version: 66.06
glider: 146
mission: 6
dive: 314
start: 6 18 111 4 32 49
data:
$ID,146
$MISSION,6
$DIVE,314
$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,621.34491
$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,-275503.81
$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,3165
$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,77
$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
$GPS1,041001,2247.460,-15802.249,128,1.3,128,10.1
$_CALLS,5
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.2
$GPS2,043155,2247.747,-15802.412,11,1.1,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.005,-0.235
$KALMAN_X,-175120.4,-298.5,17.8,165809.3,-963.3
$KALMAN_Y,-50120.1,513.0,-137.4,56851.5,1098.8
$MHEAD_RNG_PITCHd_Wd,168.6,1709,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,92,0.00,0.00,-70.97,0.000,2,0.000,0.000,475,1838,3334,0,0,0,0,0,0
$GC,95,-1.38,-116.8,4.2,-7.9,9,121,12.07,2.50,-2.80,0.000,4,0.138,0.061,2857,369,3491,0,0,0,0,0,0
$GC,172,-1.21,-116.8,28.0,-22.1,19,182,0.15,2.35,0.00,0.000,6,0.104,0.015,2892,1905,3491,0,0,0,0,0,0
$GC,440,-1.21,-116.8,67.7,-11.7,44,444,0.00,2.38,0.00,0.000,4,0.000,0.028,2892,3432,3492,0,0,0,0,0,0
$GC,473,-1.21,-116.8,72.4,-13.0,46,477,0.00,2.38,0.00,0.000,6,0.000,0.025,2892,1940,3492,0,0,0,0,0,0
$GC,736,-1.21,-116.8,105.3,-12.4,70,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1939,3493,0,0,0,0,0,0
$GC,1002,-1.21,-116.8,132.4,-9.8,95,1006,0.00,2.35,0.00,0.000,4,0.000,0.025,2893,3439,3493,0,0,0,0,0,0
$GC,1023,-1.21,-116.8,135.3,-10.5,96,1032,0.00,2.45,0.00,0.000,6,0.000,0.031,2893,1907,3493,0,0,0,0,0,0
$GC,1292,-1.25,-116.8,164.0,-11.8,121,1296,0.00,2.40,0.00,0.000,4,0.000,0.032,2893,3443,3493,0,0,0,0,0,0
$GC,1324,-1.32,-116.8,168.9,-12.3,123,1333,0.00,2.42,0.00,0.000,6,0.000,0.032,2893,1926,3493,0,0,0,0,0,0
$GC,1593,-1.37,-116.8,197.0,-9.9,148,1598,0.12,0.00,0.00,0.000,6,0.071,0.000,2849,1925,3494,0,0,0,0,0,0
$GC,1863,-1.37,-116.8,227.6,-10.9,157,1868,0.00,2.38,0.00,0.000,4,0.000,0.026,2848,3440,3493,0,0,0,0,0,0
$GC,1898,-1.37,-116.8,231.2,-10.8,157,1903,0.00,2.38,0.00,0.000,6,0.000,0.023,2848,1926,3494,0,0,0,0,0,0
$GC,2147,-1.37,-116.8,258.6,-10.8,164,2151,0.00,2.42,0.00,0.000,4,0.000,0.030,2848,3440,3493,0,0,0,0,0,0
$GC,2238,-1.43,-116.8,268.0,-10.2,166,2242,0.00,2.35,0.00,0.000,6,0.000,0.026,2848,1951,3493,0,0,0,0,0,0
$GC,2522,-1.43,-116.8,296.7,-9.9,173,2527,0.00,2.80,0.00,0.000,4,0.000,0.075,2848,319,3493,0,0,0,0,0,0
$GC,2549,-1.43,-116.8,299.9,-10.7,173,2553,0.00,2.45,0.00,0.000,6,0.000,0.027,2848,1909,3492,0,0,0,0,0,0
$GC,2799,-1.43,-116.8,327.0,-11.1,179,2803,0.00,2.50,0.00,0.000,4,0.000,0.043,2848,3459,3492,0,0,0,0,0,0
$GC,2895,-1.49,-116.8,337.6,-10.9,181,2899,0.00,2.42,0.00,0.000,6,0.000,0.041,2848,1973,3491,0,0,0,0,0,0
$GC,3167,-1.54,-116.8,361.7,-8.2,188,3172,0.00,2.40,0.00,0.000,4,0.000,0.035,2848,3467,3490,0,0,0,0,0,0
$GC,3184,-1.59,-116.8,363.1,-7.8,188,3189,0.12,2.45,0.00,0.000,6,0.070,0.039,2804,1979,3490,0,0,0,0,0,0
$GC,3446,-1.59,-116.8,388.9,-10.0,195,3448,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1978,3488,0,0,0,0,0,0
$GC,3688,-1.59,-116.8,415.4,-11.0,201,3692,0.00,2.40,0.00,0.000,4,0.000,0.042,2804,3454,3486,0,0,0,0,0,0
$GC,3715,-1.59,-116.8,418.7,-12.0,201,3720,0.00,2.45,0.00,0.000,6,0.000,0.050,2804,1976,3487,0,0,0,0,0,0
$GC,3967,-1.59,-116.8,448.9,-12.3,207,3971,0.00,2.45,0.00,0.000,4,0.000,0.053,2804,3461,3485,0,0,0,0,0,0
$GC,3999,-1.59,-116.8,453.2,-12.7,207,4005,0.00,2.47,0.00,0.000,6,0.000,0.053,2803,1985,3484,0,0,0,0,0,0
$GC,4249,-1.59,-116.8,483.9,-12.3,214,4250,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,1984,3483,0,0,0,0,0,0
$STATE,4411,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4411,begin apogee
$GC,4416,-0.31,0.0,503.4,12.0,218,4516,1.30,0.00,96.12,0.913,6,0.083,0.000,3096,1985,3010,0,0,0,0,0,0
$STATE,4517,end apogee,CONTROL_FINISHED_OK
$STATE,4517,begin climb
$GC,4521,1.38,116.8,506.3,0.0,220,4630,1.58,2.97,99.65,0.890,4,0.039,0.104,3475,426,2531,0,0,0,0,0,0
$GC,4647,1.23,168.5,505.4,7.1,223,4698,0.20,2.55,44.83,0.866,6,0.117,0.038,3436,1979,2322,0,0,0,0,0,0
$GC,4977,1.19,168.5,472.8,10.1,232,4981,0.00,2.72,0.00,0.000,4,0.000,0.060,3436,3576,2313,0,0,0,0,0,0
$GC,5004,1.17,184.8,470.1,9.1,232,5023,0.00,2.65,14.20,0.811,6,0.000,0.051,3436,2014,2256,0,0,0,0,0,0
$GC,5298,1.17,186.2,441.8,10.0,240,5302,0.00,2.95,0.00,0.000,4,0.000,0.096,3435,404,2251,0,0,0,0,0,0
$GC,5313,1.12,186.2,439.9,10.1,240,5319,0.15,2.60,0.00,0.000,6,0.119,0.032,3406,2002,2250,0,0,0,0,0,0
$GC,5575,1.13,193.7,414.8,9.6,247,5589,0.00,2.70,7.90,0.726,4,0.000,0.050,3406,3577,2220,0,0,0,0,0,0
$GC,5642,1.17,193.7,408.2,10.1,248,5646,0.00,2.62,0.00,0.000,6,0.000,0.044,3406,2000,2219,0,0,0,0,0,0
$GC,5903,1.25,226.1,386.0,8.2,255,5937,0.12,0.00,29.83,0.829,6,0.078,0.000,3443,1999,2088,0,0,0,0,0,0
$GC,6189,1.25,226.1,355.5,11.1,262,6194,0.00,2.80,0.00,0.000,4,0.000,0.084,3443,408,2082,0,0,0,0,0,0
$GC,6210,1.20,226.1,352.6,12.2,262,6215,0.00,2.58,0.00,0.000,6,0.000,0.021,3443,2031,2081,0,0,0,0,0,0
$GC,6466,1.20,226.1,324.2,10.8,269,6467,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2032,2081,0,0,0,0,0,0
$GC,6711,1.22,240.5,301.6,9.2,275,6726,0.00,0.00,12.85,0.746,6,0.000,0.000,3443,2032,2029,0,0,0,0,0,0
$GC,6953,1.22,240.5,276.4,10.3,281,6958,0.00,2.78,0.00,0.000,4,0.000,0.058,3443,402,2026,0,0,0,0,0,0
$GC,7008,1.22,240.5,270.7,10.2,282,7012,0.00,2.55,0.00,0.000,6,0.000,0.025,3443,2014,2025,0,0,0,0,0,0
$GC,7277,1.26,271.0,248.7,8.3,289,7307,0.00,0.00,28.10,0.742,6,0.000,0.000,3443,2014,1905,0,0,0,0,0,0
$GC,7519,1.32,288.3,226.5,9.0,295,7537,0.00,0.00,16.15,0.699,6,0.000,0.000,3443,2015,1834,0,0,0,0,0,0
$GC,7763,1.37,288.3,202.8,10.1,301,7764,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2016,1831,0,0,0,0,0,0
$GC,8021,1.44,289.1,177.5,10.0,322,8027,0.15,2.75,0.00,0.000,4,0.068,0.053,3487,404,1830,0,0,0,0,0,0
$GC,8074,1.37,289.1,170.1,13.0,326,8079,0.10,2.50,0.00,0.000,6,0.130,0.019,3466,2016,1828,0,0,0,0,0,0
$GC,8335,1.37,289.1,137.8,12.8,350,8339,0.00,2.72,0.00,0.000,4,0.000,0.054,3465,404,1828,0,0,0,0,0,0
$GC,8403,1.37,289.1,129.1,13.2,355,8408,0.00,2.45,0.00,0.000,6,0.000,0.025,3466,1997,1827,0,0,0,0,0,0
$GC,8671,1.46,318.6,106.1,8.3,379,8706,0.00,2.78,26.25,0.612,4,0.000,0.058,3465,407,1710,0,0,0,0,0,0
$GC,8794,1.46,318.6,93.2,11.3,389,8798,0.00,2.45,0.00,0.000,6,0.000,0.024,3465,1991,1708,0,0,0,0,0,0
$GC,9062,1.54,323.5,66.0,9.8,413,9077,0.15,2.55,5.65,0.466,4,0.071,0.036,3507,3552,1689,0,0,0,0,0,0
$GC,9119,1.58,323.5,59.7,11.4,417,9123,0.00,2.58,0.00,0.000,6,0.000,0.031,3507,1969,1688,0,0,0,0,0,0
$GC,9386,1.58,323.5,29.2,12.1,441,9395,0.00,2.62,0.00,0.000,4,0.000,0.055,3507,418,1688,0,0,0,0,0,0
$GC,9467,1.58,323.5,19.3,10.9,452,9476,0.00,2.45,0.00,0.000,6,0.000,0.023,3507,1987,1687,0,0,0,0,0,0
$STATE,9607,end climb,SURFACE_DEPTH_REACHED
$STATE,9607,begin surface coast
$FINISH,0.6,0.979867
$STATE,9660,end surface coast,CONTROL_FINISHED_OK
$STATE,9660,begin surface
$SM_CCo,9682,236.95,0.516,0,0,476,621.34
$SM_GC,1.16,0.00,0.00,236.95,0.000,0.000,0.516,475,1861,476,-12.37,-0.82,621.34
$IRIDIUM_FIX,2239.35,-15804.53,110900,040424
$TT8_MAMPS,0.026078
$HUMID,58.54
$INTERNAL_PRESSURE,9.10191
$TCM_TEMP,21.30
$XPDR_PINGS,42
$24V_AH,23.5,39.365
$10V_AH,10.3,34.577
$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,28.425,112.050,381.525,236.950,0.000,141.266,184.775,562.486,10.500,0.000,13.004,964.997,6600.636,708.533,1751.582,1206.600,33.370,1357.625,0.000,1756.262,0.000,0.536,0.000
$DEVICE_MAMPS,138.060,104.312,913.497,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,324.187,261.559,366.017,687.019,1039.086,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,38359,479
$CAP_FILE_SIZE,114007,0
$CFSIZE,260165632,165781504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180611,071936,2246.958,-15803.402,43,1.3,47,10.1