version: 66.06
glider: 146
mission: 6
dive: 395
start: 6 28 111 4 50 56
data:
$ID,146
$MISSION,6
$DIVE,395
$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,-277789.5
$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,3175
$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,25
$R_STBD_OVSHOOT,66
$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
$GPS1,044301,2249.455,-15801.262,88,0.9,88,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-67.8
$GPS2,045002,2249.508,-15801.334,18,1.2,18,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.230,-0.049
$KALMAN_X,-275076.8,-287.3,-46.5,267658.1,-845.7
$KALMAN_Y,47563.8,320.5,242.1,-37747.6,666.4
$MHEAD_RNG_PITCHd_Wd,92.0,7454,-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,16,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-70.97,0.000,2,0.000,0.000,474,1942,3270,0,0,0,0,0,0
$GC,94,-1.38,-116.8,3.8,-6.9,9,120,12.57,2.47,-3.90,0.000,4,0.154,0.041,2862,3468,3489,0,0,0,0,0,0
$GC,132,-0.40,-116.8,17.6,-34.6,13,140,0.98,2.50,0.00,0.000,6,0.085,0.024,3082,1916,3490,0,0,0,0,0,0
$GC,431,-0.74,-116.8,36.0,-3.0,49,440,0.25,0.00,0.00,0.000,6,0.045,0.000,2996,1916,3491,0,0,0,0,0,0
$GC,698,-0.90,-116.8,59.0,-8.7,74,702,0.00,2.50,0.00,0.000,4,0.000,0.026,2996,3471,3492,0,0,0,0,0,0
$GC,733,-1.08,-116.8,62.1,-8.8,76,738,0.22,2.45,0.00,0.000,6,0.045,0.023,2918,1912,3492,0,0,0,0,0,0
$GC,996,-1.08,-116.8,93.6,-11.1,100,1001,0.10,2.50,0.00,0.000,4,0.115,0.032,2941,3474,3492,0,0,0,0,0,0
$GC,1043,-1.22,-116.8,97.9,-10.3,103,1048,0.12,2.42,0.00,0.000,6,0.068,0.023,2890,1922,3492,0,0,0,0,0,0
$GC,1309,-1.22,-116.8,130.1,-12.0,127,1313,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1922,3493,0,0,0,0,0,0
$GC,1573,-1.26,-116.8,157.5,-8.6,152,1578,0.00,0.00,0.00,0.000,6,0.000,0.000,2890,1922,3494,0,0,0,0,0,0
$GC,1837,-1.31,-116.8,180.7,-9.3,177,1841,0.00,2.45,0.00,0.000,4,0.000,0.026,2890,3479,3494,0,0,0,0,0,0
$GC,1860,-1.37,-116.8,183.1,-9.0,178,1865,0.00,2.42,0.00,0.000,6,0.000,0.022,2890,1925,3494,0,0,0,0,0,0
$GC,2130,-1.43,-116.8,208.1,-9.6,198,2135,0.12,2.47,0.00,0.000,4,0.075,0.030,2842,3474,3494,0,0,0,0,0,0
$GC,2162,-1.43,-116.8,211.9,-10.8,198,2169,0.10,2.40,0.00,0.000,6,0.110,0.023,2865,1934,3494,0,0,0,0,0,0
$GC,2414,-1.43,-116.8,235.9,-9.7,205,2418,0.00,2.42,0.00,0.000,4,0.000,0.035,2865,3475,3494,0,0,0,0,0,0
$GC,2441,-1.46,-116.8,238.9,-10.5,205,2445,0.00,2.40,0.00,0.000,6,0.000,0.026,2865,1936,3494,0,0,0,0,0,0
$GC,2691,-1.50,-116.8,264.3,-10.4,211,2695,0.00,2.42,0.00,0.000,4,0.000,0.034,2865,3473,3494,0,0,0,0,0,0
$GC,2720,-1.57,-116.8,267.2,-10.1,211,2725,0.12,2.40,0.00,0.000,6,0.068,0.025,2817,1942,3494,0,0,0,0,0,0
$GC,2970,-1.57,-116.8,294.4,-10.7,217,2974,0.00,2.42,0.00,0.000,4,0.000,0.031,2816,3467,3494,0,0,0,0,0,0
$GC,3025,-1.57,-116.8,300.4,-10.7,218,3029,0.00,2.42,0.00,0.000,6,0.000,0.027,2817,1952,3494,0,0,0,0,0,0
$GC,3292,-1.57,-116.8,327.2,-10.2,225,3297,0.00,2.45,0.00,0.000,4,0.000,0.041,2816,3465,3494,0,0,0,0,0,0
$GC,3359,-1.57,-116.8,334.2,-10.5,226,3363,0.00,2.45,0.00,0.000,6,0.000,0.037,2816,1956,3494,0,0,0,0,0,0
$GC,3615,-1.57,-116.8,361.5,-11.0,233,3619,0.00,2.45,0.00,0.000,4,0.000,0.037,2816,3472,3493,0,0,0,0,0,0
$GC,3677,-1.57,-116.8,368.9,-12.0,234,3682,0.00,2.47,0.00,0.000,6,0.000,0.043,2816,1961,3493,0,0,0,0,0,0
$GC,3938,-1.57,-116.8,399.6,-11.7,241,3939,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1961,3491,0,0,0,0,0,0
$GC,4181,-1.57,-116.8,429.3,-12.0,247,4185,0.00,2.50,0.00,0.000,4,0.000,0.047,2816,3467,3490,0,0,0,0,0,0
$GC,4209,-1.57,-116.8,432.7,-12.8,247,4214,0.00,2.53,0.00,0.000,6,0.000,0.052,2817,1955,3490,0,0,0,0,0,0
$GC,4459,-1.57,-116.8,458.7,-10.0,253,4463,0.00,2.50,0.00,0.000,4,0.000,0.053,2816,3465,3488,0,0,0,0,0,0
$GC,4491,-1.57,-116.8,462.1,-10.1,253,4497,0.00,2.55,0.00,0.000,6,0.000,0.058,2816,1955,3488,0,0,0,0,0,0
$GC,4742,-1.57,-116.8,486.5,-9.6,260,4746,0.00,2.53,0.00,0.000,4,0.000,0.051,2816,3460,3486,0,0,0,0,0,0
$GC,4787,-1.61,-116.8,490.9,-10.3,261,4791,0.00,2.53,0.00,0.000,6,0.000,0.061,2816,1961,3486,0,0,0,0,0,0
$STATE,4899,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4899,begin apogee
$GC,4905,-0.31,0.0,501.9,9.4,264,5007,1.27,0.00,98.28,0.909,6,0.083,0.000,3106,1961,3010,0,0,0,0,0,0
$STATE,5008,end apogee,CONTROL_FINISHED_OK
$STATE,5008,begin climb
$GC,5010,1.38,116.8,503.4,0.0,266,5123,1.52,2.80,99.93,0.891,4,0.037,0.058,3482,3536,2532,0,0,0,0,0,0
$GC,5129,1.32,197.6,503.1,5.4,268,5206,0.00,2.65,70.30,0.881,6,0.000,0.049,3482,1997,2204,0,0,0,0,0,0
$GC,5459,1.21,197.6,462.9,13.0,277,5465,0.20,3.00,0.00,0.000,4,0.113,0.104,3441,404,2195,0,0,0,0,0,0
$GC,5501,1.12,197.6,458.0,12.0,278,5506,0.10,2.53,0.00,0.000,6,0.137,0.035,3422,1961,2193,0,0,0,0,0,0
$GC,5786,1.12,197.6,429.1,10.3,285,5787,0.00,0.00,0.00,0.000,6,0.000,0.000,3421,1961,2192,0,0,0,0,0,0
$GC,6029,1.13,208.0,406.3,9.4,291,6043,0.00,2.80,8.10,0.736,4,0.000,0.071,3421,407,2161,0,0,0,0,0,0
$GC,6077,1.13,208.0,401.3,10.3,292,6081,0.00,2.55,0.00,0.000,6,0.000,0.025,3421,1998,2160,0,0,0,0,0,0
$GC,6357,1.17,234.6,377.2,8.5,299,6384,0.00,0.00,25.33,0.818,6,0.000,0.000,3421,1999,2053,0,0,0,0,0,0
$GC,6599,1.19,252.0,355.8,9.0,305,6623,0.00,2.88,16.60,0.787,4,0.000,0.064,3421,403,1980,0,0,0,0,0,0
$GC,6668,1.19,252.0,348.5,11.2,306,6672,0.00,2.55,0.00,0.000,6,0.000,0.024,3421,1993,1979,0,0,0,0,0,0
$GC,6926,1.25,259.7,324.5,9.6,313,6941,0.10,2.83,7.80,0.698,4,0.102,0.066,3449,400,1951,0,0,0,0,0,0
$GC,6953,1.25,259.7,321.4,10.7,313,6957,0.00,2.53,0.00,0.000,6,0.000,0.020,3449,1985,1950,0,0,0,0,0,0
$GC,7209,1.27,276.3,297.6,9.1,320,7233,0.00,2.67,16.48,0.752,4,0.000,0.037,3449,3558,1881,0,0,0,0,0,0
$GC,7273,1.31,276.3,291.0,10.5,321,7277,0.00,2.62,0.00,0.000,6,0.000,0.035,3449,1969,1879,0,0,0,0,0,0
$GC,7533,1.31,276.3,263.8,10.3,328,7538,0.00,2.70,0.00,0.000,4,0.000,0.065,3449,408,1877,0,0,0,0,0,0
$GC,7601,1.31,276.3,256.3,11.2,329,7605,0.00,2.47,0.00,0.000,6,0.000,0.025,3449,1991,1876,0,0,0,0,0,0
$GC,7856,1.35,276.3,229.1,10.8,336,7860,0.00,2.55,0.00,0.000,4,0.000,0.039,3449,3563,1876,0,0,0,0,0,0
$GC,7895,1.43,276.3,224.6,11.7,337,7900,0.15,2.55,0.00,0.000,6,0.077,0.033,3489,1983,1875,0,0,0,0,0,0
$GC,8150,1.43,276.3,195.0,11.5,344,8154,0.00,2.67,0.00,0.000,4,0.000,0.066,3489,407,1875,0,0,0,0,0,0
$GC,8218,1.36,276.3,186.8,11.4,349,8224,0.00,2.47,0.00,0.000,6,0.000,0.024,3489,1999,1873,0,0,0,0,0,0
$GC,8482,1.36,276.3,159.3,10.6,374,8487,0.00,2.67,0.00,0.000,4,0.000,0.060,3489,406,1873,0,0,0,0,0,0
$GC,8504,1.31,276.3,156.4,11.5,375,8512,0.10,2.47,0.00,0.000,6,0.095,0.021,3464,1976,1873,0,0,0,0,0,0
$GC,8765,1.37,281.8,132.7,9.7,400,8779,0.00,2.70,4.53,0.470,4,0.000,0.059,3464,408,1860,0,0,0,0,0,0
$GC,8806,1.37,281.8,128.6,10.7,403,8811,0.00,2.45,0.00,0.000,6,0.000,0.022,3464,1989,1860,0,0,0,0,0,0
$GC,9074,1.45,281.8,101.8,10.2,427,9079,0.12,2.67,0.00,0.000,4,0.077,0.056,3499,408,1860,0,0,0,0,0,0
$GC,9179,1.45,281.8,89.7,11.8,435,9184,0.00,2.38,0.00,0.000,6,0.000,0.025,3499,1959,1860,0,0,0,0,0,0
$GC,9447,1.53,343.3,68.2,6.5,459,9511,0.00,0.00,54.00,0.577,6,0.000,0.000,3499,1960,1609,0,0,0,0,0,0
$GC,9768,1.57,343.3,37.6,11.3,488,9772,0.00,2.58,0.00,0.000,4,0.000,0.049,3499,411,1607,0,0,0,0,0,0
$GC,9802,1.57,343.3,33.7,11.9,490,9806,0.00,2.40,0.00,0.000,6,0.000,0.018,3499,1965,1606,0,0,0,0,0,0
$STATE,10069,end climb,SURFACE_DEPTH_REACHED
$STATE,10069,begin surface coast
$FINISH,0.6,0.976879
$STATE,10112,end surface coast,CONTROL_FINISHED_OK
$STATE,10112,begin surface
$SM_CCo,10136,30.70,0.509,0,0,1459,380.21
$SM_GC,1.13,0.00,0.00,30.70,0.000,0.000,0.509,470,1885,1459,-12.45,-0.96,380.21
$IRIDIUM_FIX,2244.02,-15804.53,210900,010104
$TT8_MAMPS,0.026078
$HUMID,64.53
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.50
$XPDR_PINGS,53
$24V_AH,23.5,49.748
$10V_AH,10.3,43.815
$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,30.400,132.275,401.325,30.700,0.000,24.773,42.163,210.054,13.250,0.000,21.437,1072.159,6361.566,491.292,2081.522,581.801,33.369,1245.598,0.000,2081.188,0.000,0.534,0.000
$DEVICE_MAMPS,154.167,111.215,908.895,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,360.385,317.372,423.657,849.794,1280.579,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355440
$DATA_FILE_SIZE,41549,532
$CAP_FILE_SIZE,111773,0
$CFSIZE,260165632,161431552
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280611,074121,2249.505,-15800.571,17,1.8,17,10.1