version: 66.06
glider: 146
mission: 6
dive: 351
start: 6 22 111 18 56 39
data:
$ID,146
$MISSION,6
$DIVE,351
$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,-276491.09
$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,44
$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
$GPS1,184902,2247.795,-15758.274,10,1.8,16,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-70.7
$GPS2,185546,2247.861,-15758.341,13,99.0,32,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.140,-0.189
$KALMAN_X,-220305.0,-275.9,-140.8,218085.6,-1037.2
$KALMAN_Y,-14778.4,-59.8,-229.4,22398.7,1260.1
$MHEAD_RNG_PITCHd_Wd,133.3,1843,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,90,0.00,0.00,-71.03,0.000,2,0.000,0.000,476,1868,3252,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.7,-6.5,9,119,12.15,2.60,-4.35,0.000,4,0.140,0.064,2855,333,3490,0,0,0,0,0,0
$GC,204,-1.23,-116.8,30.8,-19.0,24,212,0.15,2.40,0.00,0.000,6,0.152,0.014,2890,1897,3491,0,0,0,0,0,0
$GC,473,-1.18,-116.8,71.9,-15.0,49,477,0.00,2.45,0.00,0.000,4,0.000,0.029,2890,3439,3492,0,0,0,0,0,0
$GC,543,-1.18,-116.8,81.3,-11.8,54,547,0.00,2.42,0.00,0.000,6,0.000,0.032,2890,1914,3492,0,0,0,0,0,0
$GC,807,-1.18,-116.8,111.8,-10.9,78,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1914,3493,0,0,0,0,0,0
$GC,1073,-1.18,-116.8,140.3,-10.7,103,1078,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1914,3493,0,0,0,0,0,0
$GC,1334,-1.23,-116.8,167.9,-10.1,128,1338,0.00,2.40,0.00,0.000,4,0.000,0.028,2890,3443,3494,0,0,0,0,0,0
$GC,1370,-1.30,-116.8,170.7,-10.2,130,1374,0.00,2.42,0.00,0.000,6,0.000,0.023,2890,1903,3494,0,0,0,0,0,0
$GC,1638,-1.35,-116.8,197.2,-9.3,154,1643,0.00,2.42,0.00,0.000,4,0.000,0.028,2890,3436,3494,0,0,0,0,0,0
$GC,1741,-1.46,-116.8,207.1,-8.7,158,1746,0.17,2.38,0.00,0.000,6,0.056,0.031,2830,1915,3494,0,0,0,0,0,0
$GC,2008,-1.41,-116.8,238.5,-11.9,165,2013,0.12,2.70,0.00,0.000,4,0.113,0.059,2857,315,3494,0,0,0,0,0,0
$GC,2024,-1.37,-116.8,240.7,-12.0,165,2028,0.00,2.45,0.00,0.000,6,0.000,0.020,2857,1922,3494,0,0,0,0,0,0
$GC,2286,-1.37,-116.8,269.3,-11.0,172,2287,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,1921,3494,0,0,0,0,0,0
$GC,2528,-1.37,-116.8,294.6,-10.2,178,2532,0.00,2.45,0.00,0.000,4,0.000,0.038,2857,3448,3494,0,0,0,0,0,0
$GC,2628,-1.44,-116.8,305.0,-9.9,180,2633,0.00,2.42,0.00,0.000,6,0.000,0.034,2857,1929,3494,0,0,0,0,0,0
$GC,2896,-1.49,-116.8,332.5,-10.4,187,2900,0.00,2.42,0.00,0.000,4,0.000,0.031,2857,3445,3494,0,0,0,0,0,0
$GC,2936,-1.58,-116.8,336.8,-10.2,188,2941,0.15,2.45,0.00,0.000,6,0.063,0.034,2805,1928,3494,0,0,0,0,0,0
$GC,3221,-1.58,-116.8,368.7,-11.5,195,3225,0.00,2.45,0.00,0.000,4,0.000,0.036,2805,3441,3493,0,0,0,0,0,0
$GC,3292,-1.58,-116.8,377.2,-11.6,196,3297,0.00,2.50,0.00,0.000,6,0.000,0.044,2805,1935,3493,0,0,0,0,0,0
$GC,3542,-1.58,-116.8,403.4,-10.3,202,3547,0.00,2.45,0.00,0.000,4,0.000,0.048,2805,3441,3492,0,0,0,0,0,0
$GC,3577,-1.58,-116.8,407.0,-11.1,202,3582,0.00,2.53,0.00,0.000,6,0.000,0.050,2805,1937,3492,0,0,0,0,0,0
$GC,3826,-1.58,-116.8,433.5,-10.7,209,3831,0.00,2.47,0.00,0.000,4,0.000,0.045,2805,3433,3491,0,0,0,0,0,0
$GC,3870,-1.58,-116.8,438.9,-12.0,210,3875,0.00,2.53,0.00,0.000,6,0.000,0.053,2805,1941,3490,0,0,0,0,0,0
$GC,4150,-1.58,-116.8,469.3,-10.5,217,4154,0.00,2.47,0.00,0.000,4,0.000,0.054,2805,3430,3488,0,0,0,0,0,0
$GC,4238,-1.58,-116.8,479.0,-10.7,219,4243,0.00,2.50,0.00,0.000,6,0.000,0.060,2805,1952,3488,0,0,0,0,0,0
$STATE,4433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4433,begin apogee
$GC,4438,-0.31,0.0,500.1,10.9,224,4540,1.27,0.00,98.03,0.913,6,0.079,0.000,3094,1952,3010,0,0,0,0,0,0
$STATE,4541,end apogee,CONTROL_FINISHED_OK
$STATE,4541,begin climb
$GC,4545,1.38,116.8,502.5,0.0,226,4649,1.58,0.00,100.12,0.890,6,0.041,0.000,3473,1952,2533,0,0,0,0,0,0
$GC,4880,1.32,168.9,488.3,7.0,235,4927,0.00,0.00,45.40,0.872,6,0.000,0.000,3473,1952,2321,0,0,0,0,0,0
$GC,5165,1.21,168.9,460.5,10.6,242,5167,0.20,0.00,0.00,0.000,6,0.113,0.000,3431,1952,2313,0,0,0,0,0,0
$GC,5407,1.25,194.6,438.8,8.6,248,5436,0.00,2.75,22.38,0.838,4,0.000,0.047,3431,3536,2215,0,0,0,0,0,0
$GC,5522,1.25,194.6,427.8,10.2,250,5526,0.00,2.62,0.00,0.000,6,0.000,0.048,3431,1991,2213,0,0,0,0,0,0
$GC,5778,1.26,208.9,403.8,9.2,257,5794,0.00,0.00,13.48,0.792,6,0.000,0.000,3431,1991,2158,0,0,0,0,0,0
$GC,6020,1.28,222.7,381.2,9.2,263,6040,0.00,2.92,13.50,0.786,4,0.000,0.083,3431,408,2101,0,0,0,0,0,0
$GC,6069,1.24,222.7,376.1,10.7,264,6073,0.00,2.53,0.00,0.000,6,0.000,0.027,3431,1980,2099,0,0,0,0,0,0
$GC,6348,1.25,235.5,350.2,9.3,271,6367,0.00,2.67,12.48,0.767,4,0.000,0.038,3431,3560,2048,0,0,0,0,0,0
$GC,6395,1.25,235.5,345.2,10.2,272,6399,0.00,2.62,0.00,0.000,6,0.000,0.042,3431,1988,2047,0,0,0,0,0,0
$GC,6676,1.29,235.7,317.1,10.0,279,6680,0.00,2.78,0.00,0.000,4,0.000,0.074,3431,402,2045,0,0,0,0,0,0
$GC,6749,1.29,235.7,308.7,11.5,280,6753,0.00,2.53,0.00,0.000,6,0.000,0.025,3431,2008,2043,0,0,0,0,0,0
$GC,6999,1.34,242.3,284.0,9.7,286,7014,0.10,2.83,6.50,0.647,4,0.099,0.060,3460,410,2022,0,0,0,0,0,0
$GC,7032,1.30,242.3,280.5,11.0,286,7037,0.00,2.47,0.00,0.000,6,0.000,0.021,3460,1966,2021,0,0,0,0,0,0
$GC,7282,1.30,245.7,255.7,9.8,292,7288,0.00,0.00,4.40,0.532,6,0.000,0.000,3460,1966,2008,0,0,0,0,0,0
$GC,7526,1.31,249.8,231.8,9.8,298,7537,0.00,2.67,5.65,0.586,4,0.000,0.060,3460,408,1990,0,0,0,0,0,0
$GC,7640,1.31,249.8,219.6,10.9,300,7645,0.00,2.50,0.00,0.000,6,0.000,0.025,3460,1991,1988,0,0,0,0,0,0
$GC,7902,1.32,261.8,195.0,9.3,310,7922,0.00,2.78,11.98,0.658,4,0.000,0.058,3460,407,1941,0,0,0,0,0,0
$GC,7941,1.33,267.9,191.5,9.7,313,7955,0.00,2.50,6.93,0.583,6,0.000,0.024,3460,1993,1916,0,0,0,0,0,0
$GC,8217,1.40,292.4,165.6,8.6,339,8246,0.00,2.72,22.83,0.659,4,0.000,0.051,3460,407,1815,0,0,0,0,0,0
$GC,8259,1.43,310.3,161.9,9.0,342,8284,0.00,2.47,16.60,0.632,6,0.000,0.022,3460,1979,1744,0,0,0,0,0,0
$GC,8539,1.51,323.1,136.1,9.3,368,8558,0.15,0.00,12.40,0.596,6,0.075,0.000,3501,1980,1691,0,0,0,0,0,0
$GC,8812,1.51,323.1,108.4,10.4,394,8816,0.00,2.65,0.00,0.000,4,0.000,0.058,3500,402,1690,0,0,0,0,0,0
$GC,8857,1.51,323.1,103.1,11.8,397,8863,0.00,2.45,0.00,0.000,6,0.000,0.018,3500,1972,1688,0,0,0,0,0,0
$GC,9125,1.51,323.1,73.0,12.6,422,9130,0.00,2.62,0.00,0.000,4,0.000,0.051,3500,399,1688,0,0,0,0,0,0
$GC,9148,1.51,323.1,70.0,13.0,423,9152,0.00,2.42,0.00,0.000,6,0.000,0.022,3500,1965,1688,0,0,0,0,0,0
$GC,9415,1.51,323.1,39.5,11.4,447,9424,0.00,0.00,0.00,0.000,6,0.000,0.000,3501,1966,1688,0,0,0,0,0,0
$GC,9734,1.51,326.9,5.2,9.8,489,9744,0.00,2.62,4.72,0.390,4,0.000,0.053,3500,396,1676,0,0,0,0,0,0
$STATE,9754,end climb,SURFACE_DEPTH_REACHED
$STATE,9754,begin surface coast
$FINISH,0.5,0.979532
$STATE,9796,end surface coast,CONTROL_FINISHED_OK
$STATE,9796,begin surface
$SM_CCo,9822,43.75,0.518,0,0,1460,380.21
$SM_GC,1.17,0.00,0.00,43.75,0.000,0.000,0.518,476,1918,1460,-12.37,0.79,380.21
$IRIDIUM_FIX,2239.35,-15757.16,150900,161651
$TT8_MAMPS,0.026078
$HUMID,62.64
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.80
$XPDR_PINGS,46
$24V_AH,23.5,44.230
$10V_AH,10.3,38.819
$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,28.375,111.800,397.375,43.750,0.000,28.990,44.791,172.783,11.500,0.000,34.458,1008.380,6328.532,529.785,1881.719,522.599,33.374,1204.723,0.000,1867.802,0.000,0.534,0.000
$DEVICE_MAMPS,151.866,82.836,912.730,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.191,280.144,385.708,717.988,1086.159,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,38503,497
$CAP_FILE_SIZE,100887,0
$CFSIZE,260165632,163815424
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220611,214225,2247.415,-15758.307,39,1.4,39,10.1