version: 66.06
glider: 146
mission: 6
dive: 297
start: 6 16 111 2 46 25
data:
$ID,146
$MISSION,6
$DIVE,297
$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,-275077.25
$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,50
$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
$GPS1,023636,2250.462,-15801.915,58,0.9,58,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.4
$GPS2,024531,2250.565,-15802.077,11,1.6,16,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.205,-0.115
$KALMAN_X,-148639.4,-180.6,-99.0,139898.9,-1225.3
$KALMAN_Y,-55500.0,549.4,-581.8,67866.8,1051.2
$MHEAD_RNG_PITCHd_Wd,109.3,8730,-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,17,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-69.65,0.000,2,0.000,0.000,476,1856,3253,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.7,-6.3,9,118,12.00,2.60,-4.32,0.000,4,0.136,0.060,2850,329,3489,0,0,0,0,0,0
$GC,149,-1.12,-116.8,20.9,-23.9,16,159,0.25,2.42,0.00,0.000,6,0.117,0.015,2910,1897,3490,0,0,0,0,0,0
$GC,433,-1.08,-116.8,60.2,-13.0,45,437,0.00,2.47,0.00,0.000,4,0.000,0.026,2909,3445,3491,0,0,0,0,0,0
$GC,454,-1.08,-116.8,62.8,-12.6,46,459,0.00,2.45,0.00,0.000,6,0.000,0.025,2910,1910,3491,0,0,0,0,0,0
$GC,718,-1.08,-116.8,91.9,-8.8,70,727,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,1910,3491,0,0,0,0,0,0
$GC,984,-1.12,-116.8,119.1,-9.6,95,988,0.00,2.40,0.00,0.000,4,0.000,0.027,2910,3442,3492,0,0,0,0,0,0
$GC,1030,-1.22,-116.8,124.4,-10.3,98,1039,0.00,2.47,0.00,0.000,6,0.000,0.032,2909,1902,3492,0,0,0,0,0,0
$GC,1292,-1.29,-116.8,152.1,-10.2,123,1297,0.12,2.67,0.00,0.000,4,0.072,0.060,2863,311,3493,0,0,0,0,0,0
$GC,1328,-1.24,-116.8,156.6,-14.1,125,1334,0.12,2.42,0.00,0.000,6,0.110,0.015,2890,1920,3493,0,0,0,0,0,0
$GC,1591,-1.28,-116.8,185.7,-10.7,150,1595,0.00,2.38,0.00,0.000,4,0.000,0.027,2890,3431,3493,0,0,0,0,0,0
$GC,1635,-1.38,-116.8,190.5,-10.5,153,1645,0.10,2.42,0.00,0.000,6,0.040,0.023,2841,1910,3493,0,0,0,0,0,0
$GC,1919,-1.34,-116.8,225.6,-12.3,166,1924,0.12,2.70,0.00,0.000,4,0.106,0.066,2868,314,3493,0,0,0,0,0,0
$GC,1952,-1.34,-116.8,229.8,-12.2,166,1957,0.00,2.42,0.00,0.000,6,0.000,0.016,2869,1906,3493,0,0,0,0,0,0
$GC,2203,-1.34,-116.8,256.2,-10.4,173,2204,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1906,3493,0,0,0,0,0,0
$GC,2446,-1.38,-116.8,280.7,-10.0,179,2450,0.00,2.42,0.00,0.000,4,0.000,0.037,2869,3442,3493,0,0,0,0,0,0
$GC,2507,-1.48,-116.8,287.3,-10.5,180,2512,0.12,2.42,0.00,0.000,6,0.065,0.027,2815,1923,3493,0,0,0,0,0,0
$GC,2769,-1.48,-116.8,317.9,-11.8,187,2771,0.10,0.00,0.00,0.000,6,0.115,0.000,2837,1923,3493,0,0,0,0,0,0
$GC,3011,-1.48,-116.8,343.9,-10.5,193,3013,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1922,3493,0,0,0,0,0,0
$GC,3255,-1.48,-116.8,368.7,-10.1,199,3256,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1922,3492,0,0,0,0,0,0
$GC,3500,-1.48,-116.8,392.0,-9.4,205,3505,0.00,2.50,0.00,0.000,4,0.000,0.048,2836,3443,3491,0,0,0,0,0,0
$GC,3522,-1.48,-116.8,394.3,-9.4,205,3527,0.00,2.55,0.00,0.000,6,0.000,0.048,2837,1918,3491,0,0,0,0,0,0
$GC,3778,-1.48,-116.8,417.8,-9.0,212,3783,0.00,2.92,0.00,0.000,4,0.000,0.100,2836,307,3490,0,0,0,0,0,0
$GC,3799,-1.48,-116.8,419.9,-9.2,212,3804,0.00,2.53,0.00,0.000,6,0.000,0.031,2836,1871,3489,0,0,0,0,0,0
$GC,4057,-1.48,-116.8,442.3,-8.8,219,4061,0.00,2.70,0.00,0.000,4,0.000,0.055,2836,3478,3488,0,0,0,0,0,0
$GC,4084,-1.53,-116.8,445.1,-8.8,219,4089,0.00,2.62,0.00,0.000,6,0.000,0.051,2836,1913,3488,0,0,0,0,0,0
$GC,4336,-1.57,-116.8,466.7,-8.6,225,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1912,3486,0,0,0,0,0,0
$GC,4578,-1.61,-116.8,489.0,-9.2,231,4584,0.12,2.62,0.00,0.000,4,0.075,0.053,2797,3468,3484,0,0,0,0,0,0
$GC,4618,-1.61,-116.8,493.2,-11.2,232,4622,0.00,2.62,0.00,0.000,6,0.000,0.058,2796,1921,3484,0,0,0,0,0,0
$STATE,4695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4695,begin apogee
$GC,4703,-0.31,0.0,501.3,10.1,234,4803,1.30,0.00,96.85,0.912,6,0.076,0.000,3092,2021,3010,0,0,0,0,0,0
$STATE,4804,end apogee,CONTROL_FINISHED_OK
$STATE,4804,begin climb
$GC,4807,1.38,116.8,503.7,0.0,236,4915,1.55,2.67,98.88,0.890,4,0.044,0.058,3466,3549,2531,0,0,0,0,0,0
$GC,4979,1.27,131.2,499.2,9.2,240,4999,0.15,2.67,12.85,0.805,6,0.121,0.055,3437,1994,2474,0,0,0,0,0,0
$GC,5262,1.26,175.4,476.9,7.5,247,5307,0.00,2.72,38.88,0.866,4,0.000,0.047,3437,3551,2293,0,0,0,0,0,0
$GC,5361,1.24,196.2,468.7,8.8,249,5385,0.00,2.67,19.33,0.829,6,0.000,0.051,3437,1995,2209,0,0,0,0,0,0
$GC,5631,1.25,204.9,443.1,9.5,255,5645,0.00,2.67,8.25,0.740,4,0.000,0.042,3437,3551,2174,0,0,0,0,0,0
$GC,5658,1.26,214.0,440.6,9.5,255,5674,0.00,2.67,9.70,0.759,6,0.000,0.052,3437,1991,2137,0,0,0,0,0,0
$GC,5918,1.26,214.0,414.2,10.3,262,5919,0.00,0.00,0.00,0.000,6,0.000,0.000,3437,1991,2133,0,0,0,0,0,0
$GC,6161,1.26,214.0,386.5,11.5,268,6166,0.00,2.88,0.00,0.000,4,0.000,0.088,3437,400,2130,0,0,0,0,0,0
$GC,6190,1.21,214.0,383.0,12.8,268,6194,0.00,2.55,0.00,0.000,6,0.000,0.028,3437,1984,2129,0,0,0,0,0,0
$GC,6439,1.21,214.0,354.9,10.9,274,6444,0.00,2.60,0.00,0.000,4,0.000,0.041,3437,3575,2129,0,0,0,0,0,0
$GC,6478,1.21,214.0,350.8,10.4,275,6483,0.00,2.62,0.00,0.000,6,0.000,0.041,3437,1995,2127,0,0,0,0,0,0
$GC,6763,1.22,226.7,323.7,9.3,282,6776,0.00,0.00,11.23,0.746,6,0.000,0.000,3437,1995,2084,0,0,0,0,0,0
$GC,7005,1.23,231.0,299.2,9.8,288,7011,0.00,0.00,4.78,0.579,6,0.000,0.000,3437,1995,2068,0,0,0,0,0,0
$GC,7248,1.27,266.0,278.5,8.0,294,7290,0.00,2.67,32.50,0.765,4,0.000,0.040,3437,3567,1924,0,0,0,0,0,0
$GC,7349,1.33,269.2,269.2,9.9,296,7358,0.00,2.60,3.83,0.479,6,0.000,0.034,3437,1994,1912,0,0,0,0,0,0
$GC,7626,1.38,269.2,241.3,10.1,303,7631,0.10,2.75,0.00,0.000,4,0.092,0.065,3466,415,1909,0,0,0,0,0,0
$GC,7648,1.38,269.2,238.6,11.7,303,7652,0.00,2.53,0.00,0.000,6,0.000,0.025,3466,2023,1909,0,0,0,0,0,0
$GC,7904,1.38,269.2,210.1,10.9,310,7909,0.00,2.75,0.00,0.000,4,0.000,0.055,3465,409,1909,0,0,0,0,0,0
$GC,8004,1.38,269.2,198.2,11.3,312,8008,0.00,2.50,0.00,0.000,6,0.000,0.020,3465,2002,1907,0,0,0,0,0,0
$GC,8275,1.40,281.4,174.0,9.3,336,8292,0.00,2.58,11.70,0.634,4,0.000,0.039,3466,3552,1862,0,0,0,0,0,0
$GC,8338,1.40,281.4,167.2,10.4,341,8344,0.00,2.55,0.00,0.000,6,0.000,0.036,3465,1991,1859,0,0,0,0,0,0
$GC,8602,1.40,281.4,139.5,10.6,366,8603,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,1991,1859,0,0,0,0,0,0
$GC,8854,1.44,281.4,112.3,10.6,390,8859,0.00,2.67,0.00,0.000,4,0.000,0.062,3465,410,1859,0,0,0,0,0,0
$GC,8901,1.44,281.4,107.7,11.6,393,8905,0.00,2.47,0.00,0.000,6,0.000,0.018,3466,2009,1857,0,0,0,0,0,0
$GC,9168,1.51,292.4,81.2,9.4,417,9184,0.10,2.47,10.82,0.547,4,0.092,0.037,3496,3550,1816,0,0,0,0,0,0
$GC,9251,1.51,292.4,73.1,10.8,423,9256,0.00,2.50,0.00,0.000,6,0.000,0.030,3496,2003,1815,0,0,0,0,0,0
$GC,9518,1.53,313.5,48.6,8.8,447,9546,0.00,2.72,19.10,0.545,4,0.000,0.052,3496,420,1731,0,0,0,0,0,0
$GC,9589,1.53,313.5,41.7,10.2,452,9593,0.00,2.47,0.00,0.000,6,0.000,0.018,3496,2011,1729,0,0,0,0,0,0
$GC,9896,1.58,317.0,11.6,9.8,489,9905,0.00,0.00,4.53,0.386,6,0.000,0.000,3496,2013,1716,0,0,0,0,0,0
$STATE,9973,end climb,SURFACE_DEPTH_REACHED
$STATE,9973,begin surface coast
$FINISH,0.5,0.975053
$STATE,10017,end surface coast,CONTROL_FINISHED_OK
$STATE,10018,begin surface
$SM_CCo,10041,51.33,0.518,0,0,1460,380.21
$SM_GC,1.29,0.00,0.00,51.33,0.000,0.000,0.518,476,1865,1460,-12.35,-0.71,380.21
$IRIDIUM_FIX,2241.69,-15801.49,080900,232330
$TT8_MAMPS,0.026078
$HUMID,61.14
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,22.30
$XPDR_PINGS,46
$24V_AH,23.5,37.301
$10V_AH,10.4,32.664
$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,28.450,119.100,383.200,51.325,0.000,30.090,36.838,332.808,11.500,0.000,17.568,1030.640,6513.339,484.749,1911.849,689.547,33.360,1198.392,0.000,1916.902,0.000,0.535,0.000
$DEVICE_MAMPS,135.759,100.477,911.963,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,342.799,284.526,393.168,750.005,1135.675,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,41467,506
$CAP_FILE_SIZE,109409,0
$CFSIZE,260165632,166686720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160611,053541,2250.186,-15801.559,7,1.9,22,10.1