version: 66.06
glider: 146
mission: 6
dive: 369
start: 6 24 111 23 12 28
data:
$ID,146
$MISSION,6
$DIVE,369
$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,-276961.5
$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,27
$R_STBD_OVSHOOT,86
$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
$GPS1,225806,2249.742,-15757.543,32,1.0,32,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-68.2
$GPS2,231132,2250.015,-15757.626,20,0.9,20,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.122,-0.201
$KALMAN_X,-241680.7,-178.7,-14.4,240461.1,-1222.1
$KALMAN_Y,9724.4,-69.2,-234.3,1891.5,1799.6
$MHEAD_RNG_PITCHd_Wd,138.7,5591,-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,-70.88,0.000,2,0.000,0.000,474,1909,3247,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.4,-5.4,9,118,12.50,2.72,-4.60,0.000,4,0.152,0.065,2861,309,3489,0,0,0,0,0,0
$GC,151,-1.16,-116.8,19.4,-21.2,16,161,0.22,2.40,0.00,0.000,6,0.098,0.021,2913,1876,3490,0,0,0,0,0,0
$GC,431,-1.16,-116.8,59.3,-13.8,45,436,0.00,2.45,0.00,0.000,4,0.000,0.025,2913,3439,3491,0,0,0,0,0,0
$GC,455,-1.16,-116.8,63.0,-13.1,46,464,0.00,2.47,0.00,0.000,6,0.000,0.026,2913,1890,3491,0,0,0,0,0,0
$GC,721,-1.16,-116.8,96.5,-12.1,71,725,0.00,2.45,0.00,0.000,4,0.000,0.026,2913,3436,3492,0,0,0,0,0,0
$GC,765,-1.27,-116.8,102.2,-10.6,74,774,0.00,2.45,0.00,0.000,6,0.000,0.031,2913,1899,3492,0,0,0,0,0,0
$GC,1034,-1.33,-116.8,131.2,-12.2,99,1039,0.15,2.42,0.00,0.000,4,0.061,0.026,2856,3443,3492,0,0,0,0,0,0
$GC,1078,-1.33,-116.8,138.3,-13.9,102,1088,0.08,2.45,0.00,0.000,6,0.082,0.027,2879,1899,3492,0,0,0,0,0,0
$GC,1346,-1.33,-116.8,169.7,-11.7,127,1350,0.00,2.40,0.00,0.000,4,0.000,0.031,2879,3439,3493,0,0,0,0,0,0
$GC,1413,-1.41,-116.8,178.3,-11.3,132,1422,0.00,2.42,0.00,0.000,6,0.000,0.027,2879,1914,3493,0,0,0,0,0,0
$GC,1673,-1.41,-116.8,204.7,-9.6,154,1677,0.00,2.38,0.00,0.000,4,0.000,0.031,2879,3438,3493,0,0,0,0,0,0
$GC,1700,-1.46,-116.8,207.5,-9.8,154,1705,0.12,2.38,0.00,0.000,6,0.069,0.028,2827,1925,3493,0,0,0,0,0,0
$GC,1950,-1.40,-116.8,237.0,-12.1,160,1955,0.17,2.38,0.00,0.000,4,0.098,0.034,2866,3435,3493,0,0,0,0,0,0
$GC,2013,-1.47,-116.8,244.1,-10.6,161,2017,0.00,2.38,0.00,0.000,6,0.000,0.030,2866,1930,3493,0,0,0,0,0,0
$GC,2273,-1.47,-116.8,271.2,-10.6,168,2277,0.00,2.40,0.00,0.000,4,0.000,0.031,2866,3433,3493,0,0,0,0,0,0
$GC,2381,-1.57,-116.8,282.5,-10.1,170,2386,0.17,2.35,0.00,0.000,6,0.054,0.028,2805,1953,3493,0,0,0,0,0,0
$GC,2648,-1.52,-116.8,314.8,-12.5,177,2649,0.15,0.00,0.00,0.000,6,0.100,0.000,2838,1953,3493,0,0,0,0,0,0
$GC,2891,-1.52,-116.8,340.6,-10.5,183,2895,0.00,2.35,0.00,0.000,4,0.000,0.035,2838,3429,3493,0,0,0,0,0,0
$GC,2971,-1.57,-116.8,349.0,-9.9,184,2975,0.00,2.38,0.00,0.000,6,0.000,0.037,2838,1974,3493,0,0,0,0,0,0
$GC,3221,-1.57,-116.8,373.7,-9.9,190,3225,0.00,2.95,0.00,0.000,4,0.000,0.088,2838,319,3491,0,0,0,0,0,0
$GC,3247,-1.57,-116.8,376.6,-10.6,190,3252,0.00,2.53,0.00,0.000,6,0.000,0.025,2838,1921,3491,0,0,0,0,0,0
$GC,3500,-1.61,-116.8,400.6,-9.5,196,3504,0.00,2.55,0.00,0.000,4,0.000,0.054,2838,3475,3490,0,0,0,0,0,0
$GC,3539,-1.66,-116.8,404.7,-9.7,197,3544,0.12,2.50,0.00,0.000,6,0.070,0.047,2794,1975,3490,0,0,0,0,0,0
$GC,3823,-1.66,-116.8,437.1,-11.4,204,3827,0.00,2.45,0.00,0.000,4,0.000,0.044,2793,3470,3488,0,0,0,0,0,0
$GC,3867,-1.66,-116.8,442.2,-11.3,205,3872,0.00,2.50,0.00,0.000,6,0.000,0.051,2794,1987,3488,0,0,0,0,0,0
$GC,4145,-1.66,-116.8,472.4,-10.9,212,4150,0.00,2.45,0.00,0.000,4,0.000,0.051,2793,3468,3486,0,0,0,0,0,0
$GC,4167,-1.66,-116.8,474.7,-10.0,212,4171,0.00,2.47,0.00,0.000,6,0.000,0.059,2794,1997,3485,0,0,0,0,0,0
$STATE,4420,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4420,begin apogee
$GC,4428,-0.31,0.0,500.9,10.2,219,4529,1.35,0.00,97.45,0.911,6,0.081,0.000,3098,1996,3010,0,0,0,0,0,0
$STATE,4530,end apogee,CONTROL_FINISHED_OK
$STATE,4530,begin climb
$GC,4532,1.38,116.8,502.9,0.0,221,4645,1.55,2.75,99.50,0.890,4,0.039,0.060,3475,3574,2532,0,0,0,0,0,0
$GC,4684,1.28,168.1,499.5,7.1,224,4735,0.12,2.70,44.60,0.868,6,0.129,0.057,3452,2006,2324,0,0,0,0,0,0
$GC,4981,1.22,178.5,472.3,9.4,231,4996,0.00,3.05,9.32,0.764,4,0.000,0.109,3452,407,2281,0,0,0,0,0,0
$GC,5041,1.11,178.5,465.6,11.0,232,5046,0.20,2.58,0.00,0.000,6,0.110,0.029,3412,1978,2279,0,0,0,0,0,0
$GC,5302,1.14,203.4,443.2,8.6,239,5332,0.00,2.88,23.05,0.840,4,0.000,0.074,3411,410,2178,0,0,0,0,0,0
$GC,5361,1.14,203.4,437.6,10.2,240,5366,0.00,2.55,0.00,0.000,6,0.000,0.027,3411,1981,2176,0,0,0,0,0,0
$GC,5628,1.16,218.6,412.4,9.2,247,5644,0.00,0.00,14.20,0.800,6,0.000,0.000,3411,1982,2118,0,0,0,0,0,0
$GC,5874,1.22,233.3,390.1,9.2,253,5894,0.10,2.72,14.00,0.788,4,0.099,0.048,3438,3590,2057,0,0,0,0,0,0
$GC,5927,1.22,233.3,384.4,10.6,254,5931,0.00,2.67,0.00,0.000,6,0.000,0.044,3438,1980,2056,0,0,0,0,0,0
$GC,6200,1.23,243.2,358.2,9.5,261,6215,0.00,2.80,9.80,0.741,4,0.000,0.078,3439,407,2018,0,0,0,0,0,0
$GC,6261,1.23,243.2,351.5,12.1,262,6265,0.00,2.53,0.00,0.000,6,0.000,0.025,3438,1995,2016,0,0,0,0,0,0
$GC,6521,1.23,243.2,323.5,10.7,269,6525,0.00,2.60,0.00,0.000,4,0.000,0.044,3439,3570,2014,0,0,0,0,0,0
$GC,6587,1.23,243.2,315.9,11.1,270,6592,0.00,2.62,0.00,0.000,6,0.000,0.036,3438,1971,2013,0,0,0,0,0,0
$GC,6843,1.24,250.8,290.7,9.6,277,6857,0.00,2.75,7.53,0.672,4,0.000,0.074,3438,417,1987,0,0,0,0,0,0
$GC,6881,1.24,250.8,287.0,10.3,277,6887,0.00,2.47,0.00,0.000,6,0.000,0.025,3438,1985,1986,0,0,0,0,0,0
$GC,7133,1.32,289.2,266.4,7.8,284,7174,0.00,2.75,35.40,0.752,4,0.000,0.063,3438,404,1828,0,0,0,0,0,0
$GC,7220,1.32,289.2,258.3,10.3,286,7224,0.00,2.50,0.00,0.000,6,0.000,0.025,3438,1984,1826,0,0,0,0,0,0
$GC,7503,1.38,289.2,229.1,10.6,293,7508,0.12,2.58,0.00,0.000,4,0.082,0.039,3472,3558,1823,0,0,0,0,0,0
$GC,7526,1.38,289.2,226.3,11.7,293,7531,0.00,2.60,0.00,0.000,6,0.000,0.031,3472,1961,1821,0,0,0,0,0,0
$GC,7781,1.38,289.2,196.6,11.4,300,7785,0.00,2.65,0.00,0.000,4,0.000,0.065,3472,407,1821,0,0,0,0,0,0
$GC,7821,1.38,289.2,191.8,12.1,303,7825,0.00,2.42,0.00,0.000,6,0.000,0.021,3472,1958,1820,0,0,0,0,0,0
$GC,8085,1.38,292.8,165.9,9.8,327,8090,0.00,2.60,0.00,0.000,4,0.000,0.057,3472,411,1820,0,0,0,0,0,0
$GC,8126,1.38,292.8,161.2,11.7,330,8130,0.00,2.35,0.00,0.000,6,0.000,0.025,3472,1948,1820,0,0,0,0,0,0
$GC,8390,1.38,293.9,135.1,10.0,354,8399,0.00,0.00,0.00,0.000,6,0.000,0.000,3472,1950,1820,0,0,0,0,0,0
$GC,8656,1.44,305.0,110.5,9.4,379,8680,0.00,2.65,13.12,0.584,4,0.000,0.057,3472,411,1765,0,0,0,0,0,0
$GC,8710,1.44,305.0,104.3,11.1,383,8716,0.00,2.38,0.00,0.000,6,0.000,0.017,3472,1949,1764,0,0,0,0,0,0
$GC,8977,1.51,305.0,77.3,10.5,408,8986,0.10,0.00,0.00,0.000,6,0.087,0.000,3505,1951,1764,0,0,0,0,0,0
$GC,9242,1.51,305.0,47.6,10.7,433,9246,0.00,2.58,0.00,0.000,4,0.000,0.030,3505,3562,1764,0,0,0,0,0,0
$GC,9276,1.55,305.0,44.0,10.9,435,9281,0.00,2.60,0.00,0.000,6,0.000,0.028,3505,1939,1763,0,0,0,0,0,0
$GC,9581,1.55,305.0,12.3,10.1,471,9591,0.00,2.55,0.00,0.000,4,0.000,0.058,3505,414,1763,0,0,0,0,0,0
$GC,9628,1.55,305.0,7.2,11.2,477,9637,0.00,2.38,0.00,0.000,6,0.000,0.018,3505,1938,1763,0,0,0,0,0,0
$STATE,9652,end climb,SURFACE_DEPTH_REACHED
$STATE,9652,begin surface coast
$FINISH,0.7,0.980052
$STATE,9695,end surface coast,CONTROL_FINISHED_OK
$STATE,9695,begin surface
$SM_CCo,9718,61.65,0.519,0,0,1459,380.21
$SM_GC,1.39,0.00,0.00,61.65,0.000,0.000,0.519,480,1870,1459,-12.38,-0.57,380.21
$IRIDIUM_FIX,2239.35,-15757.16,170900,232318
$TT8_MAMPS,0.026078
$HUMID,62.32
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.80
$XPDR_PINGS,52
$24V_AH,23.5,46.384
$10V_AH,10.3,40.832
$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,29.500,137.350,367.975,61.650,0.000,88.436,107.930,331.092,13.000,0.000,24.859,1010.326,6332.162,505.777,1914.159,827.307,33.373,1248.049,0.000,1909.628,0.000,0.536,0.000
$DEVICE_MAMPS,151.866,119.652,911.196,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.149,265.162,376.485,715.703,1082.489,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355420
$DATA_FILE_SIZE,38473,486
$CAP_FILE_SIZE,116180,0
$CFSIZE,260165632,162840576
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250611,015652,2249.882,-15757.585,23,4.4,42,10.1