version: 66.06
glider: 146
mission: 6
dive: 398
start: 6 28 111 13 34 50
data:
$ID,146
$MISSION,6
$DIVE,398
$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,-277891.97
$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,3175
$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,26
$R_STBD_OVSHOOT,68
$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
$GPS1,132701,2249.805,-15759.538,53,1.2,53,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.34
$_SM_ANGLEo,-69.4
$GPS2,133355,2249.876,-15759.603,18,1.2,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.221,-0.081
$KALMAN_X,-279246.8,50.8,-181.0,274588.2,-1081.8
$KALMAN_Y,49632.7,-83.9,-241.4,-38246.1,860.7
$MHEAD_RNG_PITCHd_Wd,100.0,4449,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.82,0.000,2,0.000,0.000,474,1942,3229,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.3,-5.3,9,119,12.55,2.70,-4.78,0.000,4,0.153,0.054,2865,340,3489,0,0,0,0,0,0
$GC,176,-1.26,-116.8,26.1,-20.1,20,186,0.12,2.45,0.00,0.000,6,0.101,0.015,2895,1916,3490,0,0,0,0,0,0
$GC,451,-1.20,-116.8,66.7,-15.2,46,455,0.00,2.47,0.00,0.000,4,0.000,0.031,2896,3480,3491,0,0,0,0,0,0
$GC,508,-1.20,-116.8,75.8,-13.8,50,513,0.00,2.47,0.00,0.000,6,0.000,0.026,2896,1912,3491,0,0,0,0,0,0
$GC,771,-1.20,-116.8,111.7,-12.5,74,775,0.00,2.47,0.00,0.000,4,0.000,0.032,2896,3481,3491,0,0,0,0,0,0
$GC,853,-1.26,-116.8,121.7,-10.9,80,862,0.00,2.45,0.00,0.000,6,0.000,0.031,2895,1944,3492,0,0,0,0,0,0
$GC,1119,-1.30,-116.8,148.0,-9.7,105,1124,0.00,0.00,0.00,0.000,6,0.000,0.000,2896,1943,3492,0,0,0,0,0,0
$GC,1386,-1.36,-116.8,175.8,-10.1,130,1390,0.00,2.45,0.00,0.000,4,0.000,0.027,2896,3487,3493,0,0,0,0,0,0
$GC,1419,-1.43,-116.8,179.5,-9.3,132,1429,0.10,2.45,0.00,0.000,6,0.032,0.023,2837,1950,3493,0,0,0,0,0,0
$GC,1690,-1.38,-116.8,210.7,-11.6,152,1695,0.17,2.45,0.00,0.000,4,0.097,0.028,2876,3484,3493,0,0,0,0,0,0
$GC,1768,-1.45,-116.8,219.4,-10.6,153,1776,0.00,2.38,0.00,0.000,6,0.000,0.022,2876,1952,3493,0,0,0,0,0,0
$GC,2020,-1.49,-116.8,243.2,-9.4,160,2025,0.12,2.45,0.00,0.000,4,0.069,0.034,2829,3479,3494,0,0,0,0,0,0
$GC,2087,-1.49,-116.8,251.3,-11.3,161,2091,0.00,2.35,0.00,0.000,6,0.000,0.026,2829,1968,3494,0,0,0,0,0,0
$GC,2348,-1.49,-116.8,278.9,-10.5,168,2349,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1968,3494,0,0,0,0,0,0
$GC,2593,-1.49,-116.8,304.4,-10.4,174,2597,0.00,2.42,0.00,0.000,4,0.000,0.039,2829,3475,3494,0,0,0,0,0,0
$GC,2632,-1.49,-116.8,308.8,-11.4,175,2636,0.00,2.40,0.00,0.000,6,0.000,0.035,2829,1975,3494,0,0,0,0,0,0
$GC,2916,-1.49,-116.8,341.1,-11.5,182,2920,0.00,2.85,0.00,0.000,4,0.000,0.077,2829,342,3493,0,0,0,0,0,0
$GC,2951,-1.49,-116.8,344.6,-11.1,182,2957,0.00,2.53,0.00,0.000,6,0.000,0.030,2829,1939,3494,0,0,0,0,0,0
$GC,3201,-1.49,-116.8,371.0,-10.6,189,3205,0.00,2.55,0.00,0.000,4,0.000,0.045,2829,3497,3493,0,0,0,0,0,0
$GC,3250,-1.55,-116.8,376.6,-11.1,190,3254,0.00,2.47,0.00,0.000,6,0.000,0.042,2829,1978,3493,0,0,0,0,0,0
$GC,3523,-1.55,-116.8,405.7,-10.5,197,3528,0.00,2.95,0.00,0.000,4,0.000,0.094,2829,350,3491,0,0,0,0,0,0
$GC,3550,-1.55,-116.8,408.8,-11.1,197,3554,0.00,2.58,0.00,0.000,6,0.000,0.035,2829,1963,3491,0,0,0,0,0,0
$GC,3800,-1.55,-116.8,430.8,-8.7,203,3805,0.00,2.58,0.00,0.000,4,0.000,0.062,2829,3497,3490,0,0,0,0,0,0
$GC,3847,-1.60,-116.8,434.8,-8.5,204,3851,0.00,2.53,0.00,0.000,6,0.000,0.054,2830,1986,3490,0,0,0,0,0,0
$GC,4124,-1.60,-116.8,457.9,-8.3,211,4125,0.00,0.00,0.00,0.000,6,0.000,0.000,2829,1986,3488,0,0,0,0,0,0
$GC,4368,-1.60,-116.8,479.1,-8.9,217,4372,0.00,2.55,0.00,0.000,4,0.000,0.054,2829,3503,3486,0,0,0,0,0,0
$GC,4409,-1.67,-116.8,482.7,-8.8,218,4414,0.00,2.55,0.00,0.000,6,0.000,0.058,2829,1996,3486,0,0,0,0,0,0
$STATE,4649,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4649,begin apogee
$GC,4655,-0.31,0.0,503.2,8.4,224,4757,1.23,0.00,98.45,0.913,6,0.076,0.000,3108,1996,3010,0,0,0,0,0,0
$STATE,4757,end apogee,CONTROL_FINISHED_OK
$STATE,4757,begin climb
$GC,4760,1.38,116.8,504.5,0.0,226,4873,1.55,2.83,100.35,0.894,4,0.037,0.057,3486,3574,2531,0,0,0,0,0,0
$GC,4897,1.25,164.9,502.0,7.3,230,4948,0.17,2.67,42.35,0.871,6,0.121,0.051,3451,2009,2335,0,0,0,0,0,0
$GC,5228,1.19,168.7,469.3,9.8,238,5229,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,2009,2326,0,0,0,0,0,0
$GC,5470,1.14,182.9,447.1,9.2,244,5492,0.12,3.00,15.52,0.825,4,0.127,0.100,3425,406,2263,0,0,0,0,0,0
$GC,5511,1.10,188.0,443.3,9.7,245,5521,0.00,2.60,5.82,0.668,6,0.000,0.033,3425,1992,2243,0,0,0,0,0,0
$GC,5796,1.12,203.7,417.3,9.1,252,5816,0.00,2.70,15.32,0.811,4,0.000,0.050,3425,3578,2178,0,0,0,0,0,0
$GC,5827,1.15,225.6,414.2,8.8,252,5854,0.00,2.67,20.80,0.818,6,0.000,0.040,3425,1991,2090,0,0,0,0,0,0
$GC,6117,1.15,228.0,385.6,9.9,260,6121,0.00,2.85,0.00,0.000,4,0.000,0.084,3425,408,2084,0,0,0,0,0,0
$GC,6166,1.15,228.0,379.7,12.2,261,6170,0.00,2.55,0.00,0.000,6,0.000,0.021,3425,2006,2083,0,0,0,0,0,0
$GC,6440,1.17,243.7,354.9,9.1,268,6464,0.00,2.90,16.52,0.792,4,0.000,0.068,3425,407,2014,0,0,0,0,0,0
$GC,6556,1.17,243.7,341.9,12.3,270,6560,0.00,2.50,0.00,0.000,6,0.000,0.028,3426,1972,2011,0,0,0,0,0,0
$GC,6811,1.22,252.6,316.0,9.5,277,6822,0.00,0.00,8.70,0.710,6,0.000,0.000,3425,1973,1980,0,0,0,0,0,0
$GC,7056,1.31,278.8,294.9,8.5,283,7087,0.15,2.75,24.95,0.769,4,0.072,0.059,3467,403,1872,0,0,0,0,0,0
$GC,7152,1.27,278.8,283.5,12.0,285,7157,0.00,2.50,0.00,0.000,6,0.000,0.025,3466,1980,1870,0,0,0,0,0,0
$GC,7427,1.27,278.8,253.0,11.1,292,7431,0.00,2.70,0.00,0.000,4,0.000,0.061,3466,404,1868,0,0,0,0,0,0
$GC,7448,1.27,278.8,250.1,11.9,292,7452,0.00,2.42,0.00,0.000,6,0.000,0.018,3466,1956,1866,0,0,0,0,0,0
$GC,7703,1.27,278.8,220.2,12.0,299,7704,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,1957,1866,0,0,0,0,0,0
$GC,7950,1.27,278.8,193.3,11.6,308,7951,0.00,0.00,0.00,0.000,6,0.000,0.000,3467,1957,1865,0,0,0,0,0,0
$GC,8204,1.31,278.8,164.5,10.8,332,8208,0.00,2.58,0.00,0.000,4,0.000,0.035,3466,3554,1865,0,0,0,0,0,0
$GC,8237,1.35,278.8,161.6,10.9,334,8241,0.00,2.62,0.00,0.000,6,0.000,0.029,3466,1934,1863,0,0,0,0,0,0
$GC,8502,1.42,297.4,135.0,9.0,358,8525,0.00,2.67,16.12,0.618,4,0.000,0.059,3466,403,1795,0,0,0,0,0,0
$GC,8565,1.42,297.4,128.7,10.7,363,8569,0.00,2.40,0.00,0.000,6,0.000,0.025,3466,1955,1794,0,0,0,0,0,0
$GC,8833,1.53,331.0,107.4,8.1,387,8873,0.17,2.70,30.25,0.604,4,0.068,0.058,3514,404,1658,0,0,0,0,0,0
$GC,8886,1.49,331.0,100.9,12.1,392,8890,0.00,2.40,0.00,0.000,6,0.000,0.023,3514,1942,1658,0,0,0,0,0,0
$GC,9152,1.49,331.0,72.1,11.0,416,9161,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,1944,1657,0,0,0,0,0,0
$GC,9417,1.49,333.7,43.8,9.9,441,9426,0.00,0.00,0.00,0.000,6,0.000,0.000,3514,1944,1657,0,0,0,0,0,0
$GC,9719,1.51,349.3,16.8,9.1,477,9745,0.00,2.65,16.60,0.508,4,0.000,0.037,3514,3552,1584,0,0,0,0,0,0
$GC,9757,1.51,349.3,12.9,10.8,481,9766,0.00,2.67,0.00,0.000,6,0.000,0.030,3514,1922,1583,0,0,0,0,0,0
$STATE,9842,end climb,SURFACE_DEPTH_REACHED
$STATE,9842,begin surface coast
$FINISH,0.6,0.972486
$STATE,9928,end surface coast,CONTROL_FINISHED_OK
$STATE,9928,begin surface
$SM_CCo,9950,25.25,0.504,0,0,1460,380.21
$SM_GC,1.46,0.00,0.00,25.25,0.000,0.000,0.504,475,1919,1460,-12.42,-0.03,380.21
$IRIDIUM_FIX,2241.69,-15759.32,210900,101052
$TT8_MAMPS,0.026078
$HUMID,63.34
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.00
$XPDR_PINGS,48
$24V_AH,23.5,50.104
$10V_AH,10.3,44.155
$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,28.825,118.850,411.775,25.250,0.000,29.968,32.526,201.096,12.000,0.000,32.665,1012.727,6384.485,483.084,1960.131,551.371,33.366,1223.017,0.000,1950.129,0.000,0.534,0.000
$DEVICE_MAMPS,152.633,100.477,912.730,503.919,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,341.462,276.114,390.876,750.296,1135.596,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355460
$DATA_FILE_SIZE,38412,505
$CAP_FILE_SIZE,105069,0
$CFSIZE,260165632,161284096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280611,162231,2250.151,-15759.207,45,1.7,45,10.1