version: 66.06
glider: 146
mission: 6
dive: 283
start: 6 14 111 10 41 22
data:
$ID,146
$MISSION,6
$DIVE,283
$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,-274792.5
$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,1850
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,60
$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
$GPS1,102724,2250.236,-15758.912,27,1.1,44,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.1
$GPS2,104026,2250.288,-15759.105,10,1.7,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.235,0.008
$KALMAN_X,-127964.6,174.9,-100.7,123948.0,-843.5
$KALMAN_Y,-60468.3,85.6,-41.7,72248.0,-303.3
$MHEAD_RNG_PITCHd_Wd,77.9,3633,-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,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.57,0.000,2,0.000,0.000,480,1827,3236,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.3,-5.3,9,117,11.98,2.62,-4.75,0.000,4,0.136,0.061,2852,292,3489,0,0,0,0,0,0
$GC,182,-1.22,-116.8,27.5,-19.6,21,190,0.15,2.42,0.00,0.000,6,0.103,0.015,2887,1859,3490,0,0,0,0,0,0
$GC,459,-1.17,-116.8,72.4,-15.4,47,463,0.00,2.45,0.00,0.000,4,0.000,0.033,2888,3407,3491,0,0,0,0,0,0
$GC,517,-1.17,-116.8,80.7,-12.2,51,522,0.00,2.42,0.00,0.000,6,0.000,0.028,2887,1866,3491,0,0,0,0,0,0
$GC,783,-1.17,-116.8,112.6,-11.4,75,787,0.00,2.45,0.00,0.000,4,0.000,0.031,2887,3412,3492,0,0,0,0,0,0
$GC,825,-1.22,-116.8,117.9,-11.1,78,830,0.00,2.47,0.00,0.000,6,0.000,0.025,2888,1853,3492,0,0,0,0,0,0
$GC,1090,-1.25,-116.8,149.5,-11.2,102,1098,0.00,0.00,0.00,0.000,6,0.000,0.000,2887,1853,3492,0,0,0,0,0,0
$GC,1355,-1.31,-116.8,176.7,-10.1,127,1359,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1853,3493,0,0,0,0,0,0
$GC,1637,-1.36,-116.8,204.5,-9.7,151,1642,0.10,2.67,0.00,0.000,4,0.086,0.064,2848,271,3493,0,0,0,0,0,0
$GC,1677,-1.31,-116.8,209.2,-12.2,152,1682,0.12,2.40,0.00,0.000,6,0.120,0.021,2874,1869,3493,0,0,0,0,0,0
$GC,1962,-1.36,-116.8,239.0,-10.3,159,1966,0.00,2.42,0.00,0.000,4,0.000,0.028,2874,3403,3493,0,0,0,0,0,0
$GC,2023,-1.46,-116.8,246.1,-11.7,160,2028,0.15,2.45,0.00,0.000,6,0.061,0.025,2821,1853,3493,0,0,0,0,0,0
$GC,2283,-1.46,-116.8,279.6,-13.0,167,2288,0.00,2.45,0.00,0.000,4,0.000,0.029,2822,3402,3493,0,0,0,0,0,0
$GC,2357,-1.46,-116.8,288.4,-11.1,168,2361,0.00,2.45,0.00,0.000,6,0.000,0.031,2822,1870,3493,0,0,0,0,0,0
$GC,2607,-1.46,-116.8,315.7,-11.0,174,2608,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1870,3492,0,0,0,0,0,0
$GC,2850,-1.46,-116.8,345.0,-11.8,180,2854,0.00,2.47,0.00,0.000,4,0.000,0.041,2821,3402,3491,0,0,0,0,0,0
$GC,2912,-1.46,-116.8,351.9,-10.3,181,2917,0.00,2.50,0.00,0.000,6,0.000,0.048,2821,1876,3491,0,0,0,0,0,0
$GC,3173,-1.46,-116.8,378.1,-9.8,188,3177,0.00,2.45,0.00,0.000,4,0.000,0.045,2821,3391,3490,0,0,0,0,0,0
$GC,3251,-1.46,-116.8,386.0,-9.5,189,3256,0.00,2.55,0.00,0.000,6,0.000,0.055,2821,1876,3490,0,0,0,0,0,0
$GC,3502,-1.46,-116.8,409.9,-9.5,196,3506,0.00,2.47,0.00,0.000,4,0.000,0.041,2821,3398,3488,0,0,0,0,0,0
$GC,3524,-1.46,-116.8,412.3,-9.4,196,3528,0.00,2.58,0.00,0.000,6,0.000,0.054,2822,1876,3488,0,0,0,0,0,0
$GC,3779,-1.46,-116.8,438.2,-10.5,203,3783,0.00,2.47,0.00,0.000,4,0.000,0.046,2822,3391,3486,0,0,0,0,0,0
$GC,3835,-1.51,-116.8,444.0,-10.6,204,3840,0.00,2.55,0.00,0.000,6,0.000,0.054,2822,1888,3486,0,0,0,0,0,0
$GC,4102,-1.51,-116.8,470.6,-10.0,211,4103,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1888,3484,0,0,0,0,0,0
$GC,4346,-1.51,-116.8,494.1,-9.4,217,4347,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1888,3483,0,0,0,0,0,0
$STATE,4426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4426,begin apogee
$GC,4434,-0.31,0.0,501.9,9.6,219,4534,1.17,0.00,96.97,0.916,6,0.080,0.000,3089,1972,3010,0,0,0,0,0,0
$STATE,4535,end apogee,CONTROL_FINISHED_OK
$STATE,4535,begin climb
$GC,4538,1.38,116.8,504.1,0.0,221,4646,1.58,2.83,99.93,0.894,4,0.040,0.066,3466,3548,2532,0,0,0,0,0,0
$GC,4683,1.30,163.8,501.5,7.3,225,4733,0.12,2.67,41.17,0.870,6,0.127,0.054,3443,1997,2341,0,0,0,0,0,0
$GC,5000,1.25,166.5,471.1,9.9,233,5005,0.00,3.03,0.00,0.000,4,0.000,0.112,3443,408,2332,0,0,0,0,0,0
$GC,5018,1.17,168.6,469.4,9.9,233,5028,0.12,2.58,4.00,0.551,6,0.126,0.038,3417,1967,2322,0,0,0,0,0,0
$GC,5284,1.20,193.6,446.1,8.6,240,5309,0.00,0.00,23.85,0.847,6,0.000,0.000,3417,1968,2220,0,0,0,0,0,0
$GC,5527,1.22,204.0,423.1,9.4,246,5543,0.00,2.80,10.23,0.777,4,0.000,0.069,3417,405,2176,0,0,0,0,0,0
$GC,5567,1.22,204.0,419.0,10.5,247,5572,0.00,2.58,0.00,0.000,6,0.000,0.027,3417,1995,2175,0,0,0,0,0,0
$GC,5851,1.23,214.1,391.2,9.5,254,5866,0.00,2.67,9.93,0.766,4,0.000,0.049,3417,3580,2136,0,0,0,0,0,0
$GC,5894,1.24,223.7,387.2,9.5,255,5909,0.00,2.67,10.27,0.761,6,0.000,0.041,3417,1983,2097,0,0,0,0,0,0
$GC,6172,1.25,234.6,361.2,9.4,262,6188,0.00,2.65,10.93,0.763,4,0.000,0.040,3417,3580,2052,0,0,0,0,0,0
$GC,6245,1.30,235.7,353.8,10.0,263,6250,0.10,2.62,0.00,0.000,6,0.091,0.036,3446,1998,2050,0,0,0,0,0,0
$GC,6496,1.31,245.7,329.4,9.5,269,6509,0.00,0.00,10.82,0.747,6,0.000,0.000,3446,1998,2007,0,0,0,0,0,0
$GC,6738,1.32,249.4,305.7,9.8,275,6748,0.00,2.80,4.43,0.560,4,0.000,0.075,3446,410,1993,0,0,0,0,0,0
$GC,6759,1.32,249.4,303.3,10.8,275,6763,0.00,2.58,0.00,0.000,6,0.000,0.021,3446,2029,1992,0,0,0,0,0,0
$GC,7015,1.32,249.4,275.6,10.8,282,7020,0.00,2.78,0.00,0.000,4,0.000,0.060,3447,404,1991,0,0,0,0,0,0
$GC,7049,1.28,249.4,271.6,11.8,282,7054,0.00,2.53,0.00,0.000,6,0.000,0.026,3446,1999,1991,0,0,0,0,0,0
$GC,7299,1.28,254.6,246.8,9.7,289,7306,0.00,0.00,6.10,0.619,6,0.000,0.000,3446,1999,1972,0,0,0,0,0,0
$GC,7543,1.28,254.6,220.0,11.0,295,7548,0.00,2.55,0.00,0.000,4,0.000,0.037,3446,3567,1969,0,0,0,0,0,0
$GC,7565,1.28,254.6,217.3,11.2,295,7569,0.00,2.58,0.00,0.000,6,0.000,0.036,3446,1984,1969,0,0,0,0,0,0
$GC,7822,1.31,278.5,192.8,8.7,305,7850,0.00,2.75,22.35,0.696,4,0.000,0.067,3447,413,1873,0,0,0,0,0,0
$GC,7875,1.32,283.6,188.2,9.7,309,7889,0.00,2.47,6.07,0.565,6,0.000,0.020,3446,1998,1852,0,0,0,0,0,0
$GC,8145,1.39,301.2,164.2,9.0,334,8166,0.00,2.75,16.30,0.653,4,0.000,0.059,3446,413,1781,0,0,0,0,0,0
$GC,8252,1.39,301.2,152.9,10.7,343,8257,0.00,2.45,0.00,0.000,6,0.000,0.018,3446,1983,1778,0,0,0,0,0,0
$GC,8519,1.45,301.2,126.6,10.5,367,8524,0.12,2.55,0.00,0.000,4,0.078,0.033,3481,3552,1778,0,0,0,0,0,0
$GC,8538,1.50,301.2,124.0,11.2,368,8542,0.00,2.55,0.00,0.000,6,0.000,0.031,3482,1979,1776,0,0,0,0,0,0
$GC,8800,1.50,301.2,95.7,10.0,392,8802,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,1979,1776,0,0,0,0,0,0
$GC,9060,1.55,307.9,70.1,9.6,416,9073,0.00,2.53,6.72,0.496,4,0.000,0.035,3481,3548,1753,0,0,0,0,0,0
$GC,9140,1.63,326.9,62.3,8.9,422,9164,0.10,2.55,17.88,0.560,6,0.043,0.029,3517,1985,1677,0,0,0,0,0,0
$GC,9431,1.63,326.9,32.4,11.6,449,9435,0.00,2.65,0.00,0.000,4,0.000,0.053,3517,406,1674,0,0,0,0,0,0
$GC,9465,1.59,326.9,28.1,12.2,452,9474,0.00,2.47,0.00,0.000,6,0.000,0.018,3517,1990,1674,0,0,0,0,0,0
$STATE,9670,end climb,SURFACE_DEPTH_REACHED
$STATE,9670,begin surface coast
$FINISH,0.6,0.975006
$STATE,9706,end surface coast,CONTROL_FINISHED_OK
$STATE,9706,begin surface
$SM_CCo,9728,43.03,0.520,0,0,1459,380.21
$SM_GC,1.21,0.00,0.00,43.03,0.000,0.000,0.520,475,1767,1459,-12.35,-2.35,380.21
$IRIDIUM_FIX,2244.02,-15759.32,070900,101036
$TT8_MAMPS,0.026078
$HUMID,60.75
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.80
$XPDR_PINGS,41
$24V_AH,23.5,35.693
$10V_AH,10.3,31.104
$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,28.075,118.700,397.950,43.025,0.000,77.322,106.703,328.127,10.250,0.000,12.352,991.103,6472.412,503.799,1785.917,803.714,33.366,1182.586,0.000,1791.449,0.000,0.535,0.000
$DEVICE_MAMPS,135.759,111.982,915.798,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.181,279.571,375.202,686.924,1040.184,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,38421,486
$CAP_FILE_SIZE,109961,0
$CFSIZE,260165632,167432192
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140611,132522,2250.024,-15758.545,7,99.0,26,10.1