version: 66.06
glider: 146
mission: 6
dive: 384
start: 6 26 111 20 56 22
data:
$ID,146
$MISSION,6
$DIVE,384
$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,-277573.03
$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,18
$R_STBD_OVSHOOT,78
$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
$GPS1,203015,2247.807,-15801.400,38,2.2,57,10.1
$_CALLS,4
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-69.4
$GPS2,205529,2248.020,-15801.472,15,2.2,34,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.079,-0.221
$KALMAN_X,-260028.0,37.8,50.8,251957.0,-1107.8
$KALMAN_Y,34524.5,-47.9,271.0,-27131.7,841.3
$MHEAD_RNG_PITCHd_Wd,189.5,3222,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,18,-1.38,-116.8,0.0,0.0,0,91,0.00,0.00,-70.40,0.000,2,0.000,0.000,477,1945,3244,0,0,0,0,0,0
$GC,94,-1.38,-116.8,3.2,-5.1,9,120,12.30,2.75,-4.70,0.000,4,0.146,0.058,2858,330,3489,0,0,0,0,0,0
$GC,213,-1.23,-116.8,30.1,-19.1,25,218,0.20,2.42,0.00,0.000,6,0.120,0.015,2898,1928,3490,0,0,0,0,0,0
$GC,479,-1.23,-116.8,67.9,-11.4,49,483,0.00,2.42,0.00,0.000,4,0.000,0.032,2898,3468,3490,0,0,0,0,0,0
$GC,500,-1.23,-116.8,70.9,-12.5,50,505,0.00,2.45,0.00,0.000,6,0.000,0.023,2898,1906,3490,0,0,0,0,0,0
$GC,764,-1.23,-116.8,103.8,-11.9,74,768,0.00,2.47,0.00,0.000,4,0.000,0.031,2898,3469,3490,0,0,0,0,0,0
$GC,798,-1.23,-116.8,108.4,-12.0,76,807,0.00,2.45,0.00,0.000,6,0.000,0.027,2898,1935,3490,0,0,0,0,0,0
$GC,1064,-1.23,-116.8,138.4,-11.2,101,1069,0.00,0.00,0.00,0.000,6,0.000,0.000,2899,1935,3490,0,0,0,0,0,0
$GC,1326,-1.28,-116.8,165.9,-10.5,126,1330,0.00,2.42,0.00,0.000,4,0.000,0.031,2899,3468,3491,0,0,0,0,0,0
$GC,1372,-1.38,-116.8,170.9,-11.1,129,1381,0.10,2.45,0.00,0.000,6,0.040,0.030,2849,1930,3491,0,0,0,0,0,0
$GC,1656,-1.38,-116.8,205.0,-11.3,153,1660,0.00,2.42,0.00,0.000,4,0.000,0.025,2849,3464,3491,0,0,0,0,0,0
$GC,1695,-1.38,-116.8,210.2,-12.4,154,1699,0.00,2.38,0.00,0.000,6,0.000,0.031,2849,1941,3491,0,0,0,0,0,0
$GC,1979,-1.38,-116.8,240.8,-11.1,161,1983,0.00,2.42,0.00,0.000,4,0.000,0.034,2849,3469,3491,0,0,0,0,0,0
$GC,2018,-1.38,-116.8,245.1,-10.3,162,2022,0.00,2.40,0.00,0.000,6,0.000,0.024,2849,1939,3491,0,0,0,0,0,0
$GC,2303,-1.38,-116.8,273.8,-9.9,169,2307,0.00,2.42,0.00,0.000,4,0.000,0.035,2849,3464,3491,0,0,0,0,0,0
$GC,2347,-1.44,-116.8,278.5,-9.7,170,2352,0.00,2.38,0.00,0.000,6,0.000,0.027,2849,1954,3491,0,0,0,0,0,0
$GC,2625,-1.44,-116.8,305.3,-9.8,177,2627,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1954,3491,0,0,0,0,0,0
$GC,2870,-1.44,-116.8,331.0,-10.6,183,2872,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,1954,3491,0,0,0,0,0,0
$GC,3113,-1.49,-116.8,354.3,-9.4,189,3118,0.00,2.45,0.00,0.000,4,0.000,0.044,2849,3460,3490,0,0,0,0,0,0
$GC,3141,-1.55,-116.8,357.1,-9.8,189,3145,0.00,2.42,0.00,0.000,6,0.000,0.041,2849,1975,3490,0,0,0,0,0,0
$GC,3393,-1.61,-116.8,380.1,-9.3,195,3398,0.12,2.42,0.00,0.000,4,0.070,0.043,2805,3457,3488,0,0,0,0,0,0
$GC,3493,-1.61,-116.8,390.8,-10.3,197,3498,0.00,2.42,0.00,0.000,6,0.000,0.047,2805,1986,3487,0,0,0,0,0,0
$GC,3760,-1.61,-116.8,417.9,-10.5,204,3761,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1986,3486,0,0,0,0,0,0
$GC,4005,-1.61,-116.8,445.3,-11.3,210,4007,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1986,3484,0,0,0,0,0,0
$GC,4248,-1.61,-116.8,472.2,-11.1,216,4249,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1986,3482,0,0,0,0,0,0
$GC,4491,-1.61,-116.8,499.4,-11.0,222,4493,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1986,3481,0,0,0,0,0,0
$STATE,4531,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4531,begin apogee
$GC,4537,-0.31,0.0,503.7,10.9,223,4638,1.30,0.00,97.32,0.912,6,0.081,0.000,3099,1986,3010,0,0,0,0,0,0
$STATE,4639,end apogee,CONTROL_FINISHED_OK
$STATE,4639,begin climb
$GC,4643,1.38,116.8,506.0,0.0,225,4748,1.58,0.00,101.20,0.890,6,0.038,0.000,3480,1986,2533,0,0,0,0,0,0
$GC,4977,1.28,146.8,487.5,8.3,234,5005,0.15,0.00,25.98,0.858,6,0.120,0.000,3451,1986,2412,0,0,0,0,0,0
$GC,5220,1.24,184.0,467.9,7.9,240,5261,0.00,3.00,33.55,0.861,4,0.000,0.107,3451,419,2259,0,0,0,0,0,0
$GC,5291,1.12,184.0,461.4,10.4,241,5296,0.17,2.47,0.00,0.000,6,0.117,0.027,3417,1940,2256,0,0,0,0,0,0
$GC,5546,1.17,216.9,440.2,8.1,248,5578,0.00,0.00,29.80,0.846,6,0.000,0.000,3417,1939,2124,0,0,0,0,0,0
$GC,5792,1.18,226.2,417.6,9.5,254,5802,0.00,0.00,9.05,0.749,6,0.000,0.000,3417,1939,2086,0,0,0,0,0,0
$GC,6034,1.18,227.2,393.4,10.0,260,6038,0.00,2.67,0.00,0.000,4,0.000,0.074,3416,417,2083,0,0,0,0,0,0
$GC,6083,1.18,227.2,387.5,11.5,261,6087,0.00,2.47,0.00,0.000,6,0.000,0.022,3417,1956,2082,0,0,0,0,0,0
$GC,6357,1.22,227.2,359.2,10.4,268,6361,0.00,2.65,0.00,0.000,4,0.000,0.046,3416,3577,2080,0,0,0,0,0,0
$GC,6441,1.27,227.2,350.6,10.4,270,6446,0.12,2.55,0.00,0.000,6,0.084,0.038,3450,2013,2079,0,0,0,0,0,0
$GC,6726,1.29,242.3,323.6,9.2,277,6745,0.00,0.00,14.57,0.765,6,0.000,0.000,3451,2013,2022,0,0,0,0,0,0
$GC,7013,1.31,256.4,297.1,9.2,284,7033,0.00,2.85,13.73,0.744,4,0.000,0.071,3451,406,1964,0,0,0,0,0,0
$GC,7209,1.32,262.2,277.3,9.7,288,7220,0.00,2.55,6.28,0.633,6,0.000,0.022,3451,2017,1941,0,0,0,0,0,0
$GC,7476,1.38,278.7,253.9,9.1,295,7495,0.00,0.00,16.62,0.723,6,0.000,0.000,3451,2017,1872,0,0,0,0,0,0
$GC,7766,1.43,285.4,226.0,9.7,302,7781,0.12,2.83,6.65,0.606,4,0.083,0.058,3487,411,1845,0,0,0,0,0,0
$GC,7867,1.38,285.4,213.1,12.6,304,7871,0.00,2.50,0.00,0.000,6,0.000,0.021,3487,2006,1844,0,0,0,0,0,0
$GC,8124,1.38,285.4,184.7,10.9,318,8128,0.00,2.72,0.00,0.000,4,0.000,0.054,3487,401,1844,0,0,0,0,0,0
$GC,8179,1.38,285.4,178.6,12.2,322,8183,0.00,2.50,0.00,0.000,6,0.000,0.024,3487,1997,1843,0,0,0,0,0,0
$GC,8446,1.38,287.2,149.9,9.9,346,8450,0.00,2.67,0.00,0.000,4,0.000,0.058,3487,410,1843,0,0,0,0,0,0
$GC,8457,1.38,288.9,148.1,9.9,346,8467,0.00,2.47,4.18,0.449,6,0.000,0.021,3487,1986,1832,0,0,0,0,0,0
$GC,8722,1.39,293.4,122.2,9.8,371,8733,0.00,2.67,5.93,0.511,4,0.000,0.050,3487,407,1812,0,0,0,0,0,0
$GC,8776,1.39,293.4,116.3,10.5,375,8781,0.00,2.42,0.00,0.000,6,0.000,0.021,3487,1966,1810,0,0,0,0,0,0
$GC,9038,1.42,321.8,93.4,8.4,400,9076,0.00,2.70,25.83,0.590,4,0.000,0.050,3487,407,1697,0,0,0,0,0,0
$GC,9105,1.42,321.8,87.6,10.2,405,9109,0.00,2.40,0.00,0.000,6,0.000,0.023,3487,1958,1696,0,0,0,0,0,0
$GC,9372,1.50,330.0,63.3,9.6,429,9382,0.00,0.00,8.60,0.505,6,0.000,0.000,3487,1960,1664,0,0,0,0,0,0
$GC,9642,1.57,331.9,38.0,9.9,454,9647,0.10,2.60,0.00,0.000,4,0.092,0.049,3517,403,1662,0,0,0,0,0,0
$GC,9719,1.57,331.9,28.1,12.9,460,9728,0.00,2.42,0.00,0.000,6,0.000,0.017,3517,1958,1662,0,0,0,0,0,0
$STATE,9938,end climb,SURFACE_DEPTH_REACHED
$STATE,9938,begin surface coast
$FINISH,0.5,0.974255
$STATE,9994,end surface coast,CONTROL_FINISHED_OK
$STATE,9994,begin surface
$SM_CCo,10016,41.92,0.512,0,0,1460,380.21
$SM_GC,1.40,0.00,0.00,41.92,0.000,0.000,0.512,475,1868,1460,-12.40,-1.47,380.21
$IRIDIUM_FIX,2239.35,-15759.32,190900,202014
$TT8_MAMPS,0.026078
$HUMID,63.19
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,22.10
$XPDR_PINGS,35
$24V_AH,23.5,48.467
$10V_AH,10.2,42.578
$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,28.600,96.225,399.275,41.925,0.000,116.673,145.542,888.606,8.750,0.000,36.736,1003.215,6713.166,515.121,1886.690,1454.663,33.372,1177.758,0.000,1873.156,0.000,0.535,0.000
$DEVICE_MAMPS,145.730,108.147,911.963,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,338.290,279.621,382.559,734.029,1110.230,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355680
$DATA_FILE_SIZE,38246,499
$CAP_FILE_SIZE,113961,0
$CFSIZE,260165632,162021376
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,260611,234524,2247.819,-15802.836,26,1.0,43,10.1