version: 66.06
glider: 146
mission: 6
dive: 365
start: 6 24 111 11 26 21
data:
$ID,146
$MISSION,6
$DIVE,365
$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,-276874.28
$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,16
$R_STBD_OVSHOOT,59
$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
$GPS1,111816,2249.647,-15759.252,13,2.2,32,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,2
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-68.0
$GPS2,112528,2249.719,-15759.323,13,2.2,32,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.205,-0.114
$KALMAN_X,-237154.1,24.2,-93.3,232908.6,-913.1
$KALMAN_Y,5118.0,236.2,-313.2,5730.4,1286.5
$MHEAD_RNG_PITCHd_Wd,109.0,4000,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.55,0.000,2,0.000,0.000,480,1821,3224,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.2,-5.0,9,118,12.27,2.58,-4.90,0.000,4,0.146,0.057,2857,301,3489,0,0,0,0,0,0
$GC,156,-1.20,-116.8,21.7,-20.4,17,165,0.20,2.47,0.00,0.000,6,0.101,0.015,2903,1903,3490,0,0,0,0,0,0
$GC,439,-1.16,-116.8,63.2,-13.9,46,443,0.00,2.42,0.00,0.000,4,0.000,0.026,2903,3447,3491,0,0,0,0,0,0
$GC,460,-1.16,-116.8,66.4,-13.7,47,464,0.00,2.50,0.00,0.000,6,0.000,0.025,2903,1876,3491,0,0,0,0,0,0
$GC,726,-1.16,-116.8,98.2,-11.3,71,730,0.00,2.47,0.00,0.000,4,0.000,0.029,2903,3440,3492,0,0,0,0,0,0
$GC,772,-1.24,-116.8,103.9,-10.7,74,781,0.00,2.47,0.00,0.000,6,0.000,0.032,2903,1894,3492,0,0,0,0,0,0
$GC,1039,-1.30,-116.8,131.9,-9.6,99,1044,0.00,2.42,0.00,0.000,4,0.000,0.031,2903,3442,3492,0,0,0,0,0,0
$GC,1086,-1.42,-116.8,136.9,-10.0,102,1096,0.15,2.47,0.00,0.000,6,0.031,0.025,2841,1894,3493,0,0,0,0,0,0
$GC,1353,-1.37,-116.8,168.0,-11.5,127,1358,0.12,2.42,0.00,0.000,4,0.109,0.026,2869,3446,3493,0,0,0,0,0,0
$GC,1445,-1.44,-116.8,178.8,-10.9,134,1451,0.00,2.40,0.00,0.000,6,0.000,0.023,2869,1910,3493,0,0,0,0,0,0
$GC,1713,-1.44,-116.8,209.7,-11.5,154,1714,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1910,3493,0,0,0,0,0,0
$GC,1959,-1.44,-116.8,234.9,-10.0,160,1963,0.00,2.38,0.00,0.000,4,0.000,0.033,2869,3439,3493,0,0,0,0,0,0
$GC,2020,-1.53,-116.8,241.1,-9.5,161,2025,0.12,2.40,0.00,0.000,6,0.064,0.025,2815,1912,3493,0,0,0,0,0,0
$GC,2281,-1.47,-116.8,270.5,-11.4,168,2286,0.15,2.40,0.00,0.000,4,0.103,0.030,2849,3436,3493,0,0,0,0,0,0
$GC,2392,-1.53,-116.8,280.9,-9.2,170,2396,0.00,2.35,0.00,0.000,6,0.000,0.032,2849,1933,3493,0,0,0,0,0,0
$GC,2653,-1.53,-116.8,306.1,-9.9,177,2657,0.00,2.38,0.00,0.000,4,0.000,0.031,2849,3438,3493,0,0,0,0,0,0
$GC,2704,-1.60,-116.8,311.3,-10.3,178,2709,0.12,2.40,0.00,0.000,6,0.067,0.031,2801,1934,3493,0,0,0,0,0,0
$GC,2982,-1.55,-116.8,345.2,-12.2,185,2984,0.15,0.00,0.00,0.000,6,0.104,0.000,2833,1934,3493,0,0,0,0,0,0
$GC,3226,-1.55,-116.8,372.5,-11.1,191,3227,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1934,3492,0,0,0,0,0,0
$GC,3471,-1.55,-116.8,397.5,-10.2,197,3475,0.00,2.42,0.00,0.000,4,0.000,0.047,2833,3436,3491,0,0,0,0,0,0
$GC,3521,-1.60,-116.8,402.4,-9.2,198,3525,0.00,2.45,0.00,0.000,6,0.000,0.047,2833,1959,3491,0,0,0,0,0,0
$GC,3793,-1.64,-116.8,427.5,-9.2,205,3794,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1959,3489,0,0,0,0,0,0
$GC,4038,-1.69,-116.8,450.5,-9.5,211,4043,0.12,2.42,0.00,0.000,4,0.073,0.053,2787,3434,3487,0,0,0,0,0,0
$GC,4169,-1.69,-116.8,465.3,-11.7,214,4173,0.00,2.45,0.00,0.000,6,0.000,0.060,2787,1979,3486,0,0,0,0,0,0
$GC,4453,-1.69,-116.8,497.1,-11.2,221,4457,0.00,2.40,0.00,0.000,4,0.000,0.057,2787,3424,3484,0,0,0,0,0,0
$GC,4469,-1.69,-116.8,499.3,-11.4,221,4473,0.00,2.45,0.00,0.000,6,0.000,0.055,2787,1972,3484,0,0,0,0,0,0
$STATE,4477,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4478,begin apogee
$GC,4483,-0.31,0.0,500.6,11.9,221,4585,1.35,0.00,97.68,0.914,6,0.081,0.000,3096,1972,3010,0,0,0,0,0,0
$STATE,4585,end apogee,CONTROL_FINISHED_OK
$STATE,4586,begin climb
$GC,4588,1.38,116.8,503.1,0.0,224,4694,1.60,0.00,100.10,0.891,6,0.039,0.000,3481,1972,2533,0,0,0,0,0,0
$GC,4942,1.29,159.8,485.1,7.6,233,4987,0.15,2.97,37.17,0.871,4,0.123,0.104,3452,420,2356,0,0,0,0,0,0
$GC,5018,1.15,159.8,478.1,10.3,234,5023,0.15,2.50,0.00,0.000,6,0.121,0.035,3423,1945,2353,0,0,0,0,0,0
$GC,5268,1.17,176.9,455.1,9.1,240,5289,0.00,2.80,15.70,0.826,4,0.000,0.058,3422,3584,2287,0,0,0,0,0,0
$GC,5362,1.18,185.2,446.4,9.6,242,5376,0.00,2.67,8.30,0.747,6,0.000,0.047,3422,1995,2255,0,0,0,0,0,0
$GC,5640,1.20,198.8,421.0,9.3,249,5659,0.00,2.70,13.27,0.803,4,0.000,0.042,3422,3583,2199,0,0,0,0,0,0
$GC,5704,1.20,198.8,414.2,10.7,250,5708,0.00,2.67,0.00,0.000,6,0.000,0.044,3423,1991,2196,0,0,0,0,0,0
$GC,5967,1.20,198.8,387.9,10.2,257,5971,0.00,2.83,0.00,0.000,4,0.000,0.087,3422,402,2194,0,0,0,0,0,0
$GC,5982,1.20,198.8,385.9,10.5,257,5987,0.00,2.55,0.00,0.000,6,0.000,0.022,3422,2009,2193,0,0,0,0,0,0
$GC,6243,1.20,204.1,360.3,9.7,264,6250,0.00,0.00,5.05,0.624,6,0.000,0.000,3422,2009,2178,0,0,0,0,0,0
$GC,6489,1.24,233.2,338.9,8.4,270,6523,0.00,2.85,27.40,0.811,4,0.000,0.061,3422,404,2058,0,0,0,0,0,0
$GC,6568,1.25,240.2,331.5,9.6,271,6583,0.00,2.53,7.82,0.696,6,0.000,0.022,3422,2000,2029,0,0,0,0,0,0
$GC,6862,1.32,262.0,305.6,8.8,279,6889,0.15,2.78,20.65,0.772,4,0.078,0.057,3461,403,1940,0,0,0,0,0,0
$GC,6930,1.27,262.0,297.8,12.5,280,6934,0.00,2.50,0.00,0.000,6,0.000,0.019,3461,1995,1937,0,0,0,0,0,0
$GC,7185,1.27,262.0,267.3,12.0,287,7189,0.00,2.75,0.00,0.000,4,0.000,0.062,3461,396,1935,0,0,0,0,0,0
$GC,7204,1.27,262.0,265.2,11.5,287,7209,0.00,2.45,0.00,0.000,6,0.000,0.019,3461,1974,1934,0,0,0,0,0,0
$GC,7465,1.27,262.0,236.3,11.2,294,7470,0.00,2.67,0.00,0.000,4,0.000,0.062,3461,401,1933,0,0,0,0,0,0
$GC,7492,1.27,262.0,233.1,12.1,294,7496,0.00,2.45,0.00,0.000,6,0.000,0.018,3461,1969,1933,0,0,0,0,0,0
$GC,7743,1.27,262.0,206.5,10.6,300,7745,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1971,1932,0,0,0,0,0,0
$GC,7993,1.27,267.8,182.8,9.7,318,8008,0.00,2.67,4.80,0.518,4,0.000,0.060,3461,409,1917,0,0,0,0,0,0
$GC,8055,1.27,267.8,176.2,10.9,323,8059,0.00,2.40,0.00,0.000,6,0.000,0.019,3461,1966,1917,0,0,0,0,0,0
$GC,8319,1.32,273.5,151.7,9.7,347,8328,0.00,0.00,6.75,0.564,6,0.000,0.000,3461,1968,1894,0,0,0,0,0,0
$GC,8583,1.39,288.8,125.9,9.2,372,8600,0.00,0.00,15.05,0.613,6,0.000,0.000,3461,1967,1831,0,0,0,0,0,0
$GC,8859,1.47,292.0,98.7,9.9,398,8868,0.12,0.00,3.78,0.394,6,0.077,0.000,3498,1967,1820,0,0,0,0,0,0
$GC,9129,1.48,299.4,71.4,9.6,423,9143,0.00,0.00,8.30,0.521,6,0.000,0.000,3498,1967,1789,0,0,0,0,0,0
$GC,9402,1.54,317.4,44.5,9.0,448,9430,0.00,2.70,17.02,0.540,4,0.000,0.051,3498,396,1715,0,0,0,0,0,0
$GC,9485,1.57,338.9,36.7,8.8,454,9513,0.00,2.40,19.48,0.533,6,0.000,0.018,3498,1960,1628,0,0,0,0,0,0
$STATE,9765,end climb,SURFACE_DEPTH_REACHED
$STATE,9765,begin surface coast
$FINISH,0.6,0.979881
$STATE,9808,end surface coast,CONTROL_FINISHED_OK
$STATE,9808,begin surface
$SM_CCo,9832,33.72,0.515,0,0,1459,380.21
$SM_GC,1.11,0.00,0.00,33.72,0.000,0.000,0.515,473,1841,1459,-12.41,-1.39,380.21
$IRIDIUM_FIX,2241.69,-15757.16,170900,080852
$TT8_MAMPS,0.026078
$HUMID,63.23
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.50
$XPDR_PINGS,39
$24V_AH,23.5,45.892
$10V_AH,10.3,40.381
$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,29.200,106.550,408.325,33.725,0.000,30.616,36.489,208.578,9.750,0.000,34.417,1016.336,6335.021,486.128,1903.719,557.720,33.365,1199.014,0.000,1886.121,0.000,0.533,0.000
$DEVICE_MAMPS,146.497,103.545,914.264,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,337.047,301.651,386.867,735.664,1106.423,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355472
$DATA_FILE_SIZE,38340,498
$CAP_FILE_SIZE,104537,0
$CFSIZE,260165632,163065856
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240611,141207,2249.659,-15758.804,39,1.9,39,10.1