version: 66.06
glider: 146
mission: 6
dive: 338
start: 6 21 111 4 7 46
data:
$ID,146
$MISSION,6
$DIVE,338
$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,-276113.91
$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,44
$R_STBD_OVSHOOT,54
$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
$GPS1,035504,2249.847,-15800.735,7,2.5,26,10.1
$_CALLS,1
$_XMS_NAKs,25
$_XMS_TOUTs,2
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.6
$GPS2,040652,2249.878,-15800.865,12,99.0,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.220,-0.082
$KALMAN_X,-203923.8,2.0,-81.0,197054.3,-741.4
$KALMAN_Y,-28342.2,-389.8,-98.9,39896.2,871.3
$MHEAD_RNG_PITCHd_Wd,100.5,6602,-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,-70.97,0.000,2,0.000,0.000,473,1858,3257,0,0,0,0,0,0
$GC,94,-1.38,-116.8,3.7,-7.1,9,119,12.43,2.58,-4.12,0.000,4,0.151,0.061,2854,332,3489,0,0,0,0,0,0
$GC,183,-1.25,-116.8,27.5,-17.6,21,192,0.15,2.42,0.00,0.000,6,0.102,0.021,2889,1906,3490,0,0,0,0,0,0
$GC,462,-1.20,-116.8,68.8,-13.8,47,466,0.00,2.42,0.00,0.000,4,0.000,0.025,2889,3439,3491,0,0,0,0,0,0
$GC,532,-1.20,-116.8,78.3,-11.7,52,537,0.00,2.42,0.00,0.000,6,0.000,0.026,2889,1908,3491,0,0,0,0,0,0
$GC,795,-1.20,-116.8,112.0,-13.1,76,796,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1908,3492,0,0,0,0,0,0
$GC,1048,-1.20,-116.8,142.8,-11.9,100,1049,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1908,3493,0,0,0,0,0,0
$GC,1309,-1.25,-116.8,170.3,-10.3,124,1313,0.00,2.40,0.00,0.000,4,0.000,0.033,2889,3439,3493,0,0,0,0,0,0
$GC,1372,-1.35,-116.8,177.0,-9.1,129,1376,0.00,2.42,0.00,0.000,6,0.000,0.025,2889,1891,3493,0,0,0,0,0,0
$GC,1667,-1.40,-116.8,204.6,-9.7,153,1672,0.12,2.47,0.00,0.000,4,0.074,0.030,2841,3445,3493,0,0,0,0,0,0
$GC,1727,-1.40,-116.8,212.0,-11.6,154,1732,0.00,2.45,0.00,0.000,6,0.000,0.025,2841,1890,3493,0,0,0,0,0,0
$GC,1994,-1.40,-116.8,245.6,-12.9,161,1999,0.00,2.47,0.00,0.000,4,0.000,0.031,2841,3435,3494,0,0,0,0,0,0
$GC,2107,-1.40,-116.8,259.5,-11.7,163,2112,0.00,2.42,0.00,0.000,6,0.000,0.027,2841,1913,3493,0,0,0,0,0,0
$GC,2363,-1.40,-116.8,288.2,-11.4,170,2367,0.00,2.40,0.00,0.000,4,0.000,0.036,2841,3432,3493,0,0,0,0,0,0
$GC,2383,-1.40,-116.8,290.6,-10.8,170,2388,0.00,2.38,0.00,0.000,6,0.000,0.028,2841,1928,3493,0,0,0,0,0,0
$GC,2646,-1.40,-116.8,315.9,-9.5,177,2650,0.00,2.40,0.00,0.000,4,0.000,0.035,2841,3435,3493,0,0,0,0,0,0
$GC,2718,-1.46,-116.8,323.6,-10.3,178,2722,0.00,2.42,0.00,0.000,6,0.000,0.034,2841,1939,3493,0,0,0,0,0,0
$GC,2968,-1.46,-116.8,349.8,-10.4,184,2972,0.00,2.40,0.00,0.000,4,0.000,0.035,2841,3439,3492,0,0,0,0,0,0
$GC,2985,-1.50,-116.8,351.6,-9.8,184,2990,0.00,2.42,0.00,0.000,6,0.000,0.036,2841,1944,3492,0,0,0,0,0,0
$GC,3247,-1.55,-116.8,379.5,-10.9,191,3251,0.00,2.95,0.00,0.000,4,0.000,0.093,2840,310,3491,0,0,0,0,0,0
$GC,3262,-1.55,-116.8,381.4,-10.8,191,3266,0.00,2.55,0.00,0.000,6,0.000,0.032,2841,1909,3491,0,0,0,0,0,0
$GC,3525,-1.59,-116.8,408.0,-10.2,198,3529,0.00,2.60,0.00,0.000,4,0.000,0.055,2841,3475,3490,0,0,0,0,0,0
$GC,3558,-1.66,-116.8,411.6,-10.3,198,3564,0.17,2.55,0.00,0.000,6,0.056,0.044,2781,1948,3490,0,0,0,0,0,0
$GC,3808,-1.61,-116.8,441.4,-11.9,205,3810,0.15,0.00,0.00,0.000,6,0.107,0.000,2813,1948,3488,0,0,0,0,0,0
$GC,4053,-1.61,-116.8,465.7,-9.8,211,4054,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1948,3486,0,0,0,0,0,0
$GC,4295,-1.61,-116.8,488.3,-9.2,217,4299,0.00,2.55,0.00,0.000,4,0.000,0.054,2813,3462,3484,0,0,0,0,0,0
$GC,4316,-1.61,-116.8,490.4,-9.8,217,4321,0.00,2.58,0.00,0.000,6,0.000,0.054,2813,1949,3484,0,0,0,0,0,0
$STATE,4447,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4447,begin apogee
$GC,4455,-0.31,0.0,503.2,9.6,221,4556,1.23,0.00,96.95,0.913,6,0.074,0.000,3094,2015,3010,0,0,0,0,0,0
$STATE,4557,end apogee,CONTROL_FINISHED_OK
$STATE,4557,begin climb
$GC,4559,1.38,116.8,505.3,0.0,223,4668,1.55,2.67,99.12,0.893,4,0.041,0.059,3469,3552,2532,0,0,0,0,0,0
$GC,4703,1.30,172.1,502.9,6.8,226,4759,0.10,2.67,48.05,0.872,6,0.136,0.053,3451,1999,2307,0,0,0,0,0,0
$GC,5009,1.23,172.1,473.2,10.2,234,5014,0.00,3.00,0.00,0.000,4,0.000,0.106,3451,406,2298,0,0,0,0,0,0
$GC,5043,1.10,172.1,469.5,10.9,234,5050,0.22,2.58,0.00,0.000,6,0.109,0.029,3405,1973,2297,0,0,0,0,0,0
$GC,5293,1.15,210.5,449.1,7.8,241,5332,0.00,0.00,33.42,0.860,6,0.000,0.000,3405,1973,2150,0,0,0,0,0,0
$GC,5577,1.23,242.8,426.1,8.2,248,5612,0.12,2.85,28.80,0.840,4,0.222,0.071,3440,403,2020,0,0,0,0,0,0
$GC,5708,1.17,242.8,411.0,12.7,251,5713,0.00,2.55,0.00,0.000,6,0.000,0.025,3440,1991,2016,0,0,0,0,0,0
$GC,5991,1.17,242.8,379.8,10.7,258,5996,0.00,2.78,0.00,0.000,4,0.000,0.069,3440,401,2013,0,0,0,0,0,0
$GC,6014,1.13,242.8,377.3,11.3,258,6019,0.12,2.55,0.00,0.000,6,0.126,0.024,3415,1990,2012,0,0,0,0,0,0
$GC,6270,1.21,266.1,354.6,8.7,265,6298,0.00,2.80,21.20,0.801,4,0.000,0.064,3414,400,1923,0,0,0,0,0,0
$GC,6364,1.21,266.1,345.4,10.8,267,6368,0.00,2.53,0.00,0.000,6,0.000,0.027,3414,1972,1920,0,0,0,0,0,0
$GC,6642,1.28,271.6,318.7,9.7,274,6650,0.12,0.00,5.60,0.628,6,0.087,0.000,3449,1972,1902,0,0,0,0,0,0
$GC,6885,1.28,271.6,289.6,12.2,280,6886,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1972,1900,0,0,0,0,0,0
$GC,7130,1.28,271.6,263.6,10.3,286,7134,0.00,2.67,0.00,0.000,4,0.000,0.061,3449,403,1898,0,0,0,0,0,0
$GC,7229,1.28,271.6,252.1,11.5,288,7234,0.00,2.47,0.00,0.000,6,0.000,0.021,3449,1971,1897,0,0,0,0,0,0
$GC,7497,1.29,275.4,225.7,9.8,295,7503,0.00,0.00,4.00,0.487,6,0.000,0.000,3449,1972,1887,0,0,0,0,0,0
$GC,7742,1.36,298.1,203.9,8.7,301,7771,0.00,2.72,21.65,0.695,4,0.000,0.056,3449,400,1792,0,0,0,0,0,0
$GC,7810,1.36,298.1,197.2,11.6,304,7814,0.00,2.45,0.00,0.000,6,0.000,0.018,3449,1970,1792,0,0,0,0,0,0
$GC,8078,1.41,298.1,169.6,10.2,328,8083,0.00,0.00,0.00,0.000,6,0.000,0.000,3449,1970,1790,0,0,0,0,0,0
$GC,8345,1.50,319.3,144.3,8.8,353,8372,0.17,2.65,19.27,0.630,4,0.160,0.057,3496,408,1706,0,0,0,0,0,0
$GC,8435,1.45,319.3,133.1,12.4,360,8440,0.00,2.42,0.00,0.000,6,0.000,0.023,3496,1949,1704,0,0,0,0,0,0
$GC,8698,1.45,319.3,102.6,11.8,384,8702,0.00,2.60,0.00,0.000,4,0.000,0.056,3496,401,1704,0,0,0,0,0,0
$GC,8733,1.45,319.3,97.9,13.5,386,8742,0.00,2.42,0.00,0.000,6,0.000,0.025,3496,1936,1704,0,0,0,0,0,0
$GC,8999,1.46,322.8,68.8,9.8,411,9014,0.00,2.65,4.05,0.394,4,0.000,0.037,3496,3556,1693,0,0,0,0,0,0
$GC,9044,1.51,329.9,64.4,9.6,414,9059,0.00,2.65,8.00,0.505,6,0.000,0.031,3496,1923,1664,0,0,0,0,0,0
$GC,9316,1.56,330.6,38.5,10.0,439,9320,0.00,2.55,0.00,0.000,4,0.000,0.054,3496,392,1662,0,0,0,0,0,0
$GC,9361,1.56,330.6,33.1,11.9,442,9365,0.00,2.42,0.00,0.000,6,0.000,0.018,3496,1958,1662,0,0,0,0,0,0
$STATE,9639,end climb,SURFACE_DEPTH_REACHED
$STATE,9639,begin surface coast
$FINISH,0.6,0.980098
$STATE,9695,end surface coast,CONTROL_FINISHED_OK
$STATE,9695,begin surface
$SM_CCo,9717,41.00,0.516,0,0,1459,380.21
$SM_GC,1.33,0.00,0.00,41.00,0.000,0.000,0.516,471,1854,1459,-12.39,-1.02,380.21
$IRIDIUM_FIX,2244.02,-15801.49,140900,010111
$TT8_MAMPS,0.026078
$HUMID,62.01
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.00
$XPDR_PINGS,47
$24V_AH,23.5,42.494
$10V_AH,10.3,37.337
$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,28.900,112.575,390.125,41.000,0.000,29.171,35.051,491.264,11.750,0.000,35.522,997.600,6278.650,484.887,1870.871,838.455,33.363,1175.329,0.000,1857.702,0.000,0.535,0.000
$DEVICE_MAMPS,221.663,118.118,913.497,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.976,281.215,377.617,713.199,1074.026,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,38508,488
$CAP_FILE_SIZE,107306,0
$CFSIZE,260165632,164503552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210611,065307,2249.604,-15800.030,120,1.6,120,10.1