version: 66.06
glider: 146
mission: 6
dive: 372
start: 6 25 111 8 1 28
data:
$ID,146
$MISSION,6
$DIVE,372
$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,-277097.38
$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,29
$R_STBD_OVSHOOT,105
$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
$GPS1,074914,2249.311,-15758.345,30,1.8,30,10.1
$_CALLS,2
$_XMS_NAKs,11
$_XMS_TOUTs,1
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-72.3
$GPS2,080034,2249.459,-15758.424,17,99.0,36,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.143,-0.187
$KALMAN_X,-245622.8,-162.7,26.8,242988.0,-1161.9
$KALMAN_Y,14226.6,612.7,10.7,-4566.8,741.5
$MHEAD_RNG_PITCHd_Wd,132.5,4677,-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,-70.97,0.000,2,0.000,0.000,474,1937,3234,0,0,0,0,0,0
$GC,94,-1.38,-116.8,3.3,-5.1,9,120,12.45,2.75,-4.78,0.000,4,0.151,0.061,2859,315,3488,0,0,0,0,0,0
$GC,164,-1.26,-116.8,22.3,-19.7,18,174,0.12,2.38,0.00,0.000,6,0.236,0.015,2888,1860,3489,0,0,0,0,0,0
$GC,447,-1.20,-116.8,64.7,-15.1,46,451,0.00,2.47,0.00,0.000,4,0.000,0.031,2888,3445,3490,0,0,0,0,0,0
$GC,494,-1.20,-116.8,72.2,-13.3,49,503,0.00,2.47,0.00,0.000,6,0.000,0.025,2888,1900,3490,0,0,0,0,0,0
$GC,755,-1.20,-116.8,106.4,-13.4,74,759,0.00,2.42,0.00,0.000,4,0.000,0.028,2888,3449,3491,0,0,0,0,0,0
$GC,832,-1.20,-116.8,116.1,-12.4,80,836,0.00,2.45,0.00,0.000,6,0.000,0.031,2888,1901,3491,0,0,0,0,0,0
$GC,1094,-1.20,-116.8,145.1,-10.8,104,1096,0.00,0.00,0.00,0.000,6,0.000,0.000,2888,1901,3491,0,0,0,0,0,0
$GC,1352,-1.25,-116.8,172.7,-9.8,128,1356,0.00,2.42,0.00,0.000,4,0.000,0.031,2888,3449,3492,0,0,0,0,0,0
$GC,1408,-1.33,-116.8,178.6,-9.2,132,1417,0.00,2.45,0.00,0.000,6,0.000,0.025,2888,1910,3492,0,0,0,0,0,0
$GC,1703,-1.39,-116.8,204.2,-8.4,157,1707,0.00,2.40,0.00,0.000,4,0.000,0.027,2888,3442,3492,0,0,0,0,0,0
$GC,1747,-1.49,-116.8,208.4,-8.6,158,1752,0.17,2.40,0.00,0.000,6,0.053,0.024,2825,1919,3493,0,0,0,0,0,0
$GC,2027,-1.44,-116.8,243.2,-12.9,165,2031,0.15,2.40,0.00,0.000,4,0.103,0.034,2857,3442,3493,0,0,0,0,0,0
$GC,2053,-1.44,-116.8,246.9,-12.1,165,2057,0.00,2.40,0.00,0.000,6,0.000,0.031,2858,1921,3493,0,0,0,0,0,0
$GC,2309,-1.44,-116.8,278.1,-12.2,172,2310,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1921,3493,0,0,0,0,0,0
$GC,2553,-1.44,-116.8,304.5,-10.6,178,2557,0.00,2.42,0.00,0.000,4,0.000,0.035,2858,3440,3493,0,0,0,0,0,0
$GC,2575,-1.48,-116.8,306.8,-10.3,178,2580,0.00,2.42,0.00,0.000,6,0.000,0.029,2858,1927,3493,0,0,0,0,0,0
$GC,2832,-1.53,-116.8,333.1,-10.0,185,2836,0.00,2.42,0.00,0.000,4,0.000,0.039,2858,3446,3492,0,0,0,0,0,0
$GC,2900,-1.62,-116.8,339.6,-9.2,186,2905,0.17,2.47,0.00,0.000,6,0.056,0.040,2797,1933,3492,0,0,0,0,0,0
$GC,3155,-1.57,-116.8,367.0,-10.4,193,3160,0.12,2.45,0.00,0.000,4,0.109,0.042,2826,3434,3491,0,0,0,0,0,0
$GC,3177,-1.57,-116.8,369.3,-10.6,193,3181,0.00,2.45,0.00,0.000,6,0.000,0.041,2826,1931,3490,0,0,0,0,0,0
$GC,3439,-1.57,-116.8,397.3,-11.1,200,3444,0.00,2.45,0.00,0.000,4,0.000,0.044,2826,3439,3490,0,0,0,0,0,0
$GC,3529,-1.63,-116.8,407.4,-11.0,202,3533,0.00,2.50,0.00,0.000,6,0.000,0.057,2826,1950,3489,0,0,0,0,0,0
$GC,3806,-1.63,-116.8,436.3,-10.4,209,3807,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1950,3488,0,0,0,0,0,0
$GC,4051,-1.63,-116.8,461.9,-10.7,215,4052,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1950,3485,0,0,0,0,0,0
$GC,4294,-1.67,-116.8,487.1,-10.3,221,4295,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1950,3484,0,0,0,0,0,0
$STATE,4453,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4454,begin apogee
$GC,4459,-0.31,0.0,503.4,10.1,225,4560,1.20,0.00,97.43,0.918,6,0.084,0.000,3099,1950,3010,0,0,0,0,0,0
$STATE,4561,end apogee,CONTROL_FINISHED_OK
$STATE,4561,begin climb
$GC,4563,1.38,116.8,506.0,0.0,227,4668,1.58,0.00,100.53,0.894,6,0.037,0.000,3481,1950,2533,0,0,0,0,0,0
$GC,4902,1.28,155.6,490.3,7.8,236,4945,0.15,2.80,33.45,0.866,4,0.122,0.061,3451,3529,2374,0,0,0,0,0,0
$GC,4964,1.23,179.8,485.1,8.6,237,4994,0.00,2.62,22.92,0.843,6,0.000,0.049,3452,1998,2274,0,0,0,0,0,0
$GC,5282,1.17,179.8,453.6,10.4,245,5287,0.12,2.97,0.00,0.000,4,0.127,0.103,3426,407,2268,0,0,0,0,0,0
$GC,5315,1.10,179.8,449.6,10.5,245,5321,0.00,2.53,0.00,0.000,6,0.000,0.033,3427,1953,2266,0,0,0,0,0,0
$GC,5567,1.11,188.4,425.9,9.5,252,5581,0.00,2.80,6.90,0.705,4,0.000,0.075,3426,406,2241,0,0,0,0,0,0
$GC,5599,1.07,194.5,422.5,9.7,252,5613,0.12,2.58,6.95,0.709,6,0.130,0.029,3403,1992,2217,0,0,0,0,0,0
$GC,5901,1.17,240.6,399.3,7.4,260,5951,0.10,2.90,41.88,0.844,4,0.098,0.067,3429,403,2028,0,0,0,0,0,0
$GC,6006,1.17,240.6,388.3,11.6,262,6011,0.00,2.55,0.00,0.000,6,0.000,0.028,3429,1986,2025,0,0,0,0,0,0
$GC,6275,1.17,240.6,360.8,10.4,269,6279,0.00,2.62,0.00,0.000,4,0.000,0.041,3428,3575,2022,0,0,0,0,0,0
$GC,6324,1.22,240.6,355.0,12.0,270,6329,0.00,2.62,0.00,0.000,6,0.000,0.035,3429,1979,2021,0,0,0,0,0,0
$GC,6597,1.22,240.9,327.1,10.0,277,6602,0.00,2.75,0.00,0.000,4,0.000,0.074,3428,408,2020,0,0,0,0,0,0
$GC,6631,1.22,240.9,323.1,11.9,277,6637,0.00,2.53,0.00,0.000,6,0.000,0.021,3429,1995,2019,0,0,0,0,0,0
$GC,6882,1.28,256.3,299.2,9.2,284,6897,0.00,0.00,13.75,0.749,6,0.000,0.000,3428,1996,1965,0,0,0,0,0,0
$GC,7125,1.34,258.0,275.2,9.9,290,7130,0.15,2.75,0.00,0.000,4,0.076,0.064,3469,406,1962,0,0,0,0,0,0
$GC,7234,1.29,258.0,262.7,11.7,292,7239,0.00,2.50,0.00,0.000,6,0.000,0.023,3468,1986,1960,0,0,0,0,0,0
$GC,7496,1.29,262.8,236.4,9.8,299,7510,0.00,2.62,6.70,0.624,4,0.000,0.035,3468,3558,1937,0,0,0,0,0,0
$GC,7521,1.29,263.2,233.8,10.0,299,7526,0.00,2.60,0.00,0.000,6,0.000,0.035,3469,1966,1937,0,0,0,0,0,0
$GC,7778,1.30,267.4,209.0,9.8,306,7789,0.00,2.67,5.45,0.562,4,0.000,0.062,3469,406,1919,0,0,0,0,0,0
$GC,7844,1.30,267.4,201.2,11.3,307,7849,0.00,2.47,0.00,0.000,6,0.000,0.025,3469,1991,1918,0,0,0,0,0,0
$GC,8113,1.30,267.4,173.5,10.7,331,8118,0.00,2.53,0.00,0.000,4,0.000,0.032,3469,3558,1918,0,0,0,0,0,0
$GC,8142,1.35,267.4,169.7,10.9,333,8147,0.00,2.55,0.00,0.000,6,0.000,0.031,3469,1981,1917,0,0,0,0,0,0
$GC,8410,1.39,303.3,148.3,8.0,357,8448,0.00,2.72,32.42,0.650,4,0.000,0.059,3469,415,1772,0,0,0,0,0,0
$GC,8500,1.39,303.3,138.9,10.5,364,8510,0.00,2.47,0.00,0.000,6,0.000,0.018,3469,1985,1769,0,0,0,0,0,0
$GC,8769,1.47,316.6,115.7,9.3,389,8788,0.00,0.00,12.60,0.580,6,0.000,0.000,3469,1987,1718,0,0,0,0,0,0
$GC,9045,1.54,316.6,88.3,10.1,415,9050,0.15,2.67,0.00,0.000,4,0.075,0.056,3509,411,1716,0,0,0,0,0,0
$GC,9080,1.54,316.6,84.2,13.2,417,9084,0.00,2.45,0.00,0.000,6,0.000,0.024,3510,1992,1716,0,0,0,0,0,0
$GC,9346,1.54,316.6,53.9,11.1,441,9350,0.00,2.50,0.00,0.000,4,0.000,0.036,3510,3551,1716,0,0,0,0,0,0
$GC,9380,1.54,316.6,50.4,10.6,443,9384,0.00,2.53,0.00,0.000,6,0.000,0.029,3509,1984,1715,0,0,0,0,0,0
$GC,9667,1.54,316.6,19.2,10.6,473,9677,0.00,2.65,0.00,0.000,4,0.000,0.054,3509,417,1716,0,0,0,0,0,0
$GC,9700,1.54,316.6,15.4,11.3,477,9709,0.00,2.42,0.00,0.000,6,0.000,0.020,3509,1969,1716,0,0,0,0,0,0
$STATE,9805,end climb,SURFACE_DEPTH_REACHED
$STATE,9805,begin surface coast
$FINISH,0.6,0.980105
$STATE,9871,end surface coast,CONTROL_FINISHED_OK
$STATE,9872,begin surface
$SM_CCo,9894,52.12,0.516,0,0,1459,380.21
$SM_GC,1.43,0.00,0.00,52.12,0.000,0.000,0.516,474,1877,1459,-12.40,-0.40,380.21
$IRIDIUM_FIX,2241.69,-15542.07,180900,080818
$TT8_MAMPS,0.026078
$HUMID,62.40
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.00
$XPDR_PINGS,47
$24V_AH,23.5,46.758
$10V_AH,10.3,41.175
$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,29.075,122.550,380.975,52.125,0.000,54.124,88.749,298.505,11.750,0.000,38.997,1018.925,6431.735,519.597,1907.920,747.623,33.396,1218.504,0.000,1888.226,0.000,0.535,0.000
$DEVICE_MAMPS,236.236,102.778,918.099,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,339.080,270.588,387.610,728.182,1101.779,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355424
$DATA_FILE_SIZE,38303,501
$CAP_FILE_SIZE,109847,0
$CFSIZE,260165632,162684928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250611,104838,2248.953,-15758.321,42,1.8,43,10.1