version: 66.06
glider: 146
mission: 6
dive: 329
start: 6 20 111 1 18 8
data:
$ID,146
$MISSION,6
$DIVE,329
$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,-275908.75
$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,52
$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
$GPS1,010906,2247.612,-15758.537,45,1.1,61,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.1
$GPS2,011713,2247.633,-15758.657,14,1.1,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.199,-0.125
$KALMAN_X,-191573.3,-585.1,-17.4,189006.3,-1072.5
$KALMAN_Y,-37415.3,-458.9,247.6,44540.4,506.2
$MHEAD_RNG_PITCHd_Wd,112.0,1875,-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,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.85,0.000,2,0.000,0.000,474,1857,3279,0,0,0,0,0,0
$GC,92,-1.38,-116.8,4.0,-7.6,9,118,12.32,2.55,-3.62,0.000,4,0.146,0.057,2857,341,3488,0,0,0,0,0,0
$GC,143,-0.97,-116.8,21.1,-27.4,15,153,0.40,2.40,0.00,0.000,6,0.097,0.015,2946,1896,3490,0,0,0,0,0,0
$GC,428,-1.02,-116.8,57.8,-11.7,44,432,0.00,2.42,0.00,0.000,4,0.000,0.025,2947,3445,3491,0,0,0,0,0,0
$GC,461,-1.09,-116.8,61.9,-12.1,46,466,0.00,2.42,0.00,0.000,6,0.000,0.025,2947,1911,3491,0,0,0,0,0,0
$GC,726,-1.18,-116.8,90.6,-12.0,70,735,0.17,0.00,0.00,0.000,6,0.058,0.000,2888,1911,3491,0,0,0,0,0,0
$GC,990,-1.18,-116.8,123.4,-10.9,95,994,0.00,2.67,0.00,0.000,4,0.000,0.056,2888,309,3492,0,0,0,0,0,0
$GC,1006,-1.18,-116.8,125.8,-11.3,96,1011,0.00,2.42,0.00,0.000,6,0.000,0.021,2888,1928,3492,0,0,0,0,0,0
$GC,1271,-1.22,-116.8,154.3,-10.4,120,1275,0.00,2.33,0.00,0.000,4,0.000,0.032,2888,3425,3493,0,0,0,0,0,0
$GC,1311,-1.32,-116.8,158.8,-10.0,123,1316,0.00,2.40,0.00,0.000,6,0.000,0.025,2888,1906,3493,0,0,0,0,0,0
$GC,1576,-1.37,-116.8,187.2,-10.0,147,1580,0.00,2.40,0.00,0.000,4,0.000,0.028,2888,3425,3493,0,0,0,0,0,0
$GC,1645,-1.48,-116.8,194.7,-9.5,152,1651,0.20,2.38,0.00,0.000,6,0.051,0.023,2817,1918,3493,0,0,0,0,0,0
$GC,1898,-1.40,-116.8,228.7,-14.1,162,1903,0.20,2.38,0.00,0.000,4,0.094,0.027,2861,3427,3493,0,0,0,0,0,0
$GC,1925,-1.40,-116.8,233.0,-13.6,162,1930,0.00,2.35,0.00,0.000,6,0.000,0.031,2861,1932,3493,0,0,0,0,0,0
$GC,2181,-1.40,-116.8,260.3,-10.2,169,2186,0.00,2.75,0.00,0.000,4,0.000,0.069,2861,322,3493,0,0,0,0,0,0
$GC,2209,-1.40,-116.8,263.1,-10.1,169,2214,0.00,2.42,0.00,0.000,6,0.000,0.018,2861,1894,3493,0,0,0,0,0,0
$GC,2460,-1.44,-116.8,287.8,-9.7,175,2464,0.00,2.47,0.00,0.000,4,0.000,0.040,2861,3457,3493,0,0,0,0,0,0
$GC,2538,-1.53,-116.8,295.3,-9.3,176,2544,0.12,2.40,0.00,0.000,6,0.074,0.028,2814,1948,3494,0,0,0,0,0,0
$GC,2789,-1.53,-116.8,325.1,-12.2,183,2793,0.00,2.40,0.00,0.000,4,0.000,0.034,2814,3451,3493,0,0,0,0,0,0
$GC,2894,-1.53,-116.8,339.0,-13.3,185,2898,0.00,2.42,0.00,0.000,6,0.000,0.037,2814,1969,3493,0,0,0,0,0,0
$GC,3157,-1.53,-116.8,370.9,-12.0,192,3158,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1970,3491,0,0,0,0,0,0
$GC,3399,-1.53,-116.8,397.9,-11.0,198,3404,0.00,2.97,0.00,0.000,4,0.000,0.095,2814,318,3491,0,0,0,0,0,0
$GC,3426,-1.49,-116.8,400.9,-11.6,198,3431,0.12,2.60,0.00,0.000,6,0.111,0.032,2840,1931,3490,0,0,0,0,0,0
$GC,3678,-1.55,-116.8,423.7,-8.8,204,3679,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,1932,3489,0,0,0,0,0,0
$GC,3920,-1.60,-116.8,444.9,-8.7,210,3922,0.10,0.00,0.00,0.000,6,0.084,0.000,2805,1932,3487,0,0,0,0,0,0
$GC,4164,-1.60,-116.8,468.6,-9.7,216,4168,0.00,2.62,0.00,0.000,4,0.000,0.062,2805,3475,3485,0,0,0,0,0,0
$GC,4190,-1.60,-116.8,471.2,-10.0,216,4195,0.00,2.55,0.00,0.000,6,0.000,0.053,2805,1972,3485,0,0,0,0,0,0
$GC,4442,-1.60,-116.8,497.0,-10.4,222,4446,0.00,3.05,0.00,0.000,4,0.000,0.110,2805,323,3484,0,0,0,0,0,0
$GC,4457,-1.60,-116.8,499.1,-10.8,222,4461,0.00,2.67,0.00,0.000,6,0.000,0.039,2804,1958,3483,0,0,0,0,0,0
$STATE,4466,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4466,begin apogee
$GC,4472,-0.31,0.0,500.3,11.7,222,4573,1.25,0.00,97.30,0.917,6,0.078,0.000,3091,1995,3010,0,0,0,0,0,0
$STATE,4574,end apogee,CONTROL_FINISHED_OK
$STATE,4574,begin climb
$GC,4578,1.38,116.8,503.6,0.0,225,4682,1.60,0.00,99.97,0.895,6,0.044,0.000,3471,1995,2533,0,0,0,0,0,0
$GC,4922,1.33,174.8,489.5,6.7,234,4974,0.00,0.00,49.95,0.881,6,0.000,0.000,3470,1995,2296,0,0,0,0,0,0
$GC,5209,1.24,182.0,464.0,9.6,241,5219,0.17,0.00,6.82,0.713,6,0.117,0.000,3435,1996,2268,0,0,0,0,0,0
$GC,5451,1.25,196.7,441.7,9.2,247,5467,0.00,0.00,14.23,0.816,6,0.000,0.000,3435,1995,2207,0,0,0,0,0,0
$GC,5695,1.26,202.8,417.9,9.7,253,5703,0.00,0.00,6.50,0.704,6,0.000,0.000,3436,1995,2183,0,0,0,0,0,0
$GC,5940,1.26,202.8,393.1,10.2,259,5944,0.00,2.80,0.00,0.000,4,0.000,0.068,3435,417,2179,0,0,0,0,0,0
$GC,6030,1.21,202.8,382.8,11.1,261,6035,0.00,2.53,0.00,0.000,6,0.000,0.027,3435,2005,2178,0,0,0,0,0,0
$GC,6308,1.24,234.1,358.1,8.2,268,6342,0.00,2.85,28.25,0.820,4,0.000,0.065,3435,421,2055,0,0,0,0,0,0
$GC,6389,1.25,241.8,351.3,9.6,269,6403,0.00,2.53,8.27,0.715,6,0.000,0.023,3435,1998,2023,0,0,0,0,0,0
$GC,6682,1.29,272.1,326.5,8.3,277,6712,0.00,0.00,28.35,0.799,6,0.000,0.000,3435,1998,1899,0,0,0,0,0,0
$GC,6927,1.29,272.1,300.9,10.7,283,6932,0.00,2.58,0.00,0.000,4,0.000,0.043,3435,3567,1894,0,0,0,0,0,0
$GC,6972,1.35,272.1,295.5,11.5,284,6977,0.10,2.58,0.00,0.000,6,0.091,0.038,3463,2004,1893,0,0,0,0,0,0
$GC,7250,1.35,272.1,264.0,11.4,291,7254,0.00,2.75,0.00,0.000,4,0.000,0.068,3462,416,1892,0,0,0,0,0,0
$GC,7301,1.35,272.1,257.1,13.8,292,7306,0.00,2.53,0.00,0.000,6,0.000,0.022,3462,2013,1890,0,0,0,0,0,0
$GC,7573,1.35,272.1,226.4,11.2,299,7578,0.00,2.72,0.00,0.000,4,0.000,0.056,3462,414,1890,0,0,0,0,0,0
$GC,7645,1.35,272.1,217.4,12.0,300,7649,0.00,2.45,0.00,0.000,6,0.000,0.022,3462,1986,1888,0,0,0,0,0,0
$GC,7900,1.35,278.0,191.3,9.7,312,7911,0.00,0.00,3.47,0.423,6,0.000,0.000,3462,1986,1881,0,0,0,0,0,0
$GC,8169,1.35,278.0,164.3,10.5,337,8174,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,1986,1881,0,0,0,0,0,0
$GC,8431,1.36,284.5,138.3,9.7,362,8443,0.00,0.00,8.38,0.582,6,0.000,0.000,3462,1986,1850,0,0,0,0,0,0
$GC,8700,1.49,328.1,113.8,7.5,387,8749,0.12,2.72,38.95,0.624,4,0.077,0.051,3498,417,1670,0,0,0,0,0,0
$GC,8847,1.49,328.1,97.5,11.8,399,8851,0.00,2.45,0.00,0.000,6,0.000,0.025,3498,1992,1667,0,0,0,0,0,0
$GC,9114,1.49,328.1,67.6,11.2,423,9119,0.00,2.65,0.00,0.000,4,0.000,0.048,3499,412,1666,0,0,0,0,0,0
$GC,9175,1.49,328.1,60.7,11.3,427,9179,0.00,2.42,0.00,0.000,6,0.000,0.018,3498,1980,1665,0,0,0,0,0,0
$GC,9441,1.49,331.9,35.5,9.8,451,9450,0.00,0.00,0.00,0.000,6,0.000,0.000,3499,1981,1665,0,0,0,0,0,0
$STATE,9718,end climb,SURFACE_DEPTH_REACHED
$STATE,9718,begin surface coast
$FINISH,0.5,0.975159
$STATE,9753,end surface coast,CONTROL_FINISHED_OK
$STATE,9754,begin surface
$SM_CCo,9776,41.50,0.519,0,0,1460,380.21
$SM_GC,1.48,0.00,0.00,41.50,0.000,0.000,0.519,473,1867,1460,-12.38,-0.65,380.21
$IRIDIUM_FIX,2239.35,-15759.32,120900,222208
$TT8_MAMPS,0.026078
$HUMID,62.60
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.90
$XPDR_PINGS,35
$24V_AH,23.5,41.307
$10V_AH,10.4,36.308
$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,29.125,97.225,390.450,41.500,0.000,22.480,34.437,277.529,8.750,0.000,32.829,983.665,6355.948,511.573,1843.370,613.844,33.366,1156.906,0.000,1839.100,0.000,0.534,0.000
$DEVICE_MAMPS,146.497,175.643,916.565,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.897,275.773,384.014,736.476,1109.086,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355632
$DATA_FILE_SIZE,38430,493
$CAP_FILE_SIZE,98581,0
$CFSIZE,260165632,164995072
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200611,040306,2247.093,-15758.118,38,1.1,38,10.1