version: 66.06
glider: 146
mission: 6
dive: 306
start: 6 17 111 5 0 43
data:
$ID,146
$MISSION,6
$DIVE,306
$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,-275328.16
$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,53
$R_STBD_OVSHOOT,55
$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
$GPS1,045207,2250.366,-15759.084,40,1.1,40,10.1
$_CALLS,1
$_XMS_NAKs,15
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.4
$GPS2,045950,2250.477,-15759.163,34,1.5,34,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.216,-0.092
$KALMAN_X,-163723.0,86.1,-215.4,159808.2,-1065.4
$KALMAN_Y,-54054.0,857.6,-185.3,65547.7,655.8
$MHEAD_RNG_PITCHd_Wd,102.9,3797,-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,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.43,0.000,2,0.000,0.000,471,1856,3293,0,0,0,0,0,0
$GC,92,-1.38,-116.8,4.3,-8.1,9,110,12.23,0.00,-3.40,0.000,6,0.143,0.000,2851,1856,3489,0,0,0,0,0,0
$GC,389,-1.25,-116.8,66.6,-17.0,41,394,0.17,2.53,0.00,0.000,4,0.121,0.025,2887,3453,3493,0,0,0,0,0,0
$GC,473,-1.25,-116.8,77.7,-10.8,47,477,0.00,2.45,0.00,0.000,6,0.000,0.026,2887,1906,3494,0,0,0,0,0,0
$GC,739,-1.25,-116.8,108.4,-12.4,71,744,0.00,2.42,0.00,0.000,4,0.000,0.032,2887,3453,3494,0,0,0,0,0,0
$GC,773,-1.25,-116.8,112.7,-13.1,73,777,0.00,2.47,0.00,0.000,6,0.000,0.025,2887,1894,3494,0,0,0,0,0,0
$GC,1039,-1.25,-116.8,145.9,-12.2,97,1043,0.00,2.45,0.00,0.000,4,0.000,0.028,2887,3454,3494,0,0,0,0,0,0
$GC,1079,-1.32,-116.8,151.4,-12.2,100,1084,0.00,2.40,0.00,0.000,6,0.000,0.031,2887,1925,3495,0,0,0,0,0,0
$GC,1347,-1.32,-116.8,178.5,-10.1,124,1351,0.00,2.40,0.00,0.000,4,0.000,0.032,2887,3456,3495,0,0,0,0,0,0
$GC,1368,-1.36,-116.8,181.5,-10.4,125,1374,0.10,2.42,0.00,0.000,6,0.081,0.023,2840,1923,3495,0,0,0,0,0,0
$GC,1629,-1.31,-116.8,208.9,-10.2,144,1634,0.15,2.42,0.00,0.000,4,0.099,0.028,2873,3455,3496,0,0,0,0,0,0
$GC,1673,-1.37,-116.8,213.5,-9.3,145,1678,0.00,2.38,0.00,0.000,6,0.000,0.025,2873,1941,3495,0,0,0,0,0,0
$GC,1953,-1.37,-116.8,240.3,-10.2,152,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1941,3495,0,0,0,0,0,0
$GC,2195,-1.43,-116.8,264.3,-10.1,158,2197,0.12,0.00,0.00,0.000,6,0.071,0.000,2828,1941,3495,0,0,0,0,0,0
$GC,2438,-1.43,-116.8,292.8,-11.6,164,2443,0.00,2.42,0.00,0.000,4,0.000,0.039,2828,3459,3496,0,0,0,0,0,0
$GC,2483,-1.43,-116.8,297.9,-11.4,165,2487,0.00,2.40,0.00,0.000,6,0.000,0.033,2828,1954,3496,0,0,0,0,0,0
$GC,2762,-1.43,-116.8,325.9,-10.1,172,2766,0.00,2.85,0.00,0.000,4,0.000,0.080,2828,321,3495,0,0,0,0,0,0
$GC,2777,-1.43,-116.8,328.0,-10.8,172,2781,0.00,2.53,0.00,0.000,6,0.000,0.028,2828,1936,3495,0,0,0,0,0,0
$GC,3038,-1.43,-116.8,357.5,-11.4,179,3039,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1936,3494,0,0,0,0,0,0
$GC,3283,-1.43,-116.8,383.6,-10.5,185,3284,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1936,3493,0,0,0,0,0,0
$GC,3526,-1.43,-116.8,407.5,-9.8,191,3527,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1936,3492,0,0,0,0,0,0
$GC,3769,-1.43,-116.8,432.7,-10.7,197,3771,0.10,0.00,0.00,0.000,6,0.126,0.000,2849,1936,3490,0,0,0,0,0,0
$GC,4013,-1.49,-116.8,457.3,-10.1,203,4015,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1936,3489,0,0,0,0,0,0
$GC,4259,-1.56,-116.8,481.5,-10.0,209,4264,0.12,2.97,0.00,0.000,4,0.074,0.101,2807,323,3487,0,0,0,0,0,0
$GC,4281,-1.56,-116.8,484.3,-10.7,209,4285,0.00,2.62,0.00,0.000,6,0.000,0.044,2808,1931,3486,0,0,0,0,0,0
$STATE,4452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4452,begin apogee
$GC,4458,-0.31,0.0,503.9,11.4,214,4560,1.25,0.00,97.43,0.916,6,0.083,0.000,3089,2009,3010,0,0,0,0,0,0
$STATE,4560,end apogee,CONTROL_FINISHED_OK
$STATE,4560,begin climb
$GC,4564,1.38,116.8,506.3,0.0,216,4673,1.55,2.75,99.00,0.894,4,0.042,0.061,3462,3577,2533,0,0,0,0,0,0
$GC,4770,1.27,129.5,497.8,9.3,220,4790,0.12,2.67,11.62,0.796,6,0.125,0.052,3438,2011,2480,0,0,0,0,0,0
$GC,5065,1.26,169.1,474.2,7.8,228,5102,0.00,0.00,35.12,0.867,6,0.000,0.000,3438,2010,2320,0,0,0,0,0,0
$GC,5348,1.25,187.9,449.5,8.9,235,5367,0.00,0.00,17.33,0.829,6,0.000,0.000,3438,2011,2243,0,0,0,0,0,0
$GC,5590,1.26,201.8,426.8,9.2,241,5609,0.00,3.03,13.02,0.802,4,0.000,0.096,3437,410,2186,0,0,0,0,0,0
$GC,5644,1.19,201.8,421.5,10.3,242,5649,0.00,2.58,0.00,0.000,6,0.000,0.025,3437,1993,2185,0,0,0,0,0,0
$GC,5918,1.21,218.4,396.8,9.1,249,5939,0.00,2.67,15.93,0.811,4,0.000,0.048,3437,3578,2118,0,0,0,0,0,0
$GC,5962,1.23,234.8,392.5,9.1,250,5983,0.00,2.67,15.85,0.800,6,0.000,0.044,3438,1989,2052,0,0,0,0,0,0
$GC,6240,1.23,234.8,363.5,10.6,257,6245,0.00,2.83,0.00,0.000,4,0.000,0.084,3437,407,2047,0,0,0,0,0,0
$GC,6273,1.16,234.8,358.8,14.1,257,6279,0.12,2.55,0.00,0.000,6,0.127,0.026,3414,2001,2046,0,0,0,0,0,0
$GC,6523,1.21,237.7,333.2,9.9,264,6524,0.00,0.00,0.00,0.000,6,0.000,0.000,3414,2001,2045,0,0,0,0,0,0
$GC,6768,1.30,264.8,312.4,8.5,270,6797,0.12,0.00,26.90,0.790,6,0.088,0.000,3447,2001,1930,0,0,0,0,0,0
$GC,7010,1.30,264.8,286.0,11.1,276,7014,0.00,2.75,0.00,0.000,4,0.000,0.058,3446,403,1925,0,0,0,0,0,0
$GC,7050,1.30,264.8,281.2,12.8,277,7055,0.00,2.50,0.00,0.000,6,0.000,0.025,3447,1988,1924,0,0,0,0,0,0
$GC,7336,1.30,270.7,252.0,9.7,284,7343,0.00,0.00,5.80,0.609,6,0.000,0.000,3447,1989,1906,0,0,0,0,0,0
$GC,7578,1.32,286.1,229.3,9.1,290,7598,0.00,2.75,15.23,0.707,4,0.000,0.054,3446,406,1841,0,0,0,0,0,0
$GC,7616,1.33,288.9,225.8,9.9,291,7620,0.00,2.50,0.00,0.000,6,0.000,0.021,3447,1983,1840,0,0,0,0,0,0
$GC,7902,1.37,288.9,197.7,10.2,298,7906,0.00,2.70,0.00,0.000,4,0.000,0.058,3447,404,1839,0,0,0,0,0,0
$GC,7934,1.37,288.9,193.7,12.1,300,7944,0.00,2.47,0.00,0.000,6,0.000,0.021,3446,1967,1838,0,0,0,0,0,0
$GC,8203,1.43,297.0,167.1,9.6,325,8219,0.10,2.70,10.48,0.630,4,0.091,0.056,3476,405,1797,0,0,0,0,0,0
$GC,8237,1.43,297.0,163.3,11.2,328,8241,0.00,2.45,0.00,0.000,6,0.000,0.025,3476,1966,1796,0,0,0,0,0,0
$GC,8501,1.43,297.0,131.9,11.0,352,8505,0.00,2.53,0.00,0.000,4,0.000,0.031,3476,3549,1794,0,0,0,0,0,0
$GC,8547,1.43,297.0,126.9,11.6,355,8552,0.00,2.60,0.00,0.000,6,0.000,0.030,3476,1938,1793,0,0,0,0,0,0
$GC,8813,1.43,297.0,98.0,10.4,379,8818,0.00,2.60,0.00,0.000,4,0.000,0.036,3476,3558,1793,0,0,0,0,0,0
$GC,8847,1.43,297.0,94.7,10.2,381,8851,0.00,2.62,0.00,0.000,6,0.000,0.029,3476,1938,1793,0,0,0,0,0,0
$GC,9114,1.49,300.6,67.4,9.8,405,9122,0.00,0.00,3.90,0.394,6,0.000,0.000,3476,1938,1784,0,0,0,0,0,0
$GC,9383,1.59,326.2,42.8,8.6,430,9413,0.12,0.00,23.92,0.555,6,0.081,0.000,3514,1938,1679,0,0,0,0,0,0
$GC,9703,1.64,367.8,12.7,7.6,470,9746,0.00,2.62,36.08,0.530,4,0.000,0.033,3513,3552,1508,0,0,0,0,0,0
$GC,9779,1.65,379.6,7.7,9.4,479,9797,0.00,2.65,11.10,0.484,6,0.000,0.035,3514,1947,1461,0,0,0,0,0,0
$STATE,9812,end climb,SURFACE_DEPTH_REACHED
$STATE,9812,begin surface coast
$FINISH,0.5,0.980032
$STATE,9861,end surface coast,CONTROL_FINISHED_OK
$STATE,9861,begin surface
$SM_CCo,9945,0.00,0.000,0,0,1452,381.93
$SM_GC,1.17,12.35,0.00,0.00,0.025,0.000,0.000,477,1869,1452,-12.26,-0.59,381.93
$IRIDIUM_FIX,2241.69,-15757.16,100900,020222
$TT8_MAMPS,0.025311
$HUMID,61.93
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.80
$XPDR_PINGS,40
$24V_AH,23.5,38.358
$10V_AH,10.3,33.670
$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,28.750,98.575,438.700,0.000,0.000,30.302,36.036,234.237,10.000,0.000,35.774,976.433,6611.726,458.822,1774.826,584.694,33.369,1121.959,0.000,1765.658,0.000,0.534,0.000
$DEVICE_MAMPS,143.429,250.042,915.798,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.791,290.681,374.381,718.928,1086.166,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,38473,490
$CAP_FILE_SIZE,99006,0
$CFSIZE,260165632,166219776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,170611,074715,2250.544,-15758.498,9,1.5,9,10.1