
$GC,2234,-1.33,-116.8,274.0,-11.2,165,2238,0.00,2.47,0.00,0.000,4,0.000,0.032,2857,3437,3494,0,0,0,0,0,0
$GC,2263,-1.38,-116.8,276.7,-9.8,165,2267,0.00,2.47,0.00,0.000,6,0.000,0.024,2857,1881,3494,0,0,0,0,0,0
$GC,2513,-1.41,-116.8,301.4,-10.3,171,2517,0.00,2.47,0.00,0.000,4,0.000,0.030,2857,3430,3494,0,0,0,0,0,0
$GC,2534,-1.47,-116.8,303.7,-10.2,171,2538,0.00,2.47,0.00,0.000,6,0.000,0.034,2857,1887,3494,0,0,0,0,0,0
$GC,2791,-1.51,-116.8,329.8,-10.3,178,2796,0.12,2.78,0.00,0.000,4,0.072,0.079,2814,308,3494,0,0,0,0,0,0
$GC,2835,-1.44,-116.8,335.3,-12.5,179,2840,0.15,2.40,0.00,0.000,6,0.105,0.028,2845,1829,3494,0,0,0,0,0,0
$GC,3113,-1.48,-116.8,361.7,-9.2,186,3118,0.00,2.60,0.00,0.000,4,0.000,0.043,2845,3424,3493,0,0,0,0,0,0
$GC,3147,-1.54,-116.8,365.0,-10.2,186,3153,0.00,2.55,0.00,0.000,6,0.000,0.050,2845,1887,3493,0,0,0,0,0,0
$GC,3398,-1.58,-116.8,388.5,-9.4,193,3403,0.12,2.53,0.00,0.000,4,0.073,0.045,2803,3422,3492,0,0,0,0,0,0
$GC,3425,-1.58,-116.8,391.8,-11.9,193,3429,0.00,2.58,0.00,0.000,6,0.000,0.057,2803,1888,3492,0,0,0,0,0,0
$GC,3676,-1.58,-116.8,421.2,-11.9,199,3681,0.00,2.50,0.00,0.000,4,0.000,0.049,2803,3421,3490,0,0,0,0,0,0
$GC,3726,-1.58,-116.8,427.2,-11.3,200,3730,0.00,2.55,0.00,0.000,6,0.000,0.059,2803,1911,3490,0,0,0,0,0,0
$GC,3998,-1.58,-116.8,456.9,-10.9,207,4003,0.00,2.50,0.00,0.000,4,0.000,0.047,2803,3420,3488,0,0,0,0,0,0
$GC,4021,-1.58,-116.8,459.4,-11.1,207,4025,0.00,2.58,0.00,0.000,6,0.000,0.059,2803,1906,3488,0,0,0,0,0,0
$GC,4276,-1.58,-116.8,485.9,-10.2,214,4280,0.00,2.55,0.00,0.000,4,0.000,0.051,2803,3425,3486,0,0,0,0,0,0
$GC,4302,-1.58,-116.8,488.6,-9.2,214,4307,0.00,2.58,0.00,0.000,6,0.000,0.064,2803,1920,3486,0,0,0,0,0,0
$STATE,4428,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4428,begin apogee
$GC,4435,-0.31,0.0,500.6,9.3,217,4536,1.27,0.00,97.45,0.908,6,0.084,0.000,3089,1919,3010,0,0,0,0,0,0
$STATE,4537,end apogee,CONTROL_FINISHED_OK
$STATE,4537,begin climb
$GC,4539,1.38,116.8,502.0,0.0,219,4651,1.55,2.80,99.68,0.887,4,0.041,0.052,3463,3520,2531,0,0,0,0,0,0
$GC,4665,1.34,188.2,500.6,5.9,222,4734,0.00,2.65,62.28,0.871,6,0.000,0.056,3463,1988,2241,0,0,0,0,0,0
$GC,4991,1.26,188.2,467.8,10.6,230,4993,0.15,0.00,0.00,0.000,6,0.120,0.000,3433,1988,2233,0,0,0,0,0,0
$GC,5236,1.28,209.6,446.2,8.8,236,5256,0.00,0.00,18.50,0.823,6,0.000,0.000,3433,1988,2154,0,0,0,0,0,0
$GC,5478,1.28,209.6,421.5,10.3,242,5479,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1988,2150,0,0,0,0,0,0
$GC,5721,1.28,209.6,396.3,10.1,248,5726,0.00,2.58,0.00,0.000,4,0.000,0.043,3433,3535,2148,0,0,0,0,0,0
$GC,5778,1.29,213.5,390.5,9.8,249,5783,0.00,2.58,0.00,0.000,6,0.000,0.049,3433,2009,2147,0,0,0,0,0,0
$GC,6045,1.30,222.9,365.3,9.5,256,6064,0.00,2.60,11.62,0.772,4,0.000,0.041,3433,3534,2101,0,0,0,0,0,0
$GC,6092,1.31,230.3,360.8,9.6,257,6107,0.00,2.53,8.50,0.720,6,0.000,0.043,3433,2024,2070,0,0,0,0,0,0
$GC,6376,1.33,247.5,335.5,9.0,264,6394,0.00,0.00,16.27,0.779,6,0.000,0.000,3433,2023,2001,0,0,0,0,0,0
$GC,6618,1.33,247.5,309.5,10.9,270,6623,0.00,2.85,0.00,0.000,4,0.000,0.075,3433,401,1997,0,0,0,0,0,0
$GC,6678,1.33,247.5,302.0,12.4,271,6683,0.00,2.55,0.00,0.000,6,0.000,0.025,3433,2003,1996,0,0,0,0,0,0
$GC,6941,1.33,250.1,274.7,9.9,278,6945,0.00,2.58,0.00,0.000,4,0.000,0.044,3433,3563,1995,0,0,0,0,0,0
$GC,7041,1.42,271.3,265.5,8.8,280,7071,0.15,2.50,22.05,0.746,6,0.073,0.037,3473,2040,1902,0,0,0,0,0,0
$GC,7356,1.42,271.3,228.5,12.2,288,7357,0.00,0.00,0.00,0.000,6,0.000,0.000,3473,2040,1898,0,0,0,0,0,0
$GC,7600,1.42,271.3,200.6,11.2,294,7605,0.00,2.80,0.00,0.000,4,0.000,0.066,3473,408,1897,0,0,0,0,0,0
$GC,7651,1.36,271.3,194.7,12.2,296,7655,0.00,2.60,0.00,0.000,6,0.000,0.021,3474,2056,1896,0,0,0,0,0,0
$GC,7915,1.36,271.3,165.7,10.8,320,7919,0.00,2.47,0.00,0.000,4,0.000,0.035,3474,3571,1896,0,0,0,0,0,0
$GC,7966,1.36,271.3,159.6,11.3,324,7970,0.00,2.47,0.00,0.000,6,0.000,0.029,3473,2050,1895,0,0,0,0,0,0
$GC,8230,1.36,271.3,131.2,10.6,348,8234,0.00,2.78,0.00,0.000,4,0.000,0.060,3473,410,1895,0,0,0,0,0,0
$GC,8284,1.36,271.3,124.8,11.4,352,8288,0.00,2.58,0.00,0.000,6,0.000,0.018,3473,2066,1895,0,0,0,0,0,0
$GC,8548,1.37,285.6,100.5,9.2,376,8566,0.00,2.83,12.65,0.579,4,0.000,0.051,3474,411,1844,0,0,0,0,0,0
$GC,8578,1.37,285.6,97.2,10.6,378,8582,0.00,2.58,0.00,0.000,6,0.000,0.024,3473,2061,1843,0,0,0,0,0,0
$GC,8846,1.39,295.9,70.2,9.4,402,8865,0.00,0.00,10.45,0.538,6,0.000,0.000,3473,2062,1802,0,0,0,0,0,0
$GC,9123,1.46,304.6,43.7,9.5,428,9138,0.00,2.80,8.90,0.504,4,0.000,0.048,3474,401,1767,0,0,0,0,0,0
$GC,9206,1.51,304.6,34.9,10.8,434,9210,0.00,2.58,0.00,0.000,6,0.000,0.017,3473,2059,1766,0,0,0,0,0,0
$GC,9534,1.58,304.6,4.6,10.3,478,9544,0.12,2.75,0.00,0.000,4,0.077,0.041,3509,408,1765,0,0,0,0,0,0
$STATE,9551,end climb,SURFACE_DEPTH_REACHED
$STATE,9552,begin surface coast
$FINISH,0.6,0.971981
$STATE,9580,end surface coast,CONTROL_FINISHED_OK
$STATE,9581,begin surface
$SM_CCo,9606,61.75,0.521,0,0,1460,380.21
$SM_GC,1.42,0.00,0.00,61.75,0.000,0.000,0.521,480,1921,1460,-12.33,0.88,380.21
$IRIDIUM_FIX,2241.69,-15759.32,080900,010124
$TT8_MAMPS,0.026078
$HUMID,60.35
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.00
$XPDR_PINGS,44
$24V_AH,23.5,36.374
$10V_AH,10.4,31.773
$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,28.300,118.000,368.350,61.750,0.000,27.703,39.890,168.414,11.000,0.000,15.115,984.778,6199.741,490.358,1854.209,511.047,33.394,1171.585,0.000,1859.083,0.000,0.535,0.000
$DEVICE_MAMPS,134.225,79.001,908.128,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.355,273.230,375.555,728.513,1101.803,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355444
$DATA_FILE_SIZE,38380,484
$CAP_FILE_SIZE,101245,0
$CFSIZE,260165632,167116800
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150611,064037,2247.371,-15759.928,68,1.5,68,10.1