version: 66.06
glider: 146
mission: 6
dive: 294
start: 6 15 111 17 53 27
data:
$ID,146
$MISSION,6
$DIVE,294
$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,-274994.69
$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,46
$R_STBD_OVSHOOT,36
$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
$GPS1,174622,2248.754,-15803.271,10,2.1,29,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-69.9
$GPS2,175234,2248.823,-15803.352,12,2.1,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.206,0.113
$KALMAN_X,-144133.8,-63.2,-180.9,133181.8,-1450.5
$KALMAN_Y,-57462.2,-546.4,110.0,67010.9,1046.7
$MHEAD_RNG_PITCHd_Wd,51.0,2261,-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,-71.20,0.000,2,0.000,0.000,473,1864,3258,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.5,-5.7,9,119,12.27,2.62,-4.25,0.000,4,0.145,0.043,2851,3473,3489,0,0,0,0,0,0
$GC,152,-1.18,-116.8,20.4,-22.2,16,162,0.17,2.55,0.00,0.000,6,0.097,0.027,2893,1908,3489,0,0,0,0,0,0
$GC,436,-1.13,-116.8,63.3,-13.9,45,441,0.00,2.47,0.00,0.000,4,0.000,0.025,2892,3476,3491,0,0,0,0,0,0
$GC,459,-1.13,-116.8,66.1,-13.1,46,463,0.00,2.55,0.00,0.000,6,0.000,0.025,2893,1882,3491,0,0,0,0,0,0
$GC,721,-1.13,-116.8,97.2,-11.9,70,722,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1881,3491,0,0,0,0,0,0
$GC,976,-1.13,-116.8,126.3,-11.7,94,977,0.00,0.00,0.00,0.000,6,0.000,0.000,2893,1882,3492,0,0,0,0,0,0
$GC,1234,-1.19,-116.8,155.1,-10.0,118,1238,0.00,2.50,0.00,0.000,4,0.000,0.025,2892,3471,3493,0,0,0,0,0,0
$GC,1315,-1.29,-116.8,163.9,-10.2,124,1321,0.00,2.50,0.00,0.000,6,0.000,0.031,2893,1895,3493,0,0,0,0,0,0
$GC,1578,-1.35,-116.8,191.1,-10.3,149,1583,0.12,2.50,0.00,0.000,4,0.071,0.034,2848,3472,3493,0,0,0,0,0,0
$GC,1618,-1.35,-116.8,195.9,-11.8,152,1622,0.00,2.45,0.00,0.000,6,0.000,0.026,2848,1905,3493,0,0,0,0,0,0
$GC,1901,-1.35,-116.8,227.7,-11.4,161,1902,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1905,3493,0,0,0,0,0,0
$GC,2143,-1.35,-116.8,256.3,-11.7,167,2144,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1905,3493,0,0,0,0,0,0
$GC,2387,-1.35,-116.8,283.7,-11.3,173,2391,0.00,2.55,0.00,0.000,4,0.000,0.038,2848,3478,3494,0,0,0,0,0,0
$GC,2438,-1.41,-116.8,288.7,-9.9,174,2443,0.00,2.50,0.00,0.000,6,0.000,0.028,2848,1905,3493,0,0,0,0,0,0
$GC,2711,-1.41,-116.8,315.4,-9.8,181,2715,0.00,2.53,0.00,0.000,4,0.000,0.038,2849,3469,3493,0,0,0,0,0,0
$GC,2738,-1.46,-116.8,318.4,-10.7,181,2743,0.00,2.55,0.00,0.000,6,0.000,0.035,2848,1906,3493,0,0,0,0,0,0
$GC,2990,-1.49,-116.8,341.6,-9.0,187,2991,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1907,3493,0,0,0,0,0,0
$GC,3232,-1.54,-116.8,362.6,-8.8,193,3237,0.10,2.55,0.00,0.000,4,0.084,0.043,2812,3465,3492,0,0,0,0,0,0
$GC,3272,-1.54,-116.8,366.8,-11.0,194,3276,0.00,2.60,0.00,0.000,6,0.000,0.044,2812,1904,3492,0,0,0,0,0,0
$GC,3556,-1.54,-116.8,398.1,-11.3,201,3560,0.00,2.55,0.00,0.000,4,0.000,0.047,2811,3462,3490,0,0,0,0,0,0
$GC,3610,-1.54,-116.8,404.8,-11.1,202,3615,0.00,2.62,0.00,0.000,6,0.000,0.053,2812,1905,3490,0,0,0,0,0,0
$GC,3877,-1.54,-116.8,435.0,-11.2,209,3878,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1904,3488,0,0,0,0,0,0
$GC,4122,-1.54,-116.8,463.2,-11.6,215,4123,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1905,3487,0,0,0,0,0,0
$GC,4364,-1.54,-116.8,491.2,-11.4,221,4365,0.00,0.00,0.00,0.000,6,0.000,0.000,2812,1905,3485,0,0,0,0,0,0
$STATE,4443,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4443,begin apogee
$GC,4449,-0.31,0.0,500.2,11.1,223,4550,1.23,0.00,97.25,0.908,6,0.082,0.000,3089,2014,3010,0,0,0,0,0,0
$STATE,4551,end apogee,CONTROL_FINISHED_OK
$STATE,4551,begin climb
$GC,4553,1.38,116.8,502.7,0.0,225,4661,1.58,2.70,99.97,0.888,4,0.041,0.065,3465,3549,2532,0,0,0,0,0,0
$GC,4688,1.33,187.3,501.6,6.0,229,4756,0.00,2.70,61.15,0.873,6,0.000,0.050,3465,1990,2246,0,0,0,0,0,0
$GC,5015,1.24,187.3,464.6,12.0,237,5020,0.17,2.62,0.00,0.000,4,0.114,0.044,3430,3563,2237,0,0,0,0,0,0
$GC,5070,1.24,187.3,458.4,10.6,238,5075,0.00,2.70,0.00,0.000,6,0.000,0.049,3430,1990,2235,0,0,0,0,0,0
$GC,5337,1.27,210.3,434.4,8.7,245,5362,0.00,3.05,19.73,0.829,4,0.000,0.110,3430,407,2151,0,0,0,0,0,0
$GC,5386,1.22,223.4,430.1,9.3,246,5406,0.00,2.55,13.23,0.790,6,0.000,0.031,3430,1964,2098,0,0,0,0,0,0
$GC,5662,1.25,243.2,405.4,8.9,253,5686,0.00,2.80,18.45,0.814,4,0.000,0.051,3430,3582,2017,0,0,0,0,0,0
$GC,5717,1.26,249.3,400.4,9.7,254,5731,0.00,2.70,7.00,0.691,6,0.000,0.044,3429,1989,1993,0,0,0,0,0,0
$GC,5993,1.26,253.4,373.2,9.8,261,5999,0.00,0.00,4.68,0.596,6,0.000,0.000,3430,1989,1976,0,0,0,0,0,0
$GC,6236,1.26,253.4,348.9,10.1,267,6240,0.00,2.62,0.00,0.000,4,0.000,0.035,3430,3584,1975,0,0,0,0,0,0
$GC,6253,1.26,253.4,347.1,10.5,267,6257,0.00,2.65,0.00,0.000,6,0.000,0.042,3430,1992,1973,0,0,0,0,0,0
$GC,6513,1.26,253.4,318.5,11.1,274,6518,0.00,2.78,0.00,0.000,4,0.000,0.080,3430,402,1973,0,0,0,0,0,0
$GC,6536,1.26,253.4,315.7,12.6,274,6540,0.00,2.58,0.00,0.000,6,0.000,0.026,3430,2016,1972,0,0,0,0,0,0
$GC,6792,1.26,253.4,286.9,11.0,281,6793,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,2016,1972,0,0,0,0,0,0
$GC,7035,1.32,261.8,262.7,9.6,287,7045,0.00,0.00,8.27,0.677,6,0.000,0.000,3430,2016,1942,0,0,0,0,0,0
$GC,7278,1.38,262.8,238.3,10.0,293,7280,0.12,0.00,0.00,0.000,6,0.084,0.000,3463,2017,1939,0,0,0,0,0,0
$GC,7521,1.38,262.8,212.0,10.8,299,7526,0.00,2.72,0.00,0.000,4,0.000,0.055,3463,402,1939,0,0,0,0,0,0
$GC,7545,1.38,262.8,209.5,10.6,299,7549,0.00,2.50,0.00,0.000,6,0.000,0.024,3463,2012,1938,0,0,0,0,0,0
$GC,7807,1.38,262.8,182.1,10.7,318,7811,0.00,2.47,0.00,0.000,4,0.000,0.039,3463,3556,1938,0,0,0,0,0,0
$GC,7829,1.38,262.8,179.6,11.1,319,7835,0.00,2.55,0.00,0.000,6,0.000,0.030,3463,1984,1937,0,0,0,0,0,0
$GC,8093,1.39,275.6,153.9,9.3,344,8118,0.00,2.62,13.02,0.634,4,0.000,0.038,3463,3556,1884,0,0,0,0,0,0
$GC,8233,1.44,280.5,141.1,9.8,355,8244,0.00,2.50,5.70,0.522,6,0.000,0.030,3463,2006,1866,0,0,0,0,0,0
$GC,8499,1.51,305.2,117.0,8.6,380,8528,0.10,2.75,22.67,0.615,4,0.087,0.059,3495,414,1765,0,0,0,0,0,0
$GC,8572,1.47,305.2,109.2,12.7,385,8578,0.00,2.53,0.00,0.000,6,0.000,0.022,3494,2023,1763,0,0,0,0,0,0
$GC,8833,1.47,305.2,79.7,11.0,410,8837,0.00,2.42,0.00,0.000,4,0.000,0.031,3494,3553,1762,0,0,0,0,0,0
$GC,8855,1.47,305.2,78.0,11.1,411,8860,0.00,2.50,0.00,0.000,6,0.000,0.029,3494,2006,1761,0,0,0,0,0,0
$GC,9123,1.48,316.3,51.0,9.4,435,9141,0.00,2.58,10.77,0.525,4,0.000,0.030,3494,3553,1719,0,0,0,0,0,0
$GC,9189,1.54,316.3,44.1,10.5,440,9194,0.00,2.50,0.00,0.000,6,0.000,0.029,3495,2012,1718,0,0,0,0,0,0
$GC,9492,1.60,336.9,15.6,8.8,475,9518,0.00,0.00,18.92,0.518,6,0.000,0.000,3494,2012,1635,0,0,0,0,0,0
$STATE,9604,end climb,SURFACE_DEPTH_REACHED
$STATE,9605,begin surface coast
$FINISH,0.6,0.971026
$STATE,9650,end surface coast,CONTROL_FINISHED_OK
$STATE,9650,begin surface
$SM_CCo,9672,34.88,0.515,0,0,1459,380.21
$SM_GC,1.34,0.00,0.00,34.88,0.000,0.000,0.515,477,1873,1459,-12.34,-0.48,380.21
$IRIDIUM_FIX,2239.35,-15805.41,080900,151532
$TT8_MAMPS,0.026078
$HUMID,60.78
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.00
$XPDR_PINGS,37
$24V_AH,23.5,36.934
$10V_AH,10.4,32.318
$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,28.150,104.050,400.825,34.875,0.000,27.372,33.543,159.533,9.250,0.000,33.680,980.354,6280.552,490.331,1833.475,495.098,33.374,1138.169,0.000,1822.548,0.000,0.534,0.000
$DEVICE_MAMPS,144.963,197.119,908.128,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.686,279.203,388.811,741.275,1121.089,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,38478,497
$CAP_FILE_SIZE,96730,0
$CFSIZE,260165632,166862848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150611,203631,2250.101,-15802.903,36,1.1,36,10.1