version: 66.06
glider: 146
mission: 6
dive: 343
start: 6 21 111 19 27 16
data:
$ID,146
$MISSION,6
$DIVE,343
$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,-276265.97
$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,39
$R_STBD_OVSHOOT,58
$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
$GPS1,190855,2250.476,-15757.802,77,1.1,77,10.1
$_CALLS,3
$_XMS_NAKs,21
$_XMS_TOUTs,1
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-71.0
$GPS2,192622,2250.623,-15758.027,14,1.1,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.192,-0.135
$KALMAN_X,-209811.7,-324.4,-16.1,208052.9,-742.8
$KALMAN_Y,-25288.8,246.1,26.7,37449.4,578.8
$MHEAD_RNG_PITCHd_Wd,114.9,2099,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,92,0.00,0.00,-71.00,0.000,2,0.000,0.000,476,1877,3275,0,0,0,0,0,0
$GC,95,-1.38,-116.8,3.8,-7.2,9,121,12.25,2.62,-3.85,0.000,4,0.144,0.062,2857,329,3489,0,0,0,0,0,0
$GC,238,-1.23,-116.8,36.7,-18.3,27,243,0.17,2.40,0.00,0.000,6,0.126,0.015,2893,1903,3489,0,0,0,0,0,0
$GC,505,-1.17,-116.8,78.9,-15.8,51,509,0.00,2.40,0.00,0.000,4,0.000,0.025,2893,3443,3490,0,0,0,0,0,0
$GC,539,-1.17,-116.8,84.0,-15.0,53,543,0.00,2.45,0.00,0.000,6,0.000,0.029,2893,1893,3490,0,0,0,0,0,0
$GC,806,-1.17,-116.8,118.4,-12.1,77,811,0.00,2.45,0.00,0.000,4,0.000,0.028,2893,3448,3491,0,0,0,0,0,0
$GC,847,-1.23,-116.8,124.4,-12.3,80,851,0.00,2.45,0.00,0.000,6,0.000,0.030,2893,1890,3490,0,0,0,0,0,0
$GC,1111,-1.27,-116.8,152.1,-10.7,104,1115,0.00,2.47,0.00,0.000,4,0.000,0.028,2893,3449,3491,0,0,0,0,0,0
$GC,1178,-1.38,-116.8,158.7,-9.6,109,1183,0.12,2.42,0.00,0.000,6,0.067,0.030,2843,1912,3491,0,0,0,0,0,0
$GC,1443,-1.34,-116.8,191.6,-13.4,133,1448,0.12,2.45,0.00,0.000,4,0.107,0.032,2870,3448,3491,0,0,0,0,0,0
$GC,1511,-1.40,-116.8,200.2,-11.0,138,1520,0.00,2.42,0.00,0.000,6,0.000,0.025,2870,1929,3492,0,0,0,0,0,0
$GC,1762,-1.40,-116.8,225.8,-10.3,145,1766,0.00,2.40,0.00,0.000,4,0.000,0.028,2870,3446,3492,0,0,0,0,0,0
$GC,1807,-1.48,-116.8,230.3,-9.4,146,1812,0.12,2.38,0.00,0.000,6,0.071,0.023,2822,1929,3492,0,0,0,0,0,0
$GC,2091,-1.44,-116.8,263.7,-12.0,153,2093,0.12,0.00,0.00,0.000,6,0.106,0.000,2850,1928,3492,0,0,0,0,0,0
$GC,2336,-1.44,-116.8,287.9,-9.8,159,2340,0.00,2.40,0.00,0.000,4,0.000,0.034,2850,3444,3492,0,0,0,0,0,0
$GC,2408,-1.50,-116.8,294.5,-8.6,160,2413,0.00,2.40,0.00,0.000,6,0.000,0.030,2850,1951,3492,0,0,0,0,0,0
$GC,2660,-1.54,-116.8,318.8,-9.8,166,2665,0.00,2.40,0.00,0.000,4,0.000,0.031,2850,3445,3491,0,0,0,0,0,0
$GC,2711,-1.62,-116.8,324.2,-9.5,167,2716,0.17,2.40,0.00,0.000,6,0.054,0.036,2788,1956,3491,0,0,0,0,0,0
$GC,2983,-1.56,-116.8,358.2,-12.8,174,2985,0.17,0.00,0.00,0.000,6,0.097,0.000,2826,1956,3490,0,0,0,0,0,0
$GC,3228,-1.56,-116.8,385.9,-11.1,180,3229,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1956,3489,0,0,0,0,0,0
$GC,3470,-1.56,-116.8,412.2,-10.8,186,3474,0.00,2.42,0.00,0.000,4,0.000,0.047,2826,3434,3488,0,0,0,0,0,0
$GC,3527,-1.60,-116.8,418.3,-10.9,187,3531,0.00,2.45,0.00,0.000,6,0.000,0.051,2826,1978,3487,0,0,0,0,0,0
$GC,3794,-1.60,-116.8,446.9,-10.6,194,3798,0.00,2.40,0.00,0.000,4,0.000,0.053,2826,3428,3485,0,0,0,0,0,0
$GC,3862,-1.66,-116.8,454.0,-10.0,195,3866,0.00,2.42,0.00,0.000,6,0.000,0.054,2826,1984,3485,0,0,0,0,0,0
$GC,4123,-1.66,-116.8,479.5,-9.6,202,4124,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1984,3483,0,0,0,0,0,0
$STATE,4364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4364,begin apogee
$GC,4371,-0.31,0.0,502.0,9.2,208,4471,1.17,0.00,96.45,0.910,6,0.077,0.000,3094,1984,3010,0,0,0,0,0,0
$STATE,4472,end apogee,CONTROL_FINISHED_OK
$STATE,4472,begin climb
$GC,4475,1.38,116.8,504.2,0.0,210,4578,1.58,0.00,99.82,0.890,6,0.040,0.000,3471,1984,2533,0,0,0,0,0,0
$GC,4811,1.28,134.7,485.6,9.0,219,4829,0.15,0.00,15.52,0.828,6,0.120,0.000,3442,1984,2460,0,0,0,0,0,0
$GC,5056,1.24,160.0,464.9,8.6,225,5081,0.00,0.00,23.05,0.848,6,0.000,0.000,3442,1984,2357,0,0,0,0,0,0
$GC,5298,1.21,170.6,442.4,9.4,231,5310,0.00,0.00,10.27,0.776,6,0.000,0.000,3442,1984,2313,0,0,0,0,0,0
$GC,5542,1.19,189.0,420.4,9.0,237,5561,0.00,0.00,17.48,0.822,6,0.000,0.000,3442,1984,2238,0,0,0,0,0,0
$GC,5787,1.19,195.2,396.9,9.7,243,5800,0.00,2.60,6.45,0.688,4,0.000,0.041,3442,3541,2213,0,0,0,0,0,0
$GC,5829,1.19,195.2,392.5,10.2,244,5834,0.00,2.58,0.00,0.000,6,0.000,0.039,3442,2010,2212,0,0,0,0,0,0
$GC,6114,1.21,207.0,366.0,9.4,251,6133,0.00,2.95,11.85,0.774,4,0.000,0.078,3442,408,2164,0,0,0,0,0,0
$GC,6184,1.15,207.0,358.5,11.0,252,6189,0.12,2.47,0.00,0.000,6,0.127,0.020,3418,1963,2162,0,0,0,0,0,0
$GC,6440,1.22,225.0,335.5,9.0,259,6459,0.00,0.00,16.90,0.781,6,0.000,0.000,3418,1964,2092,0,0,0,0,0,0
$GC,6685,1.29,235.8,312.7,9.4,265,6701,0.12,2.70,10.60,0.729,4,0.079,0.062,3452,408,2047,0,0,0,0,0,0
$GC,6735,1.23,235.8,307.1,11.3,266,6740,0.00,2.53,0.00,0.000,6,0.000,0.021,3452,2001,2045,0,0,0,0,0,0
$GC,7009,1.25,248.3,281.7,9.3,273,7028,0.00,2.65,12.20,0.725,4,0.000,0.041,3452,3561,1996,0,0,0,0,0,0
$GC,7056,1.26,254.2,277.0,9.7,274,7070,0.00,2.60,6.93,0.641,6,0.000,0.031,3451,1983,1972,0,0,0,0,0,0
$GC,7338,1.26,259.1,250.0,9.8,281,7345,0.00,0.00,5.55,0.589,6,0.000,0.000,3452,1983,1953,0,0,0,0,0,0
$GC,7583,1.31,266.2,226.2,9.6,287,7597,0.00,2.78,7.68,0.635,4,0.000,0.069,3452,412,1923,0,0,0,0,0,0
$GC,7688,1.31,266.2,214.4,12.0,289,7692,0.00,2.50,0.00,0.000,6,0.000,0.021,3452,1991,1921,0,0,0,0,0,0
$GC,7956,1.34,266.2,187.2,11.3,304,7960,0.00,2.67,0.00,0.000,4,0.000,0.056,3452,410,1921,0,0,0,0,0,0
$GC,7984,1.34,266.2,183.1,12.2,306,7988,0.00,2.47,0.00,0.000,6,0.000,0.025,3452,1989,1921,0,0,0,0,0,0
$GC,8248,1.43,291.0,158.6,8.6,330,8277,0.10,2.72,22.95,0.655,4,0.087,0.056,3482,405,1821,0,0,0,0,0,0
$GC,8329,1.43,291.0,149.7,11.5,336,8338,0.00,2.50,0.00,0.000,6,0.000,0.018,3482,1976,1819,0,0,0,0,0,0
$GC,8597,1.43,291.0,122.4,10.5,361,8601,0.00,2.55,0.00,0.000,4,0.000,0.033,3482,3556,1818,0,0,0,0,0,0
$GC,8630,1.43,291.0,118.8,11.4,363,8634,0.00,2.55,0.00,0.000,6,0.000,0.034,3482,1976,1816,0,0,0,0,0,0
$GC,8897,1.50,312.0,93.7,8.8,387,8922,0.00,2.58,18.75,0.586,4,0.000,0.031,3482,3553,1735,0,0,0,0,0,0
$GC,8951,1.57,313.5,88.5,10.0,391,8956,0.10,2.53,0.00,0.000,6,0.087,0.031,3512,1998,1735,0,0,0,0,0,0
$GC,9216,1.57,313.5,61.1,10.1,415,9220,0.00,2.62,0.00,0.000,4,0.000,0.051,3512,417,1734,0,0,0,0,0,0
$GC,9311,1.57,313.5,50.4,11.9,422,9316,0.00,2.47,0.00,0.000,6,0.000,0.017,3512,2015,1732,0,0,0,0,0,0
$GC,9599,1.57,313.5,19.2,11.1,453,9608,0.00,2.70,0.00,0.000,4,0.000,0.048,3512,415,1732,0,0,0,0,0,0
$GC,9654,1.53,313.5,12.9,12.8,460,9663,0.00,2.45,0.00,0.000,6,0.000,0.022,3512,1979,1732,0,0,0,0,0,0
$STATE,9727,end climb,SURFACE_DEPTH_REACHED
$STATE,9727,begin surface coast
$FINISH,0.5,0.979958
$STATE,9770,end surface coast,CONTROL_FINISHED_OK
$STATE,9770,begin surface
$SM_CCo,9792,56.12,0.521,0,0,1460,380.21
$SM_GC,1.22,0.00,0.00,56.12,0.000,0.000,0.521,476,1868,1460,-12.37,-0.62,380.21
$IRIDIUM_FIX,2241.69,-15757.16,140900,191911
$TT8_MAMPS,0.026078
$HUMID,61.81
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.00
$XPDR_PINGS,42
$24V_AH,23.5,43.216
$10V_AH,10.3,37.916
$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,28.950,105.950,382.450,56.125,0.000,76.942,118.473,572.472,10.500,0.000,15.552,986.225,6564.596,528.189,1745.521,1072.293,33.372,1159.767,0.000,1754.493,0.000,0.536,0.000
$DEVICE_MAMPS,144.196,78.234,910.429,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,323.096,256.614,361.366,677.422,1024.478,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355672
$DATA_FILE_SIZE,38462,476
$CAP_FILE_SIZE,111672,0
$CFSIZE,260165632,164229120
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210611,221254,2250.567,-15757.478,30,1.4,47,10.1