version: 66.06
glider: 146
mission: 6
dive: 360
start: 6 23 111 20 53 20
data:
$ID,146
$MISSION,6
$DIVE,360
$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,-276719.84
$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,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,36
$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
$GPS1,204536,2249.780,-15801.402,26,0.9,26,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.8
$GPS2,205226,2249.861,-15801.454,11,1.9,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.159,-0.173
$KALMAN_X,-231756.2,-27.4,-156.8,223984.3,-880.0
$KALMAN_Y,-45.0,-464.7,-451.6,11995.6,1749.6
$MHEAD_RNG_PITCHd_Wd,127.4,7607,-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,-71.18,0.000,2,0.000,0.000,473,1880,3287,0,0,0,0,0,0
$GC,94,-1.38,-116.8,4.0,-8.2,9,120,12.18,2.67,-3.60,0.000,4,0.141,0.068,2858,320,3491,0,0,0,0,0,0
$GC,151,-1.14,-116.8,22.4,-23.3,16,159,0.25,2.45,0.00,0.000,6,0.156,0.015,2915,1914,3492,0,0,0,0,0,0
$GC,426,-1.14,-116.8,60.5,-13.4,44,430,0.00,2.38,0.00,0.000,4,0.000,0.024,2915,3435,3493,0,0,0,0,0,0
$GC,472,-1.14,-116.8,66.4,-11.8,47,476,0.00,2.42,0.00,0.000,6,0.000,0.029,2915,1898,3493,0,0,0,0,0,0
$GC,738,-1.14,-116.8,97.6,-11.0,71,742,0.00,2.42,0.00,0.000,4,0.000,0.032,2915,3442,3494,0,0,0,0,0,0
$GC,772,-1.19,-116.8,101.2,-10.7,73,776,0.00,2.45,0.00,0.000,6,0.000,0.024,2915,1894,3494,0,0,0,0,0,0
$GC,1039,-1.25,-116.8,129.5,-10.7,97,1043,0.00,2.42,0.00,0.000,4,0.000,0.032,2915,3441,3495,0,0,0,0,0,0
$GC,1109,-1.39,-116.8,137.2,-9.9,102,1119,0.17,2.45,0.00,0.000,6,0.026,0.024,2841,1907,3495,0,0,0,0,0,0
$GC,1375,-1.34,-116.8,171.4,-12.8,127,1381,0.15,0.00,0.00,0.000,6,0.101,0.000,2877,1907,3495,0,0,0,0,0,0
$GC,1637,-1.34,-116.8,201.0,-11.1,152,1642,0.00,2.40,0.00,0.000,4,0.000,0.033,2877,3438,3496,0,0,0,0,0,0
$GC,1699,-1.40,-116.8,208.3,-12.0,153,1703,0.00,2.42,0.00,0.000,6,0.000,0.022,2876,1903,3496,0,0,0,0,0,0
$GC,1961,-1.40,-116.8,236.4,-10.5,160,1965,0.00,2.42,0.00,0.000,4,0.000,0.028,2876,3431,3497,0,0,0,0,0,0
$GC,2061,-1.49,-116.8,246.5,-9.7,162,2066,0.12,2.40,0.00,0.000,6,0.067,0.024,2826,1918,3496,0,0,0,0,0,0
$GC,2328,-1.49,-116.8,275.4,-10.6,169,2332,0.00,2.40,0.00,0.000,4,0.000,0.036,2826,3433,3497,0,0,0,0,0,0
$GC,2361,-1.49,-116.8,279.3,-12.0,169,2367,0.00,2.40,0.00,0.000,6,0.000,0.031,2826,1924,3496,0,0,0,0,0,0
$GC,2611,-1.49,-116.8,307.7,-11.5,176,2615,0.00,2.42,0.00,0.000,4,0.000,0.031,2826,3438,3497,0,0,0,0,0,0
$GC,2651,-1.49,-116.8,312.2,-11.9,177,2656,0.00,2.42,0.00,0.000,6,0.000,0.034,2826,1932,3497,0,0,0,0,0,0
$GC,2936,-1.49,-116.8,346.9,-12.4,184,2941,0.00,2.40,0.00,0.000,4,0.000,0.039,2827,3432,3497,0,0,0,0,0,0
$GC,2963,-1.49,-116.8,350.6,-12.4,184,2968,0.00,2.45,0.00,0.000,6,0.000,0.036,2826,1932,3497,0,0,0,0,0,0
$GC,3219,-1.49,-116.8,379.4,-11.1,191,3223,0.00,2.40,0.00,0.000,4,0.000,0.044,2826,3425,3495,0,0,0,0,0,0
$GC,3305,-1.54,-116.8,389.0,-10.6,193,3309,0.00,2.47,0.00,0.000,6,0.000,0.053,2826,1943,3495,0,0,0,0,0,0
$GC,3588,-1.54,-116.8,418.1,-10.2,200,3589,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1944,3494,0,0,0,0,0,0
$GC,3831,-1.54,-116.8,442.7,-10.1,206,3833,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1944,3492,0,0,0,0,0,0
$GC,4077,-1.54,-116.8,466.3,-9.5,212,4081,0.00,2.45,0.00,0.000,4,0.000,0.057,2826,3420,3490,0,0,0,0,0,0
$GC,4110,-1.59,-116.8,469.9,-10.0,212,4116,0.00,2.50,0.00,0.000,6,0.000,0.059,2826,1953,3490,0,0,0,0,0,0
$GC,4361,-1.63,-116.8,493.2,-9.4,219,4365,0.00,2.45,0.00,0.000,4,0.000,0.058,2826,3419,3488,0,0,0,0,0,0
$GC,4389,-1.68,-116.8,496.0,-9.8,219,4394,0.00,2.50,0.00,0.000,6,0.000,0.057,2826,1956,3488,0,0,0,0,0,0
$STATE,4433,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4433,begin apogee
$GC,4439,-0.31,0.0,500.4,9.4,220,4541,1.20,0.00,98.07,0.913,6,0.080,0.000,3100,1956,3010,0,0,0,0,0,0
$STATE,4541,end apogee,CONTROL_FINISHED_OK
$STATE,4542,begin climb
$GC,4544,1.38,116.8,502.4,0.0,222,4654,1.58,2.72,100.60,0.892,4,0.038,0.059,3479,3520,2530,0,0,0,0,0,0
$GC,4667,1.34,210.6,502.1,4.6,225,4757,0.00,2.62,81.00,0.881,6,0.000,0.054,3479,1999,2150,0,0,0,0,0,0
$GC,5001,1.24,210.6,463.1,12.4,234,5003,0.20,0.00,0.00,0.000,6,0.112,0.000,3440,1999,2142,0,0,0,0,0,0
$GC,5245,1.24,212.7,438.6,9.9,240,5250,0.00,2.95,0.00,0.000,4,0.000,0.104,3439,401,2139,0,0,0,0,0,0
$GC,5266,1.18,212.7,436.3,10.1,240,5271,0.00,2.50,0.00,0.000,6,0.000,0.032,3439,1939,2138,0,0,0,0,0,0
$GC,5522,1.18,218.5,411.7,9.7,247,5533,0.00,2.70,5.68,0.657,4,0.000,0.073,3439,406,2119,0,0,0,0,0,0
$GC,5573,1.12,218.5,406.3,10.9,248,5578,0.12,2.47,0.00,0.000,6,0.127,0.031,3415,1932,2118,0,0,0,0,0,0
$GC,5846,1.17,229.2,380.6,9.4,255,5860,0.00,0.00,11.10,0.774,6,0.000,0.000,3415,1932,2075,0,0,0,0,0,0
$GC,6135,1.22,230.5,352.3,10.0,262,6140,0.00,2.65,0.00,0.000,4,0.000,0.041,3415,3536,2071,0,0,0,0,0,0
$GC,6191,1.28,231.0,346.6,10.0,263,6196,0.15,2.60,0.00,0.000,6,0.075,0.041,3455,1969,2071,0,0,0,0,0,0
$GC,6457,1.28,231.0,319.5,10.1,270,6462,0.00,2.72,0.00,0.000,4,0.000,0.074,3456,406,2070,0,0,0,0,0,0
$GC,6480,1.24,231.0,317.0,11.8,270,6484,0.00,2.42,0.00,0.000,6,0.000,0.023,3456,1953,2068,0,0,0,0,0,0
$GC,6735,1.24,235.3,291.6,9.8,277,6743,0.00,0.00,6.10,0.643,6,0.000,0.000,3456,1954,2050,0,0,0,0,0,0
$GC,6979,1.27,258.4,269.8,8.7,283,7003,0.00,0.00,22.30,0.755,6,0.000,0.000,3455,1954,1956,0,0,0,0,0,0
$GC,7224,1.27,258.4,244.9,10.2,289,7228,0.00,2.65,0.00,0.000,4,0.000,0.061,3455,408,1951,0,0,0,0,0,0
$GC,7262,1.27,258.4,240.5,11.5,290,7267,0.00,2.45,0.00,0.000,6,0.000,0.024,3455,1977,1950,0,0,0,0,0,0
$GC,7546,1.27,258.4,210.5,10.6,297,7547,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1977,1949,0,0,0,0,0,0
$GC,7797,1.27,258.4,185.8,10.2,312,7798,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,1978,1949,0,0,0,0,0,0
$GC,8051,1.33,266.8,162.4,9.6,336,8065,0.00,2.67,7.55,0.586,4,0.000,0.058,3455,400,1921,0,0,0,0,0,0
$GC,8141,1.33,266.8,152.2,11.2,343,8147,0.00,2.45,0.00,0.000,6,0.000,0.018,3456,1976,1920,0,0,0,0,0,0
$GC,8405,1.42,288.3,129.1,8.8,368,8427,0.10,0.00,20.23,0.624,6,0.092,0.000,3486,1977,1833,0,0,0,0,0,0
$GC,8677,1.42,288.3,99.2,10.7,394,8679,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1977,1831,0,0,0,0,0,0
$GC,8937,1.49,311.0,75.0,8.7,418,8964,0.00,2.67,20.05,0.571,4,0.000,0.054,3486,406,1742,0,0,0,0,0,0
$GC,8983,1.51,326.9,71.0,9.1,421,9011,0.00,2.42,15.45,0.551,6,0.000,0.017,3486,1966,1676,0,0,0,0,0,0
$GC,9267,1.59,338.5,45.1,9.4,447,9285,0.12,2.60,10.80,0.513,4,0.083,0.030,3522,3546,1629,0,0,0,0,0,0
$GC,9335,1.59,338.5,37.1,11.7,452,9344,0.00,2.62,0.00,0.000,6,0.000,0.029,3522,1948,1628,0,0,0,0,0,0
$STATE,9619,end climb,SURFACE_DEPTH_REACHED
$STATE,9619,begin surface coast
$FINISH,0.5,0.971727
$STATE,9668,end surface coast,CONTROL_FINISHED_OK
$STATE,9668,begin surface
$SM_CCo,9692,34.65,0.516,0,0,1459,380.21
$SM_GC,1.19,0.00,0.00,34.65,0.000,0.000,0.516,479,1858,1459,-12.38,-0.90,380.21
$IRIDIUM_FIX,2241.69,-15804.53,160900,171732
$TT8_MAMPS,0.026078
$HUMID,63.50
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.90
$XPDR_PINGS,42
$24V_AH,23.5,45.302
$10V_AH,10.3,39.813
$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,28.775,105.625,398.925,34.650,0.000,29.983,32.455,215.285,10.500,0.000,12.572,994.641,6255.104,497.260,1847.630,543.943,33.368,1171.814,0.000,1854.794,0.000,0.534,0.000
$DEVICE_MAMPS,156.468,103.545,912.730,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.097,285.529,386.697,735.753,1113.872,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,38456,497
$CAP_FILE_SIZE,100729,0
$CFSIZE,260165632,163336192
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230611,233653,2249.737,-15801.339,25,2.9,44,10.1