version: 66.06
glider: 146
mission: 6
dive: 378
start: 6 26 111 2 17 51
data:
$ID,146
$MISSION,6
$DIVE,378
$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,-277334.31
$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,43
$R_STBD_OVSHOOT,74
$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
$GPS1,020506,2247.950,-15758.677,92,1.4,92,10.1
$_CALLS,1
$_XMS_NAKs,18
$_XMS_TOUTs,1
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.1
$GPS2,021658,2248.151,-15758.721,21,1.5,34,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.114,-0.205
$KALMAN_X,-253159.7,-255.6,-100.7,250233.6,-898.2
$KALMAN_Y,24061.3,76.9,114.1,-16387.4,1728.9
$MHEAD_RNG_PITCHd_Wd,140.9,2649,-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,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.43,0.000,2,0.000,0.000,475,1870,3235,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.5,-6.1,9,119,12.50,2.60,-4.70,0.000,4,0.152,0.058,2860,333,3488,0,0,0,0,0,0
$GC,189,-1.23,-116.8,26.6,-16.0,22,199,0.15,2.38,0.00,0.000,6,0.100,0.020,2896,1879,3489,0,0,0,0,0,0
$GC,468,-1.18,-116.8,66.4,-13.1,48,472,0.00,2.45,0.00,0.000,4,0.000,0.025,2896,3449,3490,0,0,0,0,0,0
$GC,549,-1.18,-116.8,76.2,-10.5,54,554,0.00,2.42,0.00,0.000,6,0.000,0.025,2896,1918,3490,0,0,0,0,0,0
$GC,814,-1.18,-116.8,103.6,-9.6,78,818,0.00,2.40,0.00,0.000,4,0.000,0.027,2896,3447,3491,0,0,0,0,0,0
$GC,836,-1.18,-116.8,106.4,-10.6,79,842,0.00,2.40,0.00,0.000,6,0.000,0.029,2896,1912,3491,0,0,0,0,0,0
$GC,1098,-1.18,-116.8,132.9,-10.6,104,1103,0.00,2.42,0.00,0.000,4,0.000,0.029,2896,3449,3491,0,0,0,0,0,0
$GC,1170,-1.26,-116.8,140.5,-10.4,109,1175,0.00,2.40,0.00,0.000,6,0.000,0.031,2896,1930,3492,0,0,0,0,0,0
$GC,1433,-1.31,-116.8,170.1,-11.5,134,1437,0.00,2.40,0.00,0.000,4,0.000,0.030,2896,3450,3492,0,0,0,0,0,0
$GC,1474,-1.40,-116.8,175.1,-11.8,137,1479,0.12,2.33,0.00,0.000,6,0.067,0.028,2841,1955,3492,0,0,0,0,0,0
$GC,1742,-1.40,-116.8,210.1,-12.4,156,1747,0.10,2.35,0.00,0.000,4,0.116,0.028,2864,3445,3493,0,0,0,0,0,0
$GC,1787,-1.40,-116.8,215.1,-10.8,157,1791,0.00,2.33,0.00,0.000,6,0.000,0.030,2864,1953,3492,0,0,0,0,0,0
$GC,2065,-1.40,-116.8,243.6,-9.9,164,2070,0.00,2.35,0.00,0.000,4,0.000,0.027,2864,3450,3493,0,0,0,0,0,0
$GC,2110,-1.46,-116.8,247.9,-9.4,165,2114,0.00,2.38,0.00,0.000,6,0.000,0.031,2864,1945,3492,0,0,0,0,0,0
$GC,2390,-1.50,-116.8,273.8,-9.5,172,2394,0.00,2.35,0.00,0.000,4,0.000,0.037,2864,3439,3492,0,0,0,0,0,0
$GC,2486,-1.59,-116.8,283.9,-9.8,174,2491,0.17,2.33,0.00,0.000,6,0.057,0.031,2804,1965,3492,0,0,0,0,0,0
$GC,2760,-1.53,-116.8,317.1,-12.4,181,2764,0.15,2.38,0.00,0.000,4,0.103,0.040,2837,3445,3492,0,0,0,0,0,0
$GC,2804,-1.56,-116.8,322.4,-10.7,182,2808,0.00,2.38,0.00,0.000,6,0.000,0.032,2837,1979,3492,0,0,0,0,0,0
$GC,3082,-1.56,-116.8,347.3,-8.6,189,3086,0.00,2.35,0.00,0.000,4,0.000,0.038,2837,3436,3491,0,0,0,0,0,0
$GC,3208,-1.61,-116.8,358.5,-8.9,191,3213,0.00,2.38,0.00,0.000,6,0.000,0.044,2837,1995,3491,0,0,0,0,0,0
$GC,3457,-1.61,-116.8,383.2,-10.1,198,3462,0.00,2.97,0.00,0.000,4,0.000,0.091,2837,326,3490,0,0,0,0,0,0
$GC,3484,-1.61,-116.8,386.2,-11.3,198,3488,0.00,2.60,0.00,0.000,6,0.000,0.028,2837,1950,3489,0,0,0,0,0,0
$GC,3741,-1.61,-116.8,412.9,-10.5,205,3742,0.00,0.00,0.00,0.000,6,0.000,0.000,2837,1950,3488,0,0,0,0,0,0
$GC,3984,-1.65,-116.8,436.4,-9.5,211,3989,0.12,2.47,0.00,0.000,4,0.075,0.054,2798,3432,3486,0,0,0,0,0,0
$GC,4006,-1.65,-116.8,438.9,-10.7,211,4010,0.00,2.38,0.00,0.000,6,0.000,0.052,2798,2002,3486,0,0,0,0,0,0
$GC,4268,-1.65,-116.8,468.6,-11.3,218,4270,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2002,3484,0,0,0,0,0,0
$GC,4511,-1.65,-116.8,495.3,-10.7,224,4515,0.00,2.38,0.00,0.000,4,0.000,0.053,2797,3431,3482,0,0,0,0,0,0
$GC,4526,-1.65,-116.8,497.2,-10.9,224,4530,0.00,2.38,0.00,0.000,6,0.000,0.051,2798,2008,3482,0,0,0,0,0,0
$STATE,4589,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4589,begin apogee
$GC,4596,-0.31,0.0,504.2,11.3,226,4697,1.35,0.00,97.55,0.914,6,0.082,0.000,3102,2008,3010,0,0,0,0,0,0
$STATE,4698,end apogee,CONTROL_FINISHED_OK
$STATE,4698,begin climb
$GC,4701,1.38,116.8,507.0,0.0,228,4812,1.52,2.70,99.88,0.896,4,0.041,0.053,3472,3530,2532,0,0,0,0,0,0
$GC,4871,1.31,171.8,505.0,6.9,232,4926,0.00,2.60,48.38,0.875,6,0.000,0.058,3472,2009,2308,0,0,0,0,0,0
$GC,5199,1.21,171.8,472.1,10.3,240,5205,0.17,2.97,0.00,0.000,4,0.116,0.104,3435,409,2299,0,0,0,0,0,0
$GC,5241,1.12,171.8,467.8,10.7,241,5245,0.00,2.53,0.00,0.000,6,0.000,0.035,3435,1951,2297,0,0,0,0,0,0
$GC,5524,1.14,184.5,441.0,9.3,248,5536,0.00,0.00,10.70,0.785,6,0.000,0.000,3435,1951,2257,0,0,0,0,0,0
$GC,5768,1.15,194.3,418.0,9.5,254,5780,0.00,0.00,9.95,0.770,6,0.000,0.000,3435,1951,2216,0,0,0,0,0,0
$GC,6013,1.16,201.7,394.5,9.6,260,6027,0.00,2.78,7.72,0.727,4,0.000,0.072,3435,402,2187,0,0,0,0,0,0
$GC,6061,1.11,201.7,389.3,10.6,261,6066,0.12,2.60,0.00,0.000,6,0.130,0.023,3411,2008,2186,0,0,0,0,0,0
$GC,6341,1.20,237.9,366.0,8.0,268,6382,0.00,2.88,33.15,0.823,4,0.000,0.064,3411,410,2039,0,0,0,0,0,0
$GC,6446,1.20,245.1,356.5,9.6,270,6460,0.00,2.53,7.75,0.700,6,0.000,0.021,3411,1977,2010,0,0,0,0,0,0
$GC,6717,1.29,261.8,331.9,9.1,277,6736,0.17,0.00,16.33,0.772,6,0.073,0.000,3455,1977,1942,0,0,0,0,0,0
$GC,6960,1.29,261.8,304.2,11.4,283,6964,0.00,2.67,0.00,0.000,4,0.000,0.061,3455,404,1938,0,0,0,0,0,0
$GC,6987,1.25,261.8,300.9,12.3,283,6991,0.00,2.50,0.00,0.000,6,0.000,0.022,3455,1976,1936,0,0,0,0,0,0
$GC,7238,1.25,261.8,273.8,10.7,289,7239,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1977,1935,0,0,0,0,0,0
$GC,7480,1.25,261.8,249.5,10.2,295,7481,0.00,0.00,0.00,0.000,6,0.000,0.000,3455,1977,1935,0,0,0,0,0,0
$GC,7724,1.25,261.8,224.7,10.0,301,7728,0.00,2.67,0.00,0.000,4,0.000,0.061,3455,401,1933,0,0,0,0,0,0
$GC,7756,1.25,261.8,221.3,10.2,301,7762,0.00,2.47,0.00,0.000,6,0.000,0.020,3456,1977,1932,0,0,0,0,0,0
$GC,8008,1.31,272.3,197.9,9.4,308,8022,0.00,2.70,9.02,0.635,4,0.000,0.061,3456,403,1900,0,0,0,0,0,0
$GC,8046,1.31,272.3,193.6,10.7,311,8052,0.00,2.45,0.00,0.000,6,0.000,0.025,3456,1963,1898,0,0,0,0,0,0
$GC,8312,1.39,297.0,169.7,8.6,336,8340,0.00,2.62,23.08,0.663,4,0.000,0.034,3455,3558,1798,0,0,0,0,0,0
$GC,8376,1.46,297.0,162.9,10.7,341,8381,0.12,2.65,0.00,0.000,6,0.081,0.034,3491,1935,1796,0,0,0,0,0,0
$GC,8641,1.46,297.0,135.1,10.5,365,8645,0.00,2.60,0.00,0.000,4,0.000,0.060,3492,401,1794,0,0,0,0,0,0
$GC,8697,1.46,297.0,128.7,12.1,369,8701,0.00,2.40,0.00,0.000,6,0.000,0.019,3491,1947,1793,0,0,0,0,0,0
$GC,8963,1.46,297.0,101.1,10.4,393,8968,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,1948,1793,0,0,0,0,0,0
$GC,9230,1.46,297.0,74.0,10.7,418,9234,0.00,2.58,0.00,0.000,4,0.000,0.058,3491,401,1793,0,0,0,0,0,0
$GC,9274,1.46,297.0,68.9,11.6,421,9278,0.00,2.38,0.00,0.000,6,0.000,0.023,3491,1943,1793,0,0,0,0,0,0
$GC,9544,1.55,325.3,45.5,8.4,445,9575,0.00,2.67,25.23,0.545,4,0.000,0.054,3491,408,1682,0,0,0,0,0,0
$GC,9648,1.55,325.3,34.5,12.6,453,9652,0.00,2.33,0.00,0.000,6,0.000,0.017,3491,1929,1680,0,0,0,0,0,0
$STATE,9964,end climb,SURFACE_DEPTH_REACHED
$STATE,9964,begin surface coast
$FINISH,0.5,0.979928
$STATE,10007,end surface coast,CONTROL_FINISHED_OK
$STATE,10007,begin surface
$SM_CCo,10029,44.85,0.515,0,0,1460,380.21
$SM_GC,1.29,0.00,0.00,44.85,0.000,0.000,0.515,473,1846,1460,-12.41,-1.24,380.21
$IRIDIUM_FIX,2239.35,-15757.16,180900,232302
$TT8_MAMPS,0.026078
$HUMID,63.70
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.80
$XPDR_PINGS,49
$24V_AH,23.5,47.571
$10V_AH,10.3,41.867
$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,29.050,120.300,388.725,44.850,0.000,22.921,34.341,499.112,12.250,0.000,35.886,1028.781,6456.481,487.220,1969.463,846.402,33.367,1198.997,0.000,1955.719,0.000,0.536,0.000
$DEVICE_MAMPS,151.866,104.312,914.264,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,340.249,284.826,389.080,747.366,1130.767,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355612
$DATA_FILE_SIZE,38414,502
$CAP_FILE_SIZE,111111,0
$CFSIZE,260165632,162357248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260611,050655,2248.047,-15758.531,10,1.8,27,10.1