version: 66.06
glider: 146
mission: 6
dive: 336
start: 6 20 111 22 12 46
data:
$ID,146
$MISSION,6
$DIVE,336
$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,-276064.53
$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,47
$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
$GPS1,220007,2249.302,-15802.412,47,1.3,47,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.9
$GPS2,221150,2249.428,-15802.463,11,1.8,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.229,-0.052
$KALMAN_X,-202112.8,-127.9,119.9,192439.6,-1240.4
$KALMAN_Y,-30451.9,-189.8,253.6,40621.9,632.7
$MHEAD_RNG_PITCHd_Wd,92.6,9385,-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,15,-1.38,-116.8,0.0,0.0,0,95,0.00,0.00,-77.78,0.000,6,0.000,0.000,475,1868,3487,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.7,-9.8,10,118,12.23,2.55,0.00,0.000,4,0.143,0.043,2856,330,3490,0,0,0,0,0,0
$GC,149,-0.96,-116.8,24.4,-32.4,16,159,0.43,2.42,0.00,0.000,6,0.097,0.021,2952,1902,3491,0,0,0,0,0,0
$GC,431,-1.01,-116.8,58.6,-11.2,43,435,0.00,2.42,0.00,0.000,4,0.000,0.026,2951,3438,3492,0,0,0,0,0,0
$GC,501,-1.16,-116.8,65.4,-9.0,48,506,0.17,2.40,0.00,0.000,6,0.054,0.030,2889,1915,3492,0,0,0,0,0,0
$GC,765,-1.16,-116.8,96.0,-11.9,72,770,0.10,2.42,0.00,0.000,4,0.117,0.031,2911,3438,3492,0,0,0,0,0,0
$GC,810,-1.24,-116.8,101.0,-11.1,75,815,0.00,2.42,0.00,0.000,6,0.000,0.024,2910,1907,3493,0,0,0,0,0,0
$GC,1079,-1.30,-116.8,129.4,-10.6,99,1084,0.12,2.42,0.00,0.000,4,0.070,0.031,2863,3440,3493,0,0,0,0,0,0
$GC,1112,-1.30,-116.8,133.7,-12.2,101,1116,0.00,2.42,0.00,0.000,6,0.000,0.029,2863,1908,3493,0,0,0,0,0,0
$GC,1375,-1.30,-116.8,165.5,-11.2,125,1376,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1908,3494,0,0,0,0,0,0
$GC,1629,-1.30,-116.8,191.9,-11.4,149,1633,0.00,2.40,0.00,0.000,4,0.000,0.033,2863,3441,3494,0,0,0,0,0,0
$GC,1743,-1.36,-116.8,204.7,-11.0,156,1747,0.00,2.40,0.00,0.000,6,0.000,0.025,2863,1922,3494,0,0,0,0,0,0
$GC,1999,-1.36,-116.8,232.1,-10.8,163,2003,0.00,2.42,0.00,0.000,4,0.000,0.032,2863,3446,3494,0,0,0,0,0,0
$GC,2066,-1.43,-116.8,239.2,-10.1,164,2070,0.00,2.40,0.00,0.000,6,0.000,0.027,2863,1932,3495,0,0,0,0,0,0
$GC,2321,-1.43,-116.8,263.2,-9.5,171,2322,0.00,0.00,0.00,0.000,6,0.000,0.000,2863,1932,3495,0,0,0,0,0,0
$GC,2566,-1.47,-116.8,288.1,-10.6,177,2571,0.00,2.42,0.00,0.000,4,0.000,0.038,2863,3443,3494,0,0,0,0,0,0
$GC,2606,-1.56,-116.8,293.0,-11.4,178,2611,0.17,2.40,0.00,0.000,6,0.058,0.030,2803,1931,3495,0,0,0,0,0,0
$GC,2892,-1.51,-116.8,330.6,-12.8,185,2896,0.15,2.42,0.00,0.000,4,0.105,0.036,2836,3436,3494,0,0,0,0,0,0
$GC,2992,-1.55,-116.8,342.1,-10.6,187,2996,0.00,2.42,0.00,0.000,6,0.000,0.040,2836,1941,3494,0,0,0,0,0,0
$GC,3258,-1.55,-116.8,369.7,-10.5,194,3263,0.00,2.90,0.00,0.000,4,0.000,0.089,2836,314,3492,0,0,0,0,0,0
$GC,3275,-1.55,-116.8,371.5,-10.9,194,3279,0.00,2.53,0.00,0.000,6,0.000,0.027,2835,1903,3492,0,0,0,0,0,0
$GC,3535,-1.55,-116.8,396.5,-9.1,201,3536,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1903,3491,0,0,0,0,0,0
$GC,3779,-1.59,-116.8,416.7,-8.2,207,3780,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1903,3489,0,0,0,0,0,0
$GC,4025,-1.64,-116.8,437.3,-8.6,213,4026,0.12,0.00,0.00,0.000,6,0.077,0.000,2797,1902,3488,0,0,0,0,0,0
$GC,4266,-1.64,-116.8,463.3,-10.8,219,4270,0.00,2.65,0.00,0.000,4,0.000,0.061,2797,3464,3486,0,0,0,0,0,0
$GC,4321,-1.64,-116.8,469.5,-11.5,220,4325,0.00,2.58,0.00,0.000,6,0.000,0.054,2796,1940,3485,0,0,0,0,0,0
$STATE,4585,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4585,begin apogee
$GC,4593,-0.31,0.0,500.9,11.9,227,4693,1.33,0.00,97.10,0.917,6,0.078,0.000,3097,2011,3010,0,0,0,0,0,0
$STATE,4694,end apogee,CONTROL_FINISHED_OK
$STATE,4694,begin climb
$GC,4697,1.38,116.8,504.4,0.0,229,4807,1.52,2.67,99.18,0.894,4,0.038,0.062,3469,3547,2533,0,0,0,0,0,0
$GC,4880,1.29,160.3,501.5,7.5,233,4925,0.10,2.65,38.20,0.871,6,0.137,0.051,3451,1994,2355,0,0,0,0,0,0
$GC,5193,1.23,166.8,472.4,9.7,241,5207,0.00,2.97,6.03,0.685,4,0.000,0.101,3450,409,2328,0,0,0,0,0,0
$GC,5243,1.11,166.8,466.9,11.4,242,5248,0.20,2.55,0.00,0.000,6,0.113,0.033,3408,1961,2326,0,0,0,0,0,0
$GC,5521,1.15,199.9,443.1,8.1,249,5556,0.00,2.83,29.80,0.856,4,0.000,0.054,3408,3584,2194,0,0,0,0,0,0
$GC,5603,1.15,201.7,436.0,9.9,250,5608,0.00,2.72,0.00,0.000,6,0.000,0.043,3408,1979,2192,0,0,0,0,0,0
$GC,5887,1.17,220.9,410.2,8.9,257,5911,0.00,2.92,19.20,0.827,4,0.000,0.091,3408,403,2108,0,0,0,0,0,0
$GC,5946,1.17,220.9,404.6,10.4,258,5951,0.00,2.58,0.00,0.000,6,0.000,0.029,3408,1991,2106,0,0,0,0,0,0
$GC,6207,1.25,246.0,381.6,8.6,265,6237,0.12,2.88,23.17,0.821,4,0.081,0.068,3443,408,2005,0,0,0,0,0,0
$GC,6303,1.20,246.0,371.1,12.5,267,6308,0.00,2.50,0.00,0.000,6,0.000,0.023,3443,1980,2002,0,0,0,0,0,0
$GC,6581,1.20,246.0,340.2,11.0,274,6585,0.00,2.72,0.00,0.000,4,0.000,0.067,3443,406,2000,0,0,0,0,0,0
$GC,6602,1.20,246.0,337.6,11.8,274,6606,0.00,2.47,0.00,0.000,6,0.000,0.025,3443,1964,1999,0,0,0,0,0,0
$GC,6859,1.20,246.0,310.4,10.5,281,6863,0.00,2.62,0.00,0.000,4,0.000,0.040,3443,3566,1999,0,0,0,0,0,0
$GC,6959,1.20,246.0,299.1,11.2,283,6963,0.00,2.62,0.00,0.000,6,0.000,0.035,3443,1967,1996,0,0,0,0,0,0
$GC,7225,1.21,246.9,272.1,10.0,290,7226,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1967,1996,0,0,0,0,0,0
$GC,7471,1.24,247.2,247.7,10.0,296,7475,0.00,2.67,0.00,0.000,4,0.000,0.064,3443,411,1995,0,0,0,0,0,0
$GC,7543,1.24,247.2,239.6,11.0,297,7548,0.00,2.47,0.00,0.000,6,0.000,0.023,3443,2006,1994,0,0,0,0,0,0
$GC,7794,1.31,267.2,216.9,8.9,303,7819,0.00,2.60,18.08,0.702,4,0.000,0.040,3443,3552,1919,0,0,0,0,0,0
$GC,7860,1.38,276.1,210.8,9.5,304,7875,0.10,2.58,9.20,0.640,6,0.089,0.031,3471,1984,1884,0,0,0,0,0,0
$GC,8131,1.38,276.1,183.0,10.9,319,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,3471,1984,1881,0,0,0,0,0,0
$GC,8393,1.38,276.1,155.3,10.6,344,8397,0.00,2.53,0.00,0.000,4,0.000,0.037,3471,3555,1880,0,0,0,0,0,0
$GC,8437,1.38,276.1,150.2,10.8,347,8443,0.00,2.53,0.00,0.000,6,0.000,0.029,3471,1992,1880,0,0,0,0,0,0
$GC,8702,1.38,276.1,122.8,10.1,372,8706,0.00,2.67,0.00,0.000,4,0.000,0.058,3472,410,1880,0,0,0,0,0,0
$GC,8793,1.38,276.1,113.0,11.2,379,8798,0.00,2.45,0.00,0.000,6,0.000,0.025,3471,1991,1879,0,0,0,0,0,0
$GC,9062,1.47,305.6,88.4,8.3,403,9096,0.00,2.72,26.00,0.594,4,0.000,0.056,3471,422,1763,0,0,0,0,0,0
$GC,9159,1.47,305.6,78.2,11.2,411,9163,0.00,2.40,0.00,0.000,6,0.000,0.025,3471,1969,1761,0,0,0,0,0,0
$GC,9427,1.54,305.6,50.5,10.2,435,9437,0.12,0.00,0.00,0.000,6,0.076,0.000,3508,1969,1761,0,0,0,0,0,0
$GC,9710,1.54,305.6,22.7,10.5,465,9719,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,1969,1760,0,0,0,0,0,0
$STATE,9889,end climb,SURFACE_DEPTH_REACHED
$STATE,9889,begin surface coast
$FINISH,0.7,0.980033
$STATE,9942,end surface coast,CONTROL_FINISHED_OK
$STATE,9942,begin surface
$SM_CCo,9964,60.80,0.522,0,0,1460,380.21
$SM_GC,1.23,0.00,0.00,60.80,0.000,0.000,0.522,478,1866,1460,-12.36,-0.68,380.21
$IRIDIUM_FIX,2241.69,-15804.53,130900,222202
$TT8_MAMPS,0.026078
$HUMID,62.71
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.60
$XPDR_PINGS,47
$24V_AH,23.5,42.230
$10V_AH,10.3,37.111
$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,29.300,113.000,365.950,60.800,0.000,60.814,68.316,373.807,11.750,0.000,13.340,1024.292,6460.936,477.120,1966.615,803.168,33.366,1200.047,0.000,1979.594,0.000,0.536,0.000
$DEVICE_MAMPS,143.429,117.351,916.565,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,338.214,277.046,386.335,741.306,1121.113,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355620
$DATA_FILE_SIZE,38320,498
$CAP_FILE_SIZE,109938,0
$CFSIZE,260165632,164610048
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210611,010107,2249.661,-15801.555,35,1.1,35,10.1