version: 66.06
glider: 146
mission: 6
dive: 380
start: 6 26 111 8 26 31
data:
$ID,146
$MISSION,6
$DIVE,380
$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,-277416.88
$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,1920
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,54
$R_STBD_OVSHOOT,63
$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
$GPS1,081345,2247.805,-15758.353,81,2.2,100,10.1
$_CALLS,1
$_XMS_NAKs,23
$_XMS_TOUTs,1
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-68.9
$GPS2,082538,2247.962,-15758.463,13,1.5,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.161,-0.171
$KALMAN_X,-255449.1,-247.9,47.0,252806.1,-937.3
$KALMAN_Y,27164.2,513.0,85.1,-20247.2,652.0
$MHEAD_RNG_PITCHd_Wd,126.6,2111,-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,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.32,0.000,2,0.000,0.000,473,1853,3250,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.6,-6.4,9,118,12.55,2.50,-4.25,0.000,4,0.154,0.058,2858,367,3490,0,0,0,0,0,0
$GC,169,-1.26,-116.8,27.2,-20.9,19,178,0.15,2.40,0.00,0.000,6,0.107,0.015,2892,1923,3491,0,0,0,0,0,0
$GC,447,-1.26,-116.8,66.7,-12.3,45,451,0.00,2.42,0.00,0.000,4,0.000,0.025,2892,3472,3492,0,0,0,0,0,0
$GC,468,-1.26,-116.8,70.0,-12.7,46,473,0.00,2.45,0.00,0.000,6,0.000,0.023,2892,1929,3492,0,0,0,0,0,0
$GC,731,-1.26,-116.8,104.2,-13.2,70,735,0.00,2.45,0.00,0.000,4,0.000,0.031,2892,3471,3492,0,0,0,0,0,0
$GC,765,-1.26,-116.8,109.1,-13.0,72,774,0.00,2.47,0.00,0.000,6,0.000,0.026,2892,1925,3492,0,0,0,0,0,0
$GC,1030,-1.26,-116.8,139.9,-10.4,97,1034,0.00,2.45,0.00,0.000,4,0.000,0.031,2892,3469,3493,0,0,0,0,0,0
$GC,1072,-1.26,-116.8,145.0,-11.3,100,1076,0.00,2.42,0.00,0.000,6,0.000,0.024,2892,1928,3493,0,0,0,0,0,0
$GC,1339,-1.30,-116.8,171.4,-9.1,124,1343,0.00,2.42,0.00,0.000,4,0.000,0.027,2892,3475,3493,0,0,0,0,0,0
$GC,1397,-1.38,-116.8,177.5,-9.7,128,1403,0.10,2.42,0.00,0.000,6,0.082,0.027,2849,1932,3493,0,0,0,0,0,0
$GC,1677,-1.38,-116.8,209.3,-10.7,149,1681,0.00,2.42,0.00,0.000,4,0.000,0.032,2849,3469,3494,0,0,0,0,0,0
$GC,1703,-1.38,-116.8,212.8,-12.2,149,1708,0.00,2.42,0.00,0.000,6,0.000,0.022,2849,1929,3494,0,0,0,0,0,0
$GC,1954,-1.38,-116.8,241.9,-11.7,155,1958,0.00,2.45,0.00,0.000,4,0.000,0.028,2849,3477,3494,0,0,0,0,0,0
$GC,1980,-1.38,-116.8,245.2,-12.2,155,1985,0.00,2.45,0.00,0.000,6,0.000,0.031,2848,1928,3494,0,0,0,0,0,0
$GC,2230,-1.38,-116.8,273.0,-11.1,161,2235,0.00,2.47,0.00,0.000,4,0.000,0.036,2848,3476,3494,0,0,0,0,0,0
$GC,2327,-1.43,-116.8,283.7,-11.1,163,2331,0.00,2.45,0.00,0.000,6,0.000,0.030,2849,1937,3494,0,0,0,0,0,0
$GC,2599,-1.43,-116.8,312.1,-10.2,170,2600,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1937,3494,0,0,0,0,0,0
$GC,2843,-1.43,-116.8,335.6,-9.6,176,2844,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1937,3493,0,0,0,0,0,0
$GC,3088,-1.47,-116.8,358.7,-9.4,182,3093,0.00,2.47,0.00,0.000,4,0.000,0.044,2849,3472,3492,0,0,0,0,0,0
$GC,3116,-1.54,-116.8,361.6,-9.8,182,3121,0.00,2.50,0.00,0.000,6,0.000,0.040,2849,1946,3492,0,0,0,0,0,0
$GC,3367,-1.60,-116.8,384.7,-9.3,188,3372,0.12,2.90,0.00,0.000,4,0.071,0.094,2805,331,3491,0,0,0,0,0,0
$GC,3386,-1.60,-116.8,386.7,-9.6,188,3391,0.00,2.47,0.00,0.000,6,0.000,0.034,2805,1896,3491,0,0,0,0,0,0
$GC,3647,-1.60,-116.8,417.8,-11.6,195,3652,0.00,2.67,0.00,0.000,4,0.000,0.052,2805,3502,3490,0,0,0,0,0,0
$GC,3731,-1.60,-116.8,427.4,-10.8,197,3736,0.00,2.62,0.00,0.000,6,0.000,0.053,2805,1938,3489,0,0,0,0,0,0
$GC,4016,-1.60,-116.8,456.8,-10.2,204,4021,0.00,2.97,0.00,0.000,4,0.000,0.113,2805,334,3487,0,0,0,0,0,0
$GC,4066,-1.60,-116.8,462.5,-11.3,205,4070,0.00,2.58,0.00,0.000,6,0.000,0.039,2805,1926,3487,0,0,0,0,0,0
$GC,4338,-1.60,-116.8,489.8,-10.1,212,4342,0.00,2.70,0.00,0.000,4,0.000,0.074,2805,3507,3485,0,0,0,0,0,0
$GC,4388,-1.60,-116.8,494.9,-10.1,213,4393,0.00,2.65,0.00,0.000,6,0.000,0.054,2805,1942,3484,0,0,0,0,0,0
$STATE,4454,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4454,begin apogee
$GC,4460,-0.31,0.0,501.7,9.8,215,4562,1.30,0.00,97.82,0.909,6,0.080,0.000,3099,2026,3010,0,0,0,0,0,0
$STATE,4563,end apogee,CONTROL_FINISHED_OK
$STATE,4563,begin climb
$GC,4567,1.38,116.8,503.5,0.0,217,4678,1.58,2.67,99.85,0.889,4,0.037,0.054,3481,3547,2532,0,0,0,0,0,0
$GC,4723,1.25,139.3,499.6,8.7,221,4749,0.20,2.67,20.08,0.838,6,0.118,0.054,3442,1990,2442,0,0,0,0,0,0
$GC,5031,1.23,174.8,474.2,8.0,229,5072,0.00,2.67,31.65,0.858,4,0.000,0.048,3442,3552,2296,0,0,0,0,0,0
$GC,5095,1.20,195.1,468.5,8.9,230,5119,0.00,2.65,19.10,0.824,6,0.000,0.046,3442,1995,2214,0,0,0,0,0,0
$GC,5406,1.21,205.6,439.5,9.4,238,5421,0.00,2.97,10.00,0.769,4,0.000,0.103,3442,404,2170,0,0,0,0,0,0
$GC,5490,1.14,205.6,429.9,12.3,240,5495,0.12,2.55,0.00,0.000,6,0.127,0.027,3418,1973,2167,0,0,0,0,0,0
$GC,5775,1.15,214.9,403.0,9.5,247,5789,0.00,2.80,9.30,0.756,4,0.000,0.071,3418,406,2132,0,0,0,0,0,0
$GC,5806,1.15,214.9,399.4,10.2,247,5812,0.00,2.58,0.00,0.000,6,0.000,0.029,3418,1996,2130,0,0,0,0,0,0
$GC,6058,1.17,229.5,375.9,9.2,254,6077,0.00,2.83,13.85,0.788,4,0.000,0.065,3418,405,2073,0,0,0,0,0,0
$GC,6111,1.17,229.5,370.0,11.8,255,6115,0.00,2.55,0.00,0.000,6,0.000,0.023,3418,1983,2071,0,0,0,0,0,0
$GC,6383,1.23,243.0,343.7,9.3,262,6403,0.00,2.83,13.10,0.767,4,0.000,0.068,3418,403,2019,0,0,0,0,0,0
$GC,6502,1.24,254.5,332.7,9.4,264,6521,0.10,2.53,11.65,0.748,6,0.094,0.022,3444,1976,1972,0,0,0,0,0,0
$GC,6807,1.27,275.7,306.3,8.8,272,6832,0.00,2.78,19.98,0.768,4,0.000,0.060,3444,403,1885,0,0,0,0,0,0
$GC,6902,1.27,275.7,296.0,11.9,274,6907,0.00,2.50,0.00,0.000,6,0.000,0.021,3444,1966,1883,0,0,0,0,0,0
$GC,7175,1.32,277.6,267.9,9.9,281,7176,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1967,1882,0,0,0,0,0,0
$GC,7420,1.38,292.9,245.6,9.2,287,7444,0.10,2.62,16.08,0.713,4,0.090,0.039,3473,3567,1813,0,0,0,0,0,0
$GC,7462,1.38,292.9,241.0,10.5,288,7466,0.00,2.65,0.00,0.000,6,0.000,0.037,3473,1955,1812,0,0,0,0,0,0
$GC,7745,1.38,294.2,212.4,10.0,295,7749,0.00,2.65,0.00,0.000,4,0.000,0.064,3473,410,1811,0,0,0,0,0,0
$GC,7790,1.38,294.2,207.4,11.0,296,7794,0.00,2.47,0.00,0.000,6,0.000,0.020,3473,1986,1809,0,0,0,0,0,0
$GC,8062,1.38,294.2,178.9,10.2,316,8067,0.00,2.65,0.00,0.000,4,0.000,0.060,3473,408,1809,0,0,0,0,0,0
$GC,8081,1.38,294.2,176.5,10.5,317,8085,0.00,2.45,0.00,0.000,6,0.000,0.025,3473,1984,1808,0,0,0,0,0,0
$GC,8347,1.39,296.1,147.5,9.9,341,8352,0.00,0.00,0.00,0.000,6,0.000,0.000,3473,1985,1808,0,0,0,0,0,0
$GC,8610,1.46,309.8,123.3,9.2,366,8634,0.00,2.60,15.15,0.601,4,0.000,0.031,3473,3550,1745,0,0,0,0,0,0
$GC,8676,1.55,319.4,116.9,9.5,371,8696,0.15,2.58,9.68,0.564,6,0.071,0.031,3515,1965,1707,0,0,0,0,0,0
$GC,8950,1.55,319.4,88.8,10.5,397,8954,0.00,2.62,0.00,0.000,4,0.000,0.054,3515,405,1705,0,0,0,0,0,0
$GC,8982,1.51,319.4,85.2,12.3,399,8986,0.00,2.42,0.00,0.000,6,0.000,0.025,3515,1970,1704,0,0,0,0,0,0
$GC,9250,1.51,319.4,55.8,11.2,423,9254,0.00,2.62,0.00,0.000,4,0.000,0.051,3515,407,1704,0,0,0,0,0,0
$GC,9368,1.51,319.4,41.5,12.7,432,9373,0.00,2.38,0.00,0.000,6,0.000,0.017,3515,1949,1704,0,0,0,0,0,0
$GC,9673,1.54,343.1,9.4,8.7,470,9700,0.00,2.60,21.48,0.513,4,0.000,0.052,3515,410,1610,0,0,0,0,0,0
$STATE,9715,end climb,SURFACE_DEPTH_REACHED
$STATE,9715,begin surface coast
$FINISH,1.8,0.980032
$STATE,9732,end surface coast,CONTROL_FINISHED_OK
$STATE,9732,begin surface
$SM_CCo,9757,30.48,0.511,0,0,1460,380.21
$SM_GC,1.44,0.00,0.00,30.48,0.000,0.000,0.511,480,1997,1460,-12.37,2.18,380.21
$IRIDIUM_FIX,2239.35,-15757.16,190900,050507
$TT8_MAMPS,0.026078
$HUMID,63.19
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.60
$XPDR_PINGS,52
$24V_AH,23.5,47.849
$10V_AH,10.3,42.100
$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,28.900,139.025,408.750,30.475,0.000,31.015,35.340,490.230,13.000,0.000,33.023,1007.471,6249.765,485.657,1903.076,854.914,33.369,1239.424,0.000,1889.013,0.000,0.536,0.000
$DEVICE_MAMPS,154.167,112.749,908.895,510.822,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,322.753,277.973,365.473,673.284,1018.412,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355568
$DATA_FILE_SIZE,38435,477
$CAP_FILE_SIZE,114894,0
$CFSIZE,260165632,162242560
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260611,111116,2247.481,-15758.062,35,99.0,54,10.1