version: 66.06
glider: 146
mission: 6
dive: 321
start: 6 19 111 1 25 13
data:
$ID,146
$MISSION,6
$DIVE,321
$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,-275693.12
$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,3165
$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,1890
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,40
$R_STBD_OVSHOOT,62
$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
$GPS1,010934,2249.965,-15800.539,11,99.0,30,10.1
$_CALLS,2
$_XMS_NAKs,7
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.2
$GPS2,012419,2250.015,-15800.686,8,1.3,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.224,-0.071
$KALMAN_X,-183607.3,-251.4,-3.7,177223.7,-719.6
$KALMAN_Y,-45239.3,-377.3,31.3,56910.0,698.5
$MHEAD_RNG_PITCHd_Wd,97.5,6291,-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,-70.85,0.000,2,0.000,0.000,474,1879,3299,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.9,-7.5,9,118,12.38,2.62,-3.38,0.000,4,0.150,0.056,2853,322,3490,0,0,0,0,0,0
$GC,138,-0.63,-116.8,19.9,-35.4,14,146,0.75,2.42,0.00,0.000,6,0.090,0.015,3022,1912,3492,0,0,0,0,0,0
$GC,425,-0.83,-116.8,48.5,-8.7,45,430,0.15,2.38,0.00,0.000,4,0.062,0.025,2970,3422,3493,0,0,0,0,0,0
$GC,462,-0.97,-116.8,52.1,-10.5,47,466,0.00,2.40,0.00,0.000,6,0.000,0.024,2970,1898,3493,0,0,0,0,0,0
$GC,729,-1.12,-116.8,78.3,-8.8,71,734,0.20,2.40,0.00,0.000,4,0.051,0.028,2901,3427,3493,0,0,0,0,0,0
$GC,751,-1.24,-116.8,80.7,-9.7,72,756,0.00,2.40,0.00,0.000,6,0.000,0.024,2900,1893,3493,0,0,0,0,0,0
$GC,1014,-1.28,-116.8,110.0,-10.9,96,1018,0.00,2.40,0.00,0.000,4,0.000,0.029,2901,3428,3493,0,0,0,0,0,0
$GC,1061,-1.36,-116.8,114.8,-11.3,99,1066,0.12,2.40,0.00,0.000,6,0.069,0.025,2850,1894,3494,0,0,0,0,0,0
$GC,1327,-1.32,-116.8,150.9,-14.4,123,1332,0.12,2.45,0.00,0.000,4,0.105,0.026,2878,3432,3494,0,0,0,0,0,0
$GC,1385,-1.39,-116.8,158.1,-11.5,127,1389,0.00,2.38,0.00,0.000,6,0.000,0.028,2878,1914,3494,0,0,0,0,0,0
$GC,1651,-1.39,-116.8,189.2,-11.8,151,1655,0.00,2.38,0.00,0.000,4,0.000,0.031,2878,3432,3494,0,0,0,0,0,0
$GC,1702,-1.46,-116.8,195.6,-11.0,155,1707,0.12,2.38,0.00,0.000,6,0.070,0.030,2827,1913,3494,0,0,0,0,0,0
$GC,1985,-1.41,-116.8,232.1,-12.7,164,1990,0.12,2.40,0.00,0.000,4,0.107,0.028,2857,3430,3494,0,0,0,0,0,0
$GC,2006,-1.41,-116.8,234.9,-12.0,164,2010,0.00,2.38,0.00,0.000,6,0.000,0.025,2857,1915,3494,0,0,0,0,0,0
$GC,2269,-1.41,-116.8,263.0,-10.6,171,2273,0.00,2.38,0.00,0.000,4,0.000,0.028,2857,3420,3494,0,0,0,0,0,0
$GC,2375,-1.48,-116.8,274.3,-10.4,173,2379,0.00,2.35,0.00,0.000,6,0.000,0.033,2857,1934,3494,0,0,0,0,0,0
$GC,2636,-1.52,-116.8,301.5,-10.5,180,2637,0.10,0.00,0.00,0.000,6,0.083,0.000,2817,1934,3494,0,0,0,0,0,0
$GC,2880,-1.52,-116.8,328.1,-11.0,186,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1934,3493,0,0,0,0,0,0
$GC,3122,-1.52,-116.8,354.0,-10.2,192,3124,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1934,3492,0,0,0,0,0,0
$GC,3366,-1.52,-116.8,380.4,-10.8,198,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1934,3491,0,0,0,0,0,0
$GC,3610,-1.52,-116.8,406.2,-10.3,204,3614,0.00,2.45,0.00,0.000,4,0.000,0.044,2816,3416,3489,0,0,0,0,0,0
$GC,3668,-1.52,-116.8,412.3,-11.7,205,3672,0.00,2.45,0.00,0.000,6,0.000,0.056,2816,1951,3490,0,0,0,0,0,0
$GC,3934,-1.52,-116.8,444.2,-12.1,212,3935,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1952,3487,0,0,0,0,0,0
$GC,4177,-1.52,-116.8,472.9,-11.5,218,4178,0.00,0.00,0.00,0.000,6,0.000,0.000,2816,1952,3485,0,0,0,0,0,0
$GC,4423,-1.52,-116.8,496.6,-9.5,224,4427,0.00,2.47,0.00,0.000,4,0.000,0.061,2816,3415,3484,0,0,0,0,0,0
$GC,4450,-1.52,-116.8,499.2,-9.2,224,4454,0.00,2.50,0.00,0.000,6,0.000,0.059,2816,1949,3484,0,0,0,0,0,0
$STATE,4494,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4494,begin apogee
$GC,4500,-0.31,0.0,503.4,9.0,225,4600,1.23,0.00,96.78,0.913,6,0.074,0.000,3097,1949,3010,0,0,0,0,0,0
$STATE,4601,end apogee,CONTROL_FINISHED_OK
$STATE,4601,begin climb
$GC,4603,1.38,116.8,504.8,0.0,227,4707,1.55,0.00,99.53,0.890,6,0.038,0.000,3472,1949,2533,0,0,0,0,0,0
$GC,4944,1.29,145.6,485.4,8.4,236,4975,0.12,2.72,24.60,0.854,4,0.127,0.049,3449,3518,2415,0,0,0,0,0,0
$GC,5021,1.25,173.0,478.9,8.5,237,5052,0.00,2.55,25.20,0.849,6,0.000,0.053,3448,2015,2304,0,0,0,0,0,0
$GC,5310,1.22,195.5,453.3,8.7,245,5332,0.00,0.00,20.33,0.836,6,0.000,0.000,3448,2015,2213,0,0,0,0,0,0
$GC,5552,1.18,202.6,430.1,9.6,251,5561,0.12,0.00,7.07,0.715,6,0.123,0.000,3424,2015,2184,0,0,0,0,0,0
$GC,5797,1.20,218.6,408.0,9.1,257,5814,0.00,0.00,15.57,0.811,6,0.000,0.000,3424,2014,2118,0,0,0,0,0,0
$GC,6039,1.20,218.6,383.1,10.6,263,6043,0.00,2.47,0.00,0.000,4,0.000,0.036,3424,3524,2114,0,0,0,0,0,0
$GC,6060,1.20,218.6,380.6,11.4,263,6064,0.00,2.55,0.00,0.000,6,0.000,0.044,3424,2001,2113,0,0,0,0,0,0
$GC,6316,1.20,218.6,353.8,10.5,270,6321,0.00,2.83,0.00,0.000,4,0.000,0.083,3423,410,2111,0,0,0,0,0,0
$GC,6382,1.20,218.6,345.8,12.1,271,6387,0.00,2.45,0.00,0.000,6,0.000,0.021,3423,1962,2110,0,0,0,0,0,0
$GC,6640,1.22,233.8,322.1,9.2,278,6655,0.00,0.00,13.60,0.764,6,0.000,0.000,3424,1963,2056,0,0,0,0,0,0
$GC,6884,1.29,246.4,299.1,9.3,284,6903,0.10,2.75,12.52,0.743,4,0.097,0.062,3452,410,2004,0,0,0,0,0,0
$GC,6931,1.24,246.4,294.0,10.7,285,6936,0.00,2.58,0.00,0.000,6,0.000,0.020,3451,2021,2002,0,0,0,0,0,0
$GC,7210,1.25,257.8,267.8,9.4,292,7229,0.00,2.80,11.32,0.716,4,0.000,0.055,3451,410,1958,0,0,0,0,0,0
$GC,7268,1.25,257.8,261.5,10.7,293,7273,0.00,2.55,0.00,0.000,6,0.000,0.021,3452,2008,1956,0,0,0,0,0,0
$GC,7535,1.27,272.3,236.7,9.2,300,7551,0.00,0.00,13.70,0.706,6,0.000,0.000,3451,2009,1900,0,0,0,0,0,0
$GC,7781,1.27,272.3,212.1,10.4,306,7785,0.00,2.72,0.00,0.000,4,0.000,0.058,3451,408,1897,0,0,0,0,0,0
$GC,7835,1.27,272.3,206.0,10.8,307,7840,0.00,2.47,0.00,0.000,6,0.000,0.025,3452,1994,1896,0,0,0,0,0,0
$GC,8107,1.34,291.9,182.1,8.9,325,8127,0.00,0.00,18.17,0.673,6,0.000,0.000,3452,1994,1818,0,0,0,0,0,0
$GC,8380,1.41,299.2,155.9,9.6,351,8394,0.00,2.70,7.53,0.578,4,0.000,0.056,3451,403,1789,0,0,0,0,0,0
$GC,8434,1.41,299.2,150.5,10.6,355,8439,0.00,2.50,0.00,0.000,6,0.000,0.025,3452,1996,1788,0,0,0,0,0,0
$GC,8702,1.50,312.9,124.6,9.3,379,8728,0.17,2.75,13.12,0.600,4,0.064,0.057,3500,408,1732,0,0,0,0,0,0
$GC,8740,1.50,312.9,119.7,11.8,382,8744,0.00,2.47,0.00,0.000,6,0.000,0.021,3500,2001,1732,0,0,0,0,0,0
$GC,9004,1.52,333.7,93.2,8.8,406,9028,0.00,2.53,19.15,0.586,4,0.000,0.036,3500,3553,1647,0,0,0,0,0,0
$GC,9053,1.53,338.1,88.3,9.8,410,9068,0.00,2.53,4.93,0.444,6,0.000,0.033,3500,1987,1632,0,0,0,0,0,0
$GC,9322,1.57,338.1,60.9,10.9,435,9326,0.00,2.62,0.00,0.000,4,0.000,0.058,3500,418,1629,0,0,0,0,0,0
$GC,9356,1.57,338.1,56.3,12.4,437,9365,0.00,2.47,0.00,0.000,6,0.000,0.018,3500,1998,1628,0,0,0,0,0,0
$GC,9629,1.57,338.1,26.7,11.4,464,9637,0.00,2.67,0.00,0.000,4,0.000,0.051,3500,423,1628,0,0,0,0,0,0
$GC,9662,1.57,338.1,22.3,11.7,468,9671,0.00,2.45,0.00,0.000,6,0.000,0.018,3499,1999,1628,0,0,0,0,0,0
$STATE,9828,end climb,SURFACE_DEPTH_REACHED
$STATE,9828,begin surface coast
$FINISH,0.7,0.980050
$STATE,9872,end surface coast,CONTROL_FINISHED_OK
$STATE,9872,begin surface
$SM_CCo,9894,35.00,0.518,0,0,1459,380.21
$SM_GC,1.52,0.00,0.00,35.00,0.000,0.000,0.518,477,1876,1459,-12.36,-0.40,380.21
$IRIDIUM_FIX,2241.69,-15759.32,120900,010126
$TT8_MAMPS,0.026078
$HUMID,62.04
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,21.90
$XPDR_PINGS,39
$24V_AH,23.5,40.253
$10V_AH,10.3,35.388
$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,29.625,105.700,403.125,35.000,0.000,58.719,76.419,547.493,9.750,0.000,14.668,1001.870,6516.911,510.944,1814.781,971.461,33.371,1161.500,0.000,1824.896,0.000,0.536,0.000
$DEVICE_MAMPS,149.565,82.836,912.730,518.492,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,338.145,280.312,385.602,756.402,1144.272,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355684
$DATA_FILE_SIZE,38418,499
$CAP_FILE_SIZE,109227,0
$CFSIZE,260165632,165416960
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190611,041209,2249.795,-15759.654,46,1.3,46,10.1