version: 66.06
glider: 146
mission: 6
dive: 353
start: 6 23 111 0 41 31
data:
$ID,146
$MISSION,6
$DIVE,353
$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,-276540.53
$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,50
$R_STBD_OVSHOOT,62
$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
$GPS1,003437,2248.039,-15759.970,30,0.9,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.1
$GPS2,004037,2248.112,-15759.992,8,1.3,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.072,-0.224
$KALMAN_X,-223267.8,-11.3,19.1,217804.1,-1123.0
$KALMAN_Y,-11611.9,99.4,396.4,18897.9,1493.8
$MHEAD_RNG_PITCHd_Wd,187.8,5534,-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,15,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,-70.45,0.000,2,0.000,0.000,477,1861,3236,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.7,-6.9,9,119,12.25,2.55,-4.68,0.000,4,0.145,0.053,2854,340,3488,0,0,0,0,0,0
$GC,249,-1.23,-116.8,39.0,-17.7,28,257,0.15,2.40,0.00,0.000,6,0.221,0.015,2889,1903,3490,0,0,0,0,0,0
$GC,518,-1.23,-116.8,77.1,-12.6,53,522,0.00,2.40,0.00,0.000,4,0.000,0.025,2889,3438,3491,0,0,0,0,0,0
$GC,599,-1.23,-116.8,87.6,-12.6,59,603,0.00,2.38,0.00,0.000,6,0.000,0.031,2889,1931,3491,0,0,0,0,0,0
$GC,865,-1.23,-116.8,118.8,-11.4,83,869,0.00,2.40,0.00,0.000,4,0.000,0.027,2889,3446,3492,0,0,0,0,0,0
$GC,898,-1.23,-116.8,122.6,-11.4,85,902,0.00,2.40,0.00,0.000,6,0.000,0.024,2889,1916,3492,0,0,0,0,0,0
$GC,1164,-1.27,-116.8,152.7,-11.4,109,1169,0.00,2.40,0.00,0.000,4,0.000,0.027,2889,3439,3493,0,0,0,0,0,0
$GC,1212,-1.38,-116.8,158.7,-11.0,112,1218,0.10,2.35,0.00,0.000,6,0.084,0.023,2847,1937,3493,0,0,0,0,0,0
$GC,1474,-1.38,-116.8,191.0,-11.2,137,1478,0.00,2.38,0.00,0.000,4,0.000,0.029,2847,3441,3493,0,0,0,0,0,0
$GC,1555,-1.41,-116.8,199.8,-10.9,143,1561,0.00,2.35,0.00,0.000,6,0.000,0.023,2847,1953,3494,0,0,0,0,0,0
$GC,1805,-1.41,-116.8,226.6,-10.5,150,1809,0.00,2.75,0.00,0.000,4,0.000,0.060,2847,317,3494,0,0,0,0,0,0
$GC,1838,-1.38,-116.8,230.3,-11.4,150,1843,0.00,2.47,0.00,0.000,6,0.000,0.015,2847,1945,3494,0,0,0,0,0,0
$GC,2087,-1.38,-116.8,257.1,-10.8,157,2091,0.00,2.38,0.00,0.000,4,0.000,0.034,2847,3443,3494,0,0,0,0,0,0
$GC,2110,-1.38,-116.8,259.5,-10.3,157,2114,0.00,2.38,0.00,0.000,6,0.000,0.029,2847,1945,3494,0,0,0,0,0,0
$GC,2365,-1.38,-116.8,286.4,-10.5,164,2369,0.00,2.38,0.00,0.000,4,0.000,0.029,2847,3436,3494,0,0,0,0,0,0
$GC,2404,-1.42,-116.8,290.8,-11.2,165,2409,0.00,2.33,0.00,0.000,6,0.000,0.031,2847,1963,3494,0,0,0,0,0,0
$GC,2690,-1.42,-116.8,316.1,-8.7,172,2694,0.00,2.38,0.00,0.000,4,0.000,0.032,2847,3436,3494,0,0,0,0,0,0
$GC,2745,-1.48,-116.8,320.9,-8.0,173,2749,0.00,2.35,0.00,0.000,6,0.000,0.031,2847,1972,3494,0,0,0,0,0,0
$GC,3014,-1.52,-116.8,346.4,-10.0,180,3018,0.00,2.35,0.00,0.000,4,0.000,0.034,2847,3435,3493,0,0,0,0,0,0
$GC,3103,-1.59,-116.8,356.1,-10.8,182,3108,0.12,2.35,0.00,0.000,6,0.071,0.038,2803,1990,3493,0,0,0,0,0,0
$GC,3380,-1.59,-116.8,390.7,-12.6,189,3385,0.00,2.35,0.00,0.000,4,0.000,0.044,2803,3431,3491,0,0,0,0,0,0
$GC,3448,-1.59,-116.8,398.4,-11.0,190,3453,0.00,2.35,0.00,0.000,6,0.000,0.043,2803,2001,3491,0,0,0,0,0,0
$GC,3704,-1.59,-116.8,427.1,-11.6,197,3708,0.00,2.35,0.00,0.000,4,0.000,0.050,2803,3436,3489,0,0,0,0,0,0
$GC,3725,-1.59,-116.8,430.0,-12.9,197,3729,0.00,2.38,0.00,0.000,6,0.000,0.055,2803,2020,3489,0,0,0,0,0,0
$GC,3987,-1.59,-116.8,459.0,-10.8,204,3991,0.00,2.35,0.00,0.000,4,0.000,0.054,2803,3432,3488,0,0,0,0,0,0
$GC,4030,-1.59,-116.8,463.8,-10.7,205,4035,0.00,2.38,0.00,0.000,6,0.000,0.059,2803,2021,3487,0,0,0,0,0,0
$GC,4309,-1.59,-116.8,491.8,-10.0,212,4314,0.00,3.17,0.00,0.000,4,0.000,0.111,2803,320,3485,0,0,0,0,0,0
$GC,4337,-1.56,-116.8,494.9,-11.4,212,4343,0.10,2.67,0.00,0.000,6,0.129,0.041,2823,1951,3485,0,0,0,0,0,0
$STATE,4422,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4422,begin apogee
$GC,4428,-0.31,0.0,504.0,10.3,214,4529,1.20,0.00,97.68,0.917,6,0.078,0.000,3095,1951,3010,0,0,0,0,0,0
$STATE,4530,end apogee,CONTROL_FINISHED_OK
$STATE,4530,begin climb
$GC,4532,1.38,116.8,506.5,0.0,216,4644,1.58,2.78,99.78,0.898,4,0.040,0.065,3471,3525,2532,0,0,0,0,0,0
$GC,4712,1.29,157.8,503.2,7.7,221,4754,0.12,2.55,35.62,0.871,6,0.132,0.051,3449,2015,2365,0,0,0,0,0,0
$GC,5001,1.23,168.7,477.2,9.4,228,5016,0.00,3.08,9.77,0.779,4,0.000,0.109,3448,411,2322,0,0,0,0,0,0
$GC,5078,1.11,168.7,468.4,11.3,229,5084,0.20,2.53,0.00,0.000,6,0.114,0.034,3408,1953,2319,0,0,0,0,0,0
$GC,5330,1.14,190.1,446.1,8.8,236,5356,0.00,2.80,20.25,0.839,4,0.000,0.056,3407,3586,2233,0,0,0,0,0,0
$GC,5372,1.15,197.6,441.9,9.6,237,5387,0.00,2.70,8.02,0.732,6,0.000,0.046,3408,1989,2203,0,0,0,0,0,0
$GC,5656,1.17,217.9,416.7,8.9,244,5680,0.00,2.97,18.77,0.828,4,0.000,0.098,3407,403,2121,0,0,0,0,0,0
$GC,5704,1.17,218.5,411.8,10.0,245,5708,0.00,2.58,0.00,0.000,6,0.000,0.025,3408,2004,2119,0,0,0,0,0,0
$GC,5982,1.23,228.5,385.3,9.5,252,5998,0.10,2.83,10.25,0.764,4,0.094,0.066,3435,403,2077,0,0,0,0,0,0
$GC,6044,1.19,228.5,378.7,10.5,253,6049,0.00,2.53,0.00,0.000,6,0.000,0.021,3436,1984,2076,0,0,0,0,0,0
$GC,6305,1.19,235.2,353.9,9.7,260,6314,0.00,0.00,7.05,0.698,6,0.000,0.000,3436,1984,2051,0,0,0,0,0,0
$GC,6550,1.21,246.5,330.9,9.4,266,6569,0.00,2.70,11.52,0.755,4,0.000,0.038,3436,3576,2004,0,0,0,0,0,0
$GC,6580,1.21,250.9,327.7,9.8,266,6592,0.00,2.65,5.62,0.627,6,0.000,0.033,3436,1968,1987,0,0,0,0,0,0
$GC,6835,1.21,250.9,301.3,10.5,273,6839,0.00,2.62,0.00,0.000,4,0.000,0.038,3436,3571,1983,0,0,0,0,0,0
$GC,6863,1.21,250.9,298.1,11.5,273,6868,0.00,2.62,0.00,0.000,6,0.000,0.032,3436,1976,1982,0,0,0,0,0,0
$GC,7113,1.21,250.9,272.4,10.2,279,7117,0.00,2.72,0.00,0.000,4,0.000,0.067,3435,406,1982,0,0,0,0,0,0
$GC,7145,1.21,250.9,268.6,11.5,279,7151,0.00,2.50,0.00,0.000,6,0.000,0.025,3436,1997,1980,0,0,0,0,0,0
$GC,7395,1.26,250.9,242.2,10.6,286,7400,0.00,2.72,0.00,0.000,4,0.000,0.064,3436,402,1980,0,0,0,0,0,0
$GC,7508,1.26,250.9,229.9,10.8,288,7512,0.00,2.42,0.00,0.000,6,0.000,0.018,3436,1957,1980,0,0,0,0,0,0
$GC,7763,1.35,278.0,207.4,8.5,295,7794,0.10,2.70,24.60,0.710,4,0.091,0.060,3464,411,1875,0,0,0,0,0,0
$GC,7883,1.35,278.0,194.7,12.5,300,7887,0.00,2.40,0.00,0.000,6,0.000,0.025,3464,1933,1873,0,0,0,0,0,0
$GC,8145,1.35,278.0,166.5,10.1,324,8146,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,1934,1872,0,0,0,0,0,0
$GC,8400,1.40,281.9,140.6,9.8,348,8415,0.00,2.62,4.15,0.453,4,0.000,0.054,3464,413,1859,0,0,0,0,0,0
$GC,8453,1.40,281.9,135.3,10.2,352,8457,0.00,2.38,0.00,0.000,6,0.000,0.018,3464,1932,1859,0,0,0,0,0,0
$GC,8717,1.46,287.3,110.7,9.7,376,8732,0.00,2.62,6.47,0.528,4,0.000,0.052,3464,405,1837,0,0,0,0,0,0
$GC,8759,1.46,287.3,106.3,10.6,379,8763,0.00,2.35,0.00,0.000,6,0.000,0.018,3464,1928,1836,0,0,0,0,0,0
$GC,9027,1.57,321.5,81.8,8.1,403,9067,0.17,0.00,30.88,0.594,6,0.065,0.000,3512,1930,1697,0,0,0,0,0,0
$GC,9324,1.57,321.6,50.5,10.0,431,9332,0.00,0.00,0.00,0.000,6,0.000,0.000,3512,1931,1695,0,0,0,0,0,0
$GC,9606,1.60,345.0,22.5,8.7,461,9633,0.00,2.58,20.58,0.529,4,0.000,0.054,3512,406,1602,0,0,0,0,0,0
$GC,9665,1.60,345.0,15.6,10.9,468,9675,0.00,2.40,0.00,0.000,6,0.000,0.017,3512,1944,1602,0,0,0,0,0,0
$STATE,9757,end climb,SURFACE_DEPTH_REACHED
$STATE,9757,begin surface coast
$FINISH,0.6,0.978030
$STATE,9803,end surface coast,CONTROL_FINISHED_OK
$STATE,9803,begin surface
$SM_CCo,9825,28.85,0.516,0,0,1460,380.21
$SM_GC,1.22,0.00,0.00,28.85,0.000,0.000,0.516,478,1865,1460,-12.36,-0.71,380.21
$IRIDIUM_FIX,2237.01,-15800.20,150900,212119
$TT8_MAMPS,0.025311
$HUMID,63.78
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.30
$XPDR_PINGS,51
$24V_AH,23.5,44.456
$10V_AH,10.3,39.040
$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,28.575,136.550,411.025,28.850,0.000,27.435,39.566,159.633,12.750,0.000,15.289,1010.218,6305.812,488.992,1895.864,515.143,33.371,1240.465,0.000,1894.153,0.000,0.535,0.000
$DEVICE_MAMPS,220.896,111.215,916.565,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.317,280.466,373.621,708.410,1071.653,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,38432,487
$CAP_FILE_SIZE,109387,0
$CFSIZE,260165632,163700736
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230611,032658,2248.051,-15801.146,12,2.1,31,10.1