version: 66.06
glider: 146
mission: 6
dive: 385
start: 6 26 111 23 56 19
data:
$ID,146
$MISSION,6
$DIVE,385
$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,-277589.34
$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,69
$R_STBD_OVSHOOT,61
$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
$GPS1,234524,2247.819,-15802.836,26,1.0,43,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-68.8
$GPS2,235525,2247.960,-15802.896,11,1.0,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.102,-0.212
$KALMAN_X,-261249.0,-179.5,-138.9,251152.6,-1050.5
$KALMAN_Y,36781.7,127.4,-113.9,-29292.6,1772.7
$MHEAD_RNG_PITCHd_Wd,144.2,1787,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,92,0.00,0.00,-71.03,0.000,2,0.000,0.000,475,1868,3276,0,0,0,0,0,0
$GC,95,-1.38,-116.8,3.8,-6.8,9,121,12.73,2.53,-3.85,0.000,4,0.160,0.058,2860,382,3489,0,0,0,0,0,0
$GC,173,-1.22,-116.8,24.1,-17.7,19,182,0.17,2.38,0.00,0.000,6,0.101,0.015,2901,1928,3490,0,0,0,0,0,0
$GC,447,-1.17,-116.8,65.6,-15.2,46,451,0.00,2.40,0.00,0.000,4,0.000,0.025,2901,3464,3491,0,0,0,0,0,0
$GC,471,-1.17,-116.8,70.1,-14.8,47,481,0.00,2.40,0.00,0.000,6,0.000,0.025,2901,1963,3491,0,0,0,0,0,0
$GC,732,-1.17,-116.8,104.3,-12.5,72,736,0.00,2.38,0.00,0.000,4,0.000,0.034,2901,3472,3491,0,0,0,0,0,0
$GC,778,-1.22,-116.8,109.4,-11.9,75,783,0.00,2.42,0.00,0.000,6,0.000,0.024,2901,1926,3491,0,0,0,0,0,0
$GC,1046,-1.22,-116.8,138.5,-10.1,99,1050,0.00,2.42,0.00,0.000,4,0.000,0.032,2901,3474,3492,0,0,0,0,0,0
$GC,1067,-1.22,-116.8,141.4,-9.7,100,1076,0.00,2.45,0.00,0.000,6,0.000,0.023,2901,1931,3492,0,0,0,0,0,0
$GC,1332,-1.27,-116.8,167.0,-9.5,125,1336,0.00,2.40,0.00,0.000,4,0.000,0.026,2901,3465,3492,0,0,0,0,0,0
$GC,1366,-1.34,-116.8,170.3,-10.3,127,1371,0.10,2.40,0.00,0.000,6,0.082,0.023,2858,1924,3492,0,0,0,0,0,0
$GC,1649,-1.34,-116.8,206.2,-12.3,150,1654,0.00,2.45,0.00,0.000,4,0.000,0.031,2858,3469,3493,0,0,0,0,0,0
$GC,1676,-1.34,-116.8,210.0,-12.1,150,1681,0.00,2.40,0.00,0.000,6,0.000,0.025,2858,1926,3493,0,0,0,0,0,0
$GC,1927,-1.34,-116.8,238.1,-11.1,156,1931,0.00,2.42,0.00,0.000,4,0.000,0.034,2858,3471,3493,0,0,0,0,0,0
$GC,1955,-1.34,-116.8,241.1,-10.3,156,1959,0.00,2.40,0.00,0.000,6,0.000,0.029,2858,1943,3493,0,0,0,0,0,0
$GC,2205,-1.34,-116.8,266.2,-9.9,162,2209,0.00,2.42,0.00,0.000,4,0.000,0.029,2858,3465,3493,0,0,0,0,0,0
$GC,2249,-1.42,-116.8,270.5,-9.0,163,2253,0.00,2.38,0.00,0.000,6,0.000,0.025,2858,1954,3493,0,0,0,0,0,0
$GC,2528,-1.46,-116.8,294.1,-8.4,170,2533,0.00,2.40,0.00,0.000,4,0.000,0.031,2858,3460,3493,0,0,0,0,0,0
$GC,2569,-1.52,-116.8,297.7,-9.0,171,2573,0.00,2.35,0.00,0.000,6,0.000,0.031,2858,1971,3493,0,0,0,0,0,0
$GC,2852,-1.58,-116.8,324.2,-9.5,178,2854,0.12,0.00,0.00,0.000,6,0.071,0.000,2813,1970,3493,0,0,0,0,0,0
$GC,3097,-1.58,-116.8,353.9,-12.2,184,3101,0.00,2.42,0.00,0.000,4,0.000,0.044,2813,3460,3492,0,0,0,0,0,0
$GC,3181,-1.58,-116.8,364.4,-12.3,186,3185,0.00,2.45,0.00,0.000,6,0.000,0.043,2813,1973,3492,0,0,0,0,0,0
$GC,3466,-1.58,-116.8,397.1,-11.3,193,3470,0.00,2.42,0.00,0.000,4,0.000,0.047,2813,3454,3491,0,0,0,0,0,0
$GC,3560,-1.58,-116.8,407.7,-9.5,195,3565,0.00,2.47,0.00,0.000,6,0.000,0.054,2813,1975,3490,0,0,0,0,0,0
$GC,3833,-1.58,-116.8,436.5,-10.6,202,3837,0.00,2.42,0.00,0.000,4,0.000,0.044,2813,3454,3488,0,0,0,0,0,0
$GC,3861,-1.58,-116.8,439.8,-11.7,202,3865,0.00,2.47,0.00,0.000,6,0.000,0.056,2813,1982,3488,0,0,0,0,0,0
$GC,4111,-1.58,-116.8,467.1,-10.8,208,4112,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1982,3486,0,0,0,0,0,0
$GC,4354,-1.58,-116.8,492.3,-10.1,214,4359,0.00,2.45,0.00,0.000,4,0.000,0.051,2813,3451,3485,0,0,0,0,0,0
$GC,4412,-1.58,-116.8,497.9,-9.4,215,4416,0.00,2.50,0.00,0.000,6,0.000,0.056,2813,1986,3484,0,0,0,0,0,0
$STATE,4431,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4431,begin apogee
$GC,4439,-0.31,0.0,500.1,9.6,216,4540,1.25,0.00,98.05,0.907,6,0.078,0.000,3098,1986,3010,0,0,0,0,0,0
$STATE,4541,end apogee,CONTROL_FINISHED_OK
$STATE,4541,begin climb
$GC,4544,1.38,116.8,502.0,0.0,218,4656,1.58,2.70,99.93,0.887,4,0.047,0.056,3482,3520,2532,0,0,0,0,0,0
$GC,4680,1.28,174.1,500.1,6.7,222,4737,0.15,2.60,50.03,0.867,6,0.123,0.054,3452,2009,2300,0,0,0,0,0,0
$GC,5005,1.22,174.1,466.8,10.6,230,5007,0.00,0.00,0.00,0.000,6,0.000,0.000,3452,2009,2292,0,0,0,0,0,0
$GC,5250,1.17,174.1,441.3,10.5,236,5255,0.12,2.97,0.00,0.000,4,0.126,0.105,3427,406,2289,0,0,0,0,0,0
$GC,5272,1.11,174.1,438.5,10.8,236,5276,0.00,2.50,0.00,0.000,6,0.000,0.028,3427,1943,2288,0,0,0,0,0,0
$GC,5528,1.12,186.0,414.7,9.4,243,5543,0.00,2.70,9.95,0.763,4,0.000,0.052,3426,3531,2251,0,0,0,0,0,0
$GC,5571,1.14,200.3,410.5,9.2,244,5591,0.00,2.60,14.35,0.790,6,0.000,0.045,3426,1981,2192,0,0,0,0,0,0
$GC,5853,1.15,210.5,383.9,9.4,251,5868,0.00,2.88,10.00,0.748,4,0.000,0.087,3427,402,2150,0,0,0,0,0,0
$GC,5898,1.11,210.5,379.4,11.0,252,5902,0.00,2.50,0.00,0.000,6,0.000,0.028,3427,1956,2149,0,0,0,0,0,0
$GC,6175,1.13,221.7,352.4,9.4,259,6188,0.00,0.00,11.23,0.750,6,0.000,0.000,3426,1955,2106,0,0,0,0,0,0
$GC,6419,1.15,237.5,330.6,9.1,265,6440,0.00,2.70,15.57,0.768,4,0.000,0.040,3427,3575,2040,0,0,0,0,0,0
$GC,6469,1.19,237.5,325.7,10.5,266,6474,0.00,2.65,0.00,0.000,6,0.000,0.034,3427,1979,2038,0,0,0,0,0,0
$GC,6741,1.24,238.7,298.3,10.0,273,6746,0.00,2.75,0.00,0.000,4,0.000,0.076,3427,408,2036,0,0,0,0,0,0
$GC,6855,1.24,238.7,286.5,10.4,275,6860,0.00,2.47,0.00,0.000,6,0.000,0.026,3426,1981,2035,0,0,0,0,0,0
$GC,7111,1.35,270.6,265.2,8.2,282,7146,0.15,2.65,29.77,0.748,4,0.072,0.037,3469,3566,1906,0,0,0,0,0,0
$GC,7188,1.35,270.6,257.3,10.7,282,7194,0.00,2.62,0.00,0.000,6,0.000,0.033,3469,1972,1904,0,0,0,0,0,0
$GC,7438,1.35,270.6,230.1,10.9,289,7443,0.00,2.70,0.00,0.000,4,0.000,0.066,3469,412,1901,0,0,0,0,0,0
$GC,7465,1.35,270.6,226.7,11.7,289,7469,0.00,2.47,0.00,0.000,6,0.000,0.023,3469,1990,1900,0,0,0,0,0,0
$GC,7721,1.35,270.6,199.9,10.5,296,7726,0.00,2.67,0.00,0.000,4,0.000,0.063,3469,409,1899,0,0,0,0,0,0
$GC,7773,1.35,270.6,193.7,11.9,300,7777,0.00,2.45,0.00,0.000,6,0.000,0.025,3469,1968,1898,0,0,0,0,0,0
$GC,8036,1.37,287.3,168.7,9.1,324,8056,0.00,0.00,15.23,0.642,6,0.000,0.000,3469,1969,1836,0,0,0,0,0,0
$GC,8315,1.44,307.0,142.7,8.9,350,8341,0.00,2.65,17.85,0.623,4,0.000,0.058,3469,411,1757,0,0,0,0,0,0
$GC,8380,1.45,312.0,136.5,9.8,355,8392,0.00,2.45,6.05,0.514,6,0.000,0.019,3469,1975,1737,0,0,0,0,0,0
$GC,8647,1.52,318.2,110.0,9.7,380,8660,0.12,0.00,7.22,0.524,6,0.085,0.000,3505,1976,1710,0,0,0,0,0,0
$GC,8918,1.52,318.2,79.1,11.7,405,8922,0.00,2.62,0.00,0.000,4,0.000,0.053,3505,407,1709,0,0,0,0,0,0
$GC,8962,1.52,318.2,73.2,13.3,408,8966,0.00,2.40,0.00,0.000,6,0.000,0.024,3505,1972,1708,0,0,0,0,0,0
$GC,9230,1.52,318.2,45.6,10.2,432,9234,0.00,2.60,0.00,0.000,4,0.000,0.050,3506,408,1709,0,0,0,0,0,0
$GC,9264,1.52,318.2,41.6,11.6,434,9268,0.00,2.38,0.00,0.000,6,0.000,0.018,3505,1962,1708,0,0,0,0,0,0
$GC,9574,1.52,318.2,8.8,10.6,472,9583,0.00,2.62,0.00,0.000,4,0.000,0.052,3505,407,1708,0,0,0,0,0,0
$STATE,9618,end climb,SURFACE_DEPTH_REACHED
$STATE,9618,begin surface coast
$FINISH,0.7,0.970563
$STATE,9667,end surface coast,CONTROL_FINISHED_OK
$STATE,9667,begin surface
$SM_CCo,9693,51.38,0.516,0,0,1459,380.21
$SM_GC,1.18,0.00,0.00,51.38,0.000,0.000,0.516,474,1956,1459,-12.40,1.02,380.21
$IRIDIUM_FIX,2237.01,-15802.37,190900,202020
$TT8_MAMPS,0.026078
$HUMID,63.50
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,21.80
$XPDR_PINGS,51
$24V_AH,23.5,48.594
$10V_AH,10.3,42.690
$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,28.725,130.725,385.225,51.375,0.000,25.036,34.891,404.688,12.750,0.000,15.696,1007.224,6218.356,491.934,1875.666,753.836,33.371,1207.561,0.000,1874.459,0.000,0.536,0.000
$DEVICE_MAMPS,159.536,105.079,907.361,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.692,280.561,376.444,708.347,1071.631,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355656
$DATA_FILE_SIZE,38349,485
$CAP_FILE_SIZE,109965,0
$CFSIZE,260165632,161972224
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270611,024001,2247.837,-15803.045,36,1.5,36,10.1