version: 66.06
glider: 146
mission: 6
dive: 405
start: 6 29 111 9 52 15
data:
$ID,146
$MISSION,6
$DIVE,405
$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,-278045.22
$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,18
$R_STBD_OVSHOOT,60
$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
$GPS1,094504,2248.590,-15758.365,31,2.3,50,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-71.7
$GPS2,095121,2248.614,-15758.430,14,1.3,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.190,-0.137
$KALMAN_X,-289671.4,-29.1,-25.6,286944.0,-1381.5
$KALMAN_Y,55915.5,116.1,119.8,-47425.5,-74.9
$MHEAD_RNG_PITCHd_Wd,115.7,3176,-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,18,-1.38,-116.8,0.0,0.0,0,91,0.00,0.00,-71.00,0.000,2,0.000,0.000,480,1943,3223,0,0,0,0,0,0
$GC,94,-1.38,-116.8,3.3,-5.0,9,120,12.57,2.60,-5.05,0.000,4,0.154,0.054,2866,398,3490,0,0,0,0,0,0
$GC,172,-1.26,-116.8,23.4,-18.3,19,182,0.12,2.47,0.00,0.000,6,0.109,0.015,2895,1995,3491,0,0,0,0,0,0
$GC,449,-1.21,-116.8,65.4,-14.6,46,453,0.00,2.45,0.00,0.000,4,0.000,0.027,2895,3543,3492,0,0,0,0,0,0
$GC,495,-1.21,-116.8,72.3,-13.7,49,500,0.00,2.47,0.00,0.000,6,0.000,0.025,2895,1972,3493,0,0,0,0,0,0
$GC,760,-1.21,-116.8,107.4,-12.8,73,765,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1972,3494,0,0,0,0,0,0
$GC,1022,-1.21,-116.8,138.3,-11.0,98,1027,0.00,2.47,0.00,0.000,4,0.000,0.034,2895,3543,3494,0,0,0,0,0,0
$GC,1069,-1.31,-116.8,143.3,-9.8,101,1075,0.00,2.42,0.00,0.000,6,0.000,0.023,2895,1991,3494,0,0,0,0,0,0
$GC,1334,-1.37,-116.8,168.4,-9.4,126,1339,0.00,2.47,0.00,0.000,4,0.000,0.031,2895,3550,3494,0,0,0,0,0,0
$GC,1357,-1.44,-116.8,170.4,-9.3,127,1362,0.15,2.40,0.00,0.000,6,0.057,0.025,2832,2007,3494,0,0,0,0,0,0
$GC,1626,-1.40,-116.8,200.5,-11.6,151,1631,0.17,2.67,0.00,0.000,4,0.093,0.056,2871,412,3494,0,0,0,0,0,0
$GC,1670,-1.40,-116.8,206.1,-10.2,152,1674,0.00,2.42,0.00,0.000,6,0.000,0.022,2871,2007,3495,0,0,0,0,0,0
$GC,1948,-1.44,-116.8,232.2,-9.4,159,1953,0.00,2.67,0.00,0.000,4,0.000,0.058,2871,416,3496,0,0,0,0,0,0
$GC,1971,-1.44,-116.8,234.4,-9.7,159,1975,0.00,2.40,0.00,0.000,6,0.000,0.021,2871,1995,3496,0,0,0,0,0,0
$GC,2232,-1.49,-116.8,261.1,-10.5,166,2233,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1997,3496,0,0,0,0,0,0
$GC,2476,-1.55,-116.8,286.0,-10.0,172,2481,0.15,2.50,0.00,0.000,4,0.066,0.033,2822,3543,3496,0,0,0,0,0,0
$GC,2498,-1.55,-116.8,288.4,-10.3,172,2503,0.00,2.42,0.00,0.000,6,0.000,0.027,2822,2011,3496,0,0,0,0,0,0
$GC,2754,-1.55,-116.8,316.5,-10.7,179,2755,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,2011,3496,0,0,0,0,0,0
$GC,2997,-1.55,-116.8,342.3,-10.9,185,2999,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2011,3494,0,0,0,0,0,0
$GC,3241,-1.55,-116.8,370.7,-11.7,191,3242,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2011,3494,0,0,0,0,0,0
$GC,3486,-1.55,-116.8,398.3,-11.6,197,3491,0.00,2.53,0.00,0.000,4,0.000,0.048,2822,3537,3493,0,0,0,0,0,0
$GC,3536,-1.55,-116.8,404.4,-11.7,198,3540,0.00,2.53,0.00,0.000,6,0.000,0.043,2822,2012,3492,0,0,0,0,0,0
$GC,3808,-1.55,-116.8,433.4,-10.4,205,3813,0.00,2.53,0.00,0.000,4,0.000,0.050,2822,3536,3491,0,0,0,0,0,0
$GC,3843,-1.60,-116.8,436.8,-10.7,205,3848,0.00,2.58,0.00,0.000,6,0.000,0.049,2822,2002,3491,0,0,0,0,0,0
$GC,4093,-1.60,-116.8,460.4,-9.5,212,4094,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2002,3489,0,0,0,0,0,0
$GC,4336,-1.60,-116.8,481.6,-8.5,218,4341,0.00,2.58,0.00,0.000,4,0.000,0.052,2822,3530,3488,0,0,0,0,0,0
$GC,4354,-1.60,-116.8,483.0,-8.6,218,4359,0.00,2.53,0.00,0.000,6,0.000,0.052,2822,2019,3487,0,0,0,0,0,0
$STATE,4571,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4571,begin apogee
$GC,4577,-0.31,0.0,503.5,9.6,224,4679,1.25,0.00,98.03,0.910,6,0.074,0.000,3109,1993,3010,0,0,0,0,0,0
$STATE,4680,end apogee,CONTROL_FINISHED_OK
$STATE,4680,begin climb
$GC,4683,1.38,116.8,505.7,0.0,226,4793,1.50,2.67,99.10,0.897,4,0.041,0.054,3481,3532,2534,0,0,0,0,0,0
$GC,4838,1.27,165.4,504.2,7.2,229,4890,0.15,2.65,42.88,0.877,6,0.126,0.051,3453,1997,2334,0,0,0,0,0,0
$GC,5137,1.22,183.5,479.0,9.0,237,5161,0.00,3.08,16.48,0.825,4,0.000,0.111,3453,402,2259,0,0,0,0,0,0
$GC,5200,1.10,183.5,472.0,11.8,238,5205,0.17,2.55,0.00,0.000,6,0.118,0.031,3418,1949,2256,0,0,0,0,0,0
$GC,5463,1.12,194.7,448.0,9.4,245,5478,0.00,2.78,10.40,0.783,4,0.000,0.054,3417,3577,2215,0,0,0,0,0,0
$GC,5512,1.12,194.7,442.5,11.1,246,5516,0.00,2.67,0.00,0.000,6,0.000,0.048,3418,1991,2213,0,0,0,0,0,0
$GC,5784,1.12,194.7,411.6,11.5,253,5788,0.00,2.88,0.00,0.000,4,0.000,0.088,3417,406,2211,0,0,0,0,0,0
$GC,5879,1.12,194.7,399.9,11.9,255,5884,0.00,2.55,0.00,0.000,6,0.000,0.028,3417,1998,2209,0,0,0,0,0,0
$GC,6152,1.15,223.0,375.4,8.4,262,6179,0.00,0.00,25.75,0.823,6,0.000,0.000,3417,1998,2100,0,0,0,0,0,0
$GC,6396,1.23,249.4,354.8,8.5,268,6423,0.10,0.00,24.67,0.805,6,0.091,0.000,3445,1998,1993,0,0,0,0,0,0
$GC,6641,1.23,255.0,331.4,9.7,274,6649,0.00,0.00,6.00,0.644,6,0.000,0.000,3445,1998,1969,0,0,0,0,0,0
$GC,6883,1.23,255.0,306.4,10.5,280,6887,0.00,2.75,0.00,0.000,4,0.000,0.060,3445,402,1967,0,0,0,0,0,0
$GC,6943,1.23,255.0,299.3,12.1,281,6947,0.00,2.50,0.00,0.000,6,0.000,0.024,3446,1996,1966,0,0,0,0,0,0
$GC,7206,1.23,255.0,272.3,10.2,288,7207,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1997,1966,0,0,0,0,0,0
$GC,7448,1.26,272.6,250.0,9.0,294,7472,0.00,2.85,16.50,0.725,4,0.000,0.058,3445,395,1897,0,0,0,0,0,0
$GC,7501,1.26,272.6,244.5,11.6,295,7505,0.00,2.50,0.00,0.000,6,0.000,0.020,3445,1973,1895,0,0,0,0,0,0
$GC,7776,1.34,296.2,219.7,8.7,302,7805,0.00,2.80,21.73,0.706,4,0.000,0.056,3445,400,1801,0,0,0,0,0,0
$GC,7833,1.34,296.2,214.1,10.1,303,7837,0.00,2.47,0.00,0.000,6,0.000,0.024,3445,1965,1798,0,0,0,0,0,0
$GC,8095,1.43,313.3,192.0,9.1,315,8120,0.17,2.75,15.95,0.667,4,0.064,0.061,3492,403,1731,0,0,0,0,0,0
$GC,8221,1.39,313.3,177.1,12.1,325,8226,0.00,2.45,0.00,0.000,6,0.000,0.025,3492,1958,1729,0,0,0,0,0,0
$GC,8485,1.39,313.3,149.5,10.7,350,8494,0.00,0.00,0.00,0.000,6,0.000,0.000,3492,1959,1728,0,0,0,0,0,0
$GC,8750,1.39,313.3,121.1,11.4,375,8754,0.00,0.00,0.00,0.000,6,0.000,0.000,3493,1959,1728,0,0,0,0,0,0
$GC,9013,1.43,313.3,92.0,10.3,400,9017,0.00,2.60,0.00,0.000,4,0.000,0.050,3492,399,1728,0,0,0,0,0,0
$GC,9081,1.43,313.3,84.1,10.7,405,9087,0.00,2.42,0.00,0.000,6,0.000,0.019,3492,1964,1728,0,0,0,0,0,0
$GC,9350,1.54,355.2,63.3,7.6,430,9389,0.00,0.00,36.33,0.567,6,0.000,0.000,3493,1965,1560,0,0,0,0,0,0
$GC,9648,1.59,355.2,37.2,10.1,458,9653,0.12,2.65,0.00,0.000,4,0.078,0.049,3527,400,1557,0,0,0,0,0,0
$GC,9715,1.55,355.2,28.3,14.5,463,9725,0.00,2.42,0.00,0.000,6,0.000,0.017,3527,1946,1557,0,0,0,0,0,0
$STATE,9913,end climb,SURFACE_DEPTH_REACHED
$STATE,9913,begin surface coast
$FINISH,0.5,0.977068
$STATE,9949,end surface coast,CONTROL_FINISHED_OK
$STATE,9949,begin surface
$SM_CCo,9972,20.30,0.501,0,0,1459,380.21
$SM_GC,1.62,0.00,0.00,20.30,0.000,0.000,0.501,479,1948,1459,-12.41,-1.19,380.21
$IRIDIUM_FIX,2241.69,-15757.16,220900,060626
$TT8_MAMPS,0.025311
$HUMID,63.93
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.60
$XPDR_PINGS,40
$24V_AH,23.5,50.914
$10V_AH,10.3,44.927
$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,29.050,103.175,413.800,20.300,0.000,28.902,38.577,171.975,10.000,0.000,16.186,987.403,6541.154,484.949,1832.989,524.378,33.375,1167.782,0.000,1844.764,0.000,0.533,0.000
$DEVICE_MAMPS,154.167,196.352,910.429,500.851,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,335.652,276.258,379.987,722.170,1092.089,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355440
$DATA_FILE_SIZE,38493,496
$CAP_FILE_SIZE,99384,0
$CFSIZE,260165632,160915456
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290611,124031,2247.922,-15758.055,63,0.9,63,10.1