version: 66.06
glider: 146
mission: 6
dive: 410
start: 6 29 111 23 52 28
data:
$ID,146
$MISSION,6
$DIVE,410
$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,-278149.91
$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,2010
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,26
$R_STBD_OVSHOOT,58
$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
$GPS1,234536,2247.124,-15802.973,35,1.0,35,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-71.7
$GPS2,235132,2247.159,-15803.025,12,1.5,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.154,0.172
$KALMAN_X,-297351.0,-161.6,-39.1,286911.6,-1507.2
$KALMAN_Y,61311.1,275.8,-236.4,-55322.1,1078.4
$MHEAD_RNG_PITCHd_Wd,31.6,5261,-20.2,-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,-1.40,-112.6,0.0,0.0,0,88,0.00,0.00,-70.30,0.000,2,0.000,0.000,476,1987,3222,0,0,0,0,0,0
$GC,91,-1.41,-116.8,3.4,-5.3,9,116,12.65,2.55,-5.03,0.000,4,0.157,0.040,2860,3575,3489,0,0,0,0,0,0
$GC,194,-1.36,-116.8,26.2,-16.4,23,204,0.00,2.53,0.00,0.000,6,0.000,0.025,2859,2005,3490,0,0,0,0,0,0
$GC,468,-1.24,-116.8,71.8,-15.5,49,477,0.20,0.00,0.00,0.000,6,0.112,0.000,2901,2004,3491,0,0,0,0,0,0
$GC,729,-1.24,-116.8,108.2,-13.3,74,730,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2004,3492,0,0,0,0,0,0
$GC,985,-1.28,-116.8,136.3,-9.5,98,986,0.00,0.00,0.00,0.000,6,0.000,0.000,2901,2004,3492,0,0,0,0,0,0
$GC,1241,-1.34,-116.8,161.2,-10.3,122,1245,0.00,2.47,0.00,0.000,4,0.000,0.027,2901,3575,3493,0,0,0,0,0,0
$GC,1258,-1.41,-116.8,163.3,-11.0,123,1263,0.15,2.45,0.00,0.000,6,0.060,0.022,2845,2007,3493,0,0,0,0,0,0
$GC,1519,-1.41,-116.8,195.7,-11.8,147,1524,0.10,2.47,0.00,0.000,4,0.123,0.028,2867,3569,3494,0,0,0,0,0,0
$GC,1548,-1.41,-116.8,199.0,-12.2,149,1552,0.00,2.45,0.00,0.000,6,0.000,0.028,2867,2005,3494,0,0,0,0,0,0
$GC,1808,-1.41,-116.8,229.3,-11.2,156,1812,0.00,2.62,0.00,0.000,4,0.000,0.061,2867,440,3494,0,0,0,0,0,0
$GC,1836,-1.41,-116.8,232.4,-11.1,156,1840,0.00,2.40,0.00,0.000,6,0.000,0.017,2867,2026,3494,0,0,0,0,0,0
$GC,2086,-1.45,-116.8,257.9,-10.5,162,2087,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,2027,3494,0,0,0,0,0,0
$GC,2330,-1.51,-116.8,283.7,-10.4,168,2334,0.00,2.42,0.00,0.000,4,0.000,0.032,2867,3558,3494,0,0,0,0,0,0
$GC,2371,-1.61,-116.8,287.5,-9.5,169,2376,0.17,2.45,0.00,0.000,6,0.054,0.033,2806,2005,3495,0,0,0,0,0,0
$GC,2655,-1.57,-116.8,321.9,-12.3,176,2660,0.12,2.53,0.00,0.000,4,0.111,0.035,2832,3555,3494,0,0,0,0,0,0
$GC,2717,-1.62,-116.8,328.4,-10.4,177,2722,0.00,2.50,0.00,0.000,6,0.000,0.036,2832,2015,3495,0,0,0,0,0,0
$GC,2979,-1.62,-116.8,352.9,-9.2,184,2983,0.00,2.80,0.00,0.000,4,0.000,0.090,2832,425,3494,0,0,0,0,0,0
$GC,3039,-1.62,-116.8,359.7,-11.6,185,3043,0.00,2.42,0.00,0.000,6,0.000,0.028,2833,1962,3494,0,0,0,0,0,0
$GC,3302,-1.62,-116.8,386.2,-9.7,192,3307,0.00,2.70,0.00,0.000,4,0.000,0.051,2832,3592,3493,0,0,0,0,0,0
$GC,3381,-1.69,-116.8,393.6,-8.8,193,3387,0.10,2.65,0.00,0.000,6,0.084,0.045,2789,2001,3492,0,0,0,0,0,0
$GC,3633,-1.65,-116.8,420.4,-10.7,200,3638,0.12,2.88,0.00,0.000,4,0.113,0.104,2815,426,3491,0,0,0,0,0,0
$GC,3666,-1.61,-116.8,424.2,-10.8,200,3672,0.00,2.53,0.00,0.000,6,0.000,0.038,2815,1985,3491,0,0,0,0,0,0
$GC,3916,-1.61,-116.8,448.6,-9.9,207,3917,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1986,3489,0,0,0,0,0,0
$GC,4160,-1.61,-116.8,472.5,-9.6,213,4164,0.00,2.78,0.00,0.000,4,0.000,0.084,2815,426,3487,0,0,0,0,0,0
$GC,4188,-1.61,-116.8,475.2,-10.1,213,4192,0.00,2.58,0.00,0.000,6,0.000,0.042,2815,1997,3487,0,0,0,0,0,0
$STATE,4435,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4435,begin apogee
$GC,4441,-0.31,0.0,500.8,10.2,219,4543,1.27,0.00,98.50,0.906,6,0.081,0.000,3104,1997,3010,0,0,0,0,0,0
$STATE,4544,end apogee,CONTROL_FINISHED_OK
$STATE,4544,begin climb
$GC,4546,1.41,116.8,503.4,0.0,221,4657,1.60,2.85,100.12,0.896,4,0.038,0.065,3489,3574,2532,0,0,0,0,0,0
$GC,4666,1.37,209.6,504.8,4.5,224,4752,0.00,2.70,80.50,0.889,6,0.000,0.047,3489,1998,2155,0,0,0,0,0,0
$GC,5006,1.26,209.6,466.7,11.9,233,5012,0.17,2.95,0.00,0.000,4,0.117,0.100,3452,411,2146,0,0,0,0,0,0
$GC,5051,1.18,209.6,461.2,12.3,234,5055,0.00,2.60,0.00,0.000,6,0.000,0.034,3452,1998,2145,0,0,0,0,0,0
$GC,5329,1.18,209.6,432.9,10.3,241,5334,0.00,2.83,0.00,0.000,4,0.000,0.076,3453,406,2143,0,0,0,0,0,0
$GC,5351,1.11,209.6,430.3,11.2,241,5356,0.17,2.58,0.00,0.000,6,0.117,0.030,3418,1993,2141,0,0,0,0,0,0
$GC,5606,1.15,240.1,408.8,8.2,248,5640,0.00,2.83,25.98,0.827,4,0.000,0.067,3417,407,2030,0,0,0,0,0,0
$GC,5716,1.15,240.9,398.4,10.0,250,5720,0.00,2.53,0.00,0.000,6,0.000,0.025,3417,1977,2028,0,0,0,0,0,0
$GC,5977,1.22,248.9,373.6,9.6,257,5992,0.10,2.67,8.82,0.736,4,0.093,0.042,3445,3578,1994,0,0,0,0,0,0
$GC,6055,1.22,248.9,364.7,11.4,258,6059,0.00,2.62,0.00,0.000,6,0.000,0.038,3445,1981,1993,0,0,0,0,0,0
$GC,6304,1.22,248.9,338.1,10.1,264,6309,0.00,2.75,0.00,0.000,4,0.000,0.080,3445,409,1992,0,0,0,0,0,0
$GC,6370,1.22,248.9,331.3,10.3,265,6375,0.00,2.50,0.00,0.000,6,0.000,0.025,3445,1986,1990,0,0,0,0,0,0
$GC,6628,1.25,277.4,309.6,8.3,272,6656,0.00,0.00,26.55,0.777,6,0.000,0.000,3445,1986,1879,0,0,0,0,0,0
$GC,6872,1.30,278.0,286.5,10.0,278,6873,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1986,1874,0,0,0,0,0,0
$GC,7114,1.35,278.0,261.2,10.2,284,7119,0.10,2.60,0.00,0.000,4,0.090,0.035,3472,3570,1873,0,0,0,0,0,0
$GC,7126,1.40,285.6,260.1,9.6,284,7140,0.00,2.65,8.02,0.658,6,0.000,0.035,3472,1945,1844,0,0,0,0,0,0
$GC,7398,1.41,293.3,234.1,9.6,291,7412,0.00,2.70,7.90,0.640,4,0.000,0.068,3473,415,1813,0,0,0,0,0,0
$GC,7468,1.41,293.3,225.4,12.1,292,7472,0.00,2.42,0.00,0.000,6,0.000,0.021,3472,1956,1812,0,0,0,0,0,0
$GC,7731,1.41,293.3,196.9,10.6,299,7735,0.00,2.62,0.00,0.000,4,0.000,0.061,3473,411,1812,0,0,0,0,0,0
$GC,7752,1.41,293.3,194.4,10.5,300,7762,0.00,2.42,0.00,0.000,6,0.000,0.024,3473,1941,1811,0,0,0,0,0,0
$GC,8021,1.45,293.3,165.1,11.0,325,8025,0.00,2.60,0.00,0.000,4,0.000,0.033,3473,3562,1811,0,0,0,0,0,0
$GC,8053,1.51,293.3,160.8,10.7,327,8063,0.10,2.65,0.00,0.000,6,0.048,0.035,3507,1946,1809,0,0,0,0,0,0
$GC,8316,1.52,297.0,134.1,9.8,352,8332,0.00,2.65,4.25,0.449,4,0.000,0.063,3507,411,1799,0,0,0,0,0,0
$GC,8384,1.52,297.0,127.0,10.9,357,8389,0.00,2.40,0.00,0.000,6,0.000,0.025,3507,1966,1799,0,0,0,0,0,0
$GC,8651,1.53,309.5,103.4,9.3,381,8676,0.00,2.70,12.55,0.571,4,0.000,0.051,3507,407,1747,0,0,0,0,0,0
$GC,8713,1.53,309.5,96.6,12.0,386,8717,0.00,2.40,0.00,0.000,6,0.000,0.018,3507,1945,1746,0,0,0,0,0,0
$GC,8979,1.57,309.5,70.9,10.1,410,8987,0.00,0.00,0.00,0.000,6,0.000,0.000,3507,1945,1746,0,0,0,0,0,0
$GC,9245,1.58,313.9,44.6,9.8,435,9260,0.00,2.60,5.25,0.430,4,0.000,0.049,3508,415,1730,0,0,0,0,0,0
$GC,9289,1.58,313.9,39.2,10.8,438,9299,0.00,2.40,0.00,0.000,6,0.000,0.018,3507,1948,1730,0,0,0,0,0,0
$GC,9604,1.58,316.5,8.8,9.9,478,9613,0.00,0.00,4.35,0.375,6,0.000,0.000,3507,1950,1719,0,0,0,0,0,0
$STATE,9655,end climb,SURFACE_DEPTH_REACHED
$STATE,9655,begin surface coast
$FINISH,0.6,0.975475
$STATE,9710,end surface coast,CONTROL_FINISHED_OK
$STATE,9710,begin surface
$SM_CCo,9732,52.67,0.513,0,0,1459,380.21
$SM_GC,1.33,0.00,0.00,52.67,0.000,0.000,0.513,476,1951,1459,-12.42,-1.67,380.21
$IRIDIUM_FIX,2239.35,-15802.37,220900,212131
$TT8_MAMPS,0.025311
$HUMID,61.93
$INTERNAL_PRESSURE,9.17027
$TCM_TEMP,22.20
$XPDR_PINGS,41
$24V_AH,23.5,51.465
$10V_AH,10.2,45.460
$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,29.400,119.400,382.800,52.675,0.000,29.467,34.169,158.043,10.250,0.000,14.236,997.098,6272.373,513.786,1859.669,503.728,33.363,1214.588,0.000,1866.370,0.000,0.534,0.000
$DEVICE_MAMPS,157.235,104.312,905.827,513.123,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,333.686,272.744,382.696,736.105,1115.097,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355456
$DATA_FILE_SIZE,38439,493
$CAP_FILE_SIZE,103038,0
$CFSIZE,260165632,160649216
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300611,023655,2248.755,-15802.843,40,1.2,40,10.1