version: 66.06
glider: 146
mission: 6
dive: 366
start: 6 24 111 14 19 28
data:
$ID,146
$MISSION,6
$DIVE,366
$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,-276887.78
$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,51
$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
$GPS1,141207,2249.659,-15758.804,39,1.9,39,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.8
$GPS2,141832,2249.734,-15758.860,11,2.0,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.231,-0.043
$KALMAN_X,-238286.7,53.4,-235.9,234947.6,-765.4
$KALMAN_Y,5921.9,-16.8,304.8,4590.7,668.1
$MHEAD_RNG_PITCHd_Wd,90.5,3213,-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,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.43,0.000,2,0.000,0.000,472,1841,3465,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.3,-7.8,10,119,12.30,2.55,-0.35,0.000,4,0.145,0.042,2859,3454,3488,0,0,0,0,0,0
$GC,189,-1.32,-116.8,29.5,-15.2,22,198,0.10,2.47,0.00,0.000,6,0.101,0.025,2883,1913,3490,0,0,0,0,0,0
$GC,459,-1.26,-116.8,70.3,-13.4,47,463,0.00,2.42,0.00,0.000,4,0.000,0.032,2883,3458,3490,0,0,0,0,0,0
$GC,480,-1.26,-116.8,73.8,-13.6,48,484,0.00,2.47,0.00,0.000,6,0.000,0.026,2884,1881,3490,0,0,0,0,0,0
$GC,742,-1.26,-116.8,109.0,-11.7,72,747,0.00,2.45,0.00,0.000,4,0.000,0.032,2884,3449,3491,0,0,0,0,0,0
$GC,790,-1.26,-116.8,114.3,-10.5,75,796,0.00,2.42,0.00,0.000,6,0.000,0.031,2884,1897,3491,0,0,0,0,0,0
$GC,1053,-1.26,-116.8,142.8,-10.0,100,1057,0.00,2.42,0.00,0.000,4,0.000,0.026,2884,3449,3492,0,0,0,0,0,0
$GC,1100,-1.34,-116.8,147.9,-10.3,103,1106,0.00,2.40,0.00,0.000,6,0.000,0.031,2883,1912,3492,0,0,0,0,0,0
$GC,1363,-1.38,-116.8,175.3,-10.7,128,1367,0.00,2.42,0.00,0.000,4,0.000,0.026,2883,3450,3493,0,0,0,0,0,0
$GC,1415,-1.46,-116.8,180.9,-10.8,132,1420,0.15,2.38,0.00,0.000,6,0.061,0.030,2831,1921,3493,0,0,0,0,0,0
$GC,1695,-1.41,-116.8,216.7,-12.9,149,1700,0.15,2.42,0.00,0.000,4,0.104,0.031,2863,3450,3493,0,0,0,0,0,0
$GC,1752,-1.47,-116.8,223.5,-10.9,150,1756,0.00,2.38,0.00,0.000,6,0.000,0.025,2863,1930,3493,0,0,0,0,0,0
$GC,2018,-1.47,-116.8,251.0,-9.9,157,2022,0.00,2.40,0.00,0.000,4,0.000,0.035,2864,3457,3494,0,0,0,0,0,0
$GC,2058,-1.54,-116.8,254.9,-9.5,158,2063,0.12,2.40,0.00,0.000,6,0.071,0.025,2816,1938,3494,0,0,0,0,0,0
$GC,2343,-1.49,-116.8,286.6,-10.8,165,2348,0.12,2.42,0.00,0.000,4,0.109,0.038,2842,3448,3494,0,0,0,0,0,0
$GC,2375,-1.49,-116.8,290.5,-11.7,165,2381,0.00,2.38,0.00,0.000,6,0.000,0.032,2843,1934,3494,0,0,0,0,0,0
$GC,2626,-1.49,-116.8,316.9,-10.9,172,2630,0.00,2.42,0.00,0.000,4,0.000,0.038,2842,3454,3494,0,0,0,0,0,0
$GC,2700,-1.55,-116.8,324.7,-10.6,173,2704,0.00,2.42,0.00,0.000,6,0.000,0.041,2843,1956,3494,0,0,0,0,0,0
$GC,2950,-1.55,-116.8,348.7,-9.5,179,2951,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1956,3493,0,0,0,0,0,0
$GC,3194,-1.59,-116.8,370.3,-8.7,185,3198,0.00,2.92,0.00,0.000,4,0.000,0.087,2842,312,3492,0,0,0,0,0,0
$GC,3216,-1.59,-116.8,372.2,-8.4,185,3221,0.00,2.58,0.00,0.000,6,0.000,0.028,2843,1932,3492,0,0,0,0,0,0
$GC,3472,-1.64,-116.8,394.6,-8.9,192,3477,0.12,2.55,0.00,0.000,4,0.081,0.049,2803,3470,3491,0,0,0,0,0,0
$GC,3556,-1.64,-116.8,403.7,-11.0,194,3561,0.00,2.47,0.00,0.000,6,0.000,0.054,2803,1979,3490,0,0,0,0,0,0
$GC,3841,-1.64,-116.8,435.4,-11.2,201,3842,0.00,0.00,0.00,0.000,6,0.000,0.000,2803,1979,3488,0,0,0,0,0,0
$GC,4083,-1.64,-116.8,464.9,-12.1,207,4088,0.00,2.45,0.00,0.000,4,0.000,0.053,2803,3464,3487,0,0,0,0,0,0
$GC,4116,-1.64,-116.8,469.2,-12.7,207,4122,0.00,2.50,0.00,0.000,6,0.000,0.056,2803,1983,3487,0,0,0,0,0,0
$GC,4368,-1.64,-116.8,496.2,-10.6,214,4372,0.00,2.47,0.00,0.000,4,0.000,0.050,2803,3465,3485,0,0,0,0,0,0
$STATE,4404,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4404,begin apogee
$GC,4413,-0.31,0.0,500.5,11.2,215,4514,1.33,0.00,97.75,0.913,6,0.081,0.000,3101,1999,3010,0,0,0,0,0,0
$STATE,4515,end apogee,CONTROL_FINISHED_OK
$STATE,4515,begin climb
$GC,4518,1.38,116.8,502.4,0.0,217,4622,1.58,0.00,100.32,0.893,6,0.041,0.000,3480,1999,2533,0,0,0,0,0,0
$GC,4854,1.25,129.2,481.3,9.3,226,4871,0.17,3.00,10.48,0.782,4,0.118,0.104,3446,402,2483,0,0,0,0,0,0
$GC,4905,1.13,141.4,476.3,9.3,227,4925,0.15,2.60,12.50,0.798,6,0.126,0.037,3416,1995,2432,0,0,0,0,0,0
$GC,5183,1.19,191.3,455.6,7.2,234,5233,0.00,2.75,44.60,0.867,4,0.000,0.061,3416,3578,2228,0,0,0,0,0,0
$GC,5265,1.20,194.9,449.0,9.8,236,5274,0.00,2.70,4.10,0.551,6,0.000,0.046,3416,1988,2215,0,0,0,0,0,0
$GC,5555,1.20,200.9,421.2,9.7,243,5569,0.00,2.90,6.65,0.704,4,0.000,0.093,3416,407,2189,0,0,0,0,0,0
$GC,5598,1.20,200.9,416.2,11.9,244,5603,0.00,2.58,0.00,0.000,6,0.000,0.025,3416,2002,2188,0,0,0,0,0,0
$GC,5884,1.21,208.7,388.5,9.6,251,5898,0.00,2.65,7.78,0.728,4,0.000,0.044,3416,3570,2158,0,0,0,0,0,0
$GC,5931,1.21,208.7,383.4,10.3,252,5936,0.00,2.62,0.00,0.000,6,0.000,0.043,3416,1992,2157,0,0,0,0,0,0
$GC,6209,1.25,242.4,359.2,8.1,259,6250,0.12,2.85,30.85,0.821,4,0.082,0.077,3451,404,2021,0,0,0,0,0,0
$GC,6281,1.18,242.4,353.1,10.2,260,6287,0.12,2.55,0.00,0.000,6,0.122,0.025,3427,2005,2019,0,0,0,0,0,0
$GC,6537,1.25,270.1,331.0,8.4,267,6569,0.00,2.83,25.75,0.793,4,0.000,0.065,3426,400,1906,0,0,0,0,0,0
$GC,6615,1.25,270.1,323.1,11.6,268,6620,0.00,2.53,0.00,0.000,6,0.000,0.021,3427,1983,1904,0,0,0,0,0,0
$GC,6865,1.31,271.1,297.9,10.0,275,6867,0.12,0.00,0.00,0.000,6,0.080,0.000,3461,1984,1902,0,0,0,0,0,0
$GC,7108,1.31,271.1,270.8,10.9,281,7112,0.00,2.70,0.00,0.000,4,0.000,0.058,3461,402,1901,0,0,0,0,0,0
$GC,7153,1.31,271.1,266.0,11.5,282,7157,0.00,2.47,0.00,0.000,6,0.000,0.025,3461,1993,1900,0,0,0,0,0,0
$GC,7430,1.31,271.1,236.6,10.7,289,7431,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1994,1899,0,0,0,0,0,0
$GC,7673,1.31,271.1,211.7,10.2,295,7678,0.00,2.67,0.00,0.000,4,0.000,0.054,3461,400,1898,0,0,0,0,0,0
$GC,7701,1.31,271.1,208.8,11.5,295,7706,0.00,2.47,0.00,0.000,6,0.000,0.018,3461,1988,1897,0,0,0,0,0,0
$GC,7963,1.31,275.8,182.9,9.8,313,7973,0.00,2.70,4.53,0.497,4,0.000,0.059,3461,402,1885,0,0,0,0,0,0
$GC,7988,1.31,275.8,179.5,11.4,315,7998,0.00,2.47,0.00,0.000,6,0.000,0.018,3461,1984,1885,0,0,0,0,0,0
$GC,8257,1.37,288.5,155.3,9.3,340,8278,0.00,2.75,12.75,0.625,4,0.000,0.059,3461,400,1833,0,0,0,0,0,0
$GC,8318,1.37,288.5,148.2,10.9,345,8324,0.00,2.47,0.00,0.000,6,0.000,0.018,3461,1984,1832,0,0,0,0,0,0
$GC,8583,1.45,303.2,122.5,9.2,370,8603,0.10,2.53,14.27,0.598,4,0.087,0.031,3491,3551,1772,0,0,0,0,0,0
$GC,8620,1.45,303.2,118.8,10.3,373,8625,0.00,2.60,0.00,0.000,6,0.000,0.031,3491,1954,1771,0,0,0,0,0,0
$GC,8888,1.46,311.8,91.7,9.5,397,8898,0.00,0.00,8.70,0.535,6,0.000,0.000,3491,1954,1738,0,0,0,0,0,0
$GC,9155,1.53,324.7,67.2,9.3,422,9173,0.00,2.62,12.73,0.543,4,0.000,0.055,3491,413,1684,0,0,0,0,0,0
$GC,9205,1.53,324.7,62.3,10.3,425,9210,0.00,2.42,0.00,0.000,6,0.000,0.018,3491,1992,1683,0,0,0,0,0,0
$GC,9473,1.59,331.8,36.5,9.6,449,9483,0.10,0.00,7.55,0.473,6,0.088,0.000,3522,1994,1657,0,0,0,0,0,0
$STATE,9741,end climb,SURFACE_DEPTH_REACHED
$STATE,9741,begin surface coast
$FINISH,0.6,0.970980
$STATE,9783,end surface coast,CONTROL_FINISHED_OK
$STATE,9783,begin surface
$SM_CCo,9806,39.67,0.515,0,0,1459,380.21
$SM_GC,1.35,0.00,0.00,39.67,0.000,0.000,0.515,476,1842,1459,-12.39,-1.36,380.21
$IRIDIUM_FIX,2241.69,-15757.16,170900,111114
$TT8_MAMPS,0.026078
$HUMID,63.15
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.60
$XPDR_PINGS,52
$24V_AH,23.5,46.006
$10V_AH,10.3,40.491
$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,29.250,127.775,401.300,39.675,0.000,24.454,40.919,187.365,13.000,0.000,12.874,1011.410,6329.952,507.348,1850.321,536.538,33.371,1202.463,0.000,1853.835,0.000,0.534,0.000
$DEVICE_MAMPS,144.963,104.312,913.497,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,332.690,287.300,379.575,711.712,1076.401,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355444
$DATA_FILE_SIZE,38295,492
$CAP_FILE_SIZE,107025,0
$CFSIZE,260165632,163008512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240611,170445,2249.900,-15757.938,9,4.0,28,10.1