version: 66.06
glider: 146
mission: 6
dive: 312
start: 6 17 111 22 25 15
data:
$ID,146
$MISSION,6
$DIVE,312
$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,-275473.38
$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,49
$R_STBD_OVSHOOT,64
$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
$GPS1,221254,2247.333,-15758.057,60,1.6,75,10.1
$_CALLS,2
$_XMS_NAKs,21
$_XMS_TOUTs,1
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-71.1
$GPS2,222420,2247.388,-15758.184,15,1.3,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.222,-0.076
$KALMAN_X,-172136.2,-452.3,-64.3,170288.2,-1183.3
$KALMAN_Y,-51401.4,-629.0,293.9,58195.3,458.3
$MHEAD_RNG_PITCHd_Wd,241.0,8256,-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,-70.82,0.000,2,0.000,0.000,479,1865,3304,0,0,0,0,0,0
$GC,93,-1.38,-116.8,4.2,-8.6,9,118,12.18,2.60,-3.20,0.000,4,0.142,0.058,2856,330,3491,0,0,0,0,0,0
$GC,305,-1.23,-116.8,52.2,-15.7,31,310,0.17,2.40,0.00,0.000,6,0.222,0.014,2892,1913,3493,0,0,0,0,0,0
$GC,573,-1.23,-116.8,87.2,-12.1,55,577,0.00,2.40,0.00,0.000,4,0.000,0.032,2891,3436,3494,0,0,0,0,0,0
$GC,594,-1.23,-116.8,90.6,-11.4,56,604,0.00,2.45,0.00,0.000,6,0.000,0.031,2892,1910,3494,0,0,0,0,0,0
$GC,861,-1.23,-116.8,117.4,-10.6,81,865,0.00,2.40,0.00,0.000,4,0.000,0.033,2892,3440,3494,0,0,0,0,0,0
$GC,906,-1.32,-116.8,123.0,-11.0,84,915,0.00,2.47,0.00,0.000,6,0.000,0.025,2892,1900,3495,0,0,0,0,0,0
$GC,1174,-1.37,-116.8,153.8,-11.3,109,1178,0.10,2.40,0.00,0.000,4,0.084,0.026,2851,3435,3495,0,0,0,0,0,0
$GC,1231,-1.37,-116.8,161.8,-12.1,113,1237,0.00,2.40,0.00,0.000,6,0.000,0.029,2850,1916,3495,0,0,0,0,0,0
$GC,1496,-1.37,-116.8,194.9,-12.5,138,1500,0.00,2.70,0.00,0.000,4,0.000,0.058,2850,316,3495,0,0,0,0,0,0
$GC,1518,-1.33,-116.8,197.6,-12.9,139,1523,0.10,2.45,0.00,0.000,6,0.122,0.022,2871,1924,3495,0,0,0,0,0,0
$GC,1778,-1.37,-116.8,227.2,-10.6,146,1783,0.00,2.70,0.00,0.000,4,0.000,0.060,2871,316,3495,0,0,0,0,0,0
$GC,1823,-1.37,-116.8,232.3,-11.5,147,1828,0.00,2.42,0.00,0.000,6,0.000,0.023,2871,1909,3495,0,0,0,0,0,0
$GC,2102,-1.42,-116.8,261.6,-10.5,154,2106,0.00,2.45,0.00,0.000,4,0.000,0.038,2871,3446,3495,0,0,0,0,0,0
$GC,2151,-1.52,-116.8,267.0,-10.3,155,2156,0.15,2.42,0.00,0.000,6,0.062,0.031,2818,1928,3495,0,0,0,0,0,0
$GC,2425,-1.48,-116.8,300.7,-12.5,162,2430,0.10,2.42,0.00,0.000,4,0.117,0.032,2840,3443,3494,0,0,0,0,0,0
$GC,2481,-1.53,-116.8,307.0,-9.7,163,2485,0.00,2.42,0.00,0.000,6,0.000,0.029,2840,1939,3494,0,0,0,0,0,0
$GC,2748,-1.53,-116.8,333.7,-10.3,170,2752,0.00,2.45,0.00,0.000,4,0.000,0.040,2840,3445,3493,0,0,0,0,0,0
$GC,2765,-1.53,-116.8,335.6,-9.9,170,2769,0.00,2.45,0.00,0.000,6,0.000,0.035,2840,1940,3494,0,0,0,0,0,0
$GC,3025,-1.53,-116.8,360.7,-9.9,177,3030,0.00,2.92,0.00,0.000,4,0.000,0.086,2840,305,3492,0,0,0,0,0,0
$GC,3070,-1.53,-116.8,365.8,-11.7,178,3075,0.00,2.55,0.00,0.000,6,0.000,0.032,2840,1903,3492,0,0,0,0,0,0
$GC,3349,-1.58,-116.8,395.1,-10.0,185,3353,0.00,2.62,0.00,0.000,4,0.000,0.054,2840,3475,3491,0,0,0,0,0,0
$GC,3371,-1.63,-116.8,397.2,-9.0,185,3376,0.12,2.58,0.00,0.000,6,0.067,0.044,2792,1934,3490,0,0,0,0,0,0
$GC,3628,-1.58,-116.8,421.2,-9.2,192,3633,0.12,2.55,0.00,0.000,4,0.113,0.049,2818,3471,3488,0,0,0,0,0,0
$GC,3650,-1.58,-116.8,423.4,-8.7,192,3654,0.00,2.58,0.00,0.000,6,0.000,0.048,2819,1938,3488,0,0,0,0,0,0
$GC,3905,-1.58,-116.8,446.2,-9.4,199,3910,0.00,3.03,0.00,0.000,4,0.000,0.104,2818,302,3486,0,0,0,0,0,0
$GC,3928,-1.58,-116.8,448.6,-10.8,199,3932,0.00,2.65,0.00,0.000,6,0.000,0.035,2818,1924,3486,0,0,0,0,0,0
$GC,4182,-1.58,-116.8,476.4,-10.8,206,4187,0.00,2.65,0.00,0.000,4,0.000,0.067,2818,3478,3485,0,0,0,0,0,0
$GC,4204,-1.58,-116.8,479.0,-11.3,206,4208,0.00,2.65,0.00,0.000,6,0.000,0.053,2818,1917,3485,0,0,0,0,0,0
$STATE,4416,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4417,begin apogee
$GC,4424,-0.31,0.0,502.3,10.7,212,4525,1.23,0.00,96.97,0.921,6,0.079,0.000,3097,2029,3010,0,0,0,0,0,0
$STATE,4526,end apogee,CONTROL_FINISHED_OK
$STATE,4526,begin climb
$GC,4528,1.38,116.8,505.0,0.0,214,4632,1.55,0.00,99.38,0.898,6,0.052,0.000,3470,2029,2533,0,0,0,0,0,0
$GC,4857,1.30,148.7,488.9,8.2,222,4892,0.12,2.67,27.40,0.866,4,0.124,0.054,3446,3551,2402,0,0,0,0,0,0
$GC,4933,1.22,154.6,481.8,9.7,223,4946,0.00,2.67,6.43,0.700,6,0.000,0.050,3446,1991,2379,0,0,0,0,0,0
$GC,5235,1.16,157.1,452.4,9.9,231,5240,0.12,2.65,0.00,0.000,4,0.125,0.048,3420,3562,2373,0,0,0,0,0,0
$GC,5252,1.13,168.4,450.4,9.4,231,5273,0.00,2.65,12.80,0.815,6,0.000,0.048,3421,1992,2323,0,0,0,0,0,0
$GC,5517,1.16,194.4,427.5,8.5,238,5546,0.00,2.95,23.88,0.848,4,0.000,0.093,3420,410,2216,0,0,0,0,0,0
$GC,5570,1.11,201.9,422.7,9.6,239,5585,0.00,2.55,8.45,0.739,6,0.000,0.027,3420,1974,2185,0,0,0,0,0,0
$GC,5847,1.12,210.5,396.8,9.5,246,5862,0.00,2.72,8.30,0.742,4,0.000,0.048,3420,3573,2151,0,0,0,0,0,0
$GC,5874,1.13,213.2,394.1,9.9,246,5883,0.00,2.67,4.05,0.548,6,0.000,0.045,3420,1986,2140,0,0,0,0,0,0
$GC,6135,1.13,213.7,367.6,10.0,253,6136,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,1986,2137,0,0,0,0,0,0
$GC,6379,1.18,252.3,347.5,7.8,259,6420,0.00,2.85,35.55,0.824,4,0.000,0.076,3420,407,1980,0,0,0,0,0,0
$GC,6449,1.18,252.5,341.4,10.0,260,6454,0.00,2.55,0.00,0.000,6,0.000,0.021,3420,1990,1978,0,0,0,0,0,0
$GC,6705,1.23,252.5,315.7,10.3,267,6709,0.00,2.72,0.00,0.000,4,0.000,0.061,3420,406,1975,0,0,0,0,0,0
$GC,6761,1.23,252.5,309.6,10.4,268,6765,0.00,2.53,0.00,0.000,6,0.000,0.024,3420,1984,1973,0,0,0,0,0,0
$GC,7029,1.31,264.3,284.7,9.4,275,7046,0.12,2.65,10.62,0.725,4,0.087,0.037,3453,3576,1932,0,0,0,0,0,0
$GC,7090,1.31,264.3,277.2,12.1,276,7095,0.00,2.67,0.00,0.000,6,0.000,0.038,3453,1958,1931,0,0,0,0,0,0
$GC,7352,1.31,264.3,248.0,10.9,283,7354,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1959,1929,0,0,0,0,0,0
$GC,7595,1.33,281.9,225.7,9.0,289,7614,0.00,0.00,16.77,0.715,6,0.000,0.000,3452,1958,1859,0,0,0,0,0,0
$GC,7839,1.33,281.9,198.9,11.3,295,7843,0.00,2.65,0.00,0.000,4,0.000,0.063,3453,413,1856,0,0,0,0,0,0
$GC,7918,1.33,281.9,190.1,12.4,301,7922,0.00,2.45,0.00,0.000,6,0.000,0.023,3453,1970,1855,0,0,0,0,0,0
$GC,8185,1.40,309.5,164.6,8.4,325,8220,0.00,2.75,24.27,0.671,4,0.000,0.060,3453,408,1747,0,0,0,0,0,0
$GC,8233,1.40,315.6,159.7,9.7,329,8247,0.00,2.45,6.93,0.563,6,0.000,0.020,3453,1959,1723,0,0,0,0,0,0
$GC,8512,1.46,315.6,129.4,10.7,355,8518,0.12,0.00,0.00,0.000,6,0.077,0.000,3489,1960,1721,0,0,0,0,0,0
$GC,8775,1.46,315.6,98.5,11.6,380,8779,0.00,2.58,0.00,0.000,4,0.000,0.037,3489,3556,1720,0,0,0,0,0,0
$GC,8795,1.46,315.6,96.4,12.4,381,8799,0.00,2.62,0.00,0.000,6,0.000,0.035,3489,1941,1718,0,0,0,0,0,0
$GC,9063,1.49,342.7,67.8,8.5,405,9097,0.00,0.00,24.27,0.581,6,0.000,0.000,3489,1941,1610,0,0,0,0,0,0
$GC,9355,1.55,342.7,38.7,11.2,432,9360,0.00,2.58,0.00,0.000,4,0.000,0.054,3489,402,1608,0,0,0,0,0,0
$GC,9401,1.55,342.7,33.1,11.6,435,9405,0.00,2.40,0.00,0.000,6,0.000,0.018,3489,1957,1608,0,0,0,0,0,0
$STATE,9692,end climb,SURFACE_DEPTH_REACHED
$STATE,9693,begin surface coast
$FINISH,0.5,0.978367
$STATE,9735,end surface coast,CONTROL_FINISHED_OK
$STATE,9735,begin surface
$SM_CCo,9758,30.25,0.523,0,0,1459,380.21
$SM_GC,1.15,0.00,0.00,30.25,0.000,0.000,0.523,475,1855,1459,-12.37,-0.99,380.21
$IRIDIUM_FIX,2237.01,-15800.20,100900,222247
$TT8_MAMPS,0.026078
$HUMID,63.03
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.40
$XPDR_PINGS,47
$24V_AH,23.5,39.069
$10V_AH,10.3,34.336
$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,28.550,129.475,406.075,30.250,0.000,52.557,80.300,338.073,11.750,0.000,16.618,993.263,6382.317,507.197,1825.670,768.762,33.364,1195.319,0.000,1826.573,0.000,0.536,0.000
$DEVICE_MAMPS,222.430,181.012,921.167,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.062,265.072,365.734,699.759,1058.384,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,38334,481
$CAP_FILE_SIZE,111455,0
$CFSIZE,260165632,165896192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180611,011007,2247.139,-15800.162,61,1.4,61,10.1