version: 66.06
glider: 146
mission: 6
dive: 296
start: 6 15 111 23 51 42
data:
$ID,146
$MISSION,6
$DIVE,296
$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,-275059.06
$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,42
$R_STBD_OVSHOOT,58
$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
$GPS1,233922,2250.250,-15802.317,9,5.8,28,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.3
$GPS2,235046,2250.377,-15802.549,11,4.1,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.235,-0.009
$KALMAN_X,-147259.5,-311.2,184.4,137561.9,-1513.6
$KALMAN_Y,-56227.2,106.6,153.7,67953.8,32.0
$MHEAD_RNG_PITCHd_Wd,82.2,9497,-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,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.60,0.000,2,0.000,0.000,475,1873,3251,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.4,-5.6,9,117,11.95,2.55,-4.45,0.000,4,0.134,0.039,2853,3458,3488,0,0,0,0,0,0
$GC,189,-1.30,-116.8,26.0,-16.8,22,199,0.08,2.53,0.00,0.000,6,0.094,0.026,2873,1900,3490,0,0,0,0,0,0
$GC,462,-1.20,-116.8,71.2,-16.7,48,467,0.12,2.47,0.00,0.000,4,0.124,0.026,2898,3450,3491,0,0,0,0,0,0
$GC,534,-1.20,-116.8,81.4,-12.3,53,538,0.00,2.45,0.00,0.000,6,0.000,0.031,2898,1899,3491,0,0,0,0,0,0
$GC,800,-1.20,-116.8,113.3,-11.7,77,804,0.00,2.47,0.00,0.000,4,0.000,0.032,2898,3458,3491,0,0,0,0,0,0
$GC,858,-1.28,-116.8,120.3,-10.7,81,864,0.00,2.45,0.00,0.000,6,0.000,0.025,2898,1903,3491,0,0,0,0,0,0
$GC,1122,-1.32,-116.8,149.5,-11.3,106,1127,0.10,2.67,0.00,0.000,4,0.082,0.058,2851,314,3492,0,0,0,0,0,0
$GC,1179,-1.27,-116.8,157.5,-13.7,110,1185,0.15,2.42,0.00,0.000,6,0.104,0.020,2884,1930,3492,0,0,0,0,0,0
$GC,1443,-1.31,-116.8,186.6,-10.6,135,1447,0.00,2.38,0.00,0.000,4,0.000,0.034,2884,3439,3493,0,0,0,0,0,0
$GC,1489,-1.38,-116.8,191.9,-11.1,138,1498,0.08,2.45,0.00,0.000,6,0.043,0.029,2841,1908,3493,0,0,0,0,0,0
$GC,1762,-1.38,-116.8,224.1,-11.4,150,1767,0.00,2.67,0.00,0.000,4,0.000,0.065,2840,316,3493,0,0,0,0,0,0
$GC,1812,-1.34,-116.8,230.3,-11.8,151,1817,0.12,2.40,0.00,0.000,6,0.114,0.015,2867,1889,3493,0,0,0,0,0,0
$GC,2086,-1.38,-116.8,256.3,-9.5,158,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1890,3493,0,0,0,0,0,0
$GC,2328,-1.44,-116.8,279.5,-9.4,164,2332,0.00,2.47,0.00,0.000,4,0.000,0.036,2867,3441,3493,0,0,0,0,0,0
$GC,2379,-1.53,-116.8,284.1,-8.6,165,2384,0.17,2.47,0.00,0.000,6,0.054,0.028,2807,1901,3493,0,0,0,0,0,0
$GC,2653,-1.49,-116.8,314.8,-11.4,172,2658,0.12,2.78,0.00,0.000,4,0.107,0.079,2833,315,3493,0,0,0,0,0,0
$GC,2680,-1.45,-116.8,318.5,-11.6,172,2685,0.00,2.45,0.00,0.000,6,0.000,0.021,2834,1872,3492,0,0,0,0,0,0
$GC,2930,-1.45,-116.8,344.1,-10.2,178,2934,0.00,2.58,0.00,0.000,4,0.000,0.042,2833,3465,3491,0,0,0,0,0,0
$GC,2971,-1.49,-116.8,348.0,-9.9,179,2976,0.00,2.55,0.00,0.000,6,0.000,0.041,2834,1910,3491,0,0,0,0,0,0
$GC,3254,-1.49,-116.8,375.4,-9.6,186,3259,0.00,2.53,0.00,0.000,4,0.000,0.040,2834,3468,3490,0,0,0,0,0,0
$GC,3296,-1.53,-116.8,379.5,-10.1,187,3300,0.00,2.62,0.00,0.000,6,0.000,0.047,2834,1901,3490,0,0,0,0,0,0
$GC,3579,-1.53,-116.8,406.4,-9.3,194,3580,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1901,3488,0,0,0,0,0,0
$GC,3823,-1.53,-116.8,428.8,-9.3,200,3827,0.00,2.58,0.00,0.000,4,0.000,0.046,2834,3460,3486,0,0,0,0,0,0
$GC,3874,-1.60,-116.8,433.6,-9.5,201,3878,0.00,2.62,0.00,0.000,6,0.000,0.058,2834,1913,3486,0,0,0,0,0,0
$GC,4146,-1.60,-116.8,460.1,-10.0,208,4147,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1913,3484,0,0,0,0,0,0
$GC,4390,-1.64,-116.8,483.8,-9.6,214,4392,0.12,0.00,0.00,0.000,6,0.074,0.000,2786,1913,3483,0,0,0,0,0,0
$STATE,4549,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4549,begin apogee
$GC,4557,-0.31,0.0,502.1,11.3,218,4657,1.33,0.00,96.43,0.919,6,0.077,0.000,3088,2011,3010,0,0,0,0,0,0
$STATE,4658,end apogee,CONTROL_FINISHED_OK
$STATE,4658,begin climb
$GC,4660,1.38,116.8,504.7,0.0,220,4769,1.55,3.08,98.80,0.895,4,0.039,0.103,3463,407,2533,0,0,0,0,0,0
$GC,4788,1.30,190.7,502.3,5.8,223,4858,0.00,2.58,64.12,0.877,6,0.000,0.032,3463,1972,2232,0,0,0,0,0,0
$GC,5103,1.22,190.7,469.2,11.1,230,5109,0.17,2.75,0.00,0.000,4,0.116,0.058,3427,3574,2223,0,0,0,0,0,0
$GC,5172,1.23,202.5,462.7,9.4,231,5188,0.00,2.70,10.27,0.778,6,0.000,0.051,3427,1994,2184,0,0,0,0,0,0
$GC,5431,1.25,219.9,439.3,9.0,238,5450,0.00,0.00,16.65,0.825,6,0.000,0.000,3427,1994,2113,0,0,0,0,0,0
$GC,5675,1.26,227.1,415.9,9.6,244,5684,0.00,0.00,7.15,0.716,6,0.000,0.000,3427,1994,2084,0,0,0,0,0,0
$GC,5920,1.27,235.2,392.5,9.6,250,5934,0.00,2.92,8.60,0.743,4,0.000,0.087,3427,402,2050,0,0,0,0,0,0
$GC,5958,1.23,235.2,388.3,11.2,250,5963,0.00,2.62,0.00,0.000,6,0.000,0.028,3427,2019,2049,0,0,0,0,0,0
$GC,6207,1.23,235.2,362.1,10.7,257,6212,0.00,2.58,0.00,0.000,4,0.000,0.041,3427,3585,2048,0,0,0,0,0,0
$GC,6241,1.23,235.2,358.5,10.3,257,6247,0.00,2.65,0.00,0.000,6,0.000,0.042,3427,1995,2046,0,0,0,0,0,0
$GC,6491,1.23,235.2,332.7,10.4,264,6492,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1995,2046,0,0,0,0,0,0
$GC,6734,1.25,248.5,310.0,9.3,270,6749,0.00,0.00,12.52,0.751,6,0.000,0.000,3427,1995,1996,0,0,0,0,0,0
$GC,6980,1.25,253.3,286.1,9.8,276,6990,0.00,2.78,5.50,0.614,4,0.000,0.072,3427,410,1976,0,0,0,0,0,0
$GC,7035,1.25,253.3,279.7,11.4,277,7039,0.00,2.55,0.00,0.000,6,0.000,0.020,3427,2019,1975,0,0,0,0,0,0
$GC,7302,1.31,260.7,252.7,9.6,284,7317,0.00,2.58,8.15,0.670,4,0.000,0.038,3427,3556,1947,0,0,0,0,0,0
$GC,7359,1.39,265.0,247.4,9.8,285,7371,0.15,2.58,5.60,0.593,6,0.072,0.037,3469,1995,1929,0,0,0,0,0,0
$GC,7632,1.39,265.0,218.9,10.4,292,7637,0.00,2.72,0.00,0.000,4,0.000,0.066,3469,415,1927,0,0,0,0,0,0
$GC,7673,1.34,265.0,214.4,11.8,293,7677,0.00,2.53,0.00,0.000,6,0.000,0.019,3469,2015,1926,0,0,0,0,0,0
$GC,7929,1.34,265.0,186.8,10.7,306,7934,0.00,2.72,0.00,0.000,4,0.000,0.055,3469,413,1926,0,0,0,0,0,0
$GC,7985,1.30,265.0,181.0,12.3,310,7990,0.12,2.47,0.00,0.000,6,0.123,0.025,3444,2005,1925,0,0,0,0,0,0
$GC,8250,1.37,274.3,155.0,9.5,334,8264,0.00,2.53,9.15,0.610,4,0.000,0.034,3444,3562,1891,0,0,0,0,0,0
$GC,8322,1.46,275.8,147.6,10.0,340,8331,0.10,2.58,0.00,0.000,6,0.044,0.036,3480,2001,1890,0,0,0,0,0,0
$GC,8589,1.48,291.0,121.7,9.2,365,8614,0.00,2.78,16.08,0.614,4,0.000,0.063,3481,411,1821,0,0,0,0,0,0
$GC,8643,1.48,291.0,115.1,11.3,369,8649,0.00,2.47,0.00,0.000,6,0.000,0.018,3481,2006,1820,0,0,0,0,0,0
$GC,8907,1.48,291.0,87.6,10.1,394,8911,0.00,2.47,0.00,0.000,4,0.000,0.035,3480,3553,1819,0,0,0,0,0,0
$GC,8999,1.54,291.4,78.5,10.0,401,9003,0.00,2.47,0.00,0.000,6,0.000,0.031,3481,2012,1818,0,0,0,0,0,0
$GC,9267,1.64,313.8,52.6,8.7,425,9297,0.15,0.00,20.45,0.555,6,0.066,0.000,3525,2011,1729,0,0,0,0,0,0
$GC,9575,1.64,313.8,16.5,12.6,460,9584,0.00,2.53,0.00,0.000,4,0.000,0.036,3525,3556,1727,0,0,0,0,0,0
$GC,9643,1.64,313.8,7.6,12.7,469,9653,0.00,2.50,0.00,0.000,6,0.000,0.029,3525,2029,1726,0,0,0,0,0,0
$STATE,9674,end climb,SURFACE_DEPTH_REACHED
$STATE,9674,begin surface coast
$FINISH,0.5,0.974728
$STATE,9717,end surface coast,CONTROL_FINISHED_OK
$STATE,9717,begin surface
$SM_CCo,9740,53.90,0.523,0,0,1459,380.21
$SM_GC,1.38,0.00,0.00,53.90,0.000,0.000,0.523,476,1857,1459,-12.35,-0.93,380.21
$IRIDIUM_FIX,2241.69,-15804.53,080900,232311
$TT8_MAMPS,0.025311
$HUMID,61.65
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.80
$XPDR_PINGS,48
$24V_AH,23.5,37.180
$10V_AH,10.3,32.549
$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,28.975,119.050,379.475,53.900,0.000,54.803,82.688,325.913,12.000,0.000,32.343,980.096,6445.966,496.432,1813.182,746.972,33.379,1186.046,0.000,1799.505,0.000,0.536,0.000
$DEVICE_MAMPS,134.225,180.245,918.866,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,324.143,268.998,366.334,687.008,1039.013,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,38262,479
$CAP_FILE_SIZE,107926,0
$CFSIZE,260165632,166744064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160611,023636,2250.462,-15801.915,58,0.9,58,10.1