version: 66.06
glider: 146
mission: 6
dive: 417
start: 6 30 111 20 12 44
data:
$ID,146
$MISSION,6
$DIVE,417
$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,-278272.28
$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,21
$R_STBD_OVSHOOT,67
$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
$GPS1,200137,2249.569,-15800.563,39,1.5,39,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.7
$GPS2,201150,2249.652,-15800.631,11,1.5,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.221,-0.079
$KALMAN_X,-306222.5,-156.0,-18.5,299846.2,-1090.9
$KALMAN_Y,68753.5,-233.9,266.8,-58136.8,897.4
$MHEAD_RNG_PITCHd_Wd,99.4,6231,-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,16,end surface,CONTROL_FINISHED_OK
$STATE,16,begin dive
$GC,19,-1.38,-116.8,0.0,0.0,0,92,0.00,0.00,-71.07,0.000,2,0.000,0.000,476,1946,3256,0,0,0,0,0,0
$GC,95,-1.38,-116.8,3.5,-5.8,9,121,12.70,2.55,-4.30,0.000,4,0.158,0.054,2863,427,3489,0,0,0,0,0,0
$GC,134,-0.42,-116.8,16.1,-32.5,13,144,0.95,2.45,0.00,0.000,6,0.087,0.022,3077,2013,3490,0,0,0,0,0,0
$GC,450,-0.76,-116.8,36.8,-5.7,52,460,0.25,0.00,0.00,0.000,6,0.044,0.000,2996,2014,3491,0,0,0,0,0,0
$GC,719,-0.92,-116.8,60.1,-9.2,77,724,0.00,2.62,0.00,0.000,4,0.000,0.046,2996,418,3492,0,0,0,0,0,0
$GC,753,-1.07,-116.8,63.6,-9.9,79,758,0.22,2.42,0.00,0.000,6,0.050,0.015,2926,2020,3492,0,0,0,0,0,0
$GC,1021,-1.14,-116.8,95.3,-10.9,103,1026,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2022,3492,0,0,0,0,0,0
$GC,1284,-1.22,-116.8,122.6,-9.2,128,1285,0.00,0.00,0.00,0.000,6,0.000,0.000,2926,2022,3492,0,0,0,0,0,0
$GC,1540,-1.32,-116.8,144.7,-8.2,152,1550,0.17,0.00,0.00,0.000,6,0.060,0.000,2869,2022,3493,0,0,0,0,0,0
$GC,1801,-1.32,-116.8,172.8,-10.5,177,1806,0.00,2.45,0.00,0.000,4,0.000,0.035,2869,3557,3493,0,0,0,0,0,0
$GC,1823,-1.32,-116.8,174.8,-10.8,178,1828,0.00,2.45,0.00,0.000,6,0.000,0.022,2868,1983,3493,0,0,0,0,0,0
$GC,2082,-1.32,-116.8,205.8,-12.0,199,2084,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1983,3494,0,0,0,0,0,0
$GC,2326,-1.32,-116.8,232.4,-10.8,205,2330,0.00,2.50,0.00,0.000,4,0.000,0.035,2869,3557,3494,0,0,0,0,0,0
$GC,2350,-1.36,-116.8,234.8,-10.6,205,2354,0.00,2.42,0.00,0.000,6,0.000,0.029,2868,2000,3494,0,0,0,0,0,0
$GC,2605,-1.41,-116.8,258.1,-8.6,212,2609,0.00,2.47,0.00,0.000,4,0.000,0.029,2869,3549,3494,0,0,0,0,0,0
$GC,2638,-1.47,-116.8,261.0,-8.5,212,2644,0.00,2.42,0.00,0.000,6,0.000,0.023,2868,2001,3494,0,0,0,0,0,0
$GC,2890,-1.53,-116.8,281.7,-8.5,219,2892,0.12,0.00,0.00,0.000,6,0.065,0.000,2814,2001,3494,0,0,0,0,0,0
$GC,3131,-1.53,-116.8,308.0,-11.1,225,3133,0.12,0.00,0.00,0.000,6,0.106,0.000,2841,2001,3494,0,0,0,0,0,0
$GC,3376,-1.53,-116.8,331.8,-9.8,231,3377,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2001,3493,0,0,0,0,0,0
$GC,3621,-1.57,-116.8,354.4,-9.4,237,3622,0.00,0.00,0.00,0.000,6,0.000,0.000,2841,2001,3492,0,0,0,0,0,0
$GC,3863,-1.61,-116.8,378.4,-9.8,243,3868,0.00,2.53,0.00,0.000,4,0.000,0.047,2841,3540,3491,0,0,0,0,0,0
$GC,3908,-1.69,-116.8,383.1,-10.5,244,3913,0.15,2.50,0.00,0.000,6,0.061,0.041,2787,2020,3491,0,0,0,0,0,0
$GC,4188,-1.64,-116.8,414.7,-11.5,251,4193,0.15,2.90,0.00,0.000,4,0.105,0.094,2819,424,3489,0,0,0,0,0,0
$GC,4227,-1.64,-116.8,419.9,-12.4,252,4232,0.00,2.45,0.00,0.000,6,0.000,0.032,2819,1953,3489,0,0,0,0,0,0
$GC,4511,-1.64,-116.8,449.8,-10.4,259,4515,0.00,2.65,0.00,0.000,4,0.000,0.065,2819,3536,3487,0,0,0,0,0,0
$GC,4527,-1.64,-116.8,451.7,-10.2,259,4532,0.00,2.58,0.00,0.000,6,0.000,0.045,2819,1991,3487,0,0,0,0,0,0
$GC,4788,-1.64,-116.8,478.1,-10.0,266,4793,0.00,2.60,0.00,0.000,4,0.000,0.053,2819,3536,3485,0,0,0,0,0,0
$GC,4816,-1.64,-116.8,481.1,-10.2,266,4820,0.00,2.58,0.00,0.000,6,0.000,0.057,2818,2007,3485,0,0,0,0,0,0
$STATE,5023,end dive,TARGET_DEPTH_EXCEEDED
$STATE,5023,begin apogee
$GC,5030,-0.31,0.0,502.7,10.4,271,5131,1.25,0.00,97.50,0.913,6,0.091,0.000,3104,2006,3010,0,0,0,0,0,0
$STATE,5132,end apogee,CONTROL_FINISHED_OK
$STATE,5132,begin climb
$GC,5134,1.38,116.8,505.6,0.0,273,5246,1.58,2.70,99.62,0.901,4,0.047,0.054,3481,3522,2532,0,0,0,0,0,0
$GC,5320,1.28,163.5,503.2,7.3,278,5368,0.12,2.62,40.75,0.874,6,0.134,0.050,3457,1994,2343,0,0,0,0,0,0
$GC,5641,1.21,172.0,474.2,9.6,286,5650,0.00,0.00,7.75,0.739,6,0.000,0.000,3457,1994,2308,0,0,0,0,0,0
$GC,5886,1.14,178.1,450.4,9.7,292,5895,0.15,0.00,6.68,0.709,6,0.123,0.000,3426,1994,2283,0,0,0,0,0,0
$GC,6128,1.17,204.3,429.3,8.5,298,6158,0.00,2.95,24.23,0.839,4,0.000,0.097,3426,402,2177,0,0,0,0,0,0
$GC,6170,1.18,207.7,425.6,9.8,299,6180,0.00,2.53,4.60,0.591,6,0.000,0.029,3426,1952,2163,0,0,0,0,0,0
$GC,6447,1.19,213.9,399.2,9.7,306,6456,0.00,0.00,6.57,0.698,6,0.000,0.000,3426,1953,2138,0,0,0,0,0,0
$GC,6691,1.19,215.6,375.0,9.9,312,6695,0.00,2.70,0.00,0.000,4,0.000,0.067,3426,402,2135,0,0,0,0,0,0
$GC,6736,1.19,215.6,370.1,11.2,313,6740,0.00,2.53,0.00,0.000,6,0.000,0.028,3426,1997,2134,0,0,0,0,0,0
$GC,7013,1.19,215.6,342.0,10.1,320,7014,0.00,0.00,0.00,0.000,6,0.000,0.000,3426,1997,2133,0,0,0,0,0,0
$GC,7257,1.21,230.6,318.9,9.2,326,7278,0.00,2.80,15.70,0.776,4,0.000,0.064,3426,401,2068,0,0,0,0,0,0
$GC,7313,1.21,230.6,313.6,10.3,327,7317,0.00,2.53,0.00,0.000,6,0.000,0.025,3426,1991,2066,0,0,0,0,0,0
$GC,7579,1.28,249.9,289.2,8.9,334,7604,0.12,2.83,18.20,0.757,4,0.081,0.058,3461,399,1990,0,0,0,0,0,0
$GC,7645,1.23,249.9,281.5,13.2,335,7649,0.00,2.53,0.00,0.000,6,0.000,0.023,3461,1985,1988,0,0,0,0,0,0
$GC,7906,1.23,249.9,253.3,10.4,342,7911,0.00,2.72,0.00,0.000,4,0.000,0.057,3461,397,1986,0,0,0,0,0,0
$GC,7933,1.23,249.9,250.4,10.2,342,7938,0.00,2.50,0.00,0.000,6,0.000,0.025,3461,1984,1985,0,0,0,0,0,0
$GC,8183,1.27,282.1,229.2,8.2,348,8217,0.00,2.78,29.08,0.723,4,0.000,0.062,3461,402,1860,0,0,0,0,0,0
$GC,8271,1.27,282.1,221.2,10.7,350,8276,0.00,2.50,0.00,0.000,6,0.000,0.019,3461,1988,1857,0,0,0,0,0,0
$GC,8525,1.31,282.1,195.5,10.4,357,8529,0.00,2.55,0.00,0.000,4,0.000,0.039,3461,3561,1855,0,0,0,0,0,0
$GC,8561,1.38,282.1,191.4,11.6,359,8566,0.00,2.60,0.00,0.000,6,0.000,0.035,3461,1966,1853,0,0,0,0,0,0
$GC,8824,1.48,313.3,166.7,8.2,384,8858,0.15,2.70,27.60,0.662,4,0.068,0.063,3504,411,1731,0,0,0,0,0,0
$GC,8921,1.43,313.3,156.4,11.3,392,8926,0.00,2.45,0.00,0.000,6,0.000,0.025,3504,1986,1729,0,0,0,0,0,0
$GC,9184,1.43,313.3,129.8,10.3,416,9188,0.00,2.65,0.00,0.000,4,0.000,0.053,3504,414,1728,0,0,0,0,0,0
$GC,9231,1.39,313.3,125.0,12.0,419,9236,0.12,2.40,0.00,0.000,6,0.122,0.025,3479,1972,1727,0,0,0,0,0,0
$GC,9496,1.47,328.2,99.8,9.2,443,9521,0.00,2.70,13.90,0.572,4,0.000,0.051,3479,411,1670,0,0,0,0,0,0
$GC,9563,1.51,328.2,92.7,10.2,448,9572,0.08,2.45,0.00,0.000,6,0.049,0.024,3508,1962,1669,0,0,0,0,0,0
$GC,9830,1.53,339.9,68.1,9.4,473,9847,0.00,2.65,11.23,0.531,4,0.000,0.049,3508,417,1623,0,0,0,0,0,0
$GC,9861,1.53,339.9,64.5,10.2,475,9871,0.00,2.42,0.00,0.000,6,0.000,0.018,3508,1959,1622,0,0,0,0,0,0
$GC,10128,1.53,339.9,38.1,10.2,500,10132,0.00,2.60,0.00,0.000,4,0.000,0.049,3508,406,1622,0,0,0,0,0,0
$GC,10172,1.53,339.9,32.9,12.1,503,10176,0.00,2.40,0.00,0.000,6,0.000,0.017,3508,1962,1621,0,0,0,0,0,0
$STATE,10448,end climb,SURFACE_DEPTH_REACHED
$STATE,10448,begin surface coast
$FINISH,0.5,0.975137
$STATE,10497,end surface coast,CONTROL_FINISHED_OK
$STATE,10497,begin surface
$SM_CCo,10519,33.15,0.509,0,0,1460,380.21
$SM_GC,1.29,0.00,0.00,33.15,0.000,0.000,0.509,474,1963,1460,-12.43,-1.33,380.21
$IRIDIUM_FIX,2241.69,-15802.37,230900,171755
$TT8_MAMPS,0.026078
$HUMID,63.93
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.90
$XPDR_PINGS,44
$24V_AH,23.5,52.270
$10V_AH,10.2,46.259
$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,30.700,113.325,403.400,33.150,0.000,23.602,40.444,416.979,11.000,0.000,12.641,1083.766,6731.904,486.377,2075.231,791.154,33.368,1218.126,0.000,2091.251,0.000,0.535,0.000
$DEVICE_MAMPS,158.002,96.642,912.730,509.288,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,372.182,318.557,433.426,865.045,1308.353,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,41661,549
$CAP_FILE_SIZE,111708,0
$CFSIZE,260165632,160260096
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300611,230955,2249.534,-15759.954,36,1.9,36,10.1