version: 66.06
glider: 146
mission: 6
dive: 298
start: 6 16 111 5 46 55
data:
$ID,146
$MISSION,6
$DIVE,298
$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,-275096.06
$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,48
$R_STBD_OVSHOOT,62
$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
$GPS1,053541,2250.186,-15801.559,7,1.9,22,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-67.6
$GPS2,054601,2250.296,-15801.695,11,1.8,16,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,-0.100
$KALMAN_X,-150062.0,-1.2,-237.6,141934.1,-791.6
$KALMAN_Y,-55283.6,688.7,-272.9,66712.2,907.6
$MHEAD_RNG_PITCHd_Wd,105.2,8034,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-69.50,0.000,2,0.000,0.000,476,1866,3217,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.2,-5.0,9,117,11.98,2.55,-5.10,0.000,4,0.135,0.058,2849,333,3489,0,0,0,0,0,0
$GC,156,-1.14,-116.8,22.0,-23.3,17,166,0.25,2.40,0.00,0.000,6,0.098,0.021,2906,1891,3490,0,0,0,0,0,0
$GC,438,-1.09,-116.8,65.0,-14.6,45,442,0.00,2.47,0.00,0.000,4,0.000,0.032,2906,3448,3491,0,0,0,0,0,0
$GC,472,-1.09,-116.8,69.7,-13.8,47,476,0.00,2.45,0.00,0.000,6,0.000,0.023,2906,1908,3491,0,0,0,0,0,0
$GC,738,-1.09,-116.8,101.2,-10.5,71,743,0.00,2.40,0.00,0.000,4,0.000,0.025,2906,3443,3492,0,0,0,0,0,0
$GC,774,-1.16,-116.8,105.4,-10.3,73,779,0.00,2.42,0.00,0.000,6,0.000,0.032,2906,1913,3492,0,0,0,0,0,0
$GC,1037,-1.20,-116.8,134.7,-11.7,98,1038,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1913,3492,0,0,0,0,0,0
$GC,1293,-1.27,-116.8,160.8,-8.6,122,1298,0.00,0.00,0.00,0.000,6,0.000,0.000,2906,1913,3493,0,0,0,0,0,0
$GC,1555,-1.33,-116.8,186.0,-10.7,147,1560,0.15,2.45,0.00,0.000,4,0.062,0.027,2849,3443,3493,0,0,0,0,0,0
$GC,1629,-1.33,-116.8,195.1,-12.0,153,1633,0.00,2.40,0.00,0.000,6,0.000,0.030,2849,1924,3493,0,0,0,0,0,0
$GC,1882,-1.33,-116.8,226.3,-12.4,162,1887,0.00,2.72,0.00,0.000,4,0.000,0.065,2849,313,3493,0,0,0,0,0,0
$GC,1898,-1.33,-116.8,228.7,-12.1,162,1903,0.00,2.45,0.00,0.000,6,0.000,0.021,2849,1927,3493,0,0,0,0,0,0
$GC,2160,-1.33,-116.8,259.9,-11.4,169,2161,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1927,3493,0,0,0,0,0,0
$GC,2405,-1.33,-116.8,283.0,-9.0,175,2409,0.00,2.40,0.00,0.000,4,0.000,0.034,2849,3446,3493,0,0,0,0,0,0
$GC,2438,-1.39,-116.8,285.9,-8.1,175,2443,0.00,2.45,0.00,0.000,6,0.000,0.032,2849,1920,3493,0,0,0,0,0,0
$GC,2688,-1.39,-116.8,306.8,-8.6,182,2689,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1919,3493,0,0,0,0,0,0
$GC,2933,-1.39,-116.8,331.2,-10.2,188,2934,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1920,3493,0,0,0,0,0,0
$GC,3175,-1.44,-116.8,356.4,-10.4,194,3177,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1919,3491,0,0,0,0,0,0
$GC,3419,-1.49,-116.8,380.8,-9.8,200,3424,0.00,2.45,0.00,0.000,4,0.000,0.040,2849,3433,3490,0,0,0,0,0,0
$GC,3447,-1.56,-116.8,383.6,-10.0,200,3452,0.12,2.50,0.00,0.000,6,0.068,0.050,2805,1924,3490,0,0,0,0,0,0
$GC,3698,-1.56,-116.8,410.7,-10.7,206,3703,0.00,2.95,0.00,0.000,4,0.000,0.097,2804,306,3488,0,0,0,0,0,0
$GC,3726,-1.50,-116.8,413.9,-11.1,206,3731,0.12,2.53,0.00,0.000,6,0.115,0.035,2831,1868,3488,0,0,0,0,0,0
$GC,3977,-1.50,-116.8,436.4,-8.9,212,3978,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1869,3486,0,0,0,0,0,0
$GC,4219,-1.50,-116.8,458.6,-9.1,218,4224,0.00,2.70,0.00,0.000,4,0.000,0.063,2830,3474,3485,0,0,0,0,0,0
$GC,4235,-1.50,-116.8,460.1,-9.2,218,4240,0.00,2.62,0.00,0.000,6,0.000,0.050,2830,1916,3485,0,0,0,0,0,0
$GC,4497,-1.50,-116.8,482.3,-8.5,225,4501,0.00,2.60,0.00,0.000,4,0.000,0.051,2830,3471,3483,0,0,0,0,0,0
$GC,4542,-1.56,-116.8,486.3,-8.7,226,4547,0.00,2.65,0.00,0.000,6,0.000,0.060,2831,1922,3483,0,0,0,0,0,0
$STATE,4695,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4695,begin apogee
$GC,4701,-0.31,0.0,500.6,9.1,230,4802,1.15,0.00,96.70,0.916,6,0.077,0.000,3092,2019,3010,0,0,0,0,0,0
$STATE,4802,end apogee,CONTROL_FINISHED_OK
$STATE,4802,begin climb
$GC,4806,1.38,116.8,503.2,0.0,232,4915,1.58,2.65,99.18,0.894,4,0.042,0.060,3468,3549,2532,0,0,0,0,0,0
$GC,4932,1.38,224.7,504.3,3.8,235,5036,0.00,2.67,92.62,0.884,6,0.000,0.054,3468,1989,2093,0,0,0,0,0,0
$GC,5309,1.29,224.7,465.1,11.6,245,5314,0.12,2.65,0.00,0.000,4,0.124,0.045,3442,3559,2085,0,0,0,0,0,0
$GC,5384,1.29,224.7,456.6,10.8,246,5388,0.00,2.67,0.00,0.000,6,0.000,0.051,3442,2002,2082,0,0,0,0,0,0
$GC,5633,1.29,224.7,428.5,11.2,252,5635,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,2002,2081,0,0,0,0,0,0
$GC,5877,1.29,224.7,401.8,11.0,258,5882,0.00,2.92,0.00,0.000,4,0.000,0.094,3442,400,2080,0,0,0,0,0,0
$GC,5893,1.24,224.7,399.8,11.3,258,5898,0.00,2.58,0.00,0.000,6,0.000,0.024,3442,1991,2078,0,0,0,0,0,0
$GC,6155,1.24,224.7,370.5,11.2,265,6159,0.00,2.75,0.00,0.000,4,0.000,0.065,3442,400,2078,0,0,0,0,0,0
$GC,6204,1.18,224.7,364.0,13.0,266,6210,0.12,2.58,0.00,0.000,6,0.127,0.027,3418,2004,2077,0,0,0,0,0,0
$GC,6477,1.19,232.5,337.3,9.6,273,6487,0.00,2.60,5.10,0.618,4,0.000,0.042,3418,3573,2062,0,0,0,0,0,0
$GC,6499,1.20,244.8,335.2,9.3,273,6519,0.00,2.65,13.30,0.767,6,0.000,0.037,3418,1984,2010,0,0,0,0,0,0
$GC,6806,1.26,253.2,305.2,9.6,281,6820,0.00,2.85,8.27,0.695,4,0.000,0.075,3417,404,1976,0,0,0,0,0,0
$GC,6844,1.26,253.2,301.0,10.8,281,6850,0.00,2.55,0.00,0.000,6,0.000,0.021,3417,1997,1975,0,0,0,0,0,0
$GC,7094,1.32,260.6,276.5,9.6,288,7109,0.12,2.62,8.00,0.682,4,0.078,0.044,3451,3556,1947,0,0,0,0,0,0
$GC,7127,1.33,265.3,273.3,9.8,288,7138,0.00,2.60,5.97,0.621,6,0.000,0.032,3452,1982,1927,0,0,0,0,0,0
$GC,7383,1.34,275.2,248.9,9.5,295,7396,0.00,0.00,10.43,0.694,6,0.000,0.000,3452,1981,1886,0,0,0,0,0,0
$GC,7626,1.35,278.3,224.8,9.9,301,7635,0.00,2.65,3.70,0.463,4,0.000,0.034,3452,3567,1875,0,0,0,0,0,0
$GC,7657,1.35,278.3,221.2,11.2,301,7662,0.00,2.60,0.00,0.000,6,0.000,0.038,3452,1987,1875,0,0,0,0,0,0
$GC,7915,1.35,278.3,193.9,10.9,310,7919,0.00,2.70,0.00,0.000,4,0.000,0.067,3452,416,1873,0,0,0,0,0,0
$GC,7942,1.35,278.3,189.9,12.9,312,7947,0.00,2.45,0.00,0.000,6,0.000,0.025,3452,1991,1872,0,0,0,0,0,0
$GC,8207,1.38,278.3,160.6,10.9,336,8211,0.00,2.67,0.00,0.000,4,0.000,0.056,3453,415,1872,0,0,0,0,0,0
$GC,8228,1.38,278.3,158.3,11.3,337,8232,0.00,2.45,0.00,0.000,6,0.000,0.019,3452,1986,1872,0,0,0,0,0,0
$GC,8495,1.44,278.3,128.6,11.4,361,8500,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1987,1872,0,0,0,0,0,0
$GC,8758,1.51,283.5,101.7,9.7,386,8768,0.15,0.00,5.32,0.491,6,0.068,0.000,3496,1987,1855,0,0,0,0,0,0
$GC,9028,1.54,310.2,74.6,8.5,411,9057,0.00,0.00,25.23,0.586,6,0.000,0.000,3497,1987,1743,0,0,0,0,0,0
$GC,9315,1.54,310.2,45.6,10.6,438,9319,0.00,2.53,0.00,0.000,4,0.000,0.031,3497,3558,1740,0,0,0,0,0,0
$GC,9338,1.60,326.5,42.7,9.1,439,9361,0.00,2.60,14.90,0.538,6,0.000,0.028,3497,1968,1678,0,0,0,0,0,0
$GC,9655,1.60,326.5,9.4,11.2,479,9664,0.00,2.62,0.00,0.000,4,0.000,0.053,3497,415,1675,0,0,0,0,0,0
$GC,9688,1.60,326.5,5.1,12.9,483,9697,0.00,2.45,0.00,0.000,6,0.000,0.019,3497,1976,1675,0,0,0,0,0,0
$STATE,9705,end climb,SURFACE_DEPTH_REACHED
$STATE,9705,begin surface coast
$FINISH,0.5,0.977484
$STATE,9754,end surface coast,CONTROL_FINISHED_OK
$STATE,9754,begin surface
$SM_CCo,9778,43.38,0.524,0,0,1459,380.21
$SM_GC,1.33,0.00,0.00,43.38,0.000,0.000,0.524,475,1867,1459,-12.35,-0.65,380.21
$IRIDIUM_FIX,2244.02,-15759.32,090900,050538
$TT8_MAMPS,0.026078
$HUMID,62.44
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.50
$XPDR_PINGS,43
$24V_AH,23.5,37.422
$10V_AH,10.3,32.776
$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,28.075,113.925,388.725,43.375,0.000,56.388,81.625,276.971,10.750,0.000,18.193,981.595,6486.602,474.865,1796.785,703.519,33.365,1153.102,0.000,1801.837,0.000,0.535,0.000
$DEVICE_MAMPS,134.992,167.973,915.798,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,332.819,289.111,381.963,726.553,1099.119,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,38424,492
$CAP_FILE_SIZE,105575,0
$CFSIZE,260165632,166641664
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160611,083154,2249.753,-15801.145,36,1.0,36,10.1