version: 66.06
glider: 146
mission: 6
dive: 404
start: 6 29 111 6 52 32
data:
$ID,146
$MISSION,6
$DIVE,404
$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,-278028.41
$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,28
$R_STBD_OVSHOOT,86
$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
$GPS1,064531,2249.536,-15757.930,70,0.9,70,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.31
$_SM_ANGLEo,-71.1
$GPS2,065138,2249.600,-15757.994,10,1.5,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.110,-0.207
$KALMAN_X,-287785.2,-54.3,-61.8,285855.8,-975.6
$KALMAN_Y,55170.4,260.3,478.8,-45358.2,321.9
$MHEAD_RNG_PITCHd_Wd,142.0,4827,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,90,0.00,0.00,-70.62,0.000,2,0.000,0.000,476,2022,3236,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.5,-5.8,9,119,12.73,0.00,-4.75,0.000,6,0.160,0.000,2865,2022,3489,0,0,0,0,0,0
$GC,397,-1.27,-116.8,58.2,-16.0,44,402,0.15,2.40,0.00,0.000,4,0.127,0.026,2895,3525,3492,0,0,0,0,0,0
$GC,418,-1.18,-116.8,61.6,-15.6,45,423,0.10,2.45,0.00,0.000,6,0.127,0.022,2916,1976,3491,0,0,0,0,0,0
$GC,686,-1.18,-116.8,93.8,-11.3,69,691,0.00,0.00,0.00,0.000,6,0.000,0.000,2916,1976,3492,0,0,0,0,0,0
$GC,947,-1.24,-116.8,123.0,-10.5,94,952,0.00,2.45,0.00,0.000,4,0.000,0.028,2916,3532,3492,0,0,0,0,0,0
$GC,978,-1.31,-116.8,126.0,-10.3,96,983,0.12,2.40,0.00,0.000,6,0.071,0.030,2864,1995,3493,0,0,0,0,0,0
$GC,1241,-1.31,-116.8,156.5,-10.8,120,1246,0.12,2.62,0.00,0.000,4,0.107,0.053,2891,419,3493,0,0,0,0,0,0
$GC,1265,-1.31,-116.8,158.7,-11.1,121,1269,0.00,2.35,0.00,0.000,6,0.000,0.020,2891,1998,3493,0,0,0,0,0,0
$GC,1532,-1.37,-116.8,185.3,-10.0,145,1537,0.00,0.00,0.00,0.000,6,0.000,0.000,2891,1999,3494,0,0,0,0,0,0
$GC,1800,-1.43,-116.8,214.4,-10.9,162,1804,0.12,2.42,0.00,0.000,4,0.074,0.033,2849,3531,3494,0,0,0,0,0,0
$GC,1855,-1.43,-116.8,221.5,-12.6,163,1859,0.00,2.40,0.00,0.000,6,0.000,0.023,2848,1993,3494,0,0,0,0,0,0
$GC,2121,-1.43,-116.8,249.1,-9.9,170,2126,0.00,2.65,0.00,0.000,4,0.000,0.066,2848,412,3495,0,0,0,0,0,0
$GC,2173,-1.43,-116.8,254.2,-9.7,171,2177,0.00,2.38,0.00,0.000,6,0.000,0.021,2848,1958,3495,0,0,0,0,0,0
$GC,2445,-1.43,-116.8,278.1,-8.7,178,2446,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1959,3494,0,0,0,0,0,0
$GC,2688,-1.43,-116.8,303.4,-10.3,184,2693,0.00,2.55,0.00,0.000,4,0.000,0.038,2848,3547,3494,0,0,0,0,0,0
$GC,2763,-1.50,-116.8,310.8,-9.9,185,2767,0.00,2.45,0.00,0.000,6,0.000,0.031,2848,2007,3494,0,0,0,0,0,0
$GC,3013,-1.50,-116.8,335.0,-9.5,191,3017,0.00,2.50,0.00,0.000,4,0.000,0.042,2848,3548,3494,0,0,0,0,0,0
$GC,3040,-1.55,-116.8,337.7,-9.6,191,3045,0.00,2.47,0.00,0.000,6,0.000,0.031,2849,2004,3494,0,0,0,0,0,0
$GC,3292,-1.60,-116.8,361.9,-9.6,197,3293,0.00,0.00,0.00,0.000,6,0.000,0.000,2849,2004,3493,0,0,0,0,0,0
$GC,3535,-1.65,-116.8,384.1,-9.2,203,3540,0.15,2.55,0.00,0.000,4,0.064,0.041,2798,3543,3492,0,0,0,0,0,0
$GC,3591,-1.65,-116.8,390.4,-11.1,204,3596,0.00,2.53,0.00,0.000,6,0.000,0.040,2798,2013,3492,0,0,0,0,0,0
$GC,3858,-1.62,-116.8,420.9,-11.6,211,3863,0.10,2.55,0.00,0.000,4,0.123,0.044,2820,3543,3490,0,0,0,0,0,0
$GC,3925,-1.66,-116.8,428.0,-9.7,212,3930,0.00,2.53,0.00,0.000,6,0.000,0.046,2820,2026,3489,0,0,0,0,0,0
$GC,4182,-1.66,-116.8,451.7,-9.3,219,4186,0.00,2.97,0.00,0.000,4,0.000,0.108,2820,402,3488,0,0,0,0,0,0
$GC,4203,-1.66,-116.8,454.1,-10.0,219,4208,0.00,2.58,0.00,0.000,6,0.000,0.038,2820,1986,3488,0,0,0,0,0,0
$GC,4458,-1.66,-116.8,476.9,-9.0,226,4463,0.00,2.83,0.00,0.000,4,0.000,0.090,2820,398,3486,0,0,0,0,0,0
$GC,4481,-1.66,-116.8,479.0,-9.4,226,4486,0.00,2.62,0.00,0.000,6,0.000,0.041,2820,2013,3486,0,0,0,0,0,0
$STATE,4734,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4735,begin apogee
$GC,4740,-0.31,0.0,502.9,9.3,233,4842,1.25,0.00,97.88,0.913,6,0.092,0.000,3104,2013,3010,0,0,0,0,0,0
$STATE,4842,end apogee,CONTROL_FINISHED_OK
$STATE,4843,begin climb
$GC,4845,1.38,116.8,504.5,0.0,235,4950,1.58,0.00,99.97,0.896,6,0.044,0.000,3481,2013,2533,0,0,0,0,0,0
$GC,5181,1.29,159.3,488.9,7.6,244,5221,0.12,0.00,36.95,0.876,6,0.130,0.000,3458,2013,2360,0,0,0,0,0,0
$GC,5465,1.25,195.3,466.5,8.0,251,5506,0.00,2.97,32.20,0.866,4,0.000,0.083,3458,414,2212,0,0,0,0,0,0
$GC,5525,1.15,205.8,461.2,9.4,252,5542,0.15,2.60,10.95,0.782,6,0.125,0.033,3427,2001,2170,0,0,0,0,0,0
$GC,5792,1.17,223.3,436.8,9.0,259,5816,0.00,2.88,15.98,0.823,4,0.000,0.075,3427,404,2098,0,0,0,0,0,0
$GC,5846,1.13,223.3,431.3,11.2,260,5851,0.00,2.60,0.00,0.000,6,0.000,0.028,3427,1997,2097,0,0,0,0,0,0
$GC,6119,1.13,226.6,403.9,9.8,267,6123,0.00,2.78,0.00,0.000,4,0.000,0.067,3427,406,2094,0,0,0,0,0,0
$GC,6181,1.13,226.6,397.3,10.9,268,6185,0.00,2.55,0.00,0.000,6,0.000,0.029,3427,1984,2093,0,0,0,0,0,0
$GC,6441,1.14,235.7,372.1,9.5,275,6460,0.00,2.72,11.55,0.777,4,0.000,0.042,3427,3575,2048,0,0,0,0,0,0
$GC,6524,1.18,235.7,364.1,10.2,276,6529,0.00,2.65,0.00,0.000,6,0.000,0.041,3427,1983,2046,0,0,0,0,0,0
$GC,6775,1.20,255.8,341.1,8.9,283,6800,0.00,2.85,19.00,0.793,4,0.000,0.077,3427,406,1966,0,0,0,0,0,0
$GC,6834,1.20,255.8,335.0,11.1,284,6838,0.00,2.55,0.00,0.000,6,0.000,0.023,3427,1997,1964,0,0,0,0,0,0
$GC,7102,1.28,273.8,310.4,9.0,291,7122,0.12,0.00,17.38,0.768,6,0.081,0.000,3460,1997,1893,0,0,0,0,0,0
$GC,7344,1.28,273.8,285.9,10.1,297,7345,0.00,0.00,0.00,0.000,6,0.000,0.000,3460,1998,1888,0,0,0,0,0,0
$GC,7587,1.28,273.8,261.3,10.2,303,7589,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1998,1888,0,0,0,0,0,0
$GC,7831,1.29,285.3,238.0,9.4,309,7848,0.00,2.78,10.93,0.687,4,0.000,0.057,3460,402,1844,0,0,0,0,0,0
$GC,7964,1.29,285.3,223.1,12.2,312,7968,0.00,2.47,0.00,0.000,6,0.000,0.019,3461,1988,1843,0,0,0,0,0,0
$GC,8222,1.33,285.3,196.6,10.1,319,8227,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,1990,1842,0,0,0,0,0,0
$GC,8487,1.39,300.9,172.4,9.1,344,8512,0.00,2.78,14.25,0.650,4,0.000,0.060,3461,403,1781,0,0,0,0,0,0
$GC,8593,1.39,300.9,160.6,11.5,353,8598,0.00,2.45,0.00,0.000,6,0.000,0.024,3461,1971,1780,0,0,0,0,0,0
$GC,8862,1.47,310.2,135.6,9.5,377,8881,0.15,0.00,9.30,0.582,6,0.071,0.000,3502,1972,1745,0,0,0,0,0,0
$GC,9137,1.47,310.2,105.5,10.2,403,9141,0.00,2.62,0.00,0.000,4,0.000,0.051,3502,401,1744,0,0,0,0,0,0
$GC,9205,1.47,310.2,96.9,11.7,408,9215,0.00,2.45,0.00,0.000,6,0.000,0.018,3502,1959,1743,0,0,0,0,0,0
$GC,9472,1.49,322.3,72.1,9.3,433,9489,0.00,2.65,12.48,0.547,4,0.000,0.052,3502,406,1694,0,0,0,0,0,0
$GC,9576,1.49,322.3,61.7,10.4,441,9581,0.00,2.38,0.00,0.000,6,0.000,0.018,3502,1949,1692,0,0,0,0,0,0
$GC,9843,1.49,328.0,35.4,9.7,465,9858,0.00,2.62,6.62,0.461,4,0.000,0.048,3502,410,1670,0,0,0,0,0,0
$GC,9876,1.49,328.0,32.2,10.1,467,9880,0.00,2.35,0.00,0.000,6,0.000,0.018,3502,1940,1670,0,0,0,0,0,0
$STATE,10142,end climb,SURFACE_DEPTH_REACHED
$STATE,10142,begin surface coast
$FINISH,0.5,0.971224
$STATE,10194,end surface coast,CONTROL_FINISHED_OK
$STATE,10194,begin surface
$SM_CCo,10217,42.58,0.515,0,0,1460,380.21
$SM_GC,1.21,0.00,0.00,42.58,0.000,0.000,0.515,480,1943,1460,-12.40,-1.33,380.21
$IRIDIUM_FIX,2241.69,-15759.32,220900,040419
$TT8_MAMPS,0.026078
$HUMID,63.97
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.60
$XPDR_PINGS,40
$24V_AH,23.5,50.801
$10V_AH,10.2,44.817
$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,29.300,108.350,395.425,42.575,0.000,30.395,33.157,170.771,10.000,0.000,12.437,1032.909,6657.158,502.829,1916.230,519.664,33.372,1201.554,0.000,1923.074,0.000,0.535,0.000
$DEVICE_MAMPS,159.536,108.147,913.497,514.657,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,346.354,283.734,392.943,744.572,1125.917,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355464
$DATA_FILE_SIZE,41545,511
$CAP_FILE_SIZE,104318,0
$CFSIZE,260165632,160960512
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290611,094504,2248.590,-15758.365,31,2.3,50,10.1