version: 66.06
glider: 146
mission: 6
dive: 382
start: 6 26 111 14 37 36
data:
$ID,146
$MISSION,6
$DIVE,382
$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,-277495.97
$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,99
$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
$GPS1,142225,2247.374,-15758.179,49,1.2,49,10.1
$_CALLS,2
$_XMS_NAKs,14
$_XMS_TOUTs,1
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.6
$GPS2,143638,2247.570,-15758.205,10,1.6,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.179,-0.151
$KALMAN_X,-257731.0,99.3,-176.7,255407.6,-591.8
$KALMAN_Y,30504.9,216.5,82.2,-24017.7,1204.2
$MHEAD_RNG_PITCHd_Wd,219.7,8256,-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,-70.45,0.000,2,0.000,0.000,476,1957,3232,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.3,-5.2,9,117,12.57,2.78,-4.80,0.000,4,0.155,0.066,2859,335,3489,0,0,0,0,0,0
$GC,210,-1.23,-116.8,29.6,-16.5,25,220,0.15,2.40,0.00,0.000,6,0.166,0.015,2895,1893,3491,0,0,0,0,0,0
$GC,476,-1.18,-116.8,66.8,-12.9,50,481,0.00,2.47,0.00,0.000,4,0.000,0.026,2894,3471,3491,0,0,0,0,0,0
$GC,499,-1.18,-116.8,69.6,-12.9,51,503,0.00,2.45,0.00,0.000,6,0.000,0.025,2894,1915,3491,0,0,0,0,0,0
$GC,765,-1.18,-116.8,100.3,-11.5,75,769,0.00,2.47,0.00,0.000,4,0.000,0.032,2894,3472,3491,0,0,0,0,0,0
$GC,787,-1.18,-116.8,103.8,-12.2,76,796,0.00,2.47,0.00,0.000,6,0.000,0.024,2895,1921,3491,0,0,0,0,0,0
$GC,1054,-1.18,-116.8,137.7,-14.0,101,1059,0.00,2.45,0.00,0.000,4,0.000,0.033,2895,3469,3492,0,0,0,0,0,0
$GC,1076,-1.18,-116.8,141.5,-12.8,102,1085,0.00,2.45,0.00,0.000,6,0.000,0.027,2894,1929,3492,0,0,0,0,0,0
$GC,1344,-1.23,-116.8,171.6,-11.4,127,1349,0.00,0.00,0.00,0.000,6,0.000,0.000,2894,1929,3492,0,0,0,0,0,0
$GC,1608,-1.30,-116.8,197.5,-8.8,152,1612,0.00,2.42,0.00,0.000,4,0.000,0.031,2895,3476,3493,0,0,0,0,0,0
$GC,1662,-1.43,-116.8,202.3,-8.6,155,1667,0.15,2.42,0.00,0.000,6,0.059,0.022,2834,1935,3493,0,0,0,0,0,0
$GC,1934,-1.39,-116.8,232.5,-11.5,162,1939,0.15,2.42,0.00,0.000,4,0.101,0.031,2868,3468,3493,0,0,0,0,0,0
$GC,1978,-1.46,-116.8,237.4,-10.1,163,1982,0.00,2.38,0.00,0.000,6,0.000,0.031,2868,1960,3493,0,0,0,0,0,0
$GC,2257,-1.50,-116.8,265.6,-10.2,170,2262,0.10,2.42,0.00,0.000,4,0.083,0.033,2828,3468,3493,0,0,0,0,0,0
$GC,2318,-1.50,-116.8,273.1,-12.6,171,2322,0.00,2.38,0.00,0.000,6,0.000,0.031,2827,1971,3493,0,0,0,0,0,0
$GC,2579,-1.50,-116.8,302.6,-11.5,178,2583,0.00,2.40,0.00,0.000,4,0.000,0.037,2827,3469,3493,0,0,0,0,0,0
$GC,2602,-1.50,-116.8,305.0,-11.0,178,2606,0.00,2.38,0.00,0.000,6,0.000,0.035,2827,1984,3493,0,0,0,0,0,0
$GC,2858,-1.50,-116.8,332.1,-10.3,185,2862,0.00,2.35,0.00,0.000,4,0.000,0.039,2827,3463,3492,0,0,0,0,0,0
$GC,2944,-1.55,-116.8,340.5,-9.3,187,2948,0.00,2.38,0.00,0.000,6,0.000,0.042,2827,2012,3492,0,0,0,0,0,0
$GC,3228,-1.55,-116.8,370.0,-11.0,194,3232,0.00,2.97,0.00,0.000,4,0.000,0.091,2827,347,3491,0,0,0,0,0,0
$GC,3294,-1.55,-116.8,378.1,-12.1,195,3298,0.00,2.58,0.00,0.000,6,0.000,0.028,2827,1961,3491,0,0,0,0,0,0
$GC,3550,-1.55,-116.8,406.4,-11.1,202,3555,0.00,2.55,0.00,0.000,4,0.000,0.058,2827,3494,3489,0,0,0,0,0,0
$GC,3618,-1.61,-116.8,413.6,-9.8,203,3622,0.00,2.45,0.00,0.000,6,0.000,0.047,2827,2025,3489,0,0,0,0,0,0
$GC,3873,-1.61,-116.8,438.5,-9.7,210,3878,0.00,3.08,0.00,0.000,4,0.000,0.104,2827,346,3487,0,0,0,0,0,0
$GC,3918,-1.61,-116.8,443.2,-10.4,211,3922,0.00,2.70,0.00,0.000,6,0.000,0.032,2827,2007,3487,0,0,0,0,0,0
$GC,4195,-1.61,-116.8,470.8,-10.0,218,4197,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,2007,3485,0,0,0,0,0,0
$GC,4439,-1.61,-116.8,495.0,-9.8,224,4444,0.00,2.55,0.00,0.000,4,0.000,0.070,2827,3490,3483,0,0,0,0,0,0
$GC,4463,-1.65,-116.8,497.3,-9.9,224,4467,0.00,2.47,0.00,0.000,6,0.000,0.055,2827,2033,3483,0,0,0,0,0,0
$STATE,4514,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4514,begin apogee
$GC,4520,-0.31,0.0,502.3,9.5,226,4621,1.20,0.00,97.60,0.911,6,0.093,0.000,3099,2033,3010,0,0,0,0,0,0
$STATE,4622,end apogee,CONTROL_FINISHED_OK
$STATE,4622,begin climb
$GC,4624,1.38,116.8,504.1,0.0,228,4737,1.55,2.72,99.65,0.890,4,0.038,0.058,3477,3565,2532,0,0,0,0,0,0
$GC,4760,1.28,174.1,502.1,6.7,231,4816,0.15,2.65,49.92,0.872,6,0.123,0.054,3450,2013,2300,0,0,0,0,0,0
$GC,5072,1.22,175.0,471.8,10.0,239,5077,0.00,2.60,0.00,0.000,4,0.000,0.047,3450,3573,2292,0,0,0,0,0,0
$GC,5105,1.16,183.9,468.5,9.5,239,5120,0.12,2.67,8.85,0.757,6,0.131,0.051,3426,2000,2260,0,0,0,0,0,0
$GC,5402,1.19,205.9,442.5,8.8,247,5428,0.00,3.03,20.65,0.835,4,0.000,0.105,3426,408,2169,0,0,0,0,0,0
$GC,5456,1.14,205.9,436.9,10.4,248,5461,0.00,2.60,0.00,0.000,6,0.000,0.025,3426,2001,2167,0,0,0,0,0,0
$GC,5722,1.15,214.4,411.2,9.6,255,5736,0.00,2.88,8.15,0.738,4,0.000,0.074,3426,413,2135,0,0,0,0,0,0
$GC,5777,1.15,214.4,405.5,11.0,256,5782,0.00,2.55,0.00,0.000,6,0.000,0.022,3425,2002,2134,0,0,0,0,0,0
$GC,6049,1.16,225.0,380.1,9.4,263,6065,0.00,2.62,11.05,0.769,4,0.000,0.047,3426,3575,2090,0,0,0,0,0,0
$GC,6112,1.20,225.0,373.8,10.2,264,6116,0.00,2.65,0.00,0.000,6,0.000,0.038,3426,1990,2089,0,0,0,0,0,0
$GC,6372,1.20,227.4,347.9,9.9,271,6377,0.00,2.78,0.00,0.000,4,0.000,0.077,3426,407,2087,0,0,0,0,0,0
$GC,6513,1.20,227.4,333.3,10.4,274,6517,0.00,2.53,0.00,0.000,6,0.000,0.026,3426,1991,2085,0,0,0,0,0,0
$GC,6785,1.28,258.8,311.1,8.2,281,6822,0.10,2.62,30.58,0.791,4,0.090,0.037,3454,3567,1954,0,0,0,0,0,0
$GC,6834,1.28,258.8,306.2,10.2,281,6839,0.00,2.65,0.00,0.000,6,0.000,0.036,3454,1970,1952,0,0,0,0,0,0
$GC,7108,1.28,258.8,278.0,10.1,288,7113,0.00,2.72,0.00,0.000,4,0.000,0.074,3454,409,1949,0,0,0,0,0,0
$GC,7158,1.28,258.8,271.9,12.1,289,7162,0.00,2.47,0.00,0.000,6,0.000,0.025,3454,1973,1947,0,0,0,0,0,0
$GC,7430,1.28,258.8,243.5,10.5,296,7435,0.00,2.60,0.00,0.000,4,0.000,0.041,3454,3568,1947,0,0,0,0,0,0
$GC,7476,1.32,258.8,238.6,10.9,297,7480,0.00,2.62,0.00,0.000,6,0.000,0.036,3454,1963,1945,0,0,0,0,0,0
$GC,7754,1.39,283.6,212.9,8.6,304,7782,0.00,2.78,21.70,0.703,4,0.000,0.066,3454,414,1853,0,0,0,0,0,0
$GC,7801,1.39,283.6,208.2,10.7,305,7806,0.00,2.47,0.00,0.000,6,0.000,0.025,3454,1974,1851,0,0,0,0,0,0
$GC,8072,1.48,301.5,182.8,9.0,322,8096,0.15,2.78,16.92,0.661,4,0.071,0.057,3497,408,1779,0,0,0,0,0,0
$GC,8153,1.43,301.5,173.6,11.9,329,8158,0.00,2.47,0.00,0.000,6,0.000,0.022,3497,1979,1777,0,0,0,0,0,0
$GC,8421,1.43,301.5,145.7,10.3,353,8426,0.00,2.55,0.00,0.000,4,0.000,0.038,3497,3558,1777,0,0,0,0,0,0
$GC,8454,1.43,301.5,141.7,11.5,355,8459,0.00,2.58,0.00,0.000,6,0.000,0.036,3496,1969,1775,0,0,0,0,0,0
$GC,8722,1.43,301.5,111.4,11.4,379,8726,0.00,2.60,0.00,0.000,4,0.000,0.058,3496,414,1775,0,0,0,0,0,0
$GC,8801,1.43,301.5,101.6,12.0,385,8805,0.00,2.42,0.00,0.000,6,0.000,0.025,3496,1979,1775,0,0,0,0,0,0
$GC,9069,1.44,312.6,75.0,9.4,409,9086,0.00,2.70,10.48,0.538,4,0.000,0.057,3496,410,1734,0,0,0,0,0,0
$GC,9098,1.44,312.6,71.2,10.4,411,9108,0.00,2.42,0.00,0.000,6,0.000,0.018,3496,1960,1734,0,0,0,0,0,0
$GC,9367,1.50,326.6,45.9,9.2,436,9386,0.00,2.60,13.95,0.528,4,0.000,0.048,3496,412,1676,0,0,0,0,0,0
$GC,9476,1.51,329.4,34.5,9.9,444,9481,0.00,2.38,0.00,0.000,6,0.000,0.018,3497,1950,1675,0,0,0,0,0,0
$STATE,9775,end climb,SURFACE_DEPTH_REACHED
$STATE,9775,begin surface coast
$FINISH,0.6,0.980047
$STATE,9832,end surface coast,CONTROL_FINISHED_OK
$STATE,9832,begin surface
$SM_CCo,9853,43.60,0.515,0,0,1459,380.21
$SM_GC,1.13,0.00,0.00,43.60,0.000,0.000,0.515,477,1951,1459,-12.39,0.88,380.21
$IRIDIUM_FIX,2237.01,-15758.03,190900,141429
$TT8_MAMPS,0.026078
$HUMID,63.62
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.90
$XPDR_PINGS,52
$24V_AH,23.5,48.147
$10V_AH,10.3,42.339
$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,28.625,143.975,389.500,43.600,0.000,60.126,85.522,503.705,13.000,0.000,11.889,1040.903,6273.830,489.147,1991.916,960.819,33.374,1251.852,0.000,1992.077,0.000,0.536,0.000
$DEVICE_MAMPS,165.672,105.079,911.196,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.813,272.899,377.492,728.545,1101.776,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355608
$DATA_FILE_SIZE,38427,492
$CAP_FILE_SIZE,119199,0
$CFSIZE,260165632,162123776
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260611,172346,2247.746,-15759.725,10,2.2,29,10.1