version: 66.06
glider: 146
mission: 6
dive: 414
start: 6 30 111 11 17 39
data:
$ID,146
$MISSION,6
$DIVE,414
$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,-278230.19
$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,27
$R_STBD_OVSHOOT,59
$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
$GPS1,110652,2249.939,-15801.653,11,5.9,30,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.28
$_SM_ANGLEo,-72.0
$GPS2,111646,2249.984,-15801.776,11,5.9,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.231,-0.045
$KALMAN_X,-302672.9,292.7,-8.7,293880.4,-1229.1
$KALMAN_Y,66219.0,-183.7,7.8,-54783.5,450.6
$MHEAD_RNG_PITCHd_Wd,90.9,8153,-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,13,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,-70.35,0.000,2,0.000,0.000,476,1952,3220,0,0,0,0,0,0
$GC,91,-1.38,-116.8,3.3,-5.2,9,116,12.60,2.58,-5.10,0.000,4,0.155,0.040,2866,3571,3486,0,0,0,0,0,0
$GC,209,-1.32,-116.8,28.1,-15.1,25,218,0.00,2.53,0.00,0.000,6,0.000,0.025,2866,2002,3488,0,0,0,0,0,0
$GC,475,-1.20,-116.8,70.1,-16.1,50,480,0.20,2.50,0.00,0.000,4,0.114,0.027,2909,3573,3489,0,0,0,0,0,0
$GC,499,-1.13,-116.8,74.1,-16.5,51,503,0.00,2.47,0.00,0.000,6,0.000,0.021,2909,2002,3489,0,0,0,0,0,0
$GC,766,-1.17,-116.8,108.1,-11.9,75,770,0.00,0.00,0.00,0.000,6,0.000,0.000,2909,2002,3489,0,0,0,0,0,0
$GC,1029,-1.23,-116.8,136.1,-9.1,100,1033,0.00,2.47,0.00,0.000,4,0.000,0.035,2909,3567,3490,0,0,0,0,0,0
$GC,1050,-1.30,-116.8,137.9,-9.2,101,1054,0.00,2.40,0.00,0.000,6,0.000,0.026,2909,2025,3490,0,0,0,0,0,0
$GC,1314,-1.38,-116.8,163.4,-9.6,125,1319,0.15,2.47,0.00,0.000,4,0.063,0.035,2858,3568,3491,0,0,0,0,0,0
$GC,1346,-1.38,-116.8,166.9,-12.2,127,1351,0.00,2.42,0.00,0.000,6,0.000,0.021,2858,2025,3491,0,0,0,0,0,0
$GC,1613,-1.38,-116.8,198.2,-11.2,151,1617,0.00,2.65,0.00,0.000,4,0.000,0.060,2857,429,3491,0,0,0,0,0,0
$GC,1674,-1.38,-116.8,206.4,-12.2,153,1678,0.00,2.42,0.00,0.000,6,0.000,0.022,2857,2029,3492,0,0,0,0,0,0
$GC,1934,-1.38,-116.8,232.8,-10.1,160,1938,0.00,2.45,0.00,0.000,4,0.000,0.036,2857,3559,3492,0,0,0,0,0,0
$GC,1980,-1.45,-116.8,237.7,-10.3,161,1985,0.00,2.45,0.00,0.000,6,0.000,0.030,2857,2008,3492,0,0,0,0,0,0
$GC,2258,-1.45,-116.8,264.1,-9.2,168,2260,0.00,0.00,0.00,0.000,6,0.000,0.000,2857,2008,3492,0,0,0,0,0,0
$GC,2502,-1.48,-116.8,287.0,-9.6,174,2507,0.00,2.50,0.00,0.000,4,0.000,0.032,2857,3555,3492,0,0,0,0,0,0
$GC,2537,-1.54,-116.8,290.5,-10.3,174,2543,0.00,2.42,0.00,0.000,6,0.000,0.025,2857,2030,3492,0,0,0,0,0,0
$GC,2787,-1.59,-116.8,316.4,-10.4,181,2789,0.12,0.00,0.00,0.000,6,0.071,0.000,2813,2030,3492,0,0,0,0,0,0
$GC,3031,-1.55,-116.8,342.3,-10.6,187,3033,0.10,0.00,0.00,0.000,6,0.118,0.000,2835,2030,3491,0,0,0,0,0,0
$GC,3275,-1.55,-116.8,362.9,-8.1,193,3279,0.00,2.50,0.00,0.000,4,0.000,0.041,2834,3550,3490,0,0,0,0,0,0
$GC,3298,-1.55,-116.8,364.9,-9.3,193,3302,0.00,2.45,0.00,0.000,6,0.000,0.035,2834,2036,3490,0,0,0,0,0,0
$GC,3552,-1.55,-116.8,391.6,-10.9,200,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,2036,3489,0,0,0,0,0,0
$GC,3796,-1.59,-116.8,418.3,-10.8,206,3801,0.00,2.50,0.00,0.000,4,0.000,0.045,2834,3549,3487,0,0,0,0,0,0
$GC,3826,-1.65,-116.8,421.5,-11.3,206,3830,0.00,2.53,0.00,0.000,6,0.000,0.044,2834,2033,3487,0,0,0,0,0,0
$GC,4075,-1.69,-116.8,447.2,-10.3,212,4077,0.12,0.00,0.00,0.000,6,0.079,0.000,2793,2033,3486,0,0,0,0,0,0
$GC,4319,-1.69,-116.8,474.7,-11.2,218,4320,0.00,0.00,0.00,0.000,6,0.000,0.000,2794,2033,3484,0,0,0,0,0,0
$STATE,4560,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4560,begin apogee
$GC,4568,-0.31,0.0,501.2,10.8,224,4669,1.38,0.00,96.78,0.913,6,0.086,0.000,3103,1993,3010,0,0,0,0,0,0
$STATE,4669,end apogee,CONTROL_FINISHED_OK
$STATE,4670,begin climb
$GC,4672,1.38,116.8,503.6,0.0,226,4776,1.58,0.00,100.15,0.899,6,0.037,0.000,3483,1992,2533,0,0,0,0,0,0
$GC,5007,1.27,145.2,486.0,8.4,235,5038,0.15,2.70,24.25,0.854,4,0.123,0.053,3454,3529,2417,0,0,0,0,0,0
$GC,5055,1.21,178.5,482.1,8.1,236,5091,0.00,2.62,30.73,0.864,6,0.000,0.054,3454,2004,2282,0,0,0,0,0,0
$GC,5371,1.16,179.5,452.1,10.0,244,5373,0.12,0.00,0.00,0.000,6,0.126,0.000,3429,2004,2275,0,0,0,0,0,0
$GC,5615,1.18,198.2,430.2,9.0,250,5634,0.00,0.00,17.62,0.825,6,0.000,0.000,3429,2004,2201,0,0,0,0,0,0
$GC,5857,1.19,206.8,407.3,9.5,256,5867,0.00,0.00,8.38,0.744,6,0.000,0.000,3429,2004,2167,0,0,0,0,0,0
$GC,6100,1.21,224.0,385.0,9.0,262,6119,0.00,0.00,16.95,0.806,6,0.000,0.000,3429,2004,2096,0,0,0,0,0,0
$GC,6346,1.22,234.0,362.2,9.5,268,6357,0.00,0.00,9.68,0.744,6,0.000,0.000,3429,2004,2056,0,0,0,0,0,0
$GC,6588,1.24,247.3,339.8,9.3,274,6603,0.00,0.00,13.52,0.766,6,0.000,0.000,3429,2004,2001,0,0,0,0,0,0
$GC,6832,1.25,256.8,317.0,9.5,280,6847,0.00,2.85,10.00,0.724,4,0.000,0.074,3429,406,1961,0,0,0,0,0,0
$GC,6921,1.25,256.8,307.4,11.0,282,6926,0.00,2.50,0.00,0.000,6,0.000,0.025,3429,1978,1959,0,0,0,0,0,0
$GC,7199,1.32,260.1,280.1,9.8,289,7206,0.15,0.00,3.92,0.506,6,0.077,0.000,3469,1979,1948,0,0,0,0,0,0
$GC,7443,1.32,260.1,253.7,10.9,295,7445,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,1979,1947,0,0,0,0,0,0
$GC,7686,1.32,263.7,229.5,9.8,301,7696,0.00,2.72,4.60,0.538,4,0.000,0.062,3469,401,1933,0,0,0,0,0,0
$GC,7751,1.32,263.7,222.5,10.7,302,7756,0.00,2.53,0.00,0.000,6,0.000,0.025,3469,2005,1932,0,0,0,0,0,0
$GC,8014,1.34,277.0,198.0,9.3,309,8033,0.00,2.55,13.55,0.671,4,0.000,0.037,3469,3554,1878,0,0,0,0,0,0
$GC,8040,1.36,292.0,195.4,9.2,310,8060,0.00,2.58,14.65,0.661,6,0.000,0.028,3469,1979,1818,0,0,0,0,0,0
$GC,8318,1.41,303.3,168.6,9.4,336,8335,0.00,2.75,10.88,0.626,4,0.000,0.064,3469,412,1772,0,0,0,0,0,0
$GC,8412,1.41,303.3,158.2,11.4,344,8417,0.00,2.50,0.00,0.000,6,0.000,0.018,3469,2009,1769,0,0,0,0,0,0
$GC,8677,1.48,316.0,132.4,9.3,368,8693,0.12,0.00,12.35,0.601,6,0.085,0.000,3504,2010,1721,0,0,0,0,0,0
$GC,8948,1.48,316.0,103.1,10.2,394,8952,0.00,2.67,0.00,0.000,4,0.000,0.050,3505,415,1719,0,0,0,0,0,0
$GC,8993,1.48,316.0,98.3,10.7,397,8999,0.00,2.45,0.00,0.000,6,0.000,0.017,3505,1998,1718,0,0,0,0,0,0
$GC,9262,1.50,335.8,74.4,8.9,422,9290,0.00,2.75,18.00,0.563,4,0.000,0.051,3505,410,1640,0,0,0,0,0,0
$GC,9345,1.50,335.8,65.5,11.5,428,9349,0.00,2.45,0.00,0.000,6,0.000,0.017,3504,1989,1639,0,0,0,0,0,0
$GC,9613,1.50,335.8,37.6,10.3,452,9617,0.00,2.65,0.00,0.000,4,0.000,0.049,3504,410,1639,0,0,0,0,0,0
$GC,9669,1.50,335.8,30.9,11.2,456,9674,0.00,2.40,0.00,0.000,6,0.000,0.017,3505,1974,1638,0,0,0,0,0,0
$STATE,9916,end climb,SURFACE_DEPTH_REACHED
$STATE,9916,begin surface coast
$FINISH,0.6,0.980055
$STATE,9959,end surface coast,CONTROL_FINISHED_OK
$STATE,9959,begin surface
$SM_CCo,9980,36.75,0.512,0,0,1460,380.21
$SM_GC,1.44,0.00,0.00,36.75,0.000,0.000,0.512,474,1976,1460,-12.42,-0.96,380.21
$IRIDIUM_FIX,2244.02,-15801.49,230900,111145
$TT8_MAMPS,0.026078
$HUMID,63.93
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.90
$XPDR_PINGS,33
$24V_AH,23.5,51.912
$10V_AH,10.2,45.905
$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,29.100,86.475,406.000,36.750,0.000,57.492,67.412,248.592,8.250,0.000,33.136,975.464,6721.837,503.752,1759.355,651.881,33.366,1108.745,0.000,1752.624,0.000,0.536,0.000
$DEVICE_MAMPS,154.934,157.235,913.497,511.589,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,337.404,282.298,380.713,720.805,1090.911,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355432
$DATA_FILE_SIZE,38330,498
$CAP_FILE_SIZE,98231,0
$CFSIZE,260165632,160440320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300611,140555,2249.941,-15801.127,38,1.3,38,10.1