version: 66.06
glider: 146
mission: 6
dive: 337
start: 6 21 111 1 14 46
data:
$ID,146
$MISSION,6
$DIVE,337
$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,-276077.75
$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,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,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
$GPS1,010107,2249.661,-15801.555,35,1.1,35,10.1
$_CALLS,2
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.2
$GPS2,011350,2249.722,-15801.643,11,1.3,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,-0.023
$KALMAN_X,-202933.9,-102.4,25.7,194729.8,-860.1
$KALMAN_Y,-29330.2,-393.4,379.6,40117.1,322.2
$MHEAD_RNG_PITCHd_Wd,85.4,7941,-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,-70.43,0.000,2,0.000,0.000,477,1865,3288,0,0,0,0,0,0
$GC,93,-1.38,-116.8,4.2,-8.3,9,119,12.10,2.58,-3.55,0.000,4,0.139,0.062,2857,335,3490,0,0,0,0,0,0
$GC,176,-1.24,-116.8,27.6,-18.1,20,186,0.12,2.42,0.00,0.000,6,0.106,0.017,2887,1902,3492,0,0,0,0,0,0
$GC,454,-1.24,-116.8,68.6,-13.5,46,458,0.00,2.40,0.00,0.000,4,0.000,0.025,2886,3443,3493,0,0,0,0,0,0
$GC,535,-1.24,-116.8,79.4,-12.5,52,540,0.00,2.42,0.00,0.000,6,0.000,0.027,2886,1911,3493,0,0,0,0,0,0
$GC,798,-1.24,-116.8,110.3,-10.6,76,802,0.00,2.40,0.00,0.000,4,0.000,0.025,2886,3443,3493,0,0,0,0,0,0
$GC,821,-1.24,-116.8,113.2,-11.1,77,827,0.00,2.45,0.00,0.000,6,0.000,0.031,2887,1896,3493,0,0,0,0,0,0
$GC,1085,-1.28,-116.8,138.8,-9.6,102,1089,0.00,2.62,0.00,0.000,4,0.000,0.053,2886,314,3494,0,0,0,0,0,0
$GC,1105,-1.28,-116.8,140.7,-9.9,103,1110,0.00,2.42,0.00,0.000,6,0.000,0.016,2886,1924,3494,0,0,0,0,0,0
$GC,1374,-1.33,-116.8,168.6,-10.3,127,1378,0.00,2.35,0.00,0.000,4,0.000,0.028,2886,3431,3495,0,0,0,0,0,0
$GC,1515,-1.43,-116.8,183.6,-9.8,138,1523,0.10,2.42,0.00,0.000,6,0.034,0.025,2831,1917,3495,0,0,0,0,0,0
$GC,1770,-1.39,-116.8,215.4,-12.2,154,1775,0.15,2.40,0.00,0.000,4,0.099,0.029,2864,3435,3494,0,0,0,0,0,0
$GC,1838,-1.43,-116.8,223.2,-11.6,155,1842,0.00,2.38,0.00,0.000,6,0.000,0.031,2864,1931,3495,0,0,0,0,0,0
$GC,2099,-1.43,-116.8,251.0,-10.6,162,2103,0.00,2.38,0.00,0.000,4,0.000,0.031,2864,3426,3495,0,0,0,0,0,0
$GC,2144,-1.50,-116.8,255.4,-9.5,163,2149,0.10,2.38,0.00,0.000,6,0.082,0.025,2822,1933,3494,0,0,0,0,0,0
$GC,2423,-1.50,-116.8,285.8,-11.4,170,2427,0.00,2.42,0.00,0.000,4,0.000,0.033,2822,3433,3495,0,0,0,0,0,0
$GC,2450,-1.50,-116.8,289.3,-11.6,170,2454,0.00,2.38,0.00,0.000,6,0.000,0.029,2822,1941,3494,0,0,0,0,0,0
$GC,2705,-1.50,-116.8,318.4,-11.6,177,2709,0.00,2.40,0.00,0.000,4,0.000,0.039,2822,3424,3494,0,0,0,0,0,0
$GC,2797,-1.50,-116.8,328.8,-11.4,179,2801,0.00,2.33,0.00,0.000,6,0.000,0.038,2822,1970,3494,0,0,0,0,0,0
$GC,3080,-1.50,-116.8,361.2,-11.3,186,3085,0.00,2.95,0.00,0.000,4,0.000,0.086,2822,318,3493,0,0,0,0,0,0
$GC,3129,-1.50,-116.8,367.5,-12.5,187,3133,0.00,2.50,0.00,0.000,6,0.000,0.025,2822,1905,3493,0,0,0,0,0,0
$GC,3403,-1.50,-116.8,397.0,-10.6,194,3407,0.00,2.60,0.00,0.000,4,0.000,0.050,2822,3472,3491,0,0,0,0,0,0
$GC,3419,-1.50,-116.8,398.8,-9.7,194,3423,0.00,2.53,0.00,0.000,6,0.000,0.044,2822,1960,3491,0,0,0,0,0,0
$GC,3679,-1.50,-116.8,424.7,-9.9,201,3684,0.00,3.00,0.00,0.000,4,0.000,0.106,2822,315,3490,0,0,0,0,0,0
$GC,3708,-1.50,-116.8,427.8,-11.5,201,3712,0.00,2.62,0.00,0.000,6,0.000,0.031,2822,1937,3489,0,0,0,0,0,0
$GC,3957,-1.50,-116.8,453.3,-10.1,207,3962,0.00,2.60,0.00,0.000,4,0.000,0.065,2822,3472,3488,0,0,0,0,0,0
$GC,4002,-1.55,-116.8,458.1,-11.2,208,4006,0.00,2.55,0.00,0.000,6,0.000,0.051,2822,1962,3487,0,0,0,0,0,0
$GC,4281,-1.55,-116.8,486.2,-10.0,215,4282,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1962,3485,0,0,0,0,0,0
$STATE,4439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4439,begin apogee
$GC,4445,-0.31,0.0,502.8,10.2,219,4546,1.20,0.00,97.43,0.916,6,0.084,0.000,3095,2017,3010,0,0,0,0,0,0
$STATE,4547,end apogee,CONTROL_FINISHED_OK
$STATE,4547,begin climb
$GC,4550,1.38,116.8,505.1,0.0,221,4657,1.58,2.67,99.85,0.894,4,0.038,0.063,3476,3551,2532,0,0,0,0,0,0
$GC,4676,1.32,190.0,504.2,5.8,224,4746,0.12,2.62,63.38,0.876,6,0.129,0.054,3452,2011,2235,0,0,0,0,0,0
$GC,5009,1.25,190.0,465.5,12.4,233,5014,0.00,3.00,0.00,0.000,4,0.000,0.104,3452,409,2226,0,0,0,0,0,0
$GC,5038,1.14,190.0,461.7,12.9,233,5043,0.17,2.55,0.00,0.000,6,0.113,0.031,3415,1977,2224,0,0,0,0,0,0
$GC,5288,1.15,194.9,436.5,9.8,239,5289,0.00,0.00,0.00,0.000,6,0.000,0.000,3415,1977,2222,0,0,0,0,0,0
$GC,5531,1.16,208.2,413.6,9.3,245,5548,0.00,0.00,15.23,0.811,6,0.000,0.000,3415,1977,2161,0,0,0,0,0,0
$GC,5777,1.19,232.0,392.1,8.7,251,5806,0.00,2.88,22.05,0.823,4,0.000,0.067,3415,403,2063,0,0,0,0,0,0
$GC,5874,1.19,232.0,381.6,11.4,253,5878,0.00,2.55,0.00,0.000,6,0.000,0.028,3415,1997,2061,0,0,0,0,0,0
$GC,6147,1.25,239.8,354.9,9.6,260,6162,0.00,2.83,7.80,0.711,4,0.000,0.067,3415,408,2032,0,0,0,0,0,0
$GC,6191,1.25,239.8,350.2,11.1,261,6196,0.00,2.53,0.00,0.000,6,0.000,0.027,3415,1986,2030,0,0,0,0,0,0
$GC,6475,1.35,276.5,325.9,7.9,268,6516,0.17,0.00,34.00,0.800,6,0.067,0.000,3462,1986,1881,0,0,0,0,0,0
$GC,6761,1.35,276.5,292.7,12.2,275,6762,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,1986,1876,0,0,0,0,0,0
$GC,7003,1.35,276.5,263.9,11.6,281,7007,0.00,2.70,0.00,0.000,4,0.000,0.057,3462,400,1875,0,0,0,0,0,0
$GC,7058,1.35,276.5,256.6,13.0,282,7062,0.00,2.53,0.00,0.000,6,0.000,0.021,3462,1997,1872,0,0,0,0,0,0
$GC,7326,1.35,276.5,224.9,12.0,289,7331,0.00,2.70,0.00,0.000,4,0.000,0.058,3462,401,1872,0,0,0,0,0,0
$GC,7375,1.35,276.5,217.7,14.1,290,7380,0.00,2.47,0.00,0.000,6,0.000,0.025,3462,1976,1871,0,0,0,0,0,0
$GC,7638,1.35,276.5,187.8,10.7,304,7642,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,1977,1871,0,0,0,0,0,0
$GC,7899,1.36,285.8,162.5,9.5,329,7909,0.00,0.00,7.65,0.594,6,0.000,0.000,3463,1977,1843,0,0,0,0,0,0
$GC,8168,1.40,285.8,134.8,10.2,354,8172,0.00,2.67,0.00,0.000,4,0.000,0.058,3462,393,1842,0,0,0,0,0,0
$GC,8235,1.40,285.8,127.5,11.0,359,8240,0.00,2.50,0.00,0.000,6,0.000,0.020,3463,1993,1841,0,0,0,0,0,0
$GC,8502,1.49,310.1,101.6,8.6,383,8530,0.12,2.75,22.02,0.605,4,0.077,0.055,3498,396,1744,0,0,0,0,0,0
$GC,8611,1.49,310.1,88.9,12.5,392,8615,0.00,2.45,0.00,0.000,6,0.000,0.018,3499,1958,1742,0,0,0,0,0,0
$GC,8878,1.49,310.1,60.3,10.6,416,8883,0.00,2.55,0.00,0.000,4,0.000,0.032,3498,3559,1741,0,0,0,0,0,0
$GC,8914,1.55,319.3,56.3,9.5,418,8928,0.00,2.62,9.02,0.516,6,0.000,0.031,3498,1959,1708,0,0,0,0,0,0
$GC,9188,1.55,319.3,29.5,10.4,443,9197,0.00,2.62,0.00,0.000,4,0.000,0.054,3499,408,1706,0,0,0,0,0,0
$GC,9229,1.55,319.3,25.1,11.1,448,9239,0.00,2.45,0.00,0.000,6,0.000,0.018,3499,1969,1705,0,0,0,0,0,0
$STATE,9426,end climb,SURFACE_DEPTH_REACHED
$STATE,9426,begin surface coast
$FINISH,0.5,0.970984
$STATE,9475,end surface coast,CONTROL_FINISHED_OK
$STATE,9475,begin surface
$SM_CCo,9499,50.75,0.522,0,0,1460,380.21
$SM_GC,1.20,0.00,0.00,50.75,0.000,0.000,0.522,474,1858,1460,-12.38,-0.90,380.21
$IRIDIUM_FIX,2239.35,-15802.37,130900,222201
$TT8_MAMPS,0.026078
$HUMID,63.46
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.70
$XPDR_PINGS,45
$24V_AH,23.5,42.361
$10V_AH,10.3,37.224
$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,28.150,117.750,378.425,50.750,0.000,67.904,67.117,436.277,11.250,0.000,12.605,979.667,6141.234,501.044,1847.828,846.894,33.367,1178.191,0.000,1854.938,0.000,0.535,0.000
$DEVICE_MAMPS,138.827,154.167,915.798,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,327.269,274.033,377.129,717.994,1086.063,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,38296,483
$CAP_FILE_SIZE,104129,0
$CFSIZE,260165632,164560896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210611,035504,2249.847,-15800.735,7,2.5,26,10.1