version: 66.06
glider: 146
mission: 6
dive: 355
start: 6 23 111 6 29 1
data:
$ID,146
$MISSION,6
$DIVE,355
$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,-276623.12
$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,34
$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
$GPS1,062056,2247.550,-15802.206,23,99.0,42,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-69.7
$GPS2,062806,2247.595,-15802.265,33,1.6,43,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.007,-0.224
$KALMAN_X,-226078.8,155.1,-47.0,216630.3,-1330.3
$KALMAN_Y,-7934.8,438.2,-55.2,14388.2,1126.2
$MHEAD_RNG_PITCHd_Wd,168.0,1671,-21.0,-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,13,begin dive
$GC,15,-1.44,-105.2,0.0,0.0,0,88,0.00,0.00,-70.60,0.000,2,0.000,0.000,476,1916,3230,0,0,0,0,0,0
$GC,93,-1.45,-116.8,3.4,-5.8,9,118,12.25,2.72,-4.80,0.000,4,0.146,0.060,2849,315,3489,0,0,0,0,0,0
$GC,189,-1.32,-116.8,27.9,-18.6,22,199,0.10,2.45,0.00,0.000,6,0.116,0.015,2874,1924,3490,0,0,0,0,0,0
$GC,456,-1.25,-116.8,71.6,-17.2,47,461,0.10,2.35,0.00,0.000,4,0.141,0.033,2893,3424,3491,0,0,0,0,0,0
$GC,502,-1.25,-116.8,78.7,-14.4,50,507,0.00,2.40,0.00,0.000,6,0.000,0.030,2893,1891,3491,0,0,0,0,0,0
$GC,765,-1.30,-116.8,109.7,-11.4,74,769,0.00,2.42,0.00,0.000,4,0.000,0.031,2893,3428,3492,0,0,0,0,0,0
$GC,788,-1.35,-116.8,111.7,-10.3,75,792,0.00,2.42,0.00,0.000,6,0.000,0.029,2893,1880,3492,0,0,0,0,0,0
$GC,1054,-1.42,-116.8,140.3,-11.0,99,1059,0.15,2.45,0.00,0.000,4,0.062,0.031,2841,3427,3492,0,0,0,0,0,0
$GC,1087,-1.42,-116.8,144.5,-13.0,101,1092,0.00,2.40,0.00,0.000,6,0.000,0.026,2841,1887,3493,0,0,0,0,0,0
$GC,1350,-1.42,-116.8,180.2,-13.3,125,1354,0.00,2.42,0.00,0.000,4,0.000,0.030,2841,3428,3493,0,0,0,0,0,0
$GC,1401,-1.42,-116.8,187.0,-12.9,129,1405,0.00,2.40,0.00,0.000,6,0.000,0.028,2841,1889,3493,0,0,0,0,0,0
$GC,1666,-1.42,-116.8,220.3,-12.3,142,1671,0.00,2.62,0.00,0.000,4,0.000,0.064,2841,317,3494,0,0,0,0,0,0
$GC,1682,-1.42,-116.8,222.5,-11.7,142,1686,0.00,2.35,0.00,0.000,6,0.000,0.021,2841,1873,3493,0,0,0,0,0,0
$GC,1949,-1.42,-116.8,252.3,-11.0,149,1953,0.00,2.42,0.00,0.000,4,0.000,0.035,2840,3431,3494,0,0,0,0,0,0
$GC,2024,-1.48,-116.8,260.1,-10.4,150,2028,0.00,2.42,0.00,0.000,6,0.000,0.032,2841,1898,3494,0,0,0,0,0,0
$GC,2274,-1.48,-116.8,285.1,-10.0,156,2278,0.00,2.45,0.00,0.000,4,0.000,0.032,2841,3429,3494,0,0,0,0,0,0
$GC,2342,-1.55,-116.8,292.1,-10.6,157,2346,0.00,2.42,0.00,0.000,6,0.000,0.027,2841,1910,3494,0,0,0,0,0,0
$GC,2597,-1.60,-116.8,319.4,-10.6,164,2601,0.00,2.40,0.00,0.000,4,0.000,0.033,2841,3428,3494,0,0,0,0,0,0
$GC,2658,-1.70,-116.8,325.5,-9.9,165,2663,0.17,2.40,0.00,0.000,6,0.057,0.035,2781,1934,3493,0,0,0,0,0,0
$GC,2921,-1.65,-116.8,358.1,-12.6,172,2922,0.12,0.00,0.00,0.000,6,0.113,0.000,2807,1934,3493,0,0,0,0,0,0
$GC,3162,-1.65,-116.8,385.4,-11.3,178,3167,0.00,2.42,0.00,0.000,4,0.000,0.044,2808,3432,3492,0,0,0,0,0,0
$GC,3184,-1.65,-116.8,388.0,-11.3,178,3188,0.00,2.45,0.00,0.000,6,0.000,0.050,2808,1940,3492,0,0,0,0,0,0
$GC,3441,-1.65,-116.8,416.1,-11.3,185,3445,0.00,2.42,0.00,0.000,4,0.000,0.045,2807,3429,3491,0,0,0,0,0,0
$GC,3497,-1.70,-116.8,422.8,-11.5,186,3501,0.00,2.47,0.00,0.000,6,0.000,0.056,2808,1948,3491,0,0,0,0,0,0
$GC,3763,-1.70,-116.8,452.2,-10.7,193,3764,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1948,3489,0,0,0,0,0,0
$GC,4009,-1.70,-116.8,475.5,-9.3,199,4010,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1948,3487,0,0,0,0,0,0
$GC,4251,-1.74,-116.8,498.4,-9.6,205,4256,0.00,2.50,0.00,0.000,4,0.000,0.058,2807,3420,3485,0,0,0,0,0,0
$STATE,4265,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4265,begin apogee
$GC,4274,-0.31,0.0,500.2,10.2,205,4375,1.25,0.00,97.53,0.913,6,0.083,0.000,3092,1996,3010,0,0,0,0,0,0
$STATE,4376,end apogee,CONTROL_FINISHED_OK
$STATE,4376,begin climb
$GC,4380,1.45,116.8,503.2,0.0,208,4484,1.65,0.00,99.65,0.890,6,0.041,0.000,3488,1996,2533,0,0,0,0,0,0
$GC,4707,1.36,139.7,485.5,8.6,216,4733,0.10,2.62,19.58,0.839,4,0.135,0.052,3470,3520,2440,0,0,0,0,0,0
$GC,4775,1.27,139.7,479.0,10.1,217,4780,0.12,2.62,0.00,0.000,6,0.131,0.055,3447,1990,2437,0,0,0,0,0,0
$GC,5030,1.29,156.1,455.1,9.0,224,5051,0.00,2.60,15.32,0.822,4,0.000,0.041,3447,3526,2371,0,0,0,0,0,0
$GC,5080,1.32,178.5,450.9,8.6,225,5106,0.00,2.60,21.02,0.837,6,0.000,0.044,3447,1994,2282,0,0,0,0,0,0
$GC,5350,1.33,187.7,425.5,9.4,231,5364,0.00,2.97,8.90,0.755,4,0.000,0.095,3446,404,2243,0,0,0,0,0,0
$GC,5434,1.28,187.7,416.7,10.9,232,5440,0.00,2.47,0.00,0.000,6,0.000,0.028,3447,1951,2241,0,0,0,0,0,0
$GC,5685,1.30,203.6,393.6,9.0,239,5705,0.00,2.72,15.07,0.802,4,0.000,0.041,3446,3574,2179,0,0,0,0,0,0
$GC,5749,1.30,203.6,386.8,10.9,240,5754,0.00,2.65,0.00,0.000,6,0.000,0.046,3447,1993,2176,0,0,0,0,0,0
$GC,6006,1.31,214.6,362.4,9.3,247,6022,0.00,2.83,10.68,0.759,4,0.000,0.076,3447,408,2134,0,0,0,0,0,0
$GC,6078,1.31,214.6,354.1,12.1,248,6082,0.00,2.53,0.00,0.000,6,0.000,0.019,3447,2012,2132,0,0,0,0,0,0
$GC,6334,1.31,215.3,328.9,10.0,255,6339,0.00,2.78,0.00,0.000,4,0.000,0.063,3447,407,2131,0,0,0,0,0,0
$GC,6413,1.31,215.3,320.3,11.4,256,6419,0.00,2.50,0.00,0.000,6,0.000,0.025,3447,1993,2129,0,0,0,0,0,0
$GC,6663,1.38,241.1,298.6,8.4,263,6690,0.10,0.00,24.27,0.775,6,0.096,0.000,3474,1994,2026,0,0,0,0,0,0
$GC,6906,1.38,241.1,273.2,10.6,269,6907,0.00,0.00,0.00,0.000,6,0.000,0.000,3473,1994,2022,0,0,0,0,0,0
$GC,7152,1.40,250.6,249.5,9.4,275,7166,0.00,2.60,8.93,0.672,4,0.000,0.041,3473,3552,1988,0,0,0,0,0,0
$GC,7216,1.40,250.6,243.0,10.5,276,7221,0.00,2.58,0.00,0.000,6,0.000,0.031,3473,1966,1986,0,0,0,0,0,0
$GC,7483,1.40,250.6,215.5,10.7,283,7484,0.00,0.00,0.00,0.000,6,0.000,0.000,3473,1966,1985,0,0,0,0,0,0
$GC,7736,1.42,268.3,192.2,8.9,295,7758,0.00,2.70,16.35,0.673,4,0.000,0.063,3473,410,1917,0,0,0,0,0,0
$GC,7821,1.42,268.3,182.3,10.9,302,7827,0.00,2.47,0.00,0.000,6,0.000,0.024,3474,1987,1915,0,0,0,0,0,0
$GC,8087,1.48,276.3,157.4,9.5,327,8101,0.00,2.70,8.95,0.595,4,0.000,0.054,3473,412,1881,0,0,0,0,0,0
$GC,8128,1.48,276.3,152.5,11.2,330,8138,0.00,2.45,0.00,0.000,6,0.000,0.024,3474,1972,1879,0,0,0,0,0,0
$GC,8397,1.58,302.3,129.1,8.4,355,8427,0.17,2.70,23.60,0.623,4,0.067,0.051,3520,402,1776,0,0,0,0,0,0
$GC,8444,1.54,302.3,123.2,12.1,358,8453,0.00,2.50,0.00,0.000,6,0.000,0.018,3520,1983,1775,0,0,0,0,0,0
$GC,8709,1.54,302.3,91.1,13.1,383,8714,0.00,2.62,0.00,0.000,4,0.000,0.052,3520,408,1773,0,0,0,0,0,0
$GC,8789,1.50,302.3,79.3,15.3,389,8794,0.12,2.40,0.00,0.000,6,0.121,0.017,3496,1980,1772,0,0,0,0,0,0
$GC,9054,1.59,317.1,52.0,9.1,413,9073,0.00,2.65,13.80,0.535,4,0.000,0.048,3495,406,1715,0,0,0,0,0,0
$GC,9126,1.64,317.1,44.1,11.8,418,9131,0.15,2.42,0.00,0.000,6,0.074,0.017,3535,1972,1713,0,0,0,0,0,0
$GC,9433,1.64,317.1,7.3,12.5,455,9441,0.00,0.00,0.00,0.000,6,0.000,0.000,3535,1973,1714,0,0,0,0,0,0
$STATE,9462,end climb,SURFACE_DEPTH_REACHED
$STATE,9463,begin surface coast
$FINISH,0.6,0.975511
$STATE,9505,end surface coast,CONTROL_FINISHED_OK
$STATE,9505,begin surface
$SM_CCo,9527,51.40,0.521,0,0,1459,380.21
$SM_GC,1.37,0.00,0.00,51.40,0.000,0.000,0.521,476,1861,1459,-12.39,-0.82,380.21
$IRIDIUM_FIX,2239.35,-15759.32,160900,030356
$TT8_MAMPS,0.026078
$HUMID,63.30
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.60
$XPDR_PINGS,46
$24V_AH,23.5,44.683
$10V_AH,10.3,39.254
$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,28.950,121.525,383.650,51.400,0.000,28.503,35.673,201.057,11.500,0.000,44.549,963.846,6223.010,496.249,1790.059,540.207,33.366,1168.006,0.000,1762.071,0.000,0.534,0.000
$DEVICE_MAMPS,146.497,95.108,913.497,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,314.796,252.401,354.318,661.452,1000.336,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355500
$DATA_FILE_SIZE,35308,465
$CAP_FILE_SIZE,103035,0
$CFSIZE,260165632,163602432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230611,091001,2247.061,-15803.072,39,1.7,39,10.1