version: 66.06
glider: 146
mission: 6
dive: 354
start: 6 23 111 3 34 14
data:
$ID,146
$MISSION,6
$DIVE,354
$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,-276577.94
$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,3170
$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,42
$R_STBD_OVSHOOT,52
$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
$GPS1,032658,2248.051,-15801.146,12,2.1,31,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.1
$GPS2,033321,2248.097,-15801.184,15,2.2,34,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.045,-0.230
$KALMAN_X,-224725.8,106.9,42.8,217084.0,-1345.7
$KALMAN_Y,-9670.5,275.4,475.9,16679.9,1121.8
$MHEAD_RNG_PITCHd_Wd,181.1,3707,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,90,0.00,0.00,-70.95,0.000,2,0.000,0.000,478,1865,3233,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.4,-5.7,9,118,12.45,2.58,-4.80,0.000,4,0.152,0.061,2861,320,3489,0,0,0,0,0,0
$GC,151,-1.12,-116.8,20.2,-23.8,16,160,0.25,2.45,0.00,0.000,6,0.112,0.015,2918,1900,3490,0,0,0,0,0,0
$GC,431,-1.12,-116.8,60.6,-14.4,45,435,0.00,2.42,0.00,0.000,4,0.000,0.026,2918,3446,3491,0,0,0,0,0,0
$GC,528,-1.20,-116.8,71.2,-10.2,52,533,0.00,2.40,0.00,0.000,6,0.000,0.025,2918,1922,3492,0,0,0,0,0,0
$GC,792,-1.25,-116.8,98.0,-9.7,76,796,0.00,2.45,0.00,0.000,4,0.000,0.034,2918,3450,3492,0,0,0,0,0,0
$GC,838,-1.36,-116.8,102.3,-10.5,79,844,0.17,2.40,0.00,0.000,6,0.056,0.025,2855,1922,3492,0,0,0,0,0,0
$GC,1105,-1.32,-116.8,135.7,-12.8,103,1110,0.12,2.40,0.00,0.000,4,0.112,0.032,2882,3445,3493,0,0,0,0,0,0
$GC,1171,-1.37,-116.8,143.7,-10.7,108,1175,0.00,2.40,0.00,0.000,6,0.000,0.024,2882,1924,3493,0,0,0,0,0,0
$GC,1434,-1.42,-116.8,170.3,-9.3,132,1435,0.00,0.00,0.00,0.000,6,0.000,0.000,2882,1924,3494,0,0,0,0,0,0
$GC,1690,-1.47,-116.8,193.2,-9.4,156,1695,0.12,2.40,0.00,0.000,4,0.072,0.031,2835,3445,3494,0,0,0,0,0,0
$GC,1712,-1.47,-116.8,195.9,-10.1,157,1718,0.00,2.35,0.00,0.000,6,0.000,0.023,2835,1938,3494,0,0,0,0,0,0
$GC,1995,-1.47,-116.8,228.2,-11.2,167,1996,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1938,3494,0,0,0,0,0,0
$GC,2238,-1.47,-116.8,257.2,-12.1,173,2239,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,1938,3494,0,0,0,0,0,0
$GC,2481,-1.47,-116.8,284.7,-11.2,179,2485,0.00,2.40,0.00,0.000,4,0.000,0.037,2834,3441,3494,0,0,0,0,0,0
$GC,2521,-1.47,-116.8,289.1,-10.7,180,2525,0.00,2.35,0.00,0.000,6,0.000,0.027,2835,1949,3494,0,0,0,0,0,0
$GC,2805,-1.47,-116.8,318.8,-10.2,187,2809,0.00,2.38,0.00,0.000,4,0.000,0.037,2834,3440,3494,0,0,0,0,0,0
$GC,2877,-1.51,-116.8,326.4,-10.3,188,2881,0.00,2.38,0.00,0.000,6,0.000,0.031,2834,1957,3494,0,0,0,0,0,0
$GC,3127,-1.51,-116.8,353.4,-11.2,194,3131,0.00,2.40,0.00,0.000,4,0.000,0.035,2835,3443,3493,0,0,0,0,0,0
$GC,3245,-1.56,-116.8,365.8,-10.5,196,3250,0.00,2.42,0.00,0.000,6,0.000,0.048,2834,1979,3493,0,0,0,0,0,0
$GC,3495,-1.56,-116.8,390.5,-9.8,202,3500,0.00,2.97,0.00,0.000,4,0.000,0.093,2834,322,3491,0,0,0,0,0,0
$GC,3511,-1.56,-116.8,392.2,-9.6,202,3516,0.00,2.58,0.00,0.000,6,0.000,0.030,2834,1940,3492,0,0,0,0,0,0
$GC,3774,-1.60,-116.8,417.2,-9.7,209,3779,0.00,2.55,0.00,0.000,4,0.000,0.054,2834,3470,3490,0,0,0,0,0,0
$GC,3846,-1.66,-116.8,425.0,-10.5,210,3851,0.12,2.45,0.00,0.000,6,0.077,0.046,2788,2000,3490,0,0,0,0,0,0
$GC,4098,-1.62,-116.8,454.1,-11.8,216,4104,0.12,3.12,0.00,0.000,4,0.114,0.105,2814,318,3488,0,0,0,0,0,0
$GC,4132,-1.58,-116.8,458.3,-11.6,216,4137,0.00,2.67,0.00,0.000,6,0.000,0.035,2814,1969,3488,0,0,0,0,0,0
$GC,4381,-1.58,-116.8,484.0,-10.2,223,4382,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1969,3486,0,0,0,0,0,0
$STATE,4541,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4541,begin apogee
$GC,4548,-0.31,0.0,501.0,10.6,227,4650,1.27,0.00,98.00,0.917,6,0.081,0.000,3102,1969,3010,0,0,0,0,0,0
$STATE,4651,end apogee,CONTROL_FINISHED_OK
$STATE,4651,begin climb
$GC,4653,1.38,116.8,503.5,0.0,229,4763,1.55,2.88,99.75,0.897,4,0.040,0.087,3478,421,2532,0,0,0,0,0,0
$GC,4824,1.20,145.6,501.0,8.4,233,4855,0.22,2.60,25.33,0.855,6,0.115,0.032,3434,1994,2415,0,0,0,0,0,0
$GC,5107,1.20,182.7,479.4,7.9,240,5143,0.00,0.00,32.95,0.867,6,0.000,0.000,3434,1994,2264,0,0,0,0,0,0
$GC,5389,1.20,182.7,451.4,10.2,246,5390,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1994,2258,0,0,0,0,0,0
$GC,5631,1.21,186.6,427.2,9.8,252,5636,0.00,2.75,0.00,0.000,4,0.000,0.071,3434,424,2255,0,0,0,0,0,0
$GC,5665,1.13,186.6,423.7,10.3,252,5670,0.00,2.58,0.00,0.000,6,0.000,0.031,3434,2013,2254,0,0,0,0,0,0
$GC,5916,1.16,212.5,401.8,8.5,259,5947,0.00,2.83,25.88,0.839,4,0.000,0.068,3434,418,2142,0,0,0,0,0,0
$GC,5964,1.12,215.4,397.1,9.9,260,5974,0.00,2.58,4.22,0.561,6,0.000,0.025,3434,2014,2131,0,0,0,0,0,0
$GC,6242,1.14,229.0,371.2,9.3,267,6261,0.00,2.83,13.00,0.786,4,0.000,0.068,3434,430,2075,0,0,0,0,0,0
$GC,6296,1.14,229.0,365.2,11.7,268,6301,0.00,2.53,0.00,0.000,6,0.000,0.027,3434,2014,2073,0,0,0,0,0,0
$GC,6568,1.14,229.0,337.0,10.3,275,6573,0.00,2.72,0.00,0.000,4,0.000,0.064,3434,424,2072,0,0,0,0,0,0
$GC,6595,1.14,229.0,334.0,12.0,275,6599,0.00,2.50,0.00,0.000,6,0.000,0.026,3434,2012,2070,0,0,0,0,0,0
$GC,6847,1.16,249.5,311.1,8.9,281,6871,0.00,2.80,19.02,0.779,4,0.000,0.065,3434,422,1991,0,0,0,0,0,0
$GC,6883,1.17,258.9,307.5,9.5,281,6898,0.00,2.50,10.00,0.711,6,0.000,0.021,3434,2001,1953,0,0,0,0,0,0
$GC,7174,1.24,274.6,281.2,9.1,289,7191,0.00,0.00,15.05,0.740,6,0.000,0.000,3434,2001,1890,0,0,0,0,0,0
$GC,7415,1.32,284.7,258.2,9.5,295,7431,0.10,2.72,10.07,0.689,4,0.091,0.057,3461,419,1848,0,0,0,0,0,0
$GC,7518,1.32,284.7,245.9,12.4,297,7522,0.00,2.42,0.00,0.000,6,0.000,0.024,3461,1969,1845,0,0,0,0,0,0
$GC,7784,1.32,284.7,217.5,10.4,304,7788,0.00,2.65,0.00,0.000,4,0.000,0.061,3461,417,1844,0,0,0,0,0,0
$GC,7816,1.32,284.7,213.7,11.6,304,7822,0.00,2.42,0.00,0.000,6,0.000,0.019,3461,1965,1843,0,0,0,0,0,0
$GC,8070,1.32,291.3,187.9,9.7,317,8084,0.00,2.70,6.70,0.586,4,0.000,0.054,3461,418,1821,0,0,0,0,0,0
$GC,8154,1.32,291.3,178.3,11.3,324,8163,0.00,2.40,0.00,0.000,6,0.000,0.018,3461,1941,1820,0,0,0,0,0,0
$GC,8422,1.39,312.5,153.5,8.8,349,8451,0.00,0.00,19.65,0.647,6,0.000,0.000,3461,1943,1735,0,0,0,0,0,0
$GC,8705,1.45,312.5,125.3,10.9,376,8710,0.10,2.58,0.00,0.000,4,0.087,0.058,3491,421,1733,0,0,0,0,0,0
$GC,8752,1.45,312.5,120.2,13.1,379,8756,0.00,2.35,0.00,0.000,6,0.000,0.023,3491,1937,1732,0,0,0,0,0,0
$GC,9018,1.45,312.5,91.6,10.3,403,9022,0.00,2.55,0.00,0.000,4,0.000,0.056,3491,419,1732,0,0,0,0,0,0
$GC,9039,1.45,312.5,88.7,10.6,404,9048,0.00,2.35,0.00,0.000,6,0.000,0.019,3491,1931,1732,0,0,0,0,0,0
$GC,9307,1.53,343.3,64.3,8.3,429,9347,0.00,2.62,27.50,0.570,4,0.000,0.036,3491,3555,1608,0,0,0,0,0,0
$GC,9365,1.60,343.3,58.5,10.2,433,9370,0.12,2.65,0.00,0.000,6,0.075,0.034,3526,1915,1608,0,0,0,0,0,0
$GC,9639,1.60,343.3,25.0,13.1,459,9648,0.00,2.53,0.00,0.000,4,0.000,0.052,3527,420,1606,0,0,0,0,0,0
$GC,9708,1.54,343.3,16.4,12.5,468,9718,0.08,2.33,0.00,0.000,6,0.094,0.017,3507,1914,1605,0,0,0,0,0,0
$STATE,9813,end climb,SURFACE_DEPTH_REACHED
$STATE,9813,begin surface coast
$FINISH,0.6,0.980058
$STATE,9866,end surface coast,CONTROL_FINISHED_OK
$STATE,9866,begin surface
$SM_CCo,9888,29.70,0.516,0,0,1460,380.21
$SM_GC,1.19,0.00,0.00,29.70,0.000,0.000,0.516,476,1916,1460,-12.39,0.74,380.21
$IRIDIUM_FIX,2241.69,-15757.16,160900,000033
$TT8_MAMPS,0.026078
$HUMID,62.64
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.60
$XPDR_PINGS,47
$24V_AH,23.5,44.570
$10V_AH,10.3,39.149
$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,29.075,122.275,407.125,29.700,0.000,28.023,37.590,161.800,11.750,0.000,36.785,1000.278,6397.228,502.070,1889.023,512.429,33.372,1208.784,0.000,1871.638,0.000,0.534,0.000
$DEVICE_MAMPS,151.866,105.079,917.332,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.654,264.825,379.472,713.891,1081.343,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,38339,490
$CAP_FILE_SIZE,105246,0
$CFSIZE,260165632,163651584
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230611,062056,2247.550,-15802.206,23,99.0,42,10.1