version: 66.06
glider: 146
mission: 6
dive: 316
start: 6 18 111 10 21 15
data:
$ID,146
$MISSION,6
$DIVE,316
$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,-275575.69
$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,28
$R_STBD_OVSHOOT,62
$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
$GPS1,101245,2248.619,-15803.158,41,3.5,60,10.1
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-68.1
$GPS2,102022,2248.670,-15803.192,35,2.6,54,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.111,0.207
$KALMAN_X,-178205.6,249.2,-168.9,167199.3,-852.2
$KALMAN_Y,-48819.7,919.0,290.9,56433.3,-161.6
$MHEAD_RNG_PITCHd_Wd,18.1,2484,-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,-70.78,0.000,2,0.000,0.000,474,1834,3314,0,0,0,0,0,0
$GC,91,-1.38,-116.8,4.4,-8.7,9,117,12.32,2.60,-2.97,0.000,4,0.148,0.041,2855,3443,3490,0,0,0,0,0,0
$GC,329,-1.30,-116.8,53.2,-17.6,34,334,0.12,2.50,0.00,0.000,6,0.127,0.026,2880,1884,3493,0,0,0,0,0,0
$GC,593,-1.30,-116.8,88.0,-11.3,58,594,0.00,0.00,0.00,0.000,6,0.000,0.000,2880,1884,3493,0,0,0,0,0,0
$GC,846,-1.30,-116.8,117.7,-10.8,82,850,0.00,2.47,0.00,0.000,4,0.000,0.031,2880,3447,3494,0,0,0,0,0,0
$GC,904,-1.35,-116.8,123.4,-9.8,86,914,0.00,2.50,0.00,0.000,6,0.000,0.027,2880,1888,3494,0,0,0,0,0,0
$GC,1171,-1.35,-116.8,148.2,-9.1,111,1175,0.00,2.47,0.00,0.000,4,0.000,0.031,2880,3449,3494,0,0,0,0,0,0
$GC,1229,-1.42,-116.8,153.7,-9.1,115,1235,0.10,2.45,0.00,0.000,6,0.084,0.025,2837,1906,3495,0,0,0,0,0,0
$GC,1491,-1.38,-116.8,184.6,-12.7,140,1497,0.12,2.70,0.00,0.000,4,0.110,0.061,2864,311,3495,0,0,0,0,0,0
$GC,1525,-1.34,-116.8,188.5,-12.9,142,1530,0.00,2.42,0.00,0.000,6,0.000,0.015,2864,1919,3496,0,0,0,0,0,0
$GC,1789,-1.34,-116.8,216.8,-10.1,155,1793,0.00,2.38,0.00,0.000,4,0.000,0.030,2864,3438,3496,0,0,0,0,0,0
$GC,1806,-1.38,-116.8,218.5,-10.0,155,1810,0.00,2.40,0.00,0.000,6,0.000,0.023,2864,1908,3496,0,0,0,0,0,0
$GC,2073,-1.42,-116.8,245.1,-10.3,162,2078,0.00,2.42,0.00,0.000,4,0.000,0.029,2864,3443,3496,0,0,0,0,0,0
$GC,2159,-1.49,-116.8,253.7,-9.8,164,2164,0.10,2.40,0.00,0.000,6,0.082,0.032,2823,1935,3496,0,0,0,0,0,0
$GC,2443,-1.49,-116.8,290.3,-13.1,171,2444,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1934,3496,0,0,0,0,0,0
$GC,2685,-1.49,-116.8,318.0,-11.3,177,2690,0.00,2.40,0.00,0.000,4,0.000,0.039,2823,3435,3495,0,0,0,0,0,0
$GC,2758,-1.49,-116.8,326.0,-10.0,178,2762,0.00,2.42,0.00,0.000,6,0.000,0.035,2823,1937,3495,0,0,0,0,0,0
$GC,3009,-1.49,-116.8,350.6,-10.0,184,3014,0.00,2.90,0.00,0.000,4,0.000,0.086,2823,306,3494,0,0,0,0,0,0
$GC,3036,-1.49,-116.8,353.8,-11.3,184,3040,0.00,2.50,0.00,0.000,6,0.000,0.029,2823,1893,3494,0,0,0,0,0,0
$GC,3286,-1.49,-116.8,379.5,-10.4,190,3290,0.00,2.62,0.00,0.000,4,0.000,0.049,2823,3475,3493,0,0,0,0,0,0
$GC,3341,-1.49,-116.8,385.3,-9.9,191,3345,0.00,2.53,0.00,0.000,6,0.000,0.049,2823,1944,3492,0,0,0,0,0,0
$GC,3609,-1.49,-116.8,412.0,-10.1,198,3613,0.00,2.95,0.00,0.000,4,0.000,0.100,2823,309,3491,0,0,0,0,0,0
$GC,3658,-1.49,-116.8,417.8,-11.0,199,3662,0.00,2.60,0.00,0.000,6,0.000,0.030,2823,1928,3490,0,0,0,0,0,0
$GC,3931,-1.49,-116.8,447.0,-11.1,206,3935,0.00,2.62,0.00,0.000,4,0.000,0.057,2823,3475,3489,0,0,0,0,0,0
$GC,3975,-1.54,-116.8,452.3,-11.3,207,3979,0.00,2.58,0.00,0.000,6,0.000,0.055,2823,1937,3488,0,0,0,0,0,0
$GC,4252,-1.54,-116.8,482.1,-10.6,214,4257,0.00,3.00,0.00,0.000,4,0.000,0.104,2823,305,3486,0,0,0,0,0,0
$GC,4280,-1.54,-116.8,485.1,-11.4,214,4285,0.00,2.67,0.00,0.000,6,0.000,0.040,2823,1933,3486,0,0,0,0,0,0
$STATE,4446,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4446,begin apogee
$GC,4452,-0.31,0.0,501.5,9.7,218,4553,1.20,0.00,97.18,0.917,6,0.082,0.000,3093,2004,3010,0,0,0,0,0,0
$STATE,4554,end apogee,CONTROL_FINISHED_OK
$STATE,4554,begin climb
$GC,4557,1.38,116.8,502.8,0.0,220,4661,1.55,0.00,99.93,0.894,6,0.044,0.000,3467,2004,2533,0,0,0,0,0,0
$GC,4885,1.29,134.4,482.2,9.0,228,4906,0.00,2.75,14.93,0.825,4,0.000,0.061,3467,3576,2462,0,0,0,0,0,0
$GC,4962,1.18,145.3,475.0,9.4,229,4981,0.22,2.67,11.07,0.789,6,0.111,0.051,3422,1995,2416,0,0,0,0,0,0
$GC,5255,1.22,183.1,451.3,7.9,237,5297,0.00,3.05,34.00,0.863,4,0.000,0.105,3422,405,2262,0,0,0,0,0,0
$GC,5330,1.18,187.0,444.6,9.8,238,5342,0.00,2.62,4.57,0.594,6,0.000,0.033,3422,1999,2247,0,0,0,0,0,0
$GC,5587,1.22,224.3,423.8,7.9,245,5628,0.00,2.72,33.72,0.852,4,0.000,0.054,3422,3587,2094,0,0,0,0,0,0
$GC,5684,1.22,224.3,414.3,10.1,247,5688,0.00,2.65,0.00,0.000,6,0.000,0.048,3422,2012,2091,0,0,0,0,0,0
$GC,5963,1.22,224.3,387.0,10.0,254,5967,0.00,2.90,0.00,0.000,4,0.000,0.087,3422,401,2087,0,0,0,0,0,0
$GC,6034,1.22,224.3,378.9,10.9,255,6039,0.00,2.60,0.00,0.000,6,0.000,0.026,3422,2019,2085,0,0,0,0,0,0
$GC,6285,1.24,234.8,355.1,9.4,261,6299,0.00,2.60,9.20,0.739,4,0.000,0.039,3422,3578,2052,0,0,0,0,0,0
$GC,6312,1.24,238.6,352.4,9.8,261,6322,0.00,2.65,4.85,0.596,6,0.000,0.044,3422,1997,2037,0,0,0,0,0,0
$GC,6567,1.27,264.8,330.2,8.5,267,6597,0.00,2.88,24.62,0.797,4,0.000,0.081,3422,412,1929,0,0,0,0,0,0
$GC,6667,1.28,271.9,321.3,9.6,269,6682,0.10,2.55,7.65,0.686,6,0.099,0.021,3450,2001,1900,0,0,0,0,0,0
$GC,6938,1.28,273.2,294.3,10.0,276,6943,0.00,2.58,0.00,0.000,4,0.000,0.043,3450,3569,1896,0,0,0,0,0,0
$GC,6993,1.28,273.2,288.3,10.3,277,6998,0.00,2.60,0.00,0.000,6,0.000,0.038,3450,1992,1895,0,0,0,0,0,0
$GC,7262,1.28,273.2,260.5,10.7,284,7263,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1992,1894,0,0,0,0,0,0
$GC,7504,1.28,273.2,232.8,11.4,290,7509,0.00,2.58,0.00,0.000,4,0.000,0.040,3450,3573,1893,0,0,0,0,0,0
$GC,7589,1.28,273.2,222.7,11.8,292,7593,0.00,2.55,0.00,0.000,6,0.000,0.033,3450,2012,1892,0,0,0,0,0,0
$GC,7843,1.32,273.2,195.5,10.6,299,7848,0.00,2.75,0.00,0.000,4,0.000,0.070,3450,411,1891,0,0,0,0,0,0
$GC,7911,1.32,273.2,187.2,12.3,304,7917,0.00,2.53,0.00,0.000,6,0.000,0.022,3450,2020,1890,0,0,0,0,0,0
$GC,8176,1.39,290.8,161.9,9.0,329,8201,0.00,2.80,16.08,0.659,4,0.000,0.058,3450,415,1823,0,0,0,0,0,0
$GC,8252,1.39,290.8,154.0,10.5,335,8258,0.00,2.47,0.00,0.000,6,0.000,0.025,3450,1989,1821,0,0,0,0,0,0
$GC,8517,1.47,311.1,130.7,8.9,360,8539,0.15,0.00,18.70,0.633,6,0.073,0.000,3490,1991,1740,0,0,0,0,0,0
$GC,8790,1.47,311.1,100.0,11.2,386,8791,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,1991,1737,0,0,0,0,0,0
$GC,9050,1.47,311.1,71.8,11.2,410,9054,0.00,2.65,0.00,0.000,4,0.000,0.051,3490,414,1737,0,0,0,0,0,0
$GC,9082,1.47,311.1,67.8,12.7,412,9086,0.00,2.45,0.00,0.000,6,0.000,0.018,3490,2007,1736,0,0,0,0,0,0
$GC,9352,1.54,317.3,41.4,9.7,436,9365,0.00,2.70,6.30,0.474,4,0.000,0.052,3490,416,1714,0,0,0,0,0,0
$GC,9407,1.64,359.7,37.0,7.6,440,9451,0.12,2.42,36.83,0.558,6,0.076,0.018,3526,1994,1543,0,0,0,0,0,0
$STATE,9697,end climb,SURFACE_DEPTH_REACHED
$STATE,9697,begin surface coast
$FINISH,0.5,0.975078
$STATE,9746,end surface coast,CONTROL_FINISHED_OK
$STATE,9746,begin surface
$SM_CCo,9770,16.38,0.509,0,0,1459,380.21
$SM_GC,1.34,0.00,0.00,16.38,0.000,0.000,0.509,475,1840,1459,-12.37,-1.41,380.21
$IRIDIUM_FIX,2239.35,-15735.03,110900,070730
$TT8_MAMPS,0.026078
$HUMID,63.70
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,21.20
$XPDR_PINGS,45
$24V_AH,23.5,39.595
$10V_AH,10.4,34.799
$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,28.450,125.525,419.625,16.375,0.000,40.218,30.930,211.125,11.250,0.000,56.450,1002.283,6254.127,485.878,1948.288,554.468,33.363,1209.640,0.000,1899.237,0.000,0.534,0.000
$DEVICE_MAMPS,148.031,114.283,916.565,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.708,283.644,375.404,708.979,1069.200,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,38442,485
$CAP_FILE_SIZE,106020,0
$CFSIZE,260165632,165687296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180611,130555,2249.789,-15803.041,52,1.1,52,10.1