version: 66.06
glider: 146
mission: 6
dive: 368
start: 6 24 111 20 12 39
data:
$ID,146
$MISSION,6
$DIVE,368
$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,-276936
$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,54
$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
$GPS1,200207,2250.224,-15757.151,38,1.8,38,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-68.7
$GPS2,201144,2250.310,-15757.240,11,1.7,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.090,-0.217
$KALMAN_X,-240411.0,-81.5,160.4,239575.9,-1097.2
$KALMAN_Y,8199.2,-271.6,-108.8,4042.9,848.9
$MHEAD_RNG_PITCHd_Wd,147.5,6205,-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,-70.28,0.000,2,0.000,0.000,479,1844,3210,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.1,-4.8,9,116,12.52,2.50,-5.45,0.000,4,0.154,0.058,2861,334,3489,0,0,0,0,0,0
$GC,215,-1.24,-116.8,30.3,-16.8,26,225,0.15,2.40,0.00,0.000,6,0.126,0.015,2895,1902,3491,0,0,0,0,0,0
$GC,481,-1.24,-116.8,67.9,-12.6,51,486,0.00,2.40,0.00,0.000,4,0.000,0.026,2895,3445,3491,0,0,0,0,0,0
$GC,516,-1.24,-116.8,72.3,-12.8,53,520,0.00,2.40,0.00,0.000,6,0.000,0.032,2895,1907,3492,0,0,0,0,0,0
$GC,782,-1.24,-116.8,104.9,-11.5,77,789,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1907,3492,0,0,0,0,0,0
$GC,1045,-1.24,-116.8,133.4,-10.7,102,1048,0.00,2.40,0.00,0.000,4,0.000,0.026,2895,3437,3493,0,0,0,0,0,0
$GC,1073,-1.29,-116.8,136.8,-10.6,104,1083,0.00,2.45,0.00,0.000,6,0.000,0.026,2895,1896,3493,0,0,0,0,0,0
$GC,1336,-1.33,-116.8,165.8,-11.1,129,1340,0.00,2.40,0.00,0.000,4,0.000,0.031,2895,3436,3493,0,0,0,0,0,0
$GC,1394,-1.44,-116.8,171.8,-10.8,133,1399,0.17,2.38,0.00,0.000,6,0.051,0.024,2827,1910,3493,0,0,0,0,0,0
$GC,1655,-1.38,-116.8,205.3,-12.1,154,1660,0.20,2.40,0.00,0.000,4,0.094,0.032,2871,3447,3493,0,0,0,0,0,0
$GC,1683,-1.38,-116.8,208.8,-11.2,154,1687,0.00,2.38,0.00,0.000,6,0.000,0.028,2871,1928,3493,0,0,0,0,0,0
$GC,1933,-1.38,-116.8,236.4,-11.2,160,1937,0.00,2.38,0.00,0.000,4,0.000,0.028,2871,3445,3493,0,0,0,0,0,0
$GC,1990,-1.45,-116.8,242.6,-10.9,161,1995,0.00,2.35,0.00,0.000,6,0.000,0.025,2871,1937,3494,0,0,0,0,0,0
$GC,2264,-1.50,-116.8,270.7,-10.7,168,2269,0.12,2.40,0.00,0.000,4,0.074,0.037,2824,3441,3494,0,0,0,0,0,0
$GC,2348,-1.50,-116.8,280.4,-10.6,170,2353,0.00,2.33,0.00,0.000,6,0.000,0.026,2824,1960,3494,0,0,0,0,0,0
$GC,2633,-1.50,-116.8,309.4,-10.3,177,2635,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1959,3494,0,0,0,0,0,0
$GC,2875,-1.50,-116.8,336.5,-11.4,183,2879,0.00,2.38,0.00,0.000,4,0.000,0.037,2824,3436,3494,0,0,0,0,0,0
$GC,2908,-1.50,-116.8,340.7,-12.4,183,2912,0.00,2.38,0.00,0.000,6,0.000,0.035,2824,1973,3494,0,0,0,0,0,0
$GC,3164,-1.50,-116.8,370.0,-11.4,190,3165,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1973,3493,0,0,0,0,0,0
$GC,3409,-1.50,-116.8,396.5,-10.7,196,3410,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1973,3492,0,0,0,0,0,0
$GC,3652,-1.50,-116.8,420.0,-9.5,202,3655,0.00,2.38,0.00,0.000,4,0.000,0.042,2824,3426,3490,0,0,0,0,0,0
$GC,3742,-1.55,-116.8,429.3,-10.2,204,3746,0.00,2.42,0.00,0.000,6,0.000,0.056,2824,1978,3490,0,0,0,0,0,0
$GC,4027,-1.55,-116.8,459.1,-10.6,211,4028,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1977,3487,0,0,0,0,0,0
$GC,4269,-1.55,-116.8,482.5,-9.2,217,4273,0.00,2.40,0.00,0.000,4,0.000,0.057,2824,3424,3486,0,0,0,0,0,0
$GC,4296,-1.59,-116.8,485.0,-9.2,217,4301,0.00,2.45,0.00,0.000,6,0.000,0.055,2824,1975,3486,0,0,0,0,0,0
$STATE,4503,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4503,begin apogee
$GC,4510,-0.31,0.0,502.6,8.4,222,4611,1.23,0.00,97.78,0.917,6,0.077,0.000,3103,1975,3009,0,0,0,0,0,0
$STATE,4612,end apogee,CONTROL_FINISHED_OK
$STATE,4612,begin climb
$GC,4615,1.38,116.8,503.8,0.0,224,4726,1.52,2.78,99.70,0.892,4,0.038,0.056,3474,3534,2531,0,0,0,0,0,0
$GC,4778,1.26,141.6,498.9,8.6,227,4808,0.15,2.58,21.90,0.841,6,0.124,0.052,3446,2014,2432,0,0,0,0,0,0
$GC,5072,1.24,176.6,474.7,8.0,235,5114,0.00,3.10,31.15,0.859,4,0.000,0.107,3446,405,2287,0,0,0,0,0,0
$GC,5143,1.13,176.6,468.0,10.6,236,5149,0.15,2.50,0.00,0.000,6,0.120,0.029,3416,1946,2285,0,0,0,0,0,0
$GC,5399,1.17,210.6,446.7,8.1,243,5435,0.00,2.80,30.40,0.851,4,0.000,0.057,3416,3583,2150,0,0,0,0,0,0
$GC,5488,1.17,210.8,438.7,10.0,244,5493,0.00,2.67,0.00,0.000,6,0.000,0.050,3415,1999,2147,0,0,0,0,0,0
$GC,5766,1.20,232.5,413.6,8.8,251,5791,0.00,2.97,19.75,0.821,4,0.000,0.092,3415,403,2061,0,0,0,0,0,0
$GC,5860,1.20,232.5,404.6,10.3,253,5865,0.00,2.60,0.00,0.000,6,0.000,0.029,3416,2011,2058,0,0,0,0,0,0
$GC,6132,1.25,245.0,380.1,9.3,260,6152,0.10,2.67,11.90,0.777,4,0.093,0.042,3445,3577,2010,0,0,0,0,0,0
$GC,6175,1.25,245.0,375.5,11.2,261,6180,0.00,2.65,0.00,0.000,6,0.000,0.044,3445,1991,2009,0,0,0,0,0,0
$GC,6460,1.25,245.6,346.3,10.0,268,6464,0.00,2.78,0.00,0.000,4,0.000,0.076,3445,407,2007,0,0,0,0,0,0
$GC,6537,1.25,245.6,337.4,11.8,269,6543,0.00,2.53,0.00,0.000,6,0.000,0.020,3445,2002,2005,0,0,0,0,0,0
$GC,6789,1.25,245.6,311.2,10.8,276,6793,0.00,2.72,0.00,0.000,4,0.000,0.061,3445,404,2005,0,0,0,0,0,0
$GC,6843,1.25,245.6,304.1,11.8,277,6848,0.00,2.50,0.00,0.000,6,0.000,0.025,3445,1990,2004,0,0,0,0,0,0
$GC,7110,1.25,245.6,275.6,10.5,284,7115,0.00,2.70,0.00,0.000,4,0.000,0.061,3445,403,2004,0,0,0,0,0,0
$GC,7151,1.25,245.6,271.8,10.2,285,7155,0.00,2.45,0.00,0.000,6,0.000,0.025,3445,1965,2002,0,0,0,0,0,0
$GC,7435,1.33,278.3,248.3,8.1,292,7470,0.00,2.62,29.70,0.742,4,0.000,0.042,3445,3559,1874,0,0,0,0,0,0
$GC,7530,1.41,296.0,240.3,9.0,293,7554,0.15,2.60,16.65,0.703,6,0.070,0.032,3487,1964,1802,0,0,0,0,0,0
$GC,7804,1.41,296.0,208.4,12.1,300,7806,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,1964,1798,0,0,0,0,0,0
$GC,8056,1.41,296.0,176.5,11.9,318,8060,0.00,2.65,0.00,0.000,4,0.000,0.065,3486,408,1797,0,0,0,0,0,0
$GC,8132,1.41,296.0,166.8,12.4,324,8136,0.00,2.42,0.00,0.000,6,0.000,0.024,3486,1967,1795,0,0,0,0,0,0
$GC,8394,1.41,296.0,138.1,10.5,348,8399,0.00,2.55,0.00,0.000,4,0.000,0.038,3487,3556,1795,0,0,0,0,0,0
$GC,8416,1.41,296.0,136.1,11.1,349,8421,0.00,2.58,0.00,0.000,6,0.000,0.031,3487,1948,1794,0,0,0,0,0,0
$GC,8683,1.41,296.0,109.1,10.3,373,8687,0.00,2.55,0.00,0.000,4,0.000,0.057,3487,414,1794,0,0,0,0,0,0
$GC,8770,1.41,296.0,98.2,11.9,380,8774,0.00,2.35,0.00,0.000,6,0.000,0.025,3487,1948,1794,0,0,0,0,0,0
$GC,9038,1.46,297.6,71.1,10.0,404,9046,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,1950,1794,0,0,0,0,0,0
$GC,9305,1.54,321.5,46.8,8.7,429,9333,0.00,2.60,22.42,0.548,4,0.000,0.050,3487,414,1697,0,0,0,0,0,0
$GC,9374,1.54,321.5,40.4,10.2,434,9378,0.00,2.38,0.00,0.000,6,0.000,0.017,3487,1952,1696,0,0,0,0,0,0
$GC,9686,1.63,335.0,10.8,9.3,472,9705,0.15,2.60,12.88,0.494,4,0.073,0.051,3529,408,1643,0,0,0,0,0,0
$STATE,9746,end climb,SURFACE_DEPTH_REACHED
$STATE,9747,begin surface coast
$FINISH,0.5,0.975440
$STATE,9791,end surface coast,CONTROL_FINISHED_OK
$STATE,9791,begin surface
$SM_CCo,9815,36.85,0.513,0,0,1459,380.21
$SM_GC,1.47,0.00,0.00,36.85,0.000,0.000,0.513,474,1909,1459,-12.40,0.54,380.21
$IRIDIUM_FIX,2241.69,-15759.32,170900,202000
$TT8_MAMPS,0.026078
$HUMID,62.99
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.90
$XPDR_PINGS,44
$24V_AH,23.5,46.257
$10V_AH,10.3,40.718
$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,29.050,121.150,394.225,36.850,0.000,58.320,80.669,237.139,11.000,0.000,13.511,1005.920,6358.633,469.383,1933.405,666.799,33.366,1205.825,0.000,1936.465,0.000,0.533,0.000
$DEVICE_MAMPS,154.167,106.613,916.565,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.652,270.108,375.466,733.822,1110.242,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355448
$DATA_FILE_SIZE,38430,486
$CAP_FILE_SIZE,107297,0
$CFSIZE,260165632,162902016
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240611,225806,2249.742,-15757.543,32,1.0,32,10.1