version: 66.06
glider: 146
mission: 6
dive: 310
start: 6 17 111 16 32 59
data:
$ID,146
$MISSION,6
$DIVE,310
$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,-275432.38
$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,63
$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
$GPS1,162601,2249.015,-15757.360,111,1.1,111,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-69.3
$GPS2,163203,2249.021,-15757.431,10,1.9,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.113,-0.206
$KALMAN_X,-168773.8,15.0,-172.7,167848.5,-1351.5
$KALMAN_Y,-51630.6,-625.4,-442.2,62181.2,729.5
$MHEAD_RNG_PITCHd_Wd,141.0,3796,-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,-70.53,0.000,2,0.000,0.000,478,1904,3254,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.8,-6.1,9,118,12.10,2.70,-4.20,0.000,4,0.141,0.057,2849,313,3488,0,0,0,0,0,0
$GC,209,-1.18,-116.8,34.6,-21.5,24,214,0.25,2.40,0.00,0.000,6,0.114,0.015,2901,1897,3489,0,0,0,0,0,0
$GC,477,-1.18,-116.8,71.4,-11.4,48,481,0.00,2.42,0.00,0.000,4,0.000,0.024,2901,3442,3491,0,0,0,0,0,0
$GC,497,-1.18,-116.8,74.0,-10.6,49,502,0.00,2.45,0.00,0.000,6,0.000,0.024,2901,1885,3491,0,0,0,0,0,0
$GC,762,-1.18,-116.8,102.4,-10.3,73,767,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,1885,3492,0,0,0,0,0,0
$GC,1025,-1.22,-116.8,133.0,-11.8,98,1029,0.00,2.45,0.00,0.000,4,0.000,0.026,2901,3446,3492,0,0,0,0,0,0
$GC,1071,-1.32,-116.8,138.9,-11.9,101,1077,0.12,2.45,0.00,0.000,6,0.070,0.030,2852,1899,3492,0,0,0,0,0,0
$GC,1335,-1.32,-116.8,171.5,-12.3,126,1344,0.10,0.00,0.00,0.000,6,0.120,0.000,2873,1898,3493,0,0,0,0,0,0
$GC,1625,-1.32,-116.8,205.7,-12.0,151,1626,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1898,3493,0,0,0,0,0,0
$GC,1869,-1.32,-116.8,231.9,-10.5,157,1870,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1898,3493,0,0,0,0,0,0
$GC,2114,-1.37,-116.8,257.7,-10.4,163,2119,0.00,2.45,0.00,0.000,4,0.000,0.029,2873,3446,3493,0,0,0,0,0,0
$GC,2176,-1.46,-116.8,264.4,-10.7,164,2181,0.12,2.42,0.00,0.000,6,0.069,0.028,2825,1911,3493,0,0,0,0,0,0
$GC,2437,-1.46,-116.8,295.2,-11.8,171,2441,0.00,2.42,0.00,0.000,4,0.000,0.030,2825,3436,3493,0,0,0,0,0,0
$GC,2498,-1.46,-116.8,302.8,-11.9,172,2503,0.00,2.45,0.00,0.000,6,0.000,0.029,2825,1906,3493,0,0,0,0,0,0
$GC,2759,-1.46,-116.8,333.1,-11.2,179,2763,0.00,2.45,0.00,0.000,4,0.000,0.034,2825,3434,3493,0,0,0,0,0,0
$GC,2803,-1.46,-116.8,338.3,-11.7,180,2807,0.00,2.50,0.00,0.000,6,0.000,0.038,2825,1908,3493,0,0,0,0,0,0
$GC,3082,-1.46,-116.8,368.1,-10.5,187,3086,0.00,2.85,0.00,0.000,4,0.000,0.091,2825,307,3492,0,0,0,0,0,0
$GC,3153,-1.46,-116.8,376.5,-11.4,188,3158,0.00,2.47,0.00,0.000,6,0.000,0.026,2825,1858,3491,0,0,0,0,0,0
$GC,3405,-1.46,-116.8,400.8,-9.9,194,3406,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1858,3490,0,0,0,0,0,0
$GC,3647,-1.46,-116.8,424.7,-9.7,200,3652,0.00,2.67,0.00,0.000,4,0.000,0.055,2825,3466,3489,0,0,0,0,0,0
$GC,3674,-1.46,-116.8,427.3,-9.3,200,3679,0.00,2.60,0.00,0.000,6,0.000,0.048,2825,1904,3489,0,0,0,0,0,0
$GC,3924,-1.46,-116.8,450.1,-9.3,206,3925,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1904,3487,0,0,0,0,0,0
$GC,4170,-1.46,-116.8,473.2,-9.5,212,4171,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1904,3485,0,0,0,0,0,0
$GC,4412,-1.46,-116.8,497.2,-9.9,218,4413,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1904,3484,0,0,0,0,0,0
$STATE,4450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4450,begin apogee
$GC,4456,-0.31,0.0,501.2,10.0,219,4557,1.17,0.00,97.12,0.915,6,0.081,0.000,3091,2014,3010,0,0,0,0,0,0
$STATE,4557,end apogee,CONTROL_FINISHED_OK
$STATE,4557,begin climb
$GC,4561,1.38,116.8,503.6,0.0,221,4665,1.58,0.00,99.85,0.894,6,0.051,0.000,3469,2014,2533,0,0,0,0,0,0
$GC,4897,1.33,169.3,489.9,7.0,230,4948,0.00,3.03,45.33,0.877,4,0.000,0.097,3469,403,2318,0,0,0,0,0,0
$GC,4973,1.18,177.9,483.8,9.5,231,4988,0.25,2.60,8.70,0.749,6,0.108,0.031,3418,1974,2284,0,0,0,0,0,0
$GC,5268,1.22,213.3,459.8,8.0,239,5309,0.00,2.85,31.62,0.860,4,0.000,0.077,3418,404,2138,0,0,0,0,0,0
$GC,5328,1.18,213.8,454.5,10.0,240,5332,0.00,2.62,0.00,0.000,6,0.000,0.030,3418,2004,2136,0,0,0,0,0,0
$GC,5594,1.19,221.1,429.0,9.6,247,5603,0.00,0.00,7.40,0.724,6,0.000,0.000,3417,2003,2108,0,0,0,0,0,0
$GC,5838,1.19,221.3,404.6,10.0,253,5842,0.00,2.62,0.00,0.000,4,0.000,0.048,3418,3579,2105,0,0,0,0,0,0
$GC,5860,1.20,225.4,402.3,9.8,253,5870,0.00,2.65,4.70,0.610,6,0.000,0.041,3418,1996,2091,0,0,0,0,0,0
$GC,6115,1.23,253.0,379.7,8.4,259,6147,0.00,2.90,25.85,0.826,4,0.000,0.088,3418,410,1978,0,0,0,0,0,0
$GC,6168,1.23,253.0,374.8,10.2,260,6173,0.00,2.58,0.00,0.000,6,0.000,0.021,3418,2005,1977,0,0,0,0,0,0
$GC,6437,1.27,253.0,347.5,10.8,267,6441,0.00,2.78,0.00,0.000,4,0.000,0.067,3418,406,1974,0,0,0,0,0,0
$GC,6514,1.27,253.0,337.9,11.5,268,6520,0.00,2.53,0.00,0.000,6,0.000,0.023,3418,1981,1973,0,0,0,0,0,0
$GC,6765,1.38,288.8,316.2,8.0,275,6800,0.17,0.00,32.45,0.794,6,0.067,0.000,3464,1982,1832,0,0,0,0,0,0
$GC,7046,1.38,288.8,284.5,12.1,281,7050,0.00,2.62,0.00,0.000,4,0.000,0.042,3463,3582,1826,0,0,0,0,0,0
$GC,7117,1.38,288.8,274.9,13.7,282,7122,0.00,2.65,0.00,0.000,6,0.000,0.038,3464,1973,1825,0,0,0,0,0,0
$GC,7369,1.38,288.8,245.3,11.5,288,7373,0.00,2.62,0.00,0.000,4,0.000,0.038,3464,3582,1824,0,0,0,0,0,0
$GC,7401,1.38,288.8,241.2,12.0,288,7407,0.00,2.62,0.00,0.000,6,0.000,0.038,3464,1980,1823,0,0,0,0,0,0
$GC,7651,1.38,288.8,213.3,11.2,295,7652,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,1980,1823,0,0,0,0,0,0
$GC,7904,1.38,288.8,187.1,10.9,307,7908,0.00,2.67,0.00,0.000,4,0.000,0.064,3464,403,1822,0,0,0,0,0,0
$GC,7960,1.38,288.8,179.4,12.6,311,7966,0.00,2.50,0.00,0.000,6,0.000,0.024,3464,2001,1821,0,0,0,0,0,0
$GC,8222,1.38,288.8,151.4,10.7,336,8224,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2002,1821,0,0,0,0,0,0
$GC,8480,1.42,290.6,125.6,9.9,360,8488,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2002,1821,0,0,0,0,0,0
$GC,8745,1.49,297.0,99.6,9.7,385,8754,0.00,0.00,6.70,0.522,6,0.000,0.000,3464,2002,1798,0,0,0,0,0,0
$GC,9013,1.60,316.9,75.2,8.9,410,9042,0.17,2.75,18.75,0.574,4,0.064,0.051,3513,415,1716,0,0,0,0,0,0
$GC,9108,1.60,316.9,63.3,13.4,417,9112,0.00,2.45,0.00,0.000,6,0.000,0.018,3513,1999,1715,0,0,0,0,0,0
$GC,9376,1.60,316.9,34.4,10.7,441,9380,0.00,2.50,0.00,0.000,4,0.000,0.031,3514,3558,1714,0,0,0,0,0,0
$GC,9395,1.60,316.9,31.9,10.9,442,9400,0.00,2.55,0.00,0.000,6,0.000,0.028,3513,1977,1714,0,0,0,0,0,0
$STATE,9666,end climb,SURFACE_DEPTH_REACHED
$STATE,9666,begin surface coast
$FINISH,0.6,0.975886
$STATE,9728,end surface coast,CONTROL_FINISHED_OK
$STATE,9729,begin surface
$SM_CCo,9751,52.30,0.523,0,0,1460,380.21
$SM_GC,1.24,0.00,0.00,52.30,0.000,0.000,0.523,470,1870,1460,-12.38,-0.57,380.21
$IRIDIUM_FIX,2241.69,-15754.99,100900,131300
$TT8_MAMPS,0.026078
$HUMID,61.22
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.00
$XPDR_PINGS,34
$24V_AH,23.5,38.820
$10V_AH,10.4,34.109
$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,28.350,93.550,378.475,52.300,0.000,27.535,31.983,171.798,8.500,0.000,11.912,968.415,6421.570,500.579,1783.125,497.944,33.394,1130.208,0.000,1796.324,0.000,0.534,0.000
$DEVICE_MAMPS,141.128,164.138,915.031,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,332.028,283.215,379.797,725.211,1096.938,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,38225,490
$CAP_FILE_SIZE,94578,0
$CFSIZE,260165632,166014976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170611,191734,2248.061,-15757.845,9,99.0,28,10.1