version: 66.06
glider: 146
mission: 6
dive: 313
start: 6 18 111 1 21 57
data:
$ID,146
$MISSION,6
$DIVE,313
$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,-275490.19
$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,48
$R_STBD_OVSHOOT,63
$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
$GPS1,011007,2247.139,-15800.162,61,1.4,61,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-70.6
$GPS2,012101,2247.186,-15800.336,11,1.4,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.227,-0.061
$KALMAN_X,-173703.2,-496.0,85.6,168070.4,-1196.4
$KALMAN_Y,-51255.5,-161.0,60.1,57437.7,341.9
$MHEAD_RNG_PITCHd_Wd,244.9,4562,-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,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.57,0.000,2,0.000,0.000,475,1855,3240,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.4,-5.6,9,119,12.15,2.58,-4.53,0.000,4,0.142,0.041,2853,3440,3489,0,0,0,0,0,0
$GC,130,-0.46,-116.8,17.3,-34.9,13,139,0.93,2.50,0.00,0.000,6,0.091,0.031,3060,1903,3490,0,0,0,0,0,0
$GC,424,-0.74,-116.8,39.4,-6.3,48,430,0.22,2.65,0.00,0.000,4,0.045,0.051,2984,313,3492,0,0,0,0,0,0
$GC,558,-0.92,-116.8,49.8,-7.8,58,562,0.00,2.40,0.00,0.000,6,0.000,0.015,2984,1909,3491,0,0,0,0,0,0
$GC,828,-1.09,-116.8,69.7,-8.2,82,833,0.25,2.38,0.00,0.000,4,0.048,0.025,2906,3431,3492,0,0,0,0,0,0
$GC,886,-1.18,-116.8,76.7,-11.9,86,891,0.00,2.45,0.00,0.000,6,0.000,0.030,2906,1894,3492,0,0,0,0,0,0
$GC,1150,-1.22,-116.8,106.2,-10.8,110,1155,0.00,2.42,0.00,0.000,4,0.000,0.031,2906,3440,3493,0,0,0,0,0,0
$GC,1185,-1.29,-116.8,110.3,-10.5,112,1194,0.08,2.45,0.00,0.000,6,0.041,0.025,2860,1912,3493,0,0,0,0,0,0
$GC,1452,-1.29,-116.8,141.6,-13.2,137,1457,0.10,2.42,0.00,0.000,4,0.116,0.033,2882,3436,3493,0,0,0,0,0,0
$GC,1507,-1.37,-116.8,148.5,-11.0,141,1512,0.00,2.40,0.00,0.000,6,0.000,0.028,2882,1918,3493,0,0,0,0,0,0
$GC,1771,-1.37,-116.8,179.6,-12.0,165,1776,0.00,2.38,0.00,0.000,4,0.000,0.033,2882,3434,3494,0,0,0,0,0,0
$GC,1862,-1.45,-116.8,189.9,-10.4,172,1867,0.15,2.33,0.00,0.000,6,0.061,0.022,2827,1957,3494,0,0,0,0,0,0
$GC,2116,-1.39,-116.8,221.0,-12.2,184,2121,0.15,2.75,0.00,0.000,4,0.103,0.056,2860,320,3494,0,0,0,0,0,0
$GC,2178,-1.39,-116.8,228.2,-11.2,185,2183,0.00,2.47,0.00,0.000,6,0.000,0.018,2860,1933,3494,0,0,0,0,0,0
$GC,2439,-1.39,-116.8,251.7,-8.3,192,2443,0.00,2.42,0.00,0.000,4,0.000,0.031,2860,3457,3494,0,0,0,0,0,0
$GC,2513,-1.47,-116.8,258.2,-8.5,193,2517,0.00,2.38,0.00,0.000,6,0.000,0.024,2860,1964,3494,0,0,0,0,0,0
$GC,2763,-1.51,-116.8,282.3,-10.0,199,2768,0.10,2.38,0.00,0.000,4,0.080,0.037,2816,3450,3494,0,0,0,0,0,0
$GC,2865,-1.51,-116.8,294.5,-11.6,201,2869,0.00,2.35,0.00,0.000,6,0.000,0.028,2816,1985,3494,0,0,0,0,0,0
$GC,3133,-1.51,-116.8,329.3,-13.3,208,3136,0.00,2.33,0.00,0.000,4,0.000,0.038,2816,3445,3494,0,0,0,0,0,0
$GC,3160,-1.51,-116.8,333.1,-12.9,208,3164,0.00,2.38,0.00,0.000,6,0.000,0.035,2816,1990,3493,0,0,0,0,0,0
$GC,3421,-1.51,-116.8,362.5,-10.9,215,3426,0.00,2.97,0.00,0.000,4,0.000,0.091,2816,323,3492,0,0,0,0,0,0
$GC,3472,-1.51,-116.8,368.4,-12.3,216,3476,0.00,2.60,0.00,0.000,6,0.000,0.025,2816,1949,3492,0,0,0,0,0,0
$GC,3743,-1.51,-116.8,399.2,-11.4,223,3747,0.00,2.47,0.00,0.000,4,0.000,0.048,2816,3449,3490,0,0,0,0,0,0
$GC,3770,-1.51,-116.8,402.5,-12.1,223,3774,0.00,2.40,0.00,0.000,6,0.000,0.048,2816,2002,3490,0,0,0,0,0,0
$GC,4021,-1.51,-116.8,430.9,-11.3,229,4026,0.00,3.08,0.00,0.000,4,0.000,0.100,2816,322,3489,0,0,0,0,0,0
$GC,4060,-1.51,-116.8,435.6,-12.0,230,4065,0.00,2.60,0.00,0.000,6,0.000,0.038,2816,1939,3488,0,0,0,0,0,0
$GC,4344,-1.51,-116.8,466.4,-10.9,237,4348,0.00,2.60,0.00,0.000,4,0.000,0.061,2816,3472,3486,0,0,0,0,0,0
$GC,4372,-1.51,-116.8,469.2,-10.5,237,4376,0.00,2.50,0.00,0.000,6,0.000,0.050,2816,1992,3486,0,0,0,0,0,0
$GC,4622,-1.51,-116.8,493.2,-9.5,243,4627,0.00,3.08,0.00,0.000,4,0.000,0.109,2816,323,3484,0,0,0,0,0,0
$GC,4643,-1.51,-116.8,495.4,-10.0,243,4648,0.00,2.70,0.00,0.000,6,0.000,0.042,2816,1967,3484,0,0,0,0,0,0
$STATE,4693,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4693,begin apogee
$GC,4700,-0.31,0.0,500.5,10.0,245,4801,1.23,0.00,96.97,0.913,6,0.078,0.000,3093,1967,3010,0,0,0,0,0,0
$STATE,4801,end apogee,CONTROL_FINISHED_OK
$STATE,4802,begin climb
$GC,4804,1.38,116.8,502.1,0.0,247,4911,1.58,2.83,99.82,0.890,4,0.043,0.086,3469,430,2531,0,0,0,0,0,0
$GC,4923,1.29,179.4,499.2,6.4,250,4984,0.12,2.60,54.25,0.871,6,0.130,0.036,3447,2000,2278,0,0,0,0,0,0
$GC,5256,1.24,179.4,464.5,11.1,259,5257,0.00,0.00,0.00,0.000,6,0.000,0.000,3447,1999,2268,0,0,0,0,0,0
$GC,5500,1.19,184.3,440.1,9.8,265,5505,0.10,2.67,0.00,0.000,4,0.140,0.057,3426,3575,2266,0,0,0,0,0,0
$GC,5534,1.21,200.8,436.8,9.1,265,5559,0.00,2.65,18.05,0.822,6,0.000,0.048,3426,2003,2190,0,0,0,0,0,0
$GC,5827,1.23,219.6,410.2,9.0,273,5846,0.00,0.00,17.48,0.816,6,0.000,0.000,3426,2003,2114,0,0,0,0,0,0
$GC,6070,1.23,219.6,385.3,10.5,279,6075,0.00,2.85,0.00,0.000,4,0.000,0.082,3426,403,2109,0,0,0,0,0,0
$GC,6087,1.23,219.6,383.4,10.9,279,6091,0.00,2.58,0.00,0.000,6,0.000,0.021,3426,2003,2108,0,0,0,0,0,0
$GC,6348,1.24,222.1,356.7,9.9,286,6352,0.00,2.60,0.00,0.000,4,0.000,0.044,3426,3579,2108,0,0,0,0,0,0
$GC,6368,1.24,222.1,354.5,10.3,286,6373,0.00,2.65,0.00,0.000,6,0.000,0.038,3426,1980,2106,0,0,0,0,0,0
$GC,6631,1.25,234.3,329.9,9.3,293,6650,0.00,2.85,13.18,0.769,4,0.000,0.076,3426,414,2054,0,0,0,0,0,0
$GC,6696,1.25,234.3,322.5,11.2,294,6700,0.00,2.53,0.00,0.000,6,0.000,0.026,3426,1991,2052,0,0,0,0,0,0
$GC,6958,1.30,240.7,297.2,9.7,301,6972,0.00,2.67,6.72,0.665,4,0.000,0.039,3426,3575,2027,0,0,0,0,0,0
$GC,6985,1.35,249.3,294.6,9.5,301,7002,0.12,2.65,9.52,0.709,6,0.078,0.034,3462,1974,1993,0,0,0,0,0,0
$GC,7246,1.37,266.7,269.1,9.0,308,7264,0.00,0.00,16.75,0.743,6,0.000,0.000,3462,1974,1922,0,0,0,0,0,0
$GC,7491,1.38,278.8,246.2,9.3,314,7509,0.00,2.70,11.65,0.700,4,0.000,0.038,3462,3569,1873,0,0,0,0,0,0
$GC,7580,1.38,278.8,236.6,11.1,316,7585,0.00,2.62,0.00,0.000,6,0.000,0.039,3462,1980,1871,0,0,0,0,0,0
$GC,7863,1.38,278.8,205.9,10.6,323,7867,0.00,2.70,0.00,0.000,4,0.000,0.070,3462,406,1869,0,0,0,0,0,0
$GC,8022,1.38,278.8,187.8,12.3,331,8027,0.00,2.47,0.00,0.000,6,0.000,0.019,3461,1987,1868,0,0,0,0,0,0
$GC,8290,1.38,278.8,158.1,10.6,355,8294,0.00,2.53,0.00,0.000,4,0.000,0.032,3461,3551,1867,0,0,0,0,0,0
$GC,8335,1.47,291.6,152.9,9.3,358,8355,0.10,2.58,11.60,0.627,6,0.087,0.031,3492,1968,1820,0,0,0,0,0,0
$GC,8622,1.47,291.6,123.6,11.8,385,8626,0.00,0.00,0.00,0.000,6,0.000,0.000,3492,1967,1818,0,0,0,0,0,0
$GC,8882,1.47,291.6,94.6,10.1,410,8887,0.00,2.62,0.00,0.000,4,0.000,0.062,3492,414,1818,0,0,0,0,0,0
$GC,8935,1.47,291.6,88.8,11.0,414,8939,0.00,2.42,0.00,0.000,6,0.000,0.018,3492,1983,1817,0,0,0,0,0,0
$GC,9203,1.47,291.6,63.5,10.2,438,9207,0.00,2.60,0.00,0.000,4,0.000,0.049,3492,414,1817,0,0,0,0,0,0
$GC,9283,1.47,291.6,54.7,10.1,444,9287,0.00,2.40,0.00,0.000,6,0.000,0.018,3492,1969,1817,0,0,0,0,0,0
$GC,9553,1.55,324.7,30.2,8.1,468,9593,0.00,2.67,29.35,0.546,4,0.000,0.048,3492,418,1684,0,0,0,0,0,0
$GC,9675,1.55,324.7,17.1,12.1,484,9685,0.00,2.38,0.00,0.000,6,0.000,0.025,3492,1941,1683,0,0,0,0,0,0
$STATE,9794,end climb,SURFACE_DEPTH_REACHED
$STATE,9794,begin surface coast
$FINISH,0.6,0.971440
$STATE,9848,end surface coast,CONTROL_FINISHED_OK
$STATE,9848,begin surface
$SM_CCo,9870,44.78,0.522,0,0,1459,380.21
$SM_GC,1.44,0.00,0.00,44.78,0.000,0.000,0.522,476,1837,1459,-12.37,-1.50,380.21
$IRIDIUM_FIX,2239.35,-15754.99,110900,010104
$TT8_MAMPS,0.026078
$HUMID,61.26
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.00
$XPDR_PINGS,50
$24V_AH,23.5,39.192
$10V_AH,10.3,34.459
$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,29.625,138.700,385.350,44.775,0.000,49.867,81.879,319.081,12.500,0.000,16.187,1053.979,6223.336,513.762,2029.836,752.051,33.369,1236.994,0.000,2035.012,0.000,0.534,0.000
$DEVICE_MAMPS,141.895,108.914,913.497,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,344.232,307.855,401.256,814.016,1231.154,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,41456,508
$CAP_FILE_SIZE,114115,0
$CFSIZE,260165632,165838848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,180611,041001,2247.460,-15802.249,128,1.3,128,10.1