version: 66.06
glider: 146
mission: 6
dive: 363
start: 6 24 111 5 37 51
data:
$ID,146
$MISSION,6
$DIVE,363
$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,-276804.16
$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,37
$R_STBD_OVSHOOT,65
$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
$GPS1,052951,2249.550,-15800.841,8,99.0,27,10.1
$_CALLS,1
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.2
$GPS2,053656,2249.586,-15800.857,15,1.8,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.232,-0.039
$KALMAN_X,-235425.6,-29.3,155.7,228358.7,-1073.3
$KALMAN_Y,3291.7,248.7,199.5,6790.4,535.8
$MHEAD_RNG_PITCHd_Wd,89.6,6630,-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,-70.90,0.000,2,0.000,0.000,476,1876,3274,0,0,0,0,0,0
$GC,93,-1.38,-116.8,4.0,-8.0,9,119,12.35,2.62,-3.85,0.000,4,0.147,0.059,2861,322,3490,0,0,0,0,0,0
$GC,130,-0.46,-116.8,17.7,-34.2,13,140,0.90,2.42,0.00,0.000,6,0.086,0.015,3064,1900,3491,0,0,0,0,0,0
$GC,431,-0.76,-116.8,38.5,-5.9,48,436,0.25,2.40,0.00,0.000,4,0.046,0.025,2983,3428,3492,0,0,0,0,0,0
$GC,490,-0.96,-116.8,43.8,-9.5,52,494,0.00,2.40,0.00,0.000,6,0.000,0.024,2983,1903,3493,0,0,0,0,0,0
$GC,759,-1.12,-116.8,67.1,-8.5,76,765,0.25,2.62,0.00,0.000,4,0.046,0.049,2902,316,3493,0,0,0,0,0,0
$GC,781,-1.21,-116.8,69.5,-8.4,77,785,0.00,2.40,0.00,0.000,6,0.000,0.014,2901,1919,3493,0,0,0,0,0,0
$GC,1045,-1.21,-116.8,103.0,-13.1,101,1049,0.00,2.33,0.00,0.000,4,0.000,0.026,2901,3417,3494,0,0,0,0,0,0
$GC,1068,-1.21,-116.8,106.5,-13.2,102,1077,0.00,2.42,0.00,0.000,6,0.000,0.028,2902,1901,3494,0,0,0,0,0,0
$GC,1335,-1.25,-116.8,137.0,-10.5,127,1339,0.00,2.40,0.00,0.000,4,0.000,0.030,2902,3422,3494,0,0,0,0,0,0
$GC,1393,-1.34,-116.8,142.7,-10.1,131,1398,0.10,2.38,0.00,0.000,6,0.082,0.025,2858,1901,3494,0,0,0,0,0,0
$GC,1654,-1.34,-116.8,174.4,-12.8,155,1658,0.00,2.38,0.00,0.000,4,0.000,0.024,2858,3425,3494,0,0,0,0,0,0
$GC,1780,-1.34,-116.8,190.2,-12.8,165,1789,0.00,2.42,0.00,0.000,6,0.000,0.025,2858,1907,3495,0,0,0,0,0,0
$GC,2063,-1.34,-116.8,224.9,-11.7,178,2064,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1907,3495,0,0,0,0,0,0
$GC,2307,-1.34,-116.8,249.5,-9.8,184,2311,0.00,2.40,0.00,0.000,4,0.000,0.031,2858,3419,3496,0,0,0,0,0,0
$GC,2352,-1.39,-116.8,254.1,-10.3,185,2356,0.00,2.38,0.00,0.000,6,0.000,0.031,2858,1916,3496,0,0,0,0,0,0
$GC,2630,-1.39,-116.8,281.7,-10.0,192,2634,0.00,2.38,0.00,0.000,4,0.000,0.028,2858,3421,3496,0,0,0,0,0,0
$GC,2750,-1.47,-116.8,293.7,-9.4,194,2754,0.00,2.35,0.00,0.000,6,0.000,0.031,2858,1935,3496,0,0,0,0,0,0
$GC,3001,-1.51,-116.8,317.8,-9.7,200,3002,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1936,3496,0,0,0,0,0,0
$GC,3244,-1.57,-116.8,341.2,-9.5,206,3249,0.12,2.38,0.00,0.000,4,0.071,0.038,2814,3411,3495,0,0,0,0,0,0
$GC,3340,-1.57,-116.8,352.2,-11.5,208,3344,0.00,2.40,0.00,0.000,6,0.000,0.045,2814,1937,3495,0,0,0,0,0,0
$GC,3612,-1.57,-116.8,385.2,-12.2,215,3613,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1937,3494,0,0,0,0,0,0
$GC,3855,-1.57,-116.8,413.5,-11.6,221,3860,0.00,2.97,0.00,0.000,4,0.000,0.100,2813,308,3493,0,0,0,0,0,0
$GC,3878,-1.57,-116.8,416.2,-12.3,221,3882,0.00,2.53,0.00,0.000,6,0.000,0.032,2814,1878,3492,0,0,0,0,0,0
$GC,4132,-1.57,-116.8,442.8,-10.3,228,4137,0.00,2.70,0.00,0.000,4,0.000,0.061,2813,3468,3491,0,0,0,0,0,0
$GC,4216,-1.57,-116.8,451.5,-10.6,230,4221,0.00,2.58,0.00,0.000,6,0.000,0.057,2814,1943,3490,0,0,0,0,0,0
$GC,4501,-1.57,-116.8,479.3,-10.0,237,4502,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1943,3488,0,0,0,0,0,0
$STATE,4700,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4700,begin apogee
$GC,4707,-0.31,0.0,501.8,11.1,242,4808,1.25,0.00,97.93,0.913,6,0.074,0.000,3101,2027,3010,0,0,0,0,0,0
$STATE,4809,end apogee,CONTROL_FINISHED_OK
$STATE,4809,begin climb
$GC,4812,1.38,116.8,504.4,0.0,244,4916,1.52,0.00,99.90,0.894,6,0.037,0.000,3475,2027,2533,0,0,0,0,0,0
$GC,5140,1.29,149.5,487.7,8.2,252,5175,0.12,3.10,28.00,0.862,4,0.125,0.098,3451,417,2399,0,0,0,0,0,0
$GC,5192,1.17,153.5,482.6,9.8,253,5203,0.12,2.55,4.82,0.610,6,0.126,0.035,3427,1968,2384,0,0,0,0,0,0
$GC,5466,1.21,187.8,460.5,8.1,260,5506,0.00,2.80,31.12,0.861,4,0.000,0.076,3426,412,2242,0,0,0,0,0,0
$GC,5542,1.16,194.9,453.9,9.6,261,5556,0.00,2.58,7.38,0.719,6,0.000,0.028,3426,1997,2214,0,0,0,0,0,0
$GC,5842,1.19,221.4,428.3,8.5,269,5868,0.00,0.00,24.55,0.843,6,0.000,0.000,3426,1997,2106,0,0,0,0,0,0
$GC,6084,1.20,224.2,404.9,9.9,275,6086,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1997,2101,0,0,0,0,0,0
$GC,6328,1.20,230.3,381.2,9.7,281,6342,0.00,2.83,8.00,0.729,4,0.000,0.065,3426,413,2071,0,0,0,0,0,0
$GC,6405,1.20,230.3,372.9,10.8,282,6410,0.00,2.53,0.00,0.000,6,0.000,0.028,3426,1996,2068,0,0,0,0,0,0
$GC,6655,1.23,251.5,350.6,8.8,288,6681,0.00,2.80,20.42,0.800,4,0.000,0.061,3426,401,1982,0,0,0,0,0,0
$GC,6733,1.23,251.5,342.6,11.0,289,6738,0.00,2.53,0.00,0.000,6,0.000,0.021,3426,1975,1980,0,0,0,0,0,0
$GC,6983,1.28,255.3,318.4,9.8,296,6989,0.10,0.00,3.95,0.522,6,0.092,0.000,3454,1974,1970,0,0,0,0,0,0
$GC,7226,1.28,255.3,291.6,10.9,302,7231,0.00,2.70,0.00,0.000,4,0.000,0.062,3454,402,1968,0,0,0,0,0,0
$GC,7277,1.28,255.3,285.9,11.3,303,7281,0.00,2.53,0.00,0.000,6,0.000,0.020,3454,1998,1966,0,0,0,0,0,0
$GC,7548,1.30,269.5,260.4,9.2,310,7564,0.00,0.00,14.05,0.723,6,0.000,0.000,3455,1998,1911,0,0,0,0,0,0
$GC,7792,1.30,269.5,236.2,10.1,316,7793,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1999,1908,0,0,0,0,0,0
$GC,8037,1.33,269.5,208.4,11.6,322,8042,0.00,2.72,0.00,0.000,4,0.000,0.055,3454,400,1907,0,0,0,0,0,0
$GC,8126,1.33,269.5,196.9,13.6,324,8136,0.00,2.47,0.00,0.000,6,0.000,0.018,3454,1976,1905,0,0,0,0,0,0
$GC,8395,1.41,297.6,171.7,8.4,349,8424,0.10,0.00,25.15,0.670,6,0.090,0.000,3484,1977,1795,0,0,0,0,0,0
$GC,8675,1.42,304.1,144.4,9.7,376,8689,0.00,0.00,6.70,0.547,6,0.000,0.000,3484,1977,1768,0,0,0,0,0,0
$GC,8946,1.42,304.1,117.8,10.0,401,8950,0.00,2.65,0.00,0.000,4,0.000,0.051,3484,403,1767,0,0,0,0,0,0
$GC,8990,1.42,304.1,112.5,10.2,404,9000,0.00,2.47,0.00,0.000,6,0.000,0.024,3484,1984,1766,0,0,0,0,0,0
$GC,9261,1.48,322.6,89.8,9.0,429,9285,0.00,2.67,17.60,0.581,4,0.000,0.051,3485,406,1692,0,0,0,0,0,0
$GC,9372,1.48,322.6,78.1,11.1,438,9376,0.00,2.42,0.00,0.000,6,0.000,0.019,3484,1965,1690,0,0,0,0,0,0
$GC,9641,1.56,332.9,52.7,9.4,462,9657,0.10,2.65,10.18,0.518,4,0.094,0.049,3514,404,1650,0,0,0,0,0,0
$GC,9725,1.56,332.9,41.5,13.6,468,9734,0.00,2.40,0.00,0.000,6,0.000,0.017,3514,1941,1649,0,0,0,0,0,0
$GC,10034,1.56,332.9,5.7,13.0,507,10043,0.00,2.60,0.00,0.000,4,0.000,0.051,3514,405,1649,0,0,0,0,0,0
$STATE,10053,end climb,SURFACE_DEPTH_REACHED
$STATE,10053,begin surface coast
$FINISH,0.6,0.980036
$STATE,10095,end surface coast,CONTROL_FINISHED_OK
$STATE,10095,begin surface
$SM_CCo,10120,39.22,0.519,0,0,1459,380.21
$SM_GC,1.34,0.00,0.00,39.22,0.000,0.000,0.519,474,1926,1459,-12.40,1.02,380.21
$IRIDIUM_FIX,2239.35,-15809.75,170900,020247
$TT8_MAMPS,0.026078
$HUMID,63.15
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.70
$XPDR_PINGS,37
$24V_AH,23.5,45.665
$10V_AH,10.3,40.158
$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,29.600,106.675,399.750,39.225,0.000,22.939,35.501,229.672,9.250,0.000,17.206,1029.544,6480.146,512.058,1989.759,576.924,33.370,1218.692,0.000,1999.773,0.000,0.534,0.000
$DEVICE_MAMPS,147.264,100.477,913.497,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,348.767,292.683,403.213,795.637,1203.252,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355472
$DATA_FILE_SIZE,41495,515
$CAP_FILE_SIZE,102662,0
$CFSIZE,260165632,163172352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240611,082852,2249.589,-15759.906,39,2.7,58,10.1