version: 66.06
glider: 146
mission: 6
dive: 374
start: 6 25 111 14 9 29
data:
$ID,146
$MISSION,6
$DIVE,374
$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,-277175.78
$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,31
$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
$GPS1,134722,2248.863,-15758.067,8,5.8,27,10.1
$_CALLS,5
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-68.1
$GPS2,140836,2249.254,-15758.062,49,1.1,60,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.078,-0.221
$KALMAN_X,-247823.0,-23.8,-38.8,245721.2,-676.9
$KALMAN_Y,17921.2,135.8,183.2,-8337.7,1268.4
$MHEAD_RNG_PITCHd_Wd,150.5,4199,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,92,0.00,0.00,-70.70,0.000,2,0.000,0.000,473,1882,3274,0,0,0,0,0,0
$GC,95,-1.38,-116.8,3.7,-6.8,9,121,12.43,2.65,-3.92,0.000,4,0.150,0.058,2859,316,3489,0,0,0,0,0,0
$GC,159,-1.21,-116.8,22.4,-20.0,17,167,0.17,2.45,0.00,0.000,6,0.101,0.015,2900,1901,3490,0,0,0,0,0,0
$GC,434,-1.21,-116.8,60.6,-12.2,45,438,0.00,2.40,0.00,0.000,4,0.000,0.027,2900,3442,3490,0,0,0,0,0,0
$GC,482,-1.21,-116.8,68.4,-14.3,48,492,0.00,2.47,0.00,0.000,6,0.000,0.027,2900,1897,3490,0,0,0,0,0,0
$GC,749,-1.21,-116.8,101.7,-12.1,73,753,0.00,2.42,0.00,0.000,4,0.000,0.031,2900,3443,3491,0,0,0,0,0,0
$GC,780,-1.21,-116.8,105.8,-12.6,75,784,0.00,2.45,0.00,0.000,6,0.000,0.030,2901,1891,3491,0,0,0,0,0,0
$GC,1049,-1.25,-116.8,133.4,-9.5,99,1053,0.00,2.42,0.00,0.000,4,0.000,0.026,2900,3443,3491,0,0,0,0,0,0
$GC,1094,-1.34,-116.8,138.3,-8.9,102,1104,0.08,2.45,0.00,0.000,6,0.043,0.030,2856,1906,3491,0,0,0,0,0,0
$GC,1361,-1.34,-116.8,168.3,-11.5,127,1367,0.10,0.00,0.00,0.000,6,0.122,0.000,2878,1906,3491,0,0,0,0,0,0
$GC,1624,-1.38,-116.8,198.3,-11.4,152,1628,0.00,2.40,0.00,0.000,4,0.000,0.031,2879,3444,3492,0,0,0,0,0,0
$GC,1665,-1.45,-116.8,202.8,-10.4,154,1670,0.12,2.40,0.00,0.000,6,0.069,0.028,2827,1916,3492,0,0,0,0,0,0
$GC,1950,-1.40,-116.8,238.9,-12.6,161,1955,0.15,2.45,0.00,0.000,4,0.104,0.034,2861,3446,3492,0,0,0,0,0,0
$GC,2023,-1.46,-116.8,246.7,-9.9,162,2027,0.00,2.40,0.00,0.000,6,0.000,0.032,2862,1932,3492,0,0,0,0,0,0
$GC,2279,-1.46,-116.8,269.8,-9.1,169,2284,0.00,2.75,0.00,0.000,4,0.000,0.067,2861,316,3492,0,0,0,0,0,0
$GC,2301,-1.46,-116.8,272.2,-9.9,169,2305,0.00,2.47,0.00,0.000,6,0.000,0.024,2862,1916,3492,0,0,0,0,0,0
$GC,2556,-1.51,-116.8,298.0,-10.4,176,2557,0.00,0.00,0.00,0.000,6,0.000,0.000,2861,1916,3491,0,0,0,0,0,0
$GC,2801,-1.57,-116.8,322.9,-10.2,182,2806,0.15,2.47,0.00,0.000,4,0.071,0.044,2814,3455,3491,0,0,0,0,0,0
$GC,2822,-1.57,-116.8,325.3,-10.1,182,2827,0.00,2.45,0.00,0.000,6,0.000,0.039,2814,1935,3491,0,0,0,0,0,0
$GC,3078,-1.57,-116.8,355.2,-11.6,189,3082,0.00,2.42,0.00,0.000,4,0.000,0.039,2814,3453,3489,0,0,0,0,0,0
$GC,3106,-1.57,-116.8,358.6,-12.1,189,3110,0.00,2.47,0.00,0.000,6,0.000,0.038,2814,1937,3489,0,0,0,0,0,0
$GC,3357,-1.57,-116.8,387.0,-11.2,195,3361,0.00,2.47,0.00,0.000,4,0.000,0.045,2814,3450,3488,0,0,0,0,0,0
$GC,3468,-1.57,-116.8,399.4,-9.8,197,3473,0.00,2.50,0.00,0.000,6,0.000,0.050,2814,1949,3487,0,0,0,0,0,0
$GC,3726,-1.57,-116.8,424.1,-9.8,204,3730,0.00,3.00,0.00,0.000,4,0.000,0.106,2813,304,3486,0,0,0,0,0,0
$GC,3747,-1.57,-116.8,426.6,-10.5,204,3751,0.00,2.62,0.00,0.000,6,0.000,0.031,2814,1924,3486,0,0,0,0,0,0
$GC,4002,-1.57,-116.8,452.7,-10.2,211,4006,0.00,2.60,0.00,0.000,4,0.000,0.064,2814,3479,3484,0,0,0,0,0,0
$GC,4058,-1.57,-116.8,458.7,-11.0,212,4062,0.00,2.58,0.00,0.000,6,0.000,0.052,2814,1952,3483,0,0,0,0,0,0
$GC,4324,-1.57,-116.8,487.2,-10.9,219,4328,0.00,2.55,0.00,0.000,4,0.000,0.053,2813,3472,3482,0,0,0,0,0,0
$GC,4345,-1.57,-116.8,489.8,-11.4,219,4349,0.00,2.55,0.00,0.000,6,0.000,0.053,2814,1963,3481,0,0,0,0,0,0
$STATE,4436,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4436,begin apogee
$GC,4443,-0.31,0.0,500.2,11.3,222,4544,1.25,0.00,96.68,0.913,6,0.075,0.000,3099,2032,3010,0,0,0,0,0,0
$STATE,4545,end apogee,CONTROL_FINISHED_OK
$STATE,4545,begin climb
$GC,4547,1.38,116.8,503.2,0.0,224,4658,1.52,2.62,99.62,0.892,4,0.038,0.058,3475,3552,2531,0,0,0,0,0,0
$GC,4705,1.28,156.7,501.4,7.7,227,4746,0.12,2.67,34.53,0.864,6,0.130,0.051,3451,1995,2371,0,0,0,0,0,0
$GC,4998,1.20,156.7,473.0,10.3,235,4999,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1995,2363,0,0,0,0,0,0
$GC,5240,1.15,169.8,449.8,9.3,241,5255,0.15,0.00,11.65,0.795,6,0.118,0.000,3421,1995,2317,0,0,0,0,0,0
$GC,5484,1.19,204.5,429.8,8.0,247,5524,0.00,2.65,31.30,0.849,4,0.000,0.046,3421,3558,2176,0,0,0,0,0,0
$GC,5605,1.19,208.0,418.6,9.8,249,5617,0.00,2.65,4.53,0.588,6,0.000,0.048,3421,1996,2160,0,0,0,0,0,0
$GC,5860,1.21,219.2,394.6,9.4,256,5879,0.00,2.92,11.38,0.775,4,0.000,0.084,3421,400,2114,0,0,0,0,0,0
$GC,5913,1.21,219.2,389.3,10.7,257,5917,0.00,2.58,0.00,0.000,6,0.000,0.022,3421,1996,2113,0,0,0,0,0,0
$GC,6186,1.22,232.6,364.4,9.3,264,6206,0.00,2.67,12.75,0.774,4,0.000,0.044,3421,3573,2060,0,0,0,0,0,0
$GC,6240,1.27,232.6,359.0,10.4,265,6245,0.10,2.60,0.00,0.000,6,0.101,0.041,3450,2008,2059,0,0,0,0,0,0
$GC,6513,1.27,232.6,329.9,10.8,272,6514,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2008,2056,0,0,0,0,0,0
$GC,6757,1.27,232.6,304.9,10.1,278,6762,0.00,2.75,0.00,0.000,4,0.000,0.071,3450,409,2055,0,0,0,0,0,0
$GC,6801,1.23,232.6,300.0,10.9,279,6805,0.00,2.55,0.00,0.000,6,0.000,0.025,3450,2027,2054,0,0,0,0,0,0
$GC,7080,1.25,250.5,274.2,9.0,286,7104,0.00,2.88,16.48,0.738,4,0.000,0.060,3450,410,1986,0,0,0,0,0,0
$GC,7140,1.26,258.6,268.7,9.6,287,7154,0.00,2.55,8.62,0.674,6,0.000,0.025,3450,2012,1955,0,0,0,0,0,0
$GC,7410,1.30,293.8,246.6,8.0,294,7451,0.00,2.85,31.85,0.738,4,0.000,0.056,3450,410,1810,0,0,0,0,0,0
$GC,7498,1.30,293.8,238.3,10.5,296,7503,0.00,2.53,0.00,0.000,6,0.000,0.025,3450,2001,1808,0,0,0,0,0,0
$GC,7782,1.35,295.0,210.9,10.0,303,7783,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,2001,1806,0,0,0,0,0,0
$GC,8031,1.41,295.0,183.1,11.0,318,8036,0.10,2.72,0.00,0.000,4,0.094,0.056,3478,406,1805,0,0,0,0,0,0
$GC,8071,1.41,295.0,177.6,14.1,321,8076,0.00,2.47,0.00,0.000,6,0.000,0.019,3478,2002,1803,0,0,0,0,0,0
$GC,8339,1.41,295.0,145.9,12.5,345,8344,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,2004,1803,0,0,0,0,0,0
$GC,8600,1.41,297.9,116.5,9.9,370,8605,0.00,2.70,0.00,0.000,4,0.000,0.055,3478,405,1803,0,0,0,0,0,0
$GC,8646,1.41,297.9,111.4,10.7,373,8652,0.00,2.47,0.00,0.000,6,0.000,0.018,3479,2002,1802,0,0,0,0,0,0
$GC,8911,1.47,302.5,86.2,9.8,398,8926,0.00,2.47,8.02,0.522,4,0.000,0.035,3479,3545,1774,0,0,0,0,0,0
$GC,8962,1.56,321.5,81.1,8.9,402,8990,0.12,2.50,17.35,0.574,6,0.076,0.033,3516,1981,1699,0,0,0,0,0,0
$GC,9246,1.56,321.5,48.7,11.7,428,9255,0.00,0.00,0.00,0.000,6,0.000,0.000,3515,1981,1697,0,0,0,0,0,0
$GC,9538,1.56,321.5,17.6,11.7,461,9547,0.00,2.65,0.00,0.000,4,0.000,0.055,3515,415,1697,0,0,0,0,0,0
$GC,9564,1.56,321.5,14.2,11.2,464,9573,0.00,2.45,0.00,0.000,6,0.000,0.019,3515,1977,1697,0,0,0,0,0,0
$STATE,9657,end climb,SURFACE_DEPTH_REACHED
$STATE,9657,begin surface coast
$FINISH,0.5,0.980086
$STATE,9701,end surface coast,CONTROL_FINISHED_OK
$STATE,9702,begin surface
$SM_CCo,9724,48.30,0.522,0,0,1459,380.21
$SM_GC,1.12,0.00,0.00,48.30,0.000,0.000,0.522,474,1868,1459,-12.40,-0.62,380.21
$IRIDIUM_FIX,2241.69,-15759.32,180900,141423
$TT8_MAMPS,0.026078
$HUMID,63.62
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.30
$XPDR_PINGS,48
$24V_AH,23.5,47.026
$10V_AH,10.3,41.406
$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,28.900,123.450,384.750,48.300,0.000,134.200,189.080,493.357,12.000,0.000,61.822,992.619,6517.916,497.961,1900.677,1139.042,33.376,1220.630,0.000,1856.931,0.000,0.536,0.000
$DEVICE_MAMPS,149.565,118.885,912.730,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,327.076,272.974,369.377,704.708,1066.748,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355448
$DATA_FILE_SIZE,38285,483
$CAP_FILE_SIZE,115614,0
$CFSIZE,260165632,162570240
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250611,165325,2248.616,-15758.214,10,1.7,21,10.1