version: 66.06
glider: 146
mission: 6
dive: 364
start: 6 24 111 8 36 9
data:
$ID,146
$MISSION,6
$DIVE,364
$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,-276839.25
$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,18
$R_STBD_OVSHOOT,89
$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
$GPS1,082852,2249.589,-15759.906,39,2.7,58,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.0
$GPS2,083516,2249.591,-15759.961,13,2.1,32,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.225,-0.067
$KALMAN_X,-236187.1,-35.3,146.1,230668.8,-975.8
$KALMAN_Y,4190.1,353.0,-402.0,6395.1,854.7
$MHEAD_RNG_PITCHd_Wd,96.4,5110,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,90,0.00,0.00,-71.03,0.000,2,0.000,0.000,474,1926,3266,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.7,-6.0,9,118,12.43,0.00,-4.10,0.000,6,0.150,0.000,2858,1926,3488,0,0,0,0,0,0
$GC,395,-1.27,-116.8,60.2,-16.5,43,404,0.15,0.00,0.00,0.000,6,0.128,0.000,2889,1926,3490,0,0,0,0,0,0
$GC,657,-1.27,-116.8,95.9,-12.9,68,661,0.00,2.35,0.00,0.000,4,0.000,0.026,2889,3423,3490,0,0,0,0,0,0
$GC,678,-1.27,-116.8,98.3,-12.6,69,683,0.00,2.45,0.00,0.000,6,0.000,0.026,2889,1877,3491,0,0,0,0,0,0
$GC,945,-1.27,-116.8,132.4,-13.0,93,949,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1876,3491,0,0,0,0,0,0
$GC,1211,-1.27,-116.8,161.0,-9.8,118,1215,0.00,2.45,0.00,0.000,4,0.000,0.031,2889,3424,3492,0,0,0,0,0,0
$GC,1314,-1.35,-116.8,172.0,-9.8,126,1322,0.00,2.47,0.00,0.000,6,0.000,0.025,2889,1881,3492,0,0,0,0,0,0
$GC,1582,-1.41,-116.8,199.0,-10.4,151,1587,0.10,2.42,0.00,0.000,4,0.084,0.029,2849,3423,3492,0,0,0,0,0,0
$GC,1637,-1.41,-116.8,206.1,-11.0,152,1641,0.00,2.40,0.00,0.000,6,0.000,0.025,2849,1891,3492,0,0,0,0,0,0
$GC,1905,-1.41,-116.8,234.9,-10.7,159,1909,0.00,2.42,0.00,0.000,4,0.000,0.033,2849,3427,3492,0,0,0,0,0,0
$GC,1950,-1.41,-116.8,239.8,-10.6,160,1954,0.00,2.42,0.00,0.000,6,0.000,0.031,2849,1901,3493,0,0,0,0,0,0
$GC,2227,-1.41,-116.8,269.3,-10.8,167,2231,0.00,2.40,0.00,0.000,4,0.000,0.028,2849,3425,3493,0,0,0,0,0,0
$GC,2345,-1.46,-116.8,282.7,-11.1,169,2350,0.00,2.40,0.00,0.000,6,0.000,0.030,2849,1921,3492,0,0,0,0,0,0
$GC,2595,-1.46,-116.8,308.6,-10.3,175,2599,0.00,2.38,0.00,0.000,4,0.000,0.035,2849,3425,3493,0,0,0,0,0,0
$GC,2622,-1.51,-116.8,311.6,-10.2,175,2626,0.00,2.40,0.00,0.000,6,0.000,0.031,2849,1933,3493,0,0,0,0,0,0
$GC,2874,-1.55,-116.8,337.0,-10.4,181,2875,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1933,3493,0,0,0,0,0,0
$GC,3116,-1.60,-116.8,362.4,-10.5,187,3121,0.12,2.42,0.00,0.000,4,0.070,0.036,2805,3418,3492,0,0,0,0,0,0
$GC,3143,-1.60,-116.8,365.8,-12.2,187,3147,0.00,2.42,0.00,0.000,6,0.000,0.041,2805,1939,3492,0,0,0,0,0,0
$GC,3400,-1.60,-116.8,395.7,-11.6,194,3404,0.00,2.40,0.00,0.000,4,0.000,0.038,2805,3413,3490,0,0,0,0,0,0
$GC,3432,-1.60,-116.8,399.7,-11.4,194,3438,0.00,2.47,0.00,0.000,6,0.000,0.050,2805,1935,3491,0,0,0,0,0,0
$GC,3682,-1.60,-116.8,426.7,-10.8,201,3687,0.00,3.00,0.00,0.000,4,0.000,0.104,2805,302,3489,0,0,0,0,0,0
$GC,3705,-1.56,-116.8,429.2,-11.2,201,3710,0.12,2.55,0.00,0.000,6,0.110,0.031,2831,1878,3489,0,0,0,0,0,0
$GC,3961,-1.60,-116.8,454.9,-10.0,208,3966,0.00,2.70,0.00,0.000,4,0.000,0.065,2831,3480,3487,0,0,0,0,0,0
$GC,4051,-1.67,-116.8,463.9,-9.6,210,4056,0.10,2.60,0.00,0.000,6,0.080,0.056,2788,1944,3487,0,0,0,0,0,0
$GC,4331,-1.63,-116.8,494.9,-11.4,217,4336,0.12,2.58,0.00,0.000,4,0.111,0.058,2815,3467,3485,0,0,0,0,0,0
$GC,4352,-1.63,-116.8,497.7,-11.5,217,4356,0.00,2.58,0.00,0.000,6,0.000,0.059,2815,1953,3484,0,0,0,0,0,0
$STATE,4402,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4402,begin apogee
$GC,4410,-0.31,0.0,503.3,11.0,219,4511,1.25,0.00,97.40,0.917,6,0.075,0.000,3100,2020,3010,0,0,0,0,0,0
$STATE,4512,end apogee,CONTROL_FINISHED_OK
$STATE,4512,begin climb
$GC,4514,1.38,116.8,506.2,0.0,221,4626,1.58,2.72,99.68,0.897,4,0.046,0.058,3481,3552,2532,0,0,0,0,0,0
$GC,4644,1.33,212.0,507.3,4.5,224,4734,0.00,2.67,82.78,0.884,6,0.000,0.053,3481,1990,2144,0,0,0,0,0,0
$GC,5020,1.23,212.0,464.5,12.6,234,5025,0.20,2.97,0.00,0.000,4,0.113,0.102,3441,410,2134,0,0,0,0,0,0
$GC,5100,1.15,212.0,454.7,11.8,235,5108,0.00,2.50,0.00,0.000,6,0.000,0.033,3440,1948,2133,0,0,0,0,0,0
$GC,5350,1.15,212.0,428.0,10.7,242,5354,0.00,2.75,0.00,0.000,4,0.000,0.054,3440,3584,2132,0,0,0,0,0,0
$GC,5406,1.15,212.0,421.5,11.9,243,5410,0.00,2.67,0.00,0.000,6,0.000,0.048,3441,1994,2130,0,0,0,0,0,0
$GC,5672,1.15,212.0,391.4,11.4,250,5676,0.00,2.85,0.00,0.000,4,0.000,0.091,3440,410,2129,0,0,0,0,0,0
$GC,5756,1.10,212.0,381.1,12.2,252,5761,0.15,2.53,0.00,0.000,6,0.120,0.027,3411,2012,2128,0,0,0,0,0,0
$GC,6042,1.18,239.0,355.8,8.5,259,6071,0.00,2.88,22.30,0.807,4,0.000,0.066,3410,410,2034,0,0,0,0,0,0
$GC,6110,1.18,239.0,349.1,10.2,260,6115,0.00,2.53,0.00,0.000,6,0.000,0.025,3410,1988,2031,0,0,0,0,0,0
$GC,6368,1.27,255.9,325.8,9.1,267,6392,0.15,2.75,16.27,0.770,4,0.076,0.064,3451,407,1965,0,0,0,0,0,0
$GC,6420,1.23,255.9,319.1,13.2,268,6425,0.00,2.53,0.00,0.000,6,0.000,0.026,3450,1986,1963,0,0,0,0,0,0
$GC,6693,1.23,255.9,288.3,11.0,275,6694,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1986,1961,0,0,0,0,0,0
$GC,6938,1.24,262.8,264.7,9.6,281,6952,0.00,2.78,6.85,0.644,4,0.000,0.058,3452,405,1937,0,0,0,0,0,0
$GC,7002,1.24,262.8,257.3,11.6,282,7007,0.00,2.47,0.00,0.000,6,0.000,0.023,3451,1991,1935,0,0,0,0,0,0
$GC,7264,1.24,265.5,231.3,9.9,289,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1992,1934,0,0,0,0,0,0
$GC,7510,1.28,266.8,207.2,10.0,295,7516,0.00,0.00,4.47,0.513,6,0.000,0.000,3451,1992,1922,0,0,0,0,0,0
$GC,7763,1.32,266.8,182.2,10.4,313,7767,0.00,2.67,0.00,0.000,4,0.000,0.054,3451,401,1921,0,0,0,0,0,0
$GC,7843,1.32,266.8,172.8,11.3,319,7849,0.00,2.47,0.00,0.000,6,0.000,0.023,3451,1993,1919,0,0,0,0,0,0
$GC,8106,1.41,293.0,148.3,8.5,344,8138,0.10,0.00,24.35,0.648,6,0.097,0.000,3480,1994,1814,0,0,0,0,0,0
$GC,8392,1.41,297.8,121.3,9.8,371,8403,0.00,2.67,5.40,0.492,4,0.000,0.051,3479,403,1794,0,0,0,0,0,0
$GC,8420,1.43,308.7,118.7,9.4,373,8436,0.00,2.45,11.00,0.577,6,0.000,0.018,3480,1990,1750,0,0,0,0,0,0
$GC,8691,1.48,308.7,90.7,10.1,398,8695,0.00,2.67,0.00,0.000,4,0.000,0.054,3480,400,1749,0,0,0,0,0,0
$GC,8713,1.48,308.7,88.2,10.8,399,8718,0.00,2.45,0.00,0.000,6,0.000,0.018,3479,1979,1748,0,0,0,0,0,0
$GC,8983,1.56,314.4,63.9,9.7,424,8998,0.12,2.70,6.32,0.478,4,0.077,0.051,3516,400,1727,0,0,0,0,0,0
$GC,9039,1.56,314.4,57.6,11.5,428,9043,0.00,2.40,0.00,0.000,6,0.000,0.017,3516,1966,1726,0,0,0,0,0,0
$GC,9308,1.56,314.4,27.8,11.5,453,9317,0.00,2.65,0.00,0.000,4,0.000,0.049,3516,400,1726,0,0,0,0,0,0
$GC,9342,1.56,314.4,23.5,12.3,457,9352,0.00,2.42,0.00,0.000,6,0.000,0.023,3516,1952,1726,0,0,0,0,0,0
$STATE,9517,end climb,SURFACE_DEPTH_REACHED
$STATE,9517,begin surface coast
$FINISH,0.5,0.980117
$STATE,9575,end surface coast,CONTROL_FINISHED_OK
$STATE,9575,begin surface
$SM_CCo,9599,54.15,0.521,0,0,1459,380.21
$SM_GC,1.37,0.00,0.00,54.15,0.000,0.000,0.521,481,1823,1459,-12.37,-1.92,380.21
$IRIDIUM_FIX,2239.35,-15800.20,170900,050538
$TT8_MAMPS,0.026078
$HUMID,63.11
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.70
$XPDR_PINGS,45
$24V_AH,23.5,45.777
$10V_AH,10.3,40.269
$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,29.050,118.075,376.825,54.150,0.000,31.221,32.530,162.816,11.250,0.000,34.471,994.668,6107.216,493.967,1937.645,504.351,33.367,1211.120,0.000,1915.565,0.000,0.534,0.000
$DEVICE_MAMPS,150.332,119.652,917.332,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.299,273.575,381.516,723.567,1095.718,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355448
$DATA_FILE_SIZE,38384,490
$CAP_FILE_SIZE,103941,0
$CFSIZE,260165632,163119104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240611,111816,2249.647,-15759.252,13,2.2,32,10.1