version: 66.06
glider: 146
mission: 6
dive: 346
start: 6 22 111 4 18 8
data:
$ID,146
$MISSION,6
$DIVE,346
$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,-276327.81
$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,42
$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
$GPS1,040340,2249.759,-15757.648,61,1.7,62,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.6
$GPS2,041714,2249.864,-15757.770,11,1.3,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.082,-0.220
$KALMAN_X,-213311.5,19.8,-137.0,211773.4,-835.4
$KALMAN_Y,-21324.6,274.3,59.1,32025.9,671.8
$MHEAD_RNG_PITCHd_Wd,149.4,5304,-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,17,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-69.55,0.000,2,0.000,0.000,475,1864,3238,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.8,-7.4,9,118,12.30,2.60,-4.55,0.000,4,0.146,0.055,2854,320,3489,0,0,0,0,0,0
$GC,259,-1.23,-116.8,40.9,-17.5,29,265,0.20,2.40,0.00,0.000,6,0.166,0.015,2895,1909,3491,0,0,0,0,0,0
$GC,525,-1.23,-116.8,79.3,-13.2,53,534,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1910,3491,0,0,0,0,0,0
$GC,787,-1.23,-116.8,111.4,-11.4,78,792,0.00,2.40,0.00,0.000,4,0.000,0.034,2894,3445,3492,0,0,0,0,0,0
$GC,881,-1.29,-116.8,122.0,-11.6,85,885,0.00,2.45,0.00,0.000,6,0.000,0.026,2895,1903,3492,0,0,0,0,0,0
$GC,1149,-1.34,-116.8,152.2,-11.0,109,1153,0.00,2.42,0.00,0.000,4,0.000,0.025,2894,3445,3493,0,0,0,0,0,0
$GC,1182,-1.42,-116.8,156.2,-9.9,111,1191,0.12,2.47,0.00,0.000,6,0.032,0.029,2834,1897,3493,0,0,0,0,0,0
$GC,1447,-1.37,-116.8,189.7,-12.0,136,1452,0.15,0.00,0.00,0.000,6,0.104,0.000,2867,1897,3493,0,0,0,0,0,0
$GC,1713,-1.37,-116.8,215.3,-9.1,150,1717,0.00,2.42,0.00,0.000,4,0.000,0.034,2867,3440,3493,0,0,0,0,0,0
$GC,1734,-1.41,-116.8,217.7,-9.8,150,1739,0.00,2.42,0.00,0.000,6,0.000,0.024,2867,1892,3493,0,0,0,0,0,0
$GC,1991,-1.41,-116.8,242.9,-10.1,157,1995,0.00,2.45,0.00,0.000,4,0.000,0.032,2867,3436,3493,0,0,0,0,0,0
$GC,2057,-1.48,-116.8,250.7,-11.1,158,2062,0.10,2.42,0.00,0.000,6,0.080,0.028,2824,1910,3493,0,0,0,0,0,0
$GC,2313,-1.48,-116.8,284.6,-13.8,165,2317,0.00,2.42,0.00,0.000,4,0.000,0.031,2824,3443,3493,0,0,0,0,0,0
$GC,2386,-1.48,-116.8,293.7,-12.1,166,2390,0.00,2.45,0.00,0.000,6,0.000,0.029,2824,1916,3493,0,0,0,0,0,0
$GC,2635,-1.48,-116.8,321.4,-10.8,172,2639,0.00,2.45,0.00,0.000,4,0.000,0.037,2824,3443,3492,0,0,0,0,0,0
$GC,2674,-1.48,-116.8,325.3,-10.1,173,2678,0.00,2.47,0.00,0.000,6,0.000,0.041,2824,1921,3492,0,0,0,0,0,0
$GC,2958,-1.48,-116.8,354.3,-10.5,180,2962,0.00,2.42,0.00,0.000,4,0.000,0.041,2824,3431,3491,0,0,0,0,0,0
$GC,2985,-1.48,-116.8,357.5,-10.6,180,2990,0.00,2.50,0.00,0.000,6,0.000,0.045,2824,1917,3492,0,0,0,0,0,0
$GC,3242,-1.48,-116.8,382.9,-9.9,187,3246,0.00,2.45,0.00,0.000,4,0.000,0.042,2824,3432,3490,0,0,0,0,0,0
$GC,3282,-1.52,-116.8,387.2,-10.9,188,3287,0.00,2.53,0.00,0.000,6,0.000,0.051,2825,1925,3490,0,0,0,0,0,0
$GC,3565,-1.52,-116.8,419.4,-11.3,195,3570,0.00,2.45,0.00,0.000,4,0.000,0.044,2824,3427,3488,0,0,0,0,0,0
$GC,3634,-1.56,-116.8,426.9,-11.0,196,3638,0.00,2.53,0.00,0.000,6,0.000,0.054,2824,1927,3488,0,0,0,0,0,0
$GC,3889,-1.56,-116.8,452.9,-9.9,203,3890,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1926,3486,0,0,0,0,0,0
$GC,4132,-1.56,-116.8,476.6,-9.8,209,4134,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1926,3484,0,0,0,0,0,0
$STATE,4374,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4374,begin apogee
$GC,4379,-0.31,0.0,500.7,9.9,215,4480,1.17,0.00,97.20,0.910,6,0.074,0.000,3094,1926,3010,0,0,0,0,0,0
$STATE,4481,end apogee,CONTROL_FINISHED_OK
$STATE,4481,begin climb
$GC,4485,1.38,116.8,503.3,0.0,217,4589,1.55,0.00,99.97,0.891,6,0.040,0.000,3470,1926,2533,0,0,0,0,0,0
$GC,4812,1.30,147.4,487.8,8.3,225,4847,0.10,2.85,26.38,0.856,4,0.134,0.054,3450,3525,2407,0,0,0,0,0,0
$GC,4902,1.23,160.6,480.2,9.3,227,4921,0.00,2.65,12.75,0.802,6,0.000,0.054,3451,1987,2354,0,0,0,0,0,0
$GC,5191,1.17,164.0,451.8,9.8,234,5196,0.15,2.97,0.00,0.000,4,0.121,0.100,3420,402,2348,0,0,0,0,0,0
$GC,5226,1.11,172.9,448.2,9.5,234,5242,0.00,2.53,11.20,0.791,6,0.000,0.034,3420,1951,2305,0,0,0,0,0,0
$GC,5515,1.15,200.6,423.2,8.4,242,5543,0.00,0.00,25.58,0.841,6,0.000,0.000,3420,1951,2192,0,0,0,0,0,0
$GC,5760,1.15,201.2,399.4,10.0,248,5761,0.00,0.00,0.00,0.000,6,0.000,0.000,3420,1951,2187,0,0,0,0,0,0
$GC,6003,1.17,222.4,377.0,8.8,254,6024,0.00,0.00,19.90,0.808,6,0.000,0.000,3420,1951,2102,0,0,0,0,0,0
$GC,6246,1.19,236.6,354.9,9.2,260,6265,0.00,2.78,13.57,0.776,4,0.000,0.066,3420,402,2044,0,0,0,0,0,0
$GC,6324,1.19,236.6,346.4,12.0,261,6328,0.00,2.55,0.00,0.000,6,0.000,0.025,3420,1996,2042,0,0,0,0,0,0
$GC,6574,1.25,247.2,321.9,9.4,267,6586,0.00,0.00,10.43,0.738,6,0.000,0.000,3420,1996,2001,0,0,0,0,0,0
$GC,6818,1.35,278.5,301.7,8.2,273,6851,0.17,0.00,29.12,0.777,6,0.074,0.000,3466,1997,1873,0,0,0,0,0,0
$GC,7104,1.35,278.5,269.2,11.7,280,7109,0.00,2.75,0.00,0.000,4,0.000,0.058,3466,400,1869,0,0,0,0,0,0
$GC,7159,1.30,278.5,262.3,12.1,281,7164,0.00,2.55,0.00,0.000,6,0.000,0.021,3466,2003,1867,0,0,0,0,0,0
$GC,7426,1.30,278.5,232.0,11.2,288,7430,0.00,2.55,0.00,0.000,4,0.000,0.041,3466,3563,1866,0,0,0,0,0,0
$GC,7471,1.30,278.5,227.0,11.5,289,7475,0.00,2.60,0.00,0.000,6,0.000,0.031,3465,1976,1865,0,0,0,0,0,0
$GC,7748,1.30,278.5,198.4,10.3,296,7752,0.00,2.65,0.00,0.000,4,0.000,0.064,3466,414,1864,0,0,0,0,0,0
$GC,7801,1.30,278.5,192.4,11.6,300,7805,0.00,2.47,0.00,0.000,6,0.000,0.018,3466,1995,1863,0,0,0,0,0,0
$GC,8065,1.30,278.5,165.2,10.5,324,8073,0.00,0.00,0.00,0.000,6,0.000,0.000,3466,1995,1863,0,0,0,0,0,0
$GC,8330,1.35,278.5,136.5,10.8,349,8335,0.00,0.00,0.00,0.000,6,0.000,0.000,3466,1996,1863,0,0,0,0,0,0
$GC,8593,1.45,309.9,112.5,8.2,374,8631,0.00,2.75,26.30,0.613,4,0.000,0.055,3466,416,1744,0,0,0,0,0,0
$GC,8684,1.52,324.7,105.2,9.2,381,8709,0.12,2.47,14.23,0.578,6,0.081,0.025,3499,1999,1684,0,0,0,0,0,0
$GC,8965,1.57,336.6,75.8,9.4,407,8982,0.00,2.75,11.27,0.545,4,0.000,0.055,3499,410,1636,0,0,0,0,0,0
$GC,9020,1.57,336.6,70.7,10.5,411,9024,0.00,2.42,0.00,0.000,6,0.000,0.018,3499,1979,1634,0,0,0,0,0,0
$GC,9286,1.57,336.6,43.0,10.4,435,9295,0.00,0.00,0.00,0.000,6,0.000,0.000,3499,1981,1634,0,0,0,0,0,0
$GC,9598,1.61,336.6,8.4,10.5,474,9607,0.00,2.65,0.00,0.000,4,0.000,0.052,3499,413,1634,0,0,0,0,0,0
$STATE,9642,end climb,SURFACE_DEPTH_REACHED
$STATE,9642,begin surface coast
$FINISH,0.5,0.975083
$STATE,9692,end surface coast,CONTROL_FINISHED_OK
$STATE,9692,begin surface
$SM_CCo,9716,36.35,0.515,0,0,1459,380.21
$SM_GC,1.44,0.00,0.00,36.35,0.000,0.000,0.515,474,1945,1459,-12.38,1.55,380.21
$IRIDIUM_FIX,2241.69,-15759.32,150900,040435
$TT8_MAMPS,0.026078
$HUMID,62.24
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.10
$XPDR_PINGS,39
$24V_AH,23.5,43.601
$10V_AH,10.3,38.255
$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,28.350,96.425,397.900,36.350,0.000,59.216,65.249,485.338,9.750,0.000,13.182,972.061,6376.765,502.435,1823.174,894.978,33.360,1166.938,0.000,1834.902,0.000,0.535,0.000
$DEVICE_MAMPS,166.439,100.477,910.429,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.029,264.595,375.422,718.126,1086.096,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355740
$DATA_FILE_SIZE,38442,487
$CAP_FILE_SIZE,102960,0
$CFSIZE,260165632,164077568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220611,070222,2249.106,-15758.003,39,3.1,58,10.1