version: 66.06
glider: 146
mission: 6
dive: 324
start: 6 19 111 10 33 17
data:
$ID,146
$MISSION,6
$DIVE,324
$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,-275757.59
$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,41
$R_STBD_OVSHOOT,57
$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
$GPS1,101356,2250.253,-15757.901,91,2.1,110,10.1
$_CALLS,4
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.2
$GPS2,103224,2250.531,-15757.923,10,2.2,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.204,-0.112
$KALMAN_X,-185639.1,129.9,-33.8,183619.8,-457.6
$KALMAN_Y,-43168.8,796.5,553.8,54086.3,139.7
$MHEAD_RNG_PITCHd_Wd,108.6,1857,-20.0,-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,-1.39,-114.7,0.0,0.0,0,80,0.00,0.00,-62.80,0.000,2,0.000,0.000,476,1865,3060,0,0,0,0,0,0
$GC,85,-1.39,-116.8,3.2,-5.6,8,111,12.25,2.58,-8.35,0.000,4,0.146,0.063,2854,325,3487,0,0,0,0,0,0
$GC,196,-1.25,-116.8,29.3,-20.4,23,206,0.15,2.42,0.00,0.000,6,0.104,0.015,2889,1903,3489,0,0,0,0,0,0
$GC,464,-1.21,-116.8,72.4,-13.0,48,468,0.00,2.42,0.00,0.000,4,0.000,0.025,2888,3441,3490,0,0,0,0,0,0
$GC,521,-1.21,-116.8,80.7,-14.4,52,525,0.00,2.42,0.00,0.000,6,0.000,0.033,2888,1905,3490,0,0,0,0,0,0
$GC,785,-1.21,-116.8,113.0,-11.8,76,789,0.00,2.40,0.00,0.000,4,0.000,0.031,2888,3435,3490,0,0,0,0,0,0
$GC,886,-1.28,-116.8,124.5,-10.4,84,891,0.00,2.40,0.00,0.000,6,0.000,0.031,2888,1915,3491,0,0,0,0,0,0
$GC,1151,-1.32,-116.8,153.4,-11.5,108,1155,0.00,2.38,0.00,0.000,4,0.000,0.033,2888,3437,3491,0,0,0,0,0,0
$GC,1171,-1.37,-116.8,155.6,-11.0,109,1175,0.00,2.40,0.00,0.000,6,0.000,0.022,2888,1915,3491,0,0,0,0,0,0
$GC,1440,-1.43,-116.8,183.4,-10.0,133,1445,0.15,0.00,0.00,0.000,6,0.062,0.000,2835,1914,3491,0,0,0,0,0,0
$GC,1695,-1.43,-116.8,214.8,-11.7,149,1699,0.00,2.40,0.00,0.000,4,0.000,0.026,2834,3437,3491,0,0,0,0,0,0
$GC,1749,-1.43,-116.8,221.4,-11.4,150,1754,0.00,2.40,0.00,0.000,6,0.000,0.027,2834,1914,3491,0,0,0,0,0,0
$GC,2029,-1.43,-116.8,252.1,-10.8,157,2033,0.00,2.42,0.00,0.000,4,0.000,0.036,2834,3439,3491,0,0,0,0,0,0
$GC,2096,-1.46,-116.8,260.2,-11.0,158,2100,0.00,2.38,0.00,0.000,6,0.000,0.031,2834,1939,3491,0,0,0,0,0,0
$GC,2356,-1.46,-116.8,289.5,-11.3,165,2360,0.00,2.40,0.00,0.000,4,0.000,0.035,2834,3439,3491,0,0,0,0,0,0
$GC,2420,-1.51,-116.8,296.9,-11.7,166,2424,0.00,2.40,0.00,0.000,6,0.000,0.037,2834,1950,3491,0,0,0,0,0,0
$GC,2686,-1.51,-116.8,326.0,-10.2,173,2691,0.00,2.88,0.00,0.000,4,0.000,0.083,2834,315,3491,0,0,0,0,0,0
$GC,2707,-1.51,-116.8,328.6,-11.4,173,2712,0.00,2.53,0.00,0.000,6,0.000,0.031,2834,1912,3491,0,0,0,0,0,0
$GC,2965,-1.51,-116.8,354.4,-9.8,180,2969,0.00,2.53,0.00,0.000,4,0.000,0.051,2834,3468,3489,0,0,0,0,0,0
$GC,3031,-1.57,-116.8,361.3,-9.4,181,3036,0.00,2.45,0.00,0.000,6,0.000,0.039,2834,1972,3489,0,0,0,0,0,0
$GC,3287,-1.61,-116.8,387.5,-10.5,188,3288,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1972,3488,0,0,0,0,0,0
$GC,3533,-1.65,-116.8,413.1,-10.6,194,3538,0.12,2.47,0.00,0.000,4,0.073,0.046,2788,3461,3486,0,0,0,0,0,0
$GC,3560,-1.65,-116.8,416.7,-12.3,194,3564,0.00,2.50,0.00,0.000,6,0.000,0.053,2788,1972,3486,0,0,0,0,0,0
$GC,3810,-1.61,-116.8,447.0,-12.0,200,3815,0.12,2.50,0.00,0.000,4,0.109,0.047,2814,3466,3483,0,0,0,0,0,0
$GC,3833,-1.61,-116.8,449.5,-10.7,200,3837,0.00,2.50,0.00,0.000,6,0.000,0.054,2814,1984,3484,0,0,0,0,0,0
$GC,4088,-1.61,-116.8,474.4,-9.6,207,4092,0.00,2.47,0.00,0.000,4,0.000,0.054,2815,3466,3482,0,0,0,0,0,0
$GC,4120,-1.64,-116.8,477.8,-10.4,207,4126,0.00,2.53,0.00,0.000,6,0.000,0.058,2814,1986,3482,0,0,0,0,0,0
$STATE,4368,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4368,begin apogee
$GC,4375,-0.31,0.0,502.6,10.1,214,4475,1.25,0.00,96.28,0.914,6,0.081,0.000,3097,1986,3010,0,0,0,0,0,0
$STATE,4476,end apogee,CONTROL_FINISHED_OK
$STATE,4476,begin climb
$GC,4478,1.39,116.8,504.9,0.0,216,4585,1.58,0.00,99.05,0.892,6,0.039,0.000,3479,1986,2533,0,0,0,0,0,0
$GC,4860,1.30,143.5,483.2,8.5,226,4890,0.15,2.78,22.73,0.852,4,0.133,0.054,3449,3564,2423,0,0,0,0,0,0
$GC,4907,1.23,156.0,478.9,9.3,227,4926,0.00,2.65,12.55,0.798,6,0.000,0.053,3450,2015,2372,0,0,0,0,0,0
$GC,5191,1.19,163.4,451.8,9.6,234,5206,0.12,2.67,6.97,0.716,4,0.124,0.047,3424,3567,2342,0,0,0,0,0,0
$GC,5217,1.22,188.4,449.1,8.6,234,5246,0.00,2.65,23.67,0.840,6,0.000,0.045,3425,2006,2241,0,0,0,0,0,0
$GC,5524,1.22,189.9,419.3,10.0,242,5528,0.00,2.60,0.00,0.000,4,0.000,0.041,3425,3569,2234,0,0,0,0,0,0
$GC,5567,1.23,196.4,414.7,9.7,243,5582,0.00,2.62,7.43,0.725,6,0.000,0.048,3425,2006,2208,0,0,0,0,0,0
$GC,5850,1.25,219.0,389.9,8.7,250,5878,0.00,2.62,21.27,0.825,4,0.000,0.036,3425,3576,2116,0,0,0,0,0,0
$GC,5887,1.28,241.7,386.9,8.7,250,5915,0.00,2.65,21.30,0.809,6,0.000,0.044,3425,2005,2023,0,0,0,0,0,0
$GC,6177,1.30,254.0,359.3,9.3,258,6197,0.10,2.90,11.70,0.763,4,0.091,0.084,3453,401,1973,0,0,0,0,0,0
$GC,6238,1.25,254.0,352.3,12.7,259,6242,0.00,2.60,0.00,0.000,6,0.000,0.028,3453,2012,1971,0,0,0,0,0,0
$GC,6504,1.25,254.0,322.2,11.3,266,6505,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,2012,1969,0,0,0,0,0,0
$GC,6747,1.25,254.0,294.0,11.3,272,6752,0.00,2.78,0.00,0.000,4,0.000,0.061,3453,400,1968,0,0,0,0,0,0
$GC,6809,1.25,254.0,287.0,11.8,273,6813,0.00,2.58,0.00,0.000,6,0.000,0.026,3453,2018,1966,0,0,0,0,0,0
$GC,7069,1.25,254.0,260.1,10.1,280,7074,0.00,2.72,0.00,0.000,4,0.000,0.057,3453,408,1966,0,0,0,0,0,0
$GC,7109,1.25,254.0,255.6,11.8,281,7114,0.00,2.50,0.00,0.000,6,0.000,0.026,3453,2004,1965,0,0,0,0,0,0
$GC,7394,1.26,257.9,227.3,9.8,288,7399,0.00,2.72,0.00,0.000,4,0.000,0.055,3453,401,1964,0,0,0,0,0,0
$GC,7433,1.26,257.9,222.7,11.2,289,7437,0.00,2.50,0.00,0.000,6,0.000,0.026,3453,1991,1963,0,0,0,0,0,0
$GC,7686,1.26,262.3,197.0,9.8,296,7700,0.00,2.60,6.97,0.611,4,0.000,0.035,3453,3555,1939,0,0,0,0,0,0
$GC,7760,1.31,265.8,190.0,9.8,302,7770,0.00,2.58,4.75,0.519,6,0.000,0.031,3453,1977,1926,0,0,0,0,0,0
$GC,8029,1.38,280.7,164.6,9.2,327,8052,0.00,2.78,14.68,0.651,4,0.000,0.060,3453,407,1864,0,0,0,0,0,0
$GC,8103,1.38,280.7,156.7,10.9,333,8113,0.00,2.50,0.00,0.000,6,0.000,0.021,3453,1986,1862,0,0,0,0,0,0
$GC,8368,1.45,280.7,129.6,10.5,358,8373,0.10,2.67,0.00,0.000,4,0.087,0.056,3485,413,1861,0,0,0,0,0,0
$GC,8401,1.45,280.7,124.9,13.3,360,8411,0.00,2.47,0.00,0.000,6,0.000,0.018,3485,1984,1860,0,0,0,0,0,0
$GC,8667,1.45,280.7,97.2,11.0,385,8672,0.00,0.00,0.00,0.000,6,0.000,0.000,3485,1985,1860,0,0,0,0,0,0
$GC,8934,1.49,280.7,72.5,10.4,410,8938,0.00,2.62,0.00,0.000,4,0.000,0.050,3485,411,1860,0,0,0,0,0,0
$GC,8968,1.50,288.5,68.6,9.6,412,8981,0.00,2.45,7.88,0.515,6,0.000,0.018,3485,1980,1832,0,0,0,0,0,0
$GC,9243,1.61,324.2,47.9,7.9,437,9285,0.12,2.60,31.80,0.558,4,0.081,0.032,3522,3555,1686,0,0,0,0,0,0
$GC,9327,1.61,324.2,37.9,14.1,443,9336,0.00,2.58,0.00,0.000,6,0.000,0.028,3522,1983,1684,0,0,0,0,0,0
$STATE,9626,end climb,SURFACE_DEPTH_REACHED
$STATE,9627,begin surface coast
$FINISH,0.7,0.980032
$STATE,9683,end surface coast,CONTROL_FINISHED_OK
$STATE,9683,begin surface
$SM_CCo,9705,44.80,0.519,0,0,1460,380.21
$SM_GC,1.08,0.00,0.00,44.80,0.000,0.000,0.519,474,1868,1460,-12.38,-0.62,380.21
$IRIDIUM_FIX,2239.35,-15757.16,120900,101057
$TT8_MAMPS,0.026078
$HUMID,61.69
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.10
$XPDR_PINGS,50
$24V_AH,23.5,40.667
$10V_AH,10.3,35.742
$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,28.525,127.725,389.025,44.800,0.000,123.112,157.829,445.317,12.500,0.000,32.224,1000.412,6382.992,479.375,1929.372,1065.792,33.365,1212.337,0.000,1916.270,0.000,0.536,0.000
$DEVICE_MAMPS,145.730,83.603,914.264,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,332.395,277.300,380.867,725.370,1096.915,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,38339,491
$CAP_FILE_SIZE,115461,0
$CFSIZE,260165632,165249024
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190611,131753,2250.309,-15757.004,64,2.2,83,10.1