version: 66.06
glider: 146
mission: 6
dive: 327
start: 6 19 111 19 26 45
data:
$ID,146
$MISSION,6
$DIVE,327
$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,-275859.66
$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,31
$R_STBD_OVSHOOT,52
$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
$GPS1,191628,2248.710,-15758.076,36,99.0,55,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,1
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-67.3
$GPS2,192552,2248.860,-15758.127,15,99.0,34,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.102,-0.212
$KALMAN_X,-188786.1,-175.8,-159.0,186850.8,-871.8
$KALMAN_Y,-39122.8,-109.7,-272.6,48681.9,1243.3
$MHEAD_RNG_PITCHd_Wd,144.3,3489,-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,17,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-69.65,0.000,2,0.000,0.000,473,1872,3222,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.3,-5.5,9,118,12.38,2.65,-5.07,0.000,4,0.150,0.058,2856,316,3489,0,0,0,0,0,0
$GC,194,-1.25,-116.8,29.8,-19.2,23,204,0.12,2.45,0.00,0.000,6,0.107,0.015,2886,1904,3490,0,0,0,0,0,0
$GC,462,-1.16,-116.8,71.3,-15.1,48,467,0.12,2.42,0.00,0.000,4,0.123,0.031,2912,3442,3491,0,0,0,0,0,0
$GC,496,-1.16,-116.8,77.0,-15.0,50,500,0.00,2.47,0.00,0.000,6,0.000,0.024,2912,1888,3491,0,0,0,0,0,0
$GC,758,-1.16,-116.8,110.5,-12.8,74,763,0.00,2.45,0.00,0.000,4,0.000,0.033,2912,3446,3491,0,0,0,0,0,0
$GC,804,-1.22,-116.8,116.1,-13.2,77,809,0.00,2.45,0.00,0.000,6,0.000,0.031,2912,1901,3492,0,0,0,0,0,0
$GC,1072,-1.29,-116.8,145.7,-10.6,101,1077,0.12,2.45,0.00,0.000,4,0.070,0.032,2866,3452,3492,0,0,0,0,0,0
$GC,1113,-1.29,-116.8,151.2,-11.5,104,1117,0.00,2.45,0.00,0.000,6,0.000,0.023,2867,1899,3492,0,0,0,0,0,0
$GC,1377,-1.29,-116.8,179.5,-10.7,128,1381,0.00,2.42,0.00,0.000,4,0.000,0.027,2867,3447,3493,0,0,0,0,0,0
$GC,1410,-1.29,-116.8,183.1,-11.2,130,1414,0.00,2.42,0.00,0.000,6,0.000,0.025,2867,1912,3493,0,0,0,0,0,0
$GC,1686,-1.29,-116.8,213.9,-11.3,147,1690,0.00,2.40,0.00,0.000,4,0.000,0.028,2867,3445,3493,0,0,0,0,0,0
$GC,1715,-1.29,-116.8,217.2,-12.0,147,1719,0.00,2.40,0.00,0.000,6,0.000,0.028,2866,1910,3493,0,0,0,0,0,0
$GC,1964,-1.29,-116.8,244.2,-10.8,153,1969,0.00,2.42,0.00,0.000,4,0.000,0.028,2866,3446,3493,0,0,0,0,0,0
$GC,2043,-1.37,-116.8,252.0,-8.9,154,2049,0.00,2.40,0.00,0.000,6,0.000,0.025,2866,1933,3493,0,0,0,0,0,0
$GC,2295,-1.43,-116.8,273.8,-8.8,161,2299,0.00,2.40,0.00,0.000,4,0.000,0.029,2867,3446,3493,0,0,0,0,0,0
$GC,2344,-1.52,-116.8,279.2,-10.4,162,2349,0.12,2.38,0.00,0.000,6,0.068,0.027,2818,1944,3494,0,0,0,0,0,0
$GC,2618,-1.52,-116.8,311.1,-11.8,169,2619,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1943,3493,0,0,0,0,0,0
$GC,2860,-1.52,-116.8,338.3,-11.1,175,2861,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1944,3493,0,0,0,0,0,0
$GC,3104,-1.52,-116.8,364.2,-10.6,181,3108,0.00,2.42,0.00,0.000,4,0.000,0.041,2818,3439,3492,0,0,0,0,0,0
$GC,3147,-1.52,-116.8,369.1,-11.3,182,3151,0.00,2.45,0.00,0.000,6,0.000,0.048,2818,1961,3492,0,0,0,0,0,0
$GC,3427,-1.52,-116.8,401.2,-11.8,189,3431,0.00,3.00,0.00,0.000,4,0.000,0.096,2817,315,3490,0,0,0,0,0,0
$GC,3466,-1.52,-116.8,406.2,-12.3,190,3470,0.00,2.55,0.00,0.000,6,0.000,0.035,2818,1903,3490,0,0,0,0,0,0
$GC,3748,-1.52,-116.8,439.0,-11.4,197,3749,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1903,3488,0,0,0,0,0,0
$GC,3994,-1.52,-116.8,463.9,-10.2,203,3998,0.00,2.65,0.00,0.000,4,0.000,0.061,2818,3467,3486,0,0,0,0,0,0
$GC,4043,-1.52,-116.8,469.2,-10.2,204,4047,0.00,2.55,0.00,0.000,6,0.000,0.054,2818,1958,3485,0,0,0,0,0,0
$GC,4315,-1.52,-116.8,495.9,-10.0,211,4320,0.00,3.03,0.00,0.000,4,0.000,0.105,2817,318,3484,0,0,0,0,0,0
$GC,4338,-1.52,-116.8,498.2,-9.7,211,4342,0.00,2.67,0.00,0.000,6,0.000,0.035,2818,1947,3483,0,0,0,0,0,0
$STATE,4387,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4387,begin apogee
$GC,4393,-0.31,0.0,503.5,10.2,213,4494,1.23,0.00,96.75,0.915,6,0.079,0.000,3096,2001,3010,0,0,0,0,0,0
$STATE,4494,end apogee,CONTROL_FINISHED_OK
$STATE,4494,begin climb
$GC,4497,1.38,116.8,505.2,0.0,215,4607,1.55,2.78,99.07,0.896,4,0.041,0.070,3470,3579,2532,0,0,0,0,0,0
$GC,4630,1.30,172.5,503.4,6.8,218,4685,0.00,2.67,48.20,0.877,6,0.000,0.051,3470,2010,2305,0,0,0,0,0,0
$GC,4947,1.20,172.5,469.9,10.6,226,4953,0.20,3.03,0.00,0.000,4,0.109,0.104,3429,410,2295,0,0,0,0,0,0
$GC,4981,1.12,172.5,466.2,10.5,226,4986,0.00,2.58,0.00,0.000,6,0.000,0.029,3430,1979,2295,0,0,0,0,0,0
$GC,5231,1.17,211.3,445.9,7.8,233,5266,0.00,0.00,33.12,0.862,6,0.000,0.000,3429,1979,2148,0,0,0,0,0,0
$GC,5512,1.20,241.1,422.5,8.3,239,5541,0.00,0.00,27.05,0.844,6,0.000,0.000,3429,1979,2027,0,0,0,0,0,0
$GC,5754,1.20,242.2,398.8,10.0,245,5759,0.00,2.75,0.00,0.000,4,0.000,0.071,3429,408,2021,0,0,0,0,0,0
$GC,5803,1.20,242.2,393.1,11.7,246,5808,0.00,2.53,0.00,0.000,6,0.000,0.028,3429,1977,2020,0,0,0,0,0,0
$GC,6077,1.20,242.2,364.9,10.5,253,6078,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1977,2019,0,0,0,0,0,0
$GC,6319,1.20,242.2,340.1,10.1,259,6323,0.00,2.70,0.00,0.000,4,0.000,0.066,3429,400,2017,0,0,0,0,0,0
$GC,6340,1.20,242.2,337.9,10.1,259,6344,0.00,2.53,0.00,0.000,6,0.000,0.023,3429,1986,2016,0,0,0,0,0,0
$GC,6597,1.21,245.2,312.8,9.9,266,6602,0.00,2.60,0.00,0.000,4,0.000,0.044,3429,3568,2016,0,0,0,0,0,0
$GC,6659,1.25,245.2,305.9,10.9,267,6663,0.00,2.62,0.00,0.000,6,0.000,0.038,3429,1969,2014,0,0,0,0,0,0
$GC,6919,1.26,249.8,279.9,9.8,274,6934,0.00,2.78,7.03,0.667,4,0.000,0.071,3429,411,1990,0,0,0,0,0,0
$GC,6975,1.26,249.8,274.5,10.7,275,6980,0.00,2.50,0.00,0.000,6,0.000,0.024,3429,1991,1990,0,0,0,0,0,0
$GC,7248,1.37,296.4,252.6,7.3,282,7298,0.15,2.80,42.03,0.755,4,0.077,0.057,3469,415,1801,0,0,0,0,0,0
$GC,7324,1.32,296.4,245.7,11.1,283,7328,0.00,2.47,0.00,0.000,6,0.000,0.024,3469,1966,1798,0,0,0,0,0,0
$GC,7573,1.32,296.4,216.2,12.2,289,7578,0.00,2.60,0.00,0.000,4,0.000,0.038,3469,3567,1795,0,0,0,0,0,0
$GC,7600,1.32,296.4,212.5,13.6,289,7605,0.00,2.65,0.00,0.000,6,0.000,0.032,3469,1951,1794,0,0,0,0,0,0
$GC,7862,1.32,296.4,182.3,12.3,304,7866,0.00,2.62,0.00,0.000,4,0.000,0.062,3469,407,1794,0,0,0,0,0,0
$GC,7929,1.32,296.4,172.0,14.8,309,7938,0.00,2.45,0.00,0.000,6,0.000,0.025,3469,1956,1793,0,0,0,0,0,0
$GC,8192,1.32,296.4,140.4,11.5,334,8197,0.00,2.60,0.00,0.000,4,0.000,0.034,3469,3565,1792,0,0,0,0,0,0
$GC,8227,1.37,296.4,135.9,12.2,336,8236,0.00,2.65,0.00,0.000,6,0.000,0.037,3469,1950,1792,0,0,0,0,0,0
$GC,8493,1.42,296.4,108.4,10.2,361,8497,0.00,2.60,0.00,0.000,4,0.000,0.064,3469,413,1792,0,0,0,0,0,0
$GC,8515,1.42,296.4,105.2,11.7,362,8524,0.00,2.42,0.00,0.000,6,0.000,0.018,3469,1963,1791,0,0,0,0,0,0
$GC,8783,1.50,311.0,78.5,9.2,387,8806,0.10,2.67,12.38,0.563,4,0.093,0.057,3499,411,1740,0,0,0,0,0,0
$GC,8837,1.46,311.0,72.7,11.4,391,8842,0.00,2.38,0.00,0.000,6,0.000,0.019,3498,1948,1740,0,0,0,0,0,0
$GC,9104,1.52,323.3,45.5,9.3,415,9122,0.00,2.65,12.10,0.529,4,0.000,0.034,3499,3572,1692,0,0,0,0,0,0
$GC,9172,1.60,333.7,39.1,9.4,420,9190,0.00,2.62,10.48,0.511,6,0.000,0.028,3499,1952,1648,0,0,0,0,0,0
$GC,9497,1.66,333.7,5.3,10.8,463,9507,0.12,2.60,0.00,0.000,4,0.074,0.050,3536,413,1645,0,0,0,0,0,0
$STATE,9515,end climb,SURFACE_DEPTH_REACHED
$STATE,9515,begin surface coast
$FINISH,0.5,0.980019
$STATE,9566,end surface coast,CONTROL_FINISHED_OK
$STATE,9566,begin surface
$SM_CCo,9590,37.80,0.522,0,0,1459,380.21
$SM_GC,1.32,0.00,0.00,37.80,0.000,0.000,0.522,482,1925,1459,-12.34,0.99,380.21
$IRIDIUM_FIX,2241.69,-15759.32,120900,161621
$TT8_MAMPS,0.026078
$HUMID,62.75
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.90
$XPDR_PINGS,49
$24V_AH,23.5,41.055
$10V_AH,10.3,36.078
$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,28.675,133.625,388.200,37.800,0.000,26.557,38.580,341.156,12.250,0.000,36.459,977.937,6218.659,482.332,1825.346,688.799,33.362,1186.870,0.000,1807.226,0.000,0.535,0.000
$DEVICE_MAMPS,149.565,131.924,915.031,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,319.834,270.154,362.641,693.380,1048.619,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,38453,472
$CAP_FILE_SIZE,106372,0
$CFSIZE,260165632,165097472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190611,220831,2248.296,-15758.204,37,1.4,37,10.1