version: 66.06
glider: 146
mission: 6
dive: 273
start: 6 13 111 6 29 1
data:
$ID,146
$MISSION,6
$DIVE,273
$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,-274574.34
$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,3160
$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,1830
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,39
$R_STBD_OVSHOOT,70
$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
$GPS1,062125,2248.512,-15757.959,24,1.4,41,10.1
$_CALLS,1
$_XMS_NAKs,9
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-70.4
$GPS2,062807,2248.553,-15758.012,10,1.3,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.092,-0.216
$KALMAN_X,-116886.6,-105.3,-207.1,115129.2,-633.2
$KALMAN_Y,-63582.7,201.4,368.9,71626.1,-168.6
$MHEAD_RNG_PITCHd_Wd,146.7,2899,-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,16,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-71.00,0.000,2,0.000,0.000,474,1816,3282,0,0,0,0,0,0
$GC,94,-1.38,-116.8,4.0,-7.8,9,120,11.95,2.65,-3.67,0.000,4,0.133,0.062,2853,266,3490,0,0,0,0,0,0
$GC,157,-1.18,-116.8,24.4,-22.2,17,167,0.17,2.40,0.00,0.000,6,0.190,0.015,2895,1835,3492,0,0,0,0,0,0
$GC,438,-1.18,-116.8,65.8,-13.3,44,447,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1836,3493,0,0,0,0,0,0
$GC,702,-1.18,-116.8,101.3,-11.5,69,707,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1836,3494,0,0,0,0,0,0
$GC,963,-1.18,-116.8,134.2,-10.9,94,964,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1836,3494,0,0,0,0,0,0
$GC,1224,-1.23,-116.8,160.5,-10.2,118,1228,0.00,2.42,0.00,0.000,4,0.000,0.028,2895,3378,3494,0,0,0,0,0,0
$GC,1276,-1.33,-116.8,165.9,-8.7,122,1281,0.10,2.42,0.00,0.000,6,0.079,0.032,2847,1837,3495,0,0,0,0,0,0
$GC,1537,-1.33,-116.8,197.0,-12.0,146,1538,0.10,0.00,0.00,0.000,6,0.121,0.000,2870,1837,3496,0,0,0,0,0,0
$GC,1812,-1.33,-116.8,227.9,-11.2,155,1813,0.00,0.00,0.00,0.000,6,0.000,0.000,2870,1837,3496,0,0,0,0,0,0
$GC,2058,-1.39,-116.8,251.1,-9.1,161,2062,0.00,2.45,0.00,0.000,4,0.000,0.032,2870,3383,3496,0,0,0,0,0,0
$GC,2108,-1.49,-116.8,255.9,-8.9,162,2113,0.15,2.47,0.00,0.000,6,0.062,0.034,2816,1829,3496,0,0,0,0,0,0
$GC,2380,-1.49,-116.8,286.1,-11.2,169,2384,0.00,2.45,0.00,0.000,4,0.000,0.035,2816,3381,3496,0,0,0,0,0,0
$GC,2402,-1.49,-116.8,288.6,-11.2,169,2407,0.00,2.50,0.00,0.000,6,0.000,0.031,2816,1830,3496,0,0,0,0,0,0
$GC,2658,-1.49,-116.8,319.3,-12.0,176,2659,0.10,0.00,0.00,0.000,6,0.116,0.000,2838,1831,3496,0,0,0,0,0,0
$GC,2902,-1.49,-116.8,343.5,-9.6,182,2903,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1831,3495,0,0,0,0,0,0
$GC,3147,-1.52,-116.8,365.7,-9.1,188,3148,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1831,3495,0,0,0,0,0,0
$GC,3389,-1.57,-116.8,390.1,-10.2,194,3390,0.00,0.00,0.00,0.000,6,0.000,0.000,2838,1831,3493,0,0,0,0,0,0
$GC,3633,-1.62,-116.8,418.1,-11.8,200,3638,0.12,2.55,0.00,0.000,4,0.072,0.053,2796,3370,3492,0,0,0,0,0,0
$GC,3677,-1.62,-116.8,424.1,-13.6,201,3681,0.00,2.60,0.00,0.000,6,0.000,0.053,2796,1840,3491,0,0,0,0,0,0
$GC,3956,-1.62,-116.8,457.8,-11.8,208,3957,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1840,3489,0,0,0,0,0,0
$GC,4198,-1.62,-116.8,484.6,-11.0,214,4203,0.00,3.03,0.00,0.000,4,0.000,0.117,2796,246,3488,0,0,0,0,0,0
$GC,4242,-1.55,-116.8,489.7,-11.5,215,4247,0.12,2.53,0.00,0.000,6,0.114,0.038,2822,1790,3487,0,0,0,0,0,0
$STATE,4355,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4355,begin apogee
$GC,4362,-0.31,0.0,501.0,9.6,218,4464,1.17,0.00,97.68,0.917,6,0.074,0.000,3091,2006,3010,0,0,0,0,0,0
$STATE,4464,end apogee,CONTROL_FINISHED_OK
$STATE,4465,begin climb
$GC,4467,1.38,116.8,503.2,0.0,220,4579,1.55,2.75,99.35,0.893,4,0.042,0.064,3464,3569,2531,0,0,0,0,0,0
$GC,4602,1.33,187.2,500.4,6.0,223,4669,0.00,2.70,60.88,0.878,6,0.000,0.047,3464,1992,2246,0,0,0,0,0,0
$GC,4914,1.25,187.2,466.9,11.2,230,4920,0.15,3.03,0.00,0.000,4,0.123,0.110,3434,406,2236,0,0,0,0,0,0
$GC,4937,1.16,187.2,464.2,10.7,230,4941,0.00,2.58,0.00,0.000,6,0.000,0.036,3434,1983,2235,0,0,0,0,0,0
$GC,5193,1.19,212.3,441.6,8.6,237,5217,0.00,0.00,21.58,0.841,6,0.000,0.000,3434,1982,2144,0,0,0,0,0,0
$GC,5437,1.22,232.7,420.3,8.9,243,5461,0.00,2.88,18.90,0.826,4,0.000,0.072,3434,410,2060,0,0,0,0,0,0
$GC,5472,1.22,235.6,416.5,9.9,243,5482,0.00,2.60,4.30,0.565,6,0.000,0.025,3434,1997,2048,0,0,0,0,0,0
$GC,5766,1.22,236.9,387.3,10.0,251,5771,0.00,2.65,0.00,0.000,4,0.000,0.046,3433,3588,2044,0,0,0,0,0,0
$GC,5823,1.22,236.9,381.4,10.8,252,5828,0.00,2.67,0.00,0.000,6,0.000,0.044,3434,1990,2042,0,0,0,0,0,0
$GC,6089,1.22,236.9,353.4,10.9,259,6090,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1990,2042,0,0,0,0,0,0
$GC,6333,1.22,236.9,326.9,10.8,265,6337,0.00,2.62,0.00,0.000,4,0.000,0.036,3434,3589,2040,0,0,0,0,0,0
$GC,6366,1.22,236.9,323.2,11.1,265,6372,0.00,2.62,0.00,0.000,6,0.000,0.040,3434,1994,2039,0,0,0,0,0,0
$GC,6616,1.22,236.9,296.6,10.7,272,6617,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1994,2039,0,0,0,0,0,0
$GC,6860,1.23,239.9,271.9,9.9,278,6864,0.00,2.75,0.00,0.000,4,0.000,0.073,3434,410,2038,0,0,0,0,0,0
$GC,6921,1.23,239.9,265.5,10.4,279,6926,0.00,2.55,0.00,0.000,6,0.000,0.021,3434,2023,2037,0,0,0,0,0,0
$GC,7183,1.30,271.6,243.5,8.2,286,7223,0.00,2.62,31.40,0.746,4,0.000,0.038,3434,3560,1900,0,0,0,0,0,0
$GC,7271,1.38,271.6,235.5,10.4,288,7276,0.12,2.58,0.00,0.000,6,0.079,0.031,3470,1996,1898,0,0,0,0,0,0
$GC,7556,1.38,271.6,203.2,11.5,295,7560,0.00,2.55,0.00,0.000,4,0.000,0.033,3469,3559,1896,0,0,0,0,0,0
$GC,7606,1.38,271.6,197.0,12.5,297,7610,0.00,2.55,0.00,0.000,6,0.000,0.033,3469,1999,1894,0,0,0,0,0,0
$GC,7870,1.38,271.6,168.9,10.1,321,7874,0.00,2.70,0.00,0.000,4,0.000,0.066,3469,417,1894,0,0,0,0,0,0
$GC,7914,1.38,271.6,163.3,11.6,324,7923,0.00,2.50,0.00,0.000,6,0.000,0.020,3469,2006,1893,0,0,0,0,0,0
$GC,8182,1.38,271.6,137.7,10.5,349,8187,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,2008,1893,0,0,0,0,0,0
$GC,8443,1.43,271.6,110.3,10.4,374,8447,0.00,2.50,0.00,0.000,4,0.000,0.038,3470,3563,1893,0,0,0,0,0,0
$GC,8465,1.47,271.6,108.4,10.6,375,8470,0.00,2.55,0.00,0.000,6,0.000,0.031,3469,1982,1892,0,0,0,0,0,0
$GC,8733,1.55,294.4,83.7,8.7,399,8759,0.12,0.00,19.60,0.586,6,0.076,0.000,3507,1983,1808,0,0,0,0,0,0
$GC,9019,1.55,294.4,52.1,11.2,426,9023,0.00,2.55,0.00,0.000,4,0.000,0.034,3507,3562,1806,0,0,0,0,0,0
$GC,9067,1.55,294.4,46.7,10.1,429,9077,0.00,2.55,0.00,0.000,6,0.000,0.028,3507,1996,1805,0,0,0,0,0,0
$GC,9357,1.55,294.4,16.6,11.4,463,9366,0.00,0.00,0.00,0.000,6,0.000,0.000,3508,1996,1805,0,0,0,0,0,0
$STATE,9477,end climb,SURFACE_DEPTH_REACHED
$STATE,9477,begin surface coast
$FINISH,0.4,0.975319
$STATE,9536,end surface coast,CONTROL_FINISHED_OK
$STATE,9536,begin surface
$SM_CCo,9559,69.85,0.521,0,0,1460,380.21
$SM_GC,1.17,0.00,0.00,69.85,0.000,0.000,0.521,473,1811,1460,-12.36,-0.54,380.21
$IRIDIUM_FIX,2241.69,-15658.52,060900,030322
$TT8_MAMPS,0.026078
$HUMID,60.63
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.80
$XPDR_PINGS,33
$24V_AH,23.5,34.538
$10V_AH,10.4,30.038
$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,28.200,89.150,353.675,69.850,0.000,27.135,36.035,204.280,8.250,0.000,18.776,956.906,6269.552,482.650,1792.789,531.694,33.359,1126.758,0.000,1796.708,0.000,0.534,0.000
$DEVICE_MAMPS,190.216,117.351,916.565,520.793,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,330.845,277.171,379.652,726.877,1094.497,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,38393,488
$CAP_FILE_SIZE,93884,0
$CFSIZE,260165632,167968768
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130611,091100,2247.194,-15758.043,45,1.1,49,10.1