version: 66.06
glider: 146
mission: 6
dive: 371
start: 6 25 111 5 1 20
data:
$ID,146
$MISSION,6
$DIVE,371
$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,-277057.75
$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,45
$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
$GPS1,045001,2249.751,-15757.890,10,1.8,27,10.1
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-67.7
$GPS2,050026,2249.888,-15757.949,11,1.3,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.073,-0.223
$KALMAN_X,-243932.6,-188.1,-117.7,242274.3,-653.0
$KALMAN_Y,12477.5,539.5,418.9,-2353.8,664.9
$MHEAD_RNG_PITCHd_Wd,151.8,5354,-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,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,90,0.00,0.00,-70.57,0.000,2,0.000,0.000,470,1861,3238,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.4,-5.6,9,118,12.50,2.55,-4.72,0.000,4,0.152,0.058,2858,322,3488,0,0,0,0,0,0
$GC,170,-1.22,-116.8,23.6,-20.6,19,179,0.17,2.42,0.00,0.000,6,0.098,0.015,2899,1926,3489,0,0,0,0,0,0
$GC,450,-1.22,-116.8,62.7,-12.5,47,458,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1927,3491,0,0,0,0,0,0
$GC,712,-1.22,-116.8,96.9,-12.2,72,716,0.00,2.33,0.00,0.000,4,0.000,0.025,2899,3426,3491,0,0,0,0,0,0
$GC,769,-1.28,-116.8,104.1,-11.6,76,778,0.00,2.42,0.00,0.000,6,0.000,0.025,2899,1903,3491,0,0,0,0,0,0
$GC,1037,-1.31,-116.8,132.2,-10.0,101,1041,0.00,2.35,0.00,0.000,4,0.000,0.025,2899,3416,3492,0,0,0,0,0,0
$GC,1070,-1.37,-116.8,135.8,-10.3,103,1075,0.12,2.40,0.00,0.000,6,0.071,0.025,2849,1889,3492,0,0,0,0,0,0
$GC,1335,-1.32,-116.8,168.4,-13.3,127,1340,0.15,2.42,0.00,0.000,4,0.099,0.032,2883,3421,3493,0,0,0,0,0,0
$GC,1414,-1.40,-116.8,176.8,-9.6,133,1418,0.00,2.35,0.00,0.000,6,0.000,0.030,2883,1908,3493,0,0,0,0,0,0
$GC,1707,-1.45,-116.8,204.5,-9.0,157,1712,0.12,2.40,0.00,0.000,4,0.069,0.028,2835,3423,3493,0,0,0,0,0,0
$GC,1756,-1.45,-116.8,210.5,-11.7,158,1760,0.00,2.38,0.00,0.000,6,0.000,0.025,2835,1911,3493,0,0,0,0,0,0
$GC,2036,-1.41,-116.8,244.2,-12.6,165,2041,0.12,2.38,0.00,0.000,4,0.107,0.031,2861,3418,3493,0,0,0,0,0,0
$GC,2103,-1.48,-116.8,253.0,-13.2,166,2107,0.00,2.35,0.00,0.000,6,0.000,0.033,2862,1931,3493,0,0,0,0,0,0
$GC,2364,-1.51,-116.8,283.3,-11.2,173,2365,0.00,0.00,0.00,0.000,6,0.000,0.000,2862,1931,3493,0,0,0,0,0,0
$GC,2609,-1.56,-116.8,307.4,-9.9,179,2614,0.12,2.38,0.00,0.000,4,0.074,0.032,2814,3421,3493,0,0,0,0,0,0
$GC,2675,-1.56,-116.8,314.7,-11.0,180,2680,0.00,2.40,0.00,0.000,6,0.000,0.031,2814,1931,3493,0,0,0,0,0,0
$GC,2931,-1.56,-116.8,342.5,-11.1,187,2935,0.00,2.40,0.00,0.000,4,0.000,0.038,2813,3411,3492,0,0,0,0,0,0
$GC,3026,-1.56,-116.8,353.2,-10.7,189,3031,0.00,2.42,0.00,0.000,6,0.000,0.047,2814,1937,3492,0,0,0,0,0,0
$GC,3298,-1.56,-116.8,382.4,-11.0,196,3303,0.00,2.38,0.00,0.000,4,0.000,0.044,2814,3413,3491,0,0,0,0,0,0
$GC,3320,-1.56,-116.8,384.9,-10.8,196,3324,0.00,2.45,0.00,0.000,6,0.000,0.045,2813,1938,3491,0,0,0,0,0,0
$GC,3583,-1.56,-116.8,413.8,-11.1,203,3587,0.00,2.40,0.00,0.000,4,0.000,0.040,2814,3406,3489,0,0,0,0,0,0
$GC,3683,-1.56,-116.8,424.3,-9.5,205,3687,0.00,2.45,0.00,0.000,6,0.000,0.053,2813,1953,3489,0,0,0,0,0,0
$GC,3950,-1.56,-116.8,450.3,-9.8,212,3952,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1953,3487,0,0,0,0,0,0
$GC,4192,-1.56,-116.8,476.4,-10.9,218,4193,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1952,3486,0,0,0,0,0,0
$STATE,4434,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4434,begin apogee
$GC,4440,-0.31,0.0,503.5,11.3,224,4541,1.25,0.00,97.55,0.916,6,0.077,0.000,3098,1953,3010,0,0,0,0,0,0
$STATE,4542,end apogee,CONTROL_FINISHED_OK
$STATE,4542,begin climb
$GC,4544,1.38,116.8,506.6,0.0,226,4649,1.55,0.00,100.07,0.894,6,0.036,0.000,3479,1952,2533,0,0,0,0,0,0
$GC,4873,1.29,160.4,493.1,7.5,234,4918,0.12,2.75,37.67,0.874,4,0.125,0.054,3454,3509,2354,0,0,0,0,0,0
$GC,4955,1.23,173.2,486.3,9.3,235,4974,0.00,2.60,12.15,0.797,6,0.000,0.056,3454,1995,2304,0,0,0,0,0,0
$GC,5249,1.17,184.2,458.2,9.4,243,5266,0.15,3.00,10.65,0.784,4,0.121,0.108,3424,405,2258,0,0,0,0,0,0
$GC,5302,1.11,186.9,453.0,9.9,244,5306,0.00,2.47,0.00,0.000,6,0.000,0.031,3424,1920,2255,0,0,0,0,0,0
$GC,5574,1.14,207.4,428.6,8.9,251,5602,0.00,2.70,21.38,0.837,4,0.000,0.075,3424,405,2163,0,0,0,0,0,0
$GC,5636,1.09,207.4,422.4,10.8,252,5640,0.00,2.47,0.00,0.000,6,0.000,0.025,3424,1927,2160,0,0,0,0,0,0
$GC,5899,1.11,230.3,399.0,8.7,259,5922,0.00,0.00,21.08,0.823,6,0.000,0.000,3424,1927,2071,0,0,0,0,0,0
$GC,6141,1.13,244.5,377.0,9.2,265,6157,0.00,0.00,13.77,0.784,6,0.000,0.000,3424,1927,2013,0,0,0,0,0,0
$GC,6385,1.14,253.8,353.7,9.5,271,6396,0.00,0.00,9.60,0.738,6,0.000,0.000,3424,1927,1974,0,0,0,0,0,0
$GC,6630,1.19,258.3,329.5,9.8,277,6641,0.00,2.62,5.45,0.626,4,0.000,0.066,3425,403,1956,0,0,0,0,0,0
$GC,6697,1.19,258.3,321.9,11.4,278,6701,0.00,2.40,0.00,0.000,6,0.000,0.025,3424,1919,1954,0,0,0,0,0,0
$GC,6958,1.25,264.1,296.5,9.7,285,6972,0.00,2.67,6.57,0.660,4,0.000,0.038,3424,3515,1932,0,0,0,0,0,0
$GC,7003,1.30,264.1,292.1,10.2,286,7008,0.12,2.55,0.00,0.000,6,0.081,0.033,3460,1963,1931,0,0,0,0,0,0
$GC,7286,1.30,264.1,260.8,10.9,293,7291,0.00,2.67,0.00,0.000,4,0.000,0.068,3460,411,1929,0,0,0,0,0,0
$GC,7377,1.30,264.1,251.1,10.6,295,7381,0.00,2.38,0.00,0.000,6,0.000,0.021,3460,1917,1929,0,0,0,0,0,0
$GC,7654,1.32,277.3,225.7,9.3,302,7669,0.00,0.00,12.82,0.694,6,0.000,0.000,3460,1918,1879,0,0,0,0,0,0
$GC,7898,1.32,277.3,200.7,10.5,308,7902,0.00,2.58,0.00,0.000,4,0.000,0.061,3460,404,1876,0,0,0,0,0,0
$GC,7931,1.32,277.3,196.8,12.5,308,7937,0.00,2.38,0.00,0.000,6,0.000,0.024,3460,1922,1875,0,0,0,0,0,0
$GC,8194,1.36,277.3,169.6,11.2,333,8198,0.00,2.58,0.00,0.000,4,0.000,0.038,3460,3526,1875,0,0,0,0,0,0
$GC,8236,1.41,277.3,164.7,12.0,336,8240,0.00,2.55,0.00,0.000,6,0.000,0.036,3460,1950,1873,0,0,0,0,0,0
$GC,8499,1.47,277.3,137.3,10.1,360,8500,0.12,0.00,0.00,0.000,6,0.084,0.000,3496,1950,1874,0,0,0,0,0,0
$GC,8752,1.47,277.3,110.1,10.1,384,8757,0.00,2.58,0.00,0.000,4,0.000,0.057,3496,414,1873,0,0,0,0,0,0
$GC,8867,1.47,277.3,97.9,10.7,393,8872,0.00,2.35,0.00,0.000,6,0.000,0.018,3496,1951,1873,0,0,0,0,0,0
$GC,9135,1.48,290.7,73.9,9.3,417,9153,0.00,2.60,12.68,0.556,4,0.000,0.036,3496,3558,1823,0,0,0,0,0,0
$GC,9183,1.53,295.0,69.0,9.8,420,9198,0.00,2.58,5.22,0.449,6,0.000,0.031,3496,1966,1805,0,0,0,0,0,0
$GC,9454,1.58,295.0,42.8,10.3,445,9459,0.00,2.58,0.00,0.000,4,0.000,0.060,3496,415,1805,0,0,0,0,0,0
$GC,9512,1.58,295.0,36.6,10.9,449,9517,0.00,2.40,0.00,0.000,6,0.000,0.017,3496,1970,1804,0,0,0,0,0,0
$GC,9839,1.63,295.0,5.9,12.2,492,9849,0.12,2.65,0.00,0.000,4,0.081,0.056,3533,417,1804,0,0,0,0,0,0
$STATE,9857,end climb,SURFACE_DEPTH_REACHED
$STATE,9857,begin surface coast
$FINISH,0.5,0.980044
$STATE,9906,end surface coast,CONTROL_FINISHED_OK
$STATE,9906,begin surface
$SM_CCo,9930,70.93,0.522,0,0,1459,380.21
$SM_GC,1.34,0.00,0.00,70.93,0.000,0.000,0.522,475,1936,1459,-12.40,1.30,380.21
$IRIDIUM_FIX,2241.69,-15756.28,180900,050501
$TT8_MAMPS,0.026078
$HUMID,61.89
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.70
$XPDR_PINGS,42
$24V_AH,23.5,46.634
$10V_AH,10.3,41.061
$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,29.125,109.425,366.675,70.925,0.000,53.758,80.477,274.556,10.500,0.000,16.529,1031.330,6450.190,517.504,1923.776,707.584,33.367,1199.908,0.000,1925.366,0.000,0.534,0.000
$DEVICE_MAMPS,151.866,108.147,915.798,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,340.216,288.708,386.790,752.932,1135.641,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,38435,501
$CAP_FILE_SIZE,107114,0
$CFSIZE,260165632,162738176
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250611,074914,2249.311,-15758.345,30,1.8,30,10.1