version: 66.06
glider: 146
mission: 6
dive: 392
start: 6 27 111 19 50 15
data:
$ID,146
$MISSION,6
$DIVE,392
$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,-277738.47
$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,26
$R_STBD_OVSHOOT,72
$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
$GPS1,194254,2249.452,-15802.385,29,1.1,39,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-69.4
$GPS2,194919,2249.511,-15802.434,10,1.9,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.215,-0.096
$KALMAN_X,-271215.5,165.1,37.2,261388.0,-1503.9
$KALMAN_Y,45366.0,-370.7,0.2,-34602.5,1012.9
$MHEAD_RNG_PITCHd_Wd,103.9,9319,-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,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.62,0.000,2,0.000,0.000,475,1950,3252,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.7,-6.4,9,117,12.48,2.45,-4.35,0.000,4,0.151,0.045,2861,3469,3490,0,0,0,0,0,0
$GC,137,-0.74,-116.8,18.1,-30.6,14,145,0.62,2.50,0.00,0.000,6,0.087,0.030,3003,1914,3491,0,0,0,0,0,0
$GC,426,-0.90,-116.8,44.9,-8.1,47,436,0.12,0.00,0.00,0.000,6,0.069,0.000,2959,1914,3492,0,0,0,0,0,0
$GC,694,-1.01,-116.8,71.8,-9.6,72,698,0.00,2.45,0.00,0.000,4,0.000,0.027,2959,3468,3492,0,0,0,0,0,0
$GC,765,-1.18,-116.8,78.6,-9.1,77,770,0.20,2.42,0.00,0.000,6,0.049,0.031,2890,1923,3493,0,0,0,0,0,0
$GC,1031,-1.18,-116.8,111.8,-13.0,101,1036,0.10,2.45,0.00,0.000,4,0.121,0.028,2911,3467,3493,0,0,0,0,0,0
$GC,1076,-1.25,-116.8,118.4,-12.0,104,1085,0.00,2.45,0.00,0.000,6,0.000,0.029,2911,1934,3493,0,0,0,0,0,0
$GC,1345,-1.29,-116.8,148.4,-10.4,129,1349,0.10,2.42,0.00,0.000,4,0.082,0.029,2870,3467,3493,0,0,0,0,0,0
$GC,1377,-1.29,-116.8,153.2,-12.9,131,1383,0.00,2.40,0.00,0.000,6,0.000,0.026,2870,1938,3494,0,0,0,0,0,0
$GC,1642,-1.29,-116.8,182.6,-10.4,156,1646,0.00,2.40,0.00,0.000,4,0.000,0.033,2870,3469,3495,0,0,0,0,0,0
$GC,1670,-1.29,-116.8,186.0,-10.6,158,1675,0.00,2.40,0.00,0.000,6,0.000,0.031,2871,1931,3494,0,0,0,0,0,0
$GC,1940,-1.29,-116.8,211.7,-9.4,174,1944,0.00,2.42,0.00,0.000,4,0.000,0.034,2870,3465,3494,0,0,0,0,0,0
$GC,1972,-1.33,-116.8,215.7,-10.8,174,1978,0.00,2.40,0.00,0.000,6,0.000,0.029,2870,1942,3494,0,0,0,0,0,0
$GC,2222,-1.33,-116.8,243.2,-11.0,181,2223,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1942,3495,0,0,0,0,0,0
$GC,2468,-1.38,-116.8,265.9,-9.2,187,2472,0.00,2.42,0.00,0.000,4,0.000,0.029,2870,3472,3495,0,0,0,0,0,0
$GC,2512,-1.46,-116.8,270.3,-9.7,188,2516,0.00,2.38,0.00,0.000,6,0.000,0.028,2870,1959,3495,0,0,0,0,0,0
$GC,2790,-1.53,-116.8,295.3,-9.0,195,2795,0.15,2.78,0.00,0.000,4,0.064,0.071,2816,345,3495,0,0,0,0,0,0
$GC,2808,-1.53,-116.8,297.1,-8.8,195,2812,0.00,2.45,0.00,0.000,6,0.000,0.022,2817,1925,3495,0,0,0,0,0,0
$GC,3068,-1.53,-116.8,324.8,-10.8,202,3069,0.00,0.00,0.00,0.000,6,0.000,0.000,2817,1926,3495,0,0,0,0,0,0
$GC,3312,-1.53,-116.8,350.1,-10.4,208,3317,0.10,2.60,0.00,0.000,4,0.119,0.051,2838,3498,3495,0,0,0,0,0,0
$GC,3386,-1.59,-116.8,357.1,-9.2,209,3391,0.00,2.53,0.00,0.000,6,0.000,0.044,2838,1953,3494,0,0,0,0,0,0
$GC,3636,-1.59,-116.8,380.9,-9.3,215,3640,0.00,2.53,0.00,0.000,4,0.000,0.039,2838,3496,3493,0,0,0,0,0,0
$GC,3703,-1.66,-116.8,387.5,-9.7,216,3708,0.12,2.55,0.00,0.000,6,0.070,0.051,2794,1962,3494,0,0,0,0,0,0
$GC,3960,-1.62,-116.8,416.2,-11.5,223,3962,0.10,0.00,0.00,0.000,6,0.121,0.000,2815,1961,3492,0,0,0,0,0,0
$GC,4202,-1.62,-116.8,441.6,-10.4,229,4206,0.00,2.55,0.00,0.000,4,0.000,0.053,2815,3488,3490,0,0,0,0,0,0
$GC,4228,-1.62,-116.8,444.5,-10.6,229,4233,0.00,2.58,0.00,0.000,6,0.000,0.052,2815,1964,3490,0,0,0,0,0,0
$GC,4480,-1.62,-116.8,472.1,-11.2,235,4481,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1964,3488,0,0,0,0,0,0
$STATE,4720,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4720,begin apogee
$GC,4725,-0.31,0.0,500.4,11.8,241,4828,1.25,0.00,98.43,0.911,6,0.075,0.000,3101,1964,3010,0,0,0,0,0,0
$STATE,4828,end apogee,CONTROL_FINISHED_OK
$STATE,4828,begin climb
$GC,4831,1.38,116.8,503.2,0.0,243,4935,1.58,0.00,100.43,0.893,6,0.039,0.000,3479,1963,2533,0,0,0,0,0,0
$GC,5168,1.27,143.5,485.5,8.5,252,5194,0.15,0.00,23.00,0.851,6,0.120,0.000,3449,1963,2425,0,0,0,0,0,0
$GC,5410,1.21,152.1,463.0,9.5,258,5425,0.00,2.75,8.50,0.750,4,0.000,0.045,3450,3554,2389,0,0,0,0,0,0
$GC,5450,1.16,169.0,459.4,9.1,258,5474,0.12,2.65,16.48,0.820,6,0.130,0.048,3426,2002,2320,0,0,0,0,0,0
$GC,5743,1.19,189.8,433.6,8.8,266,5768,0.00,3.03,19.40,0.829,4,0.000,0.097,3426,400,2235,0,0,0,0,0,0
$GC,5839,1.14,189.8,424.0,10.4,268,5843,0.00,2.58,0.00,0.000,6,0.000,0.031,3426,1986,2232,0,0,0,0,0,0
$GC,6111,1.16,206.7,398.7,9.1,275,6131,0.00,2.67,15.45,0.806,4,0.000,0.042,3425,3580,2168,0,0,0,0,0,0
$GC,6154,1.17,214.5,394.7,9.6,276,6168,0.00,2.65,8.82,0.736,6,0.000,0.046,3427,1992,2134,0,0,0,0,0,0
$GC,6437,1.20,239.7,369.8,8.6,283,6466,0.00,2.92,23.48,0.814,4,0.000,0.086,3425,411,2031,0,0,0,0,0,0
$GC,6490,1.21,250.0,364.8,9.4,284,6506,0.00,2.58,10.65,0.746,6,0.000,0.020,3426,2013,1990,0,0,0,0,0,0
$GC,6763,1.23,262.7,340.3,9.3,291,6783,0.00,2.65,12.25,0.755,4,0.000,0.041,3426,3573,1938,0,0,0,0,0,0
$GC,6817,1.30,262.7,334.1,11.7,292,6823,0.12,2.60,0.00,0.000,6,0.081,0.035,3461,1996,1937,0,0,0,0,0,0
$GC,7091,1.30,262.7,302.8,11.4,299,7096,0.00,2.78,0.00,0.000,4,0.000,0.077,3461,403,1934,0,0,0,0,0,0
$GC,7185,1.30,262.7,291.1,11.2,301,7189,0.00,2.53,0.00,0.000,6,0.000,0.025,3461,2001,1933,0,0,0,0,0,0
$GC,7458,1.31,274.9,264.2,9.3,308,7476,0.00,2.78,11.10,0.705,4,0.000,0.063,3461,403,1890,0,0,0,0,0,0
$GC,7502,1.31,274.9,259.8,11.0,309,7506,0.00,2.53,0.00,0.000,6,0.000,0.025,3461,1995,1888,0,0,0,0,0,0
$GC,7785,1.31,274.9,230.4,10.3,316,7789,0.00,2.72,0.00,0.000,4,0.000,0.061,3461,404,1887,0,0,0,0,0,0
$GC,7840,1.31,274.9,224.6,10.3,317,7844,0.00,2.50,0.00,0.000,6,0.000,0.020,3461,1998,1886,0,0,0,0,0,0
$GC,8108,1.34,294.4,200.4,8.9,324,8128,0.00,0.00,18.58,0.682,6,0.000,0.000,3460,1999,1808,0,0,0,0,0,0
$GC,8361,1.42,309.4,178.7,9.2,345,8385,0.00,2.80,14.32,0.647,4,0.000,0.059,3460,409,1746,0,0,0,0,0,0
$GC,8484,1.42,309.4,167.1,10.4,355,8489,0.00,2.42,0.00,0.000,6,0.000,0.024,3461,1959,1744,0,0,0,0,0,0
$GC,8751,1.51,320.0,142.0,9.4,379,8771,0.15,0.00,10.27,0.589,6,0.071,0.000,3503,1960,1704,0,0,0,0,0,0
$GC,9026,1.51,320.0,111.3,10.9,405,9030,0.00,2.62,0.00,0.000,4,0.000,0.051,3503,406,1703,0,0,0,0,0,0
$GC,9089,1.51,320.0,103.0,12.6,410,9093,0.00,2.40,0.00,0.000,6,0.000,0.023,3503,1954,1703,0,0,0,0,0,0
$GC,9357,1.51,320.0,75.5,10.1,434,9365,0.00,0.00,0.00,0.000,6,0.000,0.000,3503,1955,1703,0,0,0,0,0,0
$GC,9622,1.51,320.4,49.0,10.0,459,9626,0.00,2.53,0.00,0.000,4,0.000,0.032,3503,3549,1703,0,0,0,0,0,0
$GC,9646,1.55,320.4,46.2,10.3,460,9655,0.00,2.60,0.00,0.000,6,0.000,0.029,3503,1951,1703,0,0,0,0,0,0
$GC,9939,1.55,320.4,17.2,11.0,494,9948,0.00,2.60,0.00,0.000,4,0.000,0.054,3503,410,1703,0,0,0,0,0,0
$GC,10014,1.55,320.4,8.2,11.4,504,10023,0.00,2.38,0.00,0.000,6,0.000,0.024,3503,1941,1703,0,0,0,0,0,0
$STATE,10044,end climb,SURFACE_DEPTH_REACHED
$STATE,10045,begin surface coast
$FINISH,0.5,0.978479
$STATE,10089,end surface coast,CONTROL_FINISHED_OK
$STATE,10089,begin surface
$SM_CCo,10111,49.85,0.513,0,0,1459,380.21
$SM_GC,1.22,0.00,0.00,49.85,0.000,0.000,0.513,475,1943,1459,-12.40,0.65,380.21
$IRIDIUM_FIX,2239.35,-15802.37,200900,171726
$TT8_MAMPS,0.026078
$HUMID,62.56
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.90
$XPDR_PINGS,48
$24V_AH,23.5,49.380
$10V_AH,10.3,43.456
$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,29.675,117.775,391.150,49.850,0.000,24.270,43.436,179.766,12.000,0.000,16.949,1041.091,6467.408,537.014,1957.848,546.140,33.372,1234.128,0.000,1970.318,0.000,0.534,0.000
$DEVICE_MAMPS,151.099,96.642,911.196,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,348.222,288.672,399.321,781.962,1182.725,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,41549,514
$CAP_FILE_SIZE,106305,0
$CFSIZE,260165632,161599488
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,270611,224056,2249.263,-15801.973,39,1.3,39,10.1