version: 66.06
glider: 146
mission: 6
dive: 301
start: 6 16 111 14 29 42
data:
$ID,146
$MISSION,6
$DIVE,301
$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,-275166.78
$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,51
$R_STBD_OVSHOOT,64
$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
$GPS1,142130,2249.917,-15800.682,40,1.9,45,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.9
$GPS2,142849,2249.882,-15800.820,16,1.9,33,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.235,-0.000
$KALMAN_X,-155184.7,-41.3,-93.1,148451.2,-1762.8
$KALMAN_Y,-55139.0,-676.2,-308.7,67198.7,24.1
$MHEAD_RNG_PITCHd_Wd,80.0,6525,-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,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.53,0.000,2,0.000,0.000,472,1855,3240,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.5,-5.5,9,119,12.02,2.58,-4.45,0.000,4,0.137,0.036,2851,3445,3489,0,0,0,0,0,0
$GC,150,-1.21,-116.8,22.2,-24.4,16,160,0.15,2.47,0.00,0.000,6,0.079,0.025,2889,1911,3491,0,0,0,0,0,0
$GC,430,-1.16,-116.8,62.7,-14.6,44,439,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1911,3492,0,0,0,0,0,0
$GC,695,-1.16,-116.8,100.1,-13.5,69,699,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1911,3493,0,0,0,0,0,0
$GC,957,-1.16,-116.8,132.6,-11.6,94,961,0.00,2.42,0.00,0.000,4,0.000,0.032,2889,3453,3493,0,0,0,0,0,0
$GC,986,-1.21,-116.8,136.2,-12.0,96,990,0.00,2.50,0.00,0.000,6,0.000,0.032,2890,1883,3493,0,0,0,0,0,0
$GC,1249,-1.26,-116.8,165.3,-11.6,120,1253,0.00,2.45,0.00,0.000,4,0.000,0.032,2890,3446,3494,0,0,0,0,0,0
$GC,1279,-1.34,-116.8,168.8,-11.3,122,1284,0.00,2.45,0.00,0.000,6,0.000,0.031,2889,1884,3494,0,0,0,0,0,0
$GC,1542,-1.40,-116.8,197.2,-10.9,146,1547,0.15,2.47,0.00,0.000,4,0.066,0.029,2837,3446,3495,0,0,0,0,0,0
$GC,1616,-1.40,-116.8,206.4,-12.1,149,1621,0.00,2.42,0.00,0.000,6,0.000,0.024,2837,1903,3495,0,0,0,0,0,0
$GC,1866,-1.40,-116.8,238.3,-13.1,155,1870,0.00,2.67,0.00,0.000,4,0.000,0.066,2837,318,3495,0,0,0,0,0,0
$GC,1882,-1.36,-116.8,240.6,-12.7,155,1887,0.12,2.40,0.00,0.000,6,0.114,0.021,2863,1896,3495,0,0,0,0,0,0
$GC,2145,-1.40,-116.8,266.7,-9.7,162,2149,0.00,2.45,0.00,0.000,4,0.000,0.038,2863,3449,3495,0,0,0,0,0,0
$GC,2178,-1.48,-116.8,270.2,-9.3,162,2184,0.10,2.45,0.00,0.000,6,0.084,0.028,2822,1902,3495,0,0,0,0,0,0
$GC,2427,-1.48,-116.8,301.4,-13.1,169,2428,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1902,3495,0,0,0,0,0,0
$GC,2672,-1.48,-116.8,330.8,-11.7,175,2677,0.00,2.50,0.00,0.000,4,0.000,0.034,2822,3450,3494,0,0,0,0,0,0
$GC,2728,-1.48,-116.8,337.1,-10.8,176,2732,0.00,2.53,0.00,0.000,6,0.000,0.038,2822,1914,3494,0,0,0,0,0,0
$GC,2994,-1.48,-116.8,365.5,-11.0,183,2998,0.00,2.47,0.00,0.000,4,0.000,0.038,2822,3442,3493,0,0,0,0,0,0
$GC,3016,-1.48,-116.8,368.1,-11.5,183,3021,0.00,2.55,0.00,0.000,6,0.000,0.049,2822,1905,3493,0,0,0,0,0,0
$GC,3271,-1.48,-116.8,397.3,-11.4,190,3275,0.00,2.53,0.00,0.000,4,0.000,0.041,2822,3440,3492,0,0,0,0,0,0
$GC,3292,-1.48,-116.8,400.0,-11.7,190,3296,0.00,2.53,0.00,0.000,6,0.000,0.051,2822,1919,3492,0,0,0,0,0,0
$GC,3549,-1.48,-116.8,430.3,-11.8,197,3553,0.00,2.50,0.00,0.000,4,0.000,0.049,2822,3436,3490,0,0,0,0,0,0
$GC,3588,-1.52,-116.8,435.1,-12.0,198,3593,0.00,2.55,0.00,0.000,6,0.000,0.058,2822,1928,3490,0,0,0,0,0,0
$GC,3872,-1.52,-116.8,468.1,-11.5,205,3876,0.00,2.53,0.00,0.000,4,0.000,0.048,2822,3442,3488,0,0,0,0,0,0
$GC,3890,-1.52,-116.8,469.9,-10.6,205,3894,0.00,2.60,0.00,0.000,6,0.000,0.062,2822,1920,3488,0,0,0,0,0,0
$GC,4150,-1.52,-116.8,497.3,-10.3,212,4155,0.00,3.05,0.00,0.000,4,0.000,0.113,2822,303,3486,0,0,0,0,0,0
$STATE,4175,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4175,begin apogee
$GC,4183,-0.31,0.0,500.4,10.6,212,4284,1.15,0.00,97.43,0.913,6,0.075,0.000,3088,1965,3010,0,0,0,0,0,0
$STATE,4285,end apogee,CONTROL_FINISHED_OK
$STATE,4285,begin climb
$GC,4289,1.38,116.8,503.4,0.0,215,4395,1.55,0.00,99.18,0.893,6,0.050,0.000,3462,1965,2532,0,0,0,0,0,0
$GC,4657,1.34,170.6,484.9,6.9,224,4711,0.00,2.85,46.10,0.875,4,0.000,0.082,3463,409,2313,0,0,0,0,0,0
$GC,4726,1.23,197.0,479.9,8.5,225,4756,0.17,2.62,24.33,0.843,6,0.116,0.033,3428,1997,2205,0,0,0,0,0,0
$GC,5025,1.27,223.6,453.7,8.5,233,5050,0.00,0.00,23.65,0.843,6,0.000,0.000,3428,1997,2098,0,0,0,0,0,0
$GC,5268,1.27,223.6,429.6,10.1,239,5269,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,1997,2094,0,0,0,0,0,0
$GC,5511,1.27,223.6,403.1,11.0,245,5515,0.00,2.65,0.00,0.000,4,0.000,0.045,3429,3586,2090,0,0,0,0,0,0
$GC,5543,1.27,223.6,399.3,11.2,245,5549,0.00,2.67,0.00,0.000,6,0.000,0.044,3428,1989,2090,0,0,0,0,0,0
$GC,5794,1.27,223.6,372.0,10.7,252,5799,0.00,2.83,0.00,0.000,4,0.000,0.083,3428,403,2088,0,0,0,0,0,0
$GC,5821,1.27,223.6,368.8,10.9,252,5825,0.00,2.55,0.00,0.000,6,0.000,0.025,3428,1998,2088,0,0,0,0,0,0
$GC,6071,1.30,247.8,346.0,8.6,258,6100,0.00,2.62,21.30,0.801,4,0.000,0.038,3427,3568,1997,0,0,0,0,0,0
$GC,6142,1.37,274.0,340.4,8.5,259,6173,0.12,2.65,24.75,0.793,6,0.084,0.038,3461,1987,1892,0,0,0,0,0,0
$GC,6441,1.37,274.0,308.4,11.1,267,6445,0.00,2.60,0.00,0.000,4,0.000,0.039,3460,3569,1886,0,0,0,0,0,0
$GC,6463,1.37,274.0,305.6,11.9,267,6468,0.00,2.62,0.00,0.000,6,0.000,0.040,3460,1987,1885,0,0,0,0,0,0
$GC,6718,1.37,274.0,274.7,12.3,274,6723,0.00,2.75,0.00,0.000,4,0.000,0.073,3461,408,1884,0,0,0,0,0,0
$GC,6745,1.33,274.0,271.1,12.7,274,6750,0.00,2.50,0.00,0.000,6,0.000,0.027,3460,1993,1883,0,0,0,0,0,0
$GC,6995,1.33,274.0,243.0,11.3,280,6996,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1994,1882,0,0,0,0,0,0
$GC,7240,1.33,274.0,217.1,10.6,286,7244,0.00,2.67,0.00,0.000,4,0.000,0.060,3461,413,1881,0,0,0,0,0,0
$GC,7257,1.34,275.6,215.3,9.9,286,7261,0.00,2.50,0.00,0.000,6,0.000,0.021,3461,1998,1881,0,0,0,0,0,0
$GC,7514,1.34,275.6,190.3,10.9,298,7519,0.00,2.53,0.00,0.000,4,0.000,0.035,3461,3557,1881,0,0,0,0,0,0
$GC,7607,1.39,275.6,179.1,12.0,305,7613,0.00,2.55,0.00,0.000,6,0.000,0.037,3461,1990,1880,0,0,0,0,0,0
$GC,7870,1.39,275.6,150.1,11.2,330,7874,0.00,2.55,0.00,0.000,4,0.000,0.035,3461,3560,1879,0,0,0,0,0,0
$GC,7941,1.44,275.6,142.0,11.3,335,7946,0.00,2.53,0.00,0.000,6,0.000,0.030,3461,2002,1880,0,0,0,0,0,0
$GC,8204,1.50,278.6,116.6,9.9,360,8206,0.10,0.00,0.00,0.000,6,0.086,0.000,3492,2002,1880,0,0,0,0,0,0
$GC,8460,1.52,298.9,91.5,8.9,384,8487,0.00,2.78,20.33,0.591,4,0.000,0.061,3492,415,1790,0,0,0,0,0,0
$GC,8544,1.52,298.9,83.4,10.2,391,8549,0.00,2.53,0.00,0.000,6,0.000,0.018,3492,2033,1790,0,0,0,0,0,0
$GC,8812,1.57,298.9,55.4,11.2,415,8816,0.00,2.45,0.00,0.000,4,0.000,0.037,3492,3560,1789,0,0,0,0,0,0
$GC,8858,1.63,298.9,49.9,11.5,418,8863,0.10,2.45,0.00,0.000,6,0.089,0.028,3523,2029,1788,0,0,0,0,0,0
$GC,9153,1.63,298.9,14.6,11.2,451,9162,0.00,2.72,0.00,0.000,4,0.000,0.058,3524,421,1788,0,0,0,0,0,0
$GC,9193,1.57,298.9,10.3,11.8,456,9201,0.08,2.50,0.00,0.000,6,0.095,0.018,3504,2022,1788,0,0,0,0,0,0
$STATE,9242,end climb,SURFACE_DEPTH_REACHED
$STATE,9243,begin surface coast
$FINISH,0.5,0.978953
$STATE,9287,end surface coast,CONTROL_FINISHED_OK
$STATE,9287,begin surface
$SM_CCo,9311,66.60,0.524,0,0,1459,380.21
$SM_GC,1.48,0.00,0.00,66.60,0.000,0.000,0.524,474,1866,1459,-12.36,-0.68,380.21
$IRIDIUM_FIX,2241.69,-15759.32,090900,111142
$TT8_MAMPS,0.026078
$HUMID,61.10
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.50
$XPDR_PINGS,47
$24V_AH,23.5,37.766
$10V_AH,10.4,33.104
$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,28.175,123.750,357.050,66.600,0.000,30.418,35.224,220.729,11.750,0.000,34.508,949.392,6041.271,487.826,1779.249,559.963,33.363,1149.339,0.000,1760.440,0.000,0.534,0.000
$DEVICE_MAMPS,136.526,112.749,913.497,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,317.625,257.579,363.178,689.315,1042.573,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,38381,469
$CAP_FILE_SIZE,100636,0
$CFSIZE,260165632,166490112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160611,170709,2249.792,-15800.563,8,2.4,27,10.1