version: 66.06
glider: 146
mission: 6
dive: 307
start: 6 17 111 7 55 37
data:
$ID,146
$MISSION,6
$DIVE,307
$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,-275364.94
$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,38
$R_STBD_OVSHOOT,59
$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
$GPS1,074715,2250.544,-15758.498,9,1.5,9,10.1
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,2
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.5
$GPS2,075444,2250.601,-15758.488,34,1.6,34,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.226,-0.065
$KALMAN_X,-165101.9,261.7,-13.0,161962.6,-1025.1
$KALMAN_Y,-53342.5,770.5,332.5,64640.8,120.0
$MHEAD_RNG_PITCHd_Wd,96.1,2774,-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,-69.60,0.000,2,0.000,0.000,477,1867,3246,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.9,-7.4,9,118,11.98,2.60,-4.30,0.000,4,0.136,0.058,2850,322,3488,0,0,0,0,0,0
$GC,175,-1.16,-116.8,27.8,-20.8,20,183,0.22,2.42,0.00,0.000,6,0.110,0.016,2902,1886,3490,0,0,0,0,0,0
$GC,453,-1.13,-116.8,69.1,-13.7,46,457,0.00,2.45,0.00,0.000,4,0.000,0.028,2902,3454,3491,0,0,0,0,0,0
$GC,558,-1.20,-116.8,82.7,-11.6,54,562,0.00,2.45,0.00,0.000,6,0.000,0.031,2902,1902,3491,0,0,0,0,0,0
$GC,821,-1.20,-116.8,112.8,-11.3,78,822,0.00,0.00,0.00,0.000,6,0.000,0.000,2902,1902,3491,0,0,0,0,0,0
$GC,1074,-1.24,-116.8,141.4,-11.8,102,1078,0.00,2.45,0.00,0.000,4,0.000,0.030,2902,3461,3493,0,0,0,0,0,0
$GC,1132,-1.35,-116.8,148.0,-10.9,106,1142,0.12,2.50,0.00,0.000,6,0.034,0.031,2847,1900,3492,0,0,0,0,0,0
$GC,1395,-1.31,-116.8,180.7,-12.6,131,1400,0.12,2.45,0.00,0.000,4,0.110,0.026,2875,3453,3493,0,0,0,0,0,0
$GC,1418,-1.31,-116.8,183.6,-11.7,132,1427,0.00,2.50,0.00,0.000,6,0.000,0.024,2875,1889,3493,0,0,0,0,0,0
$GC,1695,-1.31,-116.8,214.1,-11.5,150,1700,0.00,2.47,0.00,0.000,4,0.000,0.032,2875,3459,3493,0,0,0,0,0,0
$GC,1740,-1.38,-116.8,219.7,-12.1,151,1745,0.00,2.47,0.00,0.000,6,0.000,0.028,2874,1903,3493,0,0,0,0,0,0
$GC,2019,-1.42,-116.8,249.0,-10.0,158,2021,0.10,0.00,0.00,0.000,6,0.084,0.000,2834,1903,3494,0,0,0,0,0,0
$GC,2261,-1.42,-116.8,275.2,-11.1,164,2265,0.00,2.47,0.00,0.000,4,0.000,0.038,2834,3458,3494,0,0,0,0,0,0
$GC,2316,-1.42,-116.8,281.3,-10.6,165,2320,0.00,2.47,0.00,0.000,6,0.000,0.027,2834,1903,3494,0,0,0,0,0,0
$GC,2584,-1.42,-116.8,306.8,-9.2,172,2585,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1902,3493,0,0,0,0,0,0
$GC,2826,-1.42,-116.8,331.2,-10.5,178,2830,0.00,2.53,0.00,0.000,4,0.000,0.035,2834,3456,3493,0,0,0,0,0,0
$GC,2858,-1.46,-116.8,334.9,-11.1,178,2864,0.00,2.55,0.00,0.000,6,0.000,0.044,2834,1906,3493,0,0,0,0,0,0
$GC,3109,-1.46,-116.8,362.2,-10.9,185,3110,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1906,3491,0,0,0,0,0,0
$GC,3352,-1.46,-116.8,386.5,-9.9,191,3357,0.00,2.90,0.00,0.000,4,0.000,0.097,2834,301,3490,0,0,0,0,0,0
$GC,3379,-1.46,-116.8,389.3,-10.1,191,3383,0.00,2.50,0.00,0.000,6,0.000,0.034,2834,1873,3490,0,0,0,0,0,0
$GC,3628,-1.46,-116.8,414.2,-10.2,197,3633,0.00,2.65,0.00,0.000,4,0.000,0.053,2834,3471,3488,0,0,0,0,0,0
$GC,3651,-1.50,-116.8,416.6,-11.0,197,3656,0.00,2.65,0.00,0.000,6,0.000,0.052,2834,1890,3488,0,0,0,0,0,0
$GC,3907,-1.54,-116.8,444.4,-10.7,204,3908,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1890,3486,0,0,0,0,0,0
$GC,4151,-1.58,-116.8,470.7,-10.8,210,4155,0.00,2.67,0.00,0.000,4,0.000,0.051,2834,3476,3485,0,0,0,0,0,0
$GC,4185,-1.64,-116.8,474.2,-10.5,210,4191,0.12,2.70,0.00,0.000,6,0.072,0.056,2786,1897,3485,0,0,0,0,0,0
$STATE,4391,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4391,begin apogee
$GC,4397,-0.31,0.0,501.1,13.1,216,4498,1.35,0.00,96.90,0.915,6,0.081,0.000,3090,2020,3010,0,0,0,0,0,0
$STATE,4499,end apogee,CONTROL_FINISHED_OK
$STATE,4499,begin climb
$GC,4501,1.38,116.8,504.1,0.0,218,4614,1.55,2.67,99.30,0.893,4,0.049,0.059,3463,3560,2530,0,0,0,0,0,0
$GC,4648,1.31,168.3,502.1,7.1,221,4698,0.00,2.70,44.40,0.872,6,0.000,0.056,3463,1994,2323,0,0,0,0,0,0
$GC,4951,1.22,168.3,472.7,10.3,229,4953,0.17,0.00,0.00,0.000,6,0.113,0.000,3427,1994,2315,0,0,0,0,0,0
$GC,5192,1.24,187.2,450.5,8.9,235,5210,0.00,0.00,16.62,0.826,6,0.000,0.000,3427,1995,2246,0,0,0,0,0,0
$GC,5436,1.24,187.8,426.6,10.0,241,5437,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1995,2241,0,0,0,0,0,0
$GC,5680,1.24,187.8,401.7,10.2,247,5681,0.00,0.00,0.00,0.000,6,0.000,0.000,3427,1994,2239,0,0,0,0,0,0
$GC,5923,1.26,202.8,378.8,9.2,253,5939,0.00,0.00,14.02,0.795,6,0.000,0.000,3427,1994,2182,0,0,0,0,0,0
$GC,6167,1.31,241.3,359.5,7.8,259,6206,0.00,0.00,35.33,0.821,6,0.000,0.000,3427,1994,2025,0,0,0,0,0,0
$GC,6452,1.34,267.2,335.7,8.5,266,6482,0.10,2.90,23.85,0.794,4,0.091,0.076,3454,399,1918,0,0,0,0,0,0
$GC,6510,1.26,267.2,329.3,12.7,267,6514,0.00,2.58,0.00,0.000,6,0.000,0.021,3454,1992,1917,0,0,0,0,0,0
$GC,6776,1.26,267.2,298.3,11.9,274,6777,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1992,1914,0,0,0,0,0,0
$GC,7021,1.26,267.2,269.9,11.5,280,7025,0.00,2.60,0.00,0.000,4,0.000,0.038,3454,3577,1912,0,0,0,0,0,0
$GC,7098,1.26,267.2,260.3,11.5,281,7104,0.00,2.62,0.00,0.000,6,0.000,0.037,3454,1977,1911,0,0,0,0,0,0
$GC,7348,1.26,267.2,229.6,12.3,288,7349,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1977,1910,0,0,0,0,0,0
$GC,7593,1.26,267.2,201.6,11.2,294,7597,0.00,2.70,0.00,0.000,4,0.000,0.062,3454,404,1909,0,0,0,0,0,0
$GC,7619,1.26,267.2,198.2,11.8,294,7624,0.00,2.50,0.00,0.000,6,0.000,0.020,3454,2001,1908,0,0,0,0,0,0
$GC,7883,1.26,269.1,172.3,9.9,318,7887,0.00,2.70,0.00,0.000,4,0.000,0.056,3454,412,1909,0,0,0,0,0,0
$GC,7917,1.26,269.1,168.5,11.4,320,7923,0.00,2.45,0.00,0.000,6,0.000,0.025,3454,1981,1908,0,0,0,0,0,0
$GC,8183,1.31,269.1,142.7,10.5,345,8188,0.00,2.65,0.00,0.000,4,0.000,0.055,3454,413,1908,0,0,0,0,0,0
$GC,8215,1.31,269.1,138.9,11.5,347,8219,0.00,2.42,0.00,0.000,6,0.000,0.025,3454,1975,1907,0,0,0,0,0,0
$GC,8483,1.39,295.9,113.6,8.5,371,8513,0.00,2.70,24.15,0.623,4,0.000,0.052,3454,411,1801,0,0,0,0,0,0
$GC,8540,1.39,295.9,108.1,10.2,375,8544,0.00,2.45,0.00,0.000,6,0.000,0.019,3454,1974,1800,0,0,0,0,0,0
$GC,8808,1.48,311.6,83.5,9.1,399,8832,0.10,0.00,14.38,0.574,6,0.086,0.000,3487,1976,1738,0,0,0,0,0,0
$GC,9087,1.56,337.8,55.1,8.5,425,9116,0.00,0.00,23.45,0.565,6,0.000,0.000,3487,1976,1631,0,0,0,0,0,0
$GC,9379,1.63,337.8,26.4,10.3,454,9389,0.10,2.67,0.00,0.000,4,0.089,0.052,3518,417,1629,0,0,0,0,0,0
$GC,9414,1.63,337.8,22.1,11.6,458,9423,0.00,2.42,0.00,0.000,6,0.000,0.023,3518,1965,1629,0,0,0,0,0,0
$STATE,9581,end climb,SURFACE_DEPTH_REACHED
$STATE,9581,begin surface coast
$FINISH,0.5,0.976366
$STATE,9633,end surface coast,CONTROL_FINISHED_OK
$STATE,9633,begin surface
$SM_CCo,9655,34.88,0.523,0,0,1460,380.21
$SM_GC,1.08,0.00,0.00,34.88,0.000,0.000,0.523,473,1879,1460,-12.36,-0.31,380.21
$IRIDIUM_FIX,2244.02,-15759.32,100900,050503
$TT8_MAMPS,0.026078
$HUMID,62.12
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.50
$XPDR_PINGS,39
$24V_AH,23.5,38.473
$10V_AH,10.3,33.778
$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,28.375,92.925,392.400,34.875,0.000,28.746,36.308,230.930,9.750,0.000,36.169,950.174,6395.384,475.786,1762.806,558.008,33.365,1116.598,0.000,1747.343,0.000,0.534,0.000
$DEVICE_MAMPS,135.759,169.507,915.031,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.038,284.260,379.389,721.198,1090.922,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,38453,489
$CAP_FILE_SIZE,94941,0
$CFSIZE,260165632,166170624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170611,103931,2250.473,-15757.713,102,1.1,102,10.1