version: 66.06
glider: 146
mission: 6
dive: 335
start: 6 20 111 19 14 51
data:
$ID,146
$MISSION,6
$DIVE,335
$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,-276050.56
$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,3165
$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,41
$R_STBD_OVSHOOT,52
$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
$GPS1,190052,2249.316,-15802.955,12,3.8,31,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-68.7
$GPS2,191355,2249.459,-15803.075,10,1.9,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.213,-0.100
$KALMAN_X,-201074.2,-58.7,91.9,190315.2,-1322.2
$KALMAN_Y,-31262.3,206.3,-275.6,41616.9,1069.2
$MHEAD_RNG_PITCHd_Wd,105.0,10418,-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,16,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-71.18,0.000,2,0.000,0.000,477,1864,3270,0,0,0,0,0,0
$GC,94,-1.38,-116.8,3.5,-5.9,9,119,12.23,2.62,-3.90,0.000,4,0.144,0.065,2855,320,3488,0,0,0,0,0,0
$GC,170,-1.21,-116.8,25.8,-20.7,19,179,0.17,2.45,0.00,0.000,6,0.105,0.015,2896,1908,3489,0,0,0,0,0,0
$GC,444,-1.15,-116.8,69.0,-14.6,45,449,0.00,2.42,0.00,0.000,4,0.000,0.024,2896,3447,3489,0,0,0,0,0,0
$GC,491,-1.15,-116.8,76.7,-14.7,48,495,0.00,2.45,0.00,0.000,6,0.000,0.024,2896,1902,3490,0,0,0,0,0,0
$GC,754,-1.15,-116.8,113.4,-13.3,72,759,0.00,2.40,0.00,0.000,4,0.000,0.030,2896,3440,3490,0,0,0,0,0,0
$GC,801,-1.21,-116.8,119.9,-12.7,75,807,0.00,2.42,0.00,0.000,6,0.000,0.028,2896,1903,3490,0,0,0,0,0,0
$GC,1064,-1.21,-116.8,151.1,-11.0,100,1068,0.00,2.40,0.00,0.000,4,0.000,0.025,2896,3443,3491,0,0,0,0,0,0
$GC,1144,-1.30,-116.8,158.6,-9.3,106,1148,0.00,2.40,0.00,0.000,6,0.000,0.028,2896,1911,3491,0,0,0,0,0,0
$GC,1411,-1.37,-116.8,184.5,-10.3,130,1416,0.12,0.00,0.00,0.000,6,0.067,0.000,2840,1911,3492,0,0,0,0,0,0
$GC,1698,-1.37,-116.8,218.5,-11.0,146,1702,0.12,2.45,0.00,0.000,4,0.103,0.032,2869,3448,3492,0,0,0,0,0,0
$GC,1742,-1.44,-116.8,222.8,-9.0,147,1746,0.00,2.40,0.00,0.000,6,0.000,0.026,2869,1917,3492,0,0,0,0,0,0
$GC,2022,-1.48,-116.8,251.3,-10.5,154,2026,0.12,2.45,0.00,0.000,4,0.066,0.029,2815,3443,3492,0,0,0,0,0,0
$GC,2110,-1.48,-116.8,262.7,-12.0,156,2115,0.12,2.38,0.00,0.000,6,0.104,0.032,2842,1931,3492,0,0,0,0,0,0
$GC,2390,-1.48,-116.8,291.8,-9.9,163,2394,0.00,2.42,0.00,0.000,4,0.000,0.031,2842,3446,3492,0,0,0,0,0,0
$GC,2429,-1.53,-116.8,295.7,-9.8,164,2434,0.00,2.42,0.00,0.000,6,0.000,0.028,2842,1931,3492,0,0,0,0,0,0
$GC,2713,-1.53,-116.8,324.2,-9.9,171,2714,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1931,3492,0,0,0,0,0,0
$GC,2958,-1.53,-116.8,348.9,-10.1,177,2962,0.00,2.45,0.00,0.000,4,0.000,0.035,2842,3442,3491,0,0,0,0,0,0
$GC,3047,-1.60,-116.8,357.9,-10.0,179,3052,0.10,2.45,0.00,0.000,6,0.082,0.038,2799,1951,3490,0,0,0,0,0,0
$GC,3325,-1.56,-116.8,390.4,-12.0,186,3330,0.12,2.45,0.00,0.000,4,0.110,0.047,2825,3435,3488,0,0,0,0,0,0
$GC,3377,-1.61,-116.8,396.1,-10.9,187,3381,0.00,2.47,0.00,0.000,6,0.000,0.055,2825,1958,3488,0,0,0,0,0,0
$GC,3649,-1.61,-116.8,424.3,-10.2,194,3650,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1957,3486,0,0,0,0,0,0
$GC,3892,-1.61,-116.8,449.5,-10.3,200,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1958,3485,0,0,0,0,0,0
$GC,4138,-1.64,-116.8,474.6,-10.5,206,4139,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1958,3483,0,0,0,0,0,0
$GC,4381,-1.68,-116.8,498.7,-9.9,212,4382,0.12,0.00,0.00,0.000,6,0.079,0.000,2786,1957,3482,0,0,0,0,0,0
$STATE,4418,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4418,begin apogee
$GC,4424,-0.31,0.0,503.0,10.1,213,4524,1.38,0.00,96.80,0.916,6,0.083,0.000,3094,1957,3010,0,0,0,0,0,0
$STATE,4525,end apogee,CONTROL_FINISHED_OK
$STATE,4525,begin climb
$GC,4529,1.38,116.8,505.4,0.0,215,4633,1.58,0.00,99.70,0.897,6,0.040,0.000,3472,1958,2533,0,0,0,0,0,0
$GC,4865,1.31,162.6,490.0,7.4,224,4910,0.10,2.78,39.15,0.874,4,0.137,0.064,3452,3529,2346,0,0,0,0,0,0
$GC,5022,1.24,167.4,475.9,9.8,227,5034,0.00,2.62,5.10,0.634,6,0.000,0.051,3453,2001,2327,0,0,0,0,0,0
$GC,5278,1.18,178.9,452.9,9.4,234,5297,0.15,3.08,11.43,0.799,4,0.116,0.103,3422,409,2279,0,0,0,0,0,0
$GC,5310,1.17,197.2,449.9,9.0,234,5335,0.00,2.53,17.62,0.827,6,0.000,0.028,3422,1951,2205,0,0,0,0,0,0
$GC,5608,1.17,197.2,419.9,10.4,242,5612,0.00,2.70,0.00,0.000,4,0.000,0.051,3422,3580,2199,0,0,0,0,0,0
$GC,5651,1.17,197.2,415.1,10.6,243,5656,0.00,2.67,0.00,0.000,6,0.000,0.046,3421,1990,2197,0,0,0,0,0,0
$GC,5931,1.18,212.4,388.9,9.2,250,5946,0.00,0.00,13.52,0.797,6,0.000,0.000,3422,1990,2143,0,0,0,0,0,0
$GC,6173,1.22,237.7,367.6,8.6,256,6199,0.00,0.00,23.50,0.816,6,0.000,0.000,3422,1990,2041,0,0,0,0,0,0
$GC,6417,1.23,248.6,345.2,9.4,262,6430,0.00,0.00,10.95,0.752,6,0.000,0.000,3422,1990,1996,0,0,0,0,0,0
$GC,6662,1.28,248.6,319.5,10.9,268,6663,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1990,1992,0,0,0,0,0,0
$GC,6905,1.35,261.3,296.1,9.3,274,6925,0.15,2.83,12.15,0.739,4,0.076,0.071,3461,411,1943,0,0,0,0,0,0
$GC,6948,1.29,261.3,291.5,11.8,275,6953,0.00,2.55,0.00,0.000,6,0.000,0.024,3461,2020,1942,0,0,0,0,0,0
$GC,7233,1.29,261.3,259.1,11.6,282,7234,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2020,1940,0,0,0,0,0,0
$GC,7475,1.29,261.3,233.4,10.2,288,7480,0.00,2.75,0.00,0.000,4,0.000,0.058,3461,405,1939,0,0,0,0,0,0
$GC,7515,1.24,261.3,228.9,11.3,289,7520,0.12,2.50,0.00,0.000,6,0.120,0.023,3436,1994,1938,0,0,0,0,0,0
$GC,7800,1.31,265.1,201.6,9.8,296,7806,0.00,0.00,3.85,0.469,6,0.000,0.000,3436,1994,1929,0,0,0,0,0,0
$GC,8055,1.40,282.8,177.8,9.0,317,8078,0.15,2.58,17.23,0.670,4,0.071,0.036,3478,3558,1856,0,0,0,0,0,0
$GC,8112,1.40,282.8,172.0,11.8,322,8117,0.00,2.58,0.00,0.000,6,0.000,0.035,3478,1983,1855,0,0,0,0,0,0
$GC,8375,1.41,291.2,144.7,9.5,346,8390,0.00,2.67,8.57,0.589,4,0.000,0.056,3478,416,1821,0,0,0,0,0,0
$GC,8442,1.41,291.2,138.0,10.9,351,8446,0.00,2.47,0.00,0.000,6,0.000,0.018,3478,2005,1820,0,0,0,0,0,0
$GC,8708,1.42,304.7,111.4,9.3,375,8733,0.00,2.75,13.02,0.591,4,0.000,0.051,3478,416,1766,0,0,0,0,0,0
$GC,8751,1.42,304.7,106.5,10.5,378,8761,0.00,2.47,0.00,0.000,6,0.000,0.025,3477,1972,1765,0,0,0,0,0,0
$GC,9017,1.47,304.7,79.2,11.0,403,9026,0.00,0.00,0.00,0.000,6,0.000,0.000,3478,1972,1765,0,0,0,0,0,0
$GC,9284,1.57,327.6,51.5,8.7,428,9314,0.12,0.00,20.90,0.555,6,0.081,0.000,3515,1973,1674,0,0,0,0,0,0
$GC,9588,1.57,327.6,19.4,11.0,462,9598,0.00,2.62,0.00,0.000,4,0.000,0.049,3515,421,1672,0,0,0,0,0,0
$GC,9623,1.53,327.6,15.2,12.2,466,9632,0.00,2.45,0.00,0.000,6,0.000,0.018,3515,1983,1672,0,0,0,0,0,0
$STATE,9716,end climb,SURFACE_DEPTH_REACHED
$STATE,9716,begin surface coast
$FINISH,0.5,0.980038
$STATE,9761,end surface coast,CONTROL_FINISHED_OK
$STATE,9761,begin surface
$SM_CCo,9783,43.28,0.520,0,0,1460,380.21
$SM_GC,1.31,0.00,0.00,43.28,0.000,0.000,0.520,475,1868,1460,-12.37,-0.62,380.21
$IRIDIUM_FIX,2239.35,-15757.16,130900,191954
$TT8_MAMPS,0.026078
$HUMID,62.60
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.70
$XPDR_PINGS,34
$24V_AH,23.5,42.103
$10V_AH,10.3,36.994
$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,29.250,91.675,393.500,43.275,0.000,50.378,84.516,441.888,8.500,0.000,17.118,972.605,6510.824,509.206,1762.416,860.071,33.365,1163.437,0.000,1768.206,0.000,0.535,0.000
$DEVICE_MAMPS,144.196,102.778,915.798,520.026,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.116,277.203,369.358,694.058,1045.007,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,38446,485
$CAP_FILE_SIZE,103119,0
$CFSIZE,260165632,164667392
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200611,220007,2249.302,-15802.412,47,1.3,47,10.1