version: 66.06
glider: 146
mission: 6
dive: 402
start: 6 29 111 1 2 30
data:
$ID,146
$MISSION,6
$DIVE,402
$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,-277975.75
$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,1990
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,27
$R_STBD_OVSHOOT,65
$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
$GPS1,005327,2250.107,-15757.737,7,99.0,26,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.5
$GPS2,010137,2250.178,-15757.849,31,1.3,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.133,-0.193
$KALMAN_X,-284983.7,-157.5,-6.1,283349.6,-1316.5
$KALMAN_Y,53289.8,173.2,-426.2,-41415.6,1264.9
$MHEAD_RNG_PITCHd_Wd,135.4,5887,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-78.15,0.000,3,0.000,0.000,474,1957,3488,0,0,0,0,0,0
$GC,102,-1.38,-116.8,4.6,-9.2,10,120,12.60,2.55,0.00,0.000,4,0.155,0.038,2864,400,3490,0,0,0,0,0,0
$GC,178,-1.26,-116.8,28.2,-18.0,20,186,0.12,2.45,0.00,0.000,6,0.100,0.015,2894,1985,3491,0,0,0,0,0,0
$GC,447,-1.20,-116.8,67.0,-14.2,45,451,0.00,2.45,0.00,0.000,4,0.000,0.034,2894,3541,3492,0,0,0,0,0,0
$GC,471,-1.16,-116.8,71.8,-14.5,46,480,0.08,2.47,0.00,0.000,6,0.087,0.030,2916,1990,3492,0,0,0,0,0,0
$GC,739,-1.16,-116.8,106.5,-12.8,71,744,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1990,3493,0,0,0,0,0,0
$GC,1000,-1.22,-116.8,139.1,-11.2,96,1001,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1990,3494,0,0,0,0,0,0
$GC,1258,-1.30,-116.8,167.8,-10.0,120,1263,0.10,2.47,0.00,0.000,4,0.083,0.033,2873,3544,3494,0,0,0,0,0,0
$GC,1303,-1.30,-116.8,173.4,-11.7,123,1312,0.00,2.45,0.00,0.000,6,0.000,0.028,2873,1997,3494,0,0,0,0,0,0
$GC,1585,-1.30,-116.8,204.8,-11.0,147,1586,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1997,3495,0,0,0,0,0,0
$GC,1829,-1.30,-116.8,231.2,-10.6,153,1833,0.00,2.45,0.00,0.000,4,0.000,0.028,2873,3537,3495,0,0,0,0,0,0
$GC,1869,-1.35,-116.8,235.2,-9.6,154,1873,0.00,2.42,0.00,0.000,6,0.000,0.024,2873,1993,3495,0,0,0,0,0,0
$GC,2153,-1.41,-116.8,261.8,-9.5,161,2154,0.00,0.00,0.00,0.000,6,0.000,0.000,2873,1993,3495,0,0,0,0,0,0
$GC,2398,-1.49,-116.8,286.5,-10.0,167,2403,0.10,2.47,0.00,0.000,4,0.085,0.034,2833,3532,3496,0,0,0,0,0,0
$GC,2437,-1.49,-116.8,291.0,-11.3,168,2441,0.00,2.40,0.00,0.000,6,0.000,0.032,2834,2011,3496,0,0,0,0,0,0
$GC,2720,-1.49,-116.8,320.8,-10.3,175,2721,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2011,3496,0,0,0,0,0,0
$GC,2965,-1.49,-116.8,344.4,-9.7,181,2967,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2011,3495,0,0,0,0,0,0
$GC,3208,-1.49,-116.8,365.7,-8.5,187,3209,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2011,3495,0,0,0,0,0,0
$GC,3451,-1.49,-116.8,389.7,-10.0,193,3453,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,2011,3493,0,0,0,0,0,0
$GC,3695,-1.49,-116.8,415.2,-10.5,199,3699,0.00,2.55,0.00,0.000,4,0.000,0.056,2833,3528,3491,0,0,0,0,0,0
$GC,3741,-1.56,-116.8,420.2,-11.0,200,3745,0.00,2.55,0.00,0.000,6,0.000,0.053,2834,2005,3491,0,0,0,0,0,0
$GC,4018,-1.60,-116.8,449.3,-10.5,207,4023,0.00,2.95,0.00,0.000,4,0.000,0.107,2833,403,3489,0,0,0,0,0,0
$GC,4047,-1.60,-116.8,452.4,-11.3,207,4051,0.00,2.50,0.00,0.000,6,0.000,0.033,2833,1951,3489,0,0,0,0,0,0
$GC,4298,-1.64,-116.8,479.0,-10.5,213,4303,0.00,2.78,0.00,0.000,4,0.000,0.071,2833,3579,3487,0,0,0,0,0,0
$GC,4359,-1.71,-116.8,485.9,-10.8,214,4364,0.12,2.62,0.00,0.000,6,0.070,0.052,2783,2008,3487,0,0,0,0,0,0
$STATE,4495,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4496,begin apogee
$GC,4503,-0.31,0.0,503.0,12.6,218,4605,1.42,0.00,98.50,0.908,6,0.087,0.000,3104,2008,3010,0,0,0,0,0,0
$STATE,4606,end apogee,CONTROL_FINISHED_OK
$STATE,4606,begin climb
$GC,4608,1.38,116.8,505.9,0.0,220,4720,1.55,2.80,99.72,0.894,4,0.048,0.052,3479,3579,2531,0,0,0,0,0,0
$GC,4755,1.28,166.8,504.5,7.1,223,4805,0.12,2.72,43.50,0.872,6,0.129,0.054,3456,1997,2329,0,0,0,0,0,0
$GC,5062,1.20,166.8,472.5,11.3,231,5066,0.00,2.95,0.00,0.000,4,0.000,0.104,3456,402,2321,0,0,0,0,0,0
$GC,5107,1.07,166.8,467.1,11.9,232,5113,0.22,2.62,0.00,0.000,6,0.113,0.033,3411,2002,2319,0,0,0,0,0,0
$GC,5385,1.11,191.6,442.0,8.6,239,5409,0.00,0.00,21.62,0.833,6,0.000,0.000,3411,2002,2228,0,0,0,0,0,0
$GC,5629,1.14,223.6,421.8,8.2,245,5664,0.00,2.90,29.08,0.838,4,0.000,0.076,3410,406,2097,0,0,0,0,0,0
$GC,5721,1.14,223.6,413.2,10.1,246,5726,0.00,2.58,0.00,0.000,6,0.000,0.028,3410,1997,2095,0,0,0,0,0,0
$GC,5993,1.22,238.6,389.0,9.2,253,6013,0.12,2.65,14.12,0.786,4,0.084,0.043,3442,3570,2037,0,0,0,0,0,0
$GC,6048,1.22,238.6,383.5,11.0,254,6053,0.00,2.67,0.00,0.000,6,0.000,0.043,3442,1975,2035,0,0,0,0,0,0
$GC,6314,1.22,238.6,355.2,10.6,261,6319,0.00,2.78,0.00,0.000,4,0.000,0.083,3443,402,2033,0,0,0,0,0,0
$GC,6335,1.22,238.6,352.4,12.1,261,6340,0.00,2.50,0.00,0.000,6,0.000,0.021,3443,1986,2032,0,0,0,0,0,0
$GC,6592,1.22,238.6,322.3,11.9,268,6597,0.00,2.75,0.00,0.000,4,0.000,0.068,3443,401,2031,0,0,0,0,0,0
$GC,6698,1.22,238.6,308.1,13.2,270,6702,0.00,2.47,0.00,0.000,6,0.000,0.025,3443,1968,2029,0,0,0,0,0,0
$GC,6960,1.22,243.3,281.3,9.8,277,6970,0.00,2.60,4.38,0.542,4,0.000,0.041,3443,3560,2018,0,0,0,0,0,0
$GC,7009,1.30,261.4,276.8,9.0,278,7034,0.00,2.62,17.90,0.741,6,0.000,0.032,3443,1960,1944,0,0,0,0,0,0
$GC,7287,1.39,302.6,255.2,7.7,285,7332,0.15,2.78,37.45,0.742,4,0.070,0.067,3484,414,1775,0,0,0,0,0,0
$GC,7378,1.35,302.6,244.8,12.7,287,7383,0.00,2.47,0.00,0.000,6,0.000,0.019,3484,1974,1772,0,0,0,0,0,0
$GC,7657,1.35,302.6,210.9,11.9,294,7658,0.00,0.00,0.00,0.000,6,0.000,0.000,3484,1975,1770,0,0,0,0,0,0
$GC,7908,1.35,302.6,182.5,10.8,309,7912,0.00,2.67,0.00,0.000,4,0.000,0.062,3484,407,1769,0,0,0,0,0,0
$GC,7987,1.35,302.6,173.1,10.6,315,7997,0.05,2.50,0.00,0.000,6,0.107,0.025,3470,1983,1767,0,0,0,0,0,0
$GC,8256,1.43,328.5,150.6,8.5,340,8285,0.00,0.00,22.77,0.637,6,0.000,0.000,3470,1984,1669,0,0,0,0,0,0
$GC,8542,1.49,328.5,123.8,10.4,367,8547,0.12,2.67,0.00,0.000,4,0.077,0.056,3507,411,1667,0,0,0,0,0,0
$GC,8655,1.49,328.5,108.4,13.5,376,8660,0.00,2.47,0.00,0.000,6,0.000,0.021,3507,2004,1666,0,0,0,0,0,0
$GC,8922,1.53,328.5,77.3,11.0,400,8926,0.00,2.65,0.00,0.000,4,0.000,0.050,3507,410,1666,0,0,0,0,0,0
$GC,8969,1.53,328.5,71.0,12.9,403,8979,0.00,2.45,0.00,0.000,6,0.000,0.018,3507,1980,1666,0,0,0,0,0,0
$GC,9235,1.53,328.5,43.1,10.7,428,9240,0.00,2.62,0.00,0.000,4,0.000,0.051,3507,403,1666,0,0,0,0,0,0
$GC,9282,1.53,328.5,37.7,12.7,431,9286,0.00,2.40,0.00,0.000,6,0.000,0.018,3507,1972,1666,0,0,0,0,0,0
$GC,9594,1.53,328.5,4.6,10.7,473,9604,0.00,2.65,0.00,0.000,4,0.000,0.053,3507,407,1666,0,0,0,0,0,0
$STATE,9611,end climb,SURFACE_DEPTH_REACHED
$STATE,9611,begin surface coast
$FINISH,0.5,0.979090
$STATE,9661,end surface coast,CONTROL_FINISHED_OK
$STATE,9661,begin surface
$SM_CCo,9687,42.22,0.512,0,0,1459,380.21
$SM_GC,1.47,0.00,0.00,42.22,0.000,0.000,0.512,474,2023,1459,-12.42,0.93,380.21
$IRIDIUM_FIX,2241.69,-15757.16,210900,222256
$TT8_MAMPS,0.026078
$HUMID,63.82
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.60
$XPDR_PINGS,44
$24V_AH,23.5,50.567
$10V_AH,10.3,44.591
$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,29.125,109.000,389.050,42.225,0.000,30.344,35.785,270.579,11.000,0.000,33.298,978.916,6297.821,485.402,1844.071,614.289,33.372,1173.688,0.000,1828.079,0.000,0.534,0.000
$DEVICE_MAMPS,154.934,106.613,908.128,512.356,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.696,277.885,369.304,701.247,1060.761,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355648
$DATA_FILE_SIZE,38471,482
$CAP_FILE_SIZE,100968,0
$CFSIZE,260165632,161075200
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290611,034553,2249.885,-15757.904,13,99.0,32,10.1