version: 66.06
glider: 146
mission: 6
dive: 318
start: 6 18 111 16 16 13
data:
$ID,146
$MISSION,6
$DIVE,318
$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,-275611.47
$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,63
$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
$GPS1,160807,2249.819,-15802.386,31,1.6,31,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-68.8
$GPS2,161519,2249.839,-15802.460,10,1.9,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,-0.014
$KALMAN_X,-180718.9,216.5,220.3,170606.1,-1612.9
$KALMAN_Y,-47518.6,-224.0,-183.2,58919.2,161.1
$MHEAD_RNG_PITCHd_Wd,83.3,9325,-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,16,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-70.65,0.000,2,0.000,0.000,475,1846,3321,0,0,0,0,0,0
$GC,94,-1.38,-116.8,4.5,-9.4,9,120,12.43,2.60,-2.83,0.000,4,0.151,0.044,2855,3450,3490,0,0,0,0,0,0
$GC,144,-1.01,-116.8,22.8,-29.3,15,153,0.38,2.47,0.00,0.000,6,0.091,0.027,2940,1926,3491,0,0,0,0,0,0
$GC,421,-1.01,-116.8,62.6,-13.5,42,425,0.00,2.42,0.00,0.000,4,0.000,0.031,2940,3447,3492,0,0,0,0,0,0
$GC,457,-1.13,-116.8,67.1,-9.4,44,466,0.00,2.50,0.00,0.000,6,0.000,0.025,2940,1896,3493,0,0,0,0,0,0
$GC,723,-1.23,-116.8,90.9,-8.9,69,728,0.17,2.65,0.00,0.000,4,0.056,0.054,2880,316,3493,0,0,0,0,0,0
$GC,758,-1.23,-116.8,94.6,-11.6,71,763,0.00,2.40,0.00,0.000,6,0.000,0.015,2880,1917,3493,0,0,0,0,0,0
$GC,1024,-1.23,-116.8,127.5,-12.2,95,1028,0.00,2.40,0.00,0.000,4,0.000,0.025,2880,3442,3494,0,0,0,0,0,0
$GC,1067,-1.28,-116.8,133.0,-12.0,98,1071,0.00,2.42,0.00,0.000,6,0.000,0.028,2880,1897,3494,0,0,0,0,0,0
$GC,1329,-1.28,-116.8,165.9,-12.6,122,1333,0.00,2.40,0.00,0.000,4,0.000,0.030,2880,3435,3494,0,0,0,0,0,0
$GC,1363,-1.32,-116.8,169.6,-12.4,124,1367,0.00,2.40,0.00,0.000,6,0.000,0.023,2880,1903,3494,0,0,0,0,0,0
$GC,1657,-1.32,-116.8,204.8,-11.5,148,1661,0.00,2.42,0.00,0.000,4,0.000,0.026,2880,3435,3495,0,0,0,0,0,0
$GC,1783,-1.41,-116.8,217.2,-9.0,150,1789,0.00,2.38,0.00,0.000,6,0.000,0.028,2880,1922,3495,0,0,0,0,0,0
$GC,2033,-1.46,-116.8,239.8,-9.1,157,2035,0.15,0.00,0.00,0.000,6,0.063,0.000,2827,1921,3495,0,0,0,0,0,0
$GC,2276,-1.46,-116.8,266.9,-11.1,163,2280,0.00,2.40,0.00,0.000,4,0.000,0.033,2827,3434,3495,0,0,0,0,0,0
$GC,2362,-1.46,-116.8,276.6,-10.7,165,2366,0.00,2.38,0.00,0.000,6,0.000,0.030,2827,1933,3495,0,0,0,0,0,0
$GC,2645,-1.46,-116.8,308.9,-11.5,172,2649,0.00,2.40,0.00,0.000,4,0.000,0.030,2827,3432,3495,0,0,0,0,0,0
$GC,2722,-1.46,-116.8,317.8,-11.1,173,2728,0.00,2.40,0.00,0.000,6,0.000,0.034,2827,1941,3495,0,0,0,0,0,0
$GC,2974,-1.46,-116.8,347.6,-12.1,180,2975,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1941,3494,0,0,0,0,0,0
$GC,3216,-1.46,-116.8,377.5,-12.0,186,3220,0.00,2.42,0.00,0.000,4,0.000,0.040,2827,3425,3494,0,0,0,0,0,0
$GC,3288,-1.51,-116.8,386.6,-11.9,187,3292,0.00,2.50,0.00,0.000,6,0.000,0.051,2826,1935,3493,0,0,0,0,0,0
$GC,3539,-1.51,-116.8,414.7,-11.2,193,3540,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1935,3492,0,0,0,0,0,0
$GC,3781,-1.51,-116.8,438.9,-9.5,199,3783,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1935,3490,0,0,0,0,0,0
$GC,4025,-1.51,-116.8,460.3,-8.5,205,4029,0.00,2.47,0.00,0.000,4,0.000,0.048,2827,3430,3488,0,0,0,0,0,0
$GC,4065,-1.56,-116.8,463.8,-8.7,206,4069,0.00,2.55,0.00,0.000,6,0.000,0.061,2827,1931,3489,0,0,0,0,0,0
$GC,4349,-1.56,-116.8,488.5,-8.9,213,4350,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1931,3486,0,0,0,0,0,0
$STATE,4467,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4467,begin apogee
$GC,4473,-0.31,0.0,500.2,9.5,216,4573,1.17,0.00,97.18,0.915,6,0.077,0.000,3094,1931,3010,0,0,0,0,0,0
$STATE,4574,end apogee,CONTROL_FINISHED_OK
$STATE,4574,begin climb
$GC,4577,1.38,116.8,502.2,0.0,218,4681,1.58,0.00,99.85,0.894,6,0.041,0.000,3470,1931,2533,0,0,0,0,0,0
$GC,4916,1.31,159.9,486.5,7.5,227,4960,0.00,2.83,36.97,0.871,4,0.000,0.054,3470,3526,2357,0,0,0,0,0,0
$GC,5031,1.20,159.9,474.5,11.9,229,5036,0.20,2.62,0.00,0.000,6,0.110,0.050,3428,1998,2352,0,0,0,0,0,0
$GC,5288,1.21,165.2,449.2,9.7,236,5298,0.00,2.58,4.90,0.629,4,0.000,0.042,3429,3532,2335,0,0,0,0,0,0
$GC,5320,1.21,166.8,445.7,9.9,236,5328,0.00,2.58,0.00,0.000,6,0.000,0.047,3428,2005,2334,0,0,0,0,0,0
$GC,5572,1.23,181.0,422.5,9.2,243,5592,0.00,2.58,15.40,0.815,4,0.000,0.039,3428,3538,2270,0,0,0,0,0,0
$GC,5643,1.23,181.3,415.4,10.0,244,5647,0.00,2.60,0.00,0.000,6,0.000,0.044,3429,2004,2268,0,0,0,0,0,0
$GC,5893,1.26,207.4,393.4,8.5,250,5922,0.00,2.95,23.80,0.832,4,0.000,0.094,3428,410,2163,0,0,0,0,0,0
$GC,5974,1.26,207.4,385.2,10.9,251,5980,0.00,2.50,0.00,0.000,6,0.000,0.027,3428,1961,2160,0,0,0,0,0,0
$GC,6224,1.28,222.1,361.4,9.2,258,6240,0.00,0.00,13.82,0.785,6,0.000,0.000,3428,1961,2104,0,0,0,0,0,0
$GC,6468,1.29,234.9,338.8,9.3,264,6482,0.00,0.00,12.40,0.765,6,0.000,0.000,3428,1961,2052,0,0,0,0,0,0
$GC,6713,1.31,247.0,316.0,9.3,270,6726,0.00,0.00,11.68,0.746,6,0.000,0.000,3428,1961,2003,0,0,0,0,0,0
$GC,6955,1.35,247.0,290.3,10.4,276,6960,0.12,2.70,0.00,0.000,4,0.084,0.063,3461,404,2000,0,0,0,0,0,0
$GC,6989,1.30,247.0,286.2,12.4,276,6996,0.00,2.55,0.00,0.000,6,0.000,0.024,3461,2012,1998,0,0,0,0,0,0
$GC,7240,1.30,249.1,260.3,9.9,283,7244,0.00,2.53,0.00,0.000,4,0.000,0.042,3462,3569,1998,0,0,0,0,0,0
$GC,7329,1.31,255.3,251.2,9.7,285,7343,0.00,2.55,8.15,0.668,6,0.000,0.035,3461,2009,1968,0,0,0,0,0,0
$GC,7613,1.32,268.3,224.8,9.3,292,7632,0.00,2.83,12.80,0.696,4,0.000,0.070,3462,420,1915,0,0,0,0,0,0
$GC,7678,1.32,268.3,217.3,11.8,293,7682,0.00,2.53,0.00,0.000,6,0.000,0.019,3461,2026,1913,0,0,0,0,0,0
$GC,7932,1.32,268.3,190.0,11.3,305,7937,0.00,2.72,0.00,0.000,4,0.000,0.059,3462,415,1912,0,0,0,0,0,0
$GC,8009,1.32,268.3,181.1,12.2,311,8013,0.00,2.50,0.00,0.000,6,0.000,0.026,3462,2002,1911,0,0,0,0,0,0
$GC,8272,1.38,276.9,155.3,9.5,335,8282,0.00,0.00,8.43,0.599,6,0.000,0.000,3461,2004,1881,0,0,0,0,0,0
$GC,8541,1.45,297.8,131.8,8.8,360,8566,0.00,2.62,19.27,0.631,4,0.000,0.037,3462,3567,1794,0,0,0,0,0,0
$GC,8583,1.53,319.5,128.4,8.8,363,8611,0.15,2.58,20.12,0.620,6,0.067,0.034,3505,1990,1706,0,0,0,0,0,0
$GC,8872,1.53,319.5,93.2,12.4,390,8873,0.00,0.00,0.00,0.000,6,0.000,0.000,3505,1990,1702,0,0,0,0,0,0
$GC,9131,1.53,319.5,64.5,10.6,414,9139,0.00,0.00,0.00,0.000,6,0.000,0.000,3505,1989,1702,0,0,0,0,0,0
$GC,9397,1.53,319.5,36.7,11.0,439,9406,0.00,0.00,0.00,0.000,6,0.000,0.000,3505,1990,1702,0,0,0,0,0,0
$GC,9723,1.54,355.8,4.6,7.9,483,9733,0.00,0.00,8.07,0.466,2,0.000,0.000,3505,1989,1672,0,0,0,0,0,0
$STATE,9734,end climb,SURFACE_DEPTH_REACHED
$STATE,9734,begin surface coast
$FINISH,0.5,0.975934
$STATE,9796,end surface coast,CONTROL_FINISHED_OK
$STATE,9796,begin surface
$SM_CCo,9818,41.97,0.521,0,0,1460,380.21
$SM_GC,1.46,0.00,0.00,41.97,0.000,0.000,0.521,475,1879,1460,-12.37,-0.31,380.21
$IRIDIUM_FIX,2239.35,-15802.37,110900,131321
$TT8_MAMPS,0.026078
$HUMID,62.16
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.10
$XPDR_PINGS,35
$24V_AH,23.5,39.844
$10V_AH,10.3,35.026
$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,28.675,96.475,392.850,41.975,0.000,32.837,42.202,219.559,8.750,0.000,18.106,988.312,6366.497,504.389,1859.538,575.049,33.363,1166.692,0.000,1870.562,0.000,0.533,0.000
$DEVICE_MAMPS,151.099,93.574,915.031,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.797,277.022,380.602,740.394,1119.950,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,38405,493
$CAP_FILE_SIZE,97901,0
$CFSIZE,260165632,165588992
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180611,190143,2250.027,-15801.820,23,2.0,29,10.1