version: 66.06
glider: 146
mission: 6
dive: 332
start: 6 20 111 10 16 16
data:
$ID,146
$MISSION,6
$DIVE,332
$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,-275990.47
$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
$GPS1,095330,2247.379,-15801.817,64,1.1,70,10.1
$_CALLS,4
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.1
$GPS2,101522,2247.524,-15802.031,12,2.1,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.051,-0.216
$KALMAN_X,-196507.2,47.0,-91.9,187620.4,-1155.4
$KALMAN_Y,-34357.2,364.1,341.2,40354.3,1187.4
$MHEAD_RNG_PITCHd_Wd,183.2,1918,-21.1,-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,-1.45,-103.8,0.0,0.0,0,89,0.00,0.00,-70.78,0.000,2,0.000,0.000,470,1869,3285,0,0,0,0,0,0
$GC,94,-1.46,-116.8,3.7,-7.1,9,120,12.18,2.62,-3.65,0.000,4,0.144,0.061,2838,326,3490,0,0,0,0,0,0
$GC,247,-1.30,-116.8,43.4,-21.0,27,257,0.15,2.42,0.00,0.000,6,0.109,0.015,2873,1919,3491,0,0,0,0,0,0
$GC,511,-1.30,-116.8,82.6,-14.1,52,515,0.00,2.35,0.00,0.000,4,0.000,0.030,2873,3429,3492,0,0,0,0,0,0
$GC,545,-1.30,-116.8,88.1,-14.3,54,554,0.00,2.45,0.00,0.000,6,0.000,0.027,2873,1902,3492,0,0,0,0,0,0
$GC,811,-1.30,-116.8,122.0,-11.9,79,815,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1902,3492,0,0,0,0,0,0
$GC,1072,-1.34,-116.8,150.5,-11.2,104,1076,0.00,2.42,0.00,0.000,4,0.000,0.025,2873,3435,3493,0,0,0,0,0,0
$GC,1117,-1.42,-116.8,155.9,-11.3,107,1122,0.00,2.42,0.00,0.000,6,0.000,0.025,2873,1891,3492,0,0,0,0,0,0
$GC,1382,-1.49,-116.8,182.3,-9.9,132,1387,0.12,2.45,0.00,0.000,4,0.071,0.025,2825,3430,3493,0,0,0,0,0,0
$GC,1472,-1.49,-116.8,193.2,-11.9,139,1476,0.00,2.40,0.00,0.000,6,0.000,0.029,2824,1907,3493,0,0,0,0,0,0
$GC,1735,-1.49,-116.8,228.2,-13.2,149,1739,0.00,2.40,0.00,0.000,4,0.000,0.032,2825,3428,3493,0,0,0,0,0,0
$GC,1790,-1.49,-116.8,235.8,-12.9,150,1794,0.00,2.35,0.00,0.000,6,0.000,0.026,2824,1922,3493,0,0,0,0,0,0
$GC,2057,-1.49,-116.8,267.6,-11.8,157,2058,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1922,3493,0,0,0,0,0,0
$GC,2302,-1.49,-116.8,297.3,-12.3,163,2306,0.00,2.42,0.00,0.000,4,0.000,0.038,2824,3434,3492,0,0,0,0,0,0
$GC,2357,-1.53,-116.8,303.8,-10.9,164,2361,0.00,2.40,0.00,0.000,6,0.000,0.030,2824,1933,3492,0,0,0,0,0,0
$GC,2623,-1.53,-116.8,333.3,-11.2,171,2627,0.00,2.40,0.00,0.000,4,0.000,0.038,2825,3425,3492,0,0,0,0,0,0
$GC,2685,-1.60,-116.8,340.0,-10.7,172,2690,0.00,2.42,0.00,0.000,6,0.000,0.045,2825,1936,3491,0,0,0,0,0,0
$GC,2947,-1.65,-116.8,369.7,-11.6,179,2948,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1936,3490,0,0,0,0,0,0
$GC,3191,-1.70,-116.8,395.0,-10.0,185,3192,0.12,0.00,0.00,0.000,6,0.074,0.000,2780,1936,3489,0,0,0,0,0,0
$GC,3435,-1.70,-116.8,421.6,-11.1,191,3439,0.00,2.45,0.00,0.000,4,0.000,0.045,2779,3423,3487,0,0,0,0,0,0
$GC,3456,-1.70,-116.8,424.4,-12.2,191,3460,0.00,2.47,0.00,0.000,6,0.000,0.053,2779,1946,3487,0,0,0,0,0,0
$GC,3712,-1.70,-116.8,456.4,-12.8,198,3713,0.00,0.00,0.00,0.000,6,0.000,0.000,2780,1946,3485,0,0,0,0,0,0
$GC,3957,-1.70,-116.8,486.8,-12.4,204,3961,0.00,2.47,0.00,0.000,4,0.000,0.058,2779,3417,3483,0,0,0,0,0,0
$GC,3989,-1.70,-116.8,491.2,-13.2,204,3995,0.00,2.50,0.00,0.000,6,0.000,0.061,2779,1951,3483,0,0,0,0,0,0
$STATE,4075,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4076,begin apogee
$GC,4081,-0.31,0.0,501.8,12.4,207,4182,1.40,0.00,96.60,0.906,6,0.093,0.000,3094,1951,3010,0,0,0,0,0,0
$STATE,4182,end apogee,CONTROL_FINISHED_OK
$STATE,4182,begin climb
$GC,4185,1.46,116.8,504.7,0.0,209,4289,1.65,0.00,99.70,0.885,6,0.040,0.000,3490,1950,2533,0,0,0,0,0,0
$GC,4522,1.37,135.9,486.2,8.8,218,4547,0.12,2.78,16.38,0.825,4,0.143,0.050,3465,3518,2454,0,0,0,0,0,0
$GC,4629,1.29,135.9,476.1,10.4,220,4633,0.00,2.60,0.00,0.000,6,0.000,0.055,3465,2004,2451,0,0,0,0,0,0
$GC,4895,1.25,154.5,451.8,8.8,227,4920,0.12,2.62,16.80,0.826,4,0.130,0.045,3441,3520,2379,0,0,0,0,0,0
$GC,4942,1.30,195.7,448.1,7.4,228,4987,0.00,2.60,37.67,0.851,6,0.000,0.047,3441,2000,2211,0,0,0,0,0,0
$GC,5268,1.32,205.2,417.7,9.4,236,5278,0.00,0.00,8.65,0.743,6,0.000,0.000,3441,2000,2173,0,0,0,0,0,0
$GC,5510,1.32,205.2,392.1,10.6,242,5514,0.00,2.90,0.00,0.000,4,0.000,0.088,3440,404,2169,0,0,0,0,0,0
$GC,5554,1.32,205.2,386.9,12.4,243,5559,0.00,2.47,0.00,0.000,6,0.000,0.026,3440,1960,2168,0,0,0,0,0,0
$GC,5832,1.33,212.8,359.7,9.5,250,5846,0.00,2.72,7.22,0.700,4,0.000,0.043,3440,3569,2142,0,0,0,0,0,0
$GC,5891,1.33,212.8,353.7,10.5,251,5896,0.00,2.60,0.00,0.000,6,0.000,0.041,3440,1995,2141,0,0,0,0,0,0
$GC,6160,1.33,216.5,327.4,9.8,258,6170,0.00,2.83,4.62,0.583,4,0.000,0.077,3441,407,2127,0,0,0,0,0,0
$GC,6270,1.33,216.5,315.5,10.3,260,6275,0.00,2.50,0.00,0.000,6,0.000,0.020,3440,1987,2125,0,0,0,0,0,0
$GC,6528,1.39,222.3,291.3,9.7,267,6542,0.12,2.67,6.62,0.657,4,0.087,0.042,3473,3570,2103,0,0,0,0,0,0
$GC,6581,1.39,222.3,285.3,10.9,268,6586,0.00,2.62,0.00,0.000,6,0.000,0.031,3473,1975,2102,0,0,0,0,0,0
$GC,6855,1.41,241.2,260.0,8.8,275,6875,0.00,0.00,17.98,0.738,6,0.000,0.000,3473,1974,2026,0,0,0,0,0,0
$GC,7098,1.41,241.2,235.5,10.1,281,7103,0.00,2.70,0.00,0.000,4,0.000,0.071,3473,412,2022,0,0,0,0,0,0
$GC,7142,1.41,241.2,230.4,11.4,282,7146,0.00,2.50,0.00,0.000,6,0.000,0.025,3473,1988,2022,0,0,0,0,0,0
$GC,7420,1.41,246.0,203.0,9.7,289,7430,0.00,2.70,4.93,0.540,4,0.000,0.061,3473,407,2007,0,0,0,0,0,0
$GC,7462,1.42,247.1,199.0,10.0,290,7467,0.00,2.45,0.00,0.000,6,0.000,0.019,3473,1977,2006,0,0,0,0,0,0
$GC,7725,1.44,264.5,174.7,8.9,314,7750,0.00,2.72,18.00,0.668,4,0.000,0.057,3473,403,1930,0,0,0,0,0,0
$GC,7779,1.44,264.5,169.3,10.7,318,7788,0.00,2.50,0.00,0.000,6,0.000,0.020,3473,1966,1928,0,0,0,0,0,0
$GC,8046,1.50,272.8,144.6,9.5,343,8060,0.00,2.70,8.52,0.585,4,0.000,0.052,3473,410,1896,0,0,0,0,0,0
$GC,8085,1.50,272.8,139.8,11.4,346,8094,0.00,2.47,0.00,0.000,6,0.000,0.021,3473,1959,1895,0,0,0,0,0,0
$GC,8352,1.56,273.2,112.8,10.0,371,8357,0.12,2.60,0.00,0.000,4,0.079,0.036,3507,3562,1894,0,0,0,0,0,0
$GC,8561,1.60,273.2,86.7,11.3,388,8566,0.00,2.55,0.00,0.000,6,0.000,0.028,3508,1974,1894,0,0,0,0,0,0
$GC,8828,1.63,298.1,61.8,8.4,412,8857,0.00,0.00,22.88,0.568,6,0.000,0.000,3507,1973,1792,0,0,0,0,0,0
$GC,9117,1.69,298.1,34.4,10.1,439,9122,0.10,2.62,0.00,0.000,4,0.086,0.058,3537,407,1791,0,0,0,0,0,0
$GC,9209,1.65,298.1,22.1,12.7,450,9218,0.00,2.47,0.00,0.000,6,0.000,0.018,3537,1979,1790,0,0,0,0,0,0
$STATE,9386,end climb,SURFACE_DEPTH_REACHED
$STATE,9386,begin surface coast
$FINISH,0.5,0.971049
$STATE,9427,end surface coast,CONTROL_FINISHED_OK
$STATE,9427,begin surface
$SM_CCo,9449,66.68,0.523,0,0,1459,380.21
$SM_GC,1.38,0.00,0.00,66.68,0.000,0.000,0.523,480,1856,1459,-12.36,-0.96,380.21
$IRIDIUM_FIX,2239.35,-15802.37,130900,101021
$TT8_MAMPS,0.026078
$HUMID,62.87
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.60
$XPDR_PINGS,43
$24V_AH,23.5,41.709
$10V_AH,10.3,36.645
$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,28.650,106.925,366.575,66.675,0.000,106.439,136.173,715.049,10.750,0.000,35.211,972.067,6256.247,515.004,1836.677,1251.790,33.366,1183.679,0.000,1820.348,0.000,0.536,0.000
$DEVICE_MAMPS,144.196,88.205,905.827,523.094,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.410,271.382,373.846,710.747,1070.369,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355640
$DATA_FILE_SIZE,38320,482
$CAP_FILE_SIZE,111225,0
$CFSIZE,260165632,164823040
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200611,125606,2246.857,-15803.118,31,1.1,31,10.1