version: 66.06
glider: 146
mission: 6
dive: 345
start: 6 22 111 1 19 21
data:
$ID,146
$MISSION,6
$DIVE,345
$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,-276314
$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,24
$R_STBD_OVSHOOT,56
$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
$GPS1,010816,2250.383,-15757.093,8,99.0,27,10.1
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.9
$GPS2,011828,2250.487,-15757.169,9,99.0,28,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.038,-0.232
$KALMAN_X,-211891.4,-110.1,-46.7,211412.8,-665.3
$KALMAN_Y,-22694.7,281.6,281.5,34319.5,599.4
$MHEAD_RNG_PITCHd_Wd,160.6,6547,-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,18,-1.38,-116.8,0.0,0.0,0,92,0.00,0.00,-71.30,0.000,2,0.000,0.000,478,1965,3245,0,0,0,0,0,0
$GC,95,-1.38,-116.8,3.3,-5.3,9,121,12.15,2.83,-4.60,0.000,4,0.142,0.059,2853,311,3487,0,0,0,0,0,0
$GC,226,-1.22,-116.8,33.6,-17.6,26,236,0.17,2.45,0.00,0.000,6,0.104,0.021,2893,1905,3488,0,0,0,0,0,0
$GC,493,-1.22,-116.8,72.2,-12.6,51,497,0.00,2.65,0.00,0.000,4,0.000,0.051,2893,308,3489,0,0,0,0,0,0
$GC,516,-1.18,-116.8,75.3,-13.1,52,520,0.00,2.40,0.00,0.000,6,0.000,0.019,2894,1884,3489,0,0,0,0,0,0
$GC,777,-1.18,-116.8,107.5,-12.1,76,781,0.00,2.42,0.00,0.000,4,0.000,0.034,2893,3436,3490,0,0,0,0,0,0
$GC,869,-1.25,-116.8,117.6,-11.1,83,874,0.00,2.45,0.00,0.000,6,0.000,0.031,2894,1890,3490,0,0,0,0,0,0
$GC,1136,-1.30,-116.8,145.5,-10.2,107,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1890,3491,0,0,0,0,0,0
$GC,1400,-1.35,-116.8,171.5,-9.8,132,1405,0.10,2.47,0.00,0.000,4,0.084,0.032,2853,3438,3492,0,0,0,0,0,0
$GC,1515,-1.35,-116.8,185.0,-11.7,141,1524,0.00,2.45,0.00,0.000,6,0.000,0.024,2853,1905,3492,0,0,0,0,0,0
$GC,1771,-1.35,-116.8,213.6,-11.1,157,1775,0.00,2.42,0.00,0.000,4,0.000,0.028,2853,3448,3492,0,0,0,0,0,0
$GC,1810,-1.35,-116.8,218.2,-11.1,158,1814,0.00,2.42,0.00,0.000,6,0.000,0.029,2853,1915,3492,0,0,0,0,0,0
$GC,2093,-1.35,-116.8,250.3,-11.4,165,2097,0.00,2.40,0.00,0.000,4,0.000,0.028,2853,3438,3492,0,0,0,0,0,0
$GC,2138,-1.41,-116.8,255.6,-11.6,166,2143,0.00,2.42,0.00,0.000,6,0.000,0.031,2853,1917,3492,0,0,0,0,0,0
$GC,2415,-1.41,-116.8,286.3,-11.3,173,2420,0.00,2.42,0.00,0.000,4,0.000,0.037,2853,3445,3492,0,0,0,0,0,0
$GC,2488,-1.46,-116.8,293.4,-9.3,174,2493,0.00,2.42,0.00,0.000,6,0.000,0.026,2853,1926,3492,0,0,0,0,0,0
$GC,2740,-1.46,-116.8,317.5,-9.9,180,2744,0.00,2.40,0.00,0.000,4,0.000,0.034,2853,3433,3492,0,0,0,0,0,0
$GC,2840,-1.54,-116.8,327.6,-9.3,182,2845,0.10,2.40,0.00,0.000,6,0.087,0.039,2813,1945,3492,0,0,0,0,0,0
$GC,3108,-1.54,-116.8,356.4,-11.3,189,3112,0.00,2.42,0.00,0.000,4,0.000,0.041,2813,3441,3491,0,0,0,0,0,0
$GC,3129,-1.54,-116.8,359.0,-10.7,189,3133,0.00,2.42,0.00,0.000,6,0.000,0.040,2813,1952,3491,0,0,0,0,0,0
$GC,3384,-1.54,-116.8,387.1,-10.9,196,3388,0.00,2.40,0.00,0.000,4,0.000,0.046,2813,3435,3490,0,0,0,0,0,0
$GC,3405,-1.54,-116.8,389.7,-11.4,196,3409,0.00,2.45,0.00,0.000,6,0.000,0.053,2813,1956,3490,0,0,0,0,0,0
$GC,3668,-1.54,-116.8,419.3,-11.3,203,3672,0.00,2.42,0.00,0.000,4,0.000,0.048,2813,3431,3488,0,0,0,0,0,0
$GC,3707,-1.54,-116.8,424.0,-11.7,204,3711,0.00,2.45,0.00,0.000,6,0.000,0.053,2813,1965,3488,0,0,0,0,0,0
$GC,3989,-1.54,-116.8,457.5,-11.6,211,3994,0.00,2.40,0.00,0.000,4,0.000,0.053,2813,3426,3486,0,0,0,0,0,0
$GC,4070,-1.54,-116.8,465.9,-10.6,212,4076,0.00,2.47,0.00,0.000,6,0.000,0.058,2813,1971,3485,0,0,0,0,0,0
$GC,4320,-1.54,-116.8,490.3,-9.5,219,4321,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1971,3484,0,0,0,0,0,0
$STATE,4439,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4439,begin apogee
$GC,4445,-0.31,0.0,501.5,9.2,222,4546,1.25,0.00,97.15,0.912,6,0.092,0.000,3096,1971,3010,0,0,0,0,0,0
$STATE,4547,end apogee,CONTROL_FINISHED_OK
$STATE,4547,begin climb
$GC,4551,1.38,116.8,502.8,0.0,224,4660,1.58,2.72,99.45,0.890,4,0.038,0.059,3476,3524,2532,0,0,0,0,0,0
$GC,4678,1.29,170.1,501.0,7.0,227,4733,0.15,2.62,46.10,0.865,6,0.124,0.052,3448,2006,2316,0,0,0,0,0,0
$GC,5012,1.23,177.4,468.3,9.6,236,5025,0.00,3.03,6.28,0.687,4,0.000,0.104,3448,410,2287,0,0,0,0,0,0
$GC,5058,1.12,187.1,464.0,9.5,237,5074,0.17,2.53,10.52,0.779,6,0.117,0.032,3412,1948,2247,0,0,0,0,0,0
$GC,5343,1.17,227.2,441.4,7.7,244,5381,0.00,0.00,36.38,0.855,6,0.000,0.000,3412,1948,2083,0,0,0,0,0,0
$GC,5627,1.22,236.9,415.7,9.5,251,5642,0.00,2.78,9.27,0.755,4,0.000,0.051,3411,3581,2043,0,0,0,0,0,0
$GC,5659,1.27,250.4,412.4,9.3,251,5679,0.12,2.67,13.60,0.792,6,0.088,0.041,3444,1986,1989,0,0,0,0,0,0
$GC,5951,1.27,250.4,378.8,11.2,259,5956,0.00,2.83,0.00,0.000,4,0.000,0.087,3444,407,1983,0,0,0,0,0,0
$GC,5992,1.23,250.4,373.7,13.2,260,5997,0.00,2.55,0.00,0.000,6,0.000,0.023,3444,2015,1982,0,0,0,0,0,0
$GC,6275,1.23,250.4,342.8,10.7,267,6279,0.00,2.78,0.00,0.000,4,0.000,0.068,3444,404,1981,0,0,0,0,0,0
$GC,6337,1.23,250.4,335.5,12.1,268,6341,0.00,2.50,0.00,0.000,6,0.000,0.021,3444,1984,1980,0,0,0,0,0,0
$GC,6597,1.23,250.4,308.1,10.1,275,6598,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1984,1979,0,0,0,0,0,0
$GC,6841,1.24,259.3,285.0,9.5,281,6855,0.00,2.65,7.85,0.682,4,0.000,0.041,3444,3566,1952,0,0,0,0,0,0
$GC,6884,1.24,259.3,280.6,10.1,282,6889,0.00,2.65,0.00,0.000,6,0.000,0.037,3444,1957,1951,0,0,0,0,0,0
$GC,7169,1.25,261.6,253.0,9.9,289,7173,0.00,2.67,0.00,0.000,4,0.000,0.067,3444,410,1949,0,0,0,0,0,0
$GC,7248,1.25,261.6,244.1,10.5,290,7253,0.00,2.47,0.00,0.000,6,0.000,0.024,3444,1983,1949,0,0,0,0,0,0
$GC,7500,1.31,276.1,220.7,9.2,297,7521,0.00,2.58,16.12,0.699,4,0.000,0.033,3444,3556,1882,0,0,0,0,0,0
$GC,7532,1.36,279.8,217.5,9.8,297,7542,0.00,2.62,4.57,0.510,6,0.000,0.030,3444,1963,1869,0,0,0,0,0,0
$GC,7796,1.42,296.0,193.2,9.1,308,7822,0.12,2.72,15.43,0.670,4,0.077,0.064,3479,417,1802,0,0,0,0,0,0
$GC,7869,1.39,296.0,184.8,12.3,314,7873,0.00,2.42,0.00,0.000,6,0.000,0.021,3480,1957,1800,0,0,0,0,0,0
$GC,8133,1.39,296.0,157.5,10.7,338,8137,0.00,2.60,0.00,0.000,4,0.000,0.061,3480,413,1800,0,0,0,0,0,0
$GC,8165,1.39,296.0,154.1,12.1,340,8169,0.00,2.42,0.00,0.000,6,0.000,0.019,3479,1958,1799,0,0,0,0,0,0
$GC,8427,1.39,296.0,125.1,10.5,364,8432,0.00,2.60,0.00,0.000,4,0.000,0.052,3479,412,1799,0,0,0,0,0,0
$GC,8473,1.39,296.0,120.3,12.0,367,8478,0.00,2.40,0.00,0.000,6,0.000,0.021,3480,1951,1799,0,0,0,0,0,0
$GC,8739,1.39,296.0,92.4,11.0,391,8744,0.00,0.00,0.00,0.000,6,0.000,0.000,3480,1952,1799,0,0,0,0,0,0
$GC,9006,1.46,313.7,69.0,9.0,416,9026,0.00,0.00,16.20,0.561,6,0.000,0.000,3479,1952,1731,0,0,0,0,0,0
$GC,9285,1.59,354.1,46.9,7.7,442,9327,0.12,2.62,35.28,0.552,4,0.077,0.049,3516,408,1565,0,0,0,0,0,0
$GC,9416,1.55,354.1,31.3,12.1,452,9420,0.00,2.38,0.00,0.000,6,0.000,0.018,3516,1943,1563,0,0,0,0,0,0
$STATE,9661,end climb,SURFACE_DEPTH_REACHED
$STATE,9661,begin surface coast
$FINISH,0.6,0.980047
$STATE,9711,end surface coast,CONTROL_FINISHED_OK
$STATE,9711,begin surface
$SM_CCo,9735,21.17,0.505,0,0,1459,380.21
$SM_GC,1.48,0.00,0.00,21.17,0.000,0.000,0.505,476,1864,1459,-12.37,-0.74,380.21
$IRIDIUM_FIX,2241.69,-15759.32,140900,222253
$TT8_MAMPS,0.025311
$HUMID,63.15
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.80
$XPDR_PINGS,48
$24V_AH,23.5,43.467
$10V_AH,10.3,38.141
$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,28.425,121.825,414.200,21.175,0.000,28.459,34.690,396.998,12.000,0.000,31.039,1005.573,6173.756,476.116,1959.492,754.312,33.365,1211.222,0.000,1946.218,0.000,0.535,0.000
$DEVICE_MAMPS,141.895,103.545,911.963,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.491,280.228,383.483,734.860,1111.477,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,38460,493
$CAP_FILE_SIZE,109043,0
$CFSIZE,260165632,164126720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220611,040340,2249.759,-15757.648,61,1.7,62,10.1