version: 66.06
glider: 146
mission: 6
dive: 330
start: 6 20 111 4 16 22
data:
$ID,146
$MISSION,6
$DIVE,330
$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,-275922.16
$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,46
$R_STBD_OVSHOOT,53
$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
$GPS1,040306,2247.093,-15758.118,38,1.1,38,10.1
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.0
$GPS2,041526,2247.133,-15758.279,11,1.6,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.215,-0.096
$KALMAN_X,-192911.2,-419.2,-184.5,190984.0,-732.7
$KALMAN_Y,-36741.8,-331.6,-236.8,43295.2,863.1
$MHEAD_RNG_PITCHd_Wd,235.9,8064,-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,16,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-71.15,0.000,2,0.000,0.000,472,1867,3287,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.8,-7.3,9,119,12.43,2.58,-3.53,0.000,4,0.150,0.041,2857,3452,3489,0,0,0,0,0,0
$GC,296,-1.31,-116.8,46.5,-15.4,32,301,0.10,2.47,0.00,0.000,6,0.133,0.026,2877,1906,3491,0,0,0,0,0,0
$GC,560,-1.24,-116.8,85.8,-13.5,56,569,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1906,3491,0,0,0,0,0,0
$GC,824,-1.24,-116.8,120.2,-12.2,81,829,0.00,2.45,0.00,0.000,4,0.000,0.033,2877,3462,3492,0,0,0,0,0,0
$GC,914,-1.30,-116.8,130.8,-11.1,88,918,0.00,2.50,0.00,0.000,6,0.000,0.031,2877,1888,3492,0,0,0,0,0,0
$GC,1180,-1.30,-116.8,158.5,-9.9,112,1187,0.00,0.00,0.00,0.000,6,0.000,0.000,2877,1887,3492,0,0,0,0,0,0
$GC,1443,-1.30,-116.8,185.0,-10.0,137,1447,0.00,2.47,0.00,0.000,4,0.000,0.028,2877,3467,3493,0,0,0,0,0,0
$GC,1510,-1.37,-116.8,191.7,-10.2,142,1514,0.00,2.47,0.00,0.000,6,0.000,0.025,2877,1899,3493,0,0,0,0,0,0
$GC,1795,-1.40,-116.8,223.1,-11.1,154,1799,0.00,2.45,0.00,0.000,4,0.000,0.035,2877,3454,3493,0,0,0,0,0,0
$GC,1822,-1.46,-116.8,226.4,-11.5,154,1827,0.12,2.45,0.00,0.000,6,0.064,0.022,2822,1903,3493,0,0,0,0,0,0
$GC,2072,-1.40,-116.8,259.5,-13.3,160,2077,0.17,2.47,0.00,0.000,4,0.094,0.036,2861,3458,3493,0,0,0,0,0,0
$GC,2123,-1.48,-116.8,265.5,-11.2,161,2128,0.00,2.45,0.00,0.000,6,0.000,0.034,2861,1926,3493,0,0,0,0,0,0
$GC,2396,-1.52,-116.8,293.1,-9.7,168,2401,0.12,2.45,0.00,0.000,4,0.075,0.032,2814,3454,3493,0,0,0,0,0,0
$GC,2458,-1.52,-116.8,299.9,-11.0,169,2462,0.00,2.42,0.00,0.000,6,0.000,0.031,2814,1949,3493,0,0,0,0,0,0
$GC,2719,-1.47,-116.8,329.8,-11.3,176,2721,0.12,0.00,0.00,0.000,6,0.106,0.000,2843,1949,3493,0,0,0,0,0,0
$GC,2962,-1.47,-116.8,354.3,-9.7,182,2966,0.00,2.42,0.00,0.000,4,0.000,0.043,2842,3456,3492,0,0,0,0,0,0
$GC,3014,-1.54,-116.8,359.5,-9.9,183,3018,0.00,2.45,0.00,0.000,6,0.000,0.038,2842,1964,3492,0,0,0,0,0,0
$GC,3287,-1.58,-116.8,386.1,-9.6,190,3288,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1963,3490,0,0,0,0,0,0
$GC,3530,-1.63,-116.8,409.0,-9.1,196,3532,0.12,0.00,0.00,0.000,6,0.074,0.000,2796,1964,3489,0,0,0,0,0,0
$GC,3775,-1.59,-116.8,437.6,-12.0,202,3780,0.10,3.05,0.00,0.000,4,0.119,0.100,2817,315,3487,0,0,0,0,0,0
$GC,3799,-1.54,-116.8,440.7,-13.0,202,3803,0.00,2.62,0.00,0.000,6,0.000,0.031,2817,1928,3487,0,0,0,0,0,0
$GC,4053,-1.54,-116.8,469.4,-11.1,209,4058,0.00,2.62,0.00,0.000,4,0.000,0.063,2817,3482,3485,0,0,0,0,0,0
$GC,4076,-1.54,-116.8,471.9,-11.3,209,4080,0.00,2.58,0.00,0.000,6,0.000,0.051,2817,1957,3485,0,0,0,0,0,0
$GC,4331,-1.54,-116.8,497.4,-9.9,216,4332,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1957,3483,0,0,0,0,0,0
$STATE,4369,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4369,begin apogee
$GC,4375,-0.31,0.0,501.4,9.8,217,4476,1.23,0.00,96.82,0.912,6,0.079,0.000,3095,2024,3010,0,0,0,0,0,0
$STATE,4476,end apogee,CONTROL_FINISHED_OK
$STATE,4476,begin climb
$GC,4480,1.38,116.8,503.2,0.0,219,4589,1.55,2.65,98.75,0.893,4,0.048,0.054,3469,3551,2533,0,0,0,0,0,0
$GC,4634,1.28,155.8,499.5,7.8,222,4675,0.12,2.65,34.15,0.863,6,0.129,0.052,3447,2004,2374,0,0,0,0,0,0
$GC,4934,1.24,174.3,473.2,9.0,230,4958,0.00,3.03,16.52,0.827,4,0.000,0.102,3446,408,2297,0,0,0,0,0,0
$GC,4970,1.17,192.4,469.5,9.0,230,4995,0.12,2.58,17.55,0.823,6,0.128,0.031,3423,1967,2224,0,0,0,0,0,0
$GC,5266,1.18,200.8,441.7,9.6,238,5280,0.00,2.80,7.80,0.735,4,0.000,0.054,3422,3578,2190,0,0,0,0,0,0
$GC,5309,1.18,200.8,437.1,10.1,239,5313,0.00,2.70,0.00,0.000,6,0.000,0.048,3423,1984,2189,0,0,0,0,0,0
$GC,5594,1.19,210.0,410.1,9.5,246,5608,0.00,2.90,9.15,0.759,4,0.000,0.090,3422,411,2153,0,0,0,0,0,0
$GC,5664,1.15,210.0,402.5,10.3,247,5669,0.00,2.53,0.00,0.000,6,0.000,0.028,3422,1993,2151,0,0,0,0,0,0
$GC,5921,1.16,214.9,377.4,9.8,254,5932,0.00,2.78,5.40,0.646,4,0.000,0.071,3422,407,2134,0,0,0,0,0,0
$GC,5982,1.16,214.9,370.3,11.7,255,5986,0.00,2.50,0.00,0.000,6,0.000,0.025,3422,1970,2131,0,0,0,0,0,0
$GC,6244,1.17,226.9,345.1,9.3,262,6263,0.00,2.83,12.02,0.768,4,0.000,0.067,3422,403,2084,0,0,0,0,0,0
$GC,6281,1.17,226.9,341.1,11.5,262,6287,0.00,2.50,0.00,0.000,6,0.000,0.024,3422,1955,2083,0,0,0,0,0,0
$GC,6532,1.22,231.2,316.2,9.8,269,6542,0.00,2.67,5.03,0.606,4,0.000,0.043,3422,3576,2067,0,0,0,0,0,0
$GC,6664,1.29,236.4,303.7,9.7,272,6678,0.10,2.65,6.22,0.651,6,0.098,0.036,3450,1969,2046,0,0,0,0,0,0
$GC,6953,1.31,245.9,276.3,9.5,279,6966,0.00,0.00,9.82,0.706,6,0.000,0.000,3450,1969,2007,0,0,0,0,0,0
$GC,7241,1.33,267.7,250.4,8.8,286,7267,0.00,2.72,20.62,0.733,4,0.000,0.068,3450,410,1917,0,0,0,0,0,0
$GC,7341,1.33,267.7,240.0,11.6,288,7345,0.00,2.53,0.00,0.000,6,0.000,0.023,3450,2002,1914,0,0,0,0,0,0
$GC,7609,1.38,270.4,213.3,9.9,295,7613,0.00,2.72,0.00,0.000,4,0.000,0.057,3450,408,1913,0,0,0,0,0,0
$GC,7659,1.38,270.4,207.6,12.1,296,7664,0.00,2.47,0.00,0.000,6,0.000,0.025,3450,1980,1911,0,0,0,0,0,0
$GC,7925,1.42,270.4,180.3,10.2,313,7930,0.10,2.58,0.00,0.000,4,0.095,0.035,3479,3557,1911,0,0,0,0,0,0
$GC,7979,1.42,270.4,173.8,11.3,317,7983,0.00,2.58,0.00,0.000,6,0.000,0.035,3479,1968,1911,0,0,0,0,0,0
$GC,8245,1.43,275.7,147.5,9.7,341,8259,0.00,2.72,7.32,0.570,4,0.000,0.063,3479,407,1885,0,0,0,0,0,0
$GC,8308,1.39,275.7,139.8,11.9,346,8317,0.00,2.50,0.00,0.000,6,0.000,0.025,3479,1988,1884,0,0,0,0,0,0
$GC,8574,1.41,293.8,115.2,9.0,371,8598,0.00,2.67,16.83,0.607,4,0.000,0.054,3479,415,1811,0,0,0,0,0,0
$GC,8650,1.41,293.8,107.8,10.8,377,8654,0.00,2.42,0.00,0.000,6,0.000,0.025,3479,1959,1810,0,0,0,0,0,0
$GC,8916,1.49,314.0,83.4,8.9,401,8941,0.00,0.00,18.80,0.578,6,0.000,0.000,3479,1959,1728,0,0,0,0,0,0
$GC,9205,1.57,325.0,53.8,9.4,428,9223,0.12,2.67,10.60,0.521,4,0.075,0.049,3517,412,1684,0,0,0,0,0,0
$GC,9260,1.57,325.0,46.0,14.0,432,9269,0.00,2.45,0.00,0.000,6,0.000,0.020,3517,1963,1683,0,0,0,0,0,0
$GC,9564,1.57,325.0,10.7,11.1,469,9574,0.00,2.62,0.00,0.000,4,0.000,0.052,3517,412,1683,0,0,0,0,0,0
$STATE,9622,end climb,SURFACE_DEPTH_REACHED
$STATE,9622,begin surface coast
$FINISH,2.3,0.980031
$STATE,9631,end surface coast,CONTROL_FINISHED_OK
$STATE,9631,begin surface
$SM_CCo,9655,44.83,0.520,0,0,1460,380.21
$SM_GC,1.21,0.00,0.00,44.83,0.000,0.000,0.520,483,1983,1460,-12.34,2.63,380.21
$IRIDIUM_FIX,2239.35,-15754.99,130900,040457
$TT8_MAMPS,0.026078
$HUMID,62.08
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.90
$XPDR_PINGS,46
$24V_AH,23.5,41.435
$10V_AH,10.3,36.418
$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,28.950,119.250,393.425,44.825,0.000,59.497,77.291,393.088,11.500,0.000,12.770,991.062,6286.418,488.432,1847.711,832.304,33.366,1209.093,0.000,1848.524,0.000,0.535,0.000
$DEVICE_MAMPS,149.565,346.684,911.963,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,323.631,270.477,366.345,679.201,1028.114,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,38293,478
$CAP_FILE_SIZE,111082,0
$CFSIZE,260165632,164929536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200611,065916,2247.353,-15800.154,12,99.0,31,10.1