version: 66.06
glider: 146
mission: 6
dive: 390
start: 6 27 111 14 0 52
data:
$ID,146
$MISSION,6
$DIVE,390
$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,-277702.72
$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,54
$R_STBD_OVSHOOT,70
$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
$GPS1,135336,2249.814,-15802.892,35,1.1,35,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-71.3
$GPS2,135957,2249.886,-15802.964,11,1.7,18,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.188,-0.140
$KALMAN_X,-268042.3,98.5,-142.5,257554.1,-1156.6
$KALMAN_Y,43496.4,-410.9,-75.9,-31927.4,1413.2
$MHEAD_RNG_PITCHd_Wd,116.6,10182,-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,-116.8,0.0,0.0,0,96,0.00,0.00,-78.72,0.000,2,0.000,0.000,472,1891,3452,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.5,-8.7,10,119,12.68,2.58,-0.55,0.000,4,0.158,0.055,2860,367,3489,0,0,0,0,0,0
$GC,201,-1.25,-116.8,32.3,-16.7,23,206,0.17,2.38,0.00,0.000,6,0.214,0.015,2895,1919,3491,0,0,0,0,0,0
$GC,469,-1.25,-116.8,68.0,-12.9,47,473,0.00,2.47,0.00,0.000,4,0.000,0.028,2895,3472,3492,0,0,0,0,0,0
$GC,490,-1.25,-116.8,71.1,-12.8,48,494,0.00,2.42,0.00,0.000,6,0.000,0.023,2895,1938,3492,0,0,0,0,0,0
$GC,752,-1.25,-116.8,103.0,-11.8,72,757,0.00,2.42,0.00,0.000,4,0.000,0.034,2895,3471,3492,0,0,0,0,0,0
$GC,776,-1.25,-116.8,105.9,-11.7,73,782,0.00,2.42,0.00,0.000,6,0.000,0.024,2895,1922,3492,0,0,0,0,0,0
$GC,1037,-1.25,-116.8,137.5,-12.9,98,1042,0.00,2.45,0.00,0.000,4,0.000,0.028,2895,3481,3493,0,0,0,0,0,0
$GC,1060,-1.25,-116.8,140.4,-12.3,99,1065,0.00,2.45,0.00,0.000,6,0.000,0.023,2895,1922,3493,0,0,0,0,0,0
$GC,1328,-1.29,-116.8,169.6,-10.7,124,1333,0.00,2.45,0.00,0.000,4,0.000,0.027,2895,3481,3493,0,0,0,0,0,0
$GC,1442,-1.39,-116.8,182.5,-10.5,133,1447,0.12,2.42,0.00,0.000,6,0.064,0.030,2837,1938,3493,0,0,0,0,0,0
$GC,1709,-1.39,-116.8,213.4,-10.6,149,1714,0.12,2.45,0.00,0.000,4,0.110,0.028,2866,3479,3494,0,0,0,0,0,0
$GC,1754,-1.43,-116.8,218.2,-9.8,150,1758,0.00,2.42,0.00,0.000,6,0.000,0.030,2866,1941,3494,0,0,0,0,0,0
$GC,2032,-1.43,-116.8,247.2,-10.5,157,2033,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1941,3495,0,0,0,0,0,0
$GC,2276,-1.47,-116.8,271.5,-10.0,163,2280,0.00,2.42,0.00,0.000,4,0.000,0.031,2866,3468,3495,0,0,0,0,0,0
$GC,2382,-1.56,-116.8,282.5,-10.2,165,2387,0.15,2.38,0.00,0.000,6,0.061,0.028,2813,1962,3494,0,0,0,0,0,0
$GC,2645,-1.53,-116.8,313.3,-12.1,172,2650,0.12,2.80,0.00,0.000,4,0.109,0.077,2840,345,3494,0,0,0,0,0,0
$GC,2672,-1.53,-116.8,316.8,-11.8,172,2676,0.00,2.50,0.00,0.000,6,0.000,0.021,2840,1934,3495,0,0,0,0,0,0
$GC,2922,-1.53,-116.8,340.9,-9.3,178,2923,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1934,3494,0,0,0,0,0,0
$GC,3168,-1.57,-116.8,362.7,-8.8,184,3169,0.00,0.00,0.00,0.000,6,0.000,0.000,2840,1934,3493,0,0,0,0,0,0
$GC,3410,-1.62,-116.8,385.2,-9.3,190,3415,0.10,2.60,0.00,0.000,4,0.084,0.056,2805,3488,3492,0,0,0,0,0,0
$GC,3506,-1.62,-116.8,395.7,-11.1,192,3511,0.00,2.50,0.00,0.000,6,0.000,0.048,2806,1977,3492,0,0,0,0,0,0
$GC,3778,-1.62,-116.8,425.8,-11.2,199,3779,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1978,3490,0,0,0,0,0,0
$GC,4022,-1.62,-116.8,451.4,-10.5,205,4023,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1978,3488,0,0,0,0,0,0
$GC,4266,-1.62,-116.8,476.8,-10.2,211,4267,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1977,3487,0,0,0,0,0,0
$STATE,4507,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4508,begin apogee
$GC,4515,-0.31,0.0,501.7,10.0,217,4616,1.30,0.00,98.00,0.913,6,0.077,0.000,3101,1977,3010,0,0,0,0,0,0
$STATE,4617,end apogee,CONTROL_FINISHED_OK
$STATE,4617,begin climb
$GC,4620,1.38,116.8,504.0,0.0,219,4725,1.52,0.00,100.60,0.891,6,0.038,0.000,3473,1977,2533,0,0,0,0,0,0
$GC,4948,1.32,173.6,491.9,6.8,227,5004,0.00,2.80,49.67,0.875,4,0.000,0.057,3473,3563,2301,0,0,0,0,0,0
$GC,5043,1.22,177.9,484.0,9.8,229,5054,0.17,2.67,4.95,0.618,6,0.118,0.050,3439,2008,2284,0,0,0,0,0,0
$GC,5305,1.21,202.5,462.0,8.6,236,5330,0.00,0.00,22.92,0.850,6,0.000,0.000,3438,2008,2184,0,0,0,0,0,0
$GC,5550,1.21,202.5,436.9,10.8,242,5554,0.00,2.97,0.00,0.000,4,0.000,0.099,3438,408,2179,0,0,0,0,0,0
$GC,5605,1.15,202.5,429.7,12.3,243,5609,0.00,2.53,0.00,0.000,6,0.000,0.031,3438,1979,2177,0,0,0,0,0,0
$GC,5872,1.15,202.5,400.3,10.7,250,5873,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1978,2176,0,0,0,0,0,0
$GC,6115,1.16,215.9,376.8,9.3,256,6134,0.00,2.85,11.85,0.778,4,0.000,0.071,3438,403,2128,0,0,0,0,0,0
$GC,6158,1.10,215.9,372.5,10.5,257,6163,0.15,2.58,0.00,0.000,6,0.122,0.028,3409,1997,2127,0,0,0,0,0,0
$GC,6444,1.18,234.8,346.7,8.9,264,6468,0.00,2.67,18.05,0.794,4,0.000,0.039,3408,3570,2051,0,0,0,0,0,0
$GC,6491,1.25,238.7,341.9,9.8,265,6502,0.15,2.65,5.03,0.603,6,0.074,0.034,3449,1977,2036,0,0,0,0,0,0
$GC,6771,1.25,238.7,311.6,10.8,272,6775,0.00,2.75,0.00,0.000,4,0.000,0.072,3449,409,2033,0,0,0,0,0,0
$GC,6820,1.22,238.7,305.3,13.2,273,6825,0.00,2.53,0.00,0.000,6,0.000,0.025,3449,1999,2032,0,0,0,0,0,0
$GC,7093,1.23,248.5,277.9,9.5,280,7107,0.00,2.78,9.43,0.703,4,0.000,0.061,3449,408,1996,0,0,0,0,0,0
$GC,7199,1.24,258.3,267.8,9.5,282,7214,0.00,2.47,10.60,0.702,6,0.000,0.025,3449,1970,1956,0,0,0,0,0,0
$GC,7465,1.27,280.0,244.5,8.8,289,7491,0.00,2.65,20.55,0.725,4,0.000,0.035,3449,3564,1867,0,0,0,0,0,0
$GC,7543,1.34,280.0,236.7,10.7,290,7548,0.00,2.62,0.00,0.000,6,0.000,0.033,3449,1966,1864,0,0,0,0,0,0
$GC,7793,1.39,280.0,211.6,10.1,297,7798,0.10,2.70,0.00,0.000,4,0.094,0.064,3478,409,1863,0,0,0,0,0,0
$GC,7826,1.33,280.0,207.5,12.6,297,7832,0.00,2.45,0.00,0.000,6,0.000,0.025,3478,1979,1861,0,0,0,0,0,0
$GC,8089,1.33,280.0,178.2,11.3,316,8093,0.00,2.67,0.00,0.000,4,0.000,0.061,3478,406,1861,0,0,0,0,0,0
$GC,8132,1.33,280.0,173.0,11.7,319,8136,0.00,2.42,0.00,0.000,6,0.000,0.025,3478,1956,1860,0,0,0,0,0,0
$GC,8400,1.34,281.4,147.4,10.0,343,8404,0.00,2.58,0.00,0.000,4,0.000,0.035,3478,3560,1860,0,0,0,0,0,0
$GC,8421,1.34,281.4,144.2,10.7,344,8430,0.00,2.60,0.00,0.000,6,0.000,0.033,3479,1966,1859,0,0,0,0,0,0
$GC,8689,1.38,281.4,117.6,10.3,369,8693,0.00,2.58,0.00,0.000,4,0.000,0.033,3478,3556,1860,0,0,0,0,0,0
$GC,8734,1.45,284.3,112.5,9.9,372,8744,0.00,2.60,3.78,0.403,6,0.000,0.035,3478,1963,1850,0,0,0,0,0,0
$GC,9001,1.52,308.1,89.0,8.7,397,9029,0.10,2.65,22.58,0.584,4,0.088,0.056,3509,415,1752,0,0,0,0,0,0
$GC,9082,1.49,308.1,79.9,12.7,403,9087,0.00,2.40,0.00,0.000,6,0.000,0.025,3509,1974,1750,0,0,0,0,0,0
$GC,9350,1.50,320.5,52.6,9.3,427,9373,0.00,2.58,11.95,0.525,4,0.000,0.033,3509,3537,1702,0,0,0,0,0,0
$GC,9391,1.55,320.5,47.4,10.4,430,9401,0.00,2.58,0.00,0.000,6,0.000,0.028,3509,1967,1701,0,0,0,0,0,0
$GC,9677,1.55,320.5,20.7,10.9,461,9686,0.00,2.62,0.00,0.000,4,0.000,0.054,3509,421,1701,0,0,0,0,0,0
$GC,9717,1.51,320.5,15.9,12.5,466,9729,0.00,2.40,0.00,0.000,6,0.000,0.018,3509,1956,1701,0,0,0,0,0,0
$STATE,9818,end climb,SURFACE_DEPTH_REACHED
$STATE,9818,begin surface coast
$FINISH,0.5,0.975804
$STATE,9869,end surface coast,CONTROL_FINISHED_OK
$STATE,9869,begin surface
$SM_CCo,9893,49.92,0.514,0,0,1460,380.21
$SM_GC,1.29,0.00,0.00,49.92,0.000,0.000,0.514,476,1905,1460,-12.39,-0.42,380.21
$IRIDIUM_FIX,2241.69,-15802.37,200900,111121
$TT8_MAMPS,0.026078
$HUMID,63.03
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.80
$XPDR_PINGS,40
$24V_AH,23.5,49.150
$10V_AH,10.2,43.228
$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,29.225,117.950,389.950,49.925,0.000,28.844,39.993,169.490,10.000,0.000,19.531,993.901,6445.270,517.107,1847.463,522.791,33.374,1195.498,0.000,1849.098,0.000,0.534,0.000
$DEVICE_MAMPS,213.993,162.604,912.730,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.911,264.775,371.366,712.513,1077.586,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355516
$DATA_FILE_SIZE,38358,487
$CAP_FILE_SIZE,103802,0
$CFSIZE,260165632,161710080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270611,164825,2249.775,-15802.623,69,1.8,69,10.1