version: 66.06
glider: 146
mission: 6
dive: 381
start: 6 26 111 11 35 1
data:
$ID,146
$MISSION,6
$DIVE,381
$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,-277483.47
$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,1920
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,64
$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
$GPS1,111116,2247.481,-15758.062,35,99.0,54,10.1
$_CALLS,3
$_XMS_NAKs,9
$_XMS_TOUTs,1
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.1
$GPS2,113406,2247.775,-15758.164,46,1.1,62,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.102,-0.212
$KALMAN_X,-256517.2,-63.7,-159.7,254405.8,-612.7
$KALMAN_Y,28877.1,452.2,-235.2,-21928.3,1176.9
$MHEAD_RNG_PITCHd_Wd,144.1,1565,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.75,0.000,2,0.000,0.000,479,1997,3246,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.4,-6.1,9,119,12.65,2.80,-4.47,0.000,4,0.158,0.054,2858,341,3489,0,0,0,0,0,0
$GC,163,-1.22,-116.8,22.1,-16.7,18,173,0.17,2.42,0.00,0.000,6,0.202,0.015,2898,1926,3490,0,0,0,0,0,0
$GC,440,-1.18,-116.8,61.4,-14.4,46,444,0.00,2.40,0.00,0.000,4,0.000,0.025,2898,3465,3491,0,0,0,0,0,0
$GC,473,-1.18,-116.8,65.7,-12.1,48,477,0.00,2.42,0.00,0.000,6,0.000,0.023,2898,1917,3491,0,0,0,0,0,0
$GC,737,-1.18,-116.8,98.3,-11.9,72,741,0.00,2.42,0.00,0.000,4,0.000,0.028,2898,3461,3491,0,0,0,0,0,0
$GC,770,-1.18,-116.8,102.8,-11.9,74,779,0.00,2.42,0.00,0.000,6,0.000,0.028,2898,1941,3491,0,0,0,0,0,0
$GC,1035,-1.18,-116.8,134.2,-11.5,99,1040,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1941,3491,0,0,0,0,0,0
$GC,1302,-1.24,-116.8,163.1,-10.6,124,1306,0.00,2.40,0.00,0.000,4,0.000,0.028,2898,3472,3492,0,0,0,0,0,0
$GC,1364,-1.33,-116.8,169.8,-10.2,129,1369,0.00,2.40,0.00,0.000,6,0.000,0.028,2898,1931,3491,0,0,0,0,0,0
$GC,1629,-1.40,-116.8,196.1,-10.6,153,1634,0.15,2.42,0.00,0.000,4,0.066,0.031,2845,3468,3492,0,0,0,0,0,0
$GC,1659,-1.40,-116.8,199.7,-11.1,155,1664,0.00,2.35,0.00,0.000,6,0.000,0.029,2845,1951,3492,0,0,0,0,0,0
$GC,1909,-1.40,-116.8,229.2,-12.0,161,1913,0.00,2.38,0.00,0.000,4,0.000,0.028,2845,3466,3492,0,0,0,0,0,0
$GC,1954,-1.40,-116.8,234.5,-11.6,162,1958,0.00,2.35,0.00,0.000,6,0.000,0.026,2845,1960,3492,0,0,0,0,0,0
$GC,2232,-1.40,-116.8,261.9,-9.5,169,2236,0.00,2.38,0.00,0.000,4,0.000,0.028,2845,3463,3492,0,0,0,0,0,0
$GC,2259,-1.40,-116.8,264.6,-9.8,169,2263,0.00,2.38,0.00,0.000,6,0.000,0.024,2845,1962,3492,0,0,0,0,0,0
$GC,2510,-1.40,-116.8,289.1,-9.8,175,2514,0.00,2.42,0.00,0.000,4,0.000,0.036,2845,3467,3492,0,0,0,0,0,0
$GC,2633,-1.45,-116.8,303.1,-11.3,177,2638,0.00,2.35,0.00,0.000,6,0.000,0.030,2845,1983,3492,0,0,0,0,0,0
$GC,2884,-1.45,-116.8,331.5,-11.5,184,2885,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1983,3491,0,0,0,0,0,0
$GC,3127,-1.49,-116.8,356.7,-9.7,190,3131,0.00,2.38,0.00,0.000,4,0.000,0.044,2845,3457,3490,0,0,0,0,0,0
$GC,3149,-1.54,-116.8,358.8,-9.2,190,3153,0.00,2.35,0.00,0.000,6,0.000,0.038,2845,2006,3490,0,0,0,0,0,0
$GC,3406,-1.59,-116.8,378.0,-7.4,197,3410,0.00,2.95,0.00,0.000,4,0.000,0.094,2845,345,3489,0,0,0,0,0,0
$GC,3427,-1.59,-116.8,380.0,-8.0,197,3432,0.00,2.55,0.00,0.000,6,0.000,0.034,2845,1950,3489,0,0,0,0,0,0
$GC,3683,-1.64,-116.8,402.3,-8.6,204,3688,0.12,2.58,0.00,0.000,4,0.076,0.050,2805,3496,3487,0,0,0,0,0,0
$GC,3757,-1.64,-116.8,409.7,-10.0,205,3761,0.00,2.45,0.00,0.000,6,0.000,0.050,2805,2020,3487,0,0,0,0,0,0
$GC,4007,-1.64,-116.8,435.0,-10.2,211,4008,0.00,0.00,0.00,0.000,6,0.000,0.000,2804,2020,3485,0,0,0,0,0,0
$GC,4250,-1.64,-116.8,461.8,-11.0,217,4255,0.00,3.12,0.00,0.000,4,0.000,0.110,2805,348,3483,0,0,0,0,0,0
$GC,4296,-1.60,-116.8,467.5,-13.5,218,4301,0.00,2.67,0.00,0.000,6,0.000,0.041,2805,1998,3483,0,0,0,0,0,0
$GC,4573,-1.60,-116.8,498.9,-11.1,225,4578,0.00,2.58,0.00,0.000,4,0.000,0.070,2804,3494,3481,0,0,0,0,0,0
$STATE,4583,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4583,begin apogee
$GC,4591,-0.31,0.0,500.1,10.8,225,4692,1.27,0.00,96.85,0.912,6,0.079,0.000,3097,2004,3010,0,0,0,0,0,0
$STATE,4693,end apogee,CONTROL_FINISHED_OK
$STATE,4693,begin climb
$GC,4697,1.38,116.8,502.7,0.0,227,4801,1.55,0.00,100.07,0.891,6,0.042,0.000,3477,2004,2533,0,0,0,0,0,0
$GC,5024,1.30,157.9,487.9,7.7,235,5066,0.12,2.70,35.72,0.866,4,0.127,0.054,3453,3567,2365,0,0,0,0,0,0
$GC,5090,1.25,186.4,482.7,8.4,236,5124,0.00,2.67,26.75,0.848,6,0.000,0.051,3453,1995,2248,0,0,0,0,0,0
$GC,5394,1.19,194.0,453.7,9.6,244,5403,0.12,0.00,6.60,0.701,6,0.124,0.000,3428,1995,2218,0,0,0,0,0,0
$GC,5637,1.20,201.6,430.6,9.6,250,5651,0.00,2.95,8.02,0.739,4,0.000,0.097,3428,412,2188,0,0,0,0,0,0
$GC,5719,1.15,201.6,420.9,11.6,251,5725,0.00,2.58,0.00,0.000,6,0.000,0.025,3428,2002,2186,0,0,0,0,0,0
$GC,5969,1.15,201.6,394.4,10.4,258,5970,0.00,0.00,0.00,0.000,6,0.000,0.000,3428,2002,2185,0,0,0,0,0,0
$GC,6214,1.16,213.6,371.2,9.3,264,6228,0.00,0.00,11.55,0.777,6,0.000,0.000,3428,2002,2139,0,0,0,0,0,0
$GC,6456,1.17,218.3,347.8,9.8,270,6467,0.00,2.78,5.20,0.624,4,0.000,0.067,3428,408,2120,0,0,0,0,0,0
$GC,6620,1.17,219.3,331.0,10.0,273,6624,0.00,2.55,0.00,0.000,6,0.000,0.028,3428,2003,2118,0,0,0,0,0,0
$GC,6872,1.24,246.2,309.7,8.5,279,6906,0.00,2.80,26.33,0.782,4,0.000,0.059,3428,402,2004,0,0,0,0,0,0
$GC,7014,1.25,250.3,295.5,9.8,282,7024,0.00,2.53,4.65,0.560,6,0.000,0.019,3428,1984,1989,0,0,0,0,0,0
$GC,7292,1.35,284.5,271.7,8.1,289,7326,0.15,0.00,31.77,0.755,6,0.076,0.000,3469,1984,1849,0,0,0,0,0,0
$GC,7537,1.35,285.4,247.9,10.0,295,7541,0.00,2.58,0.00,0.000,4,0.000,0.035,3468,3563,1845,0,0,0,0,0,0
$GC,7579,1.35,285.4,243.7,10.9,296,7584,0.00,2.60,0.00,0.000,6,0.000,0.033,3469,1973,1843,0,0,0,0,0,0
$GC,7863,1.35,285.4,214.2,10.1,303,7867,0.00,2.70,0.00,0.000,4,0.000,0.064,3469,404,1843,0,0,0,0,0,0
$GC,7906,1.35,285.4,209.2,11.5,304,7911,0.00,2.47,0.00,0.000,6,0.000,0.026,3468,1988,1841,0,0,0,0,0,0
$GC,8172,1.35,285.4,181.1,10.3,321,8173,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,1990,1841,0,0,0,0,0,0
$GC,8426,1.43,303.5,157.0,9.0,345,8445,0.00,0.00,16.42,0.637,6,0.000,0.000,3469,1990,1772,0,0,0,0,0,0
$GC,8708,1.53,334.9,134.6,8.2,371,8743,0.15,2.58,28.27,0.627,4,0.075,0.030,3508,3568,1642,0,0,0,0,0,0
$GC,8797,1.53,334.9,125.3,10.2,378,8806,0.00,2.62,0.00,0.000,6,0.000,0.035,3508,1976,1641,0,0,0,0,0,0
$GC,9064,1.53,334.9,97.7,11.3,403,9069,0.00,2.65,0.00,0.000,4,0.000,0.060,3508,410,1640,0,0,0,0,0,0
$GC,9105,1.49,334.9,91.8,12.8,406,9110,0.00,2.45,0.00,0.000,6,0.000,0.018,3508,1992,1638,0,0,0,0,0,0
$GC,9374,1.53,334.9,62.0,10.9,430,9378,0.00,2.65,0.00,0.000,4,0.000,0.058,3508,413,1638,0,0,0,0,0,0
$GC,9505,1.55,349.0,46.0,9.2,440,9527,0.00,2.38,12.40,0.519,6,0.000,0.018,3508,1949,1588,0,0,0,0,0,0
$GC,9814,1.55,349.0,13.2,11.2,477,9824,0.00,2.58,0.00,0.000,4,0.000,0.048,3508,414,1586,0,0,0,0,0,0
$STATE,9892,end climb,SURFACE_DEPTH_REACHED
$STATE,9893,begin surface coast
$FINISH,2.1,0.980033
$STATE,9901,end surface coast,CONTROL_FINISHED_OK
$STATE,9901,begin surface
$SM_CCo,9927,26.95,0.509,0,0,1459,380.21
$SM_GC,1.30,0.00,0.00,26.95,0.000,0.000,0.509,476,1957,1459,-12.39,1.05,380.21
$IRIDIUM_FIX,2239.35,-15759.32,190900,111157
$TT8_MAMPS,0.026078
$HUMID,63.27
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.80
$XPDR_PINGS,43
$24V_AH,23.5,48.010
$10V_AH,10.2,42.221
$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,28.750,117.050,410.625,26.950,0.000,80.111,99.258,870.079,10.750,0.000,65.974,1001.371,6557.953,510.476,1904.686,1351.301,33.374,1204.066,0.000,1861.180,0.000,0.536,0.000
$DEVICE_MAMPS,201.721,109.681,911.963,509.288,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.071,279.752,377.422,699.756,1058.298,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,38422,489
$CAP_FILE_SIZE,116568,0
$CFSIZE,260165632,162185216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260611,142225,2247.374,-15758.179,49,1.2,49,10.1