version: 66.06
glider: 146
mission: 6
dive: 352
start: 6 22 111 21 50 8
data:
$ID,146
$MISSION,6
$DIVE,352
$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,-276524.62
$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,19
$R_STBD_OVSHOOT,80
$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
$GPS1,214225,2247.415,-15758.307,39,1.4,39,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.35
$_SM_ANGLEo,-70.3
$GPS2,214913,2247.498,-15758.342,14,1.3,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.168,-0.164
$KALMAN_X,-221822.2,-182.3,-108.8,219476.9,-931.5
$KALMAN_Y,-13720.9,-66.6,-73.5,20520.2,1335.7
$MHEAD_RNG_PITCHd_Wd,215.5,8007,-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,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.53,0.000,2,0.000,0.000,475,1919,3235,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.4,-5.2,9,118,12.30,2.75,-4.60,0.000,4,0.146,0.061,2856,300,3488,0,0,0,0,0,0
$GC,258,-1.23,-116.8,40.6,-18.2,29,263,0.20,2.40,0.00,0.000,6,0.172,0.015,2896,1881,3490,0,0,0,0,0,0
$GC,526,-1.23,-116.8,79.1,-13.2,53,530,0.00,2.42,0.00,0.000,4,0.000,0.028,2896,3439,3491,0,0,0,0,0,0
$GC,595,-1.28,-116.8,87.7,-10.7,58,605,0.00,2.47,0.00,0.000,6,0.000,0.028,2896,1894,3491,0,0,0,0,0,0
$GC,862,-1.28,-116.8,117.8,-10.8,83,866,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1894,3492,0,0,0,0,0,0
$GC,1123,-1.31,-116.8,150.7,-12.8,108,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1894,3493,0,0,0,0,0,0
$GC,1379,-1.37,-116.8,179.4,-11.0,132,1384,0.12,2.45,0.00,0.000,4,0.073,0.033,2849,3450,3493,0,0,0,0,0,0
$GC,1469,-1.37,-116.8,189.4,-11.5,139,1473,0.00,2.42,0.00,0.000,6,0.000,0.025,2849,1907,3493,0,0,0,0,0,0
$GC,1735,-1.37,-116.8,217.3,-10.5,152,1739,0.00,2.40,0.00,0.000,4,0.000,0.027,2849,3438,3493,0,0,0,0,0,0
$GC,1853,-1.43,-116.8,230.8,-11.4,154,1858,0.00,2.38,0.00,0.000,6,0.000,0.028,2849,1934,3493,0,0,0,0,0,0
$GC,2109,-1.43,-116.8,258.8,-11.0,161,2113,0.00,2.75,0.00,0.000,4,0.000,0.067,2848,316,3493,0,0,0,0,0,0
$GC,2124,-1.43,-116.8,260.6,-10.5,161,2128,0.00,2.45,0.00,0.000,6,0.000,0.023,2849,1927,3493,0,0,0,0,0,0
$GC,2387,-1.43,-116.8,287.0,-10.0,168,2391,0.00,2.42,0.00,0.000,4,0.000,0.039,2849,3452,3493,0,0,0,0,0,0
$GC,2448,-1.49,-116.8,293.3,-9.9,169,2452,0.00,2.38,0.00,0.000,6,0.000,0.025,2849,1952,3493,0,0,0,0,0,0
$GC,2711,-1.53,-116.8,318.7,-9.6,176,2712,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1951,3493,0,0,0,0,0,0
$GC,2953,-1.57,-116.8,343.3,-10.2,182,2959,0.12,2.88,0.00,0.000,4,0.069,0.081,2805,320,3493,0,0,0,0,0,0
$GC,2970,-1.57,-116.8,345.3,-10.0,182,2974,0.00,2.55,0.00,0.000,6,0.000,0.028,2804,1933,3492,0,0,0,0,0,0
$GC,3232,-1.57,-116.8,374.8,-11.5,189,3236,0.00,2.50,0.00,0.000,4,0.000,0.044,2804,3473,3491,0,0,0,0,0,0
$GC,3275,-1.57,-116.8,380.4,-12.4,190,3279,0.00,2.47,0.00,0.000,6,0.000,0.041,2804,1973,3491,0,0,0,0,0,0
$GC,3553,-1.57,-116.8,412.6,-11.6,197,3558,0.00,2.42,0.00,0.000,4,0.000,0.048,2804,3465,3490,0,0,0,0,0,0
$GC,3655,-1.57,-116.8,424.7,-11.6,199,3659,0.00,2.50,0.00,0.000,6,0.000,0.054,2804,1980,3489,0,0,0,0,0,0
$GC,3921,-1.57,-116.8,453.9,-10.7,206,3922,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1980,3488,0,0,0,0,0,0
$GC,4165,-1.57,-116.8,477.1,-9.3,212,4169,0.00,2.47,0.00,0.000,4,0.000,0.049,2804,3460,3486,0,0,0,0,0,0
$GC,4233,-1.57,-116.8,483.7,-9.7,213,4237,0.00,2.50,0.00,0.000,6,0.000,0.061,2805,1991,3485,0,0,0,0,0,0
$STATE,4404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4404,begin apogee
$GC,4409,-0.31,0.0,501.2,10.0,218,4511,1.27,0.00,97.75,0.909,6,0.078,0.000,3094,1991,3010,0,0,0,0,0,0
$STATE,4512,end apogee,CONTROL_FINISHED_OK
$STATE,4512,begin climb
$GC,4514,1.38,116.8,503.6,0.0,220,4618,1.55,0.00,99.65,0.890,6,0.038,0.000,3470,1991,2533,0,0,0,0,0,0
$GC,4840,1.32,167.6,489.9,7.1,228,4889,0.00,2.75,43.88,0.871,4,0.000,0.054,3470,3566,2325,0,0,0,0,0,0
$GC,4910,1.22,190.9,484.2,8.7,229,4940,0.20,2.65,21.73,0.836,6,0.117,0.050,3431,2028,2230,0,0,0,0,0,0
$GC,5214,1.22,190.9,452.2,11.1,237,5219,0.00,3.00,0.00,0.000,4,0.000,0.107,3431,408,2223,0,0,0,0,0,0
$GC,5230,1.18,190.9,450.1,11.3,237,5235,0.00,2.60,0.00,0.000,6,0.000,0.033,3431,2002,2222,0,0,0,0,0,0
$GC,5492,1.18,190.9,423.0,10.4,244,5493,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2002,2220,0,0,0,0,0,0
$GC,5735,1.19,200.2,399.5,9.5,250,5749,0.00,2.85,7.40,0.720,4,0.000,0.067,3431,406,2193,0,0,0,0,0,0
$GC,5784,1.14,205.4,394.8,9.7,251,5798,0.00,2.60,6.57,0.690,6,0.000,0.030,3431,2013,2172,0,0,0,0,0,0
$GC,6066,1.16,227.9,370.1,8.7,258,6093,0.00,2.60,21.05,0.810,4,0.000,0.038,3431,3575,2080,0,0,0,0,0,0
$GC,6132,1.16,227.9,363.0,11.6,259,6136,0.00,2.62,0.00,0.000,6,0.000,0.042,3431,2002,2078,0,0,0,0,0,0
$GC,6388,1.16,227.9,336.1,10.7,266,6393,0.00,2.80,0.00,0.000,4,0.000,0.078,3431,410,2075,0,0,0,0,0,0
$GC,6415,1.16,227.9,332.8,11.3,266,6419,0.00,2.58,0.00,0.000,6,0.000,0.020,3431,2037,2074,0,0,0,0,0,0
$GC,6665,1.18,243.3,309.4,9.1,272,6685,0.00,2.88,14.48,0.757,4,0.000,0.067,3431,404,2016,0,0,0,0,0,0
$GC,6777,1.18,243.3,298.1,10.6,274,6782,0.00,2.50,0.00,0.000,6,0.000,0.018,3431,1985,2013,0,0,0,0,0,0
$GC,7033,1.27,275.7,276.8,8.2,281,7068,0.00,2.78,29.48,0.762,4,0.000,0.060,3431,410,1886,0,0,0,0,0,0
$GC,7092,1.27,275.7,271.3,10.3,281,7096,0.00,2.53,0.00,0.000,6,0.000,0.025,3431,1993,1884,0,0,0,0,0,0
$GC,7353,1.33,276.5,245.3,10.0,288,7358,0.10,2.72,0.00,0.000,4,0.097,0.058,3460,408,1881,0,0,0,0,0,0
$GC,7466,1.33,276.5,230.7,13.1,290,7470,0.00,2.45,0.00,0.000,6,0.000,0.025,3460,1965,1879,0,0,0,0,0,0
$GC,7722,1.33,276.5,203.1,10.4,297,7727,0.00,2.65,0.00,0.000,4,0.000,0.056,3460,407,1879,0,0,0,0,0,0
$GC,7762,1.33,276.5,198.8,10.4,298,7766,0.00,2.42,0.00,0.000,6,0.000,0.021,3459,1962,1878,0,0,0,0,0,0
$GC,8030,1.33,276.5,171.9,10.9,322,8034,0.00,2.55,0.00,0.000,4,0.000,0.039,3460,3552,1878,0,0,0,0,0,0
$GC,8073,1.37,276.5,166.6,12.2,325,8077,0.00,2.60,0.00,0.000,6,0.000,0.036,3460,1952,1877,0,0,0,0,0,0
$GC,8342,1.44,284.3,140.7,9.6,349,8356,0.00,2.65,7.65,0.569,4,0.000,0.064,3460,419,1850,0,0,0,0,0,0
$GC,8416,1.44,284.3,133.0,10.6,355,8420,0.00,2.42,0.00,0.000,6,0.000,0.024,3460,1984,1848,0,0,0,0,0,0
$GC,8684,1.52,284.3,107.0,10.5,379,8689,0.15,2.67,0.00,0.000,4,0.074,0.058,3500,408,1848,0,0,0,0,0,0
$GC,8772,1.48,284.3,95.3,13.3,386,8777,0.00,2.38,0.00,0.000,6,0.000,0.023,3500,1945,1848,0,0,0,0,0,0
$GC,9040,1.52,313.7,68.9,8.3,410,9072,0.00,2.65,26.48,0.574,4,0.000,0.036,3500,3544,1730,0,0,0,0,0,0
$GC,9109,1.58,329.7,63.0,9.1,416,9137,0.00,2.60,15.38,0.545,6,0.000,0.029,3500,1942,1663,0,0,0,0,0,0
$GC,9395,1.62,329.7,34.6,10.3,442,9399,0.00,2.55,0.00,0.000,4,0.000,0.052,3500,410,1661,0,0,0,0,0,0
$GC,9452,1.62,329.7,27.5,12.4,447,9461,0.00,2.38,0.00,0.000,6,0.000,0.017,3500,1931,1660,0,0,0,0,0,0
$STATE,9680,end climb,SURFACE_DEPTH_REACHED
$STATE,9680,begin surface coast
$FINISH,0.4,0.979886
$STATE,9733,end surface coast,CONTROL_FINISHED_OK
$STATE,9734,begin surface
$SM_CCo,9757,40.58,0.518,0,0,1459,380.21
$SM_GC,1.30,0.00,0.00,40.58,0.000,0.000,0.518,477,1860,1459,-12.36,-0.85,380.21
$IRIDIUM_FIX,2239.35,-15751.94,150900,191903
$TT8_MAMPS,0.026078
$HUMID,62.60
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.80
$XPDR_PINGS,45
$24V_AH,23.5,44.343
$10V_AH,10.3,38.930
$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,28.350,123.500,391.475,40.575,0.000,31.070,33.270,192.115,11.250,0.000,32.912,1007.111,6249.832,476.791,1937.609,538.102,33.374,1203.795,0.000,1920.665,0.000,0.533,0.000
$DEVICE_MAMPS,171.808,113.516,908.895,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.655,274.620,377.530,728.485,1101.798,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,38383,489
$CAP_FILE_SIZE,105030,0
$CFSIZE,260165632,163758080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230611,003437,2248.039,-15759.970,30,0.9,30,10.1