version: 66.06
glider: 146
mission: 6
dive: 373
start: 6 25 111 11 0 56
data:
$ID,146
$MISSION,6
$DIVE,373
$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,-277113.34
$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,40
$R_STBD_OVSHOOT,57
$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
$GPS1,104838,2248.953,-15758.321,42,1.8,43,10.1
$_CALLS,2
$_XMS_NAKs,24
$_XMS_TOUTs,3
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-70.7
$GPS2,110002,2249.139,-15758.359,13,1.9,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.131,-0.195
$KALMAN_X,-246928.7,-93.5,-52.5,244406.7,-1141.6
$KALMAN_Y,15913.1,417.7,-222.3,-6415.8,1249.4
$MHEAD_RNG_PITCHd_Wd,135.9,4075,-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,-71.12,0.000,2,0.000,0.000,474,1876,3263,0,0,0,0,0,0
$GC,94,-1.38,-116.8,3.6,-6.2,9,120,12.73,2.62,-4.00,0.000,4,0.159,0.057,2859,323,3489,0,0,0,0,0,0
$GC,164,-1.22,-116.8,23.6,-18.4,18,174,0.17,2.42,0.00,0.000,6,0.100,0.015,2900,1893,3489,0,0,0,0,0,0
$GC,441,-1.22,-116.8,61.4,-12.3,45,446,0.00,2.42,0.00,0.000,4,0.000,0.025,2901,3450,3490,0,0,0,0,0,0
$GC,487,-1.22,-116.8,67.7,-13.1,48,491,0.00,2.47,0.00,0.000,6,0.000,0.026,2900,1895,3491,0,0,0,0,0,0
$GC,750,-1.22,-116.8,99.2,-11.7,72,755,0.00,2.42,0.00,0.000,4,0.000,0.029,2900,3442,3491,0,0,0,0,0,0
$GC,780,-1.22,-116.8,103.1,-12.1,74,784,0.00,2.42,0.00,0.000,6,0.000,0.029,2900,1899,3491,0,0,0,0,0,0
$GC,1042,-1.22,-116.8,130.2,-8.5,98,1047,0.00,2.42,0.00,0.000,4,0.000,0.026,2900,3450,3492,0,0,0,0,0,0
$GC,1097,-1.30,-116.8,134.7,-7.8,102,1101,0.00,2.42,0.00,0.000,6,0.000,0.024,2900,1912,3492,0,0,0,0,0,0
$GC,1360,-1.34,-116.8,157.8,-9.5,126,1365,0.00,2.40,0.00,0.000,4,0.000,0.031,2900,3449,3492,0,0,0,0,0,0
$GC,1392,-1.42,-116.8,160.9,-9.3,128,1397,0.17,2.40,0.00,0.000,6,0.056,0.024,2839,1924,3492,0,0,0,0,0,0
$GC,1653,-1.38,-116.8,190.6,-12.1,152,1658,0.12,2.40,0.00,0.000,4,0.111,0.031,2868,3450,3492,0,0,0,0,0,0
$GC,1691,-1.42,-116.8,194.7,-10.9,154,1696,0.00,2.38,0.00,0.000,6,0.000,0.028,2868,1941,3493,0,0,0,0,0,0
$GC,1953,-1.42,-116.8,223.6,-11.2,165,1954,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1941,3493,0,0,0,0,0,0
$GC,2197,-1.42,-116.8,251.0,-11.3,171,2201,0.00,2.38,0.00,0.000,4,0.000,0.030,2868,3450,3493,0,0,0,0,0,0
$GC,2243,-1.47,-116.8,255.9,-10.7,172,2247,0.00,2.35,0.00,0.000,6,0.000,0.027,2868,1955,3493,0,0,0,0,0,0
$GC,2521,-1.52,-116.8,283.1,-9.4,179,2523,0.12,0.00,0.00,0.000,6,0.069,0.000,2822,1954,3493,0,0,0,0,0,0
$GC,2764,-1.52,-116.8,310.1,-11.3,185,2768,0.00,2.38,0.00,0.000,4,0.000,0.030,2822,3443,3493,0,0,0,0,0,0
$GC,2792,-1.52,-116.8,313.4,-11.2,185,2796,0.00,2.38,0.00,0.000,6,0.000,0.036,2822,1963,3493,0,0,0,0,0,0
$GC,3042,-1.52,-116.8,341.8,-11.4,191,3046,0.00,2.38,0.00,0.000,4,0.000,0.041,2822,3440,3492,0,0,0,0,0,0
$GC,3074,-1.52,-116.8,346.0,-12.4,191,3080,0.00,2.40,0.00,0.000,6,0.000,0.042,2822,1969,3492,0,0,0,0,0,0
$GC,3324,-1.52,-116.8,374.5,-11.4,198,3328,0.00,2.38,0.00,0.000,4,0.000,0.035,2822,3436,3491,0,0,0,0,0,0
$GC,3353,-1.52,-116.8,377.8,-11.8,198,3357,0.00,2.40,0.00,0.000,6,0.000,0.044,2822,1976,3491,0,0,0,0,0,0
$GC,3608,-1.52,-116.8,406.1,-11.0,205,3612,0.00,2.35,0.00,0.000,4,0.000,0.047,2821,3432,3490,0,0,0,0,0,0
$GC,3680,-1.52,-116.8,413.4,-9.5,206,3684,0.00,2.40,0.00,0.000,6,0.000,0.051,2822,1986,3489,0,0,0,0,0,0
$GC,3932,-1.52,-116.8,437.4,-9.6,212,3936,0.00,3.08,0.00,0.000,4,0.000,0.105,2821,325,3488,0,0,0,0,0,0
$GC,3947,-1.52,-116.8,439.2,-10.0,212,3952,0.00,2.60,0.00,0.000,6,0.000,0.032,2822,1934,3487,0,0,0,0,0,0
$GC,4208,-1.52,-116.8,465.5,-10.2,219,4212,0.00,2.58,0.00,0.000,4,0.000,0.063,2822,3471,3486,0,0,0,0,0,0
$GC,4242,-1.56,-116.8,469.2,-11.0,219,4247,0.00,2.47,0.00,0.000,6,0.000,0.049,2821,1986,3486,0,0,0,0,0,0
$GC,4492,-1.56,-116.8,494.4,-9.9,226,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2821,1986,3484,0,0,0,0,0,0
$STATE,4570,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4570,begin apogee
$GC,4576,-0.31,0.0,502.1,9.6,228,4677,1.23,0.00,97.25,0.913,6,0.074,0.000,3102,1986,3010,0,0,0,0,0,0
$STATE,4678,end apogee,CONTROL_FINISHED_OK
$STATE,4678,begin climb
$GC,4682,1.38,116.8,503.6,0.0,230,4786,1.55,0.00,99.62,0.890,6,0.038,0.000,3477,1986,2533,0,0,0,0,0,0
$GC,5018,1.26,129.3,481.8,9.3,239,5035,0.15,2.72,10.75,0.785,4,0.120,0.054,3448,3578,2483,0,0,0,0,0,0
$GC,5048,1.20,156.1,479.2,8.5,239,5078,0.00,2.62,24.77,0.842,6,0.000,0.050,3448,2025,2373,0,0,0,0,0,0
$GC,5341,1.15,161.7,450.6,9.7,247,5349,0.12,0.00,5.45,0.651,6,0.127,0.000,3423,2025,2350,0,0,0,0,0,0
$GC,5585,1.17,183.2,428.9,8.8,253,5607,0.00,0.00,20.45,0.831,6,0.000,0.000,3422,2025,2263,0,0,0,0,0,0
$GC,5827,1.19,196.4,406.4,9.3,259,5846,0.00,3.00,12.70,0.789,4,0.000,0.087,3422,408,2207,0,0,0,0,0,0
$GC,5902,1.19,196.4,397.9,11.8,260,5907,0.00,2.60,0.00,0.000,6,0.000,0.024,3422,2024,2206,0,0,0,0,0,0
$GC,6160,1.21,210.6,374.3,9.2,267,6175,0.00,0.00,13.55,0.784,6,0.000,0.000,3422,2024,2150,0,0,0,0,0,0
$GC,6402,1.23,228.3,352.3,9.0,273,6425,0.00,2.65,16.65,0.786,4,0.000,0.044,3422,3577,2078,0,0,0,0,0,0
$GC,6496,1.28,232.6,343.4,9.8,275,6507,0.10,2.60,5.18,0.609,6,0.099,0.036,3450,2006,2061,0,0,0,0,0,0
$GC,6776,1.29,241.4,315.9,9.5,282,6791,0.00,2.85,9.12,0.715,4,0.000,0.074,3450,403,2025,0,0,0,0,0,0
$GC,6830,1.25,241.4,309.8,11.8,283,6834,0.00,2.60,0.00,0.000,6,0.000,0.021,3450,2026,2023,0,0,0,0,0,0
$GC,7104,1.25,241.4,280.5,11.0,290,7109,0.00,2.78,0.00,0.000,4,0.000,0.060,3450,410,2022,0,0,0,0,0,0
$GC,7137,1.21,241.4,276.5,11.6,290,7143,0.00,2.55,0.00,0.000,6,0.000,0.021,3450,2019,2021,0,0,0,0,0,0
$GC,7387,1.21,242.9,251.2,10.0,297,7391,0.00,2.75,0.00,0.000,4,0.000,0.058,3450,406,2021,0,0,0,0,0,0
$GC,7454,1.21,242.9,244.1,10.9,298,7459,0.00,2.50,0.00,0.000,6,0.000,0.024,3450,1995,2019,0,0,0,0,0,0
$GC,7710,1.25,271.8,222.0,8.4,305,7739,0.00,0.00,27.55,0.719,6,0.000,0.000,3450,1995,1901,0,0,0,0,0,0
$GC,7954,1.30,276.7,198.7,9.8,311,7965,0.00,2.72,5.62,0.557,4,0.000,0.055,3450,410,1879,0,0,0,0,0,0
$GC,8002,1.30,276.7,193.9,10.3,315,8007,0.00,2.50,0.00,0.000,6,0.000,0.019,3450,2001,1878,0,0,0,0,0,0
$GC,8265,1.37,285.1,169.1,9.6,339,8276,0.00,0.00,8.48,0.601,6,0.000,0.000,3450,2002,1847,0,0,0,0,0,0
$GC,8531,1.49,323.8,146.2,7.8,364,8572,0.17,2.78,34.72,0.647,4,0.068,0.055,3497,408,1688,0,0,0,0,0,0
$GC,8627,1.49,323.8,135.5,12.9,372,8632,0.00,2.50,0.00,0.000,6,0.000,0.023,3497,2004,1686,0,0,0,0,0,0
$GC,8891,1.49,323.8,107.1,10.9,396,8900,0.00,0.00,0.00,0.000,6,0.000,0.000,3497,2005,1685,0,0,0,0,0,0
$GC,9157,1.50,337.5,79.6,9.2,421,9174,0.00,2.70,12.45,0.550,4,0.000,0.058,3497,408,1633,0,0,0,0,0,0
$GC,9200,1.50,337.5,74.2,12.9,424,9209,0.00,2.50,0.00,0.000,6,0.000,0.017,3497,1997,1632,0,0,0,0,0,0
$GC,9466,1.55,337.5,44.0,11.0,449,9471,0.00,2.50,0.00,0.000,4,0.000,0.034,3498,3559,1632,0,0,0,0,0,0
$GC,9501,1.60,337.5,39.9,10.8,451,9506,0.10,2.53,0.00,0.000,6,0.086,0.028,3527,1986,1630,0,0,0,0,0,0
$STATE,9809,end climb,SURFACE_DEPTH_REACHED
$STATE,9809,begin surface coast
$FINISH,0.5,0.970945
$STATE,9858,end surface coast,CONTROL_FINISHED_OK
$STATE,9858,begin surface
$SM_CCo,9881,35.40,0.515,0,0,1459,380.21
$SM_GC,1.40,0.00,0.00,35.40,0.000,0.000,0.515,474,1882,1459,-12.40,-0.23,380.21
$IRIDIUM_FIX,2241.69,-15759.32,180900,111131
$TT8_MAMPS,0.026078
$HUMID,63.86
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.60
$XPDR_PINGS,43
$24V_AH,23.5,46.884
$10V_AH,10.3,41.289
$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,29.100,116.825,404.325,35.400,0.000,59.954,68.307,351.954,10.750,0.000,15.349,1007.396,6493.259,497.034,1822.892,781.054,33.368,1174.558,0.000,1833.523,0.000,0.536,0.000
$DEVICE_MAMPS,158.769,105.079,912.730,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,338.049,291.083,388.711,724.769,1096.946,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355424
$DATA_FILE_SIZE,38418,499
$CAP_FILE_SIZE,108813,0
$CFSIZE,260165632,162631680
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250611,134722,2248.863,-15758.067,8,5.8,27,10.1