version: 66.06
glider: 146
mission: 6
dive: 328
start: 6 19 111 22 24 22
data:
$ID,146
$MISSION,6
$DIVE,328
$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,-275875.28
$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,27
$R_STBD_OVSHOOT,83
$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
$GPS1,220831,2248.296,-15758.204,37,1.4,37,10.1
$_CALLS,3
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.8
$GPS2,222325,2248.443,-15758.331,13,1.3,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.118,-0.203
$KALMAN_X,-189997.7,-450.1,-18.7,187850.2,-862.8
$KALMAN_Y,-38003.6,-379.4,215.6,46575.4,1097.6
$MHEAD_RNG_PITCHd_Wd,139.7,2822,-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,-70.80,0.000,2,0.000,0.000,482,1925,3258,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.4,-5.4,9,118,12.27,2.75,-4.28,0.000,4,0.146,0.059,2856,313,3489,0,0,0,0,0,0
$GC,177,-1.21,-116.8,25.4,-19.0,20,187,0.17,2.40,0.00,0.000,6,0.147,0.015,2896,1877,3489,0,0,0,0,0,0
$GC,450,-1.16,-116.8,67.7,-15.0,46,454,0.00,2.42,0.00,0.000,4,0.000,0.026,2896,3435,3490,0,0,0,0,0,0
$GC,497,-1.20,-116.8,74.7,-13.5,49,502,0.00,2.47,0.00,0.000,6,0.000,0.032,2896,1884,3491,0,0,0,0,0,0
$GC,764,-1.20,-116.8,109.9,-13.6,73,768,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1884,3491,0,0,0,0,0,0
$GC,1026,-1.20,-116.8,140.9,-10.6,98,1030,0.00,2.45,0.00,0.000,4,0.000,0.025,2896,3443,3491,0,0,0,0,0,0
$GC,1072,-1.28,-116.8,145.1,-9.9,101,1076,0.00,2.45,0.00,0.000,6,0.000,0.023,2896,1894,3492,0,0,0,0,0,0
$GC,1336,-1.34,-116.8,170.8,-9.9,125,1341,0.10,2.47,0.00,0.000,4,0.084,0.030,2852,3445,3492,0,0,0,0,0,0
$GC,1392,-1.34,-116.8,177.3,-10.2,129,1401,0.00,2.45,0.00,0.000,6,0.000,0.027,2852,1909,3492,0,0,0,0,0,0
$GC,1682,-1.34,-116.8,210.9,-12.0,151,1683,0.10,0.00,0.00,0.000,6,0.118,0.000,2874,1908,3492,0,0,0,0,0,0
$GC,1927,-1.38,-116.8,237.0,-10.7,157,1931,0.00,2.42,0.00,0.000,4,0.000,0.033,2874,3438,3492,0,0,0,0,0,0
$GC,2050,-1.47,-116.8,250.3,-10.2,159,2057,0.12,2.35,0.00,0.000,6,0.067,0.031,2826,1942,3492,0,0,0,0,0,0
$GC,2302,-1.47,-116.8,281.1,-12.6,166,2306,0.00,2.38,0.00,0.000,4,0.000,0.029,2825,3433,3492,0,0,0,0,0,0
$GC,2363,-1.47,-116.8,289.5,-13.4,167,2367,0.00,2.33,0.00,0.000,6,0.000,0.034,2826,1967,3492,0,0,0,0,0,0
$GC,2629,-1.47,-116.8,321.4,-11.7,174,2633,0.00,2.35,0.00,0.000,4,0.000,0.032,2825,3428,3492,0,0,0,0,0,0
$GC,2662,-1.47,-116.8,325.1,-11.2,174,2667,0.00,2.33,0.00,0.000,6,0.000,0.039,2826,1981,3492,0,0,0,0,0,0
$GC,2912,-1.47,-116.8,351.0,-10.6,180,2913,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1982,3491,0,0,0,0,0,0
$GC,3156,-1.47,-116.8,376.6,-10.4,186,3160,0.00,2.38,0.00,0.000,4,0.000,0.044,2826,3434,3490,0,0,0,0,0,0
$GC,3205,-1.51,-116.8,382.0,-10.7,187,3209,0.00,2.42,0.00,0.000,6,0.000,0.044,2826,1980,3490,0,0,0,0,0,0
$GC,3478,-1.51,-116.8,409.6,-10.3,194,3479,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1981,3488,0,0,0,0,0,0
$GC,3720,-1.51,-116.8,434.8,-10.2,200,3725,0.00,3.05,0.00,0.000,4,0.000,0.104,2825,325,3487,0,0,0,0,0,0
$GC,3770,-1.51,-116.8,440.6,-11.9,201,3774,0.00,2.55,0.00,0.000,6,0.000,0.037,2825,1908,3486,0,0,0,0,0,0
$GC,4043,-1.51,-116.8,468.2,-10.1,208,4048,0.00,2.65,0.00,0.000,4,0.000,0.062,2826,3478,3484,0,0,0,0,0,0
$GC,4082,-1.56,-116.8,472.3,-10.4,209,4087,0.00,2.53,0.00,0.000,6,0.000,0.051,2825,1980,3484,0,0,0,0,0,0
$STATE,4364,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4364,begin apogee
$GC,4371,-0.31,0.0,502.6,10.6,216,4471,1.17,0.00,96.62,0.917,6,0.077,0.000,3093,1980,3010,0,0,0,0,0,0
$STATE,4472,end apogee,CONTROL_FINISHED_OK
$STATE,4472,begin climb
$GC,4474,1.38,116.8,505.7,0.0,218,4583,1.55,2.80,98.95,0.897,4,0.047,0.062,3469,3578,2531,0,0,0,0,0,0
$GC,4687,1.27,138.5,499.5,8.8,223,4712,0.12,2.67,18.65,0.838,6,0.129,0.056,3445,2011,2444,0,0,0,0,0,0
$GC,4976,1.25,177.4,476.0,7.8,230,5017,0.00,3.08,34.65,0.871,4,0.000,0.104,3445,410,2285,0,0,0,0,0,0
$GC,5052,1.14,177.4,468.5,11.1,231,5058,0.15,2.60,0.00,0.000,6,0.122,0.031,3415,1990,2282,0,0,0,0,0,0
$GC,5302,1.18,209.5,447.6,8.2,237,5337,0.00,2.78,28.52,0.857,4,0.000,0.052,3415,3575,2155,0,0,0,0,0,0
$GC,5373,1.20,226.9,441.6,9.0,238,5396,0.00,2.70,16.73,0.817,6,0.000,0.050,3415,1986,2084,0,0,0,0,0,0
$GC,5676,1.22,243.0,414.2,9.1,246,5696,0.00,2.95,14.90,0.810,4,0.000,0.094,3415,408,2018,0,0,0,0,0,0
$GC,5753,1.22,243.0,405.8,11.4,247,5759,0.00,2.58,0.00,0.000,6,0.000,0.024,3415,1998,2016,0,0,0,0,0,0
$GC,6004,1.26,243.0,379.2,10.6,254,6009,0.10,2.80,0.00,0.000,4,0.092,0.066,3444,406,2013,0,0,0,0,0,0
$GC,6048,1.22,243.0,373.5,13.3,255,6053,0.00,2.53,0.00,0.000,6,0.000,0.026,3444,1980,2012,0,0,0,0,0,0
$GC,6327,1.22,243.0,343.2,10.6,262,6331,0.00,2.72,0.00,0.000,4,0.000,0.067,3444,404,2011,0,0,0,0,0,0
$GC,6366,1.17,243.0,338.7,11.4,263,6371,0.10,2.50,0.00,0.000,6,0.130,0.023,3423,1972,2010,0,0,0,0,0,0
$GC,6651,1.25,266.5,313.7,8.7,270,6678,0.00,2.67,21.08,0.785,4,0.000,0.038,3423,3574,1922,0,0,0,0,0,0
$GC,6770,1.33,266.9,301.9,10.0,272,6775,0.12,2.62,0.00,0.000,6,0.083,0.033,3458,1969,1919,0,0,0,0,0,0
$GC,7019,1.33,266.9,273.2,11.7,278,7020,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1969,1916,0,0,0,0,0,0
$GC,7264,1.33,266.9,245.3,11.5,284,7265,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1969,1915,0,0,0,0,0,0
$GC,7507,1.33,266.9,219.8,10.2,290,7508,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1969,1915,0,0,0,0,0,0
$GC,7753,1.34,274.1,195.5,9.6,299,7766,0.00,2.75,6.78,0.601,4,0.000,0.065,3458,407,1891,0,0,0,0,0,0
$GC,7798,1.34,274.1,190.8,11.9,303,7803,0.00,2.50,0.00,0.000,6,0.000,0.025,3458,2013,1890,0,0,0,0,0,0
$GC,8061,1.34,274.1,163.7,10.8,327,8065,0.00,2.72,0.00,0.000,4,0.000,0.056,3458,404,1890,0,0,0,0,0,0
$GC,8094,1.34,274.1,159.7,11.6,329,8100,0.00,2.47,0.00,0.000,6,0.000,0.019,3458,1987,1889,0,0,0,0,0,0
$GC,8359,1.38,274.1,132.9,10.3,354,8367,0.00,0.00,0.00,0.000,6,0.000,0.000,3458,1987,1889,0,0,0,0,0,0
$GC,8624,1.46,295.5,105.7,8.8,379,8650,0.10,2.70,19.88,0.606,4,0.096,0.053,3488,408,1804,0,0,0,0,0,0
$GC,8715,1.46,295.5,95.3,12.2,386,8724,0.00,2.50,0.00,0.000,6,0.000,0.025,3488,1987,1802,0,0,0,0,0,0
$GC,8982,1.47,305.6,69.6,9.5,411,8998,0.00,2.67,9.85,0.536,4,0.000,0.053,3488,404,1762,0,0,0,0,0,0
$GC,9027,1.47,305.6,64.8,11.0,414,9031,0.00,2.50,0.00,0.000,6,0.000,0.019,3488,1999,1761,0,0,0,0,0,0
$GC,9294,1.57,332.0,40.6,8.5,438,9324,0.00,2.75,23.90,0.549,4,0.000,0.049,3488,410,1654,0,0,0,0,0,0
$GC,9363,1.57,332.0,33.8,11.1,443,9367,0.00,2.45,0.00,0.000,6,0.000,0.018,3488,1991,1653,0,0,0,0,0,0
$STATE,9663,end climb,SURFACE_DEPTH_REACHED
$STATE,9663,begin surface coast
$FINISH,0.6,0.979974
$STATE,9719,end surface coast,CONTROL_FINISHED_OK
$STATE,9719,begin surface
$SM_CCo,9743,39.05,0.518,0,0,1459,380.21
$SM_GC,1.40,0.00,0.00,39.05,0.000,0.000,0.518,474,1857,1459,-12.37,-0.93,380.21
$IRIDIUM_FIX,2241.69,-15759.32,120900,222216
$TT8_MAMPS,0.026078
$HUMID,63.15
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.80
$XPDR_PINGS,44
$24V_AH,23.5,41.188
$10V_AH,10.3,36.195
$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,28.350,113.800,390.500,39.050,0.000,95.465,98.252,432.398,11.000,0.000,15.004,997.247,6363.806,469.192,1937.779,911.908,33.368,1189.052,0.000,1936.696,0.000,0.536,0.000
$DEVICE_MAMPS,147.264,104.312,916.565,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.172,271.691,383.506,734.896,1111.439,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,38256,492
$CAP_FILE_SIZE,109209,0
$CFSIZE,260165632,165040128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200611,010906,2247.612,-15758.537,45,1.1,61,10.1