version: 66.06
glider: 146
mission: 6
dive: 317
start: 6 18 111 13 23 41
data:
$ID,146
$MISSION,6
$DIVE,317
$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,-275592.75
$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,70
$R_STBD_OVSHOOT,62
$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
$GPS1,130555,2249.789,-15803.041,52,1.1,52,10.1
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-72.4
$GPS2,132243,2249.760,-15803.193,9,1.1,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.231,0.042
$KALMAN_X,-179651.7,309.7,117.6,168300.1,-1262.9
$KALMAN_Y,-48153.3,477.3,26.6,58496.9,-376.2
$MHEAD_RNG_PITCHd_Wd,69.6,10581,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.78,0.000,2,0.000,0.000,474,1840,3280,0,0,0,0,0,0
$GC,91,-1.38,-116.8,4.0,-7.7,9,117,12.45,2.53,-3.67,0.000,4,0.151,0.064,2856,352,3488,0,0,0,0,0,0
$GC,194,-1.23,-116.8,33.2,-21.3,22,200,0.20,2.33,0.00,0.000,6,0.193,0.014,2896,1914,3491,0,0,0,0,0,0
$GC,461,-1.23,-116.8,73.8,-12.5,46,465,0.00,2.35,0.00,0.000,4,0.000,0.029,2895,3425,3491,0,0,0,0,0,0
$GC,494,-1.23,-116.8,78.3,-13.0,48,498,0.00,2.38,0.00,0.000,6,0.000,0.025,2896,1928,3491,0,0,0,0,0,0
$GC,758,-1.23,-116.8,110.0,-12.3,72,766,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1928,3492,0,0,0,0,0,0
$GC,1023,-1.28,-116.8,140.2,-11.9,97,1027,0.00,2.35,0.00,0.000,4,0.000,0.031,2896,3431,3492,0,0,0,0,0,0
$GC,1064,-1.37,-116.8,145.2,-10.6,100,1069,0.12,2.42,0.00,0.000,6,0.065,0.025,2840,1890,3493,0,0,0,0,0,0
$GC,1330,-1.33,-116.8,181.5,-14.0,124,1334,0.15,2.42,0.00,0.000,4,0.100,0.028,2874,3430,3493,0,0,0,0,0,0
$GC,1387,-1.40,-116.8,188.7,-10.7,128,1393,0.00,2.42,0.00,0.000,6,0.000,0.025,2874,1899,3493,0,0,0,0,0,0
$GC,1662,-1.40,-116.8,216.8,-10.0,143,1663,0.00,0.00,0.00,0.000,6,0.000,0.000,2874,1899,3493,0,0,0,0,0,0
$GC,1906,-1.45,-116.8,241.6,-10.2,149,1911,0.10,2.42,0.00,0.000,4,0.084,0.028,2834,3429,3493,0,0,0,0,0,0
$GC,1940,-1.45,-116.8,245.3,-11.2,149,1945,0.00,2.42,0.00,0.000,6,0.000,0.026,2834,1897,3493,0,0,0,0,0,0
$GC,2189,-1.45,-116.8,273.3,-11.4,156,2194,0.00,2.42,0.00,0.000,4,0.000,0.033,2834,3420,3493,0,0,0,0,0,0
$GC,2301,-1.45,-116.8,286.6,-11.9,158,2305,0.00,2.40,0.00,0.000,6,0.000,0.034,2834,1910,3492,0,0,0,0,0,0
$GC,2558,-1.45,-116.8,314.9,-10.8,165,2562,0.00,2.40,0.00,0.000,4,0.000,0.032,2834,3419,3492,0,0,0,0,0,0
$GC,2584,-1.45,-116.8,318.2,-10.7,165,2589,0.00,2.45,0.00,0.000,6,0.000,0.032,2834,1911,3492,0,0,0,0,0,0
$GC,2835,-1.45,-116.8,343.5,-10.0,171,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1911,3491,0,0,0,0,0,0
$GC,3080,-1.45,-116.8,368.4,-10.2,177,3084,0.00,2.42,0.00,0.000,4,0.000,0.043,2834,3416,3490,0,0,0,0,0,0
$GC,3140,-1.51,-116.8,375.3,-11.5,178,3145,0.00,2.53,0.00,0.000,6,0.000,0.051,2834,1904,3490,0,0,0,0,0,0
$GC,3401,-1.51,-116.8,403.9,-11.0,185,3406,0.00,2.90,0.00,0.000,4,0.000,0.098,2834,307,3488,0,0,0,0,0,0
$GC,3429,-1.51,-116.8,407.2,-12.3,185,3434,0.00,2.45,0.00,0.000,6,0.000,0.032,2834,1850,3487,0,0,0,0,0,0
$GC,3679,-1.55,-116.8,433.7,-10.2,191,3684,0.00,2.70,0.00,0.000,4,0.000,0.054,2834,3474,3486,0,0,0,0,0,0
$GC,3701,-1.59,-116.8,436.1,-10.8,191,3706,0.00,2.62,0.00,0.000,6,0.000,0.049,2833,1917,3486,0,0,0,0,0,0
$GC,3958,-1.63,-116.8,460.8,-9.5,198,3963,0.10,2.60,0.00,0.000,4,0.084,0.046,2793,3475,3484,0,0,0,0,0,0
$GC,3979,-1.63,-116.8,463.4,-10.6,198,3984,0.00,2.65,0.00,0.000,6,0.000,0.058,2793,1917,3484,0,0,0,0,0,0
$GC,4235,-1.63,-116.8,490.3,-10.5,205,4236,0.00,0.00,0.00,0.000,6,0.000,0.000,2793,1917,3483,0,0,0,0,0,0
$STATE,4354,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4354,begin apogee
$GC,4362,-0.31,0.0,503.3,10.6,208,4462,1.35,0.00,96.57,0.918,6,0.082,0.000,3097,2017,3010,0,0,0,0,0,0
$STATE,4463,end apogee,CONTROL_FINISHED_OK
$STATE,4463,begin climb
$GC,4465,1.38,116.8,505.3,0.0,210,4575,1.58,2.67,99.80,0.898,4,0.045,0.062,3474,3552,2531,0,0,0,0,0,0
$GC,4595,1.32,191.9,503.8,5.7,213,4666,0.10,2.70,64.62,0.884,6,0.137,0.054,3454,1991,2227,0,0,0,0,0,0
$GC,4924,1.25,191.9,470.0,10.8,222,4929,0.00,2.62,0.00,0.000,4,0.000,0.049,3454,3552,2218,0,0,0,0,0,0
$GC,4959,1.18,191.9,466.0,11.5,222,4965,0.15,2.67,0.00,0.000,6,0.120,0.051,3425,1993,2216,0,0,0,0,0,0
$GC,5209,1.19,197.8,441.1,9.7,229,5219,0.00,3.00,4.47,0.602,4,0.000,0.104,3425,407,2202,0,0,0,0,0,0
$GC,5258,1.14,197.8,435.8,10.4,230,5263,0.00,2.55,0.00,0.000,6,0.000,0.032,3424,1970,2201,0,0,0,0,0,0
$GC,5532,1.16,216.0,411.3,9.0,237,5556,0.00,2.78,17.38,0.831,4,0.000,0.044,3425,3581,2128,0,0,0,0,0,0
$GC,5578,1.16,216.0,406.5,10.2,238,5583,0.00,2.67,0.00,0.000,6,0.000,0.045,3424,1994,2126,0,0,0,0,0,0
$GC,5857,1.16,216.0,378.8,10.1,245,5862,0.00,2.88,0.00,0.000,4,0.000,0.087,3425,405,2124,0,0,0,0,0,0
$GC,5941,1.16,216.0,369.1,11.9,247,5946,0.00,2.55,0.00,0.000,6,0.000,0.024,3425,2004,2122,0,0,0,0,0,0
$GC,6225,1.17,222.8,341.2,9.6,254,6233,0.00,0.00,6.50,0.686,6,0.000,0.000,3425,2004,2101,0,0,0,0,0,0
$GC,6470,1.19,242.4,319.4,8.9,260,6495,0.00,2.85,18.77,0.788,4,0.000,0.061,3425,409,2020,0,0,0,0,0,0
$GC,6517,1.19,242.4,314.7,10.6,261,6521,0.00,2.53,0.00,0.000,6,0.000,0.021,3425,1983,2018,0,0,0,0,0,0
$GC,6796,1.24,243.8,286.9,10.0,268,6797,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1984,2016,0,0,0,0,0,0
$GC,7041,1.32,256.1,264.1,9.3,274,7061,0.12,2.65,12.82,0.729,4,0.078,0.038,3461,3558,1964,0,0,0,0,0,0
$GC,7106,1.32,256.1,256.9,10.6,275,7111,0.00,2.62,0.00,0.000,6,0.000,0.037,3461,1964,1963,0,0,0,0,0,0
$GC,7367,1.32,257.2,230.3,10.0,282,7368,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1963,1961,0,0,0,0,0,0
$GC,7613,1.33,260.1,206.6,9.9,288,7622,0.00,2.70,4.22,0.503,4,0.000,0.070,3461,412,1948,0,0,0,0,0,0
$GC,7650,1.33,260.1,202.6,10.6,288,7656,0.00,2.47,0.00,0.000,6,0.000,0.022,3461,1988,1948,0,0,0,0,0,0
$GC,7915,1.35,276.8,178.4,9.1,310,7936,0.00,2.72,15.88,0.671,4,0.000,0.053,3461,409,1881,0,0,0,0,0,0
$GC,7960,1.35,276.8,173.1,10.7,314,7965,0.00,2.47,0.00,0.000,6,0.000,0.021,3461,1976,1880,0,0,0,0,0,0
$GC,8223,1.35,281.7,147.1,9.8,338,8235,0.00,0.00,5.88,0.538,6,0.000,0.000,3461,1977,1860,0,0,0,0,0,0
$GC,8494,1.40,284.7,122.5,9.9,363,8499,0.00,0.00,3.90,0.423,6,0.000,0.000,3461,1978,1849,0,0,0,0,0,0
$GC,8758,1.48,298.5,97.2,9.2,388,8778,0.10,2.67,13.73,0.586,4,0.086,0.056,3492,404,1791,0,0,0,0,0,0
$GC,8805,1.48,298.5,92.1,12.3,391,8809,0.00,2.45,0.00,0.000,6,0.000,0.018,3493,1969,1790,0,0,0,0,0,0
$GC,9071,1.48,298.5,63.2,10.6,415,9075,0.00,2.60,0.00,0.000,4,0.000,0.056,3492,410,1790,0,0,0,0,0,0
$GC,9155,1.49,306.5,54.5,9.6,421,9170,0.00,2.40,8.00,0.506,6,0.000,0.018,3492,1962,1759,0,0,0,0,0,0
$GC,9426,1.56,319.0,29.9,9.3,446,9444,0.00,0.00,12.35,0.519,6,0.000,0.000,3492,1963,1707,0,0,0,0,0,0
$STATE,9678,end climb,SURFACE_DEPTH_REACHED
$STATE,9678,begin surface coast
$FINISH,0.7,0.980063
$STATE,9721,end surface coast,CONTROL_FINISHED_OK
$STATE,9721,begin surface
$SM_CCo,9743,49.12,0.524,0,0,1459,380.21
$SM_GC,1.11,0.00,0.00,49.12,0.000,0.000,0.524,475,1846,1459,-12.37,-1.24,380.21
$IRIDIUM_FIX,2241.69,-15802.37,110900,131325
$TT8_MAMPS,0.026078
$HUMID,62.52
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.50
$XPDR_PINGS,46
$24V_AH,23.5,39.729
$10V_AH,10.3,34.914
$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,28.750,113.100,384.900,49.125,0.000,103.257,138.701,420.897,11.500,0.000,16.432,986.179,6542.815,486.462,1821.879,969.555,33.368,1162.908,0.000,1823.259,0.000,0.535,0.000
$DEVICE_MAMPS,193.284,104.312,918.099,523.861,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.294,285.410,377.120,715.732,1082.476,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,38513,489
$CAP_FILE_SIZE,111609,0
$CFSIZE,260165632,165625856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180611,160807,2249.819,-15802.386,31,1.6,31,10.1