version: 66.06
glider: 146
mission: 6
dive: 305
start: 6 17 111 2 7 54
data:
$ID,146
$MISSION,6
$DIVE,305
$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,-275291.75
$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,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,1890
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,49
$R_STBD_OVSHOOT,58
$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
$GPS1,015238,2249.732,-15759.520,66,1.8,67,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.7
$GPS2,020701,2249.834,-15759.754,17,2.1,36,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.235,0.001
$KALMAN_X,-162323.6,-179.9,-10.5,157466.8,-1512.9
$KALMAN_Y,-54940.9,527.0,-122.5,65519.6,41.5
$MHEAD_RNG_PITCHd_Wd,79.6,4711,-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,-70.53,0.000,2,0.000,0.000,477,1865,3249,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.4,-5.4,9,117,12.05,2.58,-4.43,0.000,4,0.138,0.061,2849,333,3489,0,0,0,0,0,0
$GC,196,-1.20,-116.8,32.7,-20.4,23,206,0.17,2.40,0.00,0.000,6,0.195,0.015,2890,1897,3490,0,0,0,0,0,0
$GC,462,-1.17,-116.8,72.4,-14.2,48,466,0.00,2.45,0.00,0.000,4,0.000,0.026,2890,3445,3491,0,0,0,0,0,0
$GC,509,-1.17,-116.8,78.4,-11.6,51,513,0.00,2.42,0.00,0.000,6,0.000,0.026,2890,1907,3491,0,0,0,0,0,0
$GC,775,-1.17,-116.8,111.5,-13.3,75,779,0.00,2.42,0.00,0.000,4,0.000,0.028,2890,3441,3492,0,0,0,0,0,0
$GC,807,-1.20,-116.8,115.6,-12.1,77,811,0.00,2.45,0.00,0.000,6,0.000,0.025,2890,1898,3492,0,0,0,0,0,0
$GC,1073,-1.20,-116.8,145.1,-10.3,101,1077,0.00,2.42,0.00,0.000,4,0.000,0.031,2890,3444,3492,0,0,0,0,0,0
$GC,1090,-1.24,-116.8,147.2,-9.9,102,1094,0.00,2.40,0.00,0.000,6,0.000,0.030,2890,1907,3492,0,0,0,0,0,0
$GC,1354,-1.24,-116.8,171.2,-9.5,126,1359,0.00,2.40,0.00,0.000,4,0.000,0.029,2890,3439,3492,0,0,0,0,0,0
$GC,1377,-1.28,-116.8,173.2,-9.8,127,1382,0.00,2.40,0.00,0.000,6,0.000,0.030,2890,1908,3492,0,0,0,0,0,0
$GC,1646,-1.33,-116.8,197.2,-8.6,151,1650,0.00,2.42,0.00,0.000,4,0.000,0.030,2890,3439,3493,0,0,0,0,0,0
$GC,1687,-1.42,-116.8,201.2,-8.3,154,1692,0.17,2.38,0.00,0.000,6,0.058,0.030,2831,1931,3493,0,0,0,0,0,0
$GC,1972,-1.37,-116.8,239.4,-14.2,161,1978,0.15,2.75,0.00,0.000,4,0.104,0.062,2864,321,3492,0,0,0,0,0,0
$GC,2012,-1.37,-116.8,245.1,-13.1,162,2016,0.00,2.45,0.00,0.000,6,0.000,0.024,2864,1916,3493,0,0,0,0,0,0
$GC,2295,-1.41,-116.8,277.2,-10.5,169,2296,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1915,3493,0,0,0,0,0,0
$GC,2541,-1.46,-116.8,296.3,-7.3,175,2545,0.00,2.47,0.00,0.000,4,0.000,0.037,2864,3458,3492,0,0,0,0,0,0
$GC,2591,-1.56,-116.8,299.8,-6.2,176,2596,0.17,2.40,0.00,0.000,6,0.057,0.029,2804,1949,3492,0,0,0,0,0,0
$GC,2863,-1.51,-116.8,324.7,-9.8,183,2865,0.12,0.00,0.00,0.000,6,0.108,0.000,2832,1949,3492,0,0,0,0,0,0
$GC,3108,-1.51,-116.8,348.9,-9.8,189,3109,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1949,3491,0,0,0,0,0,0
$GC,3350,-1.51,-116.8,373.4,-10.3,195,3355,0.00,2.90,0.00,0.000,4,0.000,0.091,2832,321,3489,0,0,0,0,0,0
$GC,3390,-1.51,-116.8,378.2,-12.4,196,3395,0.00,2.53,0.00,0.000,6,0.000,0.030,2832,1911,3489,0,0,0,0,0,0
$GC,3675,-1.51,-116.8,409.9,-11.1,203,3679,0.00,2.58,0.00,0.000,4,0.000,0.054,2832,3471,3487,0,0,0,0,0,0
$GC,3702,-1.55,-116.8,413.3,-12.2,203,3706,0.00,2.53,0.00,0.000,6,0.000,0.054,2832,1962,3487,0,0,0,0,0,0
$GC,3952,-1.55,-116.8,441.3,-11.1,209,3953,0.00,0.00,0.00,0.000,6,0.000,0.000,2832,1962,3485,0,0,0,0,0,0
$GC,4198,-1.59,-116.8,465.1,-9.7,215,4202,0.00,3.05,0.00,0.000,4,0.000,0.107,2832,320,3483,0,0,0,0,0,0
$GC,4238,-1.59,-116.8,469.5,-11.1,216,4243,0.00,2.60,0.00,0.000,6,0.000,0.038,2831,1931,3483,0,0,0,0,0,0
$GC,4522,-1.63,-116.8,496.0,-9.0,223,4524,0.12,0.00,0.00,0.000,6,0.071,0.000,2787,1931,3481,0,0,0,0,0,0
$STATE,4600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4601,begin apogee
$GC,4608,-0.31,0.0,504.4,9.5,225,4709,1.35,0.00,96.50,0.917,6,0.081,0.000,3091,2007,3010,0,0,0,0,0,0
$STATE,4709,end apogee,CONTROL_FINISHED_OK
$STATE,4709,begin climb
$GC,4712,1.38,116.8,506.8,0.0,227,4824,1.52,2.78,99.25,0.897,4,0.041,0.067,3461,3565,2531,0,0,0,0,0,0
$GC,4841,1.33,186.0,505.6,6.0,230,4907,0.00,2.65,59.88,0.878,6,0.000,0.051,3461,2009,2251,0,0,0,0,0,0
$GC,5158,1.25,186.0,470.1,11.9,238,5159,0.15,0.00,0.00,0.000,6,0.117,0.000,3431,2009,2242,0,0,0,0,0,0
$GC,5402,1.25,186.0,445.3,10.0,244,5407,0.00,2.97,0.00,0.000,4,0.000,0.104,3430,408,2240,0,0,0,0,0,0
$GC,5424,1.19,186.0,442.8,10.7,244,5428,0.00,2.58,0.00,0.000,6,0.000,0.033,3430,1984,2238,0,0,0,0,0,0
$GC,5679,1.21,205.2,418.8,8.9,251,5697,0.00,0.00,16.12,0.819,6,0.000,0.000,3430,1984,2173,0,0,0,0,0,0
$GC,5924,1.23,217.3,395.9,9.3,257,5938,0.00,0.00,12.02,0.787,6,0.000,0.000,3430,1984,2123,0,0,0,0,0,0
$GC,6166,1.26,241.6,374.3,8.6,263,6190,0.00,0.00,22.23,0.815,6,0.000,0.000,3431,1984,2024,0,0,0,0,0,0
$GC,6447,1.28,260.0,348.9,9.0,270,6466,0.00,0.00,17.65,0.789,6,0.000,0.000,3430,1984,1950,0,0,0,0,0,0
$GC,6692,1.30,278.0,326.8,9.0,276,6716,0.00,2.72,17.12,0.775,4,0.000,0.039,3430,3580,1875,0,0,0,0,0,0
$GC,6739,1.36,293.2,322.4,9.2,277,6760,0.10,2.67,14.60,0.752,6,0.096,0.035,3460,1976,1814,0,0,0,0,0,0
$GC,7019,1.36,294.2,295.0,10.0,284,7023,0.00,2.65,0.00,0.000,4,0.000,0.037,3461,3586,1810,0,0,0,0,0,0
$GC,7051,1.36,294.2,291.1,11.6,284,7057,0.00,2.62,0.00,0.000,6,0.000,0.035,3460,1993,1807,0,0,0,0,0,0
$GC,7301,1.36,294.2,260.8,12.6,291,7302,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1992,1807,0,0,0,0,0,0
$GC,7545,1.36,294.2,228.6,13.1,297,7549,0.00,2.72,0.00,0.000,4,0.000,0.069,3460,411,1806,0,0,0,0,0,0
$GC,7590,1.36,294.2,222.6,14.0,298,7594,0.00,2.55,0.00,0.000,6,0.000,0.025,3460,2023,1804,0,0,0,0,0,0
$GC,7849,1.36,294.2,191.8,10.9,309,7850,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2024,1804,0,0,0,0,0,0
$GC,8106,1.38,305.0,166.7,9.4,333,8123,0.00,2.83,10.15,0.624,4,0.000,0.056,3460,411,1765,0,0,0,0,0,0
$GC,8141,1.38,305.0,162.6,11.7,336,8145,0.00,2.50,0.00,0.000,6,0.000,0.024,3460,2014,1764,0,0,0,0,0,0
$GC,8404,1.42,305.0,133.8,10.7,360,8405,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2015,1763,0,0,0,0,0,0
$GC,8659,1.48,305.0,106.9,10.1,384,8660,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2015,1763,0,0,0,0,0,0
$GC,8912,1.56,315.8,83.3,9.4,408,8926,0.15,0.00,10.62,0.554,6,0.071,0.000,3504,2016,1721,0,0,0,0,0,0
$GC,9183,1.56,315.8,52.3,11.1,433,9192,0.00,0.00,0.00,0.000,6,0.000,0.000,3504,2016,1720,0,0,0,0,0,0
$GC,9458,1.58,330.1,25.7,9.2,461,9485,0.00,2.55,13.85,0.518,4,0.000,0.036,3504,3556,1662,0,0,0,0,0,0
$GC,9518,1.63,330.1,19.5,10.9,468,9527,0.00,2.55,0.00,0.000,6,0.000,0.030,3505,1999,1661,0,0,0,0,0,0
$STATE,9657,end climb,SURFACE_DEPTH_REACHED
$STATE,9657,begin surface coast
$FINISH,0.5,0.979959
$STATE,9708,end surface coast,CONTROL_FINISHED_OK
$STATE,9708,begin surface
$SM_CCo,9732,40.75,0.520,0,0,1459,380.21
$SM_GC,1.36,0.00,0.00,40.75,0.000,0.000,0.520,472,1857,1459,-12.36,-0.93,380.21
$IRIDIUM_FIX,2241.69,-15802.37,100900,020204
$TT8_MAMPS,0.025311
$HUMID,62.16
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.80
$XPDR_PINGS,38
$24V_AH,23.5,38.241
$10V_AH,10.3,33.560
$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,28.500,93.025,390.000,40.750,0.000,93.894,108.972,355.801,9.500,0.000,38.775,976.292,6526.622,470.348,1813.947,846.899,33.372,1121.573,0.000,1795.845,0.000,0.538,0.000
$DEVICE_MAMPS,194.818,109.681,916.565,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,335.859,273.649,383.444,718.976,1087.322,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355420
$DATA_FILE_SIZE,38546,495
$CAP_FILE_SIZE,104237,0
$CFSIZE,260165632,166268928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170611,045207,2250.366,-15759.084,40,1.1,40,10.1