version: 66.06
glider: 146
mission: 6
dive: 334
start: 6 20 111 16 19 31
data:
$ID,146
$MISSION,6
$DIVE,334
$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,-276032.81
$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,46
$R_STBD_OVSHOOT,54
$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
$GPS1,160254,2248.099,-15803.046,37,1.5,37,10.1
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.4
$GPS2,161836,2248.085,-15803.290,10,1.4,26,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.159,0.173
$KALMAN_X,-199831.4,81.9,-71.5,188730.1,-1307.5
$KALMAN_Y,-32468.6,532.2,-203.4,39881.1,256.9
$MHEAD_RNG_PITCHd_Wd,32.5,3582,-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,-70.88,0.000,2,0.000,0.000,476,1871,3310,0,0,0,0,0,0
$GC,93,-1.38,-116.8,4.2,-8.0,9,119,12.23,2.55,-3.12,0.000,4,0.144,0.034,2855,3461,3490,0,0,0,0,0,0
$GC,156,-1.30,-116.8,24.3,-19.8,17,165,0.08,2.53,0.00,0.000,6,0.106,0.028,2875,1907,3492,0,0,0,0,0,0
$GC,433,-1.22,-116.8,69.1,-15.8,44,438,0.10,2.47,0.00,0.000,4,0.136,0.026,2895,3452,3493,0,0,0,0,0,0
$GC,480,-1.22,-116.8,77.0,-14.3,47,484,0.00,2.50,0.00,0.000,6,0.000,0.025,2895,1886,3493,0,0,0,0,0,0
$GC,748,-1.22,-116.8,111.0,-12.4,71,752,0.00,2.47,0.00,0.000,4,0.000,0.027,2895,3458,3493,0,0,0,0,0,0
$GC,811,-1.31,-116.8,119.8,-12.4,76,816,0.00,2.45,0.00,0.000,6,0.000,0.031,2895,1903,3493,0,0,0,0,0,0
$GC,1074,-1.35,-116.8,150.3,-11.8,100,1079,0.10,2.65,0.00,0.000,4,0.078,0.054,2847,316,3494,0,0,0,0,0,0
$GC,1097,-1.35,-116.8,153.5,-12.8,101,1104,0.10,2.45,0.00,0.000,6,0.127,0.021,2868,1935,3494,0,0,0,0,0,0
$GC,1360,-1.35,-116.8,184.5,-10.4,126,1364,0.00,2.33,0.00,0.000,4,0.000,0.026,2868,3435,3494,0,0,0,0,0,0
$GC,1437,-1.41,-116.8,192.4,-9.9,132,1441,0.00,2.40,0.00,0.000,6,0.000,0.027,2868,1912,3495,0,0,0,0,0,0
$GC,1720,-1.41,-116.8,219.4,-8.9,144,1725,0.00,2.40,0.00,0.000,4,0.000,0.027,2868,3442,3495,0,0,0,0,0,0
$GC,1807,-1.49,-116.8,226.6,-8.8,146,1812,0.12,2.38,0.00,0.000,6,0.066,0.024,2818,1926,3495,0,0,0,0,0,0
$GC,2092,-1.43,-116.8,260.8,-12.4,153,2097,0.15,2.40,0.00,0.000,4,0.102,0.028,2851,3438,3495,0,0,0,0,0,0
$GC,2114,-1.43,-116.8,263.8,-12.4,153,2118,0.00,2.38,0.00,0.000,6,0.000,0.031,2851,1938,3495,0,0,0,0,0,0
$GC,2377,-1.43,-116.8,294.1,-11.9,160,2380,0.00,2.40,0.00,0.000,4,0.000,0.031,2851,3438,3494,0,0,0,0,0,0
$GC,2443,-1.50,-116.8,302.1,-11.3,161,2448,0.00,2.38,0.00,0.000,6,0.000,0.034,2851,1953,3495,0,0,0,0,0,0
$GC,2705,-1.54,-116.8,329.4,-10.3,168,2709,0.00,2.40,0.00,0.000,4,0.000,0.033,2850,3433,3493,0,0,0,0,0,0
$GC,2773,-1.62,-116.8,336.0,-10.2,169,2778,0.17,2.40,0.00,0.000,6,0.054,0.040,2788,1958,3493,0,0,0,0,0,0
$GC,3034,-1.56,-116.8,366.7,-11.8,176,3039,0.17,2.40,0.00,0.000,4,0.095,0.044,2826,3428,3493,0,0,0,0,0,0
$GC,3055,-1.56,-116.8,369.1,-10.1,176,3059,0.00,2.40,0.00,0.000,6,0.000,0.042,2826,1971,3492,0,0,0,0,0,0
$GC,3312,-1.56,-116.8,394.7,-10.0,183,3317,0.00,2.97,0.00,0.000,4,0.000,0.094,2826,318,3491,0,0,0,0,0,0
$GC,3367,-1.56,-116.8,401.0,-10.9,184,3372,0.00,2.55,0.00,0.000,6,0.000,0.028,2826,1908,3490,0,0,0,0,0,0
$GC,3636,-1.56,-116.8,426.9,-9.6,191,3640,0.00,2.60,0.00,0.000,4,0.000,0.059,2826,3469,3489,0,0,0,0,0,0
$GC,3658,-1.56,-116.8,429.3,-10.0,191,3662,0.00,2.53,0.00,0.000,6,0.000,0.053,2826,1963,3488,0,0,0,0,0,0
$GC,3913,-1.56,-116.8,454.4,-9.9,198,3914,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1963,3487,0,0,0,0,0,0
$GC,4156,-1.56,-116.8,479.2,-10.3,204,4157,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1963,3485,0,0,0,0,0,0
$STATE,4397,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4398,begin apogee
$GC,4405,-0.31,0.0,504.0,10.0,210,4505,1.17,0.00,97.00,0.915,6,0.077,0.000,3094,1963,3010,0,0,0,0,0,0
$STATE,4506,end apogee,CONTROL_FINISHED_OK
$STATE,4506,begin climb
$GC,4508,1.38,116.8,506.7,0.0,212,4621,1.55,2.88,99.62,0.894,4,0.041,0.064,3469,3577,2531,0,0,0,0,0,0
$GC,4639,1.32,194.3,506.4,5.6,215,4715,0.00,2.70,67.25,0.878,6,0.000,0.055,3469,2008,2215,0,0,0,0,0,0
$GC,4959,1.23,194.3,470.2,12.2,223,4964,0.17,2.97,0.00,0.000,4,0.116,0.103,3434,408,2208,0,0,0,0,0,0
$GC,5001,1.16,194.3,465.3,12.3,224,5005,0.00,2.60,0.00,0.000,6,0.000,0.035,3434,1994,2206,0,0,0,0,0,0
$GC,5283,1.16,194.3,435.0,10.6,231,5288,0.00,2.83,0.00,0.000,4,0.000,0.077,3434,402,2204,0,0,0,0,0,0
$GC,5312,1.09,194.3,432.1,10.5,231,5317,0.15,2.58,0.00,0.000,6,0.118,0.031,3404,1985,2202,0,0,0,0,0,0
$GC,5562,1.19,236.3,412.1,7.6,237,5604,0.00,2.83,36.05,0.847,4,0.000,0.074,3404,404,2044,0,0,0,0,0,0
$GC,5620,1.21,259.6,407.4,8.7,238,5650,0.10,2.55,22.23,0.815,6,0.099,0.030,3432,1984,1950,0,0,0,0,0,0
$GC,5937,1.21,259.6,375.1,10.6,246,5942,0.00,2.78,0.00,0.000,4,0.000,0.071,3432,400,1944,0,0,0,0,0,0
$GC,6011,1.21,259.6,365.6,12.5,247,6016,0.00,2.55,0.00,0.000,6,0.000,0.026,3432,1982,1942,0,0,0,0,0,0
$GC,6262,1.21,259.6,337.4,11.1,253,6263,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1983,1941,0,0,0,0,0,0
$GC,6505,1.25,259.6,309.9,11.3,259,6509,0.00,2.60,0.00,0.000,4,0.000,0.044,3432,3573,1939,0,0,0,0,0,0
$GC,6526,1.30,259.6,307.5,11.1,259,6531,0.00,2.62,0.00,0.000,6,0.000,0.037,3432,1976,1938,0,0,0,0,0,0
$GC,6783,1.35,259.6,279.9,10.6,266,6785,0.10,0.00,0.00,0.000,6,0.097,0.000,3460,1976,1938,0,0,0,0,0,0
$GC,7025,1.35,259.6,253.2,10.8,272,7029,0.00,2.67,0.00,0.000,4,0.000,0.065,3461,410,1937,0,0,0,0,0,0
$GC,7099,1.35,259.6,244.4,11.3,273,7104,0.00,2.50,0.00,0.000,6,0.000,0.021,3460,1998,1935,0,0,0,0,0,0
$GC,7350,1.36,271.9,220.2,9.3,279,7362,0.00,0.00,9.52,0.663,6,0.000,0.000,3460,1999,1901,0,0,0,0,0,0
$GC,7593,1.38,282.7,197.1,9.4,285,7610,0.00,2.60,10.98,0.658,4,0.000,0.037,3460,3553,1856,0,0,0,0,0,0
$GC,7633,1.38,282.7,193.0,10.6,288,7642,0.00,2.60,0.00,0.000,6,0.000,0.036,3460,1977,1855,0,0,0,0,0,0
$GC,7901,1.43,290.7,166.9,9.6,313,7916,0.00,2.58,8.52,0.604,4,0.000,0.030,3461,3560,1823,0,0,0,0,0,0
$GC,7964,1.50,294.6,160.0,9.8,318,7975,0.10,2.60,4.78,0.492,6,0.048,0.034,3496,1980,1808,0,0,0,0,0,0
$GC,8229,1.51,300.3,134.3,9.7,343,8243,0.00,2.72,6.60,0.542,4,0.000,0.063,3496,415,1784,0,0,0,0,0,0
$GC,8333,1.47,300.3,122.8,11.1,352,8337,0.00,2.45,0.00,0.000,6,0.000,0.019,3496,1991,1783,0,0,0,0,0,0
$GC,8597,1.47,300.3,96.8,10.0,376,8605,0.00,0.00,0.00,0.000,6,0.000,0.000,3496,1992,1783,0,0,0,0,0,0
$GC,8862,1.48,306.6,70.4,9.7,401,8876,0.00,2.65,6.75,0.494,4,0.000,0.053,3496,407,1760,0,0,0,0,0,0
$GC,8895,1.48,306.6,66.7,10.4,403,8905,0.00,2.45,0.00,0.000,6,0.000,0.018,3497,1962,1759,0,0,0,0,0,0
$GC,9161,1.55,338.6,44.3,8.2,428,9203,0.00,2.62,28.95,0.548,4,0.000,0.030,3496,3552,1628,0,0,0,0,0,0
$GC,9222,1.60,338.6,38.1,11.2,432,9226,0.00,2.58,0.00,0.000,6,0.000,0.028,3496,1965,1627,0,0,0,0,0,0
$STATE,9507,end climb,SURFACE_DEPTH_REACHED
$STATE,9507,begin surface coast
$FINISH,0.6,0.980039
$STATE,9550,end surface coast,CONTROL_FINISHED_OK
$STATE,9550,begin surface
$SM_CCo,9574,33.78,0.514,0,0,1459,380.21
$SM_GC,1.36,0.00,0.00,33.78,0.000,0.000,0.514,478,1865,1459,-12.36,-0.71,380.21
$IRIDIUM_FIX,2239.35,-15802.37,130900,161656
$TT8_MAMPS,0.025311
$HUMID,62.04
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.20
$XPDR_PINGS,43
$24V_AH,23.5,41.972
$10V_AH,10.3,36.884
$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,28.775,123.000,398.250,33.775,0.000,83.854,103.206,461.769,10.750,0.000,27.537,972.051,6314.559,474.993,1831.608,958.417,33.370,1186.008,0.000,1827.216,0.000,0.535,0.000
$DEVICE_MAMPS,144.196,102.778,915.031,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,321.430,264.812,366.395,690.267,1046.202,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,38340,475
$CAP_FILE_SIZE,112120,0
$CFSIZE,260165632,164712448
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200611,190052,2249.316,-15802.955,12,3.8,31,10.1