version: 66.06
glider: 146
mission: 6
dive: 362
start: 6 24 111 2 46 31
data:
$ID,146
$MISSION,6
$DIVE,362
$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,-276786.31
$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,47
$R_STBD_OVSHOOT,58
$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
$GPS1,022837,2249.623,-15801.493,66,1.3,66,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-68.7
$GPS2,024537,2249.787,-15801.610,10,1.2,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.196,-0.130
$KALMAN_X,-234569.8,-32.6,-18.3,226401.9,-1015.8
$KALMAN_Y,2456.3,-16.8,370.7,8088.7,1337.5
$MHEAD_RNG_PITCHd_Wd,113.4,7880,-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,17,end surface,CONTROL_FINISHED_OK
$STATE,17,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,92,0.00,0.00,-70.40,0.000,2,0.000,0.000,476,1867,3271,0,0,0,0,0,0
$GC,95,-1.38,-116.8,3.8,-7.8,9,121,12.40,0.00,-3.92,0.000,6,0.150,0.000,2859,1868,3489,0,0,0,0,0,0
$GC,397,-1.28,-116.8,62.1,-16.4,42,402,0.15,2.50,0.00,0.000,4,0.127,0.025,2889,3449,3491,0,0,0,0,0,0
$GC,455,-1.33,-116.8,70.7,-12.2,46,459,0.00,2.47,0.00,0.000,6,0.000,0.025,2889,1896,3491,0,0,0,0,0,0
$GC,719,-1.33,-116.8,104.4,-13.1,70,723,0.00,2.47,0.00,0.000,4,0.000,0.026,2889,3454,3492,0,0,0,0,0,0
$GC,786,-1.38,-116.8,112.7,-12.3,75,791,0.00,2.45,0.00,0.000,6,0.000,0.025,2889,1891,3492,0,0,0,0,0,0
$GC,1053,-1.42,-116.8,144.5,-11.4,99,1058,0.12,2.47,0.00,0.000,4,0.074,0.034,2842,3456,3492,0,0,0,0,0,0
$GC,1110,-1.42,-116.8,151.5,-12.4,103,1114,0.00,2.42,0.00,0.000,6,0.000,0.025,2843,1904,3492,0,0,0,0,0,0
$GC,1376,-1.42,-116.8,185.6,-12.7,127,1380,0.00,2.42,0.00,0.000,4,0.000,0.031,2842,3452,3492,0,0,0,0,0,0
$GC,1423,-1.42,-116.8,192.3,-12.7,130,1429,0.00,2.40,0.00,0.000,6,0.000,0.024,2842,1922,3492,0,0,0,0,0,0
$GC,1696,-1.42,-116.8,224.5,-11.3,142,1697,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1921,3493,0,0,0,0,0,0
$GC,1939,-1.42,-116.8,249.3,-10.2,148,1944,0.00,2.42,0.00,0.000,4,0.000,0.028,2842,3457,3493,0,0,0,0,0,0
$GC,1980,-1.42,-116.8,253.6,-10.6,149,1985,0.00,2.42,0.00,0.000,6,0.000,0.031,2842,1916,3493,0,0,0,0,0,0
$GC,2264,-1.42,-116.8,284.3,-11.1,156,2268,0.00,2.45,0.00,0.000,4,0.000,0.037,2842,3449,3493,0,0,0,0,0,0
$GC,2313,-1.47,-116.8,290.2,-11.9,157,2318,0.00,2.45,0.00,0.000,6,0.000,0.033,2842,1922,3493,0,0,0,0,0,0
$GC,2586,-1.47,-116.8,320.5,-11.4,164,2590,0.00,2.42,0.00,0.000,4,0.000,0.038,2842,3446,3492,0,0,0,0,0,0
$GC,2636,-1.52,-116.8,326.3,-11.3,165,2641,0.00,2.47,0.00,0.000,6,0.000,0.034,2842,1926,3492,0,0,0,0,0,0
$GC,2909,-1.52,-116.8,357.9,-11.5,172,2913,0.00,2.45,0.00,0.000,4,0.000,0.039,2842,3445,3490,0,0,0,0,0,0
$GC,2937,-1.52,-116.8,361.3,-11.6,172,2942,0.00,2.50,0.00,0.000,6,0.000,0.044,2842,1931,3490,0,0,0,0,0,0
$GC,3188,-1.57,-116.8,387.4,-10.2,178,3189,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1931,3489,0,0,0,0,0,0
$GC,3432,-1.63,-116.8,408.6,-8.5,184,3437,0.12,2.50,0.00,0.000,4,0.074,0.047,2797,3446,3488,0,0,0,0,0,0
$GC,3455,-1.63,-116.8,410.6,-8.8,184,3459,0.00,2.55,0.00,0.000,6,0.000,0.055,2797,1931,3488,0,0,0,0,0,0
$GC,3709,-1.63,-116.8,438.0,-11.0,191,3710,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1931,3486,0,0,0,0,0,0
$GC,3953,-1.63,-116.8,467.7,-12.3,197,3954,0.00,0.00,0.00,0.000,6,0.000,0.000,2797,1931,3484,0,0,0,0,0,0
$GC,4197,-1.63,-116.8,497.6,-12.2,203,4201,0.00,2.55,0.00,0.000,4,0.000,0.061,2797,3442,3483,0,0,0,0,0,0
$STATE,4215,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4216,begin apogee
$GC,4225,-0.31,0.0,500.5,13.2,203,4326,1.33,0.00,97.00,0.917,6,0.084,0.000,3097,1996,3010,0,0,0,0,0,0
$STATE,4327,end apogee,CONTROL_FINISHED_OK
$STATE,4327,begin climb
$GC,4330,1.38,116.8,505.3,0.0,206,4434,1.58,0.00,100.32,0.897,6,0.036,0.000,3480,1995,2533,0,0,0,0,0,0
$GC,4647,1.31,178.7,494.8,6.5,214,4707,0.12,2.70,53.53,0.882,4,0.127,0.056,3456,3542,2280,0,0,0,0,0,0
$GC,4764,1.24,189.4,485.4,9.4,216,4780,0.00,2.65,10.57,0.779,6,0.000,0.056,3456,1994,2237,0,0,0,0,0,0
$GC,5060,1.18,189.4,455.9,10.3,224,5065,0.15,3.00,0.00,0.000,4,0.121,0.105,3426,407,2230,0,0,0,0,0,0
$GC,5134,1.12,189.4,447.8,10.6,225,5139,0.00,2.53,0.00,0.000,6,0.000,0.028,3426,1954,2228,0,0,0,0,0,0
$GC,5386,1.13,197.4,424.0,9.6,231,5394,0.00,0.00,6.88,0.715,6,0.000,0.000,3426,1954,2205,0,0,0,0,0,0
$GC,5628,1.14,199.9,399.8,9.9,237,5629,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1954,2202,0,0,0,0,0,0
$GC,5871,1.15,212.1,376.7,9.3,243,5891,0.00,2.75,14.12,0.801,4,0.000,0.068,3426,400,2144,0,0,0,0,0,0
$GC,5937,1.15,212.1,370.5,10.4,244,5942,0.00,2.58,0.00,0.000,6,0.000,0.027,3426,1998,2142,0,0,0,0,0,0
$GC,6198,1.19,242.9,348.4,8.3,251,6232,0.00,2.85,28.23,0.818,4,0.000,0.062,3426,406,2018,0,0,0,0,0,0
$GC,6249,1.19,242.9,343.6,10.1,252,6253,0.00,2.50,0.00,0.000,6,0.000,0.023,3426,1978,2016,0,0,0,0,0,0
$GC,6523,1.25,254.9,318.4,9.3,259,6536,0.00,0.00,11.48,0.744,6,0.000,0.000,3426,1979,1970,0,0,0,0,0,0
$GC,6765,1.32,262.8,295.2,9.6,265,6780,0.12,2.78,8.25,0.692,4,0.080,0.063,3461,402,1938,0,0,0,0,0,0
$GC,6851,1.28,262.8,285.9,11.7,266,6856,0.00,2.53,0.00,0.000,6,0.000,0.018,3461,1994,1934,0,0,0,0,0,0
$GC,7100,1.28,262.8,259.9,10.3,273,7101,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1994,1934,0,0,0,0,0,0
$GC,7344,1.28,262.8,232.5,11.4,279,7348,0.00,2.55,0.00,0.000,4,0.000,0.035,3461,3560,1934,0,0,0,0,0,0
$GC,7393,1.28,262.8,226.5,12.2,280,7397,0.00,2.60,0.00,0.000,6,0.000,0.036,3461,1964,1931,0,0,0,0,0,0
$GC,7654,1.28,262.8,197.1,10.8,288,7658,0.00,2.65,0.00,0.000,4,0.000,0.067,3461,412,1931,0,0,0,0,0,0
$GC,7745,1.28,262.8,186.1,11.8,295,7751,0.00,2.45,0.00,0.000,6,0.000,0.024,3461,1987,1931,0,0,0,0,0,0
$GC,8009,1.28,266.8,160.8,9.8,320,8020,0.00,2.72,3.75,0.436,4,0.000,0.060,3461,407,1922,0,0,0,0,0,0
$GC,8060,1.28,266.8,155.2,10.2,324,8069,0.00,2.47,0.00,0.000,6,0.000,0.025,3462,1982,1921,0,0,0,0,0,0
$GC,8329,1.37,292.4,131.7,8.6,349,8358,0.00,2.58,23.65,0.635,4,0.000,0.031,3461,3556,1817,0,0,0,0,0,0
$GC,8394,1.45,292.4,124.7,11.0,354,8399,0.10,2.58,0.00,0.000,6,0.087,0.028,3491,1977,1816,0,0,0,0,0,0
$GC,8655,1.45,292.4,97.1,10.6,378,8659,0.00,2.65,0.00,0.000,4,0.000,0.061,3491,407,1815,0,0,0,0,0,0
$GC,8700,1.45,292.4,92.9,10.5,381,8704,0.00,2.45,0.00,0.000,6,0.000,0.018,3491,1986,1813,0,0,0,0,0,0
$GC,8968,1.47,309.0,68.5,9.1,405,8996,0.00,2.75,15.27,0.558,4,0.000,0.053,3491,406,1748,0,0,0,0,0,0
$GC,9013,1.49,325.9,64.2,9.1,408,9042,0.00,2.45,16.25,0.551,6,0.000,0.017,3491,1984,1679,0,0,0,0,0,0
$GC,9299,1.55,325.9,36.0,11.7,434,9304,0.00,2.62,0.00,0.000,4,0.000,0.049,3491,408,1677,0,0,0,0,0,0
$GC,9331,1.55,325.9,31.8,12.1,436,9336,0.00,2.38,0.00,0.000,6,0.000,0.017,3490,1963,1677,0,0,0,0,0,0
$STATE,9614,end climb,SURFACE_DEPTH_REACHED
$STATE,9614,begin surface coast
$FINISH,0.6,0.972468
$STATE,9663,end surface coast,CONTROL_FINISHED_OK
$STATE,9663,begin surface
$SM_CCo,9687,43.60,0.520,0,0,1459,380.21
$SM_GC,1.09,0.00,0.00,43.60,0.000,0.000,0.520,477,1875,1459,-12.39,-0.42,380.21
$IRIDIUM_FIX,2241.69,-15759.32,170900,020241
$TT8_MAMPS,0.026078
$HUMID,63.62
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.50
$XPDR_PINGS,39
$24V_AH,23.5,45.549
$10V_AH,10.3,40.039
$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,28.475,112.200,389.300,43.600,0.000,103.163,152.992,422.317,9.750,0.000,16.530,984.523,6477.963,500.665,1806.876,982.892,33.370,1164.775,0.000,1812.361,0.000,0.536,0.000
$DEVICE_MAMPS,149.565,105.079,916.565,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,327.942,290.693,373.345,718.899,1087.307,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,38289,484
$CAP_FILE_SIZE,109703,0
$CFSIZE,260165632,163221504
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240611,052951,2249.550,-15800.841,8,99.0,27,10.1