version: 66.06
glider: 146
mission: 6
dive: 388
start: 6 27 111 8 30 26
data:
$ID,146
$MISSION,6
$DIVE,388
$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,-277651.78
$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,14
$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
$GPS1,082336,2248.923,-15803.130,31,2.0,31,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.0
$GPS2,082932,2248.979,-15803.186,11,1.3,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.122,0.108
$KALMAN_X,-265052.8,-300.8,84.4,254356.7,-903.6
$KALMAN_Y,41000.1,202.8,-34.9,-31764.6,815.2
$MHEAD_RNG_PITCHd_Wd,38.5,1918,-29.0,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.88,-56.2,0.0,0.0,0,91,0.00,0.00,-70.47,0.000,6,0.000,0.000,475,1942,3240,0,0,0,0,0,0
$GC,94,-1.92,-87.0,3.7,-6.4,9,120,11.98,2.47,-2.35,0.000,4,0.156,0.044,2744,3466,3369,0,0,0,0,0,0
$GC,133,-1.17,-87.0,17.4,-36.1,13,141,0.77,2.53,0.00,0.000,6,0.110,0.023,2907,1897,3370,0,0,0,0,0,0
$GC,418,-1.43,-87.0,58.0,-11.7,43,423,0.20,2.53,0.00,0.000,4,0.054,0.025,2843,3476,3371,0,0,0,0,0,0
$GC,481,-1.63,-87.0,67.1,-14.3,47,490,0.08,2.47,0.00,0.000,6,0.044,0.025,2802,1931,3371,0,0,0,0,0,0
$GC,744,-1.72,-87.0,109.0,-16.2,72,748,0.00,2.42,0.00,0.000,4,0.000,0.026,2802,3471,3372,0,0,0,0,0,0
$GC,766,-1.81,-87.0,111.9,-16.0,73,771,0.12,2.45,0.00,0.000,6,0.069,0.028,2758,1921,3372,0,0,0,0,0,0
$GC,1032,-1.86,-87.0,155.6,-14.8,97,1036,0.00,2.45,0.00,0.000,4,0.000,0.031,2758,3479,3373,0,0,0,0,0,0
$GC,1204,-1.96,-87.0,183.0,-14.0,111,1213,0.00,2.42,0.00,0.000,6,0.000,0.021,2758,1949,3373,0,0,0,0,0,0
$GC,1460,-2.05,-87.0,218.7,-14.1,127,1465,0.15,2.42,0.00,0.000,4,0.064,0.031,2708,3479,3374,0,0,0,0,0,0
$GC,1603,-2.05,-87.0,241.0,-15.4,130,1607,0.00,2.38,0.00,0.000,6,0.000,0.027,2708,1961,3374,0,0,0,0,0,0
$GC,1874,-2.05,-87.0,283.7,-15.8,137,1879,0.00,2.40,0.00,0.000,4,0.000,0.036,2708,3472,3374,0,0,0,0,0,0
$GC,1988,-2.10,-87.0,302.2,-15.4,139,1992,0.00,2.38,0.00,0.000,6,0.000,0.035,2708,1990,3374,0,0,0,0,0,0
$GC,2244,-2.14,-87.0,338.5,-13.9,146,2248,0.00,2.38,0.00,0.000,4,0.000,0.041,2708,3469,3374,0,0,0,0,0,0
$GC,2293,-2.22,-87.0,345.4,-13.0,147,2298,0.00,2.38,0.00,0.000,6,0.000,0.045,2707,2004,3374,0,0,0,0,0,0
$GC,2568,-2.29,-87.0,379.5,-12.6,154,2573,0.15,2.42,0.00,0.000,4,0.063,0.046,2652,3468,3374,0,0,0,0,0,0
$GC,2617,-2.29,-87.0,387.7,-16.5,155,2621,0.00,2.42,0.00,0.000,6,0.000,0.046,2652,2012,3374,0,0,0,0,0,0
$GC,2891,-2.29,-87.0,432.9,-16.6,162,2895,0.00,2.38,0.00,0.000,4,0.000,0.051,2652,3458,3373,0,0,0,0,0,0
$GC,2912,-2.29,-87.0,436.8,-16.8,162,2916,0.00,2.42,0.00,0.000,6,0.000,0.050,2652,2005,3373,0,0,0,0,0,0
$GC,3167,-2.29,-87.0,478.4,-16.3,169,3172,0.00,2.47,0.00,0.000,4,0.000,0.060,2652,3458,3372,0,0,0,0,0,0
$GC,3211,-2.29,-87.0,486.0,-16.4,170,3216,0.00,2.45,0.00,0.000,6,0.000,0.062,2652,2006,3372,0,0,0,0,0,0
$STATE,3330,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3330,begin apogee
$GC,3337,-0.31,0.0,505.7,16.5,173,3417,2.05,0.00,75.12,0.897,6,0.103,0.000,3097,2006,3009,0,0,0,0,0,0
$STATE,3418,end apogee,CONTROL_FINISHED_OK
$STATE,3418,begin climb
$GC,3420,1.92,87.0,508.8,0.0,175,3508,2.03,3.10,74.30,0.880,4,0.041,0.113,3601,430,2653,0,0,0,0,0,0
$GC,3537,1.76,110.2,505.4,7.3,177,3566,0.22,2.53,21.62,0.838,6,0.127,0.041,3558,1951,2560,0,0,0,0,0,0
$GC,3835,1.77,113.0,477.8,9.7,185,3840,0.00,2.80,0.00,0.000,4,0.000,0.070,3558,3576,2551,0,0,0,0,0,0
$GC,3914,1.77,114.7,469.6,9.8,186,3920,0.00,2.62,0.00,0.000,6,0.000,0.048,3558,2015,2550,0,0,0,0,0,0
$GC,4164,1.78,125.4,446.6,8.8,193,4183,0.00,2.70,12.48,0.806,4,0.000,0.046,3557,3584,2497,0,0,0,0,0,0
$GC,4200,1.80,138.6,443.4,8.5,193,4220,0.00,2.65,12.98,0.799,6,0.000,0.049,3558,2002,2444,0,0,0,0,0,0
$GC,4495,1.80,142.5,414.2,9.6,201,4505,0.00,2.95,4.38,0.584,4,0.000,0.092,3558,403,2428,0,0,0,0,0,0
$GC,4544,1.75,142.5,408.9,11.0,202,4549,0.00,2.58,0.00,0.000,6,0.000,0.027,3557,2009,2427,0,0,0,0,0,0
$GC,4818,1.75,145.1,382.1,9.7,209,4823,0.00,2.60,0.00,0.000,4,0.000,0.048,3557,3581,2425,0,0,0,0,0,0
$GC,4858,1.75,146.8,378.0,9.8,210,4868,0.00,2.60,4.80,0.610,6,0.000,0.042,3558,1999,2410,0,0,0,0,0,0
$GC,5141,1.76,156.2,351.9,8.9,217,5156,0.00,2.62,9.73,0.746,4,0.000,0.035,3558,3574,2373,0,0,0,0,0,0
$GC,5409,1.76,156.2,324.1,10.1,223,5413,0.00,2.55,0.00,0.000,6,0.000,0.036,3558,2020,2370,0,0,0,0,0,0
$GC,5689,1.83,158.5,297.6,9.8,230,5694,0.00,2.55,0.00,0.000,4,0.000,0.039,3558,3581,2368,0,0,0,0,0,0
$GC,5949,1.91,171.6,272.3,8.5,235,5969,0.12,2.47,14.18,0.734,6,0.094,0.031,3588,2047,2310,0,0,0,0,0,0
$GC,6243,1.93,188.8,249.2,8.0,243,6267,0.00,2.53,16.40,0.719,4,0.000,0.031,3588,3577,2238,0,0,0,0,0,0
$GC,6459,1.98,188.8,225.1,11.5,247,6464,0.00,2.47,0.00,0.000,6,0.000,0.034,3588,2064,2236,0,0,0,0,0,0
$GC,6709,2.03,194.8,201.1,9.3,254,6718,0.10,0.00,6.28,0.581,6,0.091,0.000,3614,2064,2215,0,0,0,0,0,0
$GC,6965,2.05,208.3,178.2,8.4,275,6990,0.00,2.90,13.32,0.647,4,0.000,0.065,3614,412,2158,0,0,0,0,0,0
$GC,7014,2.01,217.4,173.6,9.0,279,7029,0.00,2.62,9.50,0.607,6,0.000,0.024,3614,2091,2123,0,0,0,0,0,0
$GC,7280,2.06,222.1,147.1,9.5,304,7294,0.00,2.45,5.22,0.505,4,0.000,0.038,3614,3577,2103,0,0,0,0,0,0
$GC,7502,2.12,228.3,124.7,9.3,322,7515,0.00,2.45,7.03,0.538,6,0.000,0.034,3614,2075,2077,0,0,0,0,0,0
$GC,7780,2.19,228.3,98.2,10.1,348,7785,0.12,2.83,0.00,0.000,4,0.083,0.060,3650,410,2077,0,0,0,0,0,0
$GC,7833,2.12,228.3,91.1,14.2,352,7837,0.00,2.65,0.00,0.000,6,0.000,0.018,3650,2107,2076,0,0,0,0,0,0
$GC,8099,2.12,228.3,58.3,12.6,376,8103,0.00,2.85,0.00,0.000,4,0.000,0.048,3650,400,2075,0,0,0,0,0,0
$GC,8120,2.12,228.3,55.4,13.6,377,8125,0.00,2.65,0.00,0.000,6,0.000,0.018,3650,2102,2076,0,0,0,0,0,0
$GC,8394,2.12,228.3,25.9,10.7,403,8403,0.00,2.85,0.00,0.000,4,0.000,0.048,3650,405,2075,0,0,0,0,0,0
$GC,8413,2.12,228.3,23.6,10.3,405,8423,0.00,2.65,0.00,0.000,6,0.000,0.018,3650,2091,2076,0,0,0,0,0,0
$STATE,8601,end climb,SURFACE_DEPTH_REACHED
$STATE,8603,begin surface coast
$FINISH,0.5,0.974613
$STATE,8646,end surface coast,CONTROL_FINISHED_OK
$STATE,8646,begin surface
$SM_CCo,8670,125.82,0.518,0,0,1459,380.21
$SM_GC,1.17,0.00,0.00,125.82,0.000,0.000,0.518,474,1888,1459,-12.40,-0.90,380.21
$IRIDIUM_FIX,2239.35,-15805.41,200900,050500
$TT8_MAMPS,0.026078
$HUMID,61.34
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.30
$XPDR_PINGS,44
$24V_AH,23.5,48.922
$10V_AH,10.2,43.009
$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,30.925,118.150,287.325,125.825,0.000,31.067,34.300,157.683,11.000,0.000,13.431,947.306,5309.741,481.951,1919.281,497.029,33.360,1214.699,0.000,1915.106,0.000,0.534,0.000
$DEVICE_MAMPS,156.468,112.749,896.623,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,296.156,244.492,340.723,662.888,1002.698,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355488
$DATA_FILE_SIZE,35339,438
$CAP_FILE_SIZE,101160,0
$CFSIZE,260165632,161824768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270611,105828,2249.916,-15803.197,25,2.3,44,10.1