version: 66.06
glider: 146
mission: 6
dive: 341
start: 6 21 111 13 11 6
data:
$ID,146
$MISSION,6
$DIVE,341
$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,-276217.16
$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,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,60
$R_STBD_OVSHOOT,54
$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
$GPS1,125207,2249.356,-15759.169,36,1.9,36,10.1
$_CALLS,2
$_XMS_NAKs,19
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.7
$GPS2,131013,2249.454,-15759.277,20,1.9,28,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.235,0.008
$KALMAN_X,-207508.5,-53.5,-79.8,203408.0,-1082.2
$KALMAN_Y,-27218.4,226.0,237.1,37037.9,251.0
$MHEAD_RNG_PITCHd_Wd,78.1,4017,-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,-70.40,0.000,2,0.000,0.000,475,1847,3234,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.3,-5.3,9,118,12.45,0.00,-4.65,0.000,6,0.152,0.000,2855,1847,3488,0,0,0,0,0,0
$GC,392,-1.26,-116.8,64.3,-17.3,42,398,0.17,2.58,0.00,0.000,4,0.120,0.031,2890,3456,3490,0,0,0,0,0,0
$GC,477,-1.26,-116.8,75.8,-12.3,48,481,0.00,2.42,0.00,0.000,6,0.000,0.024,2890,1915,3490,0,0,0,0,0,0
$GC,739,-1.26,-116.8,109.6,-12.2,72,743,0.00,2.45,0.00,0.000,4,0.000,0.026,2890,3462,3490,0,0,0,0,0,0
$GC,760,-1.26,-116.8,111.9,-12.4,73,764,0.00,2.45,0.00,0.000,6,0.000,0.030,2890,1897,3490,0,0,0,0,0,0
$GC,1026,-1.26,-116.8,140.8,-10.4,97,1030,0.00,2.47,0.00,0.000,4,0.000,0.028,2890,3458,3491,0,0,0,0,0,0
$GC,1066,-1.31,-116.8,145.8,-10.7,100,1071,0.00,2.45,0.00,0.000,6,0.000,0.031,2890,1901,3491,0,0,0,0,0,0
$GC,1334,-1.36,-116.8,174.5,-11.2,124,1339,0.00,2.47,0.00,0.000,4,0.000,0.031,2890,3464,3491,0,0,0,0,0,0
$GC,1378,-1.46,-116.8,179.8,-10.8,127,1383,0.17,2.45,0.00,0.000,6,0.055,0.030,2829,1903,3491,0,0,0,0,0,0
$GC,1660,-1.40,-116.8,216.9,-12.9,144,1665,0.12,2.45,0.00,0.000,4,0.110,0.034,2857,3454,3491,0,0,0,0,0,0
$GC,1694,-1.40,-116.8,221.5,-12.1,144,1699,0.00,2.45,0.00,0.000,6,0.000,0.025,2857,1907,3491,0,0,0,0,0,0
$GC,1944,-1.40,-116.8,250.2,-11.3,151,1948,0.00,2.67,0.00,0.000,4,0.000,0.063,2857,320,3491,0,0,0,0,0,0
$GC,2000,-1.40,-116.8,256.7,-11.7,152,2004,0.00,2.42,0.00,0.000,6,0.000,0.018,2857,1915,3491,0,0,0,0,0,0
$GC,2266,-1.40,-116.8,284.0,-9.8,159,2270,0.00,2.42,0.00,0.000,4,0.000,0.039,2857,3450,3491,0,0,0,0,0,0
$GC,2333,-1.49,-116.8,290.3,-9.5,160,2337,0.00,2.45,0.00,0.000,6,0.000,0.027,2857,1922,3491,0,0,0,0,0,0
$GC,2590,-1.54,-116.8,313.2,-9.1,167,2595,0.12,2.45,0.00,0.000,4,0.071,0.038,2813,3447,3491,0,0,0,0,0,0
$GC,2622,-1.54,-116.8,316.9,-10.9,167,2628,0.00,2.45,0.00,0.000,6,0.000,0.031,2813,1925,3491,0,0,0,0,0,0
$GC,2872,-1.54,-116.8,345.3,-11.4,174,2877,0.00,2.47,0.00,0.000,4,0.000,0.035,2813,3455,3490,0,0,0,0,0,0
$GC,2940,-1.54,-116.8,353.2,-11.5,175,2945,0.00,2.53,0.00,0.000,6,0.000,0.044,2812,1926,3490,0,0,0,0,0,0
$GC,3195,-1.54,-116.8,381.8,-11.2,182,3199,0.00,2.47,0.00,0.000,4,0.000,0.044,2813,3444,3488,0,0,0,0,0,0
$GC,3245,-1.54,-116.8,387.8,-11.6,183,3249,0.00,2.50,0.00,0.000,6,0.000,0.050,2813,1937,3488,0,0,0,0,0,0
$GC,3519,-1.54,-116.8,417.8,-11.0,190,3523,0.00,2.47,0.00,0.000,4,0.000,0.047,2813,3440,3486,0,0,0,0,0,0
$GC,3652,-1.54,-116.8,432.4,-10.6,193,3656,0.00,2.53,0.00,0.000,6,0.000,0.054,2813,1942,3485,0,0,0,0,0,0
$GC,3938,-1.54,-116.8,459.4,-9.3,200,3942,0.00,2.47,0.00,0.000,4,0.000,0.046,2813,3444,3483,0,0,0,0,0,0
$GC,3970,-1.54,-116.8,462.7,-9.4,200,3976,0.00,2.53,0.00,0.000,6,0.000,0.053,2813,1954,3483,0,0,0,0,0,0
$GC,4220,-1.54,-116.8,484.9,-8.7,207,4225,0.00,2.50,0.00,0.000,4,0.000,0.050,2813,3446,3481,0,0,0,0,0,0
$GC,4238,-1.54,-116.8,486.3,-8.6,207,4242,0.00,2.53,0.00,0.000,6,0.000,0.057,2813,1952,3481,0,0,0,0,0,0
$STATE,4415,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4415,begin apogee
$GC,4420,-0.31,0.0,502.9,9.3,212,4520,1.25,0.00,96.35,0.915,6,0.080,0.000,3095,1951,3010,0,0,0,0,0,0
$STATE,4521,end apogee,CONTROL_FINISHED_OK
$STATE,4521,begin climb
$GC,4524,1.38,116.8,505.0,0.0,214,4628,1.58,0.00,99.93,0.894,6,0.039,0.000,3474,1951,2533,0,0,0,0,0,0
$GC,4863,1.29,151.3,487.8,8.0,223,4897,0.12,0.00,29.35,0.862,6,0.124,0.000,3449,1951,2393,0,0,0,0,0,0
$GC,5149,1.26,178.7,463.1,8.5,230,5179,0.00,2.75,24.92,0.850,4,0.000,0.046,3449,3541,2280,0,0,0,0,0,0
$GC,5192,1.20,188.6,459.3,9.5,231,5208,0.10,2.65,10.05,0.765,6,0.137,0.048,3428,2001,2240,0,0,0,0,0,0
$GC,5469,1.20,194.4,432.5,9.7,238,5483,0.00,2.95,5.97,0.677,4,0.000,0.095,3428,407,2216,0,0,0,0,0,0
$GC,5494,1.16,194.4,429.7,10.1,238,5499,0.00,2.55,0.00,0.000,6,0.000,0.031,3428,1973,2216,0,0,0,0,0,0
$GC,5751,1.17,199.2,404.6,9.8,245,5761,0.00,2.67,5.72,0.667,4,0.000,0.044,3428,3579,2196,0,0,0,0,0,0
$GC,5801,1.18,203.3,399.5,9.8,246,5811,0.00,2.65,5.00,0.625,6,0.000,0.045,3428,1996,2181,0,0,0,0,0,0
$GC,6074,1.19,219.5,374.1,9.1,253,6095,0.00,2.65,15.88,0.803,4,0.000,0.037,3428,3575,2114,0,0,0,0,0,0
$GC,6139,1.19,219.5,367.2,10.7,254,6144,0.00,2.60,0.00,0.000,6,0.000,0.041,3428,1999,2111,0,0,0,0,0,0
$GC,6395,1.22,239.3,344.0,8.9,261,6419,0.00,2.90,18.40,0.792,4,0.000,0.076,3428,411,2033,0,0,0,0,0,0
$GC,6461,1.22,239.3,337.2,11.0,262,6465,0.00,2.58,0.00,0.000,6,0.000,0.019,3428,2027,2031,0,0,0,0,0,0
$GC,6721,1.22,242.5,311.4,9.9,269,6726,0.00,2.78,0.00,0.000,4,0.000,0.064,3428,408,2028,0,0,0,0,0,0
$GC,6782,1.22,242.5,304.6,11.2,270,6786,0.00,2.50,0.00,0.000,6,0.000,0.025,3428,1991,2027,0,0,0,0,0,0
$GC,7046,1.29,261.5,280.5,8.9,277,7072,0.00,2.78,20.67,0.761,4,0.000,0.058,3428,410,1941,0,0,0,0,0,0
$GC,7088,1.30,270.6,276.2,9.5,278,7103,0.00,2.55,9.35,0.686,6,0.000,0.025,3428,2002,1906,0,0,0,0,0,0
$GC,7372,1.39,291.8,251.0,8.8,285,7395,0.15,0.00,19.70,0.732,6,0.074,0.000,3469,2002,1820,0,0,0,0,0,0
$GC,7614,1.39,291.8,222.0,12.3,291,7618,0.00,2.70,0.00,0.000,4,0.000,0.055,3469,409,1814,0,0,0,0,0,0
$GC,7737,1.39,291.8,204.6,13.3,293,7743,0.00,2.50,0.00,0.000,6,0.000,0.025,3469,1991,1813,0,0,0,0,0,0
$GC,7996,1.39,291.8,172.5,12.3,315,8001,0.00,2.67,0.00,0.000,4,0.000,0.056,3470,403,1813,0,0,0,0,0,0
$GC,8038,1.39,291.8,167.3,13.0,318,8042,0.00,2.47,0.00,0.000,6,0.000,0.021,3470,1994,1812,0,0,0,0,0,0
$GC,8302,1.39,291.8,138.1,10.8,342,8306,0.00,2.70,0.00,0.000,4,0.000,0.058,3469,399,1812,0,0,0,0,0,0
$GC,8331,1.39,291.8,134.5,11.5,344,8335,0.00,2.47,0.00,0.000,6,0.000,0.025,3469,1985,1812,0,0,0,0,0,0
$GC,8594,1.39,291.8,106.8,10.3,368,8603,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,1986,1812,0,0,0,0,0,0
$GC,8860,1.48,312.7,81.8,8.8,393,8885,0.00,2.70,17.55,0.581,4,0.000,0.054,3470,397,1736,0,0,0,0,0,0
$GC,8965,1.55,331.5,73.1,9.0,401,8993,0.12,2.45,18.10,0.568,6,0.077,0.017,3507,1979,1657,0,0,0,0,0,0
$GC,9251,1.55,331.5,41.7,12.2,427,9255,0.00,2.62,0.00,0.000,4,0.000,0.051,3507,406,1655,0,0,0,0,0,0
$GC,9287,1.55,331.5,36.5,13.4,429,9296,0.00,2.45,0.00,0.000,6,0.000,0.018,3507,1966,1654,0,0,0,0,0,0
$STATE,9573,end climb,SURFACE_DEPTH_REACHED
$STATE,9573,begin surface coast
$FINISH,0.5,0.971625
$STATE,9617,end surface coast,CONTROL_FINISHED_OK
$STATE,9617,begin surface
$SM_CCo,9641,39.53,0.522,0,0,1459,380.21
$SM_GC,1.39,0.00,0.00,39.53,0.000,0.000,0.522,476,1851,1459,-12.37,-1.10,380.21
$IRIDIUM_FIX,2239.35,-15757.16,140900,131303
$TT8_MAMPS,0.026078
$HUMID,63.38
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.50
$XPDR_PINGS,47
$24V_AH,23.5,42.911
$10V_AH,10.3,37.681
$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,28.550,127.975,396.950,39.525,0.000,56.305,75.160,724.870,11.750,0.000,29.980,988.862,6268.297,515.075,1846.324,1147.222,33.366,1205.362,0.000,1831.533,0.000,0.536,0.000
$DEVICE_MAMPS,151.866,95.108,915.031,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,321.606,267.389,358.337,677.371,1024.455,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,38416,474
$CAP_FILE_SIZE,112363,0
$CFSIZE,260165632,164335616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210611,155334,2249.776,-15758.383,6,3.4,25,10.1