version: 66.06
glider: 146
mission: 6
dive: 320
start: 6 18 111 22 23 27
data:
$ID,146
$MISSION,6
$DIVE,320
$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,-275677.84
$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,3165
$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,64
$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
$GPS1,220806,2250.191,-15801.194,64,1.1,64,10.1
$_CALLS,2
$_XMS_NAKs,23
$_XMS_TOUTs,2
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-68.8
$GPS2,222231,2250.303,-15801.263,16,1.0,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.214,-0.096
$KALMAN_X,-182464.8,-146.4,-121.5,175101.4,-674.6
$KALMAN_Y,-45612.6,-753.4,339.8,57877.2,844.1
$MHEAD_RNG_PITCHd_Wd,104.0,7297,-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,-116.8,0.0,0.0,0,80,0.00,0.00,-62.67,0.000,2,0.000,0.000,474,1853,3063,0,0,0,0,0,0
$GC,83,-1.38,-116.8,3.4,-6.2,8,110,12.45,2.50,-8.25,0.000,4,0.152,0.061,2855,340,3488,0,0,0,0,0,0
$GC,162,-1.24,-116.8,22.2,-19.1,18,172,0.15,2.40,0.00,0.000,6,0.106,0.015,2890,1914,3490,0,0,0,0,0,0
$GC,443,-1.24,-116.8,65.0,-12.0,46,447,0.00,2.35,0.00,0.000,4,0.000,0.025,2890,3424,3491,0,0,0,0,0,0
$GC,478,-1.24,-116.8,69.2,-12.9,48,482,0.00,2.38,0.00,0.000,6,0.000,0.025,2890,1917,3491,0,0,0,0,0,0
$GC,739,-1.24,-116.8,101.2,-12.4,72,740,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1916,3492,0,0,0,0,0,0
$GC,996,-1.28,-116.8,131.7,-12.3,96,1000,0.00,2.35,0.00,0.000,4,0.000,0.025,2890,3423,3492,0,0,0,0,0,0
$GC,1030,-1.36,-116.8,136.1,-11.9,98,1038,0.08,2.42,0.00,0.000,6,0.041,0.024,2847,1901,3493,0,0,0,0,0,0
$GC,1290,-1.36,-116.8,170.0,-13.4,123,1295,0.00,2.38,0.00,0.000,4,0.000,0.031,2847,3424,3493,0,0,0,0,0,0
$GC,1372,-1.36,-116.8,180.8,-13.2,129,1381,0.00,2.42,0.00,0.000,6,0.000,0.027,2847,1902,3493,0,0,0,0,0,0
$GC,1648,-1.36,-116.8,214.4,-11.7,147,1649,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1902,3493,0,0,0,0,0,0
$GC,1893,-1.36,-116.8,241.1,-10.9,153,1897,0.00,2.42,0.00,0.000,4,0.000,0.028,2847,3425,3493,0,0,0,0,0,0
$GC,1959,-1.36,-116.8,247.9,-9.9,154,1964,0.00,2.35,0.00,0.000,6,0.000,0.031,2847,1926,3493,0,0,0,0,0,0
$GC,2215,-1.36,-116.8,271.9,-9.2,161,2220,0.10,2.38,0.00,0.000,4,0.121,0.036,2869,3419,3493,0,0,0,0,0,0
$GC,2348,-1.45,-116.8,283.2,-8.6,164,2352,0.00,2.35,0.00,0.000,6,0.000,0.031,2869,1932,3493,0,0,0,0,0,0
$GC,2632,-1.52,-116.8,311.4,-10.4,171,2637,0.15,2.38,0.00,0.000,4,0.064,0.038,2816,3418,3491,0,0,0,0,0,0
$GC,2666,-1.52,-116.8,315.2,-11.7,171,2672,0.00,2.38,0.00,0.000,6,0.000,0.031,2816,1934,3491,0,0,0,0,0,0
$GC,2916,-1.52,-116.8,344.2,-11.6,178,2919,0.00,2.40,0.00,0.000,4,0.000,0.033,2816,3425,3491,0,0,0,0,0,0
$GC,2977,-1.52,-116.8,351.0,-10.8,179,2981,0.00,2.45,0.00,0.000,6,0.000,0.044,2816,1939,3491,0,0,0,0,0,0
$GC,3244,-1.52,-116.8,379.2,-10.7,186,3245,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1939,3489,0,0,0,0,0,0
$GC,3487,-1.52,-116.8,405.9,-10.9,192,3491,0.00,2.42,0.00,0.000,4,0.000,0.044,2816,3415,3488,0,0,0,0,0,0
$GC,3519,-1.52,-116.8,409.5,-10.8,192,3525,0.00,2.47,0.00,0.000,6,0.000,0.047,2816,1940,3487,0,0,0,0,0,0
$GC,3769,-1.52,-116.8,432.8,-9.2,199,3773,0.00,2.42,0.00,0.000,4,0.000,0.041,2816,3413,3486,0,0,0,0,0,0
$GC,3798,-1.52,-116.8,435.5,-9.4,199,3802,0.00,2.47,0.00,0.000,6,0.000,0.050,2816,1945,3485,0,0,0,0,0,0
$GC,4048,-1.52,-116.8,460.9,-10.3,205,4049,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1945,3483,0,0,0,0,0,0
$GC,4291,-1.52,-116.8,486.3,-10.4,211,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1945,3482,0,0,0,0,0,0
$STATE,4451,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4452,begin apogee
$GC,4459,-0.31,0.0,502.5,10.0,215,4559,1.23,0.00,96.40,0.920,6,0.081,0.000,3093,1945,3010,0,0,0,0,0,0
$STATE,4559,end apogee,CONTROL_FINISHED_OK
$STATE,4559,begin climb
$GC,4562,1.38,116.8,504.3,0.0,217,4666,1.58,0.00,98.97,0.897,6,0.041,0.000,3470,1945,2533,0,0,0,0,0,0
$GC,4900,1.27,125.3,481.9,9.5,226,4910,0.15,0.00,7.12,0.725,6,0.120,0.000,3441,1944,2499,0,0,0,0,0,0
$GC,5143,1.22,145.4,460.2,8.9,232,5167,0.00,2.72,18.50,0.849,4,0.000,0.051,3441,3514,2416,0,0,0,0,0,0
$GC,5218,1.18,153.7,453.1,9.6,233,5232,0.00,2.58,8.77,0.766,6,0.000,0.051,3441,1994,2382,0,0,0,0,0,0
$GC,5517,1.16,170.3,425.6,9.1,241,5539,0.12,2.97,15.55,0.827,4,0.128,0.092,3416,403,2314,0,0,0,0,0,0
$GC,5573,1.11,170.3,420.4,10.2,242,5577,0.00,2.50,0.00,0.000,6,0.000,0.031,3416,1938,2312,0,0,0,0,0,0
$GC,5840,1.15,204.4,398.2,8.1,249,5877,0.00,2.70,30.75,0.845,4,0.000,0.047,3416,3527,2174,0,0,0,0,0,0
$GC,5929,1.17,223.9,390.5,8.9,250,5953,0.00,2.58,18.15,0.808,6,0.000,0.042,3416,1993,2096,0,0,0,0,0,0
$GC,6211,1.22,229.4,363.7,9.7,257,6222,0.00,2.53,5.53,0.643,4,0.000,0.035,3416,3522,2073,0,0,0,0,0,0
$GC,6239,1.26,230.4,360.6,10.0,257,6244,0.10,2.55,0.00,0.000,6,0.093,0.036,3444,1999,2072,0,0,0,0,0,0
$GC,6490,1.26,230.4,331.8,11.9,263,6494,0.00,2.80,0.00,0.000,4,0.000,0.073,3444,410,2071,0,0,0,0,0,0
$GC,6563,1.22,230.4,322.5,12.2,264,6568,0.00,2.45,0.00,0.000,6,0.000,0.023,3444,1954,2068,0,0,0,0,0,0
$GC,6813,1.24,246.4,299.1,9.1,270,6831,0.00,0.00,15.93,0.765,6,0.000,0.000,3444,1954,2005,0,0,0,0,0,0
$GC,7059,1.24,251.7,276.3,9.7,276,7066,0.00,0.00,5.90,0.627,6,0.000,0.000,3444,1954,1982,0,0,0,0,0,0
$GC,7301,1.27,269.8,253.7,9.0,282,7320,0.00,0.00,17.33,0.736,6,0.000,0.000,3444,1954,1910,0,0,0,0,0,0
$GC,7545,1.31,274.0,230.3,9.8,288,7555,0.00,2.67,4.78,0.549,4,0.000,0.041,3444,3571,1892,0,0,0,0,0,0
$GC,7597,1.38,274.0,224.8,10.5,289,7601,0.00,2.58,0.00,0.000,6,0.000,0.035,3444,1989,1892,0,0,0,0,0,0
$GC,7869,1.42,274.0,196.0,10.5,296,7874,0.12,2.70,0.00,0.000,4,0.077,0.067,3480,415,1891,0,0,0,0,0,0
$GC,7972,1.38,274.0,183.9,12.5,304,7977,0.00,2.47,0.00,0.000,6,0.000,0.023,3480,2006,1890,0,0,0,0,0,0
$GC,8239,1.38,274.0,155.5,10.7,328,8243,0.00,2.70,0.00,0.000,4,0.000,0.055,3480,408,1889,0,0,0,0,0,0
$GC,8260,1.34,274.0,152.4,11.4,329,8266,0.12,2.47,0.00,0.000,6,0.120,0.025,3455,1995,1889,0,0,0,0,0,0
$GC,8523,1.40,280.1,128.1,9.7,354,8537,0.00,2.55,6.40,0.545,4,0.000,0.035,3455,3547,1868,0,0,0,0,0,0
$GC,8549,1.46,280.1,125.2,10.2,356,8554,0.12,2.53,0.00,0.000,6,0.075,0.028,3491,1991,1868,0,0,0,0,0,0
$GC,8810,1.46,280.1,95.3,10.9,380,8814,0.00,2.65,0.00,0.000,4,0.000,0.056,3490,418,1867,0,0,0,0,0,0
$GC,8877,1.46,280.1,87.8,12.4,385,8881,0.00,2.45,0.00,0.000,6,0.000,0.019,3490,2003,1866,0,0,0,0,0,0
$GC,9145,1.47,291.3,62.1,9.4,409,9159,0.00,0.00,11.43,0.547,6,0.000,0.000,3491,2006,1821,0,0,0,0,0,0
$GC,9418,1.57,327.4,41.0,8.0,434,9459,0.00,2.75,31.90,0.555,4,0.000,0.048,3490,413,1674,0,0,0,0,0,0
$GC,9514,1.57,327.4,32.1,10.4,441,9518,0.00,2.45,0.00,0.000,6,0.000,0.018,3491,1988,1671,0,0,0,0,0,0
$STATE,9786,end climb,SURFACE_DEPTH_REACHED
$STATE,9786,begin surface coast
$FINISH,0.6,0.979218
$STATE,9829,end surface coast,CONTROL_FINISHED_OK
$STATE,9829,begin surface
$SM_CCo,9853,42.15,0.520,0,0,1459,380.21
$SM_GC,1.50,0.00,0.00,42.15,0.000,0.000,0.520,475,1879,1459,-12.37,-0.31,380.21
$IRIDIUM_FIX,2239.35,-15802.37,110900,222258
$TT8_MAMPS,0.026078
$HUMID,63.54
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.60
$XPDR_PINGS,41
$24V_AH,23.5,40.115
$10V_AH,10.3,35.271
$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,28.700,105.600,393.400,42.150,0.000,54.458,71.992,516.952,10.250,0.000,32.047,989.845,6492.248,482.000,1877.928,921.056,33.366,1156.051,0.000,1862.975,0.000,0.535,0.000
$DEVICE_MAMPS,151.866,92.040,920.400,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.960,268.798,372.187,732.089,1109.153,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,38438,485
$CAP_FILE_SIZE,108954,0
$CFSIZE,260165632,165470208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190611,010934,2249.965,-15800.539,11,99.0,30,10.1