version: 66.06
glider: 146
mission: 6
dive: 302
start: 6 16 111 17 15 11
data:
$ID,146
$MISSION,6
$DIVE,302
$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,-275199.47
$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,60
$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
$GPS1,170709,2249.792,-15800.563,8,2.4,27,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.9
$GPS2,171416,2249.830,-15800.704,10,2.3,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.219,-0.086
$KALMAN_X,-156961.2,-254.8,-237.7,150782.9,-1536.6
$KALMAN_Y,-55080.3,-804.5,-328.9,67191.6,885.0
$MHEAD_RNG_PITCHd_Wd,101.3,6331,-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,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.88,0.000,2,0.000,0.000,474,1866,3271,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.8,-7.4,9,119,11.90,2.62,-3.80,0.000,4,0.133,0.062,2849,327,3490,0,0,0,0,0,0
$GC,156,-1.12,-116.8,26.6,-26.6,17,166,0.25,2.42,0.00,0.000,6,0.090,0.020,2907,1894,3492,0,0,0,0,0,0
$GC,434,-1.12,-116.8,65.8,-11.4,43,438,0.00,2.45,0.00,0.000,4,0.000,0.025,2907,3442,3493,0,0,0,0,0,0
$GC,455,-1.12,-116.8,68.6,-11.8,44,460,0.00,2.42,0.00,0.000,6,0.000,0.024,2907,1904,3493,0,0,0,0,0,0
$GC,716,-1.12,-116.8,98.2,-10.5,68,720,0.00,2.65,0.00,0.000,4,0.000,0.057,2907,311,3494,0,0,0,0,0,0
$GC,738,-1.12,-116.8,99.9,-10.0,69,742,0.00,2.42,0.00,0.000,6,0.000,0.015,2907,1910,3494,0,0,0,0,0,0
$GC,1005,-1.17,-116.8,127.3,-9.8,93,1009,0.00,2.40,0.00,0.000,4,0.000,0.032,2907,3431,3494,0,0,0,0,0,0
$GC,1026,-1.24,-116.8,130.0,-9.4,94,1036,0.00,2.45,0.00,0.000,6,0.000,0.024,2907,1906,3494,0,0,0,0,0,0
$GC,1291,-1.30,-116.8,156.7,-10.1,119,1296,0.12,0.00,0.00,0.000,6,0.075,0.000,2860,1905,3495,0,0,0,0,0,0
$GC,1552,-1.30,-116.8,187.5,-10.7,144,1556,0.00,2.42,0.00,0.000,4,0.000,0.031,2860,3434,3495,0,0,0,0,0,0
$GC,1594,-1.34,-116.8,191.5,-9.9,147,1598,0.00,2.42,0.00,0.000,6,0.000,0.024,2860,1888,3495,0,0,0,0,0,0
$GC,1847,-1.34,-116.8,218.1,-10.7,159,1851,0.00,2.45,0.00,0.000,4,0.000,0.028,2860,3433,3496,0,0,0,0,0,0
$GC,1938,-1.40,-116.8,227.9,-10.2,161,1942,0.00,2.40,0.00,0.000,6,0.000,0.025,2860,1924,3496,0,0,0,0,0,0
$GC,2215,-1.40,-116.8,257.4,-10.6,168,2216,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1924,3496,0,0,0,0,0,0
$GC,2459,-1.40,-116.8,280.8,-9.3,174,2460,0.00,0.00,0.00,0.000,6,0.000,0.000,2860,1924,3496,0,0,0,0,0,0
$GC,2705,-1.44,-116.8,301.1,-8.3,180,2709,0.00,2.80,0.00,0.000,4,0.000,0.074,2860,319,3496,0,0,0,0,0,0
$GC,2726,-1.44,-116.8,303.4,-9.6,180,2731,0.00,2.45,0.00,0.000,6,0.000,0.028,2860,1889,3496,0,0,0,0,0,0
$GC,2982,-1.51,-116.8,326.3,-8.9,187,2984,0.12,0.00,0.00,0.000,6,0.072,0.000,2815,1889,3495,0,0,0,0,0,0
$GC,3227,-1.51,-116.8,353.4,-11.2,193,3231,0.00,2.60,0.00,0.000,4,0.000,0.051,2815,3468,3495,0,0,0,0,0,0
$GC,3298,-1.51,-116.8,361.2,-10.5,194,3302,0.00,2.53,0.00,0.000,6,0.000,0.047,2815,1945,3494,0,0,0,0,0,0
$GC,3548,-1.51,-116.8,387.3,-10.6,200,3549,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1945,3493,0,0,0,0,0,0
$GC,3792,-1.51,-116.8,413.8,-11.1,206,3796,0.00,2.53,0.00,0.000,4,0.000,0.048,2815,3467,3491,0,0,0,0,0,0
$GC,3820,-1.51,-116.8,417.1,-11.6,206,3824,0.00,2.55,0.00,0.000,6,0.000,0.054,2815,1946,3491,0,0,0,0,0,0
$GC,4069,-1.51,-116.8,446.8,-11.9,212,4074,0.00,2.55,0.00,0.000,4,0.000,0.046,2814,3469,3490,0,0,0,0,0,0
$GC,4097,-1.51,-116.8,450.2,-12.1,212,4101,0.00,2.53,0.00,0.000,6,0.000,0.051,2815,1959,3490,0,0,0,0,0,0
$GC,4348,-1.51,-116.8,477.8,-11.0,218,4349,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1959,3488,0,0,0,0,0,0
$STATE,4588,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4588,begin apogee
$GC,4594,-0.31,0.0,502.1,9.7,224,4695,1.20,0.00,97.40,0.910,6,0.074,0.000,3089,1959,3010,0,0,0,0,0,0
$STATE,4695,end apogee,CONTROL_FINISHED_OK
$STATE,4696,begin climb
$GC,4698,1.38,116.8,503.7,0.0,226,4802,1.58,0.00,99.72,0.890,6,0.041,0.000,3466,1959,2533,0,0,0,0,0,0
$GC,5036,1.32,155.4,485.2,7.8,235,5075,0.00,0.00,33.58,0.864,6,0.000,0.000,3466,1959,2374,0,0,0,0,0,0
$GC,5318,1.26,186.0,461.8,8.3,242,5349,0.15,0.00,27.58,0.851,6,0.119,0.000,3436,1959,2251,0,0,0,0,0,0
$GC,5562,1.30,218.2,442.0,8.2,248,5596,0.00,2.78,28.67,0.844,4,0.000,0.045,3436,3567,2120,0,0,0,0,0,0
$GC,5649,1.30,218.2,433.6,10.3,250,5654,0.00,2.65,0.00,0.000,6,0.000,0.044,3436,2012,2117,0,0,0,0,0,0
$GC,5932,1.30,218.2,401.6,11.4,257,5936,0.00,2.58,0.00,0.000,4,0.000,0.044,3436,3569,2114,0,0,0,0,0,0
$GC,5977,1.30,218.2,396.2,11.9,258,5981,0.00,2.65,0.00,0.000,6,0.000,0.046,3436,1997,2113,0,0,0,0,0,0
$GC,6254,1.30,220.9,367.5,9.9,265,6259,0.00,2.83,0.00,0.000,4,0.000,0.081,3436,407,2111,0,0,0,0,0,0
$GC,6281,1.26,220.9,364.6,10.3,265,6286,0.00,2.53,0.00,0.000,6,0.000,0.021,3437,1990,2110,0,0,0,0,0,0
$GC,6533,1.30,255.7,344.1,8.0,271,6570,0.00,0.00,33.22,0.808,6,0.000,0.000,3436,1990,1965,0,0,0,0,0,0
$GC,6815,1.30,255.7,315.7,10.4,278,6819,0.00,2.60,0.00,0.000,4,0.000,0.042,3436,3571,1961,0,0,0,0,0,0
$GC,6915,1.35,260.8,305.9,9.7,280,6925,0.00,2.62,4.82,0.581,6,0.000,0.035,3436,1981,1946,0,0,0,0,0,0
$GC,7182,1.37,282.0,282.8,8.8,287,7209,0.10,2.78,20.35,0.756,4,0.091,0.074,3464,411,1859,0,0,0,0,0,0
$GC,7237,1.31,282.0,276.9,11.5,288,7241,0.00,2.50,0.00,0.000,6,0.000,0.020,3464,1992,1857,0,0,0,0,0,0
$GC,7504,1.31,282.0,245.6,12.1,295,7509,0.00,2.72,0.00,0.000,4,0.000,0.061,3464,406,1855,0,0,0,0,0,0
$GC,7526,1.31,282.0,242.3,13.1,295,7531,0.00,2.50,0.00,0.000,6,0.000,0.026,3464,1985,1854,0,0,0,0,0,0
$GC,7788,1.31,282.0,212.2,11.1,302,7789,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,1986,1853,0,0,0,0,0,0
$GC,8037,1.31,282.0,183.9,12.1,317,8041,0.00,2.58,0.00,0.000,4,0.000,0.035,3464,3572,1852,0,0,0,0,0,0
$GC,8117,1.36,282.0,174.5,11.7,323,8122,0.00,2.60,0.00,0.000,6,0.000,0.032,3464,1980,1851,0,0,0,0,0,0
$GC,8379,1.36,282.0,148.8,10.3,348,8383,0.00,2.58,0.00,0.000,4,0.000,0.038,3463,3567,1851,0,0,0,0,0,0
$GC,8424,1.41,282.0,144.6,10.8,351,8429,0.00,2.55,0.00,0.000,6,0.000,0.031,3464,1992,1851,0,0,0,0,0,0
$GC,8691,1.46,285.8,118.9,9.8,375,8696,0.00,2.65,0.00,0.000,4,0.000,0.061,3463,413,1851,0,0,0,0,0,0
$GC,8733,1.46,285.8,114.3,10.7,378,8738,0.00,2.47,0.00,0.000,6,0.000,0.018,3464,2009,1850,0,0,0,0,0,0
$GC,8996,1.53,285.8,89.2,10.1,402,9001,0.12,2.67,0.00,0.000,4,0.076,0.056,3500,417,1851,0,0,0,0,0,0
$GC,9019,1.53,285.8,87.1,11.0,403,9023,0.00,2.42,0.00,0.000,6,0.000,0.024,3500,1987,1850,0,0,0,0,0,0
$GC,9285,1.53,285.8,56.9,10.4,427,9293,0.00,0.00,0.00,0.000,6,0.000,0.000,3500,1989,1850,0,0,0,0,0,0
$GC,9551,1.55,301.2,31.5,9.1,452,9578,0.00,2.70,16.48,0.531,4,0.000,0.050,3500,416,1781,0,0,0,0,0,0
$GC,9590,1.55,301.2,27.7,10.2,455,9599,0.00,2.47,0.00,0.000,6,0.000,0.024,3500,1993,1780,0,0,0,0,0,0
$STATE,9827,end climb,SURFACE_DEPTH_REACHED
$STATE,9827,begin surface coast
$FINISH,0.6,0.973857
$STATE,9869,end surface coast,CONTROL_FINISHED_OK
$STATE,9870,begin surface
$SM_CCo,9893,64.60,0.523,0,0,1460,380.21
$SM_GC,1.23,0.00,0.00,64.60,0.000,0.000,0.523,476,1851,1460,-12.35,-1.10,380.21
$IRIDIUM_FIX,2239.35,-15802.37,090900,141426
$TT8_MAMPS,0.026078
$HUMID,61.26
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.80
$XPDR_PINGS,40
$24V_AH,23.5,37.880
$10V_AH,10.4,33.214
$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,27.750,107.675,361.825,64.600,0.000,24.512,43.597,208.232,10.000,0.000,32.061,984.353,6538.665,527.569,1798.484,539.780,33.361,1157.128,0.000,1789.008,0.000,0.534,0.000
$DEVICE_MAMPS,132.691,80.535,910.429,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,335.795,274.351,383.683,728.534,1101.762,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,38333,495
$CAP_FILE_SIZE,96813,0
$CFSIZE,260165632,166440960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160611,200224,2249.844,-15800.249,34,1.2,34,10.1