version: 66.06
glider: 146
mission: 6
dive: 389
start: 6 27 111 11 6 5
data:
$ID,146
$MISSION,6
$DIVE,389
$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,-277682.56
$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,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,52
$R_STBD_OVSHOOT,33
$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
$GPS1,105828,2249.916,-15803.197,25,2.3,44,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-70.7
$GPS2,110510,2249.972,-15803.284,8,2.3,27,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.199,-0.124
$KALMAN_X,-266536.4,-106.8,-2.1,255568.4,-1239.8
$KALMAN_Y,42256.9,-133.5,-191.1,-30691.6,1238.9
$MHEAD_RNG_PITCHd_Wd,111.8,10726,-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,-70.70,0.000,2,0.000,0.000,474,1888,3213,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.1,-4.0,9,117,12.50,2.55,-5.32,0.000,4,0.153,0.055,2857,373,3488,0,0,0,0,0,0
$GC,168,-1.25,-116.8,22.6,-18.0,19,176,0.15,2.45,0.00,0.000,6,0.102,0.015,2892,1960,3490,0,0,0,0,0,0
$GC,443,-1.25,-116.8,60.1,-12.5,47,447,0.00,2.38,0.00,0.000,4,0.000,0.026,2892,3475,3491,0,0,0,0,0,0
$GC,466,-1.25,-116.8,63.8,-12.4,48,475,0.00,2.45,0.00,0.000,6,0.000,0.023,2892,1942,3491,0,0,0,0,0,0
$GC,730,-1.25,-116.8,97.1,-13.2,73,735,0.00,0.00,0.00,0.000,6,0.000,0.000,2892,1942,3491,0,0,0,0,0,0
$GC,993,-1.25,-116.8,131.2,-12.8,98,997,0.00,2.42,0.00,0.000,4,0.000,0.028,2892,3469,3492,0,0,0,0,0,0
$GC,1045,-1.25,-116.8,138.0,-12.5,102,1049,0.00,2.42,0.00,0.000,6,0.000,0.029,2892,1924,3492,0,0,0,0,0,0
$GC,1309,-1.25,-116.8,167.7,-10.6,126,1313,0.00,2.42,0.00,0.000,4,0.000,0.032,2893,3471,3492,0,0,0,0,0,0
$GC,1349,-1.30,-116.8,172.5,-11.0,129,1353,0.00,2.40,0.00,0.000,6,0.000,0.024,2892,1929,3492,0,0,0,0,0,0
$GC,1614,-1.37,-116.8,197.3,-7.8,153,1618,0.00,2.42,0.00,0.000,4,0.000,0.033,2893,3474,3493,0,0,0,0,0,0
$GC,1694,-1.49,-116.8,204.2,-7.9,156,1701,0.20,2.40,0.00,0.000,6,0.050,0.030,2825,1949,3493,0,0,0,0,0,0
$GC,1945,-1.42,-116.8,232.5,-11.8,163,1950,0.15,2.42,0.00,0.000,4,0.102,0.032,2858,3469,3494,0,0,0,0,0,0
$GC,1990,-1.47,-116.8,237.8,-10.9,164,1995,0.00,2.38,0.00,0.000,6,0.000,0.024,2858,1964,3494,0,0,0,0,0,0
$GC,2268,-1.47,-116.8,267.6,-10.5,171,2269,0.00,0.00,0.00,0.000,6,0.000,0.000,2858,1965,3494,0,0,0,0,0,0
$GC,2512,-1.47,-116.8,291.3,-9.7,177,2516,0.00,2.40,0.00,0.000,4,0.000,0.039,2858,3475,3494,0,0,0,0,0,0
$GC,2620,-1.56,-116.8,302.3,-10.0,179,2625,0.12,2.38,0.00,0.000,6,0.067,0.032,2812,1988,3494,0,0,0,0,0,0
$GC,2881,-1.52,-116.8,332.9,-11.9,186,2886,0.12,2.40,0.00,0.000,4,0.109,0.035,2839,3465,3494,0,0,0,0,0,0
$GC,2910,-1.52,-116.8,336.2,-11.4,186,2914,0.00,2.35,0.00,0.000,6,0.000,0.040,2838,2001,3494,0,0,0,0,0,0
$GC,3160,-1.52,-116.8,363.5,-10.9,192,3161,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,2001,3493,0,0,0,0,0,0
$GC,3404,-1.55,-116.8,384.8,-8.3,198,3409,0.00,2.95,0.00,0.000,4,0.000,0.091,2839,350,3492,0,0,0,0,0,0
$GC,3420,-1.55,-116.8,386.4,-8.5,198,3425,0.00,2.58,0.00,0.000,6,0.000,0.028,2839,1963,3492,0,0,0,0,0,0
$GC,3683,-1.59,-116.8,409.0,-8.6,205,3688,0.00,2.53,0.00,0.000,4,0.000,0.051,2839,3496,3491,0,0,0,0,0,0
$GC,3728,-1.67,-116.8,413.3,-9.2,206,3733,0.15,2.45,0.00,0.000,6,0.063,0.044,2788,2021,3491,0,0,0,0,0,0
$GC,4007,-1.62,-116.8,443.8,-11.1,213,4013,0.12,3.08,0.00,0.000,4,0.110,0.107,2815,349,3489,0,0,0,0,0,0
$GC,4041,-1.57,-116.8,448.1,-12.8,213,4046,0.00,2.67,0.00,0.000,6,0.000,0.034,2815,1994,3488,0,0,0,0,0,0
$GC,4290,-1.57,-116.8,475.0,-10.8,220,4292,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1994,3487,0,0,0,0,0,0
$STATE,4532,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4532,begin apogee
$GC,4539,-0.31,0.0,500.5,10.4,226,4641,1.25,0.00,98.20,0.910,6,0.080,0.000,3098,1994,3010,0,0,0,0,0,0
$STATE,4642,end apogee,CONTROL_FINISHED_OK
$STATE,4642,begin climb
$GC,4644,1.38,116.8,503.1,0.0,228,4754,1.58,2.83,100.10,0.890,4,0.040,0.071,3477,3558,2532,0,0,0,0,0,0
$GC,4807,1.27,154.3,501.0,7.9,232,4848,0.15,2.65,33.15,0.860,6,0.124,0.049,3449,2012,2379,0,0,0,0,0,0
$GC,5112,1.23,173.6,474.8,8.9,240,5130,0.00,0.00,17.10,0.826,6,0.000,0.000,3449,2012,2303,0,0,0,0,0,0
$GC,5355,1.19,181.3,451.9,9.6,246,5369,0.00,2.67,8.10,0.740,4,0.000,0.043,3448,3573,2269,0,0,0,0,0,0
$GC,5387,1.14,189.7,448.3,9.6,246,5402,0.15,2.70,8.95,0.750,6,0.125,0.046,3419,1990,2236,0,0,0,0,0,0
$GC,5689,1.15,196.0,419.6,9.7,254,5703,0.00,3.00,6.55,0.698,4,0.000,0.094,3419,400,2210,0,0,0,0,0,0
$GC,5760,1.15,196.0,411.5,11.0,255,5765,0.00,2.58,0.00,0.000,6,0.000,0.024,3419,2000,2209,0,0,0,0,0,0
$GC,6022,1.16,201.6,386.2,9.7,262,6033,0.00,2.60,6.12,0.680,4,0.000,0.045,3419,3573,2188,0,0,0,0,0,0
$GC,6063,1.16,204.2,382.3,9.9,263,6073,0.00,2.65,4.22,0.561,6,0.000,0.038,3419,1987,2177,0,0,0,0,0,0
$GC,6352,1.20,238.6,357.3,8.1,270,6393,0.00,2.92,31.80,0.814,4,0.000,0.082,3419,406,2036,0,0,0,0,0,0
$GC,6452,1.20,238.6,348.4,10.3,272,6456,0.00,2.53,0.00,0.000,6,0.000,0.020,3419,1998,2033,0,0,0,0,0,0
$GC,6724,1.27,248.7,323.0,9.5,279,6736,0.12,0.00,9.85,0.723,6,0.085,0.000,3452,1999,1996,0,0,0,0,0,0
$GC,6967,1.28,256.2,298.9,9.6,285,6982,0.00,2.83,8.10,0.685,4,0.000,0.062,3452,404,1965,0,0,0,0,0,0
$GC,7073,1.28,256.2,287.7,11.3,287,7078,0.00,2.50,0.00,0.000,6,0.000,0.025,3452,1981,1962,0,0,0,0,0,0
$GC,7340,1.29,263.7,262.6,9.6,294,7354,0.00,2.62,7.82,0.660,4,0.000,0.038,3452,3555,1933,0,0,0,0,0,0
$GC,7426,1.33,263.7,253.4,11.7,295,7432,0.00,2.60,0.00,0.000,6,0.000,0.031,3452,1965,1932,0,0,0,0,0,0
$GC,7676,1.37,265.8,227.8,9.9,302,7681,0.00,2.67,0.00,0.000,4,0.000,0.069,3452,409,1932,0,0,0,0,0,0
$GC,7703,1.37,265.8,224.8,10.6,302,7708,0.00,2.47,0.00,0.000,6,0.000,0.025,3452,1989,1930,0,0,0,0,0,0
$GC,7956,1.44,292.2,202.7,8.5,308,7990,0.12,2.75,26.20,0.693,4,0.077,0.054,3489,408,1816,0,0,0,0,0,0
$GC,8022,1.37,292.2,195.4,12.9,311,8026,0.00,2.47,0.00,0.000,6,0.000,0.025,3489,1972,1814,0,0,0,0,0,0
$GC,8286,1.37,292.2,169.8,10.2,335,8290,0.00,2.55,0.00,0.000,4,0.000,0.038,3489,3552,1813,0,0,0,0,0,0
$GC,8319,1.37,292.2,166.3,11.3,337,8323,0.00,2.58,0.00,0.000,6,0.000,0.031,3489,1968,1812,0,0,0,0,0,0
$GC,8586,1.37,292.2,138.3,10.7,361,8591,0.00,2.58,0.00,0.000,4,0.000,0.036,3489,3555,1812,0,0,0,0,0,0
$GC,8632,1.43,292.2,132.5,11.2,364,8641,0.00,2.58,0.00,0.000,6,0.000,0.030,3489,1978,1811,0,0,0,0,0,0
$GC,8899,1.43,292.2,105.6,10.9,389,8904,0.00,2.65,0.00,0.000,4,0.000,0.062,3489,407,1811,0,0,0,0,0,0
$GC,8932,1.43,292.2,101.7,12.5,391,8936,0.00,2.45,0.00,0.000,6,0.000,0.024,3489,1995,1811,0,0,0,0,0,0
$GC,9199,1.43,293.3,74.7,10.0,415,9203,0.00,2.65,0.00,0.000,4,0.000,0.051,3489,414,1811,0,0,0,0,0,0
$GC,9246,1.43,293.3,69.4,10.3,418,9255,0.00,2.42,0.00,0.000,6,0.000,0.018,3489,1966,1811,0,0,0,0,0,0
$GC,9512,1.53,330.9,45.2,7.9,443,9553,0.00,2.67,33.25,0.547,4,0.000,0.048,3489,414,1660,0,0,0,0,0,0
$GC,9635,1.64,385.0,34.8,6.9,452,9690,0.15,2.40,46.92,0.534,6,0.068,0.017,3532,1968,1439,0,0,0,0,0,0
$STATE,9858,end climb,SURFACE_DEPTH_REACHED
$STATE,9858,begin surface coast
$FINISH,0.5,0.979513
$STATE,9894,end surface coast,CONTROL_FINISHED_OK
$STATE,9895,begin surface
$SM_CCo,9978,0.00,0.000,0,0,1430,387.57
$SM_GC,1.33,12.40,0.00,0.00,0.024,0.000,0.000,473,1892,1430,-12.31,-0.79,387.57
$IRIDIUM_FIX,2239.35,-15802.37,200900,080833
$TT8_MAMPS,0.025311
$HUMID,63.58
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.80
$XPDR_PINGS,45
$24V_AH,23.5,49.037
$10V_AH,10.2,43.119
$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,29.450,128.550,446.450,0.000,0.000,25.697,35.515,190.380,11.250,0.000,30.171,1012.797,6448.541,491.749,1891.465,535.964,33.364,1231.652,0.000,1873.318,0.000,0.535,0.000
$DEVICE_MAMPS,152.633,111.982,909.662,0.000,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,328.575,276.332,371.404,702.076,1061.913,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,38339,486
$CAP_FILE_SIZE,108415,0
$CFSIZE,260165632,161763328
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270611,135336,2249.814,-15802.892,35,1.1,35,10.1