version: 66.06
glider: 146
mission: 6
dive: 356
start: 6 23 111 9 20 32
data:
$ID,146
$MISSION,6
$DIVE,356
$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,-276638.97
$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,3170
$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,43
$R_STBD_OVSHOOT,62
$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
$GPS1,091001,2247.061,-15803.072,39,1.7,39,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.9
$GPS2,091937,2247.188,-15803.159,8,1.4,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.153,0.178
$KALMAN_X,-227548.6,89.9,-108.8,216701.2,-1343.2
$KALMAN_Y,-6133.5,464.6,-416.7,12166.1,1772.5
$MHEAD_RNG_PITCHd_Wd,30.6,5216,-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,12,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,-70.57,0.000,2,0.000,0.000,476,1861,3241,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.4,-6.2,9,117,12.20,2.58,-4.65,0.000,4,0.142,0.048,2860,3439,3488,0,0,0,0,0,0
$GC,202,-1.31,-116.8,29.5,-16.8,24,212,0.08,2.50,0.00,0.000,6,0.106,0.028,2880,1899,3490,0,0,0,0,0,0
$GC,468,-1.24,-116.8,71.4,-15.5,49,473,0.10,2.47,0.00,0.000,4,0.133,0.031,2899,3447,3490,0,0,0,0,0,0
$GC,516,-1.24,-116.8,77.5,-11.8,52,520,0.00,2.45,0.00,0.000,6,0.000,0.024,2900,1889,3491,0,0,0,0,0,0
$GC,778,-1.24,-116.8,108.0,-10.3,76,782,0.00,2.45,0.00,0.000,4,0.000,0.032,2899,3449,3491,0,0,0,0,0,0
$GC,834,-1.33,-116.8,113.2,-9.1,80,838,0.00,2.40,0.00,0.000,6,0.000,0.024,2900,1919,3491,0,0,0,0,0,0
$GC,1097,-1.37,-116.8,140.7,-10.4,104,1102,0.12,2.42,0.00,0.000,4,0.072,0.033,2852,3449,3492,0,0,0,0,0,0
$GC,1130,-1.37,-116.8,145.2,-12.3,106,1140,0.00,2.42,0.00,0.000,6,0.000,0.029,2852,1926,3492,0,0,0,0,0,0
$GC,1394,-1.37,-116.8,176.2,-11.3,131,1399,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1926,3492,0,0,0,0,0,0
$GC,1664,-1.37,-116.8,205.0,-10.5,154,1668,0.00,2.40,0.00,0.000,4,0.000,0.031,2852,3457,3493,0,0,0,0,0,0
$GC,1802,-1.41,-116.8,221.2,-12.4,157,1807,0.00,2.38,0.00,0.000,6,0.000,0.025,2852,1948,3493,0,0,0,0,0,0
$GC,2080,-1.41,-116.8,254.2,-11.6,164,2081,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1948,3493,0,0,0,0,0,0
$GC,2324,-1.41,-116.8,284.2,-12.3,170,2325,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1948,3492,0,0,0,0,0,0
$GC,2569,-1.41,-116.8,311.3,-10.6,176,2573,0.00,2.38,0.00,0.000,4,0.000,0.031,2852,3445,3493,0,0,0,0,0,0
$GC,2586,-1.45,-116.8,313.1,-10.0,176,2590,0.00,2.40,0.00,0.000,6,0.000,0.030,2852,1951,3493,0,0,0,0,0,0
$GC,2847,-1.50,-116.8,337.4,-9.3,183,2851,0.00,2.40,0.00,0.000,4,0.000,0.033,2852,3445,3492,0,0,0,0,0,0
$GC,2889,-1.57,-116.8,341.1,-9.8,184,2894,0.10,2.38,0.00,0.000,6,0.087,0.036,2814,1972,3493,0,0,0,0,0,0
$GC,3172,-1.57,-116.8,371.3,-10.6,191,3176,0.00,2.35,0.00,0.000,4,0.000,0.040,2814,3441,3491,0,0,0,0,0,0
$GC,3247,-1.57,-116.8,379.1,-10.7,192,3252,0.00,2.42,0.00,0.000,6,0.000,0.044,2814,1981,3491,0,0,0,0,0,0
$GC,3497,-1.57,-116.8,406.4,-11.1,198,3498,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1982,3490,0,0,0,0,0,0
$GC,3741,-1.57,-116.8,433.0,-11.0,204,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1982,3489,0,0,0,0,0,0
$GC,3984,-1.57,-116.8,458.3,-10.3,210,3989,0.00,2.42,0.00,0.000,4,0.000,0.055,2814,3436,3487,0,0,0,0,0,0
$GC,4036,-1.61,-116.8,463.4,-10.0,211,4041,0.00,2.45,0.00,0.000,6,0.000,0.059,2813,1990,3486,0,0,0,0,0,0
$GC,4309,-1.61,-116.8,490.6,-9.9,218,4313,0.00,2.40,0.00,0.000,4,0.000,0.055,2814,3434,3484,0,0,0,0,0,0
$GC,4337,-1.61,-116.8,493.3,-9.9,218,4341,0.00,2.45,0.00,0.000,6,0.000,0.062,2814,1984,3484,0,0,0,0,0,0
$STATE,4422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4422,begin apogee
$GC,4429,-0.31,0.0,501.3,9.2,220,4530,1.25,0.00,97.45,0.914,6,0.074,0.000,3100,1984,3010,0,0,0,0,0,0
$STATE,4531,end apogee,CONTROL_FINISHED_OK
$STATE,4531,begin climb
$GC,4533,1.38,116.8,503.2,0.0,222,4644,1.55,2.70,99.15,0.891,4,0.036,0.058,3478,3536,2533,0,0,0,0,0,0
$GC,4678,1.27,157.9,501.0,7.7,226,4722,0.15,2.60,36.10,0.863,6,0.125,0.051,3449,2012,2365,0,0,0,0,0,0
$GC,4996,1.22,174.9,472.6,9.1,234,5016,0.00,3.10,15.07,0.817,4,0.000,0.107,3450,403,2296,0,0,0,0,0,0
$GC,5039,1.11,174.9,468.2,10.3,235,5044,0.17,2.55,0.00,0.000,6,0.115,0.030,3415,1953,2294,0,0,0,0,0,0
$GC,5317,1.14,197.0,443.3,8.8,242,5343,0.00,2.80,20.62,0.835,4,0.000,0.054,3415,3581,2205,0,0,0,0,0,0
$GC,5389,1.15,211.6,436.7,9.2,243,5408,0.00,2.70,13.95,0.798,6,0.000,0.044,3415,1993,2147,0,0,0,0,0,0
$GC,5688,1.18,230.4,409.1,9.0,251,5712,0.00,2.97,17.50,0.812,4,0.000,0.091,3414,411,2070,0,0,0,0,0,0
$GC,5764,1.18,230.4,401.5,11.0,252,5769,0.00,2.55,0.00,0.000,6,0.000,0.027,3414,2008,2067,0,0,0,0,0,0
$GC,6014,1.25,255.6,379.5,8.6,258,6041,0.10,0.00,23.55,0.815,6,0.097,0.000,3443,2008,1968,0,0,0,0,0,0
$GC,6258,1.25,255.6,353.0,11.1,264,6259,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2008,1963,0,0,0,0,0,0
$GC,6503,1.25,255.6,324.8,11.8,270,6504,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2008,1961,0,0,0,0,0,0
$GC,6747,1.25,255.6,296.4,11.6,276,6751,0.00,2.78,0.00,0.000,4,0.000,0.065,3443,397,1960,0,0,0,0,0,0
$GC,6779,1.25,255.6,292.2,12.6,276,6785,0.00,2.53,0.00,0.000,6,0.000,0.021,3444,2011,1959,0,0,0,0,0,0
$GC,7029,1.25,257.5,266.5,9.9,283,7034,0.00,2.75,0.00,0.000,4,0.000,0.062,3443,401,1958,0,0,0,0,0,0
$GC,7058,1.25,257.5,263.4,10.7,283,7062,0.00,2.50,0.00,0.000,6,0.000,0.023,3443,2002,1957,0,0,0,0,0,0
$GC,7308,1.27,276.3,240.0,9.0,289,7332,0.00,2.83,17.95,0.721,4,0.000,0.058,3444,400,1883,0,0,0,0,0,0
$GC,7432,1.27,276.3,228.0,10.1,291,7436,0.00,2.47,0.00,0.000,6,0.000,0.025,3443,1990,1880,0,0,0,0,0,0
$GC,7682,1.36,301.9,206.4,8.6,297,7712,0.10,2.80,23.17,0.697,4,0.087,0.060,3472,400,1778,0,0,0,0,0,0
$GC,7734,1.36,301.9,200.7,11.9,298,7738,0.00,2.47,0.00,0.000,6,0.000,0.018,3472,1973,1777,0,0,0,0,0,0
$GC,8000,1.36,301.9,170.7,12.5,321,8004,0.00,2.58,0.00,0.000,4,0.000,0.033,3472,3565,1774,0,0,0,0,0,0
$GC,8055,1.41,301.9,163.9,12.8,325,8060,0.00,2.58,0.00,0.000,6,0.000,0.038,3472,1972,1773,0,0,0,0,0,0
$GC,8323,1.41,301.9,133.1,11.9,349,8327,0.00,2.65,0.00,0.000,4,0.000,0.058,3472,408,1773,0,0,0,0,0,0
$GC,8358,1.41,301.9,127.8,12.6,351,8364,0.00,2.42,0.00,0.000,6,0.000,0.018,3472,1987,1772,0,0,0,0,0,0
$GC,8623,1.47,311.0,100.3,9.5,376,8634,0.00,0.00,8.65,0.550,6,0.000,0.000,3472,1988,1740,0,0,0,0,0,0
$GC,8890,1.56,325.6,75.7,9.2,401,8910,0.15,0.00,14.50,0.563,6,0.068,0.000,3516,1988,1680,0,0,0,0,0,0
$GC,9169,1.56,325.6,45.2,10.8,427,9178,0.00,0.00,0.00,0.000,6,0.000,0.000,3516,1988,1679,0,0,0,0,0,0
$GC,9462,1.56,325.6,15.5,11.5,461,9471,0.00,2.67,0.00,0.000,4,0.000,0.057,3516,408,1679,0,0,0,0,0,0
$GC,9525,1.51,325.6,7.3,13.0,469,9535,0.00,2.45,0.00,0.000,6,0.000,0.019,3516,1991,1679,0,0,0,0,0,0
$STATE,9556,end climb,SURFACE_DEPTH_REACHED
$STATE,9556,begin surface coast
$FINISH,0.5,0.980071
$STATE,9606,end surface coast,CONTROL_FINISHED_OK
$STATE,9606,begin surface
$SM_CCo,9628,44.30,0.522,0,0,1460,380.21
$SM_GC,1.30,0.00,0.00,44.30,0.000,0.000,0.522,474,1840,1460,-12.40,-1.39,380.21
$IRIDIUM_FIX,2239.35,-15800.20,160900,090955
$TT8_MAMPS,0.026078
$HUMID,63.23
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.50
$XPDR_PINGS,39
$24V_AH,23.5,44.802
$10V_AH,10.3,39.364
$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,28.350,107.150,387.675,44.300,0.000,53.523,73.074,245.565,9.750,0.000,15.212,974.838,6294.851,479.871,1843.399,658.585,33.371,1172.521,0.000,1847.131,0.000,0.534,0.000
$DEVICE_MAMPS,141.895,107.380,914.264,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.157,268.705,371.283,709.346,1072.792,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355508
$DATA_FILE_SIZE,38425,480
$CAP_FILE_SIZE,102785,0
$CFSIZE,260165632,163545088
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230611,120306,2249.029,-15802.805,39,1.3,39,10.1