version: 66.06
glider: 146
mission: 6
dive: 370
start: 6 25 111 2 12 21
data:
$ID,146
$MISSION,6
$DIVE,370
$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,-277040.59
$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,3170
$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,41
$R_STBD_OVSHOOT,57
$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
$GPS1,015652,2249.882,-15757.585,23,4.4,42,10.1
$_CALLS,3
$_XMS_NAKs,6
$_XMS_TOUTs,1
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-69.8
$GPS2,021125,2250.162,-15757.628,73,0.9,73,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.061,-0.227
$KALMAN_X,-242660.3,-195.8,-236.3,241672.4,-651.1
$KALMAN_Y,11158.7,280.6,250.3,-101.5,1473.8
$MHEAD_RNG_PITCHd_Wd,154.7,5864,-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,-71.20,0.000,2,0.000,0.000,479,1871,3292,0,0,0,0,0,0
$GC,92,-1.38,-116.8,4.0,-7.2,9,118,12.27,0.00,-3.55,0.000,6,0.146,0.000,2860,1871,3490,0,0,0,0,0,0
$GC,398,-1.27,-116.8,62.3,-15.6,43,403,0.15,2.50,0.00,0.000,4,0.127,0.033,2890,3455,3492,0,0,0,0,0,0
$GC,445,-1.27,-116.8,69.8,-13.0,46,455,0.00,2.50,0.00,0.000,6,0.000,0.025,2890,1894,3492,0,0,0,0,0,0
$GC,712,-1.27,-116.8,103.3,-12.5,71,717,0.00,2.45,0.00,0.000,4,0.000,0.033,2890,3458,3492,0,0,0,0,0,0
$GC,770,-1.32,-116.8,111.0,-12.1,75,776,0.00,2.45,0.00,0.000,6,0.000,0.025,2890,1893,3493,0,0,0,0,0,0
$GC,1034,-1.32,-116.8,140.1,-10.2,100,1038,0.00,2.45,0.00,0.000,4,0.000,0.031,2890,3460,3493,0,0,0,0,0,0
$GC,1068,-1.36,-116.8,143.9,-10.7,102,1077,0.00,2.47,0.00,0.000,6,0.000,0.025,2890,1908,3493,0,0,0,0,0,0
$GC,1335,-1.40,-116.8,169.0,-8.7,127,1340,0.10,0.00,0.00,0.000,6,0.085,0.000,2849,1908,3493,0,0,0,0,0,0
$GC,1599,-1.40,-116.8,197.7,-11.4,152,1603,0.00,2.42,0.00,0.000,4,0.000,0.031,2849,3460,3494,0,0,0,0,0,0
$GC,1654,-1.40,-116.8,204.5,-11.5,155,1658,0.00,2.42,0.00,0.000,6,0.000,0.030,2849,1920,3494,0,0,0,0,0,0
$GC,1923,-1.40,-116.8,232.8,-10.7,162,1924,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1920,3494,0,0,0,0,0,0
$GC,2165,-1.40,-116.8,257.5,-10.1,168,2169,0.00,2.42,0.00,0.000,4,0.000,0.028,2849,3451,3494,0,0,0,0,0,0
$GC,2287,-1.45,-116.8,271.1,-11.6,170,2293,0.00,2.42,0.00,0.000,6,0.000,0.027,2849,1930,3494,0,0,0,0,0,0
$GC,2538,-1.45,-116.8,297.6,-10.6,177,2539,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1930,3493,0,0,0,0,0,0
$GC,2781,-1.45,-116.8,323.4,-10.6,183,2785,0.00,2.42,0.00,0.000,4,0.000,0.031,2848,3447,3493,0,0,0,0,0,0
$GC,2824,-1.51,-116.8,328.3,-10.7,184,2829,0.00,2.42,0.00,0.000,6,0.000,0.035,2849,1945,3493,0,0,0,0,0,0
$GC,3104,-1.55,-116.8,357.4,-10.9,191,3108,0.00,2.42,0.00,0.000,4,0.000,0.041,2849,3449,3492,0,0,0,0,0,0
$GC,3216,-1.64,-116.8,370.0,-10.5,193,3221,0.15,2.42,0.00,0.000,6,0.062,0.041,2795,1965,3491,0,0,0,0,0,0
$GC,3471,-1.59,-116.8,400.3,-11.9,200,3473,0.12,0.00,0.00,0.000,6,0.110,0.000,2823,1965,3490,0,0,0,0,0,0
$GC,3717,-1.59,-116.8,424.0,-9.4,206,3721,0.00,2.42,0.00,0.000,4,0.000,0.045,2822,3441,3489,0,0,0,0,0,0
$GC,3783,-1.64,-116.8,430.5,-9.7,207,3788,0.00,2.42,0.00,0.000,6,0.000,0.048,2823,1986,3488,0,0,0,0,0,0
$GC,4041,-1.64,-116.8,452.8,-8.9,214,4042,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1985,3486,0,0,0,0,0,0
$GC,4282,-1.64,-116.8,476.8,-10.1,220,4287,0.00,3.12,0.00,0.000,4,0.000,0.112,2823,316,3485,0,0,0,0,0,0
$GC,4309,-1.64,-116.8,480.0,-11.7,220,4313,0.00,2.62,0.00,0.000,6,0.000,0.041,2823,1942,3485,0,0,0,0,0,0
$STATE,4516,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4516,begin apogee
$GC,4522,-0.31,0.0,502.9,11.1,225,4623,1.23,0.00,97.60,0.910,6,0.084,0.000,3103,1942,3010,0,0,0,0,0,0
$STATE,4624,end apogee,CONTROL_FINISHED_OK
$STATE,4624,begin climb
$GC,4628,1.38,116.8,506.0,0.0,227,4739,1.55,2.88,99.95,0.894,4,0.043,0.065,3478,3540,2532,0,0,0,0,0,0
$GC,4752,1.36,227.6,508.7,3.6,230,4858,0.00,2.62,96.25,0.884,6,0.000,0.048,3478,2002,2081,0,0,0,0,0,0
$GC,5131,1.27,227.6,464.3,12.8,240,5133,0.15,0.00,0.00,0.000,6,0.119,0.000,3449,2002,2073,0,0,0,0,0,0
$GC,5376,1.27,227.6,435.2,11.9,246,5381,0.00,2.88,0.00,0.000,4,0.000,0.091,3448,410,2071,0,0,0,0,0,0
$GC,5442,1.18,227.6,426.0,13.2,247,5447,0.00,2.53,0.00,0.000,6,0.000,0.027,3448,1966,2069,0,0,0,0,0,0
$GC,5698,1.18,227.6,394.8,12.1,254,5702,0.00,2.67,0.00,0.000,4,0.000,0.046,3448,3585,2068,0,0,0,0,0,0
$GC,5759,1.18,227.6,386.8,12.8,255,5764,0.00,2.62,0.00,0.000,6,0.000,0.039,3448,1995,2067,0,0,0,0,0,0
$GC,6020,1.18,227.6,354.6,12.3,262,6024,0.00,2.80,0.00,0.000,4,0.000,0.076,3448,400,2066,0,0,0,0,0,0
$GC,6092,1.13,227.6,345.2,13.0,263,6097,0.15,2.53,0.00,0.000,6,0.120,0.026,3418,2008,2065,0,0,0,0,0,0
$GC,6344,1.22,258.5,323.3,8.3,269,6372,0.00,0.00,26.30,0.791,6,0.000,0.000,3418,2008,1956,0,0,0,0,0,0
$GC,6586,1.35,302.3,304.5,7.5,275,6629,0.20,0.00,40.15,0.779,6,0.063,0.000,3470,2009,1777,0,0,0,0,0,0
$GC,6870,1.35,302.3,272.8,11.8,282,6875,0.00,2.75,0.00,0.000,4,0.000,0.063,3470,406,1770,0,0,0,0,0,0
$GC,6936,1.35,302.3,262.8,15.3,283,6941,0.00,2.53,0.00,0.000,6,0.000,0.020,3470,2002,1769,0,0,0,0,0,0
$GC,7192,1.35,302.3,230.0,12.5,290,7196,0.00,2.53,0.00,0.000,4,0.000,0.041,3470,3558,1768,0,0,0,0,0,0
$GC,7213,1.35,302.3,227.2,12.6,290,7217,0.00,2.55,0.00,0.000,6,0.000,0.036,3470,1986,1766,0,0,0,0,0,0
$GC,7469,1.35,302.3,197.6,11.6,297,7474,0.00,2.70,0.00,0.000,4,0.000,0.061,3469,408,1766,0,0,0,0,0,0
$GC,7568,1.35,302.3,184.4,13.7,305,7572,0.00,2.45,0.00,0.000,6,0.000,0.018,3470,1985,1765,0,0,0,0,0,0
$GC,7832,1.35,302.3,154.1,10.3,329,7836,0.00,2.65,0.00,0.000,4,0.000,0.061,3470,408,1765,0,0,0,0,0,0
$GC,7887,1.35,302.3,148.3,10.8,333,7891,0.00,2.42,0.00,0.000,6,0.000,0.024,3470,1979,1765,0,0,0,0,0,0
$GC,8155,1.40,316.3,123.6,9.2,357,8179,0.00,2.58,11.48,0.589,4,0.000,0.031,3470,3541,1719,0,0,0,0,0,0
$GC,8185,1.46,316.3,119.7,10.8,359,8191,0.00,2.58,0.00,0.000,6,0.000,0.035,3470,1955,1719,0,0,0,0,0,0
$GC,8450,1.54,340.9,95.7,8.6,384,8479,0.15,2.65,22.65,0.590,4,0.067,0.059,3514,410,1619,0,0,0,0,0,0
$GC,8519,1.48,340.9,87.8,12.2,389,8524,0.10,2.40,0.00,0.000,6,0.127,0.017,3495,1956,1617,0,0,0,0,0,0
$GC,8782,1.48,340.9,60.4,10.4,413,8791,0.00,0.00,0.00,0.000,6,0.000,0.000,3495,1958,1616,0,0,0,0,0,0
$GC,9047,1.53,340.9,32.1,10.2,438,9052,0.00,2.58,0.00,0.000,4,0.000,0.051,3495,407,1616,0,0,0,0,0,0
$GC,9123,1.53,340.9,23.7,11.4,447,9132,0.00,2.40,0.00,0.000,6,0.000,0.018,3495,1943,1615,0,0,0,0,0,0
$STATE,9291,end climb,SURFACE_DEPTH_REACHED
$STATE,9291,begin surface coast
$FINISH,0.5,0.975370
$STATE,9336,end surface coast,CONTROL_FINISHED_OK
$STATE,9336,begin surface
$SM_CCo,9358,32.20,0.515,0,0,1460,380.21
$SM_GC,0.94,0.00,0.00,32.20,0.000,0.000,0.515,470,1861,1460,-12.42,-0.82,380.21
$IRIDIUM_FIX,2241.69,-15759.32,180900,020215
$TT8_MAMPS,0.025311
$HUMID,63.82
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.40
$XPDR_PINGS,38
$24V_AH,23.5,46.513
$10V_AH,10.3,40.945
$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,28.550,102.200,394.375,32.200,0.000,87.370,112.163,329.606,9.500,0.000,78.471,952.070,6121.317,487.569,1874.501,831.956,33.372,1158.621,0.000,1825.357,0.000,0.535,0.000
$DEVICE_MAMPS,145.730,111.982,910.429,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.744,270.365,371.772,712.542,1077.629,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355400
$DATA_FILE_SIZE,38492,477
$CAP_FILE_SIZE,102731,0
$CFSIZE,260165632,162795520
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250611,045001,2249.751,-15757.890,10,1.8,27,10.1