version: 66.06
glider: 146
mission: 6
dive: 408
start: 6 29 111 18 30 34
data:
$ID,146
$MISSION,6
$DIVE,408
$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,-278091.84
$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,17
$R_STBD_OVSHOOT,55
$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
$GPS1,182301,2247.625,-15759.991,47,1.0,47,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.30
$_SM_ANGLEo,-70.8
$GPS2,182938,2247.670,-15800.055,11,1.4,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.162,-0.170
$KALMAN_X,-294194.5,-135.6,-28.9,288797.5,-1411.6
$KALMAN_Y,58822.6,-170.8,502.1,-52181.4,945.9
$MHEAD_RNG_PITCHd_Wd,213.7,5180,-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,12,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,-70.62,0.000,2,0.000,0.000,475,1930,3234,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.5,-5.7,9,117,12.80,2.55,-4.65,0.000,4,0.161,0.061,2864,397,3488,0,0,0,0,0,0
$GC,255,-1.25,-116.8,38.3,-17.1,29,260,0.17,2.47,0.00,0.000,6,0.144,0.015,2899,2008,3490,0,0,0,0,0,0
$GC,522,-1.25,-116.8,78.2,-15.2,53,527,0.00,2.42,0.00,0.000,4,0.000,0.026,2899,3541,3491,0,0,0,0,0,0
$GC,556,-1.25,-116.8,83.3,-14.4,55,561,0.00,2.47,0.00,0.000,6,0.000,0.025,2899,1981,3491,0,0,0,0,0,0
$GC,823,-1.25,-116.8,116.4,-11.8,79,827,0.00,2.60,0.00,0.000,4,0.000,0.056,2899,410,3491,0,0,0,0,0,0
$GC,845,-1.25,-116.8,119.9,-12.5,80,854,0.00,2.45,0.00,0.000,6,0.000,0.020,2900,2012,3491,0,0,0,0,0,0
$GC,1111,-1.29,-116.8,149.8,-11.2,105,1116,0.00,2.40,0.00,0.000,4,0.000,0.028,2899,3531,3492,0,0,0,0,0,0
$GC,1154,-1.36,-116.8,155.2,-11.1,108,1158,0.00,2.40,0.00,0.000,6,0.000,0.029,2899,2005,3492,0,0,0,0,0,0
$GC,1417,-1.42,-116.8,183.0,-9.6,132,1422,0.15,2.45,0.00,0.000,4,0.064,0.033,2849,3537,3493,0,0,0,0,0,0
$GC,1441,-1.46,-116.8,184.9,-9.5,133,1446,0.00,2.38,0.00,0.000,6,0.000,0.021,2848,2010,3493,0,0,0,0,0,0
$GC,1707,-1.46,-116.8,213.9,-10.8,149,1712,0.00,2.67,0.00,0.000,4,0.000,0.060,2848,415,3493,0,0,0,0,0,0
$GC,1751,-1.46,-116.8,219.0,-11.6,150,1756,0.00,2.42,0.00,0.000,6,0.000,0.022,2848,2008,3493,0,0,0,0,0,0
$GC,2035,-1.46,-116.8,250.2,-10.9,157,2036,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2008,3493,0,0,0,0,0,0
$GC,2279,-1.46,-116.8,278.1,-11.5,163,2283,0.00,2.42,0.00,0.000,4,0.000,0.031,2848,3541,3493,0,0,0,0,0,0
$GC,2351,-1.50,-116.8,285.5,-10.2,164,2355,0.00,2.42,0.00,0.000,6,0.000,0.026,2848,2012,3493,0,0,0,0,0,0
$GC,2602,-1.50,-116.8,306.6,-8.4,170,2603,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2012,3493,0,0,0,0,0,0
$GC,2844,-1.55,-116.8,330.4,-10.1,176,2845,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,2012,3493,0,0,0,0,0,0
$GC,3088,-1.58,-116.8,354.4,-9.9,182,3093,0.00,2.50,0.00,0.000,4,0.000,0.044,2848,3540,3492,0,0,0,0,0,0
$GC,3114,-1.63,-116.8,356.9,-10.6,182,3119,0.12,2.53,0.00,0.000,6,0.069,0.038,2802,1994,3493,0,0,0,0,0,0
$GC,3369,-1.59,-116.8,390.2,-13.1,189,3374,0.12,2.55,0.00,0.000,4,0.114,0.044,2828,3530,3491,0,0,0,0,0,0
$GC,3402,-1.59,-116.8,394.5,-12.5,189,3408,0.00,2.53,0.00,0.000,6,0.000,0.041,2828,2004,3491,0,0,0,0,0,0
$GC,3653,-1.59,-116.8,421.2,-10.4,196,3658,0.00,2.90,0.00,0.000,4,0.000,0.099,2828,406,3490,0,0,0,0,0,0
$GC,3686,-1.59,-116.8,424.9,-10.9,196,3692,0.00,2.53,0.00,0.000,6,0.000,0.037,2828,1968,3489,0,0,0,0,0,0
$GC,3936,-1.59,-116.8,449.8,-9.9,203,3937,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1968,3488,0,0,0,0,0,0
$GC,4180,-1.62,-116.8,472.6,-9.3,209,4181,0.00,0.00,0.00,0.000,6,0.000,0.000,2828,1968,3486,0,0,0,0,0,0
$GC,4425,-1.66,-116.8,496.9,-9.9,215,4430,0.00,2.83,0.00,0.000,4,0.000,0.096,2828,410,3484,0,0,0,0,0,0
$STATE,4450,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4450,begin apogee
$GC,4458,-0.31,0.0,500.1,10.9,215,4560,1.20,0.00,98.03,0.911,6,0.082,0.000,3102,1990,3010,0,0,0,0,0,0
$STATE,4561,end apogee,CONTROL_FINISHED_OK
$STATE,4561,begin climb
$GC,4565,1.38,116.8,503.3,0.0,218,4676,1.55,2.88,99.72,0.898,4,0.041,0.064,3478,3586,2532,0,0,0,0,0,0
$GC,4750,1.27,152.5,499.1,8.0,222,4789,0.12,2.72,31.05,0.870,6,0.131,0.048,3454,1989,2388,0,0,0,0,0,0
$GC,5062,1.21,172.4,471.5,8.9,230,5086,0.00,3.05,17.85,0.840,4,0.000,0.108,3454,414,2306,0,0,0,0,0,0
$GC,5105,1.09,172.4,467.4,10.0,231,5110,0.20,2.62,0.00,0.000,6,0.114,0.029,3414,2008,2304,0,0,0,0,0,0
$GC,5389,1.12,197.9,442.6,8.6,238,5414,0.00,0.00,23.38,0.846,6,0.000,0.000,3415,2008,2203,0,0,0,0,0,0
$GC,5632,1.15,219.1,421.4,8.8,244,5658,0.00,2.88,20.02,0.830,4,0.000,0.076,3414,408,2115,0,0,0,0,0,0
$GC,5687,1.15,219.1,416.0,10.5,245,5692,0.00,2.58,0.00,0.000,6,0.000,0.024,3414,1991,2114,0,0,0,0,0,0
$GC,5954,1.21,232.0,391.4,9.3,252,5974,0.10,2.85,12.10,0.788,4,0.096,0.067,3443,412,2063,0,0,0,0,0,0
$GC,6009,1.16,232.0,385.2,12.4,253,6014,0.00,2.53,0.00,0.000,6,0.000,0.028,3443,1976,2061,0,0,0,0,0,0
$GC,6281,1.16,232.0,357.3,10.1,260,6282,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1976,2059,0,0,0,0,0,0
$GC,6524,1.16,232.0,332.4,10.4,266,6529,0.00,2.62,0.00,0.000,4,0.000,0.038,3442,3578,2057,0,0,0,0,0,0
$GC,6564,1.17,241.4,328.5,9.5,267,6579,0.00,2.67,9.18,0.733,6,0.000,0.033,3443,1950,2024,0,0,0,0,0,0
$GC,6853,1.17,241.4,299.9,10.5,274,6857,0.00,2.67,0.00,0.000,4,0.000,0.073,3442,411,2022,0,0,0,0,0,0
$GC,6874,1.17,241.4,297.2,11.6,274,6878,0.00,2.47,0.00,0.000,6,0.000,0.020,3443,1980,2021,0,0,0,0,0,0
$GC,7131,1.19,253.9,272.1,9.3,281,7145,0.00,0.00,12.05,0.729,6,0.000,0.000,3443,1981,1975,0,0,0,0,0,0
$GC,7374,1.26,284.6,252.1,8.3,287,7405,0.00,0.00,28.85,0.748,6,0.000,0.000,3443,1981,1849,0,0,0,0,0,0
$GC,7617,1.33,284.6,227.4,10.7,293,7622,0.00,2.67,0.00,0.000,4,0.000,0.058,3443,410,1844,0,0,0,0,0,0
$GC,7672,1.33,284.6,220.5,12.8,294,7676,0.00,2.45,0.00,0.000,6,0.000,0.021,3443,1962,1843,0,0,0,0,0,0
$GC,7932,1.42,301.3,194.2,9.1,303,7957,0.17,2.72,15.05,0.673,4,0.064,0.061,3490,414,1780,0,0,0,0,0,0
$GC,8041,1.37,301.3,182.4,10.2,312,8045,0.00,2.42,0.00,0.000,6,0.000,0.024,3490,1957,1778,0,0,0,0,0,0
$GC,8305,1.37,301.3,157.7,10.1,336,8313,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,1957,1777,0,0,0,0,0,0
$GC,8570,1.37,301.3,129.1,11.4,361,8574,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,1957,1777,0,0,0,0,0,0
$GC,8832,1.37,301.3,100.0,10.5,386,8833,0.00,0.00,0.00,0.000,6,0.000,0.000,3490,1957,1777,0,0,0,0,0,0
$GC,9090,1.47,338.0,77.8,7.9,410,9131,0.00,2.67,32.33,0.581,4,0.000,0.051,3490,413,1630,0,0,0,0,0,0
$GC,9174,1.51,338.0,70.6,10.3,416,9179,0.00,2.42,0.00,0.000,6,0.000,0.018,3490,1965,1629,0,0,0,0,0,0
$GC,9442,1.58,340.7,44.7,9.9,440,9447,0.12,2.65,0.00,0.000,4,0.076,0.050,3526,401,1628,0,0,0,0,0,0
$GC,9476,1.58,340.7,40.5,12.3,442,9480,0.00,2.38,0.00,0.000,6,0.000,0.017,3526,1945,1628,0,0,0,0,0,0
$GC,9785,1.58,340.7,5.0,11.2,482,9794,0.00,2.60,0.00,0.000,4,0.000,0.047,3526,402,1628,0,0,0,0,0,0
$STATE,9802,end climb,SURFACE_DEPTH_REACHED
$STATE,9802,begin surface coast
$FINISH,0.6,0.979423
$STATE,9837,end surface coast,CONTROL_FINISHED_OK
$STATE,9838,begin surface
$SM_CCo,9862,34.53,0.513,0,0,1460,380.21
$SM_GC,1.30,0.00,0.00,34.53,0.000,0.000,0.513,476,2017,1460,-12.42,0.76,380.21
$IRIDIUM_FIX,2237.01,-15800.20,220900,151559
$TT8_MAMPS,0.026078
$HUMID,63.78
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.60
$XPDR_PINGS,41
$24V_AH,23.5,51.258
$10V_AH,10.2,45.254
$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,29.250,113.575,399.600,34.525,0.000,31.436,40.701,188.140,10.250,0.000,13.500,990.414,6462.862,490.800,1811.852,541.549,33.395,1168.507,0.000,1818.122,0.000,0.534,0.000
$DEVICE_MAMPS,161.070,108.147,911.196,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.418,277.104,373.650,704.660,1066.724,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355416
$DATA_FILE_SIZE,38248,489
$CAP_FILE_SIZE,101702,0
$CFSIZE,260165632,160755712
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290611,211636,2247.508,-15801.945,8,1.4,24,10.1