version: 66.06
glider: 146
mission: 6
dive: 413
start: 6 30 111 8 18 26
data:
$ID,146
$MISSION,6
$DIVE,413
$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,-278196.44
$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,14
$R_STBD_OVSHOOT,60
$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
$GPS1,081124,2249.667,-15802.448,52,1.2,52,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-71.4
$GPS2,081732,2249.702,-15802.504,11,1.8,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.235,-0.011
$KALMAN_X,-301552.2,193.1,63.0,291544.2,-1415.9
$KALMAN_Y,64792.4,154.0,471.3,-54672.3,164.4
$MHEAD_RNG_PITCHd_Wd,82.6,9411,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,90,0.00,0.00,-70.53,0.000,2,0.000,0.000,475,1956,3224,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.5,-5.7,9,118,12.68,0.00,-5.03,0.000,6,0.157,0.000,2864,1956,3489,0,0,0,0,0,0
$GC,395,-1.25,-116.8,59.4,-16.2,43,400,0.17,2.60,0.00,0.000,4,0.124,0.028,2900,3576,3491,0,0,0,0,0,0
$GC,441,-1.25,-116.8,66.2,-13.6,46,445,0.00,2.50,0.00,0.000,6,0.000,0.023,2899,1984,3492,0,0,0,0,0,0
$GC,705,-1.25,-116.8,99.9,-11.5,70,713,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1984,3492,0,0,0,0,0,0
$GC,970,-1.29,-116.8,127.8,-10.4,95,974,0.00,2.53,0.00,0.000,4,0.000,0.034,2899,3572,3493,0,0,0,0,0,0
$GC,1005,-1.38,-116.8,131.8,-10.3,97,1011,0.10,2.45,0.00,0.000,6,0.083,0.026,2855,2000,3493,0,0,0,0,0,0
$GC,1267,-1.38,-116.8,164.0,-11.8,122,1272,0.00,2.53,0.00,0.000,4,0.000,0.028,2856,3574,3494,0,0,0,0,0,0
$GC,1314,-1.38,-116.8,169.7,-11.7,125,1319,0.00,2.45,0.00,0.000,6,0.000,0.029,2855,2014,3494,0,0,0,0,0,0
$GC,1576,-1.38,-116.8,198.6,-11.1,150,1581,0.00,2.62,0.00,0.000,4,0.000,0.058,2855,435,3493,0,0,0,0,0,0
$GC,1634,-1.38,-116.8,205.6,-11.4,152,1638,0.00,2.38,0.00,0.000,6,0.000,0.015,2855,2019,3494,0,0,0,0,0,0
$GC,1902,-1.38,-116.8,232.6,-9.8,159,1906,0.00,2.45,0.00,0.000,4,0.000,0.035,2855,3552,3494,0,0,0,0,0,0
$GC,1923,-1.38,-116.8,234.9,-9.8,159,1927,0.00,2.42,0.00,0.000,6,0.000,0.029,2855,2009,3495,0,0,0,0,0,0
$GC,2185,-1.38,-116.8,260.4,-9.7,166,2186,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,2008,3495,0,0,0,0,0,0
$GC,2430,-1.42,-116.8,282.8,-9.0,172,2434,0.00,2.50,0.00,0.000,4,0.000,0.035,2855,3559,3495,0,0,0,0,0,0
$GC,2458,-1.48,-116.8,285.6,-9.0,172,2462,0.00,2.47,0.00,0.000,6,0.000,0.026,2855,2012,3494,0,0,0,0,0,0
$GC,2708,-1.52,-116.8,308.0,-9.0,178,2712,0.00,2.50,0.00,0.000,4,0.000,0.041,2855,3558,3495,0,0,0,0,0,0
$GC,2749,-1.60,-116.8,311.6,-9.2,179,2754,0.12,2.47,0.00,0.000,6,0.071,0.030,2809,2020,3495,0,0,0,0,0,0
$GC,3033,-1.56,-116.8,344.6,-12.0,186,3035,0.12,0.00,0.00,0.000,6,0.109,0.000,2836,2020,3493,0,0,0,0,0,0
$GC,3278,-1.56,-116.8,369.9,-10.3,192,3279,0.00,0.00,0.00,0.000,6,0.000,0.000,2835,2020,3493,0,0,0,0,0,0
$GC,3520,-1.56,-116.8,398.1,-11.8,198,3524,0.00,2.55,0.00,0.000,4,0.000,0.047,2835,3550,3492,0,0,0,0,0,0
$GC,3569,-1.62,-116.8,403.9,-11.4,199,3574,0.00,2.53,0.00,0.000,6,0.000,0.042,2836,2029,3491,0,0,0,0,0,0
$GC,3844,-1.66,-116.8,432.3,-10.5,206,3848,0.00,2.90,0.00,0.000,4,0.000,0.100,2835,423,3490,0,0,0,0,0,0
$GC,3870,-1.66,-116.8,435.4,-10.5,206,3875,0.00,2.50,0.00,0.000,6,0.000,0.032,2836,1978,3489,0,0,0,0,0,0
$GC,4121,-1.70,-116.8,457.9,-8.9,212,4126,0.12,2.78,0.00,0.000,4,0.078,0.064,2795,3591,3488,0,0,0,0,0,0
$GC,4145,-1.70,-116.8,460.1,-9.3,212,4149,0.00,2.62,0.00,0.000,6,0.000,0.052,2795,2024,3487,0,0,0,0,0,0
$GC,4400,-1.70,-116.8,484.2,-9.5,219,4401,0.00,0.00,0.00,0.000,6,0.000,0.000,2795,2024,3486,0,0,0,0,0,0
$STATE,4600,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4600,begin apogee
$GC,4606,-0.31,0.0,503.7,9.5,224,4708,1.38,0.00,97.85,0.914,6,0.081,0.000,3105,1991,3010,0,0,0,0,0,0
$STATE,4709,end apogee,CONTROL_FINISHED_OK
$STATE,4709,begin climb
$GC,4713,1.38,116.8,505.0,0.0,226,4823,1.58,2.80,99.43,0.901,4,0.037,0.058,3487,3566,2532,0,0,0,0,0,0
$GC,4908,1.24,137.7,497.9,8.8,231,4935,0.20,2.70,18.45,0.841,6,0.119,0.049,3447,1995,2447,0,0,0,0,0,0
$GC,5181,1.22,183.7,477.5,7.4,238,5224,0.00,0.00,41.10,0.873,6,0.000,0.000,3447,1995,2261,0,0,0,0,0,0
$GC,5462,1.19,200.1,452.7,9.1,245,5479,0.00,0.00,14.98,0.818,6,0.000,0.000,3447,1995,2194,0,0,0,0,0,0
$GC,5707,1.16,205.4,429.4,9.7,251,5718,0.00,2.67,5.95,0.678,4,0.000,0.041,3447,3580,2171,0,0,0,0,0,0
$GC,5763,1.16,205.4,423.2,11.4,252,5767,0.00,2.70,0.00,0.000,6,0.000,0.049,3447,1983,2169,0,0,0,0,0,0
$GC,6030,1.16,205.4,395.5,10.6,259,6034,0.00,2.83,0.00,0.000,4,0.000,0.087,3447,407,2168,0,0,0,0,0,0
$GC,6053,1.10,205.4,392.9,11.4,259,6058,0.15,2.58,0.00,0.000,6,0.125,0.028,3417,2012,2166,0,0,0,0,0,0
$GC,6308,1.13,232.1,370.7,8.5,266,6335,0.00,0.00,24.55,0.819,6,0.000,0.000,3416,2012,2063,0,0,0,0,0,0
$GC,6552,1.20,248.4,348.7,9.1,272,6570,0.00,0.00,15.73,0.784,6,0.000,0.000,3416,2012,1997,0,0,0,0,0,0
$GC,6798,1.28,261.2,325.9,9.3,278,6813,0.15,0.00,12.50,0.753,6,0.074,0.000,3456,2012,1944,0,0,0,0,0,0
$GC,7080,1.28,261.2,295.6,10.7,285,7084,0.00,2.75,0.00,0.000,4,0.000,0.064,3456,404,1941,0,0,0,0,0,0
$GC,7136,1.28,261.2,289.3,11.2,286,7140,0.00,2.50,0.00,0.000,6,0.000,0.024,3456,1999,1940,0,0,0,0,0,0
$GC,7402,1.28,264.7,262.6,9.8,293,7407,0.00,2.75,0.00,0.000,4,0.000,0.063,3456,397,1939,0,0,0,0,0,0
$GC,7441,1.24,264.7,258.2,11.7,294,7446,0.00,2.47,0.00,0.000,6,0.000,0.024,3456,1985,1939,0,0,0,0,0,0
$GC,7727,1.25,267.7,229.8,9.9,301,7741,0.00,2.78,6.50,0.617,4,0.000,0.061,3456,402,1917,0,0,0,0,0,0
$GC,7786,1.25,267.7,223.2,11.2,302,7790,0.00,2.45,0.00,0.000,6,0.000,0.019,3456,1963,1916,0,0,0,0,0,0
$GC,8053,1.26,279.5,198.0,9.4,309,8070,0.00,2.62,12.05,0.667,4,0.000,0.037,3456,3553,1869,0,0,0,0,0,0
$GC,8106,1.33,281.6,193.4,9.9,313,8111,0.00,2.60,0.00,0.000,6,0.000,0.031,3456,1963,1868,0,0,0,0,0,0
$GC,8373,1.41,300.3,168.9,9.0,337,8399,0.10,2.70,19.35,0.659,4,0.092,0.059,3486,414,1784,0,0,0,0,0,0
$GC,8483,1.41,300.3,156.0,11.5,346,8488,0.00,2.45,0.00,0.000,6,0.000,0.023,3485,1979,1781,0,0,0,0,0,0
$GC,8746,1.41,300.3,126.1,11.5,370,8747,0.00,0.00,0.00,0.000,6,0.000,0.000,3486,1980,1780,0,0,0,0,0,0
$GC,9001,1.45,305.0,100.4,9.8,394,9015,0.00,0.00,4.95,0.466,6,0.000,0.000,3485,1980,1766,0,0,0,0,0,0
$GC,9275,1.51,310.6,74.0,9.7,419,9290,0.00,2.67,6.62,0.495,4,0.000,0.051,3486,417,1742,0,0,0,0,0,0
$GC,9332,1.52,319.8,68.6,9.5,423,9347,0.00,2.38,9.65,0.528,6,0.000,0.018,3485,1959,1705,0,0,0,0,0,0
$GC,9605,1.64,354.9,46.4,8.0,448,9647,0.20,2.67,30.77,0.551,4,0.064,0.053,3539,418,1562,0,0,0,0,0,0
$GC,9664,1.59,354.9,39.9,12.2,452,9669,0.00,2.40,0.00,0.000,6,0.000,0.023,3538,1950,1561,0,0,0,0,0,0
$STATE,9955,end climb,SURFACE_DEPTH_REACHED
$STATE,9955,begin surface coast
$FINISH,0.5,0.974977
$STATE,9991,end surface coast,CONTROL_FINISHED_OK
$STATE,9991,begin surface
$SM_CCo,10013,20.83,0.506,0,0,1459,380.21
$SM_GC,1.29,0.00,0.00,20.83,0.000,0.000,0.506,476,1952,1459,-12.42,-1.64,380.21
$IRIDIUM_FIX,2239.35,-15802.37,230900,050506
$TT8_MAMPS,0.026078
$HUMID,65.04
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.00
$XPDR_PINGS,43
$24V_AH,23.5,51.791
$10V_AH,10.3,45.795
$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,29.600,103.275,420.425,20.825,0.000,27.799,35.413,165.250,10.750,0.000,13.130,994.582,6591.643,493.433,1803.921,518.509,33.375,1167.289,0.000,1816.250,0.000,0.534,0.000
$DEVICE_MAMPS,157.235,194.051,914.264,506.220,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.597,280.511,376.684,706.210,1067.929,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355392
$DATA_FILE_SIZE,38367,494
$CAP_FILE_SIZE,101143,0
$CFSIZE,260165632,160489472
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300611,110652,2249.939,-15801.653,11,5.9,30,10.1