version: 66.06
glider: 146
mission: 6
dive: 359
start: 6 23 111 17 57 21
data:
$ID,146
$MISSION,6
$DIVE,359
$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,-276706.66
$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,27
$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
$GPS1,174407,2249.763,-15801.953,31,0.9,31,10.1
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-65.3
$GPS2,175625,2249.850,-15802.077,9,1.4,9,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.223,-0.073
$KALMAN_X,-230774.7,-108.3,104.6,221759.3,-1249.2
$KALMAN_Y,-1443.8,-356.9,96.4,12720.7,755.9
$MHEAD_RNG_PITCHd_Wd,98.0,8671,-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,-116.8,0.0,0.0,0,127,0.00,0.00,-109.05,0.000,2,0.000,0.000,477,1836,3274,0,0,0,0,0,0
$GC,130,-1.38,-116.8,3.5,-5.6,14,155,12.20,0.00,-4.00,0.000,6,0.142,0.000,2858,1836,3489,0,0,0,0,0,0
$GC,436,-1.26,-116.8,61.0,-14.9,48,441,0.17,2.58,0.00,0.000,4,0.123,0.026,2893,3456,3491,0,0,0,0,0,0
$GC,494,-1.26,-116.8,69.4,-13.8,52,498,0.00,2.50,0.00,0.000,6,0.000,0.025,2894,1885,3491,0,0,0,0,0,0
$GC,758,-1.26,-116.8,103.1,-12.7,76,762,0.00,2.47,0.00,0.000,4,0.000,0.026,2893,3456,3491,0,0,0,0,0,0
$GC,810,-1.30,-116.8,109.8,-11.4,80,814,0.00,2.42,0.00,0.000,6,0.000,0.023,2893,1906,3491,0,0,0,0,0,0
$GC,1075,-1.34,-116.8,137.5,-9.8,104,1079,0.00,2.45,0.00,0.000,4,0.000,0.025,2894,3453,3491,0,0,0,0,0,0
$GC,1109,-1.40,-116.8,141.3,-10.0,106,1117,0.10,2.45,0.00,0.000,6,0.036,0.028,2844,1921,3491,0,0,0,0,0,0
$GC,1370,-1.36,-116.8,170.8,-12.1,131,1372,0.12,0.00,0.00,0.000,6,0.110,0.000,2872,1921,3491,0,0,0,0,0,0
$GC,1626,-1.36,-116.8,199.4,-11.0,155,1630,0.00,2.42,0.00,0.000,4,0.000,0.025,2871,3454,3491,0,0,0,0,0,0
$GC,1698,-1.43,-116.8,207.7,-11.7,156,1702,0.00,2.45,0.00,0.000,6,0.000,0.030,2871,1908,3491,0,0,0,0,0,0
$GC,1949,-1.43,-116.8,235.0,-10.5,162,1953,0.00,2.42,0.00,0.000,4,0.000,0.028,2872,3449,3491,0,0,0,0,0,0
$GC,1982,-1.50,-116.8,238.4,-9.5,162,1988,0.12,2.40,0.00,0.000,6,0.072,0.026,2823,1924,3491,0,0,0,0,0,0
$GC,2232,-1.46,-116.8,264.8,-10.6,169,2234,0.12,0.00,0.00,0.000,6,0.107,0.000,2850,1924,3491,0,0,0,0,0,0
$GC,2477,-1.46,-116.8,290.0,-10.4,175,2481,0.00,2.45,0.00,0.000,4,0.000,0.038,2850,3456,3491,0,0,0,0,0,0
$GC,2561,-1.52,-116.8,299.4,-10.8,177,2565,0.00,2.42,0.00,0.000,6,0.000,0.031,2850,1933,3491,0,0,0,0,0,0
$GC,2846,-1.56,-116.8,328.4,-10.6,184,2850,0.00,2.40,0.00,0.000,4,0.000,0.036,2850,3444,3490,0,0,0,0,0,0
$GC,2867,-1.62,-116.8,330.8,-10.1,184,2872,0.15,2.42,0.00,0.000,6,0.061,0.038,2796,1938,3490,0,0,0,0,0,0
$GC,3123,-1.56,-116.8,360.4,-11.3,191,3128,0.15,2.45,0.00,0.000,4,0.103,0.038,2829,3442,3489,0,0,0,0,0,0
$GC,3221,-1.61,-116.8,370.0,-9.9,193,3225,0.00,2.45,0.00,0.000,6,0.000,0.044,2829,1950,3488,0,0,0,0,0,0
$GC,3493,-1.61,-116.8,396.5,-9.3,200,3494,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1950,3486,0,0,0,0,0,0
$GC,3736,-1.61,-116.8,418.8,-9.1,206,3738,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1950,3485,0,0,0,0,0,0
$GC,3982,-1.61,-116.8,440.5,-8.9,212,3983,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1950,3483,0,0,0,0,0,0
$GC,4224,-1.65,-116.8,461.7,-8.6,218,4229,0.00,2.50,0.00,0.000,4,0.000,0.049,2829,3445,3481,0,0,0,0,0,0
$GC,4269,-1.71,-116.8,465.9,-9.7,219,4274,0.12,2.53,0.00,0.000,6,0.071,0.058,2786,1957,3481,0,0,0,0,0,0
$GC,4549,-1.67,-116.8,495.6,-11.0,226,4550,0.00,0.00,0.00,0.000,6,0.000,0.000,2786,1957,3479,0,0,0,0,0,0
$STATE,4626,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4626,begin apogee
$GC,4631,-0.31,0.0,504.1,10.8,228,4731,1.40,0.00,96.20,0.920,6,0.082,0.000,3100,1957,3010,0,0,0,0,0,0
$STATE,4732,end apogee,CONTROL_FINISHED_OK
$STATE,4732,begin climb
$GC,4735,1.38,116.8,505.8,0.0,230,4840,1.55,0.00,100.62,0.896,6,0.049,0.000,3477,1957,2533,0,0,0,0,0,0
$GC,5063,1.26,134.1,486.1,9.0,238,5081,0.15,0.00,14.70,0.824,6,0.121,0.000,3448,1957,2463,0,0,0,0,0,0
$GC,5304,1.23,169.9,466.4,8.0,244,5345,0.00,2.97,32.20,0.864,4,0.000,0.104,3447,410,2315,0,0,0,0,0,0
$GC,5353,1.17,184.7,462.2,9.2,245,5373,0.10,2.53,14.70,0.808,6,0.139,0.029,3427,1955,2257,0,0,0,0,0,0
$GC,5631,1.20,209.6,437.7,8.6,252,5655,0.00,0.00,22.50,0.838,6,0.000,0.000,3427,1955,2154,0,0,0,0,0,0
$GC,5875,1.22,225.0,416.0,9.2,258,5891,0.00,0.00,14.40,0.804,6,0.000,0.000,3427,1955,2092,0,0,0,0,0,0
$GC,6117,1.23,230.6,392.4,9.7,264,6128,0.00,2.72,5.97,0.669,4,0.000,0.069,3427,411,2067,0,0,0,0,0,0
$GC,6172,1.23,230.6,386.3,11.4,265,6177,0.00,2.55,0.00,0.000,6,0.000,0.027,3427,2009,2065,0,0,0,0,0,0
$GC,6441,1.24,243.1,361.3,9.3,272,6460,0.00,2.88,11.90,0.772,4,0.000,0.062,3427,408,2018,0,0,0,0,0,0
$GC,6471,1.24,243.1,357.8,11.0,272,6475,0.00,2.55,0.00,0.000,6,0.000,0.025,3427,1995,2017,0,0,0,0,0,0
$GC,6721,1.24,243.1,332.2,10.2,278,6725,0.00,2.60,0.00,0.000,4,0.000,0.044,3427,3575,2015,0,0,0,0,0,0
$GC,6778,1.29,243.1,326.4,10.5,279,6783,0.10,2.62,0.00,0.000,6,0.095,0.040,3454,1987,2013,0,0,0,0,0,0
$GC,7044,1.29,243.1,298.2,10.5,286,7049,0.00,2.75,0.00,0.000,4,0.000,0.068,3454,403,2012,0,0,0,0,0,0
$GC,7139,1.29,243.1,287.5,10.6,288,7143,0.00,2.50,0.00,0.000,6,0.000,0.018,3454,1994,2011,0,0,0,0,0,0
$GC,7413,1.32,266.2,263.9,8.7,295,7436,0.00,0.00,21.05,0.749,6,0.000,0.000,3454,1995,1924,0,0,0,0,0,0
$GC,7656,1.32,269.3,239.4,9.9,301,7660,0.00,2.75,0.00,0.000,4,0.000,0.064,3454,410,1918,0,0,0,0,0,0
$GC,7730,1.32,269.3,231.4,11.4,302,7734,0.00,2.47,0.00,0.000,6,0.000,0.024,3454,1984,1918,0,0,0,0,0,0
$GC,7980,1.35,290.3,208.6,8.8,308,8003,0.00,0.00,21.48,0.700,6,0.000,0.000,3454,1985,1826,0,0,0,0,0,0
$GC,8229,1.40,301.1,186.0,9.4,323,8242,0.00,0.00,10.30,0.634,6,0.000,0.000,3454,1985,1782,0,0,0,0,0,0
$GC,8497,1.46,304.3,160.3,9.9,348,8513,0.15,2.72,4.12,0.456,4,0.071,0.055,3497,409,1768,0,0,0,0,0,0
$GC,8560,1.40,304.3,151.4,13.8,353,8565,0.10,2.45,0.00,0.000,6,0.127,0.024,3477,1979,1766,0,0,0,0,0,0
$GC,8826,1.44,304.3,121.1,10.8,377,8830,0.00,2.65,0.00,0.000,4,0.000,0.054,3477,408,1766,0,0,0,0,0,0
$GC,8847,1.44,304.3,117.9,12.2,378,8856,0.00,2.42,0.00,0.000,6,0.000,0.018,3477,1951,1766,0,0,0,0,0,0
$GC,9115,1.52,327.8,93.0,8.7,403,9143,0.10,2.65,21.62,0.592,4,0.094,0.036,3506,3552,1671,0,0,0,0,0,0
$GC,9189,1.56,327.8,84.9,11.2,409,9193,0.00,2.60,0.00,0.000,6,0.000,0.036,3506,1957,1670,0,0,0,0,0,0
$GC,9456,1.59,347.9,59.7,8.9,433,9484,0.00,2.65,17.62,0.552,4,0.000,0.031,3506,3552,1590,0,0,0,0,0,0
$GC,9502,1.63,352.8,55.3,9.8,436,9517,0.00,2.55,5.80,0.450,6,0.000,0.030,3507,1986,1569,0,0,0,0,0,0
$GC,9783,1.63,352.8,24.3,11.0,464,9792,0.00,2.67,0.00,0.000,4,0.000,0.054,3506,411,1567,0,0,0,0,0,0
$GC,9838,1.63,352.8,17.0,13.3,471,9847,0.00,2.47,0.00,0.000,6,0.000,0.019,3506,1987,1566,0,0,0,0,0,0
$STATE,9943,end climb,SURFACE_DEPTH_REACHED
$STATE,9943,begin surface coast
$FINISH,0.5,0.980131
$STATE,9982,end surface coast,CONTROL_FINISHED_OK
$STATE,9982,begin surface
$SM_CCo,10004,22.88,0.514,0,0,1459,380.21
$SM_GC,1.57,0.00,0.00,22.88,0.000,0.000,0.514,474,1880,1459,-12.41,-0.28,380.21
$IRIDIUM_FIX,2241.69,-15759.32,160900,171700
$TT8_MAMPS,0.026078
$HUMID,64.56
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.60
$XPDR_PINGS,40
$24V_AH,23.5,45.188
$10V_AH,10.3,39.702
$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,29.250,102.100,415.200,22.875,0.000,55.654,72.498,410.131,10.000,0.000,10.930,994.554,6626.312,528.984,1789.776,829.013,33.373,1212.502,0.000,1800.818,0.000,0.535,0.000
$DEVICE_MAMPS,141.895,103.545,920.400,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,332.350,281.901,375.347,708.183,1071.600,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,38372,491
$CAP_FILE_SIZE,108952,0
$CFSIZE,260165632,163381248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230611,204536,2249.780,-15801.402,26,0.9,26,10.1