version: 66.06
glider: 146
mission: 6
dive: 331
start: 6 20 111 7 9 59
data:
$ID,146
$MISSION,6
$DIVE,331
$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,-275954.62
$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,27
$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
$GPS1,065916,2247.353,-15800.154,12,99.0,31,10.1
$_CALLS,1
$_XMS_NAKs,22
$_XMS_TOUTs,1
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.5
$GPS2,070906,2247.417,-15800.283,14,1.4,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.121,-0.202
$KALMAN_X,-194443.3,-186.1,-158.6,188838.0,-672.4
$KALMAN_Y,-35584.1,7.5,-273.9,42353.8,1697.8
$MHEAD_RNG_PITCHd_Wd,200.8,4704,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-70.93,0.000,2,0.000,0.000,482,1983,3257,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.8,-6.5,9,118,12.32,2.83,-4.28,0.000,4,0.148,0.060,2856,312,3490,0,0,0,0,0,0
$GC,283,-1.22,-116.8,47.1,-17.8,30,288,0.20,2.45,0.00,0.000,6,0.122,0.015,2896,1917,3492,0,0,0,0,0,0
$GC,545,-1.22,-116.8,85.8,-13.1,54,549,0.00,2.40,0.00,0.000,4,0.000,0.025,2896,3442,3493,0,0,0,0,0,0
$GC,568,-1.22,-116.8,88.4,-13.3,55,572,0.00,2.45,0.00,0.000,6,0.000,0.024,2896,1881,3493,0,0,0,0,0,0
$GC,834,-1.22,-116.8,122.7,-12.1,79,838,0.00,2.47,0.00,0.000,4,0.000,0.028,2896,3445,3493,0,0,0,0,0,0
$GC,866,-1.27,-116.8,126.8,-12.3,81,870,0.00,2.45,0.00,0.000,6,0.000,0.029,2896,1885,3494,0,0,0,0,0,0
$GC,1132,-1.31,-116.8,156.2,-11.2,105,1140,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1885,3494,0,0,0,0,0,0
$GC,1400,-1.37,-116.8,184.2,-9.1,130,1405,0.12,2.47,0.00,0.000,4,0.072,0.031,2847,3446,3494,0,0,0,0,0,0
$GC,1528,-1.37,-116.8,196.9,-9.7,140,1534,0.00,2.40,0.00,0.000,6,0.000,0.024,2847,1911,3494,0,0,0,0,0,0
$GC,1810,-1.37,-116.8,227.1,-11.1,150,1814,0.00,2.40,0.00,0.000,4,0.000,0.034,2847,3439,3495,0,0,0,0,0,0
$GC,1890,-1.37,-116.8,236.6,-11.6,151,1896,0.00,2.40,0.00,0.000,6,0.000,0.025,2847,1925,3495,0,0,0,0,0,0
$GC,2140,-1.37,-116.8,263.2,-10.0,158,2144,0.00,2.72,0.00,0.000,4,0.000,0.071,2847,319,3495,0,0,0,0,0,0
$GC,2161,-1.37,-116.8,265.4,-9.9,158,2166,0.00,2.45,0.00,0.000,6,0.000,0.024,2847,1910,3495,0,0,0,0,0,0
$GC,2418,-1.37,-116.8,289.0,-9.2,165,2423,0.00,2.47,0.00,0.000,4,0.000,0.033,2846,3456,3495,0,0,0,0,0,0
$GC,2544,-1.43,-116.8,300.4,-8.9,167,2549,0.00,2.42,0.00,0.000,6,0.000,0.028,2846,1946,3495,0,0,0,0,0,0
$GC,2796,-1.47,-116.8,323.9,-9.5,174,2800,0.00,2.40,0.00,0.000,4,0.000,0.034,2847,3449,3495,0,0,0,0,0,0
$GC,2870,-1.54,-116.8,330.9,-9.9,175,2874,0.00,2.40,0.00,0.000,6,0.000,0.039,2847,1965,3494,0,0,0,0,0,0
$GC,3120,-1.59,-116.8,357.2,-10.8,181,3125,0.12,2.95,0.00,0.000,4,0.071,0.086,2804,315,3493,0,0,0,0,0,0
$GC,3149,-1.53,-116.8,361.1,-14.2,181,3154,0.12,2.58,0.00,0.000,6,0.115,0.031,2830,1933,3493,0,0,0,0,0,0
$GC,3399,-1.53,-116.8,388.5,-10.6,187,3400,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1932,3492,0,0,0,0,0,0
$GC,3643,-1.53,-116.8,412.6,-9.8,193,3644,0.00,0.00,0.00,0.000,6,0.000,0.000,2830,1933,3490,0,0,0,0,0,0
$GC,3888,-1.53,-116.8,436.5,-9.8,199,3893,0.00,2.85,0.00,0.000,4,0.000,0.078,2831,323,3489,0,0,0,0,0,0
$GC,3904,-1.53,-116.8,438.2,-9.8,199,3908,0.00,2.60,0.00,0.000,6,0.000,0.031,2830,1933,3488,0,0,0,0,0,0
$GC,4164,-1.53,-116.8,463.5,-9.7,206,4169,0.00,2.60,0.00,0.000,4,0.000,0.064,2830,3478,3486,0,0,0,0,0,0
$GC,4188,-1.57,-116.8,465.7,-9.5,206,4192,0.00,2.53,0.00,0.000,6,0.000,0.055,2830,1960,3486,0,0,0,0,0,0
$GC,4444,-1.61,-116.8,489.6,-9.3,213,4448,0.00,2.53,0.00,0.000,4,0.000,0.053,2830,3469,3485,0,0,0,0,0,0
$GC,4465,-1.66,-116.8,491.6,-8.9,213,4470,0.12,2.55,0.00,0.000,6,0.071,0.058,2787,1959,3485,0,0,0,0,0,0
$STATE,4556,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4556,begin apogee
$GC,4563,-0.31,0.0,501.3,10.4,216,4664,1.38,0.00,97.15,0.914,6,0.095,0.000,3096,2033,3010,0,0,0,0,0,0
$STATE,4665,end apogee,CONTROL_FINISHED_OK
$STATE,4665,begin climb
$GC,4668,1.38,116.8,503.4,0.0,218,4778,1.55,2.62,99.28,0.893,4,0.044,0.059,3471,3547,2532,0,0,0,0,0,0
$GC,4795,1.33,189.5,502.0,5.8,221,4865,0.00,2.65,62.97,0.875,6,0.000,0.051,3471,2003,2236,0,0,0,0,0,0
$GC,5116,1.24,189.5,463.8,12.6,229,5121,0.17,2.95,0.00,0.000,4,0.116,0.103,3436,411,2227,0,0,0,0,0,0
$GC,5145,1.15,189.5,460.1,12.9,229,5150,0.00,2.53,0.00,0.000,6,0.000,0.028,3435,1974,2225,0,0,0,0,0,0
$GC,5395,1.15,189.5,433.9,10.1,235,5396,0.00,0.00,0.00,0.000,6,0.000,0.000,3436,1974,2224,0,0,0,0,0,0
$GC,5639,1.17,201.6,411.0,9.3,241,5650,0.00,0.00,9.52,0.760,6,0.000,0.000,3436,1974,2188,0,0,0,0,0,0
$GC,5884,1.17,203.6,386.6,9.9,247,5888,0.00,2.75,0.00,0.000,4,0.000,0.071,3436,401,2186,0,0,0,0,0,0
$GC,5961,1.11,203.6,377.5,11.8,248,5968,0.15,2.55,0.00,0.000,6,0.122,0.022,3406,2001,2184,0,0,0,0,0,0
$GC,6213,1.22,252.9,358.6,7.2,255,6268,0.10,2.90,46.25,0.827,4,0.090,0.067,3434,403,1977,0,0,0,0,0,0
$GC,6301,1.22,252.9,350.6,10.1,257,6305,0.00,2.53,0.00,0.000,6,0.000,0.023,3434,1980,1975,0,0,0,0,0,0
$GC,6578,1.22,252.9,321.0,11.3,264,6583,0.00,2.72,0.00,0.000,4,0.000,0.061,3434,405,1971,0,0,0,0,0,0
$GC,6634,1.22,252.9,314.4,11.7,265,6639,0.00,2.50,0.00,0.000,6,0.000,0.022,3434,1970,1970,0,0,0,0,0,0
$GC,6901,1.28,267.6,289.0,9.2,272,6920,0.00,2.67,12.88,0.736,4,0.000,0.041,3434,3562,1918,0,0,0,0,0,0
$GC,6957,1.35,280.5,284.1,9.3,273,6977,0.10,2.65,13.07,0.728,6,0.087,0.034,3463,1959,1866,0,0,0,0,0,0
$GC,7234,1.35,280.5,254.3,11.3,280,7238,0.00,2.70,0.00,0.000,4,0.000,0.072,3463,406,1861,0,0,0,0,0,0
$GC,7335,1.35,280.5,241.6,12.5,282,7339,0.00,2.45,0.00,0.000,6,0.000,0.025,3463,1966,1859,0,0,0,0,0,0
$GC,7601,1.35,280.5,213.7,10.3,289,7602,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,1966,1859,0,0,0,0,0,0
$GC,7853,1.36,286.9,188.3,9.7,301,7864,0.00,2.67,5.88,0.568,4,0.000,0.060,3463,407,1839,0,0,0,0,0,0
$GC,7882,1.36,286.9,184.8,10.7,303,7891,0.00,2.45,0.00,0.000,6,0.000,0.021,3463,1947,1839,0,0,0,0,0,0
$GC,8148,1.37,296.1,160.9,9.5,328,8163,0.00,2.62,9.75,0.611,4,0.000,0.039,3463,3559,1801,0,0,0,0,0,0
$GC,8180,1.41,296.1,157.2,10.2,330,8189,0.00,2.67,0.00,0.000,6,0.000,0.035,3463,1939,1801,0,0,0,0,0,0
$GC,8447,1.41,296.1,129.0,10.8,355,8451,0.00,2.62,0.00,0.000,4,0.000,0.035,3463,3562,1799,0,0,0,0,0,0
$GC,8464,1.45,296.1,126.4,10.5,356,8468,0.00,2.65,0.00,0.000,6,0.000,0.029,3463,1928,1799,0,0,0,0,0,0
$GC,8728,1.56,330.7,101.4,8.0,380,8767,0.17,2.60,30.85,0.605,4,0.061,0.061,3513,409,1660,0,0,0,0,0,0
$GC,8843,1.50,330.7,89.0,11.4,389,8848,0.00,2.40,0.00,0.000,6,0.000,0.021,3513,1958,1658,0,0,0,0,0,0
$GC,9111,1.50,330.7,58.9,10.8,413,9115,0.00,2.60,0.00,0.000,4,0.000,0.051,3513,410,1658,0,0,0,0,0,0
$GC,9145,1.50,330.7,54.8,12.5,415,9149,0.00,2.35,0.00,0.000,6,0.000,0.018,3513,1935,1657,0,0,0,0,0,0
$GC,9425,1.52,344.6,24.0,9.2,443,9443,0.00,0.00,12.75,0.508,6,0.000,0.000,3513,1936,1603,0,0,0,0,0,0
$STATE,9604,end climb,SURFACE_DEPTH_REACHED
$STATE,9605,begin surface coast
$FINISH,0.5,0.975676
$STATE,9647,end surface coast,CONTROL_FINISHED_OK
$STATE,9647,begin surface
$SM_CCo,9671,28.98,0.512,0,0,1459,380.21
$SM_GC,1.15,0.00,0.00,28.98,0.000,0.000,0.512,471,1869,1459,-12.39,-0.59,380.21
$IRIDIUM_FIX,2239.35,-15800.20,130900,040458
$TT8_MAMPS,0.025311
$HUMID,63.74
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.80
$XPDR_PINGS,50
$24V_AH,23.5,41.560
$10V_AH,10.3,36.526
$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,29.025,123.750,400.350,28.975,0.000,28.561,41.806,362.830,12.500,0.000,31.854,983.962,6264.111,472.931,1837.557,731.868,33.371,1182.719,0.000,1824.627,0.000,0.535,0.000
$DEVICE_MAMPS,148.031,118.118,914.264,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,321.602,264.250,364.517,677.473,1024.460,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,38337,475
$CAP_FILE_SIZE,108198,0
$CFSIZE,260165632,164880384
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200611,095330,2247.379,-15801.817,64,1.1,70,10.1