version: 66.06
glider: 146
mission: 6
dive: 303
start: 6 16 111 20 9 26
data:
$ID,146
$MISSION,6
$DIVE,303
$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,-275215.41
$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,58
$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
$GPS1,200224,2249.844,-15800.249,34,1.2,34,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.9
$GPS2,200832,2249.897,-15800.345,13,2.0,13,10.1
$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,-158586.8,-368.4,-66.3,152960.4,-1211.0
$KALMAN_Y,-54898.3,-503.9,162.5,66339.8,889.4
$MHEAD_RNG_PITCHd_Wd,101.4,5713,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,90,0.00,0.00,-70.65,0.000,2,0.000,0.000,476,1851,3244,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.5,-6.1,9,119,12.00,2.55,-4.55,0.000,4,0.136,0.058,2850,340,3489,0,0,0,0,0,0
$GC,165,-1.20,-116.8,23.7,-20.6,18,173,0.17,2.40,0.00,0.000,6,0.144,0.015,2891,1888,3491,0,0,0,0,0,0
$GC,444,-1.16,-116.8,65.7,-13.0,45,448,0.00,2.47,0.00,0.000,4,0.000,0.025,2891,3453,3491,0,0,0,0,0,0
$GC,466,-1.16,-116.8,68.8,-13.0,46,471,0.00,2.45,0.00,0.000,6,0.000,0.024,2891,1915,3491,0,0,0,0,0,0
$GC,729,-1.16,-116.8,100.9,-12.1,70,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1915,3492,0,0,0,0,0,0
$GC,983,-1.16,-116.8,129.2,-10.6,94,984,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1914,3493,0,0,0,0,0,0
$GC,1241,-1.16,-116.8,159.5,-11.6,118,1245,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1915,3493,0,0,0,0,0,0
$GC,1503,-1.21,-116.8,190.6,-12.5,143,1508,0.00,2.42,0.00,0.000,4,0.000,0.032,2891,3453,3494,0,0,0,0,0,0
$GC,1560,-1.32,-116.8,197.9,-12.3,147,1569,0.00,2.50,0.00,0.000,6,0.000,0.026,2891,1889,3494,0,0,0,0,0,0
$GC,1831,-1.38,-116.8,229.3,-11.4,156,1836,0.12,2.47,0.00,0.000,4,0.072,0.029,2845,3445,3494,0,0,0,0,0,0
$GC,1917,-1.38,-116.8,239.6,-12.0,158,1921,0.00,2.45,0.00,0.000,6,0.000,0.031,2845,1901,3494,0,0,0,0,0,0
$GC,2199,-1.38,-116.8,270.5,-10.7,165,2203,0.00,2.47,0.00,0.000,4,0.000,0.037,2845,3443,3495,0,0,0,0,0,0
$GC,2215,-1.38,-116.8,272.4,-10.9,165,2220,0.00,2.45,0.00,0.000,6,0.000,0.031,2845,1903,3494,0,0,0,0,0,0
$GC,2484,-1.38,-116.8,298.0,-9.5,172,2485,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1903,3494,0,0,0,0,0,0
$GC,2726,-1.38,-116.8,322.6,-10.5,178,2730,0.00,2.50,0.00,0.000,4,0.000,0.035,2845,3440,3494,0,0,0,0,0,0
$GC,2753,-1.42,-116.8,325.6,-10.8,178,2757,0.00,2.47,0.00,0.000,6,0.000,0.037,2845,1919,3494,0,0,0,0,0,0
$GC,3004,-1.46,-116.8,352.2,-10.8,184,3009,0.00,2.47,0.00,0.000,4,0.000,0.035,2844,3445,3494,0,0,0,0,0,0
$GC,3055,-1.53,-116.8,357.6,-9.9,185,3059,0.00,2.50,0.00,0.000,6,0.000,0.048,2845,1925,3494,0,0,0,0,0,0
$GC,3327,-1.58,-116.8,378.9,-7.5,192,3329,0.12,0.00,0.00,0.000,6,0.074,0.000,2804,1925,3493,0,0,0,0,0,0
$GC,3572,-1.58,-116.8,403.0,-10.2,198,3573,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1925,3491,0,0,0,0,0,0
$GC,3814,-1.58,-116.8,429.5,-11.0,204,3818,0.00,2.47,0.00,0.000,4,0.000,0.044,2804,3434,3490,0,0,0,0,0,0
$GC,3863,-1.58,-116.8,434.9,-10.7,205,3867,0.00,2.55,0.00,0.000,6,0.000,0.052,2804,1927,3490,0,0,0,0,0,0
$GC,4136,-1.58,-116.8,460.3,-9.0,212,4138,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1927,3487,0,0,0,0,0,0
$GC,4379,-1.58,-116.8,483.8,-9.8,218,4380,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1927,3486,0,0,0,0,0,0
$STATE,4538,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4538,begin apogee
$GC,4544,-0.31,0.0,502.2,11.3,222,4645,1.27,0.00,97.22,0.917,6,0.081,0.000,3091,1927,3010,0,0,0,0,0,0
$STATE,4646,end apogee,CONTROL_FINISHED_OK
$STATE,4646,begin climb
$GC,4648,1.38,116.8,505.2,0.0,224,4761,1.55,2.83,99.32,0.896,4,0.041,0.061,3464,3534,2531,0,0,0,0,0,0
$GC,4800,1.30,168.9,504.3,7.0,227,4851,0.00,2.67,45.00,0.877,6,0.000,0.053,3464,1990,2321,0,0,0,0,0,0
$GC,5099,1.21,168.9,474.5,10.8,234,5104,0.20,3.05,0.00,0.000,4,0.113,0.112,3423,404,2312,0,0,0,0,0,0
$GC,5139,1.13,168.9,469.7,11.4,235,5144,0.00,2.53,0.00,0.000,6,0.000,0.035,3424,1952,2311,0,0,0,0,0,0
$GC,5423,1.13,168.9,441.7,10.1,242,5428,0.00,2.72,0.00,0.000,4,0.000,0.050,3423,3582,2308,0,0,0,0,0,0
$GC,5444,1.13,168.9,439.3,10.4,242,5449,0.00,2.70,0.00,0.000,6,0.000,0.045,3423,1981,2308,0,0,0,0,0,0
$GC,5700,1.14,176.4,414.5,9.6,249,5707,0.00,0.00,5.20,0.650,6,0.000,0.000,3424,1980,2291,0,0,0,0,0,0
$GC,5945,1.18,206.9,393.8,8.3,255,5980,0.00,2.72,28.80,0.841,4,0.000,0.043,3423,3585,2165,0,0,0,0,0,0
$GC,6066,1.20,218.4,383.3,9.4,257,6085,0.00,2.72,11.38,0.773,6,0.000,0.045,3423,1975,2118,0,0,0,0,0,0
$GC,6365,1.23,247.5,358.4,8.4,265,6394,0.00,0.00,26.80,0.816,6,0.000,0.000,3424,1975,2000,0,0,0,0,0,0
$GC,6651,1.25,262.0,332.3,9.2,272,6667,0.00,0.00,13.73,0.766,6,0.000,0.000,3424,1975,1941,0,0,0,0,0,0
$GC,6895,1.29,262.0,307.8,10.1,278,6900,0.00,2.65,0.00,0.000,4,0.000,0.039,3424,3584,1937,0,0,0,0,0,0
$GC,6958,1.36,262.0,300.8,10.8,279,6963,0.15,2.65,0.00,0.000,6,0.074,0.039,3463,1982,1936,0,0,0,0,0,0
$GC,7219,1.36,262.0,270.5,11.7,286,7224,0.00,2.62,0.00,0.000,4,0.000,0.035,3463,3581,1934,0,0,0,0,0,0
$GC,7240,1.36,262.0,267.9,11.3,286,7245,0.00,2.60,0.00,0.000,6,0.000,0.034,3463,1994,1933,0,0,0,0,0,0
$GC,7498,1.37,265.4,242.2,9.8,293,7502,0.00,2.72,0.00,0.000,4,0.000,0.071,3463,416,1933,0,0,0,0,0,0
$GC,7541,1.32,265.4,236.6,12.6,294,7546,0.00,2.53,0.00,0.000,6,0.000,0.020,3463,2022,1932,0,0,0,0,0,0
$GC,7820,1.32,265.4,205.6,10.9,301,7824,0.00,2.50,0.00,0.000,4,0.000,0.041,3463,3568,1932,0,0,0,0,0,0
$GC,7848,1.32,265.4,202.6,10.9,301,7852,0.00,2.55,0.00,0.000,6,0.000,0.031,3463,2007,1931,0,0,0,0,0,0
$GC,8111,1.34,282.0,178.4,9.1,322,8135,0.00,2.65,17.23,0.676,4,0.000,0.033,3463,3570,1860,0,0,0,0,0,0
$GC,8182,1.41,303.3,172.3,8.8,328,8208,0.00,2.55,19.95,0.668,6,0.000,0.033,3463,2004,1773,0,0,0,0,0,0
$GC,8464,1.43,325.0,148.0,8.8,354,8491,0.00,2.83,19.65,0.644,4,0.000,0.064,3463,413,1683,0,0,0,0,0,0
$GC,8526,1.43,325.0,142.4,10.6,359,8530,0.00,2.50,0.00,0.000,6,0.000,0.020,3463,2015,1682,0,0,0,0,0,0
$GC,8792,1.48,325.0,112.8,12.2,383,8797,0.00,2.72,0.00,0.000,4,0.000,0.058,3463,410,1681,0,0,0,0,0,0
$GC,8849,1.48,325.0,105.3,14.1,387,8854,0.00,2.45,0.00,0.000,6,0.000,0.023,3463,2003,1680,0,0,0,0,0,0
$GC,9116,1.54,325.0,72.3,11.5,411,9121,0.12,2.50,0.00,0.000,4,0.074,0.035,3500,3549,1680,0,0,0,0,0,0
$GC,9188,1.59,325.0,63.0,12.3,416,9193,0.00,2.50,0.00,0.000,6,0.000,0.031,3500,2005,1680,0,0,0,0,0,0
$GC,9455,1.61,339.6,36.1,9.2,440,9473,0.00,2.70,13.38,0.529,4,0.000,0.054,3500,410,1624,0,0,0,0,0,0
$GC,9504,1.62,343.2,31.6,9.8,443,9519,0.00,2.47,4.78,0.411,6,0.000,0.018,3500,1998,1609,0,0,0,0,0,0
$STATE,9759,end climb,SURFACE_DEPTH_REACHED
$STATE,9759,begin surface coast
$FINISH,0.5,0.975086
$STATE,9801,end surface coast,CONTROL_FINISHED_OK
$STATE,9802,begin surface
$SM_CCo,9825,30.35,0.522,0,0,1460,380.21
$SM_GC,1.23,0.00,0.00,30.35,0.000,0.000,0.522,478,1823,1460,-12.34,-1.89,380.21
$IRIDIUM_FIX,2244.02,-15757.16,090900,171701
$TT8_MAMPS,0.026078
$HUMID,62.71
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.50
$XPDR_PINGS,38
$24V_AH,23.5,37.993
$10V_AH,10.4,33.321
$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,28.100,108.450,402.425,30.350,0.000,27.240,34.401,171.033,9.500,0.000,15.313,983.129,6438.477,469.254,1820.426,515.335,33.363,1155.417,0.000,1829.559,0.000,0.534,0.000
$DEVICE_MAMPS,144.196,111.982,917.332,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.571,283.605,374.331,705.208,1066.750,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,38280,486
$CAP_FILE_SIZE,99681,0
$CFSIZE,260165632,166387712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,160611,225455,2249.636,-15759.887,12,99.0,31,10.1