version: 66.06
glider: 146
mission: 6
dive: 326
start: 6 19 111 16 31 23
data:
$ID,146
$MISSION,6
$DIVE,326
$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,-275822.56
$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,33
$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
$GPS1,162027,2249.434,-15757.995,29,99.0,48,10.1
$_CALLS,1
$_XMS_NAKs,25
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.7
$GPS2,163030,2249.517,-15758.096,17,99.0,36,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.120,-0.202
$KALMAN_X,-187772.7,67.3,-168.1,185665.1,-1024.5
$KALMAN_Y,-40400.0,270.0,-168.1,50685.1,440.1
$MHEAD_RNG_PITCHd_Wd,139.3,4688,-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,-70.50,0.000,2,0.000,0.000,472,1873,3280,0,0,0,0,0,0
$GC,91,-1.38,-116.8,4.1,-7.4,9,117,12.30,2.62,-3.70,0.000,4,0.146,0.058,2855,323,3489,0,0,0,0,0,0
$GC,183,-1.21,-116.8,32.5,-22.4,21,191,0.17,2.42,0.00,0.000,6,0.105,0.015,2894,1922,3491,0,0,0,0,0,0
$GC,451,-1.16,-116.8,74.7,-14.3,46,455,0.00,2.35,0.00,0.000,4,0.000,0.033,2894,3423,3491,0,0,0,0,0,0
$GC,498,-1.16,-116.8,81.6,-13.8,49,503,0.00,2.40,0.00,0.000,6,0.000,0.031,2894,1897,3492,0,0,0,0,0,0
$GC,763,-1.16,-116.8,116.4,-12.3,73,767,0.00,2.40,0.00,0.000,4,0.000,0.030,2894,3427,3492,0,0,0,0,0,0
$GC,833,-1.22,-116.8,125.1,-10.7,78,842,0.00,2.42,0.00,0.000,6,0.000,0.031,2894,1913,3492,0,0,0,0,0,0
$GC,1100,-1.28,-116.8,151.4,-10.1,103,1105,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1912,3493,0,0,0,0,0,0
$GC,1363,-1.34,-116.8,179.2,-11.0,128,1364,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1912,3493,0,0,0,0,0,0
$GC,1615,-1.40,-116.8,204.3,-9.9,149,1620,0.15,2.38,0.00,0.000,4,0.064,0.028,2841,3421,3494,0,0,0,0,0,0
$GC,1643,-1.40,-116.8,207.6,-12.2,149,1647,0.00,2.35,0.00,0.000,6,0.000,0.025,2841,1915,3494,0,0,0,0,0,0
$GC,1894,-1.40,-116.8,237.8,-11.8,155,1898,0.00,2.38,0.00,0.000,4,0.000,0.026,2841,3417,3494,0,0,0,0,0,0
$GC,1989,-1.40,-116.8,250.1,-12.4,157,1993,0.00,2.35,0.00,0.000,6,0.000,0.026,2841,1934,3494,0,0,0,0,0,0
$GC,2269,-1.40,-116.8,283.4,-11.7,164,2270,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1934,3494,0,0,0,0,0,0
$GC,2511,-1.40,-116.8,311.0,-11.6,170,2515,0.00,2.35,0.00,0.000,4,0.000,0.033,2841,3412,3494,0,0,0,0,0,0
$GC,2532,-1.40,-116.8,313.4,-10.7,170,2536,0.00,2.38,0.00,0.000,6,0.000,0.031,2841,1941,3494,0,0,0,0,0,0
$GC,2793,-1.40,-116.8,339.1,-10.2,177,2794,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1941,3494,0,0,0,0,0,0
$GC,3039,-1.44,-116.8,362.8,-9.5,183,3044,0.00,2.38,0.00,0.000,4,0.000,0.035,2841,3409,3492,0,0,0,0,0,0
$GC,3096,-1.50,-116.8,368.5,-9.8,184,3100,0.00,2.40,0.00,0.000,6,0.000,0.048,2841,1960,3493,0,0,0,0,0,0
$GC,3363,-1.55,-116.8,393.8,-9.6,191,3368,0.00,3.00,0.00,0.000,4,0.000,0.095,2841,313,3491,0,0,0,0,0,0
$GC,3385,-1.55,-116.8,396.2,-10.1,191,3390,0.00,2.53,0.00,0.000,6,0.000,0.032,2841,1885,3491,0,0,0,0,0,0
$GC,3641,-1.59,-116.8,419.8,-9.2,198,3646,0.00,2.62,0.00,0.000,4,0.000,0.057,2841,3468,3489,0,0,0,0,0,0
$GC,3669,-1.66,-116.8,422.5,-9.9,198,3674,0.15,2.53,0.00,0.000,6,0.064,0.048,2787,1962,3489,0,0,0,0,0,0
$GC,3920,-1.61,-116.8,450.9,-11.5,204,3925,0.12,2.53,0.00,0.000,4,0.112,0.048,2814,3475,3487,0,0,0,0,0,0
$GC,3947,-1.61,-116.8,454.5,-11.7,204,3952,0.00,2.55,0.00,0.000,6,0.000,0.051,2813,1966,3487,0,0,0,0,0,0
$GC,4197,-1.61,-116.8,483.0,-11.5,210,4198,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1966,3485,0,0,0,0,0,0
$STATE,4359,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4359,begin apogee
$GC,4366,-0.31,0.0,501.0,11.0,214,4467,1.25,0.00,97.07,0.911,6,0.078,0.000,3098,1966,3010,0,0,0,0,0,0
$STATE,4468,end apogee,CONTROL_FINISHED_OK
$STATE,4468,begin climb
$GC,4470,1.38,116.8,503.8,0.0,216,4574,1.55,0.00,99.80,0.891,6,0.037,0.000,3473,1966,2532,0,0,0,0,0,0
$GC,4804,1.31,166.0,489.7,7.2,225,4850,0.12,0.00,42.25,0.874,6,0.126,0.000,3450,1966,2333,0,0,0,0,0,0
$GC,5093,1.26,182.5,464.2,9.1,232,5114,0.00,2.75,15.25,0.821,4,0.000,0.050,3450,3571,2264,0,0,0,0,0,0
$GC,5136,1.21,197.5,459.8,9.2,233,5156,0.00,2.67,14.50,0.811,6,0.000,0.048,3450,2007,2204,0,0,0,0,0,0
$GC,5419,1.17,197.5,430.9,10.6,240,5421,0.15,0.00,0.00,0.000,6,0.119,0.000,3419,2006,2198,0,0,0,0,0,0
$GC,5661,1.18,207.0,407.6,9.5,246,5676,0.00,2.97,8.52,0.751,4,0.000,0.088,3419,392,2166,0,0,0,0,0,0
$GC,5711,1.18,207.0,402.2,10.8,247,5716,0.00,2.60,0.00,0.000,6,0.000,0.025,3419,1998,2164,0,0,0,0,0,0
$GC,5989,1.20,226.9,376.5,8.9,254,6014,0.00,2.85,18.88,0.818,4,0.000,0.065,3420,404,2083,0,0,0,0,0,0
$GC,6053,1.20,226.9,369.8,11.5,255,6058,0.00,2.55,0.00,0.000,6,0.000,0.021,3419,1988,2080,0,0,0,0,0,0
$GC,6316,1.22,241.1,345.8,9.2,262,6335,0.00,2.67,13.10,0.776,4,0.000,0.044,3419,3567,2027,0,0,0,0,0,0
$GC,6359,1.26,241.8,341.3,10.0,263,6364,0.00,2.65,0.00,0.000,6,0.000,0.038,3419,1980,2025,0,0,0,0,0,0
$GC,6644,1.34,258.0,315.4,9.1,270,6669,0.15,2.88,16.38,0.775,4,0.076,0.073,3460,403,1957,0,0,0,0,0,0
$GC,6721,1.27,258.0,306.6,12.3,271,6725,0.00,2.53,0.00,0.000,6,0.000,0.024,3460,1993,1955,0,0,0,0,0,0
$GC,6971,1.27,258.0,280.3,10.2,277,6975,0.00,2.70,0.00,0.000,4,0.000,0.061,3460,409,1953,0,0,0,0,0,0
$GC,7022,1.22,258.0,274.5,11.4,278,7027,0.15,2.50,0.00,0.000,6,0.117,0.020,3430,1987,1951,0,0,0,0,0,0
$GC,7294,1.30,272.3,248.9,9.2,285,7314,0.00,2.78,12.90,0.715,4,0.000,0.061,3430,409,1899,0,0,0,0,0,0
$GC,7333,1.35,272.3,244.7,11.7,285,7340,0.12,2.50,0.00,0.000,6,0.083,0.024,3462,1984,1898,0,0,0,0,0,0
$GC,7583,1.35,272.3,217.2,10.9,292,7587,0.00,2.55,0.00,0.000,4,0.000,0.035,3462,3558,1897,0,0,0,0,0,0
$GC,7649,1.35,272.3,209.9,10.4,293,7653,0.00,2.60,0.00,0.000,6,0.000,0.031,3462,1969,1895,0,0,0,0,0,0
$GC,7912,1.37,293.4,185.9,8.8,309,7939,0.00,2.78,19.30,0.681,4,0.000,0.064,3462,409,1812,0,0,0,0,0,0
$GC,7994,1.37,293.4,177.7,10.8,316,7999,0.00,2.45,0.00,0.000,6,0.000,0.025,3462,1983,1810,0,0,0,0,0,0
$GC,8263,1.42,293.4,149.8,12.0,340,8271,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,1984,1809,0,0,0,0,0,0
$GC,8528,1.48,299.6,123.2,9.7,365,8540,0.10,2.72,6.43,0.532,4,0.087,0.056,3491,412,1787,0,0,0,0,0,0
$GC,8570,1.48,299.6,117.7,12.8,368,8580,0.00,2.47,0.00,0.000,6,0.000,0.023,3491,1976,1786,0,0,0,0,0,0
$GC,8836,1.49,304.6,91.4,9.7,393,8844,0.00,0.00,5.72,0.488,6,0.000,0.000,3491,1977,1767,0,0,0,0,0,0
$GC,9105,1.55,313.9,66.6,9.5,418,9120,0.00,2.62,9.90,0.532,4,0.000,0.052,3491,412,1728,0,0,0,0,0,0
$GC,9162,1.55,313.9,59.2,12.2,422,9171,0.00,2.47,0.00,0.000,6,0.000,0.018,3491,1983,1727,0,0,0,0,0,0
$GC,9430,1.60,319.4,33.4,9.7,447,9445,0.10,2.67,6.03,0.452,4,0.087,0.048,3523,412,1707,0,0,0,0,0,0
$GC,9495,1.56,319.4,25.5,12.5,454,9505,0.00,2.45,0.00,0.000,6,0.000,0.018,3523,1968,1706,0,0,0,0,0,0
$STATE,9686,end climb,SURFACE_DEPTH_REACHED
$STATE,9687,begin surface coast
$FINISH,0.6,0.980046
$STATE,9736,end surface coast,CONTROL_FINISHED_OK
$STATE,9736,begin surface
$SM_CCo,9758,49.67,0.522,0,0,1459,380.21
$SM_GC,1.31,0.00,0.00,49.67,0.000,0.000,0.522,474,1872,1459,-12.38,-0.54,380.21
$IRIDIUM_FIX,2246.36,-15801.49,120900,131346
$TT8_MAMPS,0.026078
$HUMID,61.69
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.20
$XPDR_PINGS,39
$24V_AH,23.5,40.932
$10V_AH,10.3,35.969
$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,28.925,112.875,386.025,49.675,0.000,28.157,34.595,373.781,9.750,0.000,38.341,990.555,6363.665,505.634,1835.275,716.680,33.366,1182.350,0.000,1818.161,0.000,0.537,0.000
$DEVICE_MAMPS,146.497,95.108,911.196,522.327,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.440,275.224,377.604,708.517,1071.579,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355612
$DATA_FILE_SIZE,38448,488
$CAP_FILE_SIZE,105818,0
$CFSIZE,260165632,165150720
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190611,191628,2248.710,-15758.076,36,99.0,55,10.1