version: 66.06
glider: 146
mission: 6
dive: 350
start: 6 22 111 16 4 59
data:
$ID,146
$MISSION,6
$DIVE,350
$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,-276456
$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,33
$R_STBD_OVSHOOT,59
$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
$GPS1,155452,2248.232,-15758.336,11,3.5,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-66.9
$GPS2,160406,2248.316,-15758.406,52,1.1,63,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.162,-0.170
$KALMAN_X,-218928.0,-278.6,-13.1,216472.8,-1284.5
$KALMAN_Y,-15877.5,-37.7,-1.7,24090.7,908.9
$MHEAD_RNG_PITCHd_Wd,126.2,2649,-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,-69.53,0.000,2,0.000,0.000,477,1875,3187,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.2,-4.8,9,117,12.18,2.62,-5.80,0.000,4,0.143,0.060,2853,315,3489,0,0,0,0,0,0
$GC,194,-1.24,-116.8,27.5,-19.2,23,204,0.15,2.45,0.00,0.000,6,0.105,0.015,2888,1896,3490,0,0,0,0,0,0
$GC,473,-1.20,-116.8,68.4,-13.0,49,477,0.00,2.45,0.00,0.000,4,0.000,0.027,2888,3443,3491,0,0,0,0,0,0
$GC,543,-1.25,-116.8,77.7,-12.0,54,547,0.00,2.42,0.00,0.000,6,0.000,0.031,2888,1907,3491,0,0,0,0,0,0
$GC,805,-1.25,-116.8,108.7,-11.4,78,809,0.00,2.42,0.00,0.000,4,0.000,0.025,2888,3448,3492,0,0,0,0,0,0
$GC,839,-1.30,-116.8,112.7,-11.1,80,848,0.00,2.45,0.00,0.000,6,0.000,0.029,2888,1914,3491,0,0,0,0,0,0
$GC,1106,-1.30,-116.8,141.3,-10.6,105,1110,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1914,3492,0,0,0,0,0,0
$GC,1371,-1.34,-116.8,171.8,-11.5,130,1375,0.00,2.40,0.00,0.000,4,0.000,0.028,2888,3446,3493,0,0,0,0,0,0
$GC,1450,-1.42,-116.8,179.8,-9.8,136,1455,0.15,2.40,0.00,0.000,6,0.059,0.025,2831,1921,3493,0,0,0,0,0,0
$GC,1741,-1.36,-116.8,215.1,-12.1,154,1746,0.15,2.42,0.00,0.000,4,0.100,0.035,2865,3452,3493,0,0,0,0,0,0
$GC,1850,-1.43,-116.8,228.5,-11.4,156,1855,0.00,2.40,0.00,0.000,6,0.000,0.029,2866,1934,3493,0,0,0,0,0,0
$GC,2112,-1.43,-116.8,255.9,-10.0,163,2116,0.00,2.75,0.00,0.000,4,0.000,0.067,2865,315,3493,0,0,0,0,0,0
$GC,2144,-1.43,-116.8,259.4,-10.4,163,2150,0.00,2.47,0.00,0.000,6,0.000,0.022,2866,1932,3493,0,0,0,0,0,0
$GC,2396,-1.48,-116.8,283.1,-9.5,170,2401,0.10,2.42,0.00,0.000,4,0.087,0.037,2831,3447,3494,0,0,0,0,0,0
$GC,2474,-1.48,-116.8,291.6,-11.2,171,2479,0.00,2.38,0.00,0.000,6,0.000,0.025,2831,1953,3494,0,0,0,0,0,0
$GC,2724,-1.48,-116.8,318.3,-10.9,178,2728,0.00,2.40,0.00,0.000,4,0.000,0.031,2831,3449,3493,0,0,0,0,0,0
$GC,2740,-1.48,-116.8,320.3,-10.8,178,2745,0.00,2.40,0.00,0.000,6,0.000,0.031,2831,1961,3493,0,0,0,0,0,0
$GC,3001,-1.48,-116.8,349.2,-10.6,185,3005,0.00,2.38,0.00,0.000,4,0.000,0.034,2831,3445,3493,0,0,0,0,0,0
$GC,3023,-1.48,-116.8,351.8,-11.3,185,3027,0.00,2.40,0.00,0.000,6,0.000,0.036,2831,1974,3492,0,0,0,0,0,0
$GC,3291,-1.48,-116.8,378.9,-10.3,192,3295,0.00,2.38,0.00,0.000,4,0.000,0.044,2831,3445,3491,0,0,0,0,0,0
$GC,3392,-1.53,-116.8,389.7,-10.4,194,3396,0.00,2.42,0.00,0.000,6,0.000,0.046,2831,1990,3492,0,0,0,0,0,0
$GC,3658,-1.53,-116.8,417.6,-10.6,201,3659,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1989,3490,0,0,0,0,0,0
$GC,3904,-1.57,-116.8,441.3,-9.7,207,3908,0.00,2.40,0.00,0.000,4,0.000,0.046,2831,3439,3488,0,0,0,0,0,0
$GC,3931,-1.62,-116.8,444.1,-9.3,207,3935,0.00,2.45,0.00,0.000,6,0.000,0.058,2831,1991,3488,0,0,0,0,0,0
$GC,4182,-1.67,-116.8,467.1,-9.2,213,4183,0.12,0.00,0.00,0.000,6,0.069,0.000,2787,1991,3486,0,0,0,0,0,0
$GC,4426,-1.67,-116.8,494.3,-11.3,219,4430,0.00,2.42,0.00,0.000,4,0.000,0.054,2787,3438,3485,0,0,0,0,0,0
$STATE,4473,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4473,begin apogee
$GC,4481,-0.31,0.0,500.5,11.9,220,4583,1.35,0.00,97.53,0.915,6,0.086,0.000,3091,2007,3010,0,0,0,0,0,0
$STATE,4584,end apogee,CONTROL_FINISHED_OK
$STATE,4584,begin climb
$GC,4586,1.38,116.8,503.1,0.0,222,4691,1.55,0.00,100.12,0.891,6,0.038,0.000,3470,2007,2533,0,0,0,0,0,0
$GC,4915,1.30,150.8,486.3,8.1,230,4950,0.10,0.00,29.40,0.860,6,0.136,0.000,3451,2006,2394,0,0,0,0,0,0
$GC,5195,1.25,172.0,461.4,8.8,237,5219,0.00,2.62,19.40,0.834,4,0.000,0.047,3451,3541,2308,0,0,0,0,0,0
$GC,5249,1.18,172.0,456.2,10.2,238,5254,0.15,2.65,0.00,0.000,6,0.124,0.054,3422,1993,2305,0,0,0,0,0,0
$GC,5521,1.21,196.6,432.3,8.6,245,5551,0.00,2.67,22.38,0.838,4,0.000,0.041,3423,3541,2207,0,0,0,0,0,0
$GC,5580,1.23,215.5,427.3,8.9,246,5607,0.00,2.62,18.30,0.818,6,0.000,0.049,3423,1995,2130,0,0,0,0,0,0
$GC,5851,1.25,229.4,401.8,9.2,253,5870,0.00,2.97,12.90,0.786,4,0.000,0.096,3422,411,2073,0,0,0,0,0,0
$GC,5940,1.25,229.4,392.6,11.0,255,5945,0.00,2.50,0.00,0.000,6,0.000,0.025,3422,1966,2071,0,0,0,0,0,0
$GC,6223,1.25,231.9,364.0,9.9,262,6224,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1967,2068,0,0,0,0,0,0
$GC,6467,1.29,231.9,338.4,10.8,268,6472,0.10,2.62,0.00,0.000,4,0.098,0.043,3450,3570,2067,0,0,0,0,0,0
$GC,6518,1.29,231.9,332.0,13.0,269,6522,0.00,2.62,0.00,0.000,6,0.000,0.035,3450,1970,2065,0,0,0,0,0,0
$GC,6790,1.29,231.9,301.3,11.4,276,6791,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1970,2064,0,0,0,0,0,0
$GC,7033,1.31,244.3,277.7,9.3,282,7052,0.00,2.78,12.98,0.733,4,0.000,0.069,3450,411,2013,0,0,0,0,0,0
$GC,7066,1.33,267.0,274.9,8.7,282,7095,0.00,2.53,21.83,0.748,6,0.000,0.023,3450,2006,1920,0,0,0,0,0,0
$GC,7364,1.35,277.7,247.1,9.4,290,7380,0.00,2.80,10.05,0.680,4,0.000,0.064,3450,405,1878,0,0,0,0,0,0
$GC,7455,1.35,277.7,236.7,12.3,292,7459,0.00,2.50,0.00,0.000,6,0.000,0.022,3450,1985,1876,0,0,0,0,0,0
$GC,7732,1.39,277.7,206.0,11.3,299,7737,0.00,2.70,0.00,0.000,4,0.000,0.059,3450,401,1875,0,0,0,0,0,0
$GC,7771,1.39,277.7,201.1,12.3,300,7776,0.00,2.47,0.00,0.000,6,0.000,0.018,3450,1980,1874,0,0,0,0,0,0
$GC,8038,1.45,291.6,175.3,9.2,322,8059,0.12,2.62,13.27,0.647,4,0.084,0.035,3486,3556,1820,0,0,0,0,0,0
$GC,8095,1.45,291.6,168.5,11.8,327,8099,0.00,2.60,0.00,0.000,6,0.000,0.034,3486,1972,1818,0,0,0,0,0,0
$GC,8363,1.45,291.6,139.4,10.8,351,8367,0.00,2.62,0.00,0.000,4,0.000,0.063,3486,410,1817,0,0,0,0,0,0
$GC,8417,1.45,291.6,132.5,11.9,355,8421,0.00,2.45,0.00,0.000,6,0.000,0.024,3486,1985,1816,0,0,0,0,0,0
$GC,8685,1.48,313.0,106.8,8.8,379,8710,0.00,2.70,19.52,0.601,4,0.000,0.051,3486,408,1732,0,0,0,0,0,0
$GC,8793,1.48,313.0,93.8,12.1,388,8797,0.00,2.42,0.00,0.000,6,0.000,0.019,3486,1965,1729,0,0,0,0,0,0
$GC,9061,1.52,313.0,67.3,11.6,412,9069,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1966,1729,0,0,0,0,0,0
$GC,9326,1.59,319.1,41.3,9.7,437,9336,0.10,0.00,6.35,0.463,6,0.094,0.000,3515,1966,1709,0,0,0,0,0,0
$GC,9632,1.59,319.1,7.6,11.9,477,9641,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,1966,1708,0,0,0,0,0,0
$STATE,9662,end climb,SURFACE_DEPTH_REACHED
$STATE,9662,begin surface coast
$FINISH,0.6,0.980131
$STATE,9711,end surface coast,CONTROL_FINISHED_OK
$STATE,9711,begin surface
$SM_CCo,9735,50.45,0.522,0,0,1459,380.21
$SM_GC,1.24,0.00,0.00,50.45,0.000,0.000,0.522,476,1868,1459,-12.37,-0.62,380.21
$IRIDIUM_FIX,2244.02,-15801.49,150900,131338
$TT8_MAMPS,0.025311
$HUMID,63.46
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.50
$XPDR_PINGS,44
$24V_AH,23.5,44.117
$10V_AH,10.3,38.709
$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,28.600,111.225,384.025,50.450,0.000,28.951,36.037,298.839,11.000,0.000,65.359,993.742,6276.799,502.206,1925.728,642.233,33.364,1197.882,0.000,1879.215,0.000,0.534,0.000
$DEVICE_MAMPS,142.662,95.875,915.031,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.523,278.515,376.489,726.892,1094.579,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355636
$DATA_FILE_SIZE,38450,488
$CAP_FILE_SIZE,103872,0
$CFSIZE,260165632,163864576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220611,184902,2247.795,-15758.274,10,1.8,16,10.1