version: 66.06
glider: 146
mission: 6
dive: 415
start: 6 30 111 14 12 56
data:
$ID,146
$MISSION,6
$DIVE,415
$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,-278244.97
$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,2010
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,28
$R_STBD_OVSHOOT,66
$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
$GPS1,140555,2249.941,-15801.127,38,1.3,38,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-70.5
$GPS2,141202,2249.972,-15801.180,12,1.9,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.186,-0.143
$KALMAN_X,-303899.3,240.1,-4.4,296176.3,-1291.5
$KALMAN_Y,67311.6,-433.2,-407.0,-55229.9,1426.5
$MHEAD_RNG_PITCHd_Wd,117.4,7135,-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,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,90,0.00,0.00,-70.60,0.000,2,0.000,0.000,474,1976,3233,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.5,-5.9,9,119,12.75,2.62,-4.68,0.000,4,0.160,0.058,2864,424,3484,0,0,0,0,0,0
$GC,145,-0.98,-116.8,18.9,-26.6,15,155,0.40,2.45,0.00,0.000,6,0.097,0.015,2953,2015,3486,0,0,0,0,0,0
$GC,435,-1.04,-116.8,52.7,-10.6,46,440,0.00,2.45,0.00,0.000,4,0.000,0.028,2953,3559,3487,0,0,0,0,0,0
$GC,460,-1.12,-116.8,55.5,-10.1,47,470,0.10,2.47,0.00,0.000,6,0.039,0.024,2906,2003,3487,0,0,0,0,0,0
$GC,722,-1.12,-116.8,89.2,-12.2,72,724,0.10,0.00,0.00,0.000,6,0.118,0.000,2928,2004,3487,0,0,0,0,0,0
$GC,979,-1.20,-116.8,115.9,-9.6,96,988,0.00,0.00,0.00,0.000,6,0.000,0.000,2928,2004,3488,0,0,0,0,0,0
$GC,1247,-1.30,-116.8,141.7,-9.1,121,1252,0.15,0.00,0.00,0.000,6,0.064,0.000,2878,2004,3489,0,0,0,0,0,0
$GC,1509,-1.30,-116.8,171.1,-11.0,146,1513,0.00,2.45,0.00,0.000,4,0.000,0.028,2877,3559,3490,0,0,0,0,0,0
$GC,1542,-1.30,-116.8,174.5,-12.1,148,1546,0.00,2.40,0.00,0.000,6,0.000,0.026,2877,2009,3490,0,0,0,0,0,0
$GC,1815,-1.30,-116.8,204.6,-9.9,170,1819,0.00,2.60,0.00,0.000,4,0.000,0.060,2877,439,3490,0,0,0,0,0,0
$GC,1858,-1.30,-116.8,209.7,-10.4,171,1862,0.00,2.35,0.00,0.000,6,0.000,0.021,2877,1999,3490,0,0,0,0,0,0
$GC,2143,-1.35,-116.8,237.1,-9.7,178,2147,0.00,2.45,0.00,0.000,4,0.000,0.029,2877,3551,3491,0,0,0,0,0,0
$GC,2200,-1.45,-116.8,243.0,-10.7,179,2204,0.00,2.42,0.00,0.000,6,0.000,0.022,2877,2011,3491,0,0,0,0,0,0
$GC,2466,-1.51,-116.8,270.6,-10.3,186,2468,0.12,0.00,0.00,0.000,6,0.069,0.000,2831,2011,3491,0,0,0,0,0,0
$GC,2709,-1.51,-116.8,299.3,-11.8,192,2714,0.00,2.47,0.00,0.000,4,0.000,0.035,2831,3547,3491,0,0,0,0,0,0
$GC,2732,-1.51,-116.8,301.9,-12.0,192,2737,0.00,2.42,0.00,0.000,6,0.000,0.028,2831,2024,3491,0,0,0,0,0,0
$GC,2988,-1.51,-116.8,330.5,-11.0,199,2989,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2024,3490,0,0,0,0,0,0
$GC,3231,-1.51,-116.8,355.5,-10.3,205,3235,0.00,2.50,0.00,0.000,4,0.000,0.040,2831,3549,3490,0,0,0,0,0,0
$GC,3273,-1.55,-116.8,359.3,-9.9,206,3278,0.00,2.50,0.00,0.000,6,0.000,0.039,2831,2015,3490,0,0,0,0,0,0
$GC,3556,-1.55,-116.8,384.8,-8.8,213,3561,0.00,2.53,0.00,0.000,4,0.000,0.044,2831,3551,3489,0,0,0,0,0,0
$GC,3612,-1.61,-116.8,390.1,-9.8,214,3617,0.00,2.53,0.00,0.000,6,0.000,0.047,2831,2022,3489,0,0,0,0,0,0
$GC,3881,-1.61,-116.8,414.4,-9.1,221,3885,0.00,2.53,0.00,0.000,4,0.000,0.045,2831,3541,3487,0,0,0,0,0,0
$GC,3914,-1.65,-116.8,417.7,-9.6,221,3919,0.00,2.53,0.00,0.000,6,0.000,0.050,2830,2025,3487,0,0,0,0,0,0
$GC,4164,-1.65,-116.8,441.9,-9.8,228,4165,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,2025,3485,0,0,0,0,0,0
$GC,4409,-1.65,-116.8,466.0,-9.9,234,4413,0.00,2.55,0.00,0.000,4,0.000,0.058,2831,3547,3484,0,0,0,0,0,0
$GC,4465,-1.71,-116.8,471.8,-10.0,235,4470,0.12,2.53,0.00,0.000,6,0.070,0.051,2786,2038,3483,0,0,0,0,0,0
$STATE,4729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4729,begin apogee
$GC,4737,-0.31,0.0,503.2,12.0,242,4838,1.42,0.00,97.12,0.916,6,0.082,0.000,3106,1983,3010,0,0,0,0,0,0
$STATE,4839,end apogee,CONTROL_FINISHED_OK
$STATE,4839,begin climb
$GC,4841,1.38,116.8,506.7,0.0,244,4945,1.55,0.00,100.12,0.902,6,0.044,0.000,3482,1983,2533,0,0,0,0,0,0
$GC,5176,1.30,165.4,494.4,7.2,253,5226,0.12,3.05,41.90,0.880,4,0.128,0.104,3459,411,2334,0,0,0,0,0,0
$GC,5257,1.16,177.9,488.1,9.3,254,5277,0.15,2.55,12.30,0.802,6,0.125,0.029,3430,1956,2283,0,0,0,0,0,0
$GC,5553,1.19,206.0,463.1,8.4,262,5581,0.00,0.00,25.60,0.849,6,0.000,0.000,3430,1956,2170,0,0,0,0,0,0
$GC,5794,1.20,214.6,439.9,9.5,268,5804,0.00,0.00,8.25,0.746,6,0.000,0.000,3430,1956,2135,0,0,0,0,0,0
$GC,6037,1.20,214.6,415.4,10.2,274,6038,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1956,2132,0,0,0,0,0,0
$GC,6281,1.22,229.1,392.5,9.2,280,6301,0.00,2.78,13.98,0.797,4,0.000,0.069,3430,406,2074,0,0,0,0,0,0
$GC,6326,1.22,230.9,388.2,9.9,281,6331,0.00,2.58,0.00,0.000,6,0.000,0.028,3430,2005,2072,0,0,0,0,0,0
$GC,6609,1.24,243.6,361.1,9.3,288,6628,0.00,2.62,14.05,0.784,4,0.000,0.046,3430,3563,2015,0,0,0,0,0,0
$GC,6693,1.30,253.2,353.3,9.5,289,6709,0.12,2.60,9.90,0.742,6,0.089,0.040,3461,1995,1977,0,0,0,0,0,0
$GC,6983,1.30,255.8,325.2,9.9,297,6988,0.00,2.78,0.00,0.000,4,0.000,0.074,3461,410,1973,0,0,0,0,0,0
$GC,7063,1.26,255.8,315.9,12.0,298,7068,0.00,2.53,0.00,0.000,6,0.000,0.022,3461,2004,1972,0,0,0,0,0,0
$GC,7313,1.26,259.0,290.8,9.9,305,7320,0.00,0.00,5.93,0.635,6,0.000,0.000,3461,2004,1953,0,0,0,0,0,0
$GC,7556,1.26,259.0,265.6,10.4,311,7561,0.00,2.70,0.00,0.000,4,0.000,0.062,3461,409,1951,0,0,0,0,0,0
$GC,7597,1.26,259.0,261.2,11.9,312,7601,0.00,2.47,0.00,0.000,6,0.000,0.018,3461,1994,1951,0,0,0,0,0,0
$GC,7881,1.27,261.1,232.5,9.9,319,7885,0.00,2.72,0.00,0.000,4,0.000,0.061,3461,407,1950,0,0,0,0,0,0
$GC,7896,1.27,266.3,230.9,9.7,319,7911,0.00,2.47,7.57,0.642,6,0.000,0.025,3461,1994,1924,0,0,0,0,0,0
$GC,8164,1.29,278.1,206.4,9.4,326,8178,0.00,0.00,12.25,0.667,6,0.000,0.000,3461,1995,1876,0,0,0,0,0,0
$GC,8413,1.34,286.9,183.6,9.5,344,8428,0.00,2.72,9.10,0.618,4,0.000,0.059,3461,402,1839,0,0,0,0,0,0
$GC,8495,1.34,286.9,175.1,11.4,351,8499,0.00,2.45,0.00,0.000,6,0.000,0.025,3461,1980,1837,0,0,0,0,0,0
$GC,8758,1.40,292.5,149.6,9.7,375,8770,0.00,2.67,6.38,0.543,4,0.000,0.051,3462,408,1816,0,0,0,0,0,0
$GC,8794,1.40,292.5,145.6,10.8,378,8798,0.00,2.45,0.00,0.000,6,0.000,0.025,3461,1973,1815,0,0,0,0,0,0
$GC,9058,1.48,304.2,119.9,9.4,402,9076,0.15,2.67,11.68,0.581,4,0.069,0.057,3505,401,1768,0,0,0,0,0,0
$GC,9098,1.43,304.2,115.8,11.3,405,9102,0.00,2.42,0.00,0.000,6,0.000,0.017,3505,1951,1767,0,0,0,0,0,0
$GC,9366,1.44,308.2,89.0,9.8,429,9373,0.00,0.00,4.95,0.449,6,0.000,0.000,3505,1953,1752,0,0,0,0,0,0
$GC,9634,1.46,329.9,64.6,8.8,454,9662,0.00,2.67,20.48,0.555,4,0.000,0.049,3504,403,1664,0,0,0,0,0,0
$GC,9728,1.46,329.9,54.8,11.1,461,9732,0.00,2.40,0.00,0.000,6,0.000,0.017,3505,1949,1662,0,0,0,0,0,0
$GC,9997,1.46,329.9,27.8,11.1,486,10007,0.00,2.62,0.00,0.000,4,0.000,0.051,3505,402,1662,0,0,0,0,0,0
$GC,10025,1.46,329.9,24.5,11.8,489,10034,0.00,2.40,0.00,0.000,6,0.000,0.018,3505,1941,1662,0,0,0,0,0,0
$STATE,10208,end climb,SURFACE_DEPTH_REACHED
$STATE,10208,begin surface coast
$FINISH,0.4,0.975310
$STATE,10258,end surface coast,CONTROL_FINISHED_OK
$STATE,10258,begin surface
$SM_CCo,10281,41.80,0.512,0,0,1459,380.21
$SM_GC,1.31,0.00,0.00,41.80,0.000,0.000,0.512,475,1943,1459,-12.42,-1.89,380.21
$IRIDIUM_FIX,2239.35,-15802.37,230900,111104
$TT8_MAMPS,0.026078
$HUMID,63.42
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.70
$XPDR_PINGS,42
$24V_AH,23.5,52.025
$10V_AH,10.3,46.020
$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,29.575,107.200,401.550,41.800,0.000,31.371,33.267,166.686,10.500,0.000,14.155,1040.220,6677.000,519.703,1923.182,530.780,33.374,1200.171,0.000,1937.570,0.000,0.534,0.000
$DEVICE_MAMPS,159.536,136.526,915.798,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,353.342,283.422,404.440,772.445,1169.431,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355392
$DATA_FILE_SIZE,41497,522
$CAP_FILE_SIZE,103790,0
$CFSIZE,260165632,160374784
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300611,170606,2249.681,-15800.924,10,1.2,26,10.1