version: 66.06
glider: 146
mission: 6
dive: 375
start: 6 25 111 17 9 29
data:
$ID,146
$MISSION,6
$DIVE,375
$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,-277208.5
$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,41
$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
$GPS1,165325,2248.616,-15758.214,10,1.7,21,10.1
$_CALLS,3
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.33
$_SM_ANGLEo,-67.5
$GPS2,170836,2248.778,-15758.247,14,0.9,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.123,-0.200
$KALMAN_X,-249036.5,37.0,36.8,246489.3,-929.2
$KALMAN_Y,19359.5,-174.8,386.0,-10541.9,696.4
$MHEAD_RNG_PITCHd_Wd,138.2,3380,-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,-71.22,0.000,2,0.000,0.000,473,1868,3267,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.5,-5.6,9,118,12.52,2.60,-4.00,0.000,4,0.153,0.060,2858,327,3489,0,0,0,0,0,0
$GC,157,-1.21,-116.8,22.8,-21.6,17,167,0.17,2.42,0.00,0.000,6,0.099,0.020,2899,1897,3490,0,0,0,0,0,0
$GC,433,-1.21,-116.8,65.6,-13.5,44,437,0.00,2.42,0.00,0.000,4,0.000,0.025,2899,3449,3491,0,0,0,0,0,0
$GC,492,-1.21,-116.8,73.2,-12.2,48,496,0.00,2.42,0.00,0.000,6,0.000,0.024,2899,1907,3491,0,0,0,0,0,0
$GC,754,-1.21,-116.8,106.7,-11.9,72,759,0.00,2.40,0.00,0.000,4,0.000,0.029,2899,3442,3491,0,0,0,0,0,0
$GC,800,-1.25,-116.8,111.9,-11.8,75,805,0.00,2.42,0.00,0.000,6,0.000,0.028,2899,1904,3491,0,0,0,0,0,0
$GC,1068,-1.25,-116.8,143.8,-11.7,99,1072,0.00,2.42,0.00,0.000,4,0.000,0.025,2899,3443,3492,0,0,0,0,0,0
$GC,1090,-1.31,-116.8,147.3,-11.7,100,1099,0.00,2.42,0.00,0.000,6,0.000,0.028,2899,1919,3492,0,0,0,0,0,0
$GC,1354,-1.37,-116.8,178.2,-10.8,125,1359,0.12,0.00,0.00,0.000,6,0.074,0.000,2852,1919,3492,0,0,0,0,0,0
$GC,1611,-1.37,-116.8,210.4,-12.0,144,1615,0.00,2.40,0.00,0.000,4,0.000,0.025,2852,3443,3492,0,0,0,0,0,0
$GC,1697,-1.37,-116.8,219.4,-10.8,146,1701,0.00,2.40,0.00,0.000,6,0.000,0.028,2852,1920,3492,0,0,0,0,0,0
$GC,1982,-1.37,-116.8,251.1,-11.3,153,1986,0.00,2.42,0.00,0.000,4,0.000,0.034,2851,3449,3492,0,0,0,0,0,0
$GC,2071,-1.41,-116.8,261.2,-10.5,155,2075,0.00,2.38,0.00,0.000,6,0.000,0.025,2852,1935,3492,0,0,0,0,0,0
$GC,2349,-1.41,-116.8,290.3,-10.5,162,2354,0.00,2.75,0.00,0.000,4,0.000,0.069,2851,318,3493,0,0,0,0,0,0
$GC,2365,-1.41,-116.8,292.3,-10.6,162,2369,0.00,2.47,0.00,0.000,6,0.000,0.023,2851,1915,3492,0,0,0,0,0,0
$GC,2625,-1.41,-116.8,319.0,-10.4,169,2630,0.00,2.47,0.00,0.000,4,0.000,0.043,2851,3459,3493,0,0,0,0,0,0
$GC,2677,-1.49,-116.8,324.3,-9.9,170,2682,0.00,2.42,0.00,0.000,6,0.000,0.035,2851,1938,3492,0,0,0,0,0,0
$GC,2950,-1.54,-116.8,349.5,-9.2,177,2954,0.00,2.45,0.00,0.000,4,0.000,0.035,2851,3457,3491,0,0,0,0,0,0
$GC,2985,-1.61,-116.8,352.9,-9.6,177,2991,0.15,2.45,0.00,0.000,6,0.061,0.039,2796,1949,3491,0,0,0,0,0,0
$GC,3235,-1.57,-116.8,382.4,-11.9,184,3237,0.15,0.00,0.00,0.000,6,0.100,0.000,2829,1949,3490,0,0,0,0,0,0
$GC,3479,-1.57,-116.8,406.5,-9.7,190,3483,0.00,2.47,0.00,0.000,4,0.000,0.044,2829,3452,3489,0,0,0,0,0,0
$GC,3530,-1.62,-116.8,411.5,-10.0,191,3535,0.00,2.50,0.00,0.000,6,0.000,0.049,2829,1951,3489,0,0,0,0,0,0
$GC,3802,-1.62,-116.8,439.0,-10.1,198,3807,0.00,2.45,0.00,0.000,4,0.000,0.045,2829,3450,3486,0,0,0,0,0,0
$GC,3824,-1.67,-116.8,441.3,-10.3,198,3829,0.00,2.47,0.00,0.000,6,0.000,0.051,2829,1968,3487,0,0,0,0,0,0
$GC,4082,-1.67,-116.8,466.4,-9.8,205,4086,0.00,2.45,0.00,0.000,4,0.000,0.053,2829,3457,3485,0,0,0,0,0,0
$GC,4148,-1.73,-116.8,473.1,-9.9,206,4153,0.15,2.50,0.00,0.000,6,0.064,0.051,2779,1973,3484,0,0,0,0,0,0
$STATE,4401,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4401,begin apogee
$GC,4408,-0.31,0.0,501.9,11.4,213,4509,1.42,0.00,97.28,0.915,6,0.093,0.000,3099,1973,3010,0,0,0,0,0,0
$STATE,4510,end apogee,CONTROL_FINISHED_OK
$STATE,4510,begin climb
$GC,4513,1.38,116.8,504.4,0.0,215,4617,1.52,0.00,100.15,0.894,6,0.048,0.000,3473,1973,2532,0,0,0,0,0,0
$GC,4840,1.31,158.0,490.2,7.7,223,4881,0.00,2.75,35.55,0.871,4,0.000,0.056,3472,3551,2364,0,0,0,0,0,0
$GC,4931,1.19,161.7,481.9,9.8,225,4941,0.20,2.65,4.32,0.574,6,0.117,0.056,3432,2005,2350,0,0,0,0,0,0
$GC,5221,1.21,177.0,454.3,9.2,232,5241,0.00,2.65,14.40,0.821,4,0.000,0.045,3432,3562,2287,0,0,0,0,0,0
$GC,5276,1.21,183.1,449.0,9.7,233,5290,0.00,2.65,7.05,0.715,6,0.000,0.049,3432,2001,2263,0,0,0,0,0,0
$GC,5546,1.24,202.5,424.7,8.9,240,5570,0.00,2.67,18.02,0.828,4,0.000,0.044,3432,3558,2183,0,0,0,0,0,0
$GC,5595,1.26,219.4,420.2,9.1,241,5619,0.00,2.65,16.65,0.811,6,0.000,0.046,3432,1995,2114,0,0,0,0,0,0
$GC,5875,1.26,219.7,392.0,10.0,248,5880,0.00,2.85,0.00,0.000,4,0.000,0.084,3432,409,2109,0,0,0,0,0,0
$GC,5891,1.26,220.9,390.2,10.0,248,5895,0.00,2.55,0.00,0.000,6,0.000,0.025,3432,2002,2108,0,0,0,0,0,0
$GC,6153,1.28,233.9,366.0,9.3,255,6172,0.00,2.85,12.82,0.781,4,0.000,0.064,3432,404,2055,0,0,0,0,0,0
$GC,6207,1.28,233.9,359.9,11.9,256,6211,0.00,2.55,0.00,0.000,6,0.000,0.021,3432,2006,2054,0,0,0,0,0,0
$GC,6478,1.28,233.9,330.8,10.7,263,6483,0.00,2.55,0.00,0.000,4,0.000,0.044,3432,3570,2052,0,0,0,0,0,0
$GC,6507,1.28,233.9,327.6,11.7,263,6512,0.00,2.60,0.00,0.000,6,0.000,0.041,3432,1994,2051,0,0,0,0,0,0
$GC,6757,1.31,233.9,300.8,10.4,269,6762,0.10,2.78,0.00,0.000,4,0.097,0.075,3460,408,2051,0,0,0,0,0,0
$GC,6809,1.26,233.9,294.7,12.4,270,6813,0.00,2.53,0.00,0.000,6,0.000,0.021,3461,2001,2049,0,0,0,0,0,0
$GC,7082,1.29,257.3,269.5,8.7,277,7110,0.00,2.78,21.00,0.755,4,0.000,0.058,3460,406,1961,0,0,0,0,0,0
$GC,7178,1.29,257.3,260.2,10.1,279,7182,0.00,2.53,0.00,0.000,6,0.000,0.024,3460,1997,1958,0,0,0,0,0,0
$GC,7451,1.30,260.3,234.5,9.9,286,7461,0.00,2.70,3.80,0.475,4,0.000,0.061,3460,410,1948,0,0,0,0,0,0
$GC,7472,1.30,260.3,232.0,10.3,286,7477,0.00,2.47,0.00,0.000,6,0.000,0.025,3460,1992,1947,0,0,0,0,0,0
$GC,7733,1.30,260.3,205.3,10.2,293,7738,0.00,2.53,0.00,0.000,4,0.000,0.038,3460,3556,1946,0,0,0,0,0,0
$GC,7762,1.34,260.3,202.5,10.6,293,7766,0.00,2.55,0.00,0.000,6,0.000,0.031,3460,1983,1945,0,0,0,0,0,0
$GC,8023,1.41,284.3,178.8,8.7,314,8054,0.00,2.78,22.35,0.671,4,0.000,0.065,3460,411,1849,0,0,0,0,0,0
$GC,8068,1.43,303.8,175.0,8.9,318,8093,0.10,2.50,18.30,0.650,6,0.091,0.019,3489,2001,1770,0,0,0,0,0,0
$GC,8347,1.43,303.8,143.2,11.2,344,8351,0.00,2.67,0.00,0.000,4,0.000,0.056,3489,415,1766,0,0,0,0,0,0
$GC,8377,1.43,303.8,139.8,12.4,346,8381,0.00,2.42,0.00,0.000,6,0.000,0.024,3489,1991,1766,0,0,0,0,0,0
$GC,8639,1.43,303.8,110.8,10.6,370,8640,0.00,0.00,0.00,0.000,6,0.000,0.000,3489,1992,1766,0,0,0,0,0,0
$GC,8894,1.44,305.3,84.0,10.0,394,8899,0.00,2.65,0.00,0.000,4,0.000,0.054,3489,406,1766,0,0,0,0,0,0
$GC,8964,1.44,305.3,77.1,10.1,399,8968,0.00,2.42,0.00,0.000,6,0.000,0.018,3489,1987,1765,0,0,0,0,0,0
$GC,9233,1.55,344.6,54.7,7.8,423,9275,0.00,2.78,35.42,0.559,4,0.000,0.053,3489,406,1603,0,0,0,0,0,0
$GC,9288,1.66,394.0,50.5,7.2,428,9343,0.17,2.45,43.53,0.551,6,0.062,0.017,3536,1995,1401,0,0,0,0,0,0
$GC,9631,1.66,394.0,8.7,11.6,468,9640,0.00,2.72,0.00,0.000,4,0.000,0.053,3536,410,1397,0,0,0,0,0,0
$STATE,9662,end climb,SURFACE_DEPTH_REACHED
$STATE,9662,begin surface coast
$FINISH,0.6,0.972165
$STATE,9704,end surface coast,CONTROL_FINISHED_OK
$STATE,9705,begin surface
$SM_CCo,9789,0.00,0.000,0,0,1390,397.14
$SM_GC,1.25,12.48,0.00,0.00,0.028,0.000,0.000,476,1924,1390,-12.31,0.96,397.14
$IRIDIUM_FIX,2241.69,-15757.16,180900,171707
$TT8_MAMPS,0.025311
$HUMID,63.93
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.70
$XPDR_PINGS,49
$24V_AH,23.5,47.162
$10V_AH,10.3,41.518
$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,29.275,137.550,450.650,0.000,0.000,83.781,117.577,414.168,12.250,0.000,32.084,991.676,6434.946,485.470,1865.165,921.256,33.368,1232.652,0.000,1848.341,0.000,0.536,0.000
$DEVICE_MAMPS,153.400,83.603,915.031,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,323.326,267.596,364.193,690.215,1043.802,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355468
$DATA_FILE_SIZE,38304,478
$CAP_FILE_SIZE,114828,0
$CFSIZE,260165632,162512896
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250611,195349,2248.095,-15758.310,12,99.0,31,10.1