version: 66.06
glider: 146
mission: 6
dive: 311
start: 6 17 111 19 28 48
data:
$ID,146
$MISSION,6
$DIVE,311
$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,-275456.12
$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,46
$R_STBD_OVSHOOT,58
$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
$GPS1,191734,2248.061,-15757.845,9,99.0,28,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-65.2
$GPS2,192755,2248.150,-15757.963,10,1.9,21,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.133,-0.193
$KALMAN_X,-170460.0,-254.8,-239.3,168968.1,-1209.5
$KALMAN_Y,-51394.3,-787.8,-76.8,60128.6,995.1
$MHEAD_RNG_PITCHd_Wd,135.3,2149,-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,-70.45,0.000,2,0.000,0.000,469,1869,3294,0,0,0,0,0,0
$GC,91,-1.38,-116.8,4.1,-7.4,9,117,12.20,2.60,-3.42,0.000,4,0.143,0.059,2851,332,3491,0,0,0,0,0,0
$GC,143,-0.95,-116.8,22.6,-31.0,15,152,0.43,2.42,0.00,0.000,6,0.102,0.015,2945,1903,3492,0,0,0,0,0,0
$GC,423,-1.00,-116.8,60.8,-11.7,43,428,0.00,2.42,0.00,0.000,4,0.000,0.025,2945,3438,3493,0,0,0,0,0,0
$GC,448,-1.06,-116.8,64.2,-11.4,44,458,0.00,2.47,0.00,0.000,6,0.000,0.025,2946,1903,3493,0,0,0,0,0,0
$GC,715,-1.16,-116.8,93.8,-11.1,69,720,0.17,0.00,0.00,0.000,6,0.058,0.000,2887,1903,3494,0,0,0,0,0,0
$GC,977,-1.16,-116.8,126.8,-11.9,94,981,0.00,2.42,0.00,0.000,4,0.000,0.027,2887,3447,3495,0,0,0,0,0,0
$GC,1010,-1.16,-116.8,130.9,-12.0,96,1020,0.00,2.47,0.00,0.000,6,0.000,0.029,2887,1894,3495,0,0,0,0,0,0
$GC,1277,-1.19,-116.8,159.9,-10.6,121,1282,0.00,2.42,0.00,0.000,4,0.000,0.028,2887,3440,3495,0,0,0,0,0,0
$GC,1312,-1.25,-116.8,164.4,-11.2,123,1321,0.00,2.47,0.00,0.000,6,0.000,0.025,2887,1892,3495,0,0,0,0,0,0
$GC,1579,-1.30,-116.8,192.8,-10.9,148,1583,0.00,2.42,0.00,0.000,4,0.000,0.033,2887,3439,3496,0,0,0,0,0,0
$GC,1642,-1.41,-116.8,199.9,-10.1,153,1647,0.15,2.42,0.00,0.000,6,0.059,0.025,2827,1904,3496,0,0,0,0,0,0
$GC,1892,-1.35,-116.8,230.7,-12.9,159,1894,0.17,0.00,0.00,0.000,6,0.098,0.000,2866,1904,3496,0,0,0,0,0,0
$GC,2135,-1.35,-116.8,257.6,-10.9,165,2139,0.00,2.42,0.00,0.000,4,0.000,0.030,2865,3437,3496,0,0,0,0,0,0
$GC,2181,-1.43,-116.8,262.0,-9.5,166,2185,0.00,2.40,0.00,0.000,6,0.000,0.025,2866,1914,3496,0,0,0,0,0,0
$GC,2459,-1.48,-116.8,287.7,-9.3,173,2464,0.12,2.42,0.00,0.000,4,0.071,0.031,2821,3435,3496,0,0,0,0,0,0
$GC,2526,-1.48,-116.8,294.9,-10.7,174,2531,0.00,2.42,0.00,0.000,6,0.000,0.028,2821,1921,3496,0,0,0,0,0,0
$GC,2782,-1.48,-116.8,323.7,-11.3,181,2786,0.00,2.45,0.00,0.000,4,0.000,0.037,2821,3439,3495,0,0,0,0,0,0
$GC,2803,-1.48,-116.8,326.3,-11.2,181,2807,0.00,2.45,0.00,0.000,6,0.000,0.038,2821,1927,3495,0,0,0,0,0,0
$GC,3059,-1.48,-116.8,352.1,-9.8,188,3060,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1926,3494,0,0,0,0,0,0
$GC,3304,-1.48,-116.8,377.0,-10.4,194,3305,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1926,3493,0,0,0,0,0,0
$GC,3546,-1.48,-116.8,401.1,-9.8,200,3551,0.00,2.50,0.00,0.000,4,0.000,0.044,2821,3428,3492,0,0,0,0,0,0
$GC,3568,-1.48,-116.8,403.4,-10.0,200,3573,0.00,2.53,0.00,0.000,6,0.000,0.049,2821,1923,3492,0,0,0,0,0,0
$GC,3825,-1.48,-116.8,427.9,-10.0,207,3830,0.00,2.50,0.00,0.000,4,0.000,0.050,2821,3435,3490,0,0,0,0,0,0
$GC,3847,-1.48,-116.8,430.5,-10.3,207,3851,0.00,2.55,0.00,0.000,6,0.000,0.049,2821,1920,3489,0,0,0,0,0,0
$GC,4103,-1.48,-116.8,458.9,-11.3,214,4107,0.00,3.00,0.00,0.000,4,0.000,0.105,2821,301,3487,0,0,0,0,0,0
$GC,4124,-1.48,-116.8,461.5,-11.9,214,4128,0.00,2.55,0.00,0.000,6,0.000,0.039,2821,1868,3487,0,0,0,0,0,0
$GC,4380,-1.48,-116.8,489.8,-10.9,221,4381,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1868,3486,0,0,0,0,0,0
$STATE,4498,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4498,begin apogee
$GC,4504,-0.31,0.0,502.4,10.4,224,4605,1.17,0.00,97.12,0.917,6,0.079,0.000,3089,2011,3010,0,0,0,0,0,0
$STATE,4606,end apogee,CONTROL_FINISHED_OK
$STATE,4606,begin climb
$GC,4608,1.38,116.8,505.0,0.0,226,4716,1.58,2.78,99.45,0.897,4,0.051,0.067,3463,3567,2532,0,0,0,0,0,0
$GC,4725,1.39,218.3,504.4,4.2,229,4824,0.00,2.70,87.90,0.883,6,0.000,0.052,3463,1994,2117,0,0,0,0,0,0
$GC,5065,1.31,218.3,468.4,11.5,238,5070,0.00,3.00,0.00,0.000,4,0.000,0.111,3463,408,2109,0,0,0,0,0,0
$GC,5105,1.18,218.3,463.1,13.7,239,5110,0.22,2.60,0.00,0.000,6,0.114,0.030,3418,1991,2107,0,0,0,0,0,0
$GC,5390,1.18,219.4,434.3,10.0,246,5391,0.00,0.00,0.00,0.000,6,0.000,0.000,3418,1991,2106,0,0,0,0,0,0
$GC,5632,1.22,251.4,413.5,8.2,252,5662,0.00,0.00,28.25,0.843,6,0.000,0.000,3418,1991,1985,0,0,0,0,0,0
$GC,5876,1.22,254.4,390.3,9.9,258,5881,0.00,2.65,0.00,0.000,4,0.000,0.048,3418,3587,1980,0,0,0,0,0,0
$GC,5920,1.27,254.4,385.2,12.0,259,5925,0.00,2.65,0.00,0.000,6,0.000,0.040,3418,1990,1979,0,0,0,0,0,0
$GC,6199,1.27,254.4,354.5,11.0,266,6204,0.00,2.78,0.00,0.000,4,0.000,0.083,3418,408,1977,0,0,0,0,0,0
$GC,6265,1.27,254.4,347.0,11.2,267,6269,0.00,2.55,0.00,0.000,6,0.000,0.020,3418,2012,1976,0,0,0,0,0,0
$GC,6523,1.34,269.3,323.0,9.2,274,6546,0.15,2.60,16.10,0.781,4,0.076,0.041,3457,3571,1911,0,0,0,0,0,0
$GC,6632,1.34,269.3,310.6,11.6,276,6636,0.00,2.60,0.00,0.000,6,0.000,0.040,3457,1988,1909,0,0,0,0,0,0
$GC,6892,1.34,269.3,282.5,10.6,283,6897,0.00,2.75,0.00,0.000,4,0.000,0.071,3458,408,1907,0,0,0,0,0,0
$GC,6916,1.30,269.3,279.9,11.4,283,6920,0.00,2.53,0.00,0.000,6,0.000,0.023,3458,2003,1906,0,0,0,0,0,0
$GC,7172,1.30,269.3,249.3,12.2,290,7176,0.00,2.55,0.00,0.000,4,0.000,0.042,3458,3567,1906,0,0,0,0,0,0
$GC,7210,1.30,269.3,244.5,12.0,291,7215,0.00,2.58,0.00,0.000,6,0.000,0.033,3458,1990,1904,0,0,0,0,0,0
$GC,7495,1.30,269.3,214.4,10.4,298,7496,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1990,1903,0,0,0,0,0,0
$GC,7745,1.30,269.3,189.4,10.4,310,7749,0.00,2.67,0.00,0.000,4,0.000,0.067,3458,414,1903,0,0,0,0,0,0
$GC,7837,1.30,269.3,177.9,12.4,317,7843,0.00,2.47,0.00,0.000,6,0.000,0.023,3458,1998,1902,0,0,0,0,0,0
$GC,8101,1.31,274.1,153.2,9.8,342,8111,0.00,0.00,4.45,0.488,6,0.000,0.000,3458,1998,1891,0,0,0,0,0,0
$GC,8371,1.35,274.1,124.5,10.3,367,8375,0.00,2.65,0.00,0.000,4,0.000,0.060,3459,415,1891,0,0,0,0,0,0
$GC,8426,1.35,274.1,118.7,10.3,371,8430,0.00,2.42,0.00,0.000,6,0.000,0.025,3458,1979,1890,0,0,0,0,0,0
$GC,8692,1.42,290.0,93.7,9.1,395,8715,0.00,2.72,15.45,0.593,4,0.000,0.054,3458,409,1826,0,0,0,0,0,0
$GC,8728,1.49,301.3,90.1,9.4,398,8748,0.08,2.47,11.48,0.564,6,0.055,0.023,3488,1972,1779,0,0,0,0,0,0
$GC,9006,1.49,305.6,60.5,9.8,424,9016,0.00,0.00,4.47,0.423,6,0.000,0.000,3488,1973,1764,0,0,0,0,0,0
$GC,9276,1.59,329.5,36.3,8.7,449,9304,0.00,2.65,22.50,0.550,4,0.000,0.049,3487,413,1664,0,0,0,0,0,0
$GC,9334,1.61,340.8,31.6,9.4,453,9351,0.00,2.42,11.00,0.509,6,0.000,0.018,3487,1970,1618,0,0,0,0,0,0
$STATE,9619,end climb,SURFACE_DEPTH_REACHED
$STATE,9619,begin surface coast
$FINISH,0.5,0.970216
$STATE,9674,end surface coast,CONTROL_FINISHED_OK
$STATE,9675,begin surface
$SM_CCo,9698,31.75,0.520,0,0,1458,380.21
$SM_GC,1.18,0.00,0.00,31.75,0.000,0.000,0.520,480,1865,1458,-12.33,-0.71,380.21
$IRIDIUM_FIX,2239.35,-15754.99,100900,191932
$TT8_MAMPS,0.025311
$HUMID,62.99
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.70
$XPDR_PINGS,44
$24V_AH,23.5,38.941
$10V_AH,10.3,34.224
$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,28.625,112.925,398.175,31.750,0.000,59.512,84.408,264.316,11.000,0.000,23.111,997.411,6306.476,484.733,1863.004,701.854,33.369,1170.716,0.000,1864.799,0.000,0.535,0.000
$DEVICE_MAMPS,142.662,111.215,917.332,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,340.131,304.549,393.121,759.515,1148.936,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,38430,502
$CAP_FILE_SIZE,103770,0
$CFSIZE,260165632,165957632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170611,221254,2247.333,-15758.057,60,1.6,75,10.1