version: 66.06
glider: 146
mission: 6
dive: 391
start: 6 27 111 16 55 57
data:
$ID,146
$MISSION,6
$DIVE,391
$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,-277720.91
$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,40
$R_STBD_OVSHOOT,59
$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
$GPS1,164825,2249.775,-15802.623,69,1.8,69,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-68.2
$GPS2,165501,2249.867,-15802.691,11,1.6,16,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.197,-0.128
$KALMAN_X,-269579.0,237.8,-153.6,259427.4,-1145.0
$KALMAN_Y,44710.7,-480.1,142.8,-33326.2,1293.0
$MHEAD_RNG_PITCHd_Wd,112.9,9718,-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,-70.35,0.000,2,0.000,0.000,476,1906,3207,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.1,-4.4,9,118,12.50,0.00,-5.32,0.000,6,0.153,0.000,2861,1906,3488,0,0,0,0,0,0
$GC,395,-1.29,-116.8,59.3,-14.1,43,400,0.12,2.50,0.00,0.000,4,0.134,0.028,2887,3478,3490,0,0,0,0,0,0
$GC,454,-1.29,-116.8,67.7,-13.1,47,459,0.00,2.45,0.00,0.000,6,0.000,0.024,2886,1924,3491,0,0,0,0,0,0
$GC,719,-1.29,-116.8,102.8,-13.2,71,723,0.00,2.45,0.00,0.000,4,0.000,0.025,2886,3478,3491,0,0,0,0,0,0
$GC,759,-1.29,-116.8,108.5,-13.1,74,763,0.00,2.47,0.00,0.000,6,0.000,0.027,2886,1914,3491,0,0,0,0,0,0
$GC,1022,-1.29,-116.8,140.5,-11.0,98,1027,0.00,2.47,0.00,0.000,4,0.000,0.031,2886,3490,3492,0,0,0,0,0,0
$GC,1068,-1.29,-116.8,145.4,-11.2,101,1072,0.00,2.47,0.00,0.000,6,0.000,0.022,2886,1918,3492,0,0,0,0,0,0
$GC,1332,-1.29,-116.8,172.3,-9.5,125,1337,0.00,2.45,0.00,0.000,4,0.000,0.029,2886,3483,3493,0,0,0,0,0,0
$GC,1471,-1.37,-116.8,185.1,-9.3,136,1475,0.00,2.40,0.00,0.000,6,0.000,0.024,2886,1939,3493,0,0,0,0,0,0
$GC,1739,-1.43,-116.8,212.1,-9.7,152,1741,0.12,0.00,0.00,0.000,6,0.064,0.000,2829,1939,3494,0,0,0,0,0,0
$GC,1981,-1.38,-116.8,240.5,-11.5,158,1986,0.17,2.45,0.00,0.000,4,0.097,0.035,2867,3479,3493,0,0,0,0,0,0
$GC,2026,-1.47,-116.8,245.0,-9.1,159,2030,0.00,2.42,0.00,0.000,6,0.000,0.023,2867,1945,3494,0,0,0,0,0,0
$GC,2306,-1.51,-116.8,270.2,-9.3,166,2311,0.12,2.45,0.00,0.000,4,0.070,0.030,2819,3475,3494,0,0,0,0,0,0
$GC,2430,-1.51,-116.8,284.8,-11.9,168,2436,0.10,2.40,0.00,0.000,6,0.115,0.034,2841,1968,3494,0,0,0,0,0,0
$GC,2681,-1.51,-116.8,311.4,-10.5,175,2685,0.00,2.80,0.00,0.000,4,0.000,0.071,2841,339,3494,0,0,0,0,0,0
$GC,2702,-1.51,-116.8,313.8,-10.0,175,2706,0.00,2.53,0.00,0.000,6,0.000,0.028,2841,1948,3494,0,0,0,0,0,0
$GC,2962,-1.51,-116.8,340.5,-10.1,182,2967,0.00,2.50,0.00,0.000,4,0.000,0.042,2841,3494,3493,0,0,0,0,0,0
$GC,2986,-1.55,-116.8,342.6,-9.8,182,2990,0.00,2.45,0.00,0.000,6,0.000,0.041,2841,1975,3493,0,0,0,0,0,0
$GC,3241,-1.59,-116.8,365.1,-8.7,189,3246,0.00,2.47,0.00,0.000,4,0.000,0.036,2842,3503,3493,0,0,0,0,0,0
$GC,3321,-1.65,-116.8,372.3,-8.6,190,3327,0.12,2.50,0.00,0.000,6,0.071,0.041,2795,1988,3492,0,0,0,0,0,0
$GC,3571,-1.61,-116.8,400.5,-11.6,197,3573,0.10,0.00,0.00,0.000,6,0.121,0.000,2817,1988,3491,0,0,0,0,0,0
$GC,3815,-1.61,-116.8,427.2,-10.9,203,3816,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1988,3489,0,0,0,0,0,0
$GC,4058,-1.61,-116.8,453.2,-10.7,209,4063,0.00,3.03,0.00,0.000,4,0.000,0.105,2817,344,3488,0,0,0,0,0,0
$GC,4075,-1.61,-116.8,455.0,-10.5,209,4080,0.00,2.65,0.00,0.000,6,0.000,0.033,2817,1973,3488,0,0,0,0,0,0
$GC,4336,-1.61,-116.8,480.9,-9.8,216,4337,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1973,3485,0,0,0,0,0,0
$STATE,4536,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4537,begin apogee
$GC,4542,-0.31,0.0,500.8,9.8,221,4644,1.25,0.00,98.40,0.910,6,0.093,0.000,3099,1973,3010,0,0,0,0,0,0
$STATE,4645,end apogee,CONTROL_FINISHED_OK
$STATE,4645,begin climb
$GC,4649,1.38,116.8,502.8,0.0,223,4754,1.55,0.00,100.45,0.893,6,0.041,0.000,3474,1973,2533,0,0,0,0,0,0
$GC,4975,1.29,151.1,486.8,8.1,231,5007,0.10,0.00,29.98,0.863,6,0.137,0.000,3454,1973,2393,0,0,0,0,0,0
$GC,5220,1.23,168.2,464.8,9.1,237,5241,0.00,2.75,15.77,0.828,4,0.000,0.056,3454,3563,2323,0,0,0,0,0,0
$GC,5253,1.17,180.5,461.4,9.3,237,5273,0.15,2.65,12.73,0.797,6,0.120,0.048,3425,2008,2273,0,0,0,0,0,0
$GC,5549,1.19,198.9,434.2,9.0,245,5573,0.00,3.05,16.80,0.822,4,0.000,0.096,3425,408,2198,0,0,0,0,0,0
$GC,5607,1.14,198.9,427.9,11.0,246,5612,0.00,2.58,0.00,0.000,6,0.000,0.025,3425,1991,2196,0,0,0,0,0,0
$GC,5873,1.15,209.6,402.4,9.4,253,5885,0.00,0.00,10.50,0.775,6,0.000,0.000,3425,1991,2155,0,0,0,0,0,0
$GC,6119,1.17,220.7,379.3,9.4,259,6137,0.00,2.80,11.05,0.773,4,0.000,0.069,3425,406,2109,0,0,0,0,0,0
$GC,6170,1.17,220.7,373.5,11.6,260,6175,0.00,2.55,0.00,0.000,6,0.000,0.027,3425,1992,2108,0,0,0,0,0,0
$GC,6444,1.19,239.2,348.3,9.0,267,6468,0.00,2.67,17.83,0.795,4,0.000,0.045,3425,3566,2033,0,0,0,0,0,0
$GC,6579,1.24,244.3,335.7,9.7,270,6590,0.00,2.62,5.53,0.631,6,0.000,0.040,3425,1984,2014,0,0,0,0,0,0
$GC,6865,1.31,266.0,310.2,8.8,277,6894,0.12,2.80,21.02,0.777,4,0.080,0.077,3461,410,1924,0,0,0,0,0,0
$GC,6984,1.26,266.0,295.0,13.6,279,6988,0.00,2.53,0.00,0.000,6,0.000,0.027,3461,1995,1921,0,0,0,0,0,0
$GC,7235,1.26,266.0,264.7,12.0,285,7240,0.00,2.75,0.00,0.000,4,0.000,0.063,3461,403,1919,0,0,0,0,0,0
$GC,7301,1.26,266.0,256.4,12.8,286,7306,0.00,2.50,0.00,0.000,6,0.000,0.020,3461,1987,1918,0,0,0,0,0,0
$GC,7557,1.26,266.0,229.5,10.8,293,7561,0.00,2.55,0.00,0.000,4,0.000,0.035,3461,3563,1917,0,0,0,0,0,0
$GC,7597,1.26,266.0,225.3,10.6,294,7601,0.00,2.60,0.00,0.000,6,0.000,0.035,3461,1963,1916,0,0,0,0,0,0
$GC,7880,1.30,295.6,200.8,8.3,301,7911,0.00,2.72,25.85,0.699,4,0.000,0.063,3460,413,1804,0,0,0,0,0,0
$GC,7946,1.30,298.7,194.6,9.9,304,7955,0.00,2.45,4.18,0.475,6,0.000,0.025,3461,1965,1791,0,0,0,0,0,0
$GC,8217,1.36,298.7,169.5,10.2,330,8221,0.00,2.62,0.00,0.000,4,0.000,0.055,3461,410,1789,0,0,0,0,0,0
$GC,8261,1.36,298.7,164.7,10.8,333,8270,0.00,2.45,0.00,0.000,6,0.000,0.021,3461,1967,1788,0,0,0,0,0,0
$GC,8526,1.45,322.9,141.6,8.6,358,8556,0.10,0.00,22.38,0.636,6,0.089,0.000,3491,1969,1692,0,0,0,0,0,0
$GC,8812,1.46,327.0,113.8,9.8,385,8823,0.00,2.65,4.53,0.446,4,0.000,0.053,3491,411,1677,0,0,0,0,0,0
$GC,8863,1.46,327.0,108.1,11.0,389,8867,0.00,2.40,0.00,0.000,6,0.000,0.024,3491,1967,1676,0,0,0,0,0,0
$GC,9129,1.46,327.0,79.6,10.7,413,9137,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,1969,1677,0,0,0,0,0,0
$GC,9395,1.52,327.0,50.9,10.9,438,9403,0.00,0.00,0.00,0.000,6,0.000,0.000,3491,1969,1677,0,0,0,0,0,0
$GC,9675,1.57,327.0,22.1,10.7,468,9684,0.00,2.62,0.00,0.000,4,0.000,0.049,3491,411,1677,0,0,0,0,0,0
$GC,9741,1.60,345.0,15.5,9.0,477,9767,0.08,2.38,17.30,0.512,6,0.051,0.017,3522,1951,1601,0,0,0,0,0,0
$STATE,9841,end climb,SURFACE_DEPTH_REACHED
$STATE,9841,begin surface coast
$FINISH,0.6,0.980052
$STATE,9885,end surface coast,CONTROL_FINISHED_OK
$STATE,9885,begin surface
$SM_CCo,9908,28.65,0.512,0,0,1459,380.21
$SM_GC,1.19,0.00,0.00,28.65,0.000,0.000,0.512,475,1950,1459,-12.40,0.85,380.21
$IRIDIUM_FIX,2241.69,-15804.53,200900,141442
$TT8_MAMPS,0.026078
$HUMID,63.58
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.60
$XPDR_PINGS,41
$24V_AH,23.5,49.265
$10V_AH,10.3,43.340
$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,29.100,108.025,414.275,28.650,0.000,32.576,40.441,178.814,10.250,0.000,17.550,1010.397,6409.591,496.140,1885.381,535.600,33.401,1207.699,0.000,1883.850,0.000,0.534,0.000
$DEVICE_MAMPS,152.633,105.079,909.662,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,336.599,277.872,383.615,724.393,1096.911,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,38235,497
$CAP_FILE_SIZE,103666,0
$CFSIZE,260165632,161656832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270611,194254,2249.452,-15802.385,29,1.1,39,10.1