version: 66.06
glider: 146
mission: 6
dive: 393
start: 6 27 111 22 56 50
data:
$ID,146
$MISSION,6
$DIVE,393
$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,-277754.44
$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,3175
$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,63
$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
$GPS1,224056,2249.263,-15801.973,39,1.3,39,10.1
$_CALLS,2
$_XMS_NAKs,22
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.2
$GPS2,225556,2249.399,-15802.156,13,1.6,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.205,-0.115
$KALMAN_X,-272721.3,-6.7,50.6,263524.1,-1593.1
$KALMAN_Y,46093.2,-87.6,-269.2,-35555.2,1200.9
$MHEAD_RNG_PITCHd_Wd,109.2,8871,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-70.82,0.000,2,0.000,0.000,474,1944,3265,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.6,-6.3,9,118,12.70,2.70,-4.15,0.000,4,0.157,0.052,2863,338,3489,0,0,0,0,0,0
$GC,157,-1.23,-116.8,20.7,-18.5,17,167,0.17,2.45,0.00,0.000,6,0.096,0.015,2903,1928,3490,0,0,0,0,0,0
$GC,442,-1.18,-116.8,60.5,-13.7,46,446,0.00,2.45,0.00,0.000,4,0.000,0.025,2904,3476,3490,0,0,0,0,0,0
$GC,476,-1.18,-116.8,65.3,-14.0,48,481,0.00,2.47,0.00,0.000,6,0.000,0.023,2904,1914,3490,0,0,0,0,0,0
$GC,739,-1.18,-116.8,98.6,-12.6,72,743,0.00,2.47,0.00,0.000,4,0.000,0.029,2904,3474,3491,0,0,0,0,0,0
$GC,831,-1.25,-116.8,109.2,-11.2,79,835,0.00,2.40,0.00,0.000,6,0.000,0.029,2904,1938,3491,0,0,0,0,0,0
$GC,1097,-1.25,-116.8,141.2,-11.7,103,1102,0.00,0.00,0.00,0.000,6,0.000,0.000,2904,1938,3491,0,0,0,0,0,0
$GC,1360,-1.30,-116.8,172.9,-12.2,128,1364,0.00,2.42,0.00,0.000,4,0.000,0.028,2904,3480,3492,0,0,0,0,0,0
$GC,1435,-1.41,-116.8,181.5,-10.9,134,1440,0.15,2.40,0.00,0.000,6,0.059,0.022,2843,1955,3492,0,0,0,0,0,0
$GC,1713,-1.41,-116.8,216.0,-12.2,151,1715,0.10,0.00,0.00,0.000,6,0.119,0.000,2866,1955,3492,0,0,0,0,0,0
$GC,1956,-1.41,-116.8,240.4,-9.7,157,1960,0.00,2.40,0.00,0.000,4,0.000,0.028,2866,3469,3492,0,0,0,0,0,0
$GC,1972,-1.41,-116.8,242.0,-9.1,157,1976,0.00,2.35,0.00,0.000,6,0.000,0.021,2866,1956,3492,0,0,0,0,0,0
$GC,2234,-1.41,-116.8,267.2,-9.8,164,2238,0.00,2.40,0.00,0.000,4,0.000,0.034,2866,3473,3492,0,0,0,0,0,0
$GC,2256,-1.45,-116.8,269.5,-9.2,164,2260,0.00,2.38,0.00,0.000,6,0.000,0.028,2866,1959,3492,0,0,0,0,0,0
$GC,2517,-1.50,-116.8,295.2,-9.8,171,2518,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1959,3492,0,0,0,0,0,0
$GC,2762,-1.56,-116.8,316.8,-8.6,177,2767,0.15,2.45,0.00,0.000,4,0.064,0.034,2815,3471,3492,0,0,0,0,0,0
$GC,2795,-1.56,-116.8,320.3,-10.2,177,2801,0.00,2.42,0.00,0.000,6,0.000,0.035,2815,1968,3492,0,0,0,0,0,0
$GC,3045,-1.56,-116.8,346.7,-10.8,184,3046,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1968,3491,0,0,0,0,0,0
$GC,3288,-1.56,-116.8,373.1,-10.7,190,3293,0.00,2.45,0.00,0.000,4,0.000,0.046,2814,3462,3490,0,0,0,0,0,0
$GC,3407,-1.56,-116.8,385.9,-10.6,192,3411,0.00,2.50,0.00,0.000,6,0.000,0.044,2815,1959,3490,0,0,0,0,0,0
$GC,3657,-1.56,-116.8,410.3,-9.6,198,3658,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1959,3488,0,0,0,0,0,0
$GC,3900,-1.56,-116.8,436.5,-10.9,204,3905,0.00,2.50,0.00,0.000,4,0.000,0.052,2814,3463,3487,0,0,0,0,0,0
$GC,3974,-1.56,-116.8,445.0,-11.2,205,3978,0.00,2.53,0.00,0.000,6,0.000,0.055,2814,1956,3486,0,0,0,0,0,0
$GC,4224,-1.56,-116.8,473.4,-11.3,211,4225,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1956,3484,0,0,0,0,0,0
$STATE,4465,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4465,begin apogee
$GC,4471,-0.31,0.0,500.8,11.2,217,4572,1.27,0.00,97.93,0.904,6,0.075,0.000,3106,1956,3010,0,0,0,0,0,0
$STATE,4573,end apogee,CONTROL_FINISHED_OK
$STATE,4573,begin climb
$GC,4577,1.38,116.8,503.4,0.0,219,4686,1.55,2.80,100.30,0.888,4,0.035,0.060,3481,3529,2533,0,0,0,0,0,0
$GC,4712,1.31,193.3,502.8,5.6,223,4786,0.00,2.65,66.95,0.877,6,0.000,0.055,3481,1991,2221,0,0,0,0,0,0
$GC,5038,1.20,193.3,465.1,12.1,231,5044,0.22,3.00,0.00,0.000,4,0.109,0.104,3435,401,2213,0,0,0,0,0,0
$GC,5083,1.13,193.3,459.5,11.9,232,5087,0.00,2.53,0.00,0.000,6,0.000,0.028,3435,1943,2211,0,0,0,0,0,0
$GC,5362,1.14,197.3,431.9,9.8,239,5363,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1943,2209,0,0,0,0,0,0
$GC,5604,1.14,197.3,407.7,10.1,245,5605,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1943,2207,0,0,0,0,0,0
$GC,5847,1.14,197.3,382.1,10.4,251,5848,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1944,2206,0,0,0,0,0,0
$GC,6093,1.16,216.1,360.3,9.0,257,6113,0.00,0.00,18.62,0.796,6,0.000,0.000,3435,1944,2129,0,0,0,0,0,0
$GC,6335,1.19,241.4,339.2,8.6,263,6364,0.00,2.70,23.88,0.791,4,0.000,0.040,3434,3544,2025,0,0,0,0,0,0
$GC,6382,1.26,265.6,334.9,8.6,264,6412,0.00,2.60,23.17,0.777,6,0.000,0.033,3435,1978,1927,0,0,0,0,0,0
$GC,6666,1.32,284.0,309.0,9.0,271,6691,0.12,2.65,17.12,0.750,4,0.078,0.032,3469,3537,1851,0,0,0,0,0,0
$GC,6730,1.32,284.0,302.3,11.1,272,6734,0.00,2.55,0.00,0.000,6,0.000,0.037,3470,1994,1849,0,0,0,0,0,0
$GC,6993,1.32,284.0,274.7,10.7,279,6994,0.00,0.00,0.00,0.000,6,0.000,0.000,3470,1993,1846,0,0,0,0,0,0
$GC,7235,1.32,284.0,246.3,11.5,285,7239,0.00,2.72,0.00,0.000,4,0.000,0.069,3470,408,1845,0,0,0,0,0,0
$GC,7295,1.32,284.0,238.7,11.9,286,7300,0.00,2.50,0.00,0.000,6,0.000,0.018,3470,2002,1844,0,0,0,0,0,0
$GC,7558,1.32,284.0,211.1,10.5,293,7562,0.00,2.72,0.00,0.000,4,0.000,0.058,3470,403,1843,0,0,0,0,0,0
$GC,7601,1.32,284.0,206.0,11.3,294,7606,0.00,2.50,0.00,0.000,6,0.000,0.022,3470,2006,1843,0,0,0,0,0,0
$GC,7868,1.34,297.0,181.3,9.3,313,7891,0.00,2.80,11.52,0.635,4,0.000,0.054,3470,407,1797,0,0,0,0,0,0
$GC,7977,1.34,297.0,170.1,10.5,322,7982,0.00,2.47,0.00,0.000,6,0.000,0.025,3470,1994,1795,0,0,0,0,0,0
$GC,8240,1.41,310.0,145.6,9.3,346,8258,0.00,2.72,12.48,0.604,4,0.000,0.054,3470,407,1745,0,0,0,0,0,0
$GC,8311,1.41,310.0,138.7,11.0,351,8315,0.00,2.42,0.00,0.000,6,0.000,0.021,3470,1976,1743,0,0,0,0,0,0
$GC,8578,1.49,316.3,113.1,9.7,375,8592,0.12,2.72,6.78,0.515,4,0.077,0.051,3507,403,1719,0,0,0,0,0,0
$GC,8636,1.49,316.3,105.4,13.2,380,8640,0.00,2.42,0.00,0.000,6,0.000,0.019,3507,1976,1719,0,0,0,0,0,0
$GC,8902,1.49,316.3,76.8,10.4,404,8906,0.00,2.53,0.00,0.000,4,0.000,0.035,3507,3552,1718,0,0,0,0,0,0
$GC,8950,1.53,316.3,71.6,11.4,407,8954,0.00,2.55,0.00,0.000,6,0.000,0.033,3507,1972,1718,0,0,0,0,0,0
$GC,9216,1.53,316.6,44.3,10.0,431,9221,0.00,2.60,0.00,0.000,4,0.000,0.054,3507,406,1718,0,0,0,0,0,0
$GC,9263,1.53,316.6,39.0,12.2,434,9267,0.00,2.40,0.00,0.000,6,0.000,0.017,3507,1977,1718,0,0,0,0,0,0
$GC,9570,1.53,316.6,5.8,11.8,474,9579,0.00,2.65,0.00,0.000,4,0.000,0.051,3507,408,1718,0,0,0,0,0,0
$STATE,9587,end climb,SURFACE_DEPTH_REACHED
$STATE,9587,begin surface coast
$FINISH,0.6,0.980022
$STATE,9636,end surface coast,CONTROL_FINISHED_OK
$STATE,9637,begin surface
$SM_CCo,9663,52.75,0.513,0,0,1460,380.21
$SM_GC,1.30,0.00,0.00,52.75,0.000,0.000,0.513,480,1944,1460,-12.40,0.71,380.21
$IRIDIUM_FIX,2241.69,-15759.32,200900,222252
$TT8_MAMPS,0.026078
$HUMID,62.56
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,21.90
$XPDR_PINGS,37
$24V_AH,23.5,49.518
$10V_AH,10.2,43.571
$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,28.825,106.725,378.750,52.750,0.000,59.546,71.022,561.627,9.250,0.000,15.342,970.684,6379.047,491.683,1797.773,975.823,33.379,1145.207,0.000,1803.315,0.000,0.536,0.000
$DEVICE_MAMPS,157.235,103.545,903.526,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,327.606,278.818,374.073,715.746,1082.479,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355596
$DATA_FILE_SIZE,38109,483
$CAP_FILE_SIZE,105033,0
$CFSIZE,260165632,161550336
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280611,014006,2249.213,-15801.831,30,1.1,40,10.1