version: 66.06
glider: 146
mission: 6
dive: 376
start: 6 25 111 20 14 21
data:
$ID,146
$MISSION,6
$DIVE,376
$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,-277260
$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,27
$R_STBD_OVSHOOT,99
$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
$GPS1,195349,2248.095,-15758.310,12,99.0,31,10.1
$_CALLS,4
$_XMS_NAKs,17
$_XMS_TOUTs,1
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-68.8
$GPS2,201325,2248.321,-15758.422,49,1.5,49,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.148,-0.182
$KALMAN_X,-250419.2,40.9,-93.7,247701.9,-1131.5
$KALMAN_Y,20987.9,-283.9,-4.7,-12521.6,1010.5
$MHEAD_RNG_PITCHd_Wd,130.7,2666,-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,-71.15,0.000,2,0.000,0.000,474,1925,3193,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.3,-5.6,9,118,12.75,2.70,-5.60,0.000,4,0.161,0.058,2858,312,3488,0,0,0,0,0,0
$GC,282,-1.24,-116.8,44.0,-17.2,31,290,0.15,2.38,0.00,0.000,6,0.100,0.014,2894,1863,3489,0,0,0,0,0,0
$GC,544,-1.24,-116.8,82.0,-14.2,56,548,0.00,2.47,0.00,0.000,4,0.000,0.032,2894,3446,3490,0,0,0,0,0,0
$GC,616,-1.28,-116.8,91.6,-12.7,61,622,0.00,2.45,0.00,0.000,6,0.000,0.025,2894,1897,3490,0,0,0,0,0,0
$GC,877,-1.28,-116.8,126.3,-14.0,86,881,0.00,2.42,0.00,0.000,4,0.000,0.030,2894,3443,3490,0,0,0,0,0,0
$GC,931,-1.36,-116.8,133.2,-12.3,90,935,0.00,2.42,0.00,0.000,6,0.000,0.031,2894,1910,3490,0,0,0,0,0,0
$GC,1194,-1.40,-116.8,163.1,-9.5,114,1199,0.12,2.42,0.00,0.000,4,0.070,0.033,2848,3440,3491,0,0,0,0,0,0
$GC,1218,-1.40,-116.8,164.9,-9.4,115,1223,0.00,2.38,0.00,0.000,6,0.000,0.025,2848,1929,3490,0,0,0,0,0,0
$GC,1486,-1.36,-116.8,194.3,-11.1,139,1491,0.12,2.38,0.00,0.000,4,0.113,0.028,2876,3441,3491,0,0,0,0,0,0
$GC,1519,-1.41,-116.8,198.8,-10.4,141,1529,0.00,2.40,0.00,0.000,6,0.000,0.031,2876,1933,3491,0,0,0,0,0,0
$GC,1781,-1.41,-116.8,223.5,-9.6,149,1786,0.00,2.38,0.00,0.000,4,0.000,0.035,2876,3448,3491,0,0,0,0,0,0
$GC,1855,-1.48,-116.8,231.0,-10.4,150,1860,0.12,2.38,0.00,0.000,6,0.068,0.028,2828,1943,3491,0,0,0,0,0,0
$GC,2106,-1.44,-116.8,259.8,-11.6,156,2110,0.12,2.40,0.00,0.000,4,0.107,0.034,2855,3446,3491,0,0,0,0,0,0
$GC,2129,-1.44,-116.8,262.0,-9.5,156,2133,0.00,2.38,0.00,0.000,6,0.000,0.031,2855,1946,3491,0,0,0,0,0,0
$GC,2383,-1.44,-116.8,287.5,-10.2,163,2387,0.00,2.38,0.00,0.000,4,0.000,0.035,2855,3445,3491,0,0,0,0,0,0
$GC,2417,-1.50,-116.8,290.9,-10.3,163,2421,0.00,2.38,0.00,0.000,6,0.000,0.030,2855,1957,3491,0,0,0,0,0,0
$GC,2668,-1.54,-116.8,314.2,-9.2,169,2673,0.00,2.38,0.00,0.000,4,0.000,0.035,2855,3439,3490,0,0,0,0,0,0
$GC,2702,-1.60,-116.8,317.6,-9.4,169,2708,0.15,2.38,0.00,0.000,6,0.061,0.032,2803,1968,3490,0,0,0,0,0,0
$GC,2952,-1.56,-116.8,345.5,-11.7,176,2957,0.12,2.38,0.00,0.000,4,0.113,0.038,2831,3439,3489,0,0,0,0,0,0
$GC,3061,-1.59,-116.8,357.5,-11.3,178,3065,0.00,2.40,0.00,0.000,6,0.000,0.048,2830,1984,3489,0,0,0,0,0,0
$GC,3323,-1.59,-116.8,384.8,-10.0,185,3324,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1984,3487,0,0,0,0,0,0
$GC,3568,-1.59,-116.8,407.7,-9.1,191,3572,0.00,2.38,0.00,0.000,4,0.000,0.046,2831,3436,3486,0,0,0,0,0,0
$GC,3595,-1.59,-116.8,410.5,-9.5,191,3599,0.00,2.45,0.00,0.000,6,0.000,0.048,2830,1975,3486,0,0,0,0,0,0
$GC,3844,-1.59,-116.8,434.6,-10.0,197,3849,0.00,2.40,0.00,0.000,4,0.000,0.044,2830,3438,3484,0,0,0,0,0,0
$GC,3879,-1.64,-116.8,438.3,-10.7,197,3884,0.00,2.47,0.00,0.000,6,0.000,0.053,2830,1975,3484,0,0,0,0,0,0
$GC,4129,-1.64,-116.8,465.1,-10.8,204,4133,0.00,2.40,0.00,0.000,4,0.000,0.048,2831,3433,3482,0,0,0,0,0,0
$GC,4170,-1.69,-116.8,469.2,-10.7,205,4175,0.12,2.45,0.00,0.000,6,0.071,0.058,2786,1988,3482,0,0,0,0,0,0
$STATE,4450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4450,begin apogee
$GC,4458,-0.31,0.0,504.3,12.3,212,4558,1.40,0.00,96.78,0.916,6,0.094,0.000,3101,1988,3010,0,0,0,0,0,0
$STATE,4559,end apogee,CONTROL_FINISHED_OK
$STATE,4559,begin climb
$GC,4561,1.38,116.8,507.3,0.0,214,4666,1.55,0.00,100.45,0.896,6,0.042,0.000,3477,1988,2533,0,0,0,0,0,0
$GC,4890,1.27,136.0,490.6,8.9,222,4915,0.15,3.03,16.48,0.834,4,0.122,0.104,3448,427,2454,0,0,0,0,0,0
$GC,4933,1.16,153.1,486.5,9.0,223,4958,0.12,2.50,16.65,0.828,6,0.128,0.031,3424,1948,2384,0,0,0,0,0,0
$GC,5223,1.19,172.3,460.6,8.9,230,5242,0.00,0.00,17.58,0.833,6,0.000,0.000,3425,1947,2307,0,0,0,0,0,0
$GC,5506,1.20,185.4,434.2,9.3,237,5520,0.00,0.00,12.48,0.798,6,0.000,0.000,3425,1947,2254,0,0,0,0,0,0
$GC,5748,1.22,202.2,412.4,9.1,243,5766,0.00,0.00,16.10,0.811,6,0.000,0.000,3425,1947,2184,0,0,0,0,0,0
$GC,5993,1.24,213.7,389.6,9.4,249,6006,0.00,0.00,11.32,0.775,6,0.000,0.000,3425,1948,2138,0,0,0,0,0,0
$GC,6235,1.26,229.3,366.8,9.1,255,6256,0.00,2.70,14.95,0.788,4,0.000,0.071,3424,417,2074,0,0,0,0,0,0
$GC,6294,1.26,229.3,360.9,10.1,256,6299,0.00,2.55,0.00,0.000,6,0.000,0.028,3424,2009,2072,0,0,0,0,0,0
$GC,6557,1.31,237.1,336.1,9.6,263,6572,0.12,2.62,7.88,0.705,4,0.083,0.041,3459,3562,2043,0,0,0,0,0,0
$GC,6594,1.31,237.1,331.5,11.9,263,6600,0.00,2.58,0.00,0.000,6,0.000,0.037,3460,2001,2042,0,0,0,0,0,0
$GC,6844,1.31,237.1,303.2,11.2,270,6845,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2001,2040,0,0,0,0,0,0
$GC,7089,1.31,237.1,277.9,10.2,276,7090,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,2001,2038,0,0,0,0,0,0
$GC,7332,1.33,253.4,255.1,9.1,282,7353,0.00,2.78,15.52,0.724,4,0.000,0.064,3460,407,1975,0,0,0,0,0,0
$GC,7471,1.33,253.4,241.4,10.5,285,7475,0.00,2.53,0.00,0.000,6,0.000,0.025,3460,2006,1972,0,0,0,0,0,0
$GC,7751,1.36,279.8,217.5,8.5,292,7780,0.00,2.58,24.23,0.706,4,0.000,0.039,3460,3556,1868,0,0,0,0,0,0
$GC,7844,1.43,292.0,208.6,9.3,294,7863,0.00,2.55,11.90,0.653,6,0.000,0.037,3460,1991,1819,0,0,0,0,0,0
$GC,8122,1.48,292.0,180.6,10.7,312,8128,0.12,2.70,0.00,0.000,4,0.085,0.060,3496,411,1815,0,0,0,0,0,0
$GC,8204,1.44,292.0,169.4,15.4,318,8213,0.00,2.50,0.00,0.000,6,0.000,0.019,3495,1989,1814,0,0,0,0,0,0
$GC,8472,1.44,292.0,138.1,11.5,343,8477,0.00,2.67,0.00,0.000,4,0.000,0.054,3496,408,1814,0,0,0,0,0,0
$GC,8489,1.44,292.0,135.1,12.3,344,8494,0.00,2.45,0.00,0.000,6,0.000,0.018,3496,1994,1813,0,0,0,0,0,0
$GC,8753,1.46,307.5,107.4,9.1,368,8770,0.00,0.00,13.93,0.584,6,0.000,0.000,3496,1996,1756,0,0,0,0,0,0
$GC,9027,1.53,364.8,85.0,6.7,394,9088,0.00,2.75,49.88,0.588,4,0.000,0.058,3496,417,1520,0,0,0,0,0,0
$GC,9116,1.53,364.8,77.6,10.2,401,9121,0.00,2.42,0.00,0.000,6,0.000,0.020,3496,1969,1519,0,0,0,0,0,0
$GC,9383,1.58,364.8,50.5,10.8,425,9388,0.00,2.60,0.00,0.000,4,0.000,0.051,3496,412,1518,0,0,0,0,0,0
$GC,9429,1.58,364.8,44.9,12.6,428,9434,0.00,2.40,0.00,0.000,6,0.000,0.017,3496,1965,1517,0,0,0,0,0,0
$GC,9726,1.62,364.8,10.9,13.5,464,9736,0.12,2.62,0.00,0.000,4,0.082,0.046,3534,406,1517,0,0,0,0,0,0
$STATE,9780,end climb,SURFACE_DEPTH_REACHED
$STATE,9780,begin surface coast
$FINISH,0.5,0.980038
$STATE,9822,end surface coast,CONTROL_FINISHED_OK
$STATE,9822,begin surface
$SM_CCo,9848,12.18,0.485,0,0,1460,380.21
$SM_GC,1.03,0.00,0.00,12.18,0.000,0.000,0.485,474,1927,1460,-12.41,1.05,380.21
$IRIDIUM_FIX,2241.69,-15802.37,180900,202049
$TT8_MAMPS,0.026078
$HUMID,63.38
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.90
$XPDR_PINGS,44
$24V_AH,23.5,47.303
$10V_AH,10.3,41.633
$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,29.775,114.625,426.100,12.175,0.000,120.304,140.248,510.794,11.000,0.000,50.874,981.380,6627.912,497.383,1825.262,1107.841,33.398,1181.197,0.000,1792.297,0.000,0.536,0.000
$DEVICE_MAMPS,161.070,104.312,915.798,484.744,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,323.087,274.045,362.000,685.234,1037.814,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,38466,477
$CAP_FILE_SIZE,113678,0
$CFSIZE,260165632,162463744
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,250611,225953,2247.864,-15758.412,10,2.7,29,10.1