version: 66.06
glider: 146
mission: 6
dive: 400
start: 6 28 111 19 23 40
data:
$ID,146
$MISSION,6
$DIVE,400
$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,-277927.09
$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,43
$R_STBD_OVSHOOT,62
$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
$GPS1,191607,2250.277,-15758.749,25,2.0,25,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.9
$GPS2,192244,2250.298,-15758.801,16,2.0,16,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.224,-0.069
$KALMAN_X,-282313.9,-10.1,28.5,278873.7,-1328.2
$KALMAN_Y,51669.9,-178.0,406.5,-40057.3,525.8
$MHEAD_RNG_PITCHd_Wd,97.0,3123,-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,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.43,0.000,2,0.000,0.000,472,1903,3226,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.4,-5.1,9,117,12.68,2.50,-4.88,0.000,4,0.156,0.038,2867,3474,3489,0,0,0,0,0,0
$GC,142,-1.04,-116.8,18.6,-25.4,15,152,0.32,2.50,0.00,0.000,6,0.086,0.028,2943,1927,3490,0,0,0,0,0,0
$GC,434,-1.09,-116.8,55.2,-11.9,46,442,0.00,0.00,0.00,0.000,6,0.000,0.000,2943,1927,3492,0,0,0,0,0,0
$GC,699,-1.13,-116.8,85.6,-11.7,71,703,0.00,2.47,0.00,0.000,4,0.000,0.027,2943,3480,3493,0,0,0,0,0,0
$GC,755,-1.27,-116.8,92.3,-11.1,75,761,0.17,2.45,0.00,0.000,6,0.054,0.032,2878,1921,3493,0,0,0,0,0,0
$GC,1023,-1.27,-116.8,127.5,-12.7,99,1027,0.00,2.47,0.00,0.000,4,0.000,0.032,2879,3480,3493,0,0,0,0,0,0
$GC,1044,-1.27,-116.8,131.3,-13.2,100,1053,0.00,2.47,0.00,0.000,6,0.000,0.031,2879,1926,3493,0,0,0,0,0,0
$GC,1308,-1.27,-116.8,161.4,-10.5,125,1312,0.00,2.42,0.00,0.000,4,0.000,0.029,2879,3475,3494,0,0,0,0,0,0
$GC,1375,-1.33,-116.8,168.7,-11.1,130,1380,0.00,2.42,0.00,0.000,6,0.000,0.025,2879,1926,3494,0,0,0,0,0,0
$GC,1644,-1.33,-116.8,196.4,-10.0,154,1648,0.00,2.45,0.00,0.000,4,0.000,0.025,2879,3477,3494,0,0,0,0,0,0
$GC,1672,-1.38,-116.8,200.2,-10.5,156,1676,0.00,2.40,0.00,0.000,6,0.000,0.030,2879,1937,3494,0,0,0,0,0,0
$GC,1922,-1.42,-116.8,228.1,-11.2,162,1927,0.00,2.45,0.00,0.000,4,0.000,0.028,2879,3479,3495,0,0,0,0,0,0
$GC,1964,-1.51,-116.8,232.4,-10.4,163,1969,0.12,2.38,0.00,0.000,6,0.070,0.023,2826,1954,3495,0,0,0,0,0,0
$GC,2247,-1.51,-116.8,268.8,-12.9,170,2251,0.00,2.42,0.00,0.000,4,0.000,0.034,2826,3474,3495,0,0,0,0,0,0
$GC,2290,-1.51,-116.8,274.5,-12.6,171,2295,0.00,2.42,0.00,0.000,6,0.000,0.028,2826,1948,3495,0,0,0,0,0,0
$GC,2570,-1.51,-116.8,304.5,-10.7,178,2574,0.00,2.45,0.00,0.000,4,0.000,0.035,2826,3475,3495,0,0,0,0,0,0
$GC,2642,-1.51,-116.8,312.3,-10.3,179,2646,0.00,2.42,0.00,0.000,6,0.000,0.032,2826,1966,3495,0,0,0,0,0,0
$GC,2897,-1.51,-116.8,337.7,-10.1,186,2898,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1967,3495,0,0,0,0,0,0
$GC,3142,-1.51,-116.8,362.0,-9.8,192,3143,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1966,3495,0,0,0,0,0,0
$GC,3384,-1.51,-116.8,385.6,-9.7,198,3385,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1966,3494,0,0,0,0,0,0
$GC,3628,-1.51,-116.8,411.4,-10.8,204,3632,0.00,2.50,0.00,0.000,4,0.000,0.048,2826,3468,3492,0,0,0,0,0,0
$GC,3701,-1.57,-116.8,419.3,-11.0,205,3705,0.00,2.47,0.00,0.000,6,0.000,0.052,2826,1978,3492,0,0,0,0,0,0
$GC,3951,-1.57,-116.8,447.5,-11.6,211,3955,0.00,2.47,0.00,0.000,4,0.000,0.054,2826,3463,3490,0,0,0,0,0,0
$GC,3978,-1.61,-116.8,450.9,-11.8,211,3982,0.00,2.47,0.00,0.000,6,0.000,0.050,2826,1990,3490,0,0,0,0,0,0
$GC,4229,-1.65,-116.8,478.6,-11.2,217,4230,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1990,3488,0,0,0,0,0,0
$STATE,4469,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4469,begin apogee
$GC,4475,-0.31,0.0,503.4,10.0,223,4577,1.23,0.00,98.55,0.908,6,0.087,0.000,3105,1990,3010,0,0,0,0,0,0
$STATE,4578,end apogee,CONTROL_FINISHED_OK
$STATE,4578,begin climb
$GC,4580,1.38,116.8,505.9,0.0,225,4693,1.58,2.72,99.62,0.893,4,0.042,0.062,3487,3542,2532,0,0,0,0,0,0
$GC,4699,1.33,217.2,506.7,4.2,228,4798,0.12,2.62,87.20,0.886,6,0.130,0.049,3464,2002,2123,0,0,0,0,0,0
$GC,5041,1.25,217.2,469.0,12.0,237,5046,0.00,3.03,0.00,0.000,4,0.000,0.113,3464,408,2116,0,0,0,0,0,0
$GC,5085,1.13,217.2,462.9,14.1,238,5090,0.20,2.53,0.00,0.000,6,0.113,0.033,3424,1962,2114,0,0,0,0,0,0
$GC,5362,1.13,217.2,432.8,10.9,245,5364,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1963,2112,0,0,0,0,0,0
$GC,5608,1.13,217.2,406.7,10.6,251,5612,0.00,2.75,0.00,0.000,4,0.000,0.077,3424,407,2111,0,0,0,0,0,0
$GC,5640,1.13,217.2,402.8,11.2,251,5646,0.00,2.55,0.00,0.000,6,0.000,0.024,3424,1993,2109,0,0,0,0,0,0
$GC,5890,1.13,220.6,378.0,9.8,258,5895,0.00,2.60,0.00,0.000,4,0.000,0.047,3424,3577,2109,0,0,0,0,0,0
$GC,5925,1.14,223.5,374.7,9.9,258,5934,0.00,2.65,3.78,0.518,6,0.000,0.036,3424,1979,2099,0,0,0,0,0,0
$GC,6219,1.18,255.0,349.5,8.2,266,6255,0.00,2.83,30.45,0.813,4,0.000,0.083,3424,410,1969,0,0,0,0,0,0
$GC,6290,1.19,264.6,343.3,9.5,266,6305,0.00,2.55,9.85,0.727,6,0.000,0.025,3424,1998,1931,0,0,0,0,0,0
$GC,6585,1.25,265.9,314.6,10.0,274,6591,0.10,2.80,0.00,0.000,4,0.094,0.064,3452,401,1926,0,0,0,0,0,0
$GC,6687,1.25,265.9,301.3,12.6,276,6692,0.00,2.50,0.00,0.000,6,0.000,0.025,3452,1981,1924,0,0,0,0,0,0
$GC,6953,1.25,265.9,271.3,11.1,283,6957,0.00,2.58,0.00,0.000,4,0.000,0.039,3452,3560,1924,0,0,0,0,0,0
$GC,7078,1.32,284.0,259.5,9.0,285,7102,0.00,2.58,17.58,0.731,6,0.000,0.033,3452,1985,1851,0,0,0,0,0,0
$GC,7373,1.38,292.0,232.6,9.6,293,7388,0.10,2.78,8.20,0.644,4,0.087,0.067,3481,415,1819,0,0,0,0,0,0
$GC,7418,1.32,292.0,226.9,12.6,294,7423,0.00,2.47,0.00,0.000,6,0.000,0.019,3481,2001,1817,0,0,0,0,0,0
$GC,7677,1.32,292.0,197.5,11.7,301,7682,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,2002,1816,0,0,0,0,0,0
$GC,7938,1.32,292.0,168.0,11.1,326,7942,0.00,2.70,0.00,0.000,4,0.000,0.056,3481,411,1816,0,0,0,0,0,0
$GC,8026,1.32,292.0,157.1,12.8,333,8030,0.00,2.47,0.00,0.000,6,0.000,0.025,3481,1992,1814,0,0,0,0,0,0
$GC,8292,1.37,302.9,131.4,9.4,357,8311,0.00,0.00,10.80,0.588,6,0.000,0.000,3481,1993,1773,0,0,0,0,0,0
$GC,8571,1.45,318.8,106.3,9.1,383,8595,0.00,2.72,15.07,0.583,4,0.000,0.051,3482,415,1709,0,0,0,0,0,0
$GC,8624,1.45,320.9,100.3,9.9,387,8630,0.00,2.45,0.00,0.000,6,0.000,0.025,3481,1986,1707,0,0,0,0,0,0
$GC,8893,1.57,349.0,77.8,8.4,412,8934,0.15,2.67,27.08,0.572,4,0.068,0.052,3524,413,1584,0,0,0,0,0,0
$GC,9013,1.53,349.0,64.1,12.7,421,9018,0.00,2.42,0.00,0.000,6,0.000,0.018,3524,1978,1583,0,0,0,0,0,0
$GC,9281,1.53,349.0,33.6,11.7,445,9286,0.00,2.62,0.00,0.000,4,0.000,0.050,3525,412,1583,0,0,0,0,0,0
$GC,9321,1.48,349.0,28.2,13.3,448,9331,0.10,2.42,0.00,0.000,6,0.086,0.018,3499,1961,1582,0,0,0,0,0,0
$STATE,9538,end climb,SURFACE_DEPTH_REACHED
$STATE,9538,begin surface coast
$FINISH,0.7,0.980034
$STATE,9585,end surface coast,CONTROL_FINISHED_OK
$STATE,9586,begin surface
$SM_CCo,9608,25.40,0.505,0,0,1460,380.21
$SM_GC,1.29,0.00,0.00,25.40,0.000,0.000,0.505,473,1895,1460,-12.43,-0.71,380.21
$IRIDIUM_FIX,2244.02,-15803.66,210900,161637
$TT8_MAMPS,0.026078
$HUMID,63.66
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.80
$XPDR_PINGS,46
$24V_AH,23.5,50.335
$10V_AH,10.3,44.376
$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,29.125,112.150,408.175,25.400,0.000,30.334,42.061,186.245,11.500,0.000,18.128,979.680,6126.570,477.677,1907.783,541.681,33.395,1200.877,0.000,1905.447,0.000,0.534,0.000
$DEVICE_MAMPS,155.701,114.283,908.128,504.686,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,329.031,266.096,379.688,730.412,1105.422,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355440
$DATA_FILE_SIZE,38319,487
$CAP_FILE_SIZE,101838,0
$CFSIZE,260165632,161181696
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280611,220601,2250.140,-15758.271,67,1.0,67,10.1