version: 66.06
glider: 146
mission: 6
dive: 397
start: 6 28 111 10 44 22
data:
$ID,146
$MISSION,6
$DIVE,397
$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,-277858.69
$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,50
$R_STBD_OVSHOOT,72
$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
$GPS1,103557,2249.661,-15800.011,39,3.0,58,10.1
$_CALLS,1
$_XMS_NAKs,16
$_XMS_TOUTs,1
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-68.3
$GPS2,104329,2249.702,-15800.086,12,2.6,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,-0.016
$KALMAN_X,-277761.8,-65.9,-52.4,272265.0,-1032.4
$KALMAN_Y,48881.6,128.7,-174.8,-38095.4,291.4
$MHEAD_RNG_PITCHd_Wd,83.7,5297,-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,12,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,-70.53,0.000,2,0.000,0.000,476,1895,3230,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.4,-5.3,9,118,12.65,0.00,-4.70,0.000,6,0.156,0.000,2866,1896,3488,0,0,0,0,0,0
$GC,401,-1.27,-116.8,60.1,-15.8,44,406,0.15,2.53,0.00,0.000,4,0.130,0.026,2896,3474,3490,0,0,0,0,0,0
$GC,475,-1.27,-116.8,71.1,-12.8,49,484,0.00,2.45,0.00,0.000,6,0.000,0.025,2896,1940,3490,0,0,0,0,0,0
$GC,736,-1.27,-116.8,102.7,-10.6,74,740,0.00,2.40,0.00,0.000,4,0.000,0.026,2896,3467,3491,0,0,0,0,0,0
$GC,805,-1.31,-116.8,109.5,-10.3,79,810,0.00,2.42,0.00,0.000,6,0.000,0.031,2896,1922,3491,0,0,0,0,0,0
$GC,1071,-1.31,-116.8,138.5,-11.3,103,1076,0.00,2.62,0.00,0.000,4,0.000,0.058,2896,339,3491,0,0,0,0,0,0
$GC,1089,-1.31,-116.8,141.2,-11.7,104,1094,0.00,2.38,0.00,0.000,6,0.000,0.014,2895,1939,3491,0,0,0,0,0,0
$GC,1352,-1.37,-116.8,170.4,-10.1,128,1356,0.00,2.38,0.00,0.000,4,0.000,0.031,2896,3452,3492,0,0,0,0,0,0
$GC,1419,-1.45,-116.8,176.9,-10.2,133,1425,0.15,2.40,0.00,0.000,6,0.057,0.028,2832,1914,3492,0,0,0,0,0,0
$GC,1701,-1.39,-116.8,210.7,-11.6,153,1706,0.17,2.42,0.00,0.000,4,0.094,0.031,2872,3452,3493,0,0,0,0,0,0
$GC,1743,-1.39,-116.8,215.2,-10.0,154,1747,0.00,2.38,0.00,0.000,6,0.000,0.027,2871,1926,3493,0,0,0,0,0,0
$GC,2027,-1.39,-116.8,242.8,-10.0,161,2031,0.00,2.40,0.00,0.000,4,0.000,0.035,2871,3450,3493,0,0,0,0,0,0
$GC,2089,-1.46,-116.8,249.6,-10.2,162,2093,0.00,2.38,0.00,0.000,6,0.000,0.025,2871,1931,3493,0,0,0,0,0,0
$GC,2351,-1.52,-116.8,274.3,-9.2,169,2353,0.12,0.00,0.00,0.000,6,0.074,0.000,2823,1930,3493,0,0,0,0,0,0
$GC,2592,-1.52,-116.8,299.3,-10.4,175,2597,0.00,2.45,0.00,0.000,4,0.000,0.038,2824,3453,3493,0,0,0,0,0,0
$GC,2636,-1.52,-116.8,304.3,-11.3,176,2641,0.00,2.40,0.00,0.000,6,0.000,0.037,2824,1940,3493,0,0,0,0,0,0
$GC,2916,-1.52,-116.8,336.4,-11.6,183,2920,0.00,2.40,0.00,0.000,4,0.000,0.041,2824,3442,3493,0,0,0,0,0,0
$GC,3022,-1.52,-116.8,348.1,-10.1,185,3026,0.00,2.45,0.00,0.000,6,0.000,0.039,2824,1941,3493,0,0,0,0,0,0
$GC,3284,-1.52,-116.8,372.6,-9.5,192,3288,0.00,2.42,0.00,0.000,4,0.000,0.038,2824,3444,3491,0,0,0,0,0,0
$GC,3312,-1.52,-116.8,375.6,-10.7,192,3316,0.00,2.50,0.00,0.000,6,0.000,0.045,2824,1934,3491,0,0,0,0,0,0
$GC,3562,-1.52,-116.8,399.8,-9.8,198,3567,0.00,2.88,0.00,0.000,4,0.000,0.094,2823,336,3490,0,0,0,0,0,0
$GC,3601,-1.52,-116.8,404.3,-11.8,199,3605,0.00,2.45,0.00,0.000,6,0.000,0.032,2824,1876,3490,0,0,0,0,0,0
$GC,3885,-1.52,-116.8,434.8,-10.8,206,3890,0.00,2.70,0.00,0.000,4,0.000,0.059,2823,3501,3488,0,0,0,0,0,0
$GC,3946,-1.57,-116.8,441.7,-11.1,207,3951,0.00,2.62,0.00,0.000,6,0.000,0.052,2823,1937,3488,0,0,0,0,0,0
$GC,4206,-1.57,-116.8,469.6,-10.5,214,4211,0.00,2.60,0.00,0.000,4,0.000,0.052,2823,3494,3486,0,0,0,0,0,0
$GC,4264,-1.62,-116.8,475.4,-9.8,215,4268,0.00,2.62,0.00,0.000,6,0.000,0.052,2824,1944,3486,0,0,0,0,0,0
$STATE,4528,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4528,begin apogee
$GC,4534,-0.31,0.0,502.4,10.3,222,4636,1.23,0.00,98.22,0.907,6,0.075,0.000,3104,2013,3010,0,0,0,0,0,0
$STATE,4637,end apogee,CONTROL_FINISHED_OK
$STATE,4637,begin climb
$GC,4641,1.38,116.8,504.9,0.0,224,4749,1.58,2.67,100.22,0.891,4,0.040,0.060,3487,3550,2532,0,0,0,0,0,0
$GC,4757,1.35,219.1,506.1,4.1,227,4853,0.00,2.70,89.10,0.883,6,0.000,0.057,3487,1990,2115,0,0,0,0,0,0
$GC,5097,1.23,219.1,463.1,14.0,236,5099,0.20,0.00,0.00,0.000,6,0.156,0.000,3447,1990,2108,0,0,0,0,0,0
$GC,5341,1.19,219.1,433.6,11.8,242,5346,0.00,2.92,0.00,0.000,4,0.000,0.097,3447,400,2105,0,0,0,0,0,0
$GC,5363,1.12,219.1,430.7,13.1,242,5368,0.12,2.53,0.00,0.000,6,0.129,0.028,3421,1968,2104,0,0,0,0,0,0
$GC,5620,1.12,219.5,404.1,10.0,249,5624,0.00,2.67,0.00,0.000,4,0.000,0.044,3422,3584,2103,0,0,0,0,0,0
$GC,5652,1.12,219.5,400.4,10.7,249,5658,0.00,2.67,0.00,0.000,6,0.000,0.044,3421,1983,2101,0,0,0,0,0,0
$GC,5902,1.14,230.6,376.7,9.4,256,5917,0.00,2.88,8.80,0.738,4,0.000,0.087,3421,402,2069,0,0,0,0,0,0
$GC,6003,1.14,230.6,366.2,11.1,258,6007,0.00,2.53,0.00,0.000,6,0.000,0.024,3421,1998,2068,0,0,0,0,0,0
$GC,6275,1.19,234.0,339.9,9.8,265,6284,0.00,2.60,4.22,0.556,4,0.000,0.044,3421,3568,2056,0,0,0,0,0,0
$GC,6332,1.25,237.9,334.2,9.8,266,6343,0.12,2.62,5.40,0.625,6,0.090,0.035,3454,1984,2040,0,0,0,0,0,0
$GC,6605,1.26,241.2,307.5,9.8,273,6615,0.00,2.78,4.43,0.558,4,0.000,0.077,3454,404,2026,0,0,0,0,0,0
$GC,6645,1.19,241.2,303.5,10.6,274,6650,0.00,2.53,0.00,0.000,6,0.000,0.020,3453,1997,2026,0,0,0,0,0,0
$GC,6929,1.19,241.2,274.6,10.4,281,6933,0.00,2.53,0.00,0.000,4,0.000,0.042,3454,3555,2024,0,0,0,0,0,0
$GC,6950,1.19,241.2,272.1,10.9,281,6954,0.00,2.55,0.00,0.000,6,0.000,0.036,3454,1983,2024,0,0,0,0,0,0
$GC,7208,1.20,247.3,246.9,9.7,288,7222,0.00,2.80,6.93,0.637,4,0.000,0.068,3453,408,2000,0,0,0,0,0,0
$GC,7273,1.22,259.8,240.2,9.3,289,7294,0.00,2.47,13.05,0.697,6,0.000,0.020,3453,1995,1949,0,0,0,0,0,0
$GC,7538,1.29,285.9,216.7,8.5,296,7565,0.00,0.00,24.25,0.703,6,0.000,0.000,3453,1995,1843,0,0,0,0,0,0
$GC,7786,1.35,301.7,194.4,9.1,305,7810,0.00,2.80,15.02,0.661,4,0.000,0.059,3454,410,1778,0,0,0,0,0,0
$GC,7857,1.36,304.8,187.2,9.9,311,7869,0.00,2.45,3.92,0.446,6,0.000,0.021,3454,1970,1767,0,0,0,0,0,0
$GC,8123,1.46,339.2,163.9,8.1,336,8161,0.17,2.62,31.52,0.656,4,0.064,0.033,3501,3556,1625,0,0,0,0,0,0
$GC,8191,1.46,339.2,156.9,11.0,342,8195,0.00,2.60,0.00,0.000,6,0.000,0.030,3501,1968,1624,0,0,0,0,0,0
$GC,8455,1.46,339.2,127.7,10.8,366,8459,0.00,2.65,0.00,0.000,4,0.000,0.061,3501,410,1622,0,0,0,0,0,0
$GC,8571,1.46,339.2,112.7,12.5,375,8577,0.00,2.40,0.00,0.000,6,0.000,0.025,3501,1962,1620,0,0,0,0,0,0
$GC,8836,1.46,339.2,83.2,10.4,400,8840,0.00,2.60,0.00,0.000,4,0.000,0.056,3501,413,1620,0,0,0,0,0,0
$GC,8856,1.46,339.2,81.0,11.2,401,8860,0.00,2.38,0.00,0.000,6,0.000,0.018,3501,1951,1620,0,0,0,0,0,0
$GC,9124,1.46,339.2,52.7,10.6,425,9128,0.00,2.55,0.00,0.000,4,0.000,0.057,3501,412,1620,0,0,0,0,0,0
$GC,9146,1.46,339.2,49.3,11.0,426,9157,0.00,2.38,0.00,0.000,6,0.000,0.018,3501,1940,1620,0,0,0,0,0,0
$GC,9431,1.48,353.1,20.4,9.2,458,9447,0.00,0.00,12.20,0.499,6,0.000,0.000,3501,1942,1570,0,0,0,0,0,0
$STATE,9575,end climb,SURFACE_DEPTH_REACHED
$STATE,9575,begin surface coast
$FINISH,0.6,0.975093
$STATE,9619,end surface coast,CONTROL_FINISHED_OK
$STATE,9619,begin surface
$SM_CCo,9641,22.60,0.507,0,0,1460,380.21
$SM_GC,1.28,0.00,0.00,22.60,0.000,0.000,0.507,475,1941,1460,-12.42,0.59,380.21
$IRIDIUM_FIX,2241.69,-15751.94,210900,070738
$TT8_MAMPS,0.026078
$HUMID,63.86
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.70
$XPDR_PINGS,53
$24V_AH,23.5,49.988
$10V_AH,10.3,44.040
$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,28.950,127.600,417.300,22.600,0.000,29.700,32.989,235.794,13.250,0.000,34.230,995.085,6142.318,498.104,1900.944,580.940,33.365,1213.898,0.000,1881.759,0.000,0.536,0.000
$DEVICE_MAMPS,156.468,119.652,906.594,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.195,278.340,373.491,715.562,1081.849,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,38360,485
$CAP_FILE_SIZE,106731,0
$CFSIZE,260165632,161333248
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280611,132701,2249.805,-15759.538,53,1.2,53,10.1