version: 66.06
glider: 146
mission: 6
dive: 333
start: 6 20 111 13 8 59
data:
$ID,146
$MISSION,6
$DIVE,333
$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,-276004.66
$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,56
$R_STBD_OVSHOOT,53
$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
$GPS1,125606,2246.857,-15803.118,31,1.1,31,10.1
$_CALLS,2
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-71.0
$GPS2,130803,2246.907,-15803.289,12,1.1,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.164,0.168
$KALMAN_X,-198252.5,178.0,-113.6,187101.7,-1480.6
$KALMAN_Y,-33593.0,573.4,388.2,38197.6,80.0
$MHEAD_RNG_PITCHd_Wd,34.1,5749,-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,-70.97,0.000,2,0.000,0.000,479,1856,3251,0,0,0,0,0,0
$GC,94,-1.38,-116.8,3.4,-5.7,9,120,12.38,2.58,-4.28,0.000,4,0.150,0.038,2856,3458,3488,0,0,0,0,0,0
$GC,131,-0.39,-116.8,17.5,-35.3,13,140,0.98,2.50,0.00,0.000,6,0.091,0.031,3073,1914,3489,0,0,0,0,0,0
$GC,428,-0.70,-116.8,38.1,-5.8,50,437,0.25,0.00,0.00,0.000,6,0.046,0.000,2987,1914,3490,0,0,0,0,0,0
$GC,696,-0.87,-116.8,60.4,-8.7,75,700,0.00,2.45,0.00,0.000,4,0.000,0.025,2987,3457,3491,0,0,0,0,0,0
$GC,730,-1.07,-116.8,63.5,-8.8,77,736,0.22,2.50,0.00,0.000,6,0.046,0.026,2909,1887,3491,0,0,0,0,0,0
$GC,997,-1.07,-116.8,93.6,-11.4,101,1002,0.10,0.00,0.00,0.000,6,0.117,0.000,2932,1887,3491,0,0,0,0,0,0
$GC,1261,-1.18,-116.8,120.3,-9.7,126,1266,0.00,2.47,0.00,0.000,4,0.000,0.027,2932,3460,3492,0,0,0,0,0,0
$GC,1415,-1.36,-116.8,135.4,-8.7,138,1424,0.22,2.50,0.00,0.000,6,0.026,0.025,2849,1901,3492,0,0,0,0,0,0
$GC,1683,-1.36,-116.8,164.9,-10.4,163,1688,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1901,3492,0,0,0,0,0,0
$GC,1944,-1.36,-116.8,192.1,-10.8,188,1948,0.00,2.45,0.00,0.000,4,0.000,0.031,2849,3465,3493,0,0,0,0,0,0
$GC,2012,-1.36,-116.8,198.5,-9.9,193,2016,0.00,2.42,0.00,0.000,6,0.000,0.024,2849,1914,3493,0,0,0,0,0,0
$GC,2272,-1.36,-116.8,228.5,-11.7,200,2276,0.00,2.45,0.00,0.000,4,0.000,0.028,2849,3463,3493,0,0,0,0,0,0
$GC,2334,-1.40,-116.8,235.7,-11.1,201,2338,0.00,2.42,0.00,0.000,6,0.000,0.031,2849,1919,3493,0,0,0,0,0,0
$GC,2596,-1.40,-116.8,265.2,-11.3,208,2600,0.00,2.42,0.00,0.000,4,0.000,0.036,2849,3453,3493,0,0,0,0,0,0
$GC,2657,-1.45,-116.8,271.6,-10.0,209,2661,0.00,2.42,0.00,0.000,6,0.000,0.025,2849,1928,3493,0,0,0,0,0,0
$GC,2919,-1.45,-116.8,296.5,-9.6,216,2920,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1928,3493,0,0,0,0,0,0
$GC,3161,-1.49,-116.8,317.4,-8.5,222,3162,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1928,3492,0,0,0,0,0,0
$GC,3405,-1.55,-116.8,338.8,-8.8,228,3409,0.00,2.45,0.00,0.000,4,0.000,0.039,2849,3453,3491,0,0,0,0,0,0
$GC,3496,-1.63,-116.8,346.8,-8.9,230,3501,0.17,2.50,0.00,0.000,6,0.056,0.043,2789,1928,3491,0,0,0,0,0,0
$GC,3774,-1.57,-116.8,380.3,-12.3,237,3779,0.15,2.50,0.00,0.000,4,0.108,0.044,2822,3446,3489,0,0,0,0,0,0
$GC,3813,-1.57,-116.8,385.0,-11.0,238,3818,0.00,2.55,0.00,0.000,6,0.000,0.046,2821,1919,3489,0,0,0,0,0,0
$GC,4098,-1.57,-116.8,414.6,-10.1,245,4103,0.00,2.53,0.00,0.000,4,0.000,0.040,2821,3454,3487,0,0,0,0,0,0
$GC,4153,-1.57,-116.8,420.5,-10.6,246,4158,0.00,2.58,0.00,0.000,6,0.000,0.056,2821,1926,3487,0,0,0,0,0,0
$GC,4420,-1.57,-116.8,444.8,-8.8,253,4425,0.00,2.50,0.00,0.000,4,0.000,0.051,2822,3450,3484,0,0,0,0,0,0
$GC,4449,-1.57,-116.8,447.3,-9.0,253,4454,0.00,2.58,0.00,0.000,6,0.000,0.058,2822,1930,3484,0,0,0,0,0,0
$GC,4699,-1.57,-116.8,470.0,-9.2,259,4704,0.00,2.53,0.00,0.000,4,0.000,0.051,2821,3450,3483,0,0,0,0,0,0
$GC,4721,-1.57,-116.8,472.3,-10.1,259,4725,0.00,2.58,0.00,0.000,6,0.000,0.054,2821,1933,3483,0,0,0,0,0,0
$GC,4977,-1.57,-116.8,498.2,-10.4,266,4982,0.00,3.05,0.00,0.000,4,0.000,0.113,2821,302,3481,0,0,0,0,0,0
$STATE,4992,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4992,begin apogee
$GC,5001,-0.31,0.0,500.3,10.7,266,5102,1.17,0.00,96.80,0.920,6,0.078,0.000,3092,1963,3010,0,0,0,0,0,0
$STATE,5103,end apogee,CONTROL_FINISHED_OK
$STATE,5103,begin climb
$GC,5105,1.38,116.8,504.5,0.0,269,5218,1.55,2.85,99.43,0.897,4,0.041,0.066,3468,3578,2531,0,0,0,0,0,0
$GC,5280,1.29,156.2,500.6,7.8,273,5320,0.10,2.70,33.97,0.868,6,0.140,0.048,3450,1987,2373,0,0,0,0,0,0
$GC,5599,1.23,159.6,469.9,9.8,281,5600,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1987,2365,0,0,0,0,0,0
$GC,5843,1.17,171.1,446.5,9.4,287,5858,0.15,0.00,12.98,0.811,6,0.121,0.000,3420,1987,2312,0,0,0,0,0,0
$GC,6088,1.20,195.1,425.5,8.7,293,6112,0.00,0.00,22.23,0.843,6,0.000,0.000,3420,1987,2214,0,0,0,0,0,0
$GC,6330,1.22,208.2,403.1,9.3,299,6345,0.00,0.00,12.55,0.795,6,0.000,0.000,3421,1987,2160,0,0,0,0,0,0
$GC,6612,1.24,224.3,377.1,9.1,306,6633,0.00,2.88,15.20,0.801,4,0.000,0.081,3421,404,2095,0,0,0,0,0,0
$GC,6652,1.26,239.2,373.4,9.2,307,6672,0.00,2.60,14.90,0.785,6,0.000,0.021,3420,2015,2034,0,0,0,0,0,0
$GC,6934,1.30,239.2,344.8,10.1,314,6939,0.12,2.83,0.00,0.000,4,0.087,0.068,3452,403,2029,0,0,0,0,0,0
$GC,6969,1.24,239.2,340.8,11.9,314,6974,0.00,2.53,0.00,0.000,6,0.000,0.022,3453,1994,2027,0,0,0,0,0,0
$GC,7218,1.24,239.2,313.7,10.7,321,7219,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,1994,2026,0,0,0,0,0,0
$GC,7462,1.24,239.2,288.0,10.3,327,7466,0.00,2.55,0.00,0.000,4,0.000,0.041,3452,3567,2025,0,0,0,0,0,0
$GC,7533,1.24,239.2,280.3,11.1,328,7538,0.00,2.60,0.00,0.000,6,0.000,0.038,3452,1978,2024,0,0,0,0,0,0
$GC,7785,1.24,241.4,255.6,9.9,334,7790,0.00,2.70,0.00,0.000,4,0.000,0.071,3452,412,2024,0,0,0,0,0,0
$GC,7818,1.20,241.4,251.8,10.9,334,7825,0.12,2.47,0.00,0.000,6,0.120,0.021,3427,2003,2023,0,0,0,0,0,0
$GC,8070,1.30,275.0,231.2,8.1,341,8107,0.00,0.00,31.15,0.735,6,0.000,0.000,3427,2005,1888,0,0,0,0,0,0
$GC,8352,1.38,278.6,204.8,9.8,348,8362,0.15,2.75,4.10,0.483,4,0.071,0.059,3469,412,1874,0,0,0,0,0,0
$GC,8429,1.38,278.6,195.4,13.0,352,8434,0.00,2.45,0.00,0.000,6,0.000,0.023,3469,1977,1873,0,0,0,0,0,0
$GC,8697,1.38,278.6,163.0,11.8,376,8702,0.00,2.58,0.00,0.000,4,0.000,0.035,3469,3562,1873,0,0,0,0,0,0
$GC,8784,1.42,278.6,152.6,10.1,383,8789,0.00,2.55,0.00,0.000,6,0.000,0.031,3469,1988,1871,0,0,0,0,0,0
$GC,9053,1.45,307.3,130.5,8.4,407,9086,0.00,2.75,25.67,0.637,4,0.000,0.062,3469,420,1756,0,0,0,0,0,0
$GC,9134,1.45,307.3,122.3,10.8,414,9139,0.00,2.42,0.00,0.000,6,0.000,0.024,3470,1987,1754,0,0,0,0,0,0
$GC,9398,1.52,307.3,94.2,11.1,438,9407,0.10,0.00,0.00,0.000,6,0.092,0.000,3499,1988,1754,0,0,0,0,0,0
$GC,9663,1.52,307.3,63.5,10.8,463,9668,0.00,2.65,0.00,0.000,4,0.000,0.050,3498,407,1754,0,0,0,0,0,0
$GC,9709,1.52,307.3,58.6,10.7,466,9714,0.00,2.40,0.00,0.000,6,0.000,0.018,3498,1954,1753,0,0,0,0,0,0
$GC,9978,1.60,341.4,33.8,8.1,490,10017,0.00,0.00,29.98,0.545,6,0.000,0.000,3499,1956,1617,0,0,0,0,0,0
$STATE,10259,end climb,SURFACE_DEPTH_REACHED
$STATE,10259,begin surface coast
$FINISH,0.6,0.971727
$STATE,10301,end surface coast,CONTROL_FINISHED_OK
$STATE,10301,begin surface
$SM_CCo,10324,31.48,0.515,0,0,1459,380.21
$SM_GC,1.36,0.00,0.00,31.48,0.000,0.000,0.515,477,1871,1459,-12.36,-0.54,380.21
$IRIDIUM_FIX,2237.01,-15802.37,130900,131301
$TT8_MAMPS,0.025311
$HUMID,62.95
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.60
$XPDR_PINGS,41
$24V_AH,23.5,41.837
$10V_AH,10.3,36.772
$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,30.225,108.025,398.950,31.475,0.000,52.918,78.609,377.499,10.250,0.000,13.570,1066.202,6655.923,485.047,2052.213,818.099,33.394,1214.060,0.000,2064.969,0.000,0.536,0.000
$DEVICE_MAMPS,149.565,112.749,919.633,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,363.311,328.810,422.870,845.028,1278.163,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,41452,536
$CAP_FILE_SIZE,110784,0
$CFSIZE,260165632,164765696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200611,160254,2248.099,-15803.046,37,1.5,37,10.1