version: 66.06
glider: 146
mission: 6
dive: 348
start: 6 22 111 10 20 26
data:
$ID,146
$MISSION,6
$DIVE,348
$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,-276372.81
$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,38
$R_STBD_OVSHOOT,60
$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
$GPS1,101206,2248.994,-15758.230,27,1.1,27,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-68.9
$GPS2,101932,2249.105,-15758.277,11,1.1,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.123,-0.200
$KALMAN_X,-216138.7,-12.0,-75.8,213700.4,-1052.7
$KALMAN_Y,-18395.8,92.9,113.5,27819.1,1158.5
$MHEAD_RNG_PITCHd_Wd,138.3,3983,-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,-71.07,0.000,2,0.000,0.000,477,1872,3239,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.4,-6.0,9,118,12.25,2.62,-4.70,0.000,4,0.146,0.056,2857,317,3488,0,0,0,0,0,0
$GC,195,-1.23,-116.8,28.7,-18.1,23,205,0.15,2.45,0.00,0.000,6,0.125,0.015,2891,1893,3489,0,0,0,0,0,0
$GC,463,-1.18,-116.8,71.1,-14.2,48,467,0.00,2.45,0.00,0.000,4,0.000,0.030,2891,3456,3490,0,0,0,0,0,0
$GC,497,-1.18,-116.8,77.0,-13.4,50,507,0.00,2.50,0.00,0.000,6,0.000,0.025,2891,1900,3491,0,0,0,0,0,0
$GC,765,-1.18,-116.8,106.7,-9.9,75,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1900,3491,0,0,0,0,0,0
$GC,1026,-1.18,-116.8,136.7,-11.1,100,1030,0.00,2.42,0.00,0.000,4,0.000,0.033,2891,3447,3492,0,0,0,0,0,0
$GC,1072,-1.25,-116.8,141.9,-11.0,103,1078,0.00,2.47,0.00,0.000,6,0.000,0.027,2891,1881,3492,0,0,0,0,0,0
$GC,1336,-1.29,-116.8,170.3,-10.7,128,1340,0.00,2.45,0.00,0.000,4,0.000,0.032,2891,3447,3493,0,0,0,0,0,0
$GC,1382,-1.38,-116.8,175.7,-10.2,131,1388,0.12,2.47,0.00,0.000,6,0.070,0.024,2842,1883,3493,0,0,0,0,0,0
$GC,1642,-1.34,-116.8,205.6,-11.1,153,1647,0.12,2.47,0.00,0.000,4,0.107,0.031,2870,3447,3493,0,0,0,0,0,0
$GC,1664,-1.34,-116.8,208.1,-10.4,153,1668,0.00,2.42,0.00,0.000,6,0.000,0.021,2870,1892,3493,0,0,0,0,0,0
$GC,1920,-1.34,-116.8,233.4,-10.2,160,1924,0.00,2.47,0.00,0.000,4,0.000,0.031,2870,3451,3493,0,0,0,0,0,0
$GC,2046,-1.41,-116.8,246.8,-10.8,162,2051,0.00,2.45,0.00,0.000,6,0.000,0.025,2870,1908,3493,0,0,0,0,0,0
$GC,2296,-1.47,-116.8,273.7,-10.2,169,2301,0.10,2.45,0.00,0.000,4,0.087,0.035,2832,3447,3493,0,0,0,0,0,0
$GC,2364,-1.47,-116.8,281.3,-11.0,170,2368,0.00,2.40,0.00,0.000,6,0.000,0.031,2832,1925,3493,0,0,0,0,0,0
$GC,2618,-1.47,-116.8,309.7,-11.0,177,2623,0.00,2.80,0.00,0.000,4,0.000,0.073,2831,315,3493,0,0,0,0,0,0
$GC,2639,-1.47,-116.8,312.1,-11.0,177,2644,0.00,2.45,0.00,0.000,6,0.000,0.025,2832,1901,3493,0,0,0,0,0,0
$GC,2896,-1.47,-116.8,341.2,-11.1,184,2901,0.00,2.53,0.00,0.000,4,0.000,0.041,2831,3468,3493,0,0,0,0,0,0
$GC,2940,-1.53,-116.8,345.9,-10.3,185,2945,0.00,2.50,0.00,0.000,6,0.000,0.040,2831,1936,3493,0,0,0,0,0,0
$GC,3219,-1.53,-116.8,372.1,-9.6,192,3223,0.00,2.45,0.00,0.000,4,0.000,0.038,2832,3457,3492,0,0,0,0,0,0
$GC,3282,-1.59,-116.8,378.2,-9.8,193,3286,0.00,2.55,0.00,0.000,6,0.000,0.046,2832,1933,3491,0,0,0,0,0,0
$GC,3542,-1.63,-116.8,406.6,-11.3,200,3544,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1933,3491,0,0,0,0,0,0
$GC,3786,-1.67,-116.8,432.5,-10.5,206,3788,0.12,0.00,0.00,0.000,6,0.067,0.000,2783,1933,3489,0,0,0,0,0,0
$GC,4031,-1.63,-116.8,461.9,-12.2,212,4033,0.12,0.00,0.00,0.000,6,0.114,0.000,2809,1933,3487,0,0,0,0,0,0
$GC,4273,-1.63,-116.8,487.5,-10.5,218,4277,0.00,2.58,0.00,0.000,4,0.000,0.060,2809,3457,3486,0,0,0,0,0,0
$GC,4313,-1.66,-116.8,491.7,-11.3,219,4317,0.00,2.60,0.00,0.000,6,0.000,0.064,2809,1940,3486,0,0,0,0,0,0
$STATE,4390,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4390,begin apogee
$GC,4398,-0.31,0.0,500.1,10.5,221,4499,1.25,0.00,97.43,0.912,6,0.093,0.000,3093,2004,3010,0,0,0,0,0,0
$STATE,4500,end apogee,CONTROL_FINISHED_OK
$STATE,4500,begin climb
$GC,4502,1.38,116.8,502.9,0.0,223,4611,1.58,2.78,99.95,0.890,4,0.051,0.061,3470,3559,2532,0,0,0,0,0,0
$GC,4619,1.36,216.4,503.3,4.3,226,4716,0.00,2.72,85.95,0.879,6,0.000,0.054,3471,1984,2125,0,0,0,0,0,0
$GC,4959,1.27,216.4,466.4,11.8,235,4964,0.15,2.65,0.00,0.000,4,0.121,0.044,3441,3561,2118,0,0,0,0,0,0
$GC,4993,1.27,216.4,462.5,11.4,235,5000,0.00,2.67,0.00,0.000,6,0.000,0.056,3442,1997,2117,0,0,0,0,0,0
$GC,5243,1.27,216.4,436.8,10.1,242,5247,0.00,2.97,0.00,0.000,4,0.000,0.107,3441,406,2115,0,0,0,0,0,0
$GC,5287,1.20,216.4,431.8,11.0,243,5291,0.00,2.53,0.00,0.000,6,0.000,0.032,3441,1974,2113,0,0,0,0,0,0
$GC,5566,1.21,221.5,404.3,9.7,250,5570,0.00,2.72,0.00,0.000,4,0.000,0.071,3441,405,2112,0,0,0,0,0,0
$GC,5626,1.14,221.5,397.5,11.7,251,5631,0.12,2.53,0.00,0.000,6,0.128,0.030,3416,1973,2110,0,0,0,0,0,0
$GC,5887,1.15,225.6,372.5,9.8,258,5901,0.00,2.72,6.57,0.690,4,0.000,0.048,3416,3576,2089,0,0,0,0,0,0
$GC,5925,1.15,225.6,368.5,10.7,258,5930,0.00,2.67,0.00,0.000,6,0.000,0.037,3416,1969,2088,0,0,0,0,0,0
$GC,6175,1.20,225.6,340.6,11.3,265,6176,0.00,0.00,0.00,0.000,6,0.000,0.000,3416,1968,2087,0,0,0,0,0,0
$GC,6419,1.27,246.3,317.9,8.8,271,6441,0.10,0.00,19.45,0.783,6,0.093,0.000,3445,1968,2006,0,0,0,0,0,0
$GC,6664,1.29,262.1,295.9,9.1,277,6685,0.00,2.75,15.68,0.753,4,0.000,0.071,3445,404,1940,0,0,0,0,0,0
$GC,6769,1.29,262.1,285.2,10.7,279,6773,0.00,2.53,0.00,0.000,6,0.000,0.024,3445,2011,1937,0,0,0,0,0,0
$GC,7031,1.29,262.1,259.3,10.1,286,7032,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,2010,1936,0,0,0,0,0,0
$GC,7274,1.33,262.7,234.6,10.0,292,7278,0.00,2.75,0.00,0.000,4,0.000,0.063,3445,404,1934,0,0,0,0,0,0
$GC,7300,1.33,262.7,231.5,11.1,292,7305,0.00,2.47,0.00,0.000,6,0.000,0.022,3445,1988,1933,0,0,0,0,0,0
$GC,7553,1.39,269.7,207.4,9.6,298,7567,0.10,2.62,7.10,0.611,4,0.090,0.035,3473,3559,1909,0,0,0,0,0,0
$GC,7584,1.39,269.7,203.7,10.8,298,7588,0.00,2.58,0.00,0.000,6,0.000,0.035,3473,1979,1909,0,0,0,0,0,0
$GC,7849,1.39,269.7,173.5,12.0,319,7853,0.00,2.67,0.00,0.000,4,0.000,0.059,3473,407,1908,0,0,0,0,0,0
$GC,7871,1.39,269.7,170.0,12.7,320,7877,0.00,2.47,0.00,0.000,6,0.000,0.023,3473,1998,1907,0,0,0,0,0,0
$GC,8137,1.39,269.7,139.0,12.0,345,8142,0.00,2.67,0.00,0.000,4,0.000,0.059,3473,413,1907,0,0,0,0,0,0
$GC,8170,1.39,269.7,134.9,12.6,347,8174,0.00,2.45,0.00,0.000,6,0.000,0.023,3473,1991,1906,0,0,0,0,0,0
$GC,8438,1.40,282.0,107.9,9.3,371,8463,0.00,2.75,11.98,0.582,4,0.000,0.056,3472,406,1859,0,0,0,0,0,0
$GC,8475,1.41,285.4,103.7,9.8,374,8490,0.00,2.45,4.75,0.453,6,0.000,0.018,3473,1976,1845,0,0,0,0,0,0
$GC,8745,1.49,310.9,78.6,8.6,399,8773,0.00,2.65,22.88,0.581,4,0.000,0.054,3473,412,1742,0,0,0,0,0,0
$GC,8827,1.53,310.9,70.8,10.1,405,8836,0.08,2.45,0.00,0.000,6,0.052,0.018,3502,1965,1740,0,0,0,0,0,0
$GC,9097,1.53,310.9,44.5,10.3,430,9101,0.00,2.55,0.00,0.000,4,0.000,0.031,3502,3551,1741,0,0,0,0,0,0
$GC,9130,1.58,310.9,40.5,10.7,432,9134,0.00,2.55,0.00,0.000,6,0.000,0.030,3504,1963,1739,0,0,0,0,0,0
$GC,9444,1.63,310.9,6.9,11.8,471,9453,0.00,0.00,0.00,0.000,6,0.000,0.000,3502,1963,1739,0,0,0,0,0,0
$STATE,9474,end climb,SURFACE_DEPTH_REACHED
$STATE,9474,begin surface coast
$FINISH,0.6,0.972652
$STATE,9523,end surface coast,CONTROL_FINISHED_OK
$STATE,9523,begin surface
$SM_CCo,9547,56.83,0.521,0,0,1459,380.21
$SM_GC,1.45,0.00,0.00,56.83,0.000,0.000,0.521,473,1865,1459,-12.38,-0.71,380.21
$IRIDIUM_FIX,2244.02,-15757.16,150900,070708
$TT8_MAMPS,0.026078
$HUMID,62.75
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.60
$XPDR_PINGS,44
$24V_AH,23.5,43.872
$10V_AH,10.3,38.484
$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,28.650,123.525,371.725,56.825,0.000,24.338,36.866,234.220,11.000,0.000,13.180,982.314,6141.784,523.308,1814.980,589.092,33.371,1199.391,0.000,1819.721,0.000,0.534,0.000
$DEVICE_MAMPS,145.730,120.419,911.963,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.863,271.487,372.480,713.254,1073.935,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,38412,482
$CAP_FILE_SIZE,104071,0
$CFSIZE,260165632,163975168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220611,130136,2248.610,-15758.344,9,1.0,25,10.1