version: 66.06
glider: 146
mission: 6
dive: 367
start: 6 24 111 17 20 9
data:
$ID,146
$MISSION,6
$DIVE,367
$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,-276921.88
$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,66
$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
$GPS1,170445,2249.900,-15757.938,9,4.0,28,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.9
$GPS2,171916,2250.005,-15758.044,12,4.1,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,-0.013
$KALMAN_X,-239331.5,6.0,-47.9,237244.7,-719.6
$KALMAN_Y,6946.8,-226.8,414.6,4163.9,125.4
$MHEAD_RNG_PITCHd_Wd,83.1,1781,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.35,0.000,2,0.000,0.000,476,1843,3228,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.2,-4.9,9,116,12.55,0.00,-5.05,0.000,6,0.155,0.000,2858,1842,3488,0,0,0,0,0,0
$GC,396,-1.26,-116.8,57.0,-15.2,44,401,0.17,2.53,0.00,0.000,4,0.122,0.025,2894,3445,3490,0,0,0,0,0,0
$GC,454,-1.26,-116.8,64.5,-11.0,48,458,0.00,2.42,0.00,0.000,6,0.000,0.025,2893,1918,3491,0,0,0,0,0,0
$GC,718,-1.26,-116.8,95.9,-11.9,72,726,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1918,3491,0,0,0,0,0,0
$GC,982,-1.26,-116.8,125.8,-10.6,97,986,0.00,2.40,0.00,0.000,4,0.000,0.033,2894,3454,3491,0,0,0,0,0,0
$GC,1029,-1.35,-116.8,130.9,-10.3,100,1038,0.00,2.50,0.00,0.000,6,0.000,0.028,2894,1888,3492,0,0,0,0,0,0
$GC,1291,-1.39,-116.8,158.9,-11.0,125,1296,0.12,2.45,0.00,0.000,4,0.071,0.032,2849,3447,3492,0,0,0,0,0,0
$GC,1343,-1.39,-116.8,165.1,-11.4,129,1347,0.00,2.40,0.00,0.000,6,0.000,0.024,2849,1907,3492,0,0,0,0,0,0
$GC,1605,-1.39,-116.8,194.3,-11.0,153,1610,0.00,2.40,0.00,0.000,4,0.000,0.025,2849,3447,3492,0,0,0,0,0,0
$GC,1635,-1.39,-116.8,197.9,-11.3,155,1639,0.00,2.38,0.00,0.000,6,0.000,0.022,2849,1915,3492,0,0,0,0,0,0
$GC,1907,-1.39,-116.8,227.2,-10.9,163,1911,0.00,2.42,0.00,0.000,4,0.000,0.026,2849,3450,3492,0,0,0,0,0,0
$GC,1967,-1.39,-116.8,234.0,-11.0,164,1972,0.00,2.40,0.00,0.000,6,0.000,0.025,2849,1931,3492,0,0,0,0,0,0
$GC,2234,-1.39,-116.8,263.9,-11.2,171,2239,0.00,2.40,0.00,0.000,4,0.000,0.033,2849,3444,3492,0,0,0,0,0,0
$GC,2310,-1.44,-116.8,272.6,-12.0,172,2314,0.00,2.38,0.00,0.000,6,0.000,0.025,2849,1934,3492,0,0,0,0,0,0
$GC,2560,-1.44,-116.8,300.4,-10.6,178,2564,0.00,2.42,0.00,0.000,4,0.000,0.033,2849,3451,3492,0,0,0,0,0,0
$GC,2592,-1.50,-116.8,303.8,-10.2,178,2598,0.00,2.38,0.00,0.000,6,0.000,0.027,2849,1955,3492,0,0,0,0,0,0
$GC,2844,-1.53,-116.8,326.5,-9.0,185,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1955,3492,0,0,0,0,0,0
$GC,3086,-1.58,-116.8,348.9,-9.3,191,3091,0.10,2.40,0.00,0.000,4,0.081,0.040,2809,3445,3491,0,0,0,0,0,0
$GC,3108,-1.58,-116.8,351.4,-10.5,191,3112,0.00,2.38,0.00,0.000,6,0.000,0.044,2809,1964,3491,0,0,0,0,0,0
$GC,3365,-1.58,-116.8,378.1,-10.4,198,3366,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1964,3490,0,0,0,0,0,0
$GC,3607,-1.58,-116.8,406.1,-11.8,204,3611,0.00,2.40,0.00,0.000,4,0.000,0.042,2809,3438,3488,0,0,0,0,0,0
$GC,3706,-1.58,-116.8,418.0,-12.0,206,3711,0.00,2.45,0.00,0.000,6,0.000,0.054,2809,1969,3488,0,0,0,0,0,0
$GC,3975,-1.58,-116.8,449.3,-12.1,213,3980,0.00,3.05,0.00,0.000,4,0.000,0.106,2809,312,3486,0,0,0,0,0,0
$GC,3996,-1.58,-116.8,452.3,-12.6,213,4000,0.00,2.58,0.00,0.000,6,0.000,0.036,2809,1915,3486,0,0,0,0,0,0
$GC,4251,-1.58,-116.8,482.7,-11.5,220,4253,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1915,3484,0,0,0,0,0,0
$STATE,4412,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4412,begin apogee
$GC,4419,-0.31,0.0,501.0,11.2,224,4521,1.27,0.00,97.50,0.911,6,0.080,0.000,3099,2005,3010,0,0,0,0,0,0
$STATE,4521,end apogee,CONTROL_FINISHED_OK
$STATE,4521,begin climb
$GC,4524,1.38,116.8,504.0,0.0,226,4628,1.55,0.00,100.03,0.893,6,0.048,0.000,3478,2005,2533,0,0,0,0,0,0
$GC,4851,1.30,158.8,490.9,7.6,234,4895,0.12,2.75,36.35,0.871,4,0.124,0.065,3454,3569,2361,0,0,0,0,0,0
$GC,4910,1.25,193.0,486.3,8.1,235,4946,0.00,2.65,31.05,0.853,6,0.000,0.051,3454,2012,2223,0,0,0,0,0,0
$GC,5226,1.18,193.0,454.1,10.3,243,5232,0.12,2.95,0.00,0.000,4,0.123,0.100,3428,410,2215,0,0,0,0,0,0
$GC,5250,1.11,193.0,451.2,11.2,243,5255,0.00,2.58,0.00,0.000,6,0.000,0.028,3428,2002,2214,0,0,0,0,0,0
$GC,5505,1.12,200.4,426.5,9.6,250,5519,0.00,2.90,6.57,0.701,4,0.000,0.076,3428,401,2190,0,0,0,0,0,0
$GC,5595,1.07,200.4,416.7,11.9,252,5600,0.12,2.58,0.00,0.000,6,0.130,0.031,3405,1990,2188,0,0,0,0,0,0
$GC,5879,1.15,232.6,392.5,8.2,259,5914,0.00,2.70,29.30,0.834,4,0.000,0.045,3405,3580,2060,0,0,0,0,0,0
$GC,5968,1.24,256.2,385.1,8.7,260,5998,0.15,2.65,22.42,0.815,6,0.081,0.043,3443,1977,1964,0,0,0,0,0,0
$GC,6249,1.24,256.2,355.8,10.3,267,6254,0.00,2.78,0.00,0.000,4,0.000,0.081,3444,408,1958,0,0,0,0,0,0
$GC,6335,1.24,256.2,346.1,11.0,269,6339,0.00,2.53,0.00,0.000,6,0.000,0.025,3444,2002,1957,0,0,0,0,0,0
$GC,6619,1.24,256.2,317.4,10.2,276,6620,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,2002,1955,0,0,0,0,0,0
$GC,6862,1.27,280.4,295.2,8.6,282,6890,0.00,2.80,21.38,0.766,4,0.000,0.057,3443,400,1864,0,0,0,0,0,0
$GC,6926,1.27,282.4,289.4,9.9,283,6930,0.00,2.50,0.00,0.000,6,0.000,0.019,3444,1970,1862,0,0,0,0,0,0
$GC,7187,1.35,313.4,267.1,8.2,290,7222,0.00,2.72,29.42,0.750,4,0.000,0.060,3444,406,1731,0,0,0,0,0,0
$GC,7288,1.35,313.4,257.3,10.6,291,7292,0.00,2.45,0.00,0.000,6,0.000,0.023,3444,1969,1728,0,0,0,0,0,0
$GC,7555,1.41,313.4,227.9,11.3,298,7560,0.12,2.60,0.00,0.000,4,0.077,0.041,3480,3559,1726,0,0,0,0,0,0
$GC,7571,1.41,313.4,225.7,11.7,298,7575,0.00,2.60,0.00,0.000,6,0.000,0.036,3480,1939,1725,0,0,0,0,0,0
$GC,7829,1.41,313.4,193.2,12.0,307,7834,0.00,0.00,0.00,0.000,6,0.000,0.000,3480,1939,1724,0,0,0,0,0,0
$GC,8090,1.41,313.4,161.7,11.5,332,8094,0.00,2.58,0.00,0.000,4,0.000,0.061,3480,406,1724,0,0,0,0,0,0
$GC,8156,1.41,313.4,154.2,12.1,337,8160,0.00,2.40,0.00,0.000,6,0.000,0.024,3480,1970,1723,0,0,0,0,0,0
$GC,8424,1.41,313.4,123.6,11.3,361,8428,0.00,0.00,0.00,0.000,6,0.000,0.000,3480,1972,1723,0,0,0,0,0,0
$GC,8685,1.46,313.4,95.6,10.2,386,8689,0.00,2.50,0.00,0.000,4,0.000,0.032,3480,3551,1722,0,0,0,0,0,0
$GC,8707,1.51,313.4,93.7,11.0,387,8711,0.00,2.60,0.00,0.000,6,0.000,0.034,3480,1935,1722,0,0,0,0,0,0
$GC,8974,1.58,316.7,67.9,9.9,411,8979,0.15,2.58,0.00,0.000,4,0.068,0.060,3524,401,1722,0,0,0,0,0,0
$GC,9010,1.54,316.7,62.9,12.9,413,9019,0.00,2.40,0.00,0.000,6,0.000,0.017,3524,1950,1722,0,0,0,0,0,0
$GC,9275,1.54,316.7,33.1,12.3,438,9283,0.00,0.00,0.00,0.000,6,0.000,0.000,3523,1952,1722,0,0,0,0,0,0
$STATE,9522,end climb,SURFACE_DEPTH_REACHED
$STATE,9522,begin surface coast
$FINISH,0.5,0.980059
$STATE,9563,end surface coast,CONTROL_FINISHED_OK
$STATE,9563,begin surface
$SM_CCo,9586,53.75,0.522,0,0,1460,380.21
$SM_GC,1.46,0.00,0.00,53.75,0.000,0.000,0.522,480,1844,1460,-12.37,-1.30,380.21
$IRIDIUM_FIX,2241.69,-15757.16,170900,171754
$TT8_MAMPS,0.026078
$HUMID,63.42
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.50
$XPDR_PINGS,43
$24V_AH,23.5,46.138
$10V_AH,10.3,40.604
$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,28.875,107.150,374.025,53.750,0.000,80.082,122.411,373.136,10.750,0.000,33.481,973.617,6320.532,495.631,1850.053,871.148,33.369,1169.567,0.000,1836.753,0.000,0.536,0.000
$DEVICE_MAMPS,154.934,105.846,911.196,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.803,270.708,370.339,715.709,1082.435,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355468
$DATA_FILE_SIZE,38339,480
$CAP_FILE_SIZE,105539,0
$CFSIZE,260165632,162959360
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240611,200207,2250.224,-15757.151,38,1.8,38,10.1