version: 66.06
glider: 146
mission: 6
dive: 295
start: 6 15 111 20 46 18
data:
$ID,146
$MISSION,6
$DIVE,295
$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,-275026.09
$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,37
$R_STBD_OVSHOOT,56
$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
$GPS1,203631,2250.101,-15802.903,36,1.1,36,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.0
$GPS2,204525,2250.213,-15802.992,12,1.0,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,-0.019
$KALMAN_X,-145665.6,-251.1,103.5,135230.5,-1429.5
$KALMAN_Y,-56869.9,-348.8,761.9,68139.9,152.1
$MHEAD_RNG_PITCHd_Wd,84.5,10235,-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,18,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-69.55,0.000,2,0.000,0.000,476,1871,3220,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.2,-4.9,9,118,12.02,2.62,-5.10,0.000,4,0.138,0.061,2848,326,3489,0,0,0,0,0,0
$GC,130,-0.41,-116.8,15.9,-32.6,13,139,0.95,2.42,0.00,0.000,6,0.089,0.023,3063,1896,3490,0,0,0,0,0,0
$GC,434,-0.72,-116.8,38.0,-6.2,51,439,0.25,2.42,0.00,0.000,4,0.047,0.025,2980,3441,3492,0,0,0,0,0,0
$GC,483,-0.91,-116.8,42.3,-9.7,54,487,0.00,2.45,0.00,0.000,6,0.000,0.025,2980,1894,3492,0,0,0,0,0,0
$GC,750,-1.06,-116.8,68.7,-9.6,78,759,0.20,0.00,0.00,0.000,6,0.050,0.000,2907,1894,3492,0,0,0,0,0,0
$GC,1015,-1.06,-116.8,97.3,-11.5,103,1020,0.10,2.45,0.00,0.000,4,0.114,0.031,2930,3443,3493,0,0,0,0,0,0
$GC,1056,-1.18,-116.8,101.8,-10.1,106,1061,0.12,2.45,0.00,0.000,6,0.067,0.025,2880,1888,3493,0,0,0,0,0,0
$GC,1317,-1.18,-116.8,135.0,-14.1,130,1319,0.10,0.00,0.00,0.000,6,0.115,0.000,2903,1888,3493,0,0,0,0,0,0
$GC,1578,-1.24,-116.8,162.0,-9.9,154,1582,0.00,2.45,0.00,0.000,4,0.000,0.027,2903,3446,3494,0,0,0,0,0,0
$GC,1621,-1.35,-116.8,166.5,-9.8,157,1627,0.17,2.42,0.00,0.000,6,0.054,0.025,2841,1902,3494,0,0,0,0,0,0
$GC,1886,-1.31,-116.8,198.8,-12.7,181,1891,0.15,2.45,0.00,0.000,4,0.097,0.029,2875,3440,3495,0,0,0,0,0,0
$GC,1913,-1.31,-116.8,202.7,-11.7,181,1917,0.00,2.40,0.00,0.000,6,0.000,0.026,2875,1907,3494,0,0,0,0,0,0
$GC,2165,-1.35,-116.8,228.3,-10.3,187,2166,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1906,3495,0,0,0,0,0,0
$GC,2408,-1.40,-116.8,252.0,-9.5,193,2409,0.00,0.00,0.00,0.000,6,0.000,0.000,2875,1906,3495,0,0,0,0,0,0
$GC,2651,-1.47,-116.8,271.0,-7.6,199,2656,0.15,2.47,0.00,0.000,4,0.063,0.029,2822,3442,3495,0,0,0,0,0,0
$GC,2686,-1.47,-116.8,274.1,-9.8,199,2691,0.00,2.45,0.00,0.000,6,0.000,0.027,2822,1910,3495,0,0,0,0,0,0
$GC,2935,-1.47,-116.8,299.6,-10.3,206,2936,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1910,3494,0,0,0,0,0,0
$GC,3179,-1.47,-116.8,324.6,-10.3,212,3180,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1910,3494,0,0,0,0,0,0
$GC,3423,-1.47,-116.8,349.6,-10.4,218,3424,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1910,3493,0,0,0,0,0,0
$GC,3668,-1.47,-116.8,375.0,-10.2,224,3672,0.00,2.53,0.00,0.000,4,0.000,0.046,2822,3433,3492,0,0,0,0,0,0
$GC,3752,-1.47,-116.8,383.8,-10.3,226,3756,0.00,2.53,0.00,0.000,6,0.000,0.051,2822,1917,3492,0,0,0,0,0,0
$GC,4036,-1.47,-116.8,411.6,-9.9,233,4041,0.00,2.47,0.00,0.000,4,0.000,0.040,2822,3439,3489,0,0,0,0,0,0
$GC,4058,-1.47,-116.8,414.2,-10.6,233,4062,0.00,2.55,0.00,0.000,6,0.000,0.056,2822,1908,3490,0,0,0,0,0,0
$GC,4319,-1.47,-116.8,442.1,-10.8,240,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1909,3488,0,0,0,0,0,0
$GC,4563,-1.47,-116.8,467.1,-10.2,246,4564,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1909,3486,0,0,0,0,0,0
$GC,4808,-1.47,-116.8,490.0,-9.3,252,4809,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1909,3484,0,0,0,0,0,0
$STATE,4926,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4926,begin apogee
$GC,4932,-0.31,0.0,501.5,9.3,255,5033,1.17,0.00,97.15,0.919,6,0.086,0.000,3093,1971,3010,0,0,0,0,0,0
$STATE,5034,end apogee,CONTROL_FINISHED_OK
$STATE,5034,begin climb
$GC,5036,1.38,116.8,503.4,0.0,257,5140,1.52,0.00,99.72,0.897,6,0.038,0.000,3464,1970,2533,0,0,0,0,0,0
$GC,5365,1.31,156.5,487.1,7.7,265,5404,0.00,2.80,34.65,0.874,4,0.000,0.061,3464,3562,2369,0,0,0,0,0,0
$GC,5439,1.20,156.5,480.0,10.7,266,5445,0.20,2.67,0.00,0.000,6,0.115,0.052,3424,1997,2367,0,0,0,0,0,0
$GC,5690,1.23,181.3,458.1,8.6,273,5715,0.00,0.00,22.48,0.851,6,0.000,0.000,3424,1997,2270,0,0,0,0,0,0
$GC,5933,1.27,214.3,438.0,8.1,279,5968,0.00,3.05,29.33,0.855,4,0.000,0.103,3424,408,2136,0,0,0,0,0,0
$GC,6017,1.22,214.3,430.7,10.1,280,6021,0.00,2.58,0.00,0.000,6,0.000,0.032,3424,1982,2133,0,0,0,0,0,0
$GC,6301,1.24,231.7,405.2,9.0,287,6325,0.00,2.72,16.17,0.816,4,0.000,0.048,3424,3579,2063,0,0,0,0,0,0
$GC,6353,1.24,231.7,399.8,10.2,288,6358,0.00,2.70,0.00,0.000,6,0.000,0.048,3424,1991,2062,0,0,0,0,0,0
$GC,6625,1.24,231.7,370.8,10.7,295,6630,0.00,2.83,0.00,0.000,4,0.000,0.081,3424,409,2059,0,0,0,0,0,0
$GC,6642,1.24,231.7,369.0,10.8,295,6646,0.00,2.55,0.00,0.000,6,0.000,0.021,3424,2004,2058,0,0,0,0,0,0
$GC,6902,1.24,231.7,341.5,10.4,302,6903,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,2004,2057,0,0,0,0,0,0
$GC,7146,1.25,237.1,317.4,9.7,308,7153,0.00,0.00,4.93,0.604,6,0.000,0.000,3424,2004,2042,0,0,0,0,0,0
$GC,7391,1.26,248.6,294.6,9.4,314,7410,0.00,2.85,11.82,0.739,4,0.000,0.060,3424,404,1995,0,0,0,0,0,0
$GC,7461,1.26,248.6,286.6,11.7,315,7465,0.00,2.53,0.00,0.000,6,0.000,0.021,3424,2005,1994,0,0,0,0,0,0
$GC,7717,1.32,248.6,259.8,10.2,322,7722,0.10,2.55,0.00,0.000,4,0.092,0.038,3452,3565,1992,0,0,0,0,0,0
$GC,7797,1.32,248.6,250.8,11.4,323,7803,0.00,2.60,0.00,0.000,6,0.000,0.037,3452,1984,1991,0,0,0,0,0,0
$GC,8047,1.32,248.6,225.0,10.4,330,8051,0.00,2.70,0.00,0.000,4,0.000,0.071,3452,410,1991,0,0,0,0,0,0
$GC,8086,1.32,248.6,220.5,12.4,331,8090,0.00,2.53,0.00,0.000,6,0.000,0.025,3452,2011,1990,0,0,0,0,0,0
$GC,8342,1.34,262.9,194.6,9.2,341,8367,0.00,2.80,13.27,0.673,4,0.000,0.064,3453,421,1937,0,0,0,0,0,0
$GC,8418,1.34,262.9,186.5,11.2,347,8424,0.00,2.47,0.00,0.000,6,0.000,0.021,3452,1995,1936,0,0,0,0,0,0
$GC,8683,1.37,284.5,162.5,8.8,372,8710,0.00,2.62,20.08,0.660,4,0.000,0.035,3452,3553,1849,0,0,0,0,0,0
$GC,8752,1.42,284.5,155.5,10.3,378,8756,0.00,2.55,0.00,0.000,6,0.000,0.031,3452,1987,1848,0,0,0,0,0,0
$GC,9016,1.48,287.6,128.7,9.9,402,9031,0.12,2.72,3.90,0.427,4,0.075,0.064,3490,415,1836,0,0,0,0,0,0
$GC,9059,1.42,287.6,123.8,12.9,405,9063,0.00,2.47,0.00,0.000,6,0.000,0.020,3490,1998,1836,0,0,0,0,0,0
$GC,9326,1.42,287.6,94.3,11.1,429,9331,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,2000,1836,0,0,0,0,0,0
$GC,9591,1.46,318.6,69.0,8.2,454,9632,0.00,2.60,27.77,0.580,4,0.000,0.031,3490,3551,1710,0,0,0,0,0,0
$GC,9676,1.54,329.9,61.3,9.4,460,9699,0.00,2.55,10.75,0.528,6,0.000,0.029,3490,2001,1665,0,0,0,0,0,0
$GC,9955,1.58,329.9,34.8,10.7,486,9959,0.00,2.50,0.00,0.000,4,0.000,0.030,3490,3550,1664,0,0,0,0,0,0
$GC,10009,1.66,329.9,28.7,11.2,490,10019,0.10,2.53,0.00,0.000,6,0.042,0.029,3527,2005,1663,0,0,0,0,0,0
$STATE,10206,end climb,SURFACE_DEPTH_REACHED
$STATE,10206,begin surface coast
$FINISH,0.4,0.979823
$STATE,10249,end surface coast,CONTROL_FINISHED_OK
$STATE,10249,begin surface
$SM_CCo,10273,41.78,0.522,0,0,1459,380.21
$SM_GC,1.18,0.00,0.00,41.78,0.000,0.000,0.522,476,1874,1459,-12.35,-0.48,380.21
$IRIDIUM_FIX,2239.35,-15802.37,080900,171712
$TT8_MAMPS,0.026078
$HUMID,62.44
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.70
$XPDR_PINGS,34
$24V_AH,23.5,37.056
$10V_AH,10.4,32.439
$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,29.825,103.275,392.025,41.775,0.000,26.198,32.368,328.696,8.500,0.000,30.774,1028.988,6686.294,508.268,1960.686,666.269,33.375,1192.435,0.000,1954.636,0.000,0.536,0.000
$DEVICE_MAMPS,138.060,127.322,918.866,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,354.927,303.001,409.199,817.137,1235.893,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,41659,524
$CAP_FILE_SIZE,104219,0
$CFSIZE,260165632,166797312
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,150611,233922,2250.250,-15802.317,9,5.8,28,10.1