version: 66.06
glider: 146
mission: 6
dive: 412
start: 6 30 111 5 16 45
data:
$ID,146
$MISSION,6
$DIVE,412
$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,-278182.69
$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,2010
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,61
$R_STBD_OVSHOOT,54
$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
$GPS1,050624,2249.870,-15802.707,29,1.2,33,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-68.9
$GPS2,051550,2249.960,-15802.793,14,1.2,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.176,-0.155
$KALMAN_X,-300214.5,58.2,122.2,289789.3,-1580.8
$KALMAN_Y,63869.3,395.9,87.4,-53132.7,1544.8
$MHEAD_RNG_PITCHd_Wd,121.2,9889,-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,-70.78,0.000,2,0.000,0.000,474,1968,3245,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.5,-5.8,9,118,12.70,2.53,-4.53,0.000,4,0.158,0.058,2864,467,3489,0,0,0,0,0,0
$GC,130,-0.41,-116.8,16.2,-33.0,13,140,0.95,2.40,0.00,0.000,6,0.087,0.021,3078,2027,3490,0,0,0,0,0,0
$GC,444,-0.75,-116.8,35.5,-5.4,52,449,0.25,2.58,0.00,0.000,4,0.045,0.044,2996,461,3491,0,0,0,0,0,0
$GC,480,-0.94,-116.8,38.3,-8.8,54,485,0.12,2.33,0.00,0.000,6,0.069,0.015,2953,2009,3491,0,0,0,0,0,0
$GC,748,-1.01,-116.8,66.8,-10.3,78,752,0.00,2.42,0.00,0.000,4,0.000,0.026,2953,3547,3492,0,0,0,0,0,0
$GC,782,-1.11,-116.8,70.5,-10.3,80,786,0.00,2.38,0.00,0.000,6,0.000,0.023,2952,2029,3492,0,0,0,0,0,0
$GC,1047,-1.21,-116.8,95.0,-9.3,104,1052,0.17,2.65,0.00,0.000,4,0.054,0.050,2890,428,3492,0,0,0,0,0,0
$GC,1076,-1.21,-116.8,98.6,-11.8,106,1081,0.10,2.38,0.00,0.000,6,0.120,0.021,2910,2004,3492,0,0,0,0,0,0
$GC,1337,-1.27,-116.8,125.1,-9.9,130,1338,0.00,0.00,0.00,0.000,6,0.000,0.000,2910,2005,3493,0,0,0,0,0,0
$GC,1595,-1.34,-116.8,150.4,-9.4,154,1600,0.12,2.60,0.00,0.000,4,0.071,0.049,2867,437,3493,0,0,0,0,0,0
$GC,1628,-1.34,-116.8,154.6,-11.5,156,1637,0.00,2.38,0.00,0.000,6,0.000,0.019,2867,1998,3493,0,0,0,0,0,0
$GC,1894,-1.34,-116.8,183.4,-11.0,181,1898,0.00,2.42,0.00,0.000,4,0.000,0.035,2867,3547,3494,0,0,0,0,0,0
$GC,1940,-1.34,-116.8,188.5,-11.4,184,1944,0.00,2.45,0.00,0.000,6,0.000,0.025,2867,1989,3494,0,0,0,0,0,0
$GC,2204,-1.34,-116.8,216.4,-10.1,197,2208,0.00,2.58,0.00,0.000,4,0.000,0.060,2867,440,3494,0,0,0,0,0,0
$GC,2230,-1.34,-116.8,219.5,-11.9,197,2234,0.00,2.35,0.00,0.000,6,0.000,0.021,2867,1992,3494,0,0,0,0,0,0
$GC,2488,-1.34,-116.8,247.5,-11.2,204,2492,0.00,2.60,0.00,0.000,4,0.000,0.057,2867,438,3494,0,0,0,0,0,0
$GC,2509,-1.34,-116.8,249.9,-9.9,204,2513,0.00,2.35,0.00,0.000,6,0.000,0.018,2867,1975,3494,0,0,0,0,0,0
$GC,2764,-1.41,-116.8,273.1,-8.8,211,2769,0.00,2.53,0.00,0.000,4,0.000,0.041,2867,3562,3494,0,0,0,0,0,0
$GC,2788,-1.48,-116.8,274.9,-7.7,211,2792,0.00,2.50,0.00,0.000,6,0.000,0.028,2867,1983,3494,0,0,0,0,0,0
$GC,3043,-1.54,-116.8,295.9,-8.5,218,3048,0.12,2.58,0.00,0.000,4,0.071,0.033,2822,3568,3494,0,0,0,0,0,0
$GC,3060,-1.54,-116.8,297.6,-8.8,218,3064,0.00,2.53,0.00,0.000,6,0.000,0.030,2822,1984,3494,0,0,0,0,0,0
$GC,3321,-1.54,-116.8,327.7,-12.1,225,3326,0.00,2.53,0.00,0.000,4,0.000,0.032,2822,3562,3493,0,0,0,0,0,0
$GC,3377,-1.54,-116.8,334.6,-11.7,226,3381,0.00,2.53,0.00,0.000,6,0.000,0.032,2822,1998,3493,0,0,0,0,0,0
$GC,3643,-1.54,-116.8,364.0,-10.9,233,3648,0.00,2.75,0.00,0.000,4,0.000,0.084,2822,429,3492,0,0,0,0,0,0
$GC,3665,-1.54,-116.8,366.3,-10.2,233,3670,0.00,2.42,0.00,0.000,6,0.000,0.031,2822,1957,3491,0,0,0,0,0,0
$GC,3921,-1.54,-116.8,388.9,-8.7,240,3926,0.00,2.62,0.00,0.000,4,0.000,0.047,2822,3555,3490,0,0,0,0,0,0
$GC,3976,-1.54,-116.8,393.9,-8.9,241,3981,0.00,2.58,0.00,0.000,6,0.000,0.041,2822,1998,3490,0,0,0,0,0,0
$GC,4244,-1.54,-116.8,419.1,-9.8,248,4249,0.00,2.83,0.00,0.000,4,0.000,0.098,2822,425,3488,0,0,0,0,0,0
$GC,4266,-1.54,-116.8,421.5,-9.7,248,4270,0.00,2.47,0.00,0.000,6,0.000,0.036,2822,1959,3488,0,0,0,0,0,0
$GC,4521,-1.54,-116.8,449.4,-11.2,255,4522,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1959,3486,0,0,0,0,0,0
$GC,4766,-1.54,-116.8,477.0,-11.3,261,4767,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1960,3485,0,0,0,0,0,0
$STATE,5006,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5006,begin apogee
$GC,5011,-0.31,0.0,502.3,10.2,267,5112,1.25,0.00,97.38,0.913,6,0.075,0.000,3108,1959,3010,0,0,0,0,0,0
$STATE,5113,end apogee,CONTROL_FINISHED_OK
$STATE,5113,begin climb
$GC,5116,1.38,116.8,504.5,0.0,269,5227,1.55,2.80,99.95,0.897,4,0.035,0.070,3488,3534,2532,0,0,0,0,0,0
$GC,5256,1.26,169.6,503.2,7.0,273,5310,0.17,2.65,46.35,0.878,6,0.120,0.049,3453,1992,2318,0,0,0,0,0,0
$GC,5580,1.19,170.9,472.2,10.0,281,5581,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1992,2309,0,0,0,0,0,0
$GC,5821,1.13,173.2,448.4,9.9,287,5827,0.15,2.92,0.00,0.000,4,0.122,0.094,3424,406,2306,0,0,0,0,0,0
$GC,5900,1.08,173.2,439.7,10.8,288,5906,0.00,2.53,0.00,0.000,6,0.000,0.031,3424,1962,2304,0,0,0,0,0,0
$GC,6151,1.08,177.0,415.5,9.8,295,6162,0.00,2.78,5.62,0.664,4,0.000,0.074,3423,400,2287,0,0,0,0,0,0
$GC,6213,1.03,177.0,408.9,10.9,296,6218,0.12,2.58,0.00,0.000,6,0.130,0.029,3399,1991,2286,0,0,0,0,0,0
$GC,6476,1.13,212.8,387.6,8.0,303,6517,0.00,2.88,33.10,0.835,4,0.000,0.067,3399,406,2141,0,0,0,0,0,0
$GC,6592,1.16,241.6,378.1,8.4,305,6626,0.12,2.55,26.58,0.814,6,0.081,0.028,3432,1987,2024,0,0,0,0,0,0
$GC,6897,1.18,259.3,351.6,9.0,313,6915,0.00,0.00,16.75,0.778,6,0.000,0.000,3432,1987,1952,0,0,0,0,0,0
$GC,7137,1.18,259.3,327.4,10.3,319,7141,0.00,2.75,0.00,0.000,4,0.000,0.067,3432,404,1948,0,0,0,0,0,0
$GC,7163,1.18,259.3,324.2,11.3,319,7168,0.00,2.47,0.00,0.000,6,0.000,0.025,3433,1967,1947,0,0,0,0,0,0
$GC,7421,1.23,263.6,298.9,9.8,326,7427,0.00,0.00,4.22,0.538,6,0.000,0.000,3432,1968,1935,0,0,0,0,0,0
$GC,7663,1.29,269.4,274.9,9.7,332,7678,0.10,2.78,6.97,0.651,4,0.093,0.063,3461,398,1910,0,0,0,0,0,0
$GC,7694,1.25,269.4,271.0,12.1,332,7699,0.00,2.50,0.00,0.000,6,0.000,0.025,3461,1975,1909,0,0,0,0,0,0
$GC,7946,1.25,269.4,243.9,10.7,338,7950,0.00,2.70,0.00,0.000,4,0.000,0.061,3461,397,1908,0,0,0,0,0,0
$GC,8000,1.25,269.4,237.7,11.0,339,8005,0.00,2.45,0.00,0.000,6,0.000,0.018,3461,1955,1908,0,0,0,0,0,0
$GC,8267,1.25,269.4,210.5,10.3,346,8272,0.00,2.62,0.00,0.000,4,0.000,0.061,3461,402,1907,0,0,0,0,0,0
$GC,8353,1.25,269.4,200.7,11.5,348,8358,0.00,2.42,0.00,0.000,6,0.000,0.024,3461,1949,1906,0,0,0,0,0,0
$GC,8622,1.29,301.0,176.0,8.2,370,8656,0.00,2.67,28.48,0.679,4,0.000,0.058,3461,403,1781,0,0,0,0,0,0
$GC,8696,1.29,301.0,169.2,10.1,376,8700,0.00,2.45,0.00,0.000,6,0.000,0.024,3461,1961,1779,0,0,0,0,0,0
$GC,8959,1.37,320.0,144.9,8.9,400,8983,0.00,2.62,17.40,0.630,4,0.000,0.037,3461,3556,1704,0,0,0,0,0,0
$GC,9009,1.45,320.0,140.0,10.2,404,9014,0.12,2.65,0.00,0.000,6,0.075,0.036,3498,1939,1703,0,0,0,0,0,0
$GC,9270,1.45,320.0,108.7,12.2,428,9274,0.00,2.60,0.00,0.000,4,0.000,0.057,3498,401,1702,0,0,0,0,0,0
$GC,9378,1.45,320.0,94.6,12.7,436,9386,0.00,2.42,0.00,0.000,6,0.000,0.018,3498,1942,1701,0,0,0,0,0,0
$GC,9644,1.51,320.0,66.0,10.2,461,9653,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,1943,1701,0,0,0,0,0,0
$GC,9911,1.57,340.0,41.0,8.9,486,9940,0.00,2.67,18.15,0.536,4,0.000,0.051,3498,399,1622,0,0,0,0,0,0
$GC,9969,1.57,340.0,34.7,10.7,490,9979,0.00,2.45,0.00,0.000,6,0.000,0.018,3498,1954,1621,0,0,0,0,0,0
$STATE,10279,end climb,SURFACE_DEPTH_REACHED
$STATE,10279,begin surface coast
$FINISH,0.5,0.980062
$STATE,10329,end surface coast,CONTROL_FINISHED_OK
$STATE,10329,begin surface
$SM_CCo,10351,33.08,0.512,0,0,1459,380.21
$SM_GC,1.15,0.00,0.00,33.08,0.000,0.000,0.512,475,1956,1459,-12.42,-1.53,380.21
$IRIDIUM_FIX,2241.69,-15801.49,230900,050518
$TT8_MAMPS,0.026078
$HUMID,64.49
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.40
$XPDR_PINGS,50
$24V_AH,23.5,51.678
$10V_AH,10.2,45.687
$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,30.425,133.150,400.950,33.075,0.000,49.170,74.095,235.105,12.500,0.000,15.782,1085.981,6585.210,493.408,2106.037,683.954,33.370,1249.413,0.000,2117.598,0.000,0.535,0.000
$DEVICE_MAMPS,158.002,98.176,913.497,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,365.288,303.222,424.588,849.901,1285.387,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355408
$DATA_FILE_SIZE,41635,539
$CAP_FILE_SIZE,115109,0
$CFSIZE,260165632,160530432
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300611,081124,2249.667,-15802.448,52,1.2,52,10.1