version: 66.06
glider: 146
mission: 6
dive: 308
start: 6 17 111 10 50 48
data:
$ID,146
$MISSION,6
$DIVE,308
$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,-275386.28
$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,32
$R_STBD_OVSHOOT,57
$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
$GPS1,103931,2250.473,-15757.713,102,1.1,102,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-69.7
$GPS2,104955,2250.475,-15757.785,14,1.8,19,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,0.013
$KALMAN_X,-166457.0,331.4,228.1,164208.7,-1550.2
$KALMAN_Y,-52660.9,420.4,416.4,63992.6,-645.7
$MHEAD_RNG_PITCHd_Wd,76.6,1603,-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,-70.78,0.000,2,0.000,0.000,473,1880,3279,0,0,0,0,0,0
$GC,93,-1.38,-116.8,4.0,-7.1,9,119,12.07,2.62,-3.75,0.000,4,0.140,0.056,2849,318,3490,0,0,0,0,0,0
$GC,184,-1.21,-116.8,28.9,-20.2,21,194,0.17,2.45,0.00,0.000,6,0.100,0.015,2890,1899,3492,0,0,0,0,0,0
$GC,450,-1.21,-116.8,69.3,-12.9,46,455,0.00,2.42,0.00,0.000,4,0.000,0.026,2890,3446,3493,0,0,0,0,0,0
$GC,497,-1.21,-116.8,75.5,-12.7,49,501,0.00,2.47,0.00,0.000,6,0.000,0.029,2889,1894,3493,0,0,0,0,0,0
$GC,762,-1.21,-116.8,107.8,-12.0,73,766,0.00,2.45,0.00,0.000,4,0.000,0.033,2890,3449,3494,0,0,0,0,0,0
$GC,804,-1.26,-116.8,113.1,-12.1,76,808,0.00,2.42,0.00,0.000,6,0.000,0.023,2889,1907,3494,0,0,0,0,0,0
$GC,1067,-1.29,-116.8,143.7,-11.5,100,1068,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1907,3495,0,0,0,0,0,0
$GC,1325,-1.35,-116.8,171.4,-11.2,124,1329,0.00,2.42,0.00,0.000,4,0.000,0.025,2890,3451,3495,0,0,0,0,0,0
$GC,1377,-1.46,-116.8,177.7,-10.6,128,1382,0.20,2.45,0.00,0.000,6,0.053,0.028,2822,1902,3495,0,0,0,0,0,0
$GC,1668,-1.40,-116.8,219.4,-14.7,146,1673,0.15,2.67,0.00,0.000,4,0.098,0.063,2856,320,3495,0,0,0,0,0,0
$GC,1695,-1.40,-116.8,223.8,-14.4,146,1699,0.00,2.40,0.00,0.000,6,0.000,0.018,2855,1913,3495,0,0,0,0,0,0
$GC,1947,-1.40,-116.8,252.7,-11.1,152,1951,0.00,2.40,0.00,0.000,4,0.000,0.036,2856,3442,3495,0,0,0,0,0,0
$GC,2020,-1.47,-116.8,260.2,-9.6,153,2025,0.00,2.40,0.00,0.000,6,0.000,0.031,2856,1923,3495,0,0,0,0,0,0
$GC,2271,-1.51,-116.8,283.9,-9.5,159,2276,0.10,2.45,0.00,0.000,4,0.083,0.038,2815,3440,3495,0,0,0,0,0,0
$GC,2343,-1.51,-116.8,291.4,-9.7,160,2347,0.00,2.42,0.00,0.000,6,0.000,0.028,2814,1929,3495,0,0,0,0,0,0
$GC,2594,-1.51,-116.8,316.8,-10.5,166,2598,0.00,2.42,0.00,0.000,4,0.000,0.033,2815,3441,3494,0,0,0,0,0,0
$GC,2640,-1.51,-116.8,321.5,-9.6,167,2644,0.00,2.45,0.00,0.000,6,0.000,0.033,2815,1938,3495,0,0,0,0,0,0
$GC,2923,-1.51,-116.8,349.3,-10.1,174,2927,0.00,2.90,0.00,0.000,4,0.000,0.086,2814,308,3493,0,0,0,0,0,0
$GC,2957,-1.46,-116.8,353.0,-11.0,174,2963,0.12,2.53,0.00,0.000,6,0.117,0.026,2840,1905,3493,0,0,0,0,0,0
$GC,3207,-1.50,-116.8,377.0,-9.7,181,3211,0.00,2.60,0.00,0.000,4,0.000,0.050,2840,3469,3492,0,0,0,0,0,0
$GC,3247,-1.56,-116.8,380.8,-9.9,182,3251,0.00,2.55,0.00,0.000,6,0.000,0.045,2840,1944,3492,0,0,0,0,0,0
$GC,3532,-1.61,-116.8,407.9,-9.5,189,3537,0.12,2.53,0.00,0.000,4,0.071,0.040,2796,3468,3489,0,0,0,0,0,0
$GC,3566,-1.61,-116.8,411.7,-11.4,189,3572,0.00,2.55,0.00,0.000,6,0.000,0.048,2796,1950,3489,0,0,0,0,0,0
$GC,3817,-1.61,-116.8,438.5,-10.6,196,3822,0.00,2.53,0.00,0.000,4,0.000,0.048,2796,3473,3487,0,0,0,0,0,0
$GC,3867,-1.61,-116.8,444.0,-10.2,197,3871,0.00,2.55,0.00,0.000,6,0.000,0.056,2795,1956,3487,0,0,0,0,0,0
$GC,4140,-1.61,-116.8,470.1,-9.5,204,4144,0.00,2.55,0.00,0.000,4,0.000,0.047,2795,3468,3485,0,0,0,0,0,0
$GC,4163,-1.61,-116.8,472.4,-9.9,204,4167,0.00,2.55,0.00,0.000,6,0.000,0.054,2795,1962,3485,0,0,0,0,0,0
$GC,4418,-1.61,-116.8,496.4,-9.5,211,4422,0.00,3.10,0.00,0.000,4,0.000,0.114,2795,309,3483,0,0,0,0,0,0
$GC,4439,-1.57,-116.8,498.9,-10.7,211,4444,0.10,2.70,0.00,0.000,6,0.123,0.041,2815,1950,3484,0,0,0,0,0,0
$STATE,4448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4448,begin apogee
$GC,4456,-0.31,0.0,500.1,11.0,212,4556,1.20,0.00,96.90,0.918,6,0.074,0.000,3090,1990,3010,0,0,0,0,0,0
$STATE,4557,end apogee,CONTROL_FINISHED_OK
$STATE,4557,begin climb
$GC,4560,1.38,116.8,501.8,0.0,214,4669,1.58,2.78,99.12,0.895,4,0.043,0.062,3467,3578,2532,0,0,0,0,0,0
$GC,4704,1.29,165.3,498.0,7.2,218,4754,0.12,2.70,42.12,0.871,6,0.126,0.045,3444,1997,2335,0,0,0,0,0,0
$GC,5022,1.25,177.8,468.8,9.3,226,5040,0.00,3.05,10.98,0.790,4,0.000,0.107,3444,405,2285,0,0,0,0,0,0
$GC,5066,1.14,180.3,464.8,9.9,227,5076,0.17,2.60,3.80,0.524,6,0.112,0.035,3408,1983,2275,0,0,0,0,0,0
$GC,5354,1.18,209.2,440.1,8.4,234,5383,0.00,0.00,26.92,0.853,6,0.000,0.000,3408,1983,2157,0,0,0,0,0,0
$GC,5599,1.20,223.4,418.2,9.2,240,5615,0.00,0.00,13.45,0.805,6,0.000,0.000,3408,1983,2099,0,0,0,0,0,0
$GC,5842,1.24,227.5,394.5,9.8,246,5852,0.00,2.70,4.80,0.617,4,0.000,0.050,3408,3581,2081,0,0,0,0,0,0
$GC,5886,1.29,227.5,389.8,11.0,247,5891,0.15,2.67,0.00,0.000,6,0.073,0.045,3450,1978,2081,0,0,0,0,0,0
$GC,6165,1.29,227.5,356.0,12.5,254,6170,0.00,2.78,0.00,0.000,4,0.000,0.080,3450,407,2079,0,0,0,0,0,0
$GC,6198,1.21,227.5,351.6,13.4,254,6204,0.12,2.55,0.00,0.000,6,0.125,0.026,3426,2004,2078,0,0,0,0,0,0
$GC,6447,1.21,227.5,325.3,10.2,261,6452,0.00,2.75,0.00,0.000,4,0.000,0.061,3425,404,2077,0,0,0,0,0,0
$GC,6520,1.21,227.5,317.0,11.8,262,6525,0.00,2.53,0.00,0.000,6,0.000,0.028,3425,1981,2076,0,0,0,0,0,0
$GC,6771,1.26,236.9,292.5,9.5,268,6781,0.00,0.00,8.98,0.713,6,0.000,0.000,3425,1982,2044,0,0,0,0,0,0
$GC,7014,1.31,247.8,269.3,9.4,274,7027,0.00,0.00,11.25,0.722,6,0.000,0.000,3425,1982,1999,0,0,0,0,0,0
$GC,7259,1.37,247.8,244.3,10.2,280,7264,0.15,2.62,0.00,0.000,4,0.071,0.041,3467,3571,1996,0,0,0,0,0,0
$GC,7354,1.37,247.8,233.0,11.3,282,7359,0.00,2.65,0.00,0.000,6,0.000,0.034,3468,1963,1995,0,0,0,0,0,0
$GC,7627,1.37,247.8,204.8,10.2,289,7628,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,1963,1994,0,0,0,0,0,0
$GC,7881,1.39,258.7,182.2,9.4,307,7897,0.00,2.70,10.73,0.652,4,0.000,0.061,3467,409,1954,0,0,0,0,0,0
$GC,7983,1.39,258.7,171.5,10.4,315,7993,0.00,2.50,0.00,0.000,6,0.000,0.026,3467,1985,1951,0,0,0,0,0,0
$GC,8247,1.40,269.7,146.5,9.4,340,8265,0.00,2.60,10.93,0.618,4,0.000,0.035,3467,3551,1909,0,0,0,0,0,0
$GC,8287,1.40,272.0,142.6,9.9,343,8292,0.00,2.58,0.00,0.000,6,0.000,0.035,3467,1976,1908,0,0,0,0,0,0
$GC,8555,1.42,282.8,116.6,9.4,367,8580,0.00,2.72,12.62,0.600,4,0.000,0.058,3467,413,1856,0,0,0,0,0,0
$GC,8596,1.42,282.8,111.7,10.3,370,8606,0.00,2.50,0.00,0.000,6,0.000,0.021,3467,1995,1855,0,0,0,0,0,0
$GC,8864,1.48,303.0,88.1,8.9,395,8888,0.00,2.70,18.73,0.588,4,0.000,0.056,3467,411,1773,0,0,0,0,0,0
$GC,8924,1.48,303.0,81.3,10.9,400,8928,0.00,2.45,0.00,0.000,6,0.000,0.024,3467,1984,1771,0,0,0,0,0,0
$GC,9192,1.60,324.7,58.1,8.8,424,9222,0.17,2.72,19.48,0.558,4,0.067,0.050,3516,411,1685,0,0,0,0,0,0
$GC,9239,1.60,324.7,52.9,11.6,427,9244,0.00,2.45,0.00,0.000,6,0.000,0.021,3516,1992,1684,0,0,0,0,0,0
$GC,9525,1.60,324.7,20.4,10.5,457,9534,0.00,2.67,0.00,0.000,4,0.000,0.049,3515,414,1683,0,0,0,0,0,0
$GC,9594,1.56,324.7,12.2,13.1,466,9603,0.00,2.42,0.00,0.000,6,0.000,0.018,3516,1965,1683,0,0,0,0,0,0
$STATE,9658,end climb,SURFACE_DEPTH_REACHED
$STATE,9659,begin surface coast
$FINISH,0.7,0.977903
$STATE,9701,end surface coast,CONTROL_FINISHED_OK
$STATE,9701,begin surface
$SM_CCo,9725,44.88,0.522,0,0,1460,380.21
$SM_GC,1.52,0.00,0.00,44.88,0.000,0.000,0.522,470,1854,1460,-12.37,-1.02,380.21
$IRIDIUM_FIX,2244.02,-15759.32,100900,101022
$TT8_MAMPS,0.026078
$HUMID,62.16
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.50
$XPDR_PINGS,51
$24V_AH,23.5,38.595
$10V_AH,10.3,33.890
$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,29.000,134.550,390.800,44.875,0.000,53.222,72.451,293.764,12.750,0.000,20.725,998.390,6331.908,506.095,1848.478,711.425,33.367,1221.193,0.000,1848.307,0.000,0.534,0.000
$DEVICE_MAMPS,139.594,169.507,918.099,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.617,263.736,371.348,699.785,1058.372,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,38487,481
$CAP_FILE_SIZE,112651,0
$CFSIZE,260165632,166105088
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170611,133507,2250.385,-15757.079,36,1.8,48,10.1