version: 66.06
glider: 146
mission: 6
dive: 325
start: 6 19 111 13 37 33
data:
$ID,146
$MISSION,6
$DIVE,325
$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,-275783.59
$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,41
$R_STBD_OVSHOOT,59
$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
$GPS1,131753,2250.309,-15757.004,64,2.2,83,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.8
$GPS2,133637,2250.460,-15757.135,12,1.3,23,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.005,-0.235
$KALMAN_X,-186388.6,246.8,-80.7,185647.6,-553.4
$KALMAN_Y,-41934.3,625.0,452.4,52992.7,-489.7
$MHEAD_RNG_PITCHd_Wd,168.7,6508,-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,-70.88,0.000,2,0.000,0.000,473,1868,3279,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.5,-5.6,9,118,12.43,2.65,-3.80,0.000,4,0.151,0.061,2854,320,3489,0,0,0,0,0,0
$GC,258,-1.24,-116.8,43.8,-19.0,28,264,0.17,2.40,0.00,0.000,6,0.122,0.015,2891,1894,3490,0,0,0,0,0,0
$GC,525,-1.24,-116.8,80.3,-11.6,52,529,0.00,2.45,0.00,0.000,4,0.000,0.028,2891,3447,3490,0,0,0,0,0,0
$GC,571,-1.24,-116.8,85.4,-11.0,55,575,0.00,2.42,0.00,0.000,6,0.000,0.025,2891,1909,3490,0,0,0,0,0,0
$GC,838,-1.24,-116.8,118.2,-13.3,79,843,0.00,2.45,0.00,0.000,4,0.000,0.026,2891,3453,3491,0,0,0,0,0,0
$GC,942,-1.31,-116.8,131.9,-12.4,87,946,0.00,2.40,0.00,0.000,6,0.000,0.023,2891,1925,3491,0,0,0,0,0,0
$GC,1206,-1.35,-116.8,161.4,-10.5,111,1214,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1925,3491,0,0,0,0,0,0
$GC,1471,-1.41,-116.8,188.8,-10.3,136,1476,0.15,2.40,0.00,0.000,4,0.063,0.025,2840,3449,3492,0,0,0,0,0,0
$GC,1501,-1.41,-116.8,192.4,-12.0,138,1505,0.00,2.38,0.00,0.000,6,0.000,0.029,2840,1928,3492,0,0,0,0,0,0
$GC,1763,-1.41,-116.8,223.2,-11.4,148,1767,0.00,2.38,0.00,0.000,4,0.000,0.028,2840,3445,3492,0,0,0,0,0,0
$GC,1789,-1.41,-116.8,226.3,-11.5,148,1794,0.00,2.40,0.00,0.000,6,0.000,0.029,2839,1920,3492,0,0,0,0,0,0
$GC,2045,-1.41,-116.8,255.9,-11.5,155,2049,0.00,2.42,0.00,0.000,4,0.000,0.029,2840,3443,3492,0,0,0,0,0,0
$GC,2085,-1.41,-116.8,260.4,-12.0,156,2089,0.00,2.40,0.00,0.000,6,0.000,0.030,2839,1925,3492,0,0,0,0,0,0
$GC,2368,-1.41,-116.8,290.4,-10.3,163,2372,0.00,2.42,0.00,0.000,4,0.000,0.034,2839,3442,3491,0,0,0,0,0,0
$GC,2390,-1.41,-116.8,292.8,-11.3,163,2394,0.00,2.42,0.00,0.000,6,0.000,0.035,2840,1934,3492,0,0,0,0,0,0
$GC,2645,-1.41,-116.8,320.1,-10.5,170,2649,0.00,2.85,0.00,0.000,4,0.000,0.079,2839,312,3491,0,0,0,0,0,0
$GC,2666,-1.41,-116.8,322.4,-10.2,170,2670,0.00,2.50,0.00,0.000,6,0.000,0.031,2839,1900,3491,0,0,0,0,0,0
$GC,2923,-1.45,-116.8,347.9,-9.8,177,2927,0.00,2.58,0.00,0.000,4,0.000,0.048,2840,3475,3490,0,0,0,0,0,0
$GC,2967,-1.51,-116.8,352.7,-10.4,178,2971,0.00,2.55,0.00,0.000,6,0.000,0.046,2839,1932,3490,0,0,0,0,0,0
$GC,3245,-1.56,-116.8,381.3,-10.1,185,3249,0.00,2.50,0.00,0.000,4,0.000,0.039,2839,3471,3488,0,0,0,0,0,0
$GC,3290,-1.62,-116.8,385.8,-9.7,186,3296,0.12,2.55,0.00,0.000,6,0.069,0.052,2795,1936,3488,0,0,0,0,0,0
$GC,3568,-1.62,-116.8,415.0,-10.5,193,3572,0.00,2.53,0.00,0.000,4,0.000,0.041,2795,3468,3486,0,0,0,0,0,0
$GC,3658,-1.62,-116.8,424.6,-10.5,195,3662,0.00,2.55,0.00,0.000,6,0.000,0.051,2796,1949,3485,0,0,0,0,0,0
$GC,3935,-1.62,-116.8,455.8,-11.5,202,3939,0.00,2.53,0.00,0.000,4,0.000,0.053,2795,3463,3483,0,0,0,0,0,0
$GC,3950,-1.62,-116.8,457.8,-11.7,202,3955,0.00,2.55,0.00,0.000,6,0.000,0.059,2795,1955,3483,0,0,0,0,0,0
$GC,4219,-1.62,-116.8,487.7,-11.5,209,4223,0.00,2.50,0.00,0.000,4,0.000,0.058,2795,3457,3481,0,0,0,0,0,0
$GC,4245,-1.62,-116.8,491.1,-11.5,209,4249,0.00,2.58,0.00,0.000,6,0.000,0.062,2795,1953,3481,0,0,0,0,0,0
$STATE,4330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4330,begin apogee
$GC,4336,-0.31,0.0,501.0,11.5,211,4436,1.33,0.00,96.12,0.913,6,0.082,0.000,3094,1953,3010,0,0,0,0,0,0
$STATE,4437,end apogee,CONTROL_FINISHED_OK
$STATE,4437,begin climb
$GC,4439,1.38,116.8,503.7,0.0,213,4543,1.58,0.00,99.62,0.893,6,0.049,0.000,3472,1953,2534,0,0,0,0,0,0
$GC,4779,1.30,150.0,486.6,8.1,222,4814,0.12,2.83,28.42,0.861,4,0.141,0.054,3448,3555,2397,0,0,0,0,0,0
$GC,4844,1.24,168.6,481.0,9.0,223,4868,0.00,2.65,17.90,0.829,6,0.000,0.056,3448,2009,2320,0,0,0,0,0,0
$GC,5156,1.19,175.6,450.9,9.6,231,5170,0.12,2.70,6.40,0.697,4,0.123,0.048,3424,3572,2293,0,0,0,0,0,0
$GC,5204,1.22,196.7,446.2,8.8,232,5229,0.00,2.62,20.17,0.837,6,0.000,0.046,3424,2019,2206,0,0,0,0,0,0
$GC,5481,1.22,196.7,419.3,10.1,239,5485,0.00,2.97,0.00,0.000,4,0.000,0.095,3423,405,2200,0,0,0,0,0,0
$GC,5513,1.16,196.7,415.3,11.0,239,5519,0.00,2.60,0.00,0.000,6,0.000,0.031,3423,2017,2199,0,0,0,0,0,0
$GC,5765,1.17,200.7,390.4,9.8,246,5769,0.00,2.60,0.00,0.000,4,0.000,0.049,3424,3585,2198,0,0,0,0,0,0
$GC,5797,1.17,200.7,386.8,10.6,246,5803,0.00,2.60,0.00,0.000,6,0.000,0.041,3423,2023,2197,0,0,0,0,0,0
$GC,6047,1.19,220.1,364.1,8.9,253,6073,0.00,2.60,20.45,0.815,4,0.000,0.041,3423,3578,2111,0,0,0,0,0,0
$GC,6102,1.20,225.8,359.1,9.7,254,6115,0.00,2.58,6.32,0.665,6,0.000,0.035,3424,2024,2089,0,0,0,0,0,0
$GC,6372,1.22,245.0,335.0,8.9,261,6392,0.00,0.00,18.02,0.788,6,0.000,0.000,3423,2024,2011,0,0,0,0,0,0
$GC,6616,1.28,258.2,312.9,9.3,267,6636,0.00,2.90,13.05,0.752,4,0.000,0.072,3423,415,1956,0,0,0,0,0,0
$GC,6728,1.28,258.2,301.1,11.3,269,6732,0.00,2.60,0.00,0.000,6,0.000,0.025,3423,2054,1953,0,0,0,0,0,0
$GC,6991,1.34,258.2,273.0,11.1,276,6997,0.15,2.85,0.00,0.000,4,0.077,0.058,3462,404,1952,0,0,0,0,0,0
$GC,7014,1.34,258.2,269.7,13.1,276,7019,0.00,2.60,0.00,0.000,6,0.000,0.025,3462,2048,1951,0,0,0,0,0,0
$GC,7270,1.34,258.2,239.9,11.1,283,7274,0.00,2.80,0.00,0.000,4,0.000,0.061,3462,408,1950,0,0,0,0,0,0
$GC,7330,1.34,258.2,233.4,11.1,284,7334,0.00,2.58,0.00,0.000,6,0.000,0.025,3462,2037,1950,0,0,0,0,0,0
$GC,7598,1.34,258.2,206.6,10.5,291,7603,0.00,2.78,0.00,0.000,4,0.000,0.056,3462,404,1949,0,0,0,0,0,0
$GC,7637,1.34,258.2,202.1,11.5,292,7642,0.00,2.53,0.00,0.000,6,0.000,0.025,3462,2021,1949,0,0,0,0,0,0
$GC,7901,1.34,258.2,175.3,10.2,314,7905,0.00,2.72,0.00,0.000,4,0.000,0.058,3462,400,1948,0,0,0,0,0,0
$GC,7943,1.34,258.2,170.8,11.2,317,7947,0.00,2.50,0.00,0.000,6,0.000,0.019,3462,2008,1947,0,0,0,0,0,0
$GC,8209,1.34,258.2,146.2,10.1,341,8213,0.00,2.70,0.00,0.000,4,0.000,0.053,3462,404,1947,0,0,0,0,0,0
$GC,8337,1.34,258.2,132.2,10.7,351,8341,0.00,2.45,0.00,0.000,6,0.000,0.019,3462,1991,1947,0,0,0,0,0,0
$GC,8603,1.42,279.9,108.1,8.8,375,8629,0.00,2.72,18.95,0.609,4,0.000,0.050,3462,400,1866,0,0,0,0,0,0
$GC,8666,1.43,287.0,101.9,9.6,380,8681,0.00,2.45,7.32,0.530,6,0.000,0.018,3462,1983,1838,0,0,0,0,0,0
$GC,8936,1.58,347.3,81.9,6.6,405,8995,0.20,0.00,51.97,0.592,6,0.060,0.000,3517,1984,1593,0,0,0,0,0,0
$GC,9251,1.58,347.3,46.0,12.8,435,9255,0.00,2.67,0.00,0.000,4,0.000,0.053,3517,407,1589,0,0,0,0,0,0
$GC,9308,1.58,347.3,38.1,13.2,439,9313,0.00,2.42,0.00,0.000,6,0.000,0.018,3516,1972,1587,0,0,0,0,0,0
$STATE,9597,end climb,SURFACE_DEPTH_REACHED
$STATE,9598,begin surface coast
$FINISH,0.6,0.975067
$STATE,9633,end surface coast,CONTROL_FINISHED_OK
$STATE,9634,begin surface
$SM_CCo,9656,26.75,0.514,0,0,1459,380.21
$SM_GC,1.17,0.00,0.00,26.75,0.000,0.000,0.514,472,1873,1459,-12.38,-0.48,380.21
$IRIDIUM_FIX,2241.69,-15756.28,120900,131336
$TT8_MAMPS,0.025311
$HUMID,63.58
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.80
$XPDR_PINGS,49
$24V_AH,23.5,40.807
$10V_AH,10.3,35.857
$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,28.775,133.925,404.750,26.750,0.000,111.228,148.071,508.982,12.250,0.000,25.364,995.897,6372.763,504.150,1857.579,1080.853,33.368,1203.877,0.000,1845.312,0.000,0.537,0.000
$DEVICE_MAMPS,151.099,95.108,913.497,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.647,269.255,370.180,688.556,1036.557,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,38345,482
$CAP_FILE_SIZE,114981,0
$CFSIZE,260165632,165191680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190611,162027,2249.434,-15757.995,29,99.0,48,10.1