version: 66.06
glider: 146
mission: 6
dive: 349
start: 6 22 111 13 12 8
data:
$ID,146
$MISSION,6
$DIVE,349
$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,-276390.03
$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,40
$R_STBD_OVSHOOT,60
$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
$GPS1,130136,2248.610,-15758.344,9,1.0,25,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.9
$GPS2,131114,2248.760,-15758.424,14,1.9,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.157,-0.175
$KALMAN_X,-217557.7,-186.6,52.5,214916.9,-1280.8
$KALMAN_Y,-17085.0,13.5,232.4,25832.0,882.2
$MHEAD_RNG_PITCHd_Wd,128.0,3428,-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,-116.8,0.0,0.0,0,97,0.00,0.00,-77.43,0.000,2,0.000,0.000,473,1865,3465,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.6,-9.4,10,118,12.12,2.58,-0.35,0.000,4,0.140,0.061,2852,316,3488,0,0,0,0,0,0
$GC,214,-1.23,-116.8,36.8,-19.7,24,220,0.20,2.40,0.00,0.000,6,0.129,0.015,2893,1904,3490,0,0,0,0,0,0
$GC,482,-1.23,-116.8,75.5,-13.1,48,486,0.00,2.40,0.00,0.000,4,0.000,0.031,2893,3441,3491,0,0,0,0,0,0
$GC,536,-1.28,-116.8,83.6,-13.2,52,541,0.00,2.45,0.00,0.000,6,0.000,0.032,2893,1897,3491,0,0,0,0,0,0
$GC,800,-1.28,-116.8,113.2,-11.0,76,804,0.00,2.42,0.00,0.000,4,0.000,0.028,2893,3444,3492,0,0,0,0,0,0
$GC,836,-1.35,-116.8,117.5,-10.8,78,846,0.08,2.47,0.00,0.000,6,0.041,0.026,2851,1899,3492,0,0,0,0,0,0
$GC,1104,-1.35,-116.8,151.1,-12.7,103,1108,0.00,2.47,0.00,0.000,4,0.000,0.027,2851,3450,3492,0,0,0,0,0,0
$GC,1155,-1.35,-116.8,158.7,-12.9,107,1159,0.00,2.45,0.00,0.000,6,0.000,0.023,2851,1901,3492,0,0,0,0,0,0
$GC,1419,-1.35,-116.8,190.3,-12.0,131,1423,0.00,2.45,0.00,0.000,4,0.000,0.032,2851,3447,3493,0,0,0,0,0,0
$GC,1485,-1.35,-116.8,197.7,-10.9,136,1489,0.00,2.42,0.00,0.000,6,0.000,0.024,2851,1912,3493,0,0,0,0,0,0
$GC,1756,-1.35,-116.8,230.9,-12.2,144,1760,0.00,2.42,0.00,0.000,4,0.000,0.033,2851,3440,3493,0,0,0,0,0,0
$GC,1858,-1.39,-116.8,242.3,-11.2,146,1863,0.00,2.40,0.00,0.000,6,0.000,0.025,2850,1929,3493,0,0,0,0,0,0
$GC,2130,-1.39,-116.8,272.6,-10.8,153,2135,0.00,2.42,0.00,0.000,4,0.000,0.036,2851,3446,3493,0,0,0,0,0,0
$GC,2175,-1.45,-116.8,277.6,-10.9,154,2179,0.00,2.38,0.00,0.000,6,0.000,0.031,2850,1953,3493,0,0,0,0,0,0
$GC,2453,-1.45,-116.8,306.5,-10.5,161,2455,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1953,3493,0,0,0,0,0,0
$GC,2696,-1.51,-116.8,334.2,-11.5,167,2697,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1953,3493,0,0,0,0,0,0
$GC,2940,-1.57,-116.8,360.2,-10.3,173,2945,0.12,2.42,0.00,0.000,4,0.071,0.045,2805,3441,3492,0,0,0,0,0,0
$GC,2982,-1.57,-116.8,364.6,-11.3,174,2986,0.00,2.45,0.00,0.000,6,0.000,0.042,2805,1965,3492,0,0,0,0,0,0
$GC,3265,-1.57,-116.8,396.1,-10.5,181,3266,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1965,3491,0,0,0,0,0,0
$GC,3508,-1.57,-116.8,420.9,-10.2,187,3513,0.00,3.03,0.00,0.000,4,0.000,0.101,2804,319,3489,0,0,0,0,0,0
$GC,3526,-1.57,-116.8,422.7,-10.4,187,3530,0.00,2.55,0.00,0.000,6,0.000,0.031,2805,1908,3489,0,0,0,0,0,0
$GC,3786,-1.57,-116.8,451.3,-11.0,194,3790,0.00,2.62,0.00,0.000,4,0.000,0.060,2805,3472,3487,0,0,0,0,0,0
$GC,3829,-1.57,-116.8,456.6,-12.4,195,3834,0.00,2.53,0.00,0.000,6,0.000,0.054,2804,1971,3487,0,0,0,0,0,0
$GC,4109,-1.57,-116.8,487.7,-11.2,202,4113,0.00,2.55,0.00,0.000,4,0.000,0.057,2804,3468,3485,0,0,0,0,0,0
$GC,4158,-1.57,-116.8,493.6,-11.7,203,4162,0.00,2.55,0.00,0.000,6,0.000,0.060,2805,1973,3485,0,0,0,0,0,0
$STATE,4225,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4225,begin apogee
$GC,4231,-0.31,0.0,501.4,11.3,205,4332,1.27,0.00,97.50,0.910,6,0.076,0.000,3095,1973,3010,0,0,0,0,0,0
$STATE,4333,end apogee,CONTROL_FINISHED_OK
$STATE,4333,begin climb
$GC,4337,1.38,116.8,504.1,0.0,207,4441,1.58,0.00,100.40,0.889,6,0.040,0.000,3475,1973,2533,0,0,0,0,0,0
$GC,4672,1.29,154.8,488.2,7.8,216,4714,0.15,2.83,32.78,0.863,4,0.122,0.055,3446,3574,2377,0,0,0,0,0,0
$GC,4805,1.24,169.5,476.6,9.2,219,4824,0.00,2.65,13.80,0.805,6,0.000,0.048,3446,2026,2319,0,0,0,0,0,0
$GC,5093,1.20,181.4,449.3,9.3,226,5107,0.00,0.00,11.52,0.789,6,0.000,0.000,3447,2026,2270,0,0,0,0,0,0
$GC,5337,1.17,189.2,425.6,9.6,232,5352,0.12,2.65,8.00,0.737,4,0.125,0.046,3421,3575,2237,0,0,0,0,0,0
$GC,5363,1.19,210.0,423.0,8.8,232,5388,0.00,2.67,19.77,0.821,6,0.000,0.049,3422,1998,2154,0,0,0,0,0,0
$GC,5662,1.21,223.1,395.5,9.3,240,5682,0.00,2.97,12.55,0.782,4,0.000,0.093,3421,407,2099,0,0,0,0,0,0
$GC,5762,1.21,223.1,384.2,11.9,242,5767,0.00,2.58,0.00,0.000,6,0.000,0.027,3421,2008,2097,0,0,0,0,0,0
$GC,6035,1.22,229.9,357.0,9.6,249,6044,0.00,0.00,7.10,0.694,6,0.000,0.000,3421,2008,2072,0,0,0,0,0,0
$GC,6280,1.27,242.6,333.9,9.3,255,6300,0.00,2.65,12.55,0.757,4,0.000,0.038,3421,3573,2021,0,0,0,0,0,0
$GC,6334,1.33,242.6,328.0,11.1,256,6339,0.15,2.62,0.00,0.000,6,0.080,0.038,3461,1995,2019,0,0,0,0,0,0
$GC,6606,1.33,242.6,296.9,11.6,263,6611,0.00,2.75,0.00,0.000,4,0.000,0.070,3461,405,2017,0,0,0,0,0,0
$GC,6663,1.28,242.6,290.2,12.3,264,6667,0.00,2.53,0.00,0.000,6,0.000,0.025,3461,2011,2015,0,0,0,0,0,0
$GC,6929,1.29,246.3,262.8,9.8,271,6935,0.00,0.00,3.88,0.498,6,0.000,0.000,3460,2012,2006,0,0,0,0,0,0
$GC,7174,1.32,269.1,240.8,8.7,277,7203,0.00,2.85,22.10,0.729,4,0.000,0.060,3460,411,1910,0,0,0,0,0,0
$GC,7272,1.32,269.1,230.1,11.5,279,7276,0.00,2.53,0.00,0.000,6,0.000,0.021,3461,2002,1909,0,0,0,0,0,0
$GC,7545,1.32,269.1,202.2,10.1,286,7549,0.00,2.72,0.00,0.000,4,0.000,0.060,3461,401,1908,0,0,0,0,0,0
$GC,7590,1.32,269.1,196.8,12.7,287,7595,0.00,2.53,0.00,0.000,6,0.000,0.018,3461,2002,1906,0,0,0,0,0,0
$GC,7852,1.32,272.8,169.5,9.8,312,7867,0.00,2.58,3.80,0.442,4,0.000,0.038,3461,3557,1897,0,0,0,0,0,0
$GC,7874,1.32,274.5,167.2,9.9,313,7881,0.00,2.53,0.00,0.000,6,0.000,0.030,3461,1994,1897,0,0,0,0,0,0
$GC,8137,1.33,279.4,141.3,9.8,338,8148,0.00,0.00,7.72,0.572,6,0.000,0.000,3461,1994,1869,0,0,0,0,0,0
$GC,8407,1.37,279.9,115.7,10.0,363,8411,0.00,2.65,0.00,0.000,4,0.000,0.062,3461,414,1869,0,0,0,0,0,0
$GC,8475,1.37,279.9,108.2,10.1,368,8484,0.00,2.47,0.00,0.000,6,0.000,0.023,3461,1991,1868,0,0,0,0,0,0
$GC,8743,1.43,284.2,84.0,9.8,393,8755,0.00,2.65,5.60,0.479,4,0.000,0.054,3461,411,1850,0,0,0,0,0,0
$GC,8807,1.47,284.2,76.6,11.9,398,8812,0.10,2.47,0.00,0.000,6,0.088,0.022,3490,2003,1850,0,0,0,0,0,0
$GC,9073,1.50,312.1,51.2,8.4,422,9101,0.00,0.00,25.33,0.561,6,0.000,0.000,3490,2006,1737,0,0,0,0,0,0
$GC,9368,1.56,316.5,24.2,9.8,452,9379,0.00,2.67,5.18,0.420,4,0.000,0.048,3490,408,1718,0,0,0,0,0,0
$GC,9431,1.56,316.5,17.6,11.1,460,9440,0.00,2.47,0.00,0.000,6,0.000,0.018,3490,1987,1717,0,0,0,0,0,0
$STATE,9565,end climb,SURFACE_DEPTH_REACHED
$STATE,9565,begin surface coast
$FINISH,0.6,0.980032
$STATE,9616,end surface coast,CONTROL_FINISHED_OK
$STATE,9616,begin surface
$SM_CCo,9638,52.03,0.522,0,0,1460,380.21
$SM_GC,1.21,0.00,0.00,52.03,0.000,0.000,0.522,477,1875,1460,-12.36,-0.42,380.21
$IRIDIUM_FIX,2239.35,-15800.20,150900,101059
$TT8_MAMPS,0.026078
$HUMID,62.52
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.40
$XPDR_PINGS,43
$24V_AH,23.5,43.996
$10V_AH,10.3,38.596
$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,28.125,113.050,389.575,52.025,0.000,30.469,35.663,373.447,10.750,0.000,16.604,993.874,6166.818,511.390,1869.686,730.046,33.364,1196.343,0.000,1876.176,0.000,0.534,0.000
$DEVICE_MAMPS,140.361,101.244,910.429,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.364,277.319,376.605,718.920,1087.258,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355604
$DATA_FILE_SIZE,38375,486
$CAP_FILE_SIZE,102999,0
$CFSIZE,260165632,163917824
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220611,155452,2248.232,-15758.336,11,3.5,30,10.1