version: 66.06
glider: 146
mission: 6
dive: 357
start: 6 23 111 12 14 21
data:
$ID,146
$MISSION,6
$DIVE,357
$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,-276657.03
$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,67
$R_STBD_OVSHOOT,69
$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
$GPS1,120306,2249.029,-15802.805,39,1.3,39,10.1
$_CALLS,2
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-72.5
$GPS2,121326,2249.184,-15802.901,14,1.3,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.142,-0.022
$KALMAN_X,-228663.5,-12.0,15.3,218230.1,-1164.8
$KALMAN_Y,-4418.7,216.2,41.6,13940.4,1667.1
$MHEAD_RNG_PITCHd_Wd,88.7,1521,-32.6,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-2.09,-44.8,0.0,0.0,0,87,0.00,0.00,-69.70,0.000,6,0.000,0.000,474,1840,3193,0,0,0,0,0,0
$GC,92,-2.13,-76.5,3.3,-5.3,9,118,11.40,2.50,-2.47,0.000,4,0.143,0.056,2697,353,3325,0,0,0,0,0,0
$GC,137,-1.73,-76.5,19.1,-36.1,14,145,0.43,2.35,0.00,0.000,6,0.118,0.021,2785,1894,3325,0,0,0,0,0,0
$GC,416,-1.88,-76.5,74.4,-17.5,42,421,0.12,2.42,0.00,0.000,4,0.069,0.028,2743,3430,3327,0,0,0,0,0,0
$GC,438,-2.02,-76.5,78.6,-17.6,43,443,0.00,2.38,0.00,0.000,6,0.000,0.021,2743,1911,3327,0,0,0,0,0,0
$GC,705,-2.15,-76.5,123.1,-15.0,67,710,0.17,2.40,0.00,0.000,4,0.057,0.026,2687,3433,3328,0,0,0,0,0,0
$GC,810,-2.23,-76.5,141.0,-16.7,75,814,0.00,2.40,0.00,0.000,6,0.000,0.025,2687,1895,3328,0,0,0,0,0,0
$GC,1074,-2.30,-76.5,183.4,-14.7,99,1079,0.00,2.40,0.00,0.000,4,0.000,0.032,2687,3431,3328,0,0,0,0,0,0
$GC,1167,-2.38,-76.5,198.9,-16.2,106,1173,0.15,2.38,0.00,0.000,6,0.061,0.027,2632,1908,3329,0,0,0,0,0,0
$GC,1427,-2.38,-76.5,247.4,-19.2,114,1431,0.00,2.40,0.00,0.000,4,0.000,0.028,2632,3438,3329,0,0,0,0,0,0
$GC,1467,-2.38,-76.5,254.9,-20.0,115,1472,0.00,2.38,0.00,0.000,6,0.000,0.024,2632,1922,3329,0,0,0,0,0,0
$GC,1751,-2.38,-76.5,304.1,-16.9,122,1755,0.00,2.38,0.00,0.000,4,0.000,0.031,2632,3429,3330,0,0,0,0,0,0
$GC,1772,-2.38,-76.5,308.1,-17.8,122,1776,0.00,2.45,0.00,0.000,6,0.000,0.030,2632,1906,3330,0,0,0,0,0,0
$GC,2035,-2.42,-76.5,350.7,-16.2,129,2039,0.00,2.45,0.00,0.000,4,0.000,0.038,2632,3426,3330,0,0,0,0,0,0
$GC,2107,-2.46,-76.5,363.5,-16.6,130,2112,0.00,2.53,0.00,0.000,6,0.000,0.045,2632,1909,3330,0,0,0,0,0,0
$GC,2357,-2.50,-76.5,404.4,-16.7,136,2361,0.00,2.47,0.00,0.000,4,0.000,0.050,2632,3423,3329,0,0,0,0,0,0
$GC,2482,-2.57,-76.5,425.1,-16.6,138,2488,0.00,2.55,0.00,0.000,6,0.000,0.059,2632,1921,3329,0,0,0,0,0,0
$GC,2732,-2.63,-76.5,464.0,-15.3,145,2737,0.15,2.53,0.00,0.000,4,0.061,0.053,2577,3425,3328,0,0,0,0,0,0
$STATE,2925,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2925,begin apogee
$GC,2933,-0.31,0.0,500.0,18.8,149,3004,2.40,0.00,65.32,0.889,6,0.108,0.000,3097,1994,3010,0,0,0,0,0,0
$STATE,3004,end apogee,CONTROL_FINISHED_OK
$STATE,3004,begin climb
$GC,3007,2.13,76.5,503.3,0.0,151,3082,2.22,3.08,64.55,0.871,4,0.038,0.103,3650,407,2697,0,0,0,0,0,0
$GC,3125,2.00,97.6,499.8,6.9,153,3151,0.22,2.53,19.70,0.828,6,0.142,0.034,3610,1948,2610,0,0,0,0,0,0
$GC,3427,2.00,98.2,470.8,10.0,161,3431,0.00,2.80,0.00,0.000,4,0.000,0.067,3610,3582,2603,0,0,0,0,0,0
$GC,3504,2.00,98.2,462.0,10.6,162,3510,0.00,2.65,0.00,0.000,6,0.000,0.049,3610,1994,2601,0,0,0,0,0,0
$GC,3754,2.00,101.6,437.6,9.5,169,3759,0.00,2.62,0.00,0.000,4,0.000,0.041,3609,3591,2598,0,0,0,0,0,0
$GC,4006,2.02,115.5,415.5,7.9,174,4026,0.00,2.62,14.52,0.811,6,0.000,0.040,3609,2010,2538,0,0,0,0,0,0
$GC,4300,2.03,124.5,389.7,8.7,182,4311,0.00,0.00,8.48,0.739,6,0.000,0.000,3610,2010,2502,0,0,0,0,0,0
$GC,4543,2.08,130.8,367.3,9.1,188,4556,0.00,2.67,6.80,0.695,4,0.000,0.035,3609,3592,2475,0,0,0,0,0,0
$GC,4813,2.08,130.8,338.8,10.1,194,4817,0.00,2.60,0.00,0.000,6,0.000,0.040,3610,2012,2472,0,0,0,0,0,0
$GC,5096,2.16,148.0,316.5,7.5,201,5118,0.12,2.60,15.85,0.770,4,0.098,0.033,3639,3586,2405,0,0,0,0,0,0
$GC,5331,2.16,148.0,290.3,10.3,206,5335,0.00,2.55,0.00,0.000,6,0.000,0.038,3639,2021,2401,0,0,0,0,0,0
$GC,5597,2.17,156.2,265.7,8.8,213,5611,0.00,2.62,7.90,0.668,4,0.000,0.037,3639,3589,2372,0,0,0,0,0,0
$GC,5692,2.17,156.5,256.0,10.0,215,5697,0.00,2.55,0.00,0.000,6,0.000,0.031,3639,2033,2371,0,0,0,0,0,0
$GC,5970,2.23,169.8,231.9,8.0,222,5990,0.00,2.85,13.25,0.695,4,0.000,0.066,3639,416,2316,0,0,0,0,0,0
$GC,6094,2.19,169.8,220.6,10.2,224,6099,0.00,2.60,0.00,0.000,6,0.000,0.025,3639,2054,2313,0,0,0,0,0,0
$GC,6347,2.25,172.8,195.8,9.6,233,6348,0.00,0.00,0.00,0.000,6,0.000,0.000,3639,2054,2313,0,0,0,0,0,0
$GC,6603,2.33,177.0,170.8,9.4,257,6617,0.15,2.55,7.05,0.582,4,0.091,0.035,3676,3588,2287,0,0,0,0,0,0
$GC,6887,2.33,177.0,139.4,11.2,281,6891,0.00,2.53,0.00,0.000,6,0.000,0.033,3676,2023,2286,0,0,0,0,0,0
$GC,7153,2.34,184.9,113.9,8.9,305,7167,0.00,2.58,8.55,0.561,4,0.000,0.038,3676,3584,2255,0,0,0,0,0,0
$GC,7284,2.34,186.1,99.6,9.9,316,7289,0.00,2.47,0.00,0.000,6,0.000,0.034,3676,2038,2253,0,0,0,0,0,0
$GC,7551,2.40,196.3,75.6,8.5,340,7568,0.00,2.55,11.18,0.549,4,0.000,0.033,3677,3583,2208,0,0,0,0,0,0
$GC,7644,2.45,196.3,66.2,10.4,347,7649,0.12,2.47,0.00,0.000,6,0.093,0.030,3709,2038,2208,0,0,0,0,0,0
$GC,7911,2.46,203.2,41.5,9.0,371,7926,0.00,2.55,7.55,0.488,4,0.000,0.029,3698,3592,2180,0,0,0,0,0,0
$GC,8083,2.46,203.2,22.9,11.6,388,8092,0.00,2.53,0.00,0.000,6,0.000,0.028,3709,2040,2178,0,0,0,0,0,0
$STATE,8244,end climb,SURFACE_DEPTH_REACHED
$STATE,8244,begin surface coast
$FINISH,0.5,0.976148
$STATE,8295,end surface coast,CONTROL_FINISHED_OK
$STATE,8295,begin surface
$SM_CCo,8320,144.40,0.522,0,0,1460,380.21
$SM_GC,1.13,0.00,0.00,144.40,0.000,0.000,0.522,480,1866,1460,-12.37,-0.68,380.21
$IRIDIUM_FIX,2239.35,-15804.53,160900,121259
$TT8_MAMPS,0.026078
$HUMID,60.78
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,20.50
$XPDR_PINGS,43
$24V_AH,23.5,44.905
$10V_AH,10.3,39.467
$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,30.775,101.625,250.700,144.400,0.000,51.837,64.703,303.008,10.750,0.000,17.443,914.534,5147.502,455.426,1878.583,691.672,33.372,1158.474,0.000,1875.086,0.000,0.534,0.000
$DEVICE_MAMPS,142.662,102.778,888.953,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,283.175,243.469,329.260,634.157,960.420,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355476
$DATA_FILE_SIZE,32089,418
$CAP_FILE_SIZE,100224,0
$CFSIZE,260165632,163504128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230611,143640,2249.779,-15802.397,14,2.5,33,10.1