version: 66.06
glider: 146
mission: 6
dive: 416
start: 6 30 111 17 13 49
data:
$ID,146
$MISSION,6
$DIVE,416
$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,-278259.03
$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,21
$R_STBD_OVSHOOT,64
$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
$GPS1,170606,2249.681,-15800.924,10,1.2,26,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-71.8
$GPS2,171255,2249.750,-15800.984,10,1.4,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.182,-0.148
$KALMAN_X,-305216.3,52.2,-18.6,298031.6,-1351.7
$KALMAN_Y,68052.2,-448.7,-115.1,-56655.3,1509.5
$MHEAD_RNG_PITCHd_Wd,119.1,6817,-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,-70.85,0.000,2,0.000,0.000,475,1943,3224,0,0,0,0,0,0
$GC,94,-1.38,-116.8,3.4,-5.7,9,119,12.60,0.00,-4.80,0.000,6,0.154,0.000,2863,1944,3489,0,0,0,0,0,0
$GC,400,-1.25,-116.8,61.7,-15.8,43,405,0.17,2.58,0.00,0.000,4,0.126,0.034,2898,3561,3491,0,0,0,0,0,0
$GC,447,-1.25,-116.8,68.6,-13.6,46,452,0.00,2.47,0.00,0.000,6,0.000,0.023,2898,1997,3492,0,0,0,0,0,0
$GC,710,-1.25,-116.8,100.9,-11.7,70,711,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1997,3492,0,0,0,0,0,0
$GC,964,-1.25,-116.8,129.1,-10.9,94,965,0.00,0.00,0.00,0.000,6,0.000,0.000,2898,1997,3493,0,0,0,0,0,0
$GC,1222,-1.30,-116.8,156.3,-10.9,118,1226,0.00,2.47,0.00,0.000,4,0.000,0.031,2898,3566,3493,0,0,0,0,0,0
$GC,1243,-1.38,-116.8,159.1,-10.8,119,1250,0.10,2.45,0.00,0.000,6,0.084,0.028,2854,2004,3493,0,0,0,0,0,0
$GC,1507,-1.38,-116.8,191.6,-12.2,144,1512,0.00,2.45,0.00,0.000,4,0.000,0.027,2854,3562,3494,0,0,0,0,0,0
$GC,1530,-1.38,-116.8,194.1,-12.1,145,1534,0.00,2.40,0.00,0.000,6,0.000,0.027,2854,2015,3494,0,0,0,0,0,0
$GC,1782,-1.38,-116.8,221.0,-10.0,154,1783,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,2014,3494,0,0,0,0,0,0
$GC,2025,-1.38,-116.8,242.6,-8.4,160,2029,0.00,2.47,0.00,0.000,4,0.000,0.034,2854,3566,3494,0,0,0,0,0,0
$GC,2053,-1.38,-116.8,245.1,-8.9,160,2057,0.00,2.40,0.00,0.000,6,0.000,0.029,2854,2026,3494,0,0,0,0,0,0
$GC,2303,-1.38,-116.8,268.7,-9.8,166,2308,0.10,2.45,0.00,0.000,4,0.120,0.036,2876,3559,3494,0,0,0,0,0,0
$GC,2332,-1.46,-116.8,271.3,-9.1,166,2336,0.00,2.42,0.00,0.000,6,0.000,0.031,2876,2027,3494,0,0,0,0,0,0
$GC,2583,-1.53,-116.8,294.5,-9.3,172,2588,0.15,2.72,0.00,0.000,4,0.065,0.068,2824,436,3494,0,0,0,0,0,0
$GC,2611,-1.53,-116.8,297.8,-11.7,172,2616,0.00,2.45,0.00,0.000,6,0.000,0.021,2824,2001,3494,0,0,0,0,0,0
$GC,2861,-1.53,-116.8,325.7,-11.0,178,2862,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2001,3494,0,0,0,0,0,0
$GC,3105,-1.53,-116.8,350.9,-10.4,184,3106,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,2001,3493,0,0,0,0,0,0
$GC,3349,-1.53,-116.8,375.1,-9.8,190,3353,0.00,2.60,0.00,0.000,4,0.000,0.053,2823,3578,3492,0,0,0,0,0,0
$GC,3400,-1.53,-116.8,380.0,-9.5,191,3404,0.00,2.55,0.00,0.000,6,0.000,0.042,2823,2034,3492,0,0,0,0,0,0
$GC,3672,-1.53,-116.8,405.3,-9.4,198,3676,0.00,2.55,0.00,0.000,4,0.000,0.048,2824,3579,3491,0,0,0,0,0,0
$GC,3693,-1.53,-116.8,407.4,-9.4,198,3697,0.00,2.58,0.00,0.000,6,0.000,0.049,2824,2021,3491,0,0,0,0,0,0
$GC,3950,-1.53,-116.8,429.5,-8.7,205,3954,0.00,2.58,0.00,0.000,4,0.000,0.044,2824,3575,3489,0,0,0,0,0,0
$GC,3971,-1.53,-116.8,431.8,-9.4,205,3976,0.00,2.58,0.00,0.000,6,0.000,0.047,2824,2034,3489,0,0,0,0,0,0
$GC,4226,-1.53,-116.8,456.2,-10.0,212,4230,0.00,2.58,0.00,0.000,4,0.000,0.052,2824,3578,3487,0,0,0,0,0,0
$GC,4249,-1.53,-116.8,458.6,-10.9,212,4253,0.00,2.60,0.00,0.000,6,0.000,0.054,2824,2032,3487,0,0,0,0,0,0
$GC,4503,-1.53,-116.8,484.8,-10.5,219,4508,0.00,2.60,0.00,0.000,4,0.000,0.056,2824,3574,3485,0,0,0,0,0,0
$GC,4531,-1.57,-116.8,488.0,-11.2,219,4536,0.00,2.60,0.00,0.000,6,0.000,0.056,2824,2038,3484,0,0,0,0,0,0
$STATE,4657,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4657,begin apogee
$GC,4664,-0.31,0.0,501.9,10.9,222,4766,1.23,0.00,97.72,0.913,6,0.076,0.000,3104,1983,3010,0,0,0,0,0,0
$STATE,4767,end apogee,CONTROL_FINISHED_OK
$STATE,4767,begin climb
$GC,4769,1.38,116.8,504.9,0.0,224,4880,1.58,2.78,99.65,0.903,4,0.036,0.051,3485,3554,2532,0,0,0,0,0,0
$GC,4906,1.30,192.8,505.4,5.6,228,4980,0.12,2.67,66.05,0.885,6,0.133,0.052,3461,1999,2224,0,0,0,0,0,0
$GC,5232,1.22,192.8,470.9,11.1,236,5233,0.00,0.00,0.00,0.000,6,0.000,0.000,3462,1999,2215,0,0,0,0,0,0
$GC,5477,1.15,192.8,444.9,10.5,242,5479,0.17,0.00,0.00,0.000,6,0.113,0.000,3425,1999,2213,0,0,0,0,0,0
$GC,5719,1.16,197.9,421.5,9.7,248,5729,0.00,2.95,3.60,0.504,4,0.000,0.094,3425,403,2203,0,0,0,0,0,0
$GC,5769,1.12,197.9,415.8,11.6,249,5773,0.00,2.58,0.00,0.000,6,0.000,0.024,3425,1999,2201,0,0,0,0,0,0
$GC,6048,1.14,214.5,390.0,9.1,256,6071,0.00,2.85,16.40,0.805,4,0.000,0.066,3425,401,2134,0,0,0,0,0,0
$GC,6100,1.14,214.5,384.1,11.8,257,6104,0.00,2.58,0.00,0.000,6,0.000,0.029,3425,1999,2133,0,0,0,0,0,0
$GC,6374,1.15,223.6,357.4,9.5,264,6389,0.00,2.65,9.20,0.733,4,0.000,0.042,3425,3578,2097,0,0,0,0,0,0
$GC,6406,1.16,237.0,354.1,9.3,264,6426,0.00,2.62,13.85,0.768,6,0.000,0.034,3425,1992,2042,0,0,0,0,0,0
$GC,6707,1.22,248.4,325.7,9.4,272,6725,0.00,2.80,11.12,0.742,4,0.000,0.073,3425,408,1996,0,0,0,0,0,0
$GC,6789,1.22,248.4,316.8,11.2,273,6795,0.00,2.53,0.00,0.000,6,0.000,0.020,3425,2006,1994,0,0,0,0,0,0
$GC,7040,1.29,267.1,294.0,9.0,280,7065,0.12,2.85,17.62,0.752,4,0.081,0.067,3461,411,1920,0,0,0,0,0,0
$GC,7101,1.29,267.1,287.0,12.1,281,7105,0.00,2.47,0.00,0.000,6,0.000,0.020,3461,1966,1918,0,0,0,0,0,0
$GC,7367,1.30,270.7,260.0,9.8,288,7377,0.00,2.70,4.32,0.530,4,0.000,0.061,3461,403,1906,0,0,0,0,0,0
$GC,7450,1.30,270.7,250.8,11.0,290,7455,0.00,2.47,0.00,0.000,6,0.000,0.025,3461,1970,1904,0,0,0,0,0,0
$GC,7735,1.30,270.7,222.0,10.2,297,7740,0.00,2.67,0.00,0.000,4,0.000,0.061,3461,406,1904,0,0,0,0,0,0
$GC,7757,1.31,282.7,219.7,9.3,297,7775,0.00,2.45,11.95,0.676,6,0.000,0.025,3460,1972,1857,0,0,0,0,0,0
$GC,8036,1.38,307.6,193.4,8.6,308,8064,0.00,2.72,22.77,0.682,4,0.000,0.062,3460,410,1755,0,0,0,0,0,0
$GC,8102,1.38,307.6,187.3,10.2,313,8107,0.00,2.45,0.00,0.000,6,0.000,0.025,3460,1964,1753,0,0,0,0,0,0
$GC,8371,1.44,310.9,163.1,9.8,337,8383,0.12,2.67,4.20,0.463,4,0.081,0.058,3496,404,1741,0,0,0,0,0,0
$GC,8410,1.40,310.9,158.1,12.7,340,8414,0.00,2.42,0.00,0.000,6,0.000,0.022,3497,1951,1740,0,0,0,0,0,0
$GC,8674,1.40,310.9,127.1,11.5,364,8683,0.00,0.00,0.00,0.000,6,0.000,0.000,3496,1952,1740,0,0,0,0,0,0
$GC,8939,1.40,310.9,97.7,10.6,389,8944,0.00,0.00,0.00,0.000,6,0.000,0.000,3496,1952,1740,0,0,0,0,0,0
$GC,9206,1.48,338.7,72.1,8.4,414,9236,0.00,2.65,25.15,0.571,4,0.000,0.051,3496,402,1628,0,0,0,0,0,0
$GC,9286,1.48,345.0,64.9,9.7,420,9301,0.00,2.42,7.10,0.484,6,0.000,0.017,3496,1968,1601,0,0,0,0,0,0
$GC,9557,1.54,348.6,39.7,9.8,445,9571,0.00,2.67,4.12,0.379,4,0.000,0.051,3497,409,1588,0,0,0,0,0,0
$GC,9613,1.54,348.6,33.4,11.2,449,9617,0.00,2.35,0.00,0.000,6,0.000,0.017,3496,1943,1588,0,0,0,0,0,0
$STATE,9890,end climb,SURFACE_DEPTH_REACHED
$STATE,9890,begin surface coast
$FINISH,0.6,0.970663
$STATE,9940,end surface coast,CONTROL_FINISHED_OK
$STATE,9940,begin surface
$SM_CCo,9962,26.62,0.507,0,0,1459,380.21
$SM_GC,1.33,0.00,0.00,26.62,0.000,0.000,0.507,477,1946,1459,-12.41,-1.84,380.21
$IRIDIUM_FIX,2244.02,-15801.49,230900,141452
$TT8_MAMPS,0.026078
$HUMID,63.70
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.60
$XPDR_PINGS,40
$24V_AH,23.5,52.142
$10V_AH,10.3,46.131
$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,28.725,118.650,414.850,26.625,0.000,23.396,34.161,217.491,10.000,0.000,13.452,1002.442,6480.843,478.537,1878.626,558.300,33.368,1189.512,0.000,1882.721,0.000,0.534,0.000
$DEVICE_MAMPS,154.167,136.526,913.497,506.987,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.583,279.206,379.473,731.738,1106.590,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355412
$DATA_FILE_SIZE,38278,494
$CAP_FILE_SIZE,105763,0
$CFSIZE,260165632,160325632
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300611,200137,2249.569,-15800.563,39,1.5,39,10.1