version: 66.06
glider: 146
mission: 6
dive: 339
start: 6 21 111 7 5 4
data:
$ID,146
$MISSION,6
$DIVE,339
$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,-276150.62
$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,47
$R_STBD_OVSHOOT,59
$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
$GPS1,065307,2249.604,-15800.030,120,1.6,120,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.1
$GPS2,070408,2249.683,-15800.110,16,1.5,34,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.198,-0.126
$KALMAN_X,-204936.6,103.4,-67.6,199241.1,-760.8
$KALMAN_Y,-27777.5,-181.6,-397.8,39066.3,1387.9
$MHEAD_RNG_PITCHd_Wd,112.3,5342,-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,16,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-71.20,0.000,2,0.000,0.000,470,1854,3245,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.3,-4.7,9,118,12.23,2.58,-4.62,0.000,4,0.143,0.062,2854,338,3489,0,0,0,0,0,0
$GC,157,-1.23,-116.8,21.2,-19.7,17,166,0.15,2.42,0.00,0.000,6,0.160,0.015,2889,1910,3491,0,0,0,0,0,0
$GC,433,-1.15,-116.8,63.7,-14.8,45,438,0.12,2.42,0.00,0.000,4,0.125,0.031,2914,3437,3492,0,0,0,0,0,0
$GC,482,-1.19,-116.8,70.3,-13.5,48,486,0.00,2.42,0.00,0.000,6,0.000,0.025,2914,1906,3492,0,0,0,0,0,0
$GC,745,-1.24,-116.8,103.8,-11.4,72,749,0.00,2.40,0.00,0.000,4,0.000,0.025,2914,3438,3492,0,0,0,0,0,0
$GC,799,-1.34,-116.8,109.9,-11.1,76,804,0.17,2.42,0.00,0.000,6,0.054,0.030,2850,1894,3492,0,0,0,0,0,0
$GC,1061,-1.29,-116.8,143.0,-13.2,100,1066,0.15,2.45,0.00,0.000,4,0.100,0.032,2883,3445,3493,0,0,0,0,0,0
$GC,1082,-1.29,-116.8,145.4,-12.6,101,1086,0.00,2.42,0.00,0.000,6,0.000,0.023,2883,1908,3493,0,0,0,0,0,0
$GC,1346,-1.29,-116.8,172.6,-9.4,125,1351,0.00,2.40,0.00,0.000,4,0.000,0.030,2883,3442,3493,0,0,0,0,0,0
$GC,1388,-1.36,-116.8,176.7,-8.8,128,1392,0.00,2.38,0.00,0.000,6,0.000,0.025,2883,1921,3494,0,0,0,0,0,0
$GC,1671,-1.41,-116.8,204.9,-10.4,151,1673,0.10,0.00,0.00,0.000,6,0.084,0.000,2842,1921,3494,0,0,0,0,0,0
$GC,1911,-1.41,-116.8,232.4,-11.1,157,1916,0.00,2.40,0.00,0.000,4,0.000,0.035,2841,3446,3494,0,0,0,0,0,0
$GC,2020,-1.41,-116.8,244.8,-12.1,159,2025,0.00,2.40,0.00,0.000,6,0.000,0.031,2841,1918,3494,0,0,0,0,0,0
$GC,2281,-1.41,-116.8,274.6,-11.3,166,2285,0.00,2.42,0.00,0.000,4,0.000,0.028,2841,3445,3494,0,0,0,0,0,0
$GC,2297,-1.41,-116.8,276.4,-10.7,166,2301,0.00,2.40,0.00,0.000,6,0.000,0.031,2842,1918,3494,0,0,0,0,0,0
$GC,2566,-1.41,-116.8,304.0,-10.6,173,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1918,3494,0,0,0,0,0,0
$GC,2808,-1.41,-116.8,328.8,-10.0,179,2812,0.00,2.42,0.00,0.000,4,0.000,0.033,2841,3436,3493,0,0,0,0,0,0
$GC,2943,-1.46,-116.8,342.4,-9.5,182,2948,0.00,2.47,0.00,0.000,6,0.000,0.043,2841,1930,3493,0,0,0,0,0,0
$GC,3223,-1.46,-116.8,368.3,-9.4,189,3227,0.00,2.42,0.00,0.000,4,0.000,0.041,2841,3435,3492,0,0,0,0,0,0
$GC,3272,-1.52,-116.8,373.7,-10.2,190,3277,0.00,2.50,0.00,0.000,6,0.000,0.044,2841,1931,3491,0,0,0,0,0,0
$GC,3547,-1.57,-116.8,399.5,-9.5,197,3551,0.00,2.45,0.00,0.000,4,0.000,0.040,2841,3429,3490,0,0,0,0,0,0
$GC,3591,-1.65,-116.8,404.4,-10.6,198,3596,0.15,2.53,0.00,0.000,6,0.064,0.048,2788,1928,3490,0,0,0,0,0,0
$GC,3869,-1.60,-116.8,432.9,-10.1,205,3874,0.12,2.50,0.00,0.000,4,0.111,0.052,2815,3427,3488,0,0,0,0,0,0
$GC,3897,-1.60,-116.8,435.7,-9.9,205,3902,0.00,2.53,0.00,0.000,6,0.000,0.053,2815,1925,3488,0,0,0,0,0,0
$GC,4147,-1.60,-116.8,460.9,-10.4,211,4151,0.00,2.50,0.00,0.000,4,0.000,0.048,2814,3430,3486,0,0,0,0,0,0
$GC,4196,-1.60,-116.8,466.4,-11.0,212,4200,0.00,2.53,0.00,0.000,6,0.000,0.060,2815,1934,3485,0,0,0,0,0,0
$GC,4476,-1.60,-116.8,497.3,-11.3,219,4480,0.00,2.50,0.00,0.000,4,0.000,0.052,2815,3431,3483,0,0,0,0,0,0
$STATE,4500,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4500,begin apogee
$GC,4508,-0.31,0.0,500.6,11.5,219,4609,1.20,0.00,96.88,0.909,6,0.079,0.000,3090,1986,3010,0,0,0,0,0,0
$STATE,4610,end apogee,CONTROL_FINISHED_OK
$STATE,4610,begin climb
$GC,4612,1.38,116.8,503.9,0.0,222,4719,1.60,0.00,99.88,0.888,6,0.049,0.000,3474,1986,2531,0,0,0,0,0,0
$GC,4965,1.31,163.7,486.4,7.3,231,5012,0.12,3.00,40.22,0.870,4,0.127,0.100,3451,401,2341,0,0,0,0,0,0
$GC,5031,1.22,183.9,481.3,8.9,232,5055,0.00,2.55,18.92,0.827,6,0.000,0.036,3451,1945,2259,0,0,0,0,0,0
$GC,5336,1.17,194.0,452.6,9.5,240,5348,0.15,0.00,9.10,0.759,6,0.120,0.000,3421,1945,2218,0,0,0,0,0,0
$GC,5577,1.17,194.0,427.5,10.7,246,5582,0.00,2.70,0.00,0.000,4,0.000,0.077,3421,404,2215,0,0,0,0,0,0
$GC,5628,1.17,194.0,421.4,12.9,247,5632,0.00,2.58,0.00,0.000,6,0.000,0.030,3421,1994,2213,0,0,0,0,0,0
$GC,5900,1.17,195.5,393.6,10.0,254,5901,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1994,2212,0,0,0,0,0,0
$GC,6144,1.17,198.4,369.8,9.9,260,6153,0.00,2.78,4.05,0.548,4,0.000,0.064,3421,398,2201,0,0,0,0,0,0
$GC,6194,1.17,198.4,364.6,11.3,261,6199,0.00,2.55,0.00,0.000,6,0.000,0.023,3421,1986,2199,0,0,0,0,0,0
$GC,6472,1.19,213.0,338.2,9.2,268,6488,0.00,0.00,14.62,0.779,6,0.000,0.000,3421,1986,2141,0,0,0,0,0,0
$GC,6715,1.21,228.5,315.6,9.1,274,6735,0.00,2.80,14.85,0.763,4,0.000,0.060,3421,396,2077,0,0,0,0,0,0
$GC,6770,1.21,228.5,310.1,10.9,275,6774,0.00,2.53,0.00,0.000,6,0.000,0.021,3421,1989,2075,0,0,0,0,0,0
$GC,7037,1.29,247.0,285.4,9.0,282,7061,0.10,2.67,17.15,0.750,4,0.100,0.040,3448,3562,2003,0,0,0,0,0,0
$GC,7091,1.29,251.1,280.5,9.8,283,7101,0.00,2.65,5.25,0.586,6,0.000,0.035,3448,1965,1986,0,0,0,0,0,0
$GC,7364,1.32,273.4,255.6,8.8,290,7390,0.00,2.72,20.73,0.735,4,0.000,0.064,3448,408,1895,0,0,0,0,0,0
$GC,7477,1.32,273.4,244.2,11.4,292,7482,0.00,2.50,0.00,0.000,6,0.000,0.021,3448,1987,1892,0,0,0,0,0,0
$GC,7733,1.38,291.7,220.5,9.0,299,7752,0.00,0.00,16.95,0.698,6,0.000,0.000,3448,1987,1820,0,0,0,0,0,0
$GC,7977,1.43,295.6,196.7,9.8,305,7989,0.12,2.72,4.62,0.510,4,0.083,0.057,3481,406,1804,0,0,0,0,0,0
$GC,8061,1.38,295.6,186.4,13.2,312,8065,0.00,2.47,0.00,0.000,6,0.000,0.024,3481,1977,1803,0,0,0,0,0,0
$GC,8323,1.38,295.6,158.0,11.1,336,8324,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,1977,1802,0,0,0,0,0,0
$GC,8578,1.38,295.6,127.9,11.9,360,8579,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,1977,1802,0,0,0,0,0,0
$GC,8832,1.40,318.2,101.4,8.7,384,8859,0.00,2.72,20.70,0.602,4,0.000,0.056,3481,406,1711,0,0,0,0,0,0
$GC,8942,1.40,318.2,89.7,12.1,393,8946,0.00,2.47,0.00,0.000,6,0.000,0.018,3481,1988,1709,0,0,0,0,0,0
$GC,9209,1.54,381.2,65.6,6.4,417,9276,0.00,2.62,54.05,0.577,4,0.000,0.031,3481,3556,1453,0,0,0,0,0,0
$GC,9295,1.65,384.7,58.2,9.8,423,9310,0.17,2.60,4.53,0.402,6,0.061,0.036,3530,1965,1440,0,0,0,0,0,0
$GC,9576,1.65,384.7,21.7,14.7,452,9585,0.00,2.62,0.00,0.000,4,0.000,0.051,3530,412,1437,0,0,0,0,0,0
$GC,9658,1.65,384.7,9.0,14.9,463,9667,0.00,2.42,0.00,0.000,6,0.000,0.018,3530,1963,1436,0,0,0,0,0,0
$STATE,9688,end climb,SURFACE_DEPTH_REACHED
$STATE,9688,begin surface coast
$FINISH,0.5,0.975115
$STATE,9726,end surface coast,CONTROL_FINISHED_OK
$STATE,9726,begin surface
$SM_CCo,9808,0.00,0.000,0,0,1431,387.33
$SM_GC,1.21,12.40,0.00,0.00,0.027,0.000,0.000,478,1877,1431,-12.28,-0.37,387.33
$IRIDIUM_FIX,2241.69,-15802.37,140900,040457
$TT8_MAMPS,0.026078
$HUMID,63.30
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.60
$XPDR_PINGS,45
$24V_AH,23.5,42.624
$10V_AH,10.3,37.447
$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,29.075,116.625,442.500,0.000,0.000,30.550,39.014,435.689,11.250,0.000,36.091,978.832,6420.950,495.598,1795.969,779.869,33.392,1192.007,0.000,1774.677,0.000,0.535,0.000
$DEVICE_MAMPS,160.303,99.710,908.895,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,319.547,266.427,355.874,660.518,999.104,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,38434,472
$CAP_FILE_SIZE,106600,0
$CFSIZE,260165632,164450304
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210611,095000,2249.262,-15759.667,49,1.1,49,10.1