version: 66.06
glider: 146
mission: 6
dive: 383
start: 6 26 111 17 45 25
data:
$ID,146
$MISSION,6
$DIVE,383
$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,-277535.66
$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,63
$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
$GPS1,172346,2247.746,-15759.725,10,2.2,29,10.1
$_CALLS,3
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-69.1
$GPS2,174429,2247.982,-15759.827,33,1.5,37,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.165,-0.167
$KALMAN_X,-258923.9,132.8,10.2,253608.3,-880.3
$KALMAN_Y,32518.3,5.9,514.3,-25494.4,824.6
$MHEAD_RNG_PITCHd_Wd,214.5,5715,-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,-70.40,0.000,2,0.000,0.000,476,1951,3222,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.0,-4.7,9,116,12.62,2.70,-5.18,0.000,4,0.156,0.057,2860,333,3488,0,0,0,0,0,0
$GC,316,-1.25,-116.8,48.6,-17.2,35,321,0.17,2.42,0.00,0.000,6,0.209,0.015,2895,1930,3489,0,0,0,0,0,0
$GC,582,-1.25,-116.8,82.8,-11.8,59,587,0.00,2.65,0.00,0.000,4,0.000,0.053,2895,336,3489,0,0,0,0,0,0
$GC,600,-1.25,-116.8,85.5,-11.7,60,604,0.00,2.40,0.00,0.000,6,0.000,0.022,2895,1937,3489,0,0,0,0,0,0
$GC,862,-1.25,-116.8,117.9,-12.7,84,866,0.00,2.40,0.00,0.000,4,0.000,0.034,2895,3465,3490,0,0,0,0,0,0
$GC,908,-1.29,-116.8,123.5,-13.2,87,913,0.00,2.42,0.00,0.000,6,0.000,0.026,2895,1916,3490,0,0,0,0,0,0
$GC,1172,-1.29,-116.8,153.5,-11.7,111,1176,0.00,2.42,0.00,0.000,4,0.000,0.028,2895,3454,3490,0,0,0,0,0,0
$GC,1206,-1.37,-116.8,157.7,-10.8,113,1212,0.10,2.40,0.00,0.000,6,0.077,0.031,2845,1937,3491,0,0,0,0,0,0
$GC,1471,-1.33,-116.8,189.1,-11.4,138,1476,0.15,2.42,0.00,0.000,4,0.102,0.028,2878,3457,3490,0,0,0,0,0,0
$GC,1540,-1.40,-116.8,196.9,-10.0,143,1545,0.00,2.38,0.00,0.000,6,0.000,0.022,2879,1948,3490,0,0,0,0,0,0
$GC,1823,-1.40,-116.8,223.8,-9.7,153,1828,0.00,2.67,0.00,0.000,4,0.000,0.060,2879,349,3491,0,0,0,0,0,0
$GC,1839,-1.40,-116.8,225.8,-10.2,153,1843,0.00,2.42,0.00,0.000,6,0.000,0.021,2879,1947,3491,0,0,0,0,0,0
$GC,2106,-1.45,-116.8,252.9,-10.2,160,2111,0.10,2.42,0.00,0.000,4,0.085,0.035,2841,3474,3491,0,0,0,0,0,0
$GC,2135,-1.45,-116.8,256.0,-11.4,160,2139,0.00,2.38,0.00,0.000,6,0.000,0.032,2841,1960,3491,0,0,0,0,0,0
$GC,2384,-1.45,-116.8,284.0,-11.2,166,2389,0.00,2.40,0.00,0.000,4,0.000,0.031,2841,3469,3491,0,0,0,0,0,0
$GC,2446,-1.50,-116.8,290.7,-11.0,167,2450,0.00,2.35,0.00,0.000,6,0.000,0.028,2841,1981,3491,0,0,0,0,0,0
$GC,2708,-1.50,-116.8,315.5,-9.1,174,2713,0.00,2.88,0.00,0.000,4,0.000,0.079,2841,339,3491,0,0,0,0,0,0
$GC,2729,-1.50,-116.8,317.8,-10.1,174,2733,0.00,2.58,0.00,0.000,6,0.000,0.030,2840,1965,3491,0,0,0,0,0,0
$GC,2985,-1.50,-116.8,341.9,-9.2,181,2989,0.00,2.80,0.00,0.000,4,0.000,0.077,2840,347,3490,0,0,0,0,0,0
$GC,3002,-1.50,-116.8,343.5,-9.2,181,3006,0.00,2.58,0.00,0.000,6,0.000,0.025,2840,1977,3490,0,0,0,0,0,0
$GC,3263,-1.50,-116.8,368.1,-9.3,188,3264,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1977,3489,0,0,0,0,0,0
$GC,3507,-1.54,-116.8,391.0,-9.5,194,3511,0.00,2.53,0.00,0.000,4,0.000,0.051,2840,3502,3487,0,0,0,0,0,0
$GC,3575,-1.61,-116.8,398.0,-10.6,195,3579,0.00,2.50,0.00,0.000,6,0.000,0.044,2841,1992,3487,0,0,0,0,0,0
$GC,3830,-1.66,-116.8,425.2,-10.8,202,3832,0.12,0.00,0.00,0.000,6,0.071,0.000,2796,1991,3485,0,0,0,0,0,0
$GC,4073,-1.66,-116.8,453.2,-11.4,208,4074,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1991,3483,0,0,0,0,0,0
$GC,4318,-1.66,-116.8,479.9,-11.0,214,4319,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,1991,3481,0,0,0,0,0,0
$STATE,4517,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4517,begin apogee
$GC,4523,-0.31,0.0,503.4,11.7,219,4624,1.35,0.00,97.20,0.913,6,0.081,0.000,3100,1991,3009,0,0,0,0,0,0
$STATE,4625,end apogee,CONTROL_FINISHED_OK
$STATE,4625,begin climb
$GC,4627,1.38,116.8,506.6,0.0,221,4736,1.58,2.75,100.30,0.896,4,0.038,0.058,3481,3561,2532,0,0,0,0,0,0
$GC,4773,1.29,182.2,507.2,6.3,225,4838,0.15,2.67,57.20,0.880,6,0.125,0.055,3453,2010,2266,0,0,0,0,0,0
$GC,5089,1.23,193.1,479.0,9.4,233,5100,0.00,0.00,9.77,0.773,6,0.000,0.000,3453,2010,2222,0,0,0,0,0,0
$GC,5334,1.18,193.1,453.6,10.7,239,5339,0.12,3.05,0.00,0.000,4,0.126,0.112,3427,403,2217,0,0,0,0,0,0
$GC,5378,1.13,193.1,447.9,12.0,240,5383,0.00,2.58,0.00,0.000,6,0.000,0.034,3428,1979,2216,0,0,0,0,0,0
$GC,5657,1.13,193.1,418.9,10.8,247,5662,0.00,2.80,0.00,0.000,4,0.000,0.074,3428,400,2214,0,0,0,0,0,0
$GC,5685,1.08,193.1,415.3,11.7,247,5690,0.10,2.55,0.00,0.000,6,0.139,0.030,3407,1979,2213,0,0,0,0,0,0
$GC,5935,1.13,204.0,391.8,9.4,253,5949,0.00,0.00,9.65,0.764,6,0.000,0.000,3407,1979,2178,0,0,0,0,0,0
$GC,6225,1.20,219.4,364.9,9.2,260,6246,0.10,2.67,15.20,0.794,4,0.093,0.044,3433,3582,2113,0,0,0,0,0,0
$GC,6264,1.21,227.2,361.2,9.6,261,6278,0.00,2.72,8.38,0.716,6,0.000,0.042,3434,1950,2083,0,0,0,0,0,0
$GC,6554,1.22,240.6,333.7,9.3,268,6573,0.00,2.80,12.80,0.759,4,0.000,0.080,3434,411,2028,0,0,0,0,0,0
$GC,6670,1.23,245.8,322.4,9.7,270,6685,0.00,2.47,6.38,0.656,6,0.000,0.021,3434,1959,2006,0,0,0,0,0,0
$GC,6931,1.26,273.1,300.4,8.5,277,6959,0.00,0.00,25.92,0.775,6,0.000,0.000,3434,1959,1896,0,0,0,0,0,0
$GC,7173,1.31,276.0,276.0,9.9,283,7178,0.10,2.70,0.00,0.000,4,0.089,0.066,3463,407,1890,0,0,0,0,0,0
$GC,7234,1.31,276.0,269.7,10.5,284,7238,0.00,2.42,0.00,0.000,6,0.000,0.026,3463,1941,1890,0,0,0,0,0,0
$GC,7497,1.33,290.1,245.9,9.2,291,7518,0.00,2.70,15.52,0.713,4,0.000,0.034,3463,3570,1825,0,0,0,0,0,0
$GC,7529,1.35,309.6,242.7,8.9,291,7554,0.00,2.72,18.67,0.709,6,0.000,0.036,3462,1919,1746,0,0,0,0,0,0
$GC,7823,1.35,309.6,211.6,10.9,299,7827,0.00,2.62,0.00,0.000,4,0.000,0.071,3462,402,1742,0,0,0,0,0,0
$GC,7866,1.35,309.6,205.6,13.7,300,7871,0.00,2.42,0.00,0.000,6,0.000,0.024,3463,1944,1740,0,0,0,0,0,0
$GC,8135,1.40,312.4,178.3,9.9,320,8136,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,1945,1740,0,0,0,0,0,0
$GC,8389,1.50,345.4,154.6,8.1,344,8423,0.15,0.00,31.17,0.650,6,0.071,0.000,3505,1945,1600,0,0,0,0,0,0
$GC,8679,1.50,345.4,122.9,11.1,371,8684,0.00,2.62,0.00,0.000,4,0.000,0.054,3506,399,1597,0,0,0,0,0,0
$GC,8759,1.50,345.4,112.9,12.8,377,8763,0.00,2.42,0.00,0.000,6,0.000,0.025,3506,1954,1596,0,0,0,0,0,0
$GC,9025,1.50,345.4,84.4,11.1,401,9029,0.00,2.62,0.00,0.000,4,0.000,0.052,3505,400,1595,0,0,0,0,0,0
$GC,9058,1.50,345.4,80.2,12.9,403,9062,0.00,2.38,0.00,0.000,6,0.000,0.018,3505,1934,1596,0,0,0,0,0,0
$GC,9326,1.54,345.4,50.0,10.6,427,9330,0.00,2.55,0.00,0.000,4,0.000,0.051,3505,402,1596,0,0,0,0,0,0
$GC,9396,1.54,345.4,41.3,12.0,432,9400,0.00,2.35,0.00,0.000,6,0.000,0.017,3506,1930,1596,0,0,0,0,0,0
$GC,9704,1.58,345.4,6.7,11.8,472,9713,0.00,2.58,0.00,0.000,4,0.000,0.055,3506,400,1595,0,0,0,0,0,0
$STATE,9728,end climb,SURFACE_DEPTH_REACHED
$STATE,9728,begin surface coast
$FINISH,2.6,0.980033
$STATE,9736,end surface coast,CONTROL_FINISHED_OK
$STATE,9737,begin surface
$SM_CCo,9763,28.25,0.512,0,0,1459,380.21
$SM_GC,1.24,0.00,0.00,28.25,0.000,0.000,0.512,478,1945,1459,-12.38,0.71,380.21
$IRIDIUM_FIX,2239.35,-15802.37,190900,171753
$TT8_MAMPS,0.026078
$HUMID,64.05
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.70
$XPDR_PINGS,47
$24V_AH,23.5,48.303
$10V_AH,10.2,42.453
$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,29.225,117.700,408.175,28.250,0.000,91.326,114.978,735.215,11.750,0.000,39.067,977.344,6517.861,499.576,1802.211,1239.370,33.374,1158.347,0.000,1777.999,0.000,0.536,0.000
$DEVICE_MAMPS,209.391,111.982,912.730,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.960,267.415,359.980,673.000,1018.406,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355652
$DATA_FILE_SIZE,38408,476
$CAP_FILE_SIZE,113079,0
$CFSIZE,260165632,162074624
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260611,203015,2247.807,-15801.400,38,2.2,57,10.1