version: 66.06
glider: 146
mission: 6
dive: 347
start: 6 22 111 7 26 15
data:
$ID,146
$MISSION,6
$DIVE,347
$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,-276359
$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,25
$R_STBD_OVSHOOT,58
$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
$GPS1,070222,2249.106,-15758.003,39,3.1,58,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.3
$GPS2,072522,2249.354,-15758.202,9,2.4,28,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.114,-0.205
$KALMAN_X,-214854.3,70.2,-183.1,212573.6,-975.5
$KALMAN_Y,-19860.8,174.8,-72.3,29848.9,1024.2
$MHEAD_RNG_PITCHd_Wd,140.9,4413,-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,17,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-69.55,0.000,2,0.000,0.000,474,1946,3227,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.3,-5.9,9,118,12.50,2.78,-4.90,0.000,4,0.153,0.058,2855,315,3488,0,0,0,0,0,0
$GC,196,-1.24,-116.8,29.1,-19.3,23,206,0.15,2.45,0.00,0.000,6,0.102,0.014,2890,1919,3489,0,0,0,0,0,0
$GC,462,-1.18,-116.8,69.4,-13.9,48,471,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1921,3489,0,0,0,0,0,0
$GC,728,-1.18,-116.8,104.0,-13.1,73,732,0.00,2.35,0.00,0.000,4,0.000,0.031,2890,3425,3490,0,0,0,0,0,0
$GC,769,-1.24,-116.8,109.2,-10.0,76,773,0.00,2.45,0.00,0.000,6,0.000,0.025,2890,1876,3490,0,0,0,0,0,0
$GC,1031,-1.24,-116.8,136.7,-10.3,100,1035,0.00,2.42,0.00,0.000,4,0.000,0.032,2890,3425,3490,0,0,0,0,0,0
$GC,1078,-1.31,-116.8,141.2,-11.1,103,1082,0.00,2.40,0.00,0.000,6,0.000,0.031,2890,1894,3490,0,0,0,0,0,0
$GC,1345,-1.36,-116.8,167.4,-9.6,127,1349,0.00,2.40,0.00,0.000,4,0.000,0.032,2890,3427,3490,0,0,0,0,0,0
$GC,1414,-1.44,-116.8,174.6,-10.1,132,1423,0.12,2.42,0.00,0.000,6,0.033,0.025,2834,1909,3491,0,0,0,0,0,0
$GC,1704,-1.39,-116.8,209.8,-12.1,154,1706,0.12,0.00,0.00,0.000,6,0.105,0.000,2861,1908,3491,0,0,0,0,0,0
$GC,1948,-1.39,-116.8,234.8,-10.0,160,1952,0.00,2.40,0.00,0.000,4,0.000,0.031,2861,3425,3491,0,0,0,0,0,0
$GC,2032,-1.44,-116.8,243.8,-10.9,162,2036,0.00,2.38,0.00,0.000,6,0.000,0.024,2861,1913,3491,0,0,0,0,0,0
$GC,2315,-1.44,-116.8,273.7,-10.3,169,2319,0.00,2.38,0.00,0.000,4,0.000,0.033,2861,3425,3491,0,0,0,0,0,0
$GC,2383,-1.51,-116.8,280.5,-9.8,170,2388,0.10,2.38,0.00,0.000,6,0.084,0.031,2818,1919,3491,0,0,0,0,0,0
$GC,2638,-1.51,-116.8,309.4,-11.2,177,2642,0.00,2.38,0.00,0.000,4,0.000,0.038,2818,3422,3490,0,0,0,0,0,0
$GC,2679,-1.51,-116.8,313.7,-10.2,178,2683,0.00,2.42,0.00,0.000,6,0.000,0.035,2818,1925,3490,0,0,0,0,0,0
$GC,2962,-1.51,-116.8,343.8,-10.3,185,2966,0.00,2.38,0.00,0.000,4,0.000,0.040,2818,3420,3489,0,0,0,0,0,0
$GC,3028,-1.51,-116.8,350.5,-9.2,186,3033,0.00,2.42,0.00,0.000,6,0.000,0.041,2818,1938,3489,0,0,0,0,0,0
$GC,3285,-1.51,-116.8,375.3,-10.0,193,3290,0.00,2.40,0.00,0.000,4,0.000,0.041,2818,3417,3488,0,0,0,0,0,0
$GC,3318,-1.51,-116.8,379.1,-11.1,193,3324,0.00,2.42,0.00,0.000,6,0.000,0.052,2818,1949,3487,0,0,0,0,0,0
$GC,3568,-1.51,-116.8,404.8,-10.3,200,3573,0.00,2.40,0.00,0.000,4,0.000,0.049,2818,3424,3486,0,0,0,0,0,0
$GC,3584,-1.51,-116.8,406.6,-10.1,200,3588,0.00,2.42,0.00,0.000,6,0.000,0.047,2819,1954,3486,0,0,0,0,0,0
$GC,3847,-1.51,-116.8,433.6,-10.2,207,3848,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1953,3483,0,0,0,0,0,0
$GC,4089,-1.51,-116.8,459.2,-10.5,213,4090,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1953,3482,0,0,0,0,0,0
$GC,4333,-1.51,-116.8,485.8,-11.0,219,4334,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1953,3481,0,0,0,0,0,0
$STATE,4493,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4493,begin apogee
$GC,4500,-0.31,0.0,502.0,10.0,223,4600,1.20,0.00,96.25,0.915,6,0.074,0.000,3094,1953,3010,0,0,0,0,0,0
$STATE,4601,end apogee,CONTROL_FINISHED_OK
$STATE,4601,begin climb
$GC,4603,1.38,116.8,504.3,0.0,225,4707,1.58,0.00,100.18,0.890,6,0.040,0.000,3472,1953,2533,0,0,0,0,0,0
$GC,4940,1.30,150.8,486.8,8.1,234,4975,0.12,2.75,29.08,0.860,4,0.127,0.061,3448,3515,2394,0,0,0,0,0,0
$GC,5018,1.26,180.9,480.8,8.3,234,5052,0.00,2.62,27.80,0.849,6,0.000,0.051,3448,1991,2271,0,0,0,0,0,0
$GC,5311,1.23,196.4,453.9,9.1,242,5330,0.00,3.03,14.00,0.808,4,0.000,0.102,3447,404,2208,0,0,0,0,0,0
$GC,5395,1.13,196.4,444.8,11.0,244,5400,0.17,2.47,0.00,0.000,6,0.116,0.033,3413,1935,2205,0,0,0,0,0,0
$GC,5678,1.14,209.6,418.8,9.3,251,5697,0.00,2.75,12.48,0.792,4,0.000,0.069,3412,408,2154,0,0,0,0,0,0
$GC,5723,1.14,209.6,414.3,10.2,252,5727,0.00,2.45,0.00,0.000,6,0.000,0.028,3412,1923,2152,0,0,0,0,0,0
$GC,6006,1.16,220.3,386.6,9.4,259,6018,0.00,0.00,10.57,0.765,6,0.000,0.000,3412,1924,2111,0,0,0,0,0,0
$GC,6250,1.23,245.1,365.4,8.6,265,6275,0.00,0.00,23.27,0.811,6,0.000,0.000,3412,1924,2010,0,0,0,0,0,0
$GC,6496,1.30,258.9,342.8,9.2,271,6515,0.15,2.72,13.38,0.765,4,0.079,0.064,3451,403,1953,0,0,0,0,0,0
$GC,6549,1.25,258.9,336.5,12.1,272,6553,0.00,2.42,0.00,0.000,6,0.000,0.026,3451,1931,1952,0,0,0,0,0,0
$GC,6821,1.25,260.0,308.7,10.0,279,6822,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1931,1950,0,0,0,0,0,0
$GC,7064,1.26,270.2,285.2,9.5,285,7080,0.00,2.65,10.75,0.719,4,0.000,0.062,3452,397,1907,0,0,0,0,0,0
$GC,7125,1.26,270.2,278.1,12.2,286,7129,0.00,2.42,0.00,0.000,6,0.000,0.019,3451,1925,1905,0,0,0,0,0,0
$GC,7388,1.26,270.2,247.9,11.7,293,7389,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1926,1904,0,0,0,0,0,0
$GC,7630,1.27,275.1,223.7,9.8,299,7640,0.00,2.60,5.15,0.562,4,0.000,0.038,3451,3523,1888,0,0,0,0,0,0
$GC,7681,1.33,281.4,218.7,9.7,300,7696,0.00,2.55,7.47,0.627,6,0.000,0.031,3451,1962,1861,0,0,0,0,0,0
$GC,7951,1.37,282.8,193.2,10.0,309,7955,0.00,2.53,0.00,0.000,4,0.000,0.036,3451,3523,1859,0,0,0,0,0,0
$GC,7984,1.44,282.8,189.4,10.1,311,7990,0.10,2.53,0.00,0.000,6,0.092,0.031,3480,1972,1858,0,0,0,0,0,0
$GC,8248,1.44,282.8,160.5,10.9,336,8253,0.00,2.65,0.00,0.000,4,0.000,0.062,3480,408,1858,0,0,0,0,0,0
$GC,8313,1.40,282.8,152.4,12.5,341,8317,0.00,2.40,0.00,0.000,6,0.000,0.025,3480,1951,1857,0,0,0,0,0,0
$GC,8580,1.40,282.8,123.3,10.3,365,8585,0.00,2.58,0.00,0.000,4,0.000,0.035,3480,3552,1857,0,0,0,0,0,0
$GC,8612,1.40,282.8,119.8,10.5,367,8617,0.00,2.58,0.00,0.000,6,0.000,0.030,3480,1958,1856,0,0,0,0,0,0
$GC,8879,1.44,288.5,92.9,9.7,391,8893,0.00,2.65,7.07,0.521,4,0.000,0.058,3481,414,1832,0,0,0,0,0,0
$GC,8941,1.44,288.5,85.7,10.8,396,8950,0.00,2.42,0.00,0.000,6,0.000,0.021,3480,1962,1832,0,0,0,0,0,0
$GC,9208,1.53,308.1,60.4,8.9,421,9232,0.00,2.62,18.20,0.557,4,0.000,0.048,3480,414,1753,0,0,0,0,0,0
$GC,9277,1.57,308.9,54.4,10.0,426,9282,0.12,2.38,0.00,0.000,6,0.076,0.018,3516,1956,1752,0,0,0,0,0,0
$GC,9552,1.57,308.9,24.3,11.3,453,9562,0.00,2.58,0.00,0.000,4,0.000,0.035,3516,3549,1751,0,0,0,0,0,0
$GC,9600,1.57,308.9,18.4,13.1,459,9610,0.00,2.58,0.00,0.000,6,0.000,0.029,3516,1967,1750,0,0,0,0,0,0
$STATE,9741,end climb,SURFACE_DEPTH_REACHED
$STATE,9741,begin surface coast
$FINISH,0.4,0.971145
$STATE,9799,end surface coast,CONTROL_FINISHED_OK
$STATE,9799,begin surface
$SM_CCo,9823,59.85,0.520,0,0,1460,380.21
$SM_GC,1.38,0.00,0.00,59.85,0.000,0.000,0.520,478,1871,1460,-12.36,-0.54,380.21
$IRIDIUM_FIX,2241.69,-15754.99,150900,070727
$TT8_MAMPS,0.026078
$HUMID,62.16
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.90
$XPDR_PINGS,44
$24V_AH,23.5,43.757
$10V_AH,10.3,38.375
$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,28.775,110.500,375.650,59.850,0.000,100.176,165.710,759.798,11.000,0.000,30.571,989.836,6587.492,514.037,1843.102,1329.592,33.365,1178.562,0.000,1831.416,0.000,0.536,0.000
$DEVICE_MAMPS,153.400,102.011,915.031,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.159,263.232,372.219,715.757,1082.456,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355644
$DATA_FILE_SIZE,38416,487
$CAP_FILE_SIZE,115989,0
$CFSIZE,260165632,164012032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220611,101206,2248.994,-15758.230,27,1.1,27,10.1