version: 66.06
glider: 146
mission: 6
dive: 396
start: 6 28 111 7 52 15
data:
$ID,146
$MISSION,6
$DIVE,396
$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,-277823.84
$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,58
$R_STBD_OVSHOOT,68
$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
$GPS1,074121,2249.505,-15800.571,17,1.8,17,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-67.8
$GPS2,075122,2249.570,-15800.689,12,2.1,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,0.014
$KALMAN_X,-276395.3,-218.4,27.9,269939.4,-897.7
$KALMAN_Y,48213.8,308.8,210.9,-38237.3,41.2
$MHEAD_RNG_PITCHd_Wd,76.5,6348,-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,-71.18,0.000,2,0.000,0.000,469,1886,3262,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.6,-5.5,9,118,12.70,2.55,-4.18,0.000,4,0.157,0.054,2864,370,3489,0,0,0,0,0,0
$GC,164,-1.23,-116.8,22.5,-17.9,18,172,0.15,2.40,0.00,0.000,6,0.097,0.015,2899,1918,3490,0,0,0,0,0,0
$GC,444,-1.18,-116.8,64.3,-14.5,46,448,0.00,2.47,0.00,0.000,4,0.000,0.027,2899,3486,3491,0,0,0,0,0,0
$GC,504,-1.18,-116.8,72.8,-14.2,50,508,0.00,2.45,0.00,0.000,6,0.000,0.025,2899,1949,3491,0,0,0,0,0,0
$GC,766,-1.18,-116.8,105.7,-11.6,74,771,0.00,2.40,0.00,0.000,4,0.000,0.026,2899,3479,3492,0,0,0,0,0,0
$GC,813,-1.23,-116.8,111.1,-10.7,77,820,0.00,2.40,0.00,0.000,6,0.000,0.023,2899,1927,3492,0,0,0,0,0,0
$GC,1077,-1.27,-116.8,139.4,-10.0,102,1082,0.00,2.62,0.00,0.000,4,0.000,0.053,2899,339,3492,0,0,0,0,0,0
$GC,1100,-1.31,-116.8,141.4,-9.5,103,1104,0.00,2.42,0.00,0.000,6,0.000,0.020,2899,1966,3492,0,0,0,0,0,0
$GC,1368,-1.37,-116.8,165.7,-9.4,127,1373,0.10,2.35,0.00,0.000,4,0.089,0.033,2862,3456,3493,0,0,0,0,0,0
$GC,1400,-1.37,-116.8,170.1,-11.7,129,1410,0.00,2.42,0.00,0.000,6,0.000,0.028,2861,1930,3493,0,0,0,0,0,0
$GC,1666,-1.37,-116.8,200.7,-11.8,154,1671,0.00,2.42,0.00,0.000,4,0.000,0.026,2861,3464,3493,0,0,0,0,0,0
$GC,1711,-1.37,-116.8,206.3,-10.8,155,1715,0.00,2.40,0.00,0.000,6,0.000,0.028,2861,1926,3494,0,0,0,0,0,0
$GC,1988,-1.37,-116.8,235.9,-10.6,162,1992,0.00,2.42,0.00,0.000,4,0.000,0.035,2861,3453,3493,0,0,0,0,0,0
$GC,2045,-1.42,-116.8,241.7,-9.7,163,2049,0.00,2.38,0.00,0.000,6,0.000,0.027,2861,1934,3494,0,0,0,0,0,0
$GC,2311,-1.42,-116.8,270.3,-10.9,170,2315,0.00,2.42,0.00,0.000,4,0.000,0.030,2861,3453,3493,0,0,0,0,0,0
$GC,2327,-1.47,-116.8,272.3,-11.2,170,2331,0.00,2.38,0.00,0.000,6,0.000,0.025,2861,1935,3494,0,0,0,0,0,0
$GC,2589,-1.52,-116.8,300.0,-10.2,177,2593,0.00,2.42,0.00,0.000,4,0.000,0.033,2862,3460,3494,0,0,0,0,0,0
$GC,2622,-1.59,-116.8,303.8,-11.0,177,2628,0.15,2.45,0.00,0.000,6,0.065,0.035,2807,1937,3494,0,0,0,0,0,0
$GC,2872,-1.55,-116.8,337.0,-13.6,184,2877,0.15,2.47,0.00,0.000,4,0.103,0.041,2839,3454,3494,0,0,0,0,0,0
$GC,2947,-1.60,-116.8,345.8,-11.7,185,2952,0.00,2.47,0.00,0.000,6,0.000,0.044,2839,1942,3493,0,0,0,0,0,0
$GC,3197,-1.64,-116.8,375.1,-11.6,191,3202,0.00,2.88,0.00,0.000,4,0.000,0.092,2839,340,3493,0,0,0,0,0,0
$GC,3254,-1.64,-116.8,381.4,-11.0,192,3258,0.00,2.47,0.00,0.000,6,0.000,0.034,2839,1888,3492,0,0,0,0,0,0
$GC,3520,-1.69,-116.8,406.5,-9.3,199,3526,0.15,2.70,0.00,0.000,4,0.064,0.056,2790,3504,3491,0,0,0,0,0,0
$GC,3570,-1.69,-116.8,412.1,-11.3,200,3575,0.00,2.58,0.00,0.000,6,0.000,0.043,2790,1939,3491,0,0,0,0,0,0
$GC,3845,-1.65,-116.8,442.7,-11.2,207,3850,0.12,2.58,0.00,0.000,4,0.110,0.046,2817,3492,3489,0,0,0,0,0,0
$GC,3911,-1.65,-116.8,449.4,-9.3,208,3916,0.00,2.60,0.00,0.000,6,0.000,0.054,2817,1945,3488,0,0,0,0,0,0
$GC,4168,-1.65,-116.8,471.9,-8.7,215,4172,0.00,2.58,0.00,0.000,4,0.000,0.054,2817,3496,3486,0,0,0,0,0,0
$GC,4207,-1.65,-116.8,475.5,-9.0,216,4212,0.00,2.60,0.00,0.000,6,0.000,0.054,2817,1958,3486,0,0,0,0,0,0
$STATE,4488,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4488,begin apogee
$GC,4494,-0.31,0.0,500.2,8.6,223,4596,1.27,0.00,97.95,0.910,6,0.074,0.000,3108,1957,3010,0,0,0,0,0,0
$STATE,4597,end apogee,CONTROL_FINISHED_OK
$STATE,4597,begin climb
$GC,4601,1.38,116.8,501.3,0.0,225,4712,1.55,2.85,99.78,0.890,4,0.043,0.054,3487,3565,2532,0,0,0,0,0,0
$GC,4723,1.31,190.8,500.4,5.8,228,4794,0.12,2.72,64.28,0.879,6,0.130,0.051,3462,1992,2231,0,0,0,0,0,0
$GC,5059,1.22,190.8,464.3,11.2,237,5060,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,1992,2223,0,0,0,0,0,0
$GC,5303,1.15,192.0,439.7,10.0,243,5308,0.17,2.95,0.00,0.000,4,0.114,0.101,3426,402,2220,0,0,0,0,0,0
$GC,5327,1.10,201.4,437.4,9.5,243,5343,0.00,2.60,8.93,0.755,6,0.000,0.028,3426,1999,2188,0,0,0,0,0,0
$GC,5587,1.13,224.4,415.1,8.7,250,5616,0.00,2.92,21.83,0.830,4,0.000,0.075,3426,406,2093,0,0,0,0,0,0
$GC,5657,1.13,224.4,407.6,11.6,251,5661,0.00,2.55,0.00,0.000,6,0.000,0.025,3426,1987,2091,0,0,0,0,0,0
$GC,5912,1.13,224.4,382.1,10.0,258,5917,0.00,2.75,0.00,0.000,4,0.000,0.067,3426,404,2088,0,0,0,0,0,0
$GC,5961,1.13,224.4,376.5,11.8,259,5966,0.00,2.53,0.00,0.000,6,0.000,0.023,3426,1990,2087,0,0,0,0,0,0
$GC,6235,1.14,236.3,351.0,9.4,266,6254,0.00,2.80,11.10,0.759,4,0.000,0.064,3426,403,2045,0,0,0,0,0,0
$GC,6304,1.14,236.3,343.1,11.8,267,6308,0.00,2.50,0.00,0.000,6,0.000,0.028,3426,1974,2042,0,0,0,0,0,0
$GC,6561,1.22,264.9,319.8,8.4,274,6589,0.00,0.00,26.83,0.789,6,0.000,0.000,3426,1974,1930,0,0,0,0,0,0
$GC,6806,1.31,304.1,300.4,7.8,280,6848,0.15,2.78,35.85,0.775,4,0.071,0.063,3468,396,1769,0,0,0,0,0,0
$GC,6860,1.31,304.1,294.2,10.5,281,6864,0.00,2.53,0.00,0.000,6,0.000,0.021,3468,1995,1768,0,0,0,0,0,0
$GC,7126,1.31,304.1,262.6,11.8,288,7131,0.00,2.72,0.00,0.000,4,0.000,0.058,3468,399,1765,0,0,0,0,0,0
$GC,7199,1.31,304.1,253.5,12.4,289,7203,0.00,2.47,0.00,0.000,6,0.000,0.025,3468,1966,1762,0,0,0,0,0,0
$GC,7449,1.31,304.1,225.1,11.3,295,7453,0.00,2.58,0.00,0.000,4,0.000,0.038,3468,3560,1762,0,0,0,0,0,0
$GC,7481,1.35,304.1,221.1,12.2,295,7487,0.00,2.60,0.00,0.000,6,0.000,0.038,3468,1958,1761,0,0,0,0,0,0
$GC,7735,1.35,304.2,193.4,10.0,305,7736,0.00,0.00,0.00,0.000,6,0.000,0.000,3468,1957,1760,0,0,0,0,0,0
$GC,7988,1.35,305.7,169.2,10.0,329,7992,0.00,2.65,0.00,0.000,4,0.000,0.061,3468,403,1760,0,0,0,0,0,0
$GC,8022,1.35,305.7,166.1,11.3,331,8026,0.00,2.47,0.00,0.000,6,0.000,0.018,3468,1994,1758,0,0,0,0,0,0
$GC,8288,1.40,305.7,138.4,10.8,355,8293,0.00,2.50,0.00,0.000,4,0.000,0.032,3468,3546,1758,0,0,0,0,0,0
$GC,8345,1.49,305.7,131.8,11.7,359,8350,0.12,2.53,0.00,0.000,6,0.082,0.035,3504,1981,1757,0,0,0,0,0,0
$GC,8611,1.49,306.4,102.2,10.0,383,8615,0.00,2.65,0.00,0.000,4,0.000,0.056,3504,406,1758,0,0,0,0,0,0
$GC,8698,1.49,306.4,92.4,10.6,390,8702,0.00,2.45,0.00,0.000,6,0.000,0.018,3504,1992,1757,0,0,0,0,0,0
$GC,8965,1.54,347.6,71.7,7.7,414,9005,0.00,0.00,36.80,0.576,6,0.000,0.000,3504,1994,1591,0,0,0,0,0,0
$GC,9265,1.54,347.6,41.0,10.8,442,9269,0.00,2.65,0.00,0.000,4,0.000,0.049,3504,414,1589,0,0,0,0,0,0
$GC,9333,1.54,347.6,32.0,12.7,447,9338,0.00,2.42,0.00,0.000,6,0.000,0.018,3504,1987,1588,0,0,0,0,0,0
$STATE,9622,end climb,SURFACE_DEPTH_REACHED
$STATE,9622,begin surface coast
$FINISH,0.6,0.971887
$STATE,9672,end surface coast,CONTROL_FINISHED_OK
$STATE,9672,begin surface
$SM_CCo,9695,26.58,0.509,0,0,1459,380.21
$SM_GC,1.25,0.00,0.00,26.58,0.000,0.000,0.509,476,1895,1459,-12.42,-0.71,380.21
$IRIDIUM_FIX,2237.01,-15940.04,210900,070736
$TT8_MAMPS,0.026078
$HUMID,63.93
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.70
$XPDR_PINGS,48
$24V_AH,23.5,49.870
$10V_AH,10.2,43.929
$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,29.175,133.000,403.325,26.575,0.000,51.404,97.514,228.458,12.000,0.000,33.711,1023.455,6216.449,490.857,1921.045,671.147,33.366,1202.808,0.000,1904.726,0.000,0.534,0.000
$DEVICE_MAMPS,157.235,101.244,909.662,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.166,301.811,387.742,743.562,1124.714,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,38426,496
$CAP_FILE_SIZE,109412,0
$CFSIZE,260165632,161386496
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280611,103557,2249.661,-15800.011,39,3.0,58,10.1