version: 66.06
glider: 146
mission: 6
dive: 361
start: 6 23 111 23 44 32
data:
$ID,146
$MISSION,6
$DIVE,361
$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,-276769.16
$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,45
$R_STBD_OVSHOOT,63
$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
$GPS1,233653,2249.737,-15801.339,25,2.9,44,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.7
$GPS2,234337,2249.840,-15801.370,41,1.9,47,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.085,-0.219
$KALMAN_X,-233148.8,-10.6,-205.0,225556.5,-838.9
$KALMAN_Y,1244.1,-312.8,-204.5,10269.0,2179.7
$MHEAD_RNG_PITCHd_Wd,148.6,7466,-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,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.88,0.000,2,0.000,0.000,478,1858,3226,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.1,-4.8,9,117,12.23,2.58,-5.03,0.000,4,0.144,0.059,2860,336,3489,0,0,0,0,0,0
$GC,163,-1.23,-116.8,21.5,-18.5,18,171,0.15,2.40,0.00,0.000,6,0.151,0.015,2895,1907,3490,0,0,0,0,0,0
$GC,440,-1.17,-116.8,62.8,-14.3,46,444,0.00,2.40,0.00,0.000,4,0.000,0.025,2895,3443,3491,0,0,0,0,0,0
$GC,487,-1.17,-116.8,70.1,-12.5,49,496,0.05,2.47,0.00,0.000,6,0.100,0.024,2912,1902,3491,0,0,0,0,0,0
$GC,750,-1.17,-116.8,100.8,-11.4,74,754,0.00,2.42,0.00,0.000,4,0.000,0.032,2911,3437,3492,0,0,0,0,0,0
$GC,792,-1.24,-116.8,105.8,-11.3,77,800,0.00,2.40,0.00,0.000,6,0.000,0.032,2911,1914,3492,0,0,0,0,0,0
$GC,1055,-1.30,-116.8,133.6,-10.8,102,1060,0.10,2.42,0.00,0.000,4,0.083,0.027,2871,3440,3493,0,0,0,0,0,0
$GC,1090,-1.30,-116.8,137.8,-11.6,104,1099,0.00,2.42,0.00,0.000,6,0.000,0.031,2871,1922,3493,0,0,0,0,0,0
$GC,1351,-1.30,-116.8,166.9,-11.3,129,1352,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1922,3493,0,0,0,0,0,0
$GC,1606,-1.30,-116.8,195.6,-11.8,153,1610,0.00,2.38,0.00,0.000,4,0.000,0.028,2871,3437,3493,0,0,0,0,0,0
$GC,1663,-1.36,-116.8,202.2,-10.9,156,1667,0.00,2.40,0.00,0.000,6,0.000,0.023,2871,1921,3493,0,0,0,0,0,0
$GC,1929,-1.36,-116.8,227.6,-9.3,163,1933,0.00,2.40,0.00,0.000,4,0.000,0.031,2871,3439,3494,0,0,0,0,0,0
$GC,1997,-1.44,-116.8,233.9,-9.5,164,2002,0.00,2.35,0.00,0.000,6,0.000,0.031,2871,1942,3494,0,0,0,0,0,0
$GC,2253,-1.50,-116.8,258.4,-9.5,171,2255,0.12,0.00,0.00,0.000,6,0.074,0.000,2825,1941,3494,0,0,0,0,0,0
$GC,2496,-1.50,-116.8,289.4,-13.2,177,2500,0.00,2.38,0.00,0.000,4,0.000,0.035,2824,3432,3494,0,0,0,0,0,0
$GC,2553,-1.50,-116.8,296.7,-12.7,178,2557,0.00,2.33,0.00,0.000,6,0.000,0.027,2825,1964,3494,0,0,0,0,0,0
$GC,2819,-1.50,-116.8,328.1,-11.5,185,2823,0.00,2.35,0.00,0.000,4,0.000,0.038,2825,3431,3494,0,0,0,0,0,0
$GC,2858,-1.50,-116.8,332.5,-11.4,186,2862,0.00,2.38,0.00,0.000,6,0.000,0.035,2825,1970,3494,0,0,0,0,0,0
$GC,3142,-1.50,-116.8,364.2,-11.0,193,3146,0.00,2.35,0.00,0.000,4,0.000,0.040,2823,3427,3492,0,0,0,0,0,0
$GC,3197,-1.50,-116.8,370.3,-10.7,194,3201,0.00,2.38,0.00,0.000,6,0.000,0.044,2825,1980,3492,0,0,0,0,0,0
$GC,3469,-1.50,-116.8,399.2,-10.8,201,3474,0.00,2.35,0.00,0.000,4,0.000,0.042,2825,3425,3491,0,0,0,0,0,0
$GC,3538,-1.54,-116.8,406.2,-10.6,202,3542,0.00,2.40,0.00,0.000,6,0.000,0.045,2825,1985,3491,0,0,0,0,0,0
$GC,3798,-1.54,-116.8,433.7,-10.8,209,3799,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1985,3489,0,0,0,0,0,0
$GC,4042,-1.54,-116.8,462.1,-11.9,215,4047,0.00,3.10,0.00,0.000,4,0.000,0.113,2824,324,3488,0,0,0,0,0,0
$GC,4059,-1.54,-116.8,464.1,-11.7,215,4063,0.00,2.58,0.00,0.000,6,0.000,0.032,2825,1910,3487,0,0,0,0,0,0
$GC,4319,-1.54,-116.8,492.6,-10.5,222,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1910,3486,0,0,0,0,0,0
$STATE,4398,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4398,begin apogee
$GC,4404,-0.31,0.0,500.3,9.7,224,4505,1.20,0.00,97.25,0.914,6,0.076,0.000,3099,2008,3010,0,0,0,0,0,0
$STATE,4506,end apogee,CONTROL_FINISHED_OK
$STATE,4506,begin climb
$GC,4510,1.38,116.8,502.0,0.0,226,4620,1.58,2.83,99.90,0.891,4,0.048,0.071,3478,3570,2531,0,0,0,0,0,0
$GC,4747,1.23,116.8,489.6,10.2,232,4752,0.20,2.65,0.00,0.000,6,0.120,0.051,3440,2012,2525,0,0,0,0,0,0
$GC,5021,1.22,162.5,468.4,7.4,239,5066,0.00,3.05,38.95,0.871,4,0.000,0.104,3440,408,2346,0,0,0,0,0,0
$GC,5085,1.16,189.3,463.4,8.5,240,5115,0.00,2.60,25.08,0.839,6,0.000,0.035,3439,1985,2238,0,0,0,0,0,0
$GC,5383,1.16,189.3,432.4,10.6,248,5385,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1985,2230,0,0,0,0,0,0
$GC,5626,1.16,189.3,406.7,10.3,254,5630,0.00,2.75,0.00,0.000,4,0.000,0.067,3440,407,2227,0,0,0,0,0,0
$GC,5658,1.08,189.3,403.2,10.7,254,5665,0.17,2.55,0.00,0.000,6,0.117,0.028,3405,1984,2225,0,0,0,0,0,0
$GC,5910,1.17,223.7,382.6,8.1,261,5942,0.00,0.00,29.85,0.828,6,0.000,0.000,3405,1984,2097,0,0,0,0,0,0
$GC,6152,1.27,253.3,362.6,8.3,267,6187,0.17,2.75,27.02,0.809,4,0.074,0.043,3450,3579,1976,0,0,0,0,0,0
$GC,6227,1.27,253.3,354.9,11.0,268,6232,0.00,2.70,0.00,0.000,6,0.000,0.043,3450,1970,1974,0,0,0,0,0,0
$GC,6477,1.27,253.3,329.0,10.3,274,6478,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1970,1971,0,0,0,0,0,0
$GC,6720,1.27,253.3,302.6,10.9,280,6722,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1970,1969,0,0,0,0,0,0
$GC,6964,1.27,253.3,276.9,10.4,286,6969,0.00,2.70,0.00,0.000,4,0.000,0.066,3449,400,1968,0,0,0,0,0,0
$GC,7009,1.27,253.3,271.9,11.0,287,7013,0.00,2.53,0.00,0.000,6,0.000,0.024,3450,2001,1967,0,0,0,0,0,0
$GC,7286,1.27,253.3,243.7,10.4,294,7291,0.00,2.53,0.00,0.000,4,0.000,0.041,3450,3555,1966,0,0,0,0,0,0
$GC,7320,1.31,253.3,240.0,10.8,294,7326,0.00,2.60,0.00,0.000,6,0.000,0.037,3450,1966,1965,0,0,0,0,0,0
$GC,7571,1.31,253.3,214.2,10.3,301,7576,0.00,2.67,0.00,0.000,4,0.000,0.064,3450,404,1965,0,0,0,0,0,0
$GC,7671,1.32,261.5,204.0,9.6,303,7682,0.00,2.45,6.35,0.589,6,0.000,0.022,3450,1976,1944,0,0,0,0,0,0
$GC,7937,1.40,292.3,182.8,8.3,324,7968,0.10,0.00,28.58,0.683,6,0.095,0.000,3479,1976,1817,0,0,0,0,0,0
$GC,8221,1.40,292.3,152.3,10.7,351,8226,0.00,2.65,0.00,0.000,4,0.000,0.061,3478,408,1813,0,0,0,0,0,0
$GC,8302,1.40,292.3,142.7,13.0,357,8306,0.00,2.42,0.00,0.000,6,0.000,0.021,3479,1962,1812,0,0,0,0,0,0
$GC,8568,1.42,304.3,115.2,9.3,381,8584,0.00,2.58,11.15,0.581,4,0.000,0.031,3479,3553,1768,0,0,0,0,0,0
$GC,8610,1.45,304.3,110.7,10.4,384,8615,0.00,2.62,0.00,0.000,6,0.000,0.030,3479,1946,1767,0,0,0,0,0,0
$GC,8873,1.49,304.3,83.6,10.5,408,8874,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,1945,1766,0,0,0,0,0,0
$GC,9131,1.58,332.2,59.5,8.4,432,9163,0.15,2.60,25.08,0.566,4,0.067,0.053,3523,413,1654,0,0,0,0,0,0
$GC,9199,1.54,332.2,51.9,12.7,437,9203,0.00,2.40,0.00,0.000,6,0.000,0.017,3523,1951,1652,0,0,0,0,0,0
$GC,9486,1.54,332.2,19.4,11.3,467,9495,0.00,0.00,0.00,0.000,6,0.000,0.000,3522,1954,1651,0,0,0,0,0,0
$STATE,9624,end climb,SURFACE_DEPTH_REACHED
$STATE,9625,begin surface coast
$FINISH,0.6,0.980029
$STATE,9675,end surface coast,CONTROL_FINISHED_OK
$STATE,9676,begin surface
$SM_CCo,9699,38.75,0.522,0,0,1460,380.21
$SM_GC,1.39,0.00,0.00,38.75,0.000,0.000,0.522,477,1866,1460,-12.39,-0.68,380.21
$IRIDIUM_FIX,2239.35,-15800.20,160900,202029
$TT8_MAMPS,0.026078
$HUMID,63.34
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.20
$XPDR_PINGS,42
$24V_AH,23.5,45.414
$10V_AH,10.3,39.924
$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,28.575,106.500,389.200,38.750,0.000,31.256,31.632,174.419,10.500,0.000,48.697,993.518,6262.779,484.851,1889.834,514.245,33.400,1165.710,0.000,1862.170,0.000,0.534,0.000
$DEVICE_MAMPS,151.099,179.478,914.264,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.473,276.824,382.775,723.229,1094.620,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355440
$DATA_FILE_SIZE,38301,494
$CAP_FILE_SIZE,99831,0
$CFSIZE,260165632,163282944
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240611,022837,2249.623,-15801.493,66,1.3,66,10.1