version: 66.06
glider: 146
mission: 6
dive: 292
start: 6 15 111 12 9 26
data:
$ID,146
$MISSION,6
$DIVE,292
$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,-274945.97
$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,33
$R_STBD_OVSHOOT,39
$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
$GPS1,115524,2247.124,-15803.095,48,1.9,48,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.8
$GPS2,120831,2247.054,-15803.277,10,1.6,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.176,0.156
$KALMAN_X,-140621.9,209.6,12.9,129329.0,-1659.3
$KALMAN_Y,-58202.5,-87.1,-303.3,64433.2,-507.5
$MHEAD_RNG_PITCHd_Wd,38.3,5477,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.80,0.000,2,0.000,0.000,474,1874,3254,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.3,-5.4,9,117,12.00,2.60,-4.38,0.000,4,0.135,0.042,2851,3474,3489,0,0,0,0,0,0
$GC,271,-1.31,-116.8,41.6,-16.4,30,276,0.10,2.55,0.00,0.000,6,0.121,0.026,2872,1884,3491,0,0,0,0,0,0
$GC,533,-1.24,-116.8,83.3,-14.8,54,535,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1884,3491,0,0,0,0,0,0
$GC,786,-1.24,-116.8,116.8,-13.1,78,788,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1884,3492,0,0,0,0,0,0
$GC,1041,-1.24,-116.8,148.5,-11.1,102,1046,0.00,2.50,0.00,0.000,4,0.000,0.025,2872,3474,3492,0,0,0,0,0,0
$GC,1112,-1.30,-116.8,155.9,-10.1,107,1117,0.00,2.50,0.00,0.000,6,0.000,0.031,2872,1889,3492,0,0,0,0,0,0
$GC,1374,-1.30,-116.8,183.8,-11.5,132,1375,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,1889,3493,0,0,0,0,0,0
$GC,1657,-1.30,-116.8,214.3,-10.9,150,1661,0.00,2.65,0.00,0.000,4,0.000,0.068,2872,318,3493,0,0,0,0,0,0
$GC,1672,-1.30,-116.8,216.5,-11.1,150,1676,0.00,2.42,0.00,0.000,6,0.000,0.022,2872,1929,3493,0,0,0,0,0,0
$GC,1939,-1.35,-116.8,244.2,-10.3,157,1943,0.00,2.38,0.00,0.000,4,0.000,0.030,2872,3446,3493,0,0,0,0,0,0
$GC,2026,-1.45,-116.8,252.8,-9.9,159,2031,0.12,2.47,0.00,0.000,6,0.071,0.032,2824,1894,3493,0,0,0,0,0,0
$GC,2309,-1.45,-116.8,287.0,-12.1,166,2314,0.00,2.47,0.00,0.000,4,0.000,0.036,2824,3441,3493,0,0,0,0,0,0
$GC,2338,-1.45,-116.8,290.6,-12.7,166,2342,0.00,2.47,0.00,0.000,6,0.000,0.029,2825,1906,3493,0,0,0,0,0,0
$GC,2589,-1.45,-116.8,318.8,-11.0,172,2594,0.00,2.80,0.00,0.000,4,0.000,0.081,2824,308,3492,0,0,0,0,0,0
$GC,2628,-1.40,-116.8,323.2,-11.4,173,2634,0.12,2.45,0.00,0.000,6,0.114,0.024,2851,1867,3492,0,0,0,0,0,0
$GC,2914,-1.45,-116.8,350.4,-9.6,180,2918,0.00,2.60,0.00,0.000,4,0.000,0.051,2851,3468,3491,0,0,0,0,0,0
$GC,2941,-1.52,-116.8,353.4,-10.0,180,2946,0.00,2.60,0.00,0.000,6,0.000,0.044,2851,1901,3491,0,0,0,0,0,0
$GC,3191,-1.57,-116.8,376.8,-9.3,186,3197,0.15,2.58,0.00,0.000,4,0.062,0.045,2797,3469,3490,0,0,0,0,0,0
$GC,3226,-1.57,-116.8,380.6,-11.4,186,3232,0.10,2.62,0.00,0.000,6,0.114,0.054,2818,1907,3490,0,0,0,0,0,0
$GC,3475,-1.57,-116.8,407.1,-10.5,193,3480,0.00,2.55,0.00,0.000,4,0.000,0.041,2818,3469,3488,0,0,0,0,0,0
$GC,3491,-1.57,-116.8,409.0,-10.8,193,3495,0.00,2.62,0.00,0.000,6,0.000,0.048,2819,1910,3488,0,0,0,0,0,0
$GC,3752,-1.57,-116.8,437.7,-11.1,200,3757,0.00,2.55,0.00,0.000,4,0.000,0.050,2819,3463,3486,0,0,0,0,0,0
$GC,3804,-1.61,-116.8,443.6,-11.7,201,3808,0.00,2.65,0.00,0.000,6,0.000,0.062,2818,1914,3486,0,0,0,0,0,0
$GC,4075,-1.61,-116.8,473.9,-11.0,208,4077,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1914,3483,0,0,0,0,0,0
$GC,4319,-1.61,-116.8,498.7,-10.2,214,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1914,3482,0,0,0,0,0,0
$STATE,4359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4359,begin apogee
$GC,4367,-0.31,0.0,502.7,10.1,215,4467,1.20,0.00,96.60,0.913,6,0.078,0.000,3090,2009,3010,0,0,0,0,0,0
$STATE,4468,end apogee,CONTROL_FINISHED_OK
$STATE,4468,begin climb
$GC,4470,1.38,116.8,505.4,0.0,217,4582,1.58,2.78,98.97,0.894,4,0.047,0.060,3466,3555,2532,0,0,0,0,0,0
$GC,4599,1.32,185.0,503.2,6.1,220,4664,0.00,2.70,59.25,0.878,6,0.000,0.052,3466,1994,2255,0,0,0,0,0,0
$GC,4926,1.23,185.0,465.8,12.1,229,4931,0.17,2.62,0.00,0.000,4,0.117,0.044,3430,3553,2246,0,0,0,0,0,0
$GC,5012,1.24,196.0,457.2,9.4,231,5027,0.00,2.65,9.48,0.762,6,0.000,0.054,3430,1998,2210,0,0,0,0,0,0
$GC,5294,1.28,227.3,432.8,8.2,238,5328,0.00,3.03,28.67,0.844,4,0.000,0.105,3430,407,2081,0,0,0,0,0,0
$GC,5359,1.22,227.3,426.9,10.8,239,5363,0.00,2.58,0.00,0.000,6,0.000,0.033,3430,1976,2078,0,0,0,0,0,0
$GC,5619,1.23,234.4,402.2,9.6,246,5633,0.00,2.75,6.85,0.700,4,0.000,0.045,3430,3581,2054,0,0,0,0,0,0
$GC,5697,1.23,234.4,393.4,11.6,247,5702,0.00,2.67,0.00,0.000,6,0.000,0.041,3430,1993,2052,0,0,0,0,0,0
$GC,5947,1.23,234.4,364.8,11.4,253,5951,0.00,2.62,0.00,0.000,4,0.000,0.041,3430,3582,2050,0,0,0,0,0,0
$GC,5967,1.23,234.4,362.2,11.8,253,5972,0.00,2.65,0.00,0.000,6,0.000,0.041,3430,1990,2049,0,0,0,0,0,0
$GC,6230,1.23,234.7,335.1,10.0,260,6231,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1991,2048,0,0,0,0,0,0
$GC,6472,1.26,257.8,313.3,8.7,266,6501,0.00,2.90,21.55,0.779,4,0.000,0.077,3430,403,1958,0,0,0,0,0,0
$GC,6569,1.26,257.8,303.0,11.5,268,6573,0.00,2.58,0.00,0.000,6,0.000,0.021,3430,2014,1955,0,0,0,0,0,0
$GC,6843,1.29,257.8,274.3,10.8,275,6847,0.00,2.75,0.00,0.000,4,0.000,0.058,3430,410,1953,0,0,0,0,0,0
$GC,6869,1.29,257.8,271.2,10.7,275,6874,0.00,2.50,0.00,0.000,6,0.000,0.026,3430,2005,1952,0,0,0,0,0,0
$GC,7120,1.36,262.6,246.6,9.8,281,7127,0.10,0.00,4.82,0.556,6,0.100,0.000,3459,2005,1938,0,0,0,0,0,0
$GC,7364,1.36,262.6,219.9,11.0,287,7368,0.00,2.53,0.00,0.000,4,0.000,0.041,3459,3558,1937,0,0,0,0,0,0
$GC,7391,1.36,262.6,216.9,10.2,287,7395,0.00,2.60,0.00,0.000,6,0.000,0.038,3459,1971,1935,0,0,0,0,0,0
$GC,7648,1.38,276.3,192.4,9.3,297,7670,0.00,2.78,13.30,0.664,4,0.000,0.069,3459,411,1882,0,0,0,0,0,0
$GC,7684,1.38,277.5,189.1,10.0,300,7688,0.00,2.47,0.00,0.000,6,0.000,0.020,3459,1984,1881,0,0,0,0,0,0
$GC,7946,1.38,277.5,162.9,10.1,324,7950,0.00,2.70,0.00,0.000,4,0.000,0.058,3459,404,1881,0,0,0,0,0,0
$GC,7968,1.38,281.7,161.0,9.8,325,7979,0.00,2.45,6.03,0.547,6,0.000,0.025,3458,1978,1860,0,0,0,0,0,0
$GC,8236,1.47,319.8,137.2,7.8,350,8276,0.00,2.62,34.17,0.643,4,0.000,0.038,3459,3549,1705,0,0,0,0,0,0
$GC,8325,1.56,322.9,129.4,9.9,357,8336,0.17,2.58,4.12,0.428,6,0.067,0.033,3507,1967,1693,0,0,0,0,0,0
$GC,8590,1.56,322.9,97.0,11.9,382,8595,0.00,2.62,0.00,0.000,4,0.000,0.064,3507,412,1691,0,0,0,0,0,0
$GC,8625,1.49,322.9,92.5,13.3,384,8635,0.08,2.47,0.00,0.000,6,0.123,0.018,3488,1983,1690,0,0,0,0,0,0
$GC,8892,1.49,322.9,63.4,11.3,409,8896,0.00,2.62,0.00,0.000,4,0.000,0.052,3487,413,1689,0,0,0,0,0,0
$GC,8912,1.49,322.9,60.7,11.9,410,8916,0.00,2.40,0.00,0.000,6,0.000,0.018,3487,1980,1689,0,0,0,0,0,0
$GC,9181,1.53,322.9,32.8,11.5,434,9190,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,1983,1689,0,0,0,0,0,0
$STATE,9457,end climb,SURFACE_DEPTH_REACHED
$STATE,9457,begin surface coast
$FINISH,0.4,0.970843
$STATE,9513,end surface coast,CONTROL_FINISHED_OK
$STATE,9514,begin surface
$SM_CCo,9537,46.47,0.518,0,0,1459,380.21
$SM_GC,1.19,0.00,0.00,46.47,0.000,0.000,0.518,475,1853,1459,-12.35,-1.05,380.21
$IRIDIUM_FIX,2239.35,-15804.53,080900,121252
$TT8_MAMPS,0.026078
$HUMID,60.94
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.00
$XPDR_PINGS,48
$24V_AH,23.5,36.706
$10V_AH,10.3,32.095
$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,28.125,119.950,383.825,46.475,0.000,76.918,99.301,339.775,12.000,0.000,16.779,981.101,6266.298,477.728,1846.449,802.906,33.362,1167.213,0.000,1849.525,0.000,0.535,0.000
$DEVICE_MAMPS,134.992,118.118,913.497,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.901,272.793,372.434,709.309,1072.753,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,38206,481
$CAP_FILE_SIZE,108948,0
$CFSIZE,260165632,166957056
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150611,145036,2247.740,-15803.398,40,1.1,46,10.1