version: 66.06
glider: 146
mission: 6
dive: 379
start: 6 26 111 5 24 24
data:
$ID,146
$MISSION,6
$DIVE,379
$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,-277383.22
$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,47
$R_STBD_OVSHOOT,60
$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
$GPS1,050655,2248.047,-15758.531,10,1.8,27,10.1
$_CALLS,2
$_XMS_NAKs,20
$_XMS_TOUTs,2
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-69.8
$GPS2,052331,2248.279,-15758.632,35,1.8,46,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.146,-0.184
$KALMAN_X,-254301.8,-307.7,110.9,251363.8,-919.2
$KALMAN_Y,25711.1,396.1,412.1,-18420.1,954.1
$MHEAD_RNG_PITCHd_Wd,131.6,2762,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,90,0.00,0.00,-70.90,0.000,2,0.000,0.000,473,1846,3249,0,0,0,0,0,0
$GC,95,-1.38,-116.8,3.3,-5.1,9,121,12.60,2.55,-4.38,0.000,4,0.155,0.063,2860,336,3489,0,0,0,0,0,0
$GC,165,-1.23,-116.8,24.0,-19.7,18,175,0.15,2.40,0.00,0.000,6,0.097,0.015,2896,1897,3490,0,0,0,0,0,0
$GC,443,-1.19,-116.8,62.9,-14.3,45,447,0.00,2.45,0.00,0.000,4,0.000,0.024,2896,3451,3491,0,0,0,0,0,0
$GC,464,-1.19,-116.8,66.0,-12.9,46,468,0.00,2.42,0.00,0.000,6,0.000,0.024,2896,1904,3490,0,0,0,0,0,0
$GC,726,-1.19,-116.8,96.7,-11.6,70,730,0.00,2.45,0.00,0.000,4,0.000,0.026,2895,3450,3491,0,0,0,0,0,0
$GC,756,-1.19,-116.8,100.4,-12.0,72,760,0.00,2.45,0.00,0.000,6,0.000,0.031,2896,1899,3491,0,0,0,0,0,0
$GC,1019,-1.19,-116.8,131.5,-10.4,96,1023,0.00,2.45,0.00,0.000,4,0.000,0.031,2896,3447,3491,0,0,0,0,0,0
$GC,1088,-1.26,-116.8,139.0,-11.1,101,1092,0.00,2.42,0.00,0.000,6,0.000,0.027,2896,1897,3491,0,0,0,0,0,0
$GC,1351,-1.31,-116.8,168.5,-10.6,125,1355,0.00,2.42,0.00,0.000,4,0.000,0.031,2896,3446,3492,0,0,0,0,0,0
$GC,1397,-1.41,-116.8,173.6,-10.6,128,1403,0.12,2.40,0.00,0.000,6,0.065,0.031,2838,1925,3492,0,0,0,0,0,0
$GC,1658,-1.36,-116.8,205.3,-12.0,150,1660,0.15,0.00,0.00,0.000,6,0.103,0.000,2871,1925,3492,0,0,0,0,0,0
$GC,1900,-1.36,-116.8,230.9,-10.3,156,1903,0.00,2.40,0.00,0.000,4,0.000,0.034,2872,3449,3492,0,0,0,0,0,0
$GC,2002,-1.44,-116.8,240.5,-8.7,158,2006,0.00,2.42,0.00,0.000,6,0.000,0.029,2871,1916,3492,0,0,0,0,0,0
$GC,2274,-1.49,-116.8,263.7,-8.4,165,2279,0.12,2.42,0.00,0.000,4,0.074,0.029,2825,3443,3492,0,0,0,0,0,0
$GC,2355,-1.49,-116.8,271.7,-10.3,166,2361,0.00,2.40,0.00,0.000,6,0.000,0.031,2825,1935,3492,0,0,0,0,0,0
$GC,2605,-1.49,-116.8,298.5,-10.7,173,2609,0.00,2.38,0.00,0.000,4,0.000,0.035,2824,3441,3492,0,0,0,0,0,0
$GC,2626,-1.49,-116.8,301.1,-11.4,173,2630,0.00,2.40,0.00,0.000,6,0.000,0.037,2825,1941,3492,0,0,0,0,0,0
$GC,2883,-1.49,-116.8,331.2,-12.1,180,2887,0.00,2.40,0.00,0.000,4,0.000,0.034,2825,3443,3491,0,0,0,0,0,0
$GC,2967,-1.49,-116.8,342.0,-12.0,182,2971,0.00,2.45,0.00,0.000,6,0.000,0.040,2825,1952,3491,0,0,0,0,0,0
$GC,3250,-1.49,-116.8,374.0,-10.8,189,3255,0.00,2.95,0.00,0.000,4,0.000,0.090,2824,311,3490,0,0,0,0,0,0
$GC,3300,-1.49,-116.8,379.5,-11.0,190,3305,0.00,2.55,0.00,0.000,6,0.000,0.029,2825,1907,3490,0,0,0,0,0,0
$GC,3572,-1.49,-116.8,408.5,-10.8,197,3576,0.00,2.58,0.00,0.000,4,0.000,0.057,2824,3472,3488,0,0,0,0,0,0
$GC,3644,-1.54,-116.8,416.0,-9.6,198,3649,0.00,2.53,0.00,0.000,6,0.000,0.049,2825,1955,3488,0,0,0,0,0,0
$GC,3896,-1.54,-116.8,438.6,-9.1,204,3897,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1955,3486,0,0,0,0,0,0
$GC,4138,-1.54,-116.8,461.5,-9.5,210,4142,0.00,2.50,0.00,0.000,4,0.000,0.049,2824,3467,3484,0,0,0,0,0,0
$GC,4206,-1.59,-116.8,467.9,-9.5,211,4211,0.00,2.55,0.00,0.000,6,0.000,0.058,2824,1958,3483,0,0,0,0,0,0
$GC,4463,-1.59,-116.8,493.5,-10.2,218,4468,0.00,2.53,0.00,0.000,4,0.000,0.051,2825,3469,3482,0,0,0,0,0,0
$GC,4485,-1.59,-116.8,496.0,-10.2,218,4489,0.00,2.53,0.00,0.000,6,0.000,0.058,2825,1966,3482,0,0,0,0,0,0
$STATE,4535,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4535,begin apogee
$GC,4541,-0.31,0.0,501.1,10.0,220,4641,1.20,0.00,97.12,0.912,6,0.092,0.000,3099,1966,3010,0,0,0,0,0,0
$STATE,4642,end apogee,CONTROL_FINISHED_OK
$STATE,4642,begin climb
$GC,4646,1.38,116.8,503.8,0.0,222,4758,1.58,2.85,99.95,0.893,4,0.046,0.059,3480,3567,2532,0,0,0,0,0,0
$GC,4794,1.28,175.3,503.6,6.7,226,4853,0.15,2.70,51.25,0.877,6,0.125,0.058,3452,2002,2295,0,0,0,0,0,0
$GC,5109,1.21,175.3,472.4,10.3,234,5114,0.00,3.03,0.00,0.000,4,0.000,0.110,3452,409,2286,0,0,0,0,0,0
$GC,5136,1.10,175.3,469.2,11.8,234,5142,0.20,2.58,0.00,0.000,6,0.110,0.035,3412,1979,2285,0,0,0,0,0,0
$GC,5386,1.12,193.0,446.1,9.0,240,5403,0.00,0.00,15.18,0.815,6,0.000,0.000,3411,1979,2223,0,0,0,0,0,0
$GC,5630,1.14,210.5,424.3,9.0,246,5654,0.00,2.90,16.67,0.818,4,0.000,0.076,3411,400,2150,0,0,0,0,0,0
$GC,5734,1.14,210.5,413.5,10.9,248,5739,0.00,2.58,0.00,0.000,6,0.000,0.025,3411,1987,2147,0,0,0,0,0,0
$GC,6001,1.21,229.3,389.2,9.0,255,6025,0.00,2.85,17.45,0.807,4,0.000,0.067,3411,408,2074,0,0,0,0,0,0
$GC,6043,1.21,229.3,385.0,10.1,256,6047,0.00,2.55,0.00,0.000,6,0.000,0.023,3411,1980,2072,0,0,0,0,0,0
$GC,6328,1.28,245.8,358.1,9.1,263,6352,0.15,2.80,15.85,0.786,4,0.079,0.062,3451,399,2006,0,0,0,0,0,0
$GC,6466,1.23,245.8,343.1,11.1,266,6470,0.00,2.53,0.00,0.000,6,0.000,0.028,3451,1971,2002,0,0,0,0,0,0
$GC,6743,1.25,258.7,316.6,9.3,273,6757,0.00,0.00,12.43,0.748,6,0.000,0.000,3451,1972,1955,0,0,0,0,0,0
$GC,6987,1.26,268.6,293.6,9.5,279,7002,0.00,2.72,9.85,0.711,4,0.000,0.059,3451,400,1914,0,0,0,0,0,0
$GC,7049,1.26,268.6,286.6,11.4,280,7054,0.00,2.50,0.00,0.000,6,0.000,0.025,3451,1970,1913,0,0,0,0,0,0
$GC,7310,1.26,268.6,260.1,10.1,287,7314,0.00,2.60,0.00,0.000,4,0.000,0.041,3451,3565,1912,0,0,0,0,0,0
$GC,7382,1.31,268.6,252.3,11.7,288,7386,0.00,2.62,0.00,0.000,6,0.000,0.032,3451,1949,1910,0,0,0,0,0,0
$GC,7633,1.32,274.1,227.5,9.7,294,7645,0.00,2.65,6.07,0.595,4,0.000,0.068,3451,408,1891,0,0,0,0,0,0
$GC,7673,1.32,274.1,223.3,10.7,295,7678,0.00,2.45,0.00,0.000,6,0.000,0.019,3451,1961,1890,0,0,0,0,0,0
$GC,7959,1.38,283.6,196.8,9.5,302,7974,0.00,2.67,9.88,0.641,4,0.000,0.060,3451,404,1852,0,0,0,0,0,0
$GC,8003,1.38,283.6,192.0,11.2,305,8009,0.00,2.42,0.00,0.000,6,0.000,0.019,3451,1947,1851,0,0,0,0,0,0
$GC,8266,1.46,302.0,167.6,9.0,330,8291,0.15,2.65,17.38,0.648,4,0.075,0.035,3491,3553,1777,0,0,0,0,0,0
$GC,8344,1.46,302.0,159.1,11.4,336,8353,0.00,2.65,0.00,0.000,6,0.000,0.032,3491,1951,1776,0,0,0,0,0,0
$GC,8609,1.46,302.0,132.1,10.3,361,8614,0.00,2.60,0.00,0.000,4,0.000,0.063,3491,404,1774,0,0,0,0,0,0
$GC,8666,1.46,302.0,125.7,11.5,365,8671,0.00,2.42,0.00,0.000,6,0.000,0.018,3491,1966,1773,0,0,0,0,0,0
$GC,8933,1.47,313.8,101.1,9.4,389,8949,0.00,2.65,11.05,0.561,4,0.000,0.051,3491,403,1730,0,0,0,0,0,0
$GC,8990,1.47,313.8,95.0,11.5,393,8994,0.00,2.42,0.00,0.000,6,0.000,0.017,3491,1964,1729,0,0,0,0,0,0
$GC,9256,1.47,313.8,67.3,10.6,417,9260,0.00,2.60,0.00,0.000,4,0.000,0.052,3491,411,1729,0,0,0,0,0,0
$GC,9304,1.47,313.8,61.6,10.9,420,9313,0.00,2.38,0.00,0.000,6,0.000,0.022,3491,1928,1728,0,0,0,0,0,0
$GC,9571,1.53,324.6,38.4,9.4,445,9588,0.00,2.60,11.12,0.506,4,0.000,0.049,3491,407,1685,0,0,0,0,0,0
$GC,9670,1.53,324.6,27.2,11.9,454,9679,0.00,2.38,0.00,0.000,6,0.000,0.025,3491,1928,1683,0,0,0,0,0,0
$STATE,9893,end climb,SURFACE_DEPTH_REACHED
$STATE,9894,begin surface coast
$FINISH,0.5,0.976034
$STATE,9950,end surface coast,CONTROL_FINISHED_OK
$STATE,9950,begin surface
$SM_CCo,9972,45.35,0.515,0,0,1460,380.21
$SM_GC,1.20,0.00,0.00,45.35,0.000,0.000,0.515,473,1853,1460,-12.41,-1.05,380.21
$IRIDIUM_FIX,2239.35,-15757.16,190900,050543
$TT8_MAMPS,0.026078
$HUMID,62.24
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,21.90
$XPDR_PINGS,52
$24V_AH,23.5,47.716
$10V_AH,10.3,41.987
$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,28.800,137.825,391.250,45.350,0.000,48.495,68.734,638.480,13.000,0.000,48.293,1035.226,6400.256,501.662,2014.389,1063.744,33.366,1253.303,0.000,1976.362,0.000,0.536,0.000
$DEVICE_MAMPS,154.934,112.749,911.963,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,334.795,272.111,380.379,728.548,1101.771,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,38323,494
$CAP_FILE_SIZE,119959,0
$CFSIZE,260165632,162295808
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260611,081345,2247.805,-15758.353,81,2.2,100,10.1