version: 66.06
glider: 146
mission: 6
dive: 277
start: 6 13 111 17 43 33
data:
$ID,146
$MISSION,6
$DIVE,277
$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,-274681.56
$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,63
$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
$GPS1,173336,2248.477,-15802.675,12,1.4,27,10.1
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-68.3
$GPS2,174239,2248.525,-15802.723,13,99.0,32,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.072,0.224
$KALMAN_X,-122004.1,-3.6,-155.5,112042.1,-1145.8
$KALMAN_Y,-63408.6,-303.6,334.0,71937.4,236.1
$MHEAD_RNG_PITCHd_Wd,7.8,2772,-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,17,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-69.80,0.000,2,0.000,0.000,479,1794,3211,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.2,-5.7,9,118,11.95,2.58,-5.28,0.000,4,0.135,0.034,2849,3396,3488,0,0,0,0,0,0
$GC,236,-1.31,-116.8,37.1,-18.9,27,245,0.08,2.47,0.00,0.000,6,0.084,0.028,2871,1867,3489,0,0,0,0,0,0
$GC,498,-1.24,-116.8,81.7,-15.2,52,502,0.00,2.40,0.00,0.000,4,0.000,0.025,2871,3399,3490,0,0,0,0,0,0
$GC,521,-1.19,-116.8,85.4,-14.1,53,527,0.12,2.50,0.00,0.000,6,0.107,0.025,2900,1835,3490,0,0,0,0,0,0
$GC,784,-1.19,-116.8,113.3,-9.7,78,789,0.00,2.67,0.00,0.000,4,0.000,0.065,2899,258,3491,0,0,0,0,0,0
$GC,836,-1.19,-116.8,119.3,-11.4,82,841,0.00,2.42,0.00,0.000,6,0.000,0.015,2899,1857,3491,0,0,0,0,0,0
$GC,1101,-1.25,-116.8,148.2,-11.0,106,1105,0.00,2.38,0.00,0.000,4,0.000,0.028,2900,3375,3492,0,0,0,0,0,0
$GC,1177,-1.36,-116.8,157.4,-11.4,112,1184,0.12,2.40,0.00,0.000,6,0.035,0.031,2844,1839,3492,0,0,0,0,0,0
$GC,1440,-1.36,-116.8,192.0,-12.3,137,1445,0.00,2.40,0.00,0.000,4,0.000,0.028,2844,3378,3492,0,0,0,0,0,0
$GC,1485,-1.36,-116.8,198.2,-11.8,140,1491,0.00,2.42,0.00,0.000,6,0.000,0.030,2843,1836,3492,0,0,0,0,0,0
$GC,1746,-1.36,-116.8,229.0,-11.7,148,1750,0.00,2.42,0.00,0.000,4,0.000,0.029,2843,3374,3492,0,0,0,0,0,0
$GC,1780,-1.36,-116.8,232.7,-10.6,148,1785,0.00,2.40,0.00,0.000,6,0.000,0.026,2843,1853,3493,0,0,0,0,0,0
$GC,2029,-1.36,-116.8,260.3,-11.2,155,2034,0.00,2.40,0.00,0.000,4,0.000,0.027,2843,3379,3493,0,0,0,0,0,0
$GC,2045,-1.36,-116.8,262.2,-11.3,155,2049,0.00,2.40,0.00,0.000,6,0.000,0.033,2843,1863,3493,0,0,0,0,0,0
$GC,2314,-1.36,-116.8,291.4,-10.8,162,2318,0.00,2.42,0.00,0.000,4,0.000,0.032,2843,3372,3493,0,0,0,0,0,0
$GC,2363,-1.42,-116.8,296.9,-10.9,163,2367,0.00,2.42,0.00,0.000,6,0.000,0.036,2843,1873,3493,0,0,0,0,0,0
$GC,2635,-1.42,-116.8,323.5,-9.4,170,2636,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1873,3492,0,0,0,0,0,0
$GC,2880,-1.42,-116.8,344.2,-8.1,176,2881,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1873,3491,0,0,0,0,0,0
$GC,3123,-1.47,-116.8,362.8,-7.6,182,3124,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1873,3490,0,0,0,0,0,0
$GC,3366,-1.51,-116.8,386.1,-10.2,188,3367,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1873,3489,0,0,0,0,0,0
$GC,3610,-1.56,-116.8,413.6,-11.4,194,3615,0.10,2.47,0.00,0.000,4,0.090,0.048,2807,3373,3488,0,0,0,0,0,0
$GC,3633,-1.56,-116.8,416.5,-12.7,194,3637,0.00,2.50,0.00,0.000,6,0.000,0.053,2807,1876,3487,0,0,0,0,0,0
$GC,3888,-1.56,-116.8,447.6,-12.1,201,3892,0.00,2.45,0.00,0.000,4,0.000,0.043,2807,3364,3486,0,0,0,0,0,0
$GC,3931,-1.56,-116.8,452.6,-10.4,202,3936,0.00,2.47,0.00,0.000,6,0.000,0.054,2807,1888,3485,0,0,0,0,0,0
$GC,4211,-1.56,-116.8,480.4,-9.8,209,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2807,1888,3484,0,0,0,0,0,0
$STATE,4410,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4410,begin apogee
$GC,4417,-0.31,0.0,501.3,10.3,214,4518,1.25,0.00,97.43,0.914,6,0.078,0.000,3089,1967,3010,0,0,0,0,0,0
$STATE,4518,end apogee,CONTROL_FINISHED_OK
$STATE,4519,begin climb
$GC,4521,1.38,116.8,503.6,0.0,216,4626,1.58,0.00,100.53,0.894,6,0.052,0.000,3465,1967,2533,0,0,0,0,0,0
$GC,4859,1.31,151.9,486.8,8.0,225,4891,0.00,0.00,30.60,0.865,6,0.000,0.000,3465,1967,2390,0,0,0,0,0,0
$GC,5101,1.22,151.9,463.0,10.2,231,5106,0.20,2.70,0.00,0.000,4,0.120,0.046,3425,3558,2382,0,0,0,0,0,0
$GC,5128,1.24,170.6,460.3,9.0,231,5152,0.00,2.67,17.05,0.831,6,0.000,0.052,3425,1989,2314,0,0,0,0,0,0
$GC,5428,1.26,182.9,432.4,9.3,239,5447,0.00,3.03,11.85,0.795,4,0.000,0.097,3424,403,2262,0,0,0,0,0,0
$GC,5459,1.24,202.3,429.3,8.9,239,5483,0.00,2.55,18.70,0.821,6,0.000,0.025,3424,1976,2184,0,0,0,0,0,0
$GC,5759,1.24,207.8,400.7,9.7,247,5770,0.00,2.70,5.47,0.653,4,0.000,0.049,3424,3578,2162,0,0,0,0,0,0
$GC,5839,1.24,207.8,392.1,11.2,248,5844,0.00,2.65,0.00,0.000,6,0.000,0.047,3424,1991,2160,0,0,0,0,0,0
$GC,6090,1.25,212.4,367.3,9.8,255,6100,0.00,2.62,5.22,0.632,4,0.000,0.041,3424,3580,2143,0,0,0,0,0,0
$GC,6129,1.25,212.4,363.0,10.9,256,6134,0.00,2.65,0.00,0.000,6,0.000,0.044,3424,1996,2142,0,0,0,0,0,0
$GC,6412,1.27,225.8,335.7,9.3,263,6431,0.00,2.88,13.32,0.772,4,0.000,0.074,3425,410,2088,0,0,0,0,0,0
$GC,6483,1.27,225.8,328.2,11.0,264,6488,0.00,2.55,0.00,0.000,6,0.000,0.021,3424,2016,2086,0,0,0,0,0,0
$GC,6739,1.29,244.3,305.0,9.0,271,6758,0.00,0.00,17.50,0.769,6,0.000,0.000,3424,2016,2014,0,0,0,0,0,0
$GC,6983,1.34,249.4,281.6,9.7,277,6995,0.12,2.75,5.82,0.622,4,0.080,0.061,3460,410,1991,0,0,0,0,0,0
$GC,7041,1.29,249.4,274.5,12.8,278,7046,0.00,2.55,0.00,0.000,6,0.000,0.021,3460,2013,1991,0,0,0,0,0,0
$GC,7307,1.29,249.4,245.3,11.0,285,7311,0.00,2.53,0.00,0.000,4,0.000,0.041,3460,3563,1990,0,0,0,0,0,0
$GC,7364,1.29,249.4,238.2,12.7,286,7369,0.00,2.55,0.00,0.000,6,0.000,0.031,3460,2004,1988,0,0,0,0,0,0
$GC,7630,1.29,249.4,209.0,10.5,293,7635,0.00,2.70,0.00,0.000,4,0.000,0.063,3460,415,1988,0,0,0,0,0,0
$GC,7646,1.29,249.4,207.2,10.3,293,7650,0.00,2.53,0.00,0.000,6,0.000,0.025,3460,2026,1987,0,0,0,0,0,0
$GC,7905,1.30,259.6,183.0,9.5,311,7916,0.00,0.00,9.80,0.637,6,0.000,0.000,3460,2026,1951,0,0,0,0,0,0
$GC,8169,1.30,259.6,155.4,11.4,336,8173,0.00,2.47,0.00,0.000,4,0.000,0.040,3460,3554,1949,0,0,0,0,0,0
$GC,8192,1.30,259.6,153.4,11.3,337,8196,0.00,2.50,0.00,0.000,6,0.000,0.035,3460,2018,1947,0,0,0,0,0,0
$GC,8459,1.40,307.9,129.1,7.2,361,8507,0.00,2.53,42.60,0.641,4,0.000,0.037,3460,3552,1754,0,0,0,0,0,0
$GC,8561,1.48,307.9,119.6,11.7,369,8566,0.00,2.47,0.00,0.000,6,0.000,0.034,3460,2031,1751,0,0,0,0,0,0
$GC,8828,1.56,320.7,93.5,9.3,393,8854,0.17,2.83,11.95,0.564,4,0.065,0.058,3508,414,1700,0,0,0,0,0,0
$GC,8980,1.56,320.7,74.8,11.7,405,8984,0.00,2.47,0.00,0.000,6,0.000,0.018,3508,2017,1698,0,0,0,0,0,0
$GC,9246,1.56,320.7,46.7,11.0,429,9250,0.00,2.67,0.00,0.000,4,0.000,0.050,3508,413,1698,0,0,0,0,0,0
$GC,9292,1.56,320.7,41.0,13.1,432,9296,0.00,2.45,0.00,0.000,6,0.000,0.018,3508,2015,1698,0,0,0,0,0,0
$GC,9599,1.56,320.7,6.3,11.8,472,9608,0.00,2.70,0.00,0.000,4,0.000,0.050,3508,417,1698,0,0,0,0,0,0
$STATE,9616,end climb,SURFACE_DEPTH_REACHED
$STATE,9616,begin surface coast
$FINISH,2.6,0.980055
$STATE,9624,end surface coast,CONTROL_FINISHED_OK
$STATE,9624,begin surface
$SM_CCo,9650,48.20,0.522,0,0,1459,380.21
$SM_GC,1.07,0.00,0.00,48.20,0.000,0.000,0.522,476,1839,1459,-12.35,0.25,380.21
$IRIDIUM_FIX,2237.01,-15802.37,060900,141437
$TT8_MAMPS,0.026078
$HUMID,61.14
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.60
$XPDR_PINGS,43
$24V_AH,23.5,34.994
$10V_AH,10.3,30.466
$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,28.050,117.025,387.850,48.200,0.000,28.651,35.120,324.359,10.750,0.000,34.798,959.673,6352.888,522.305,1744.624,664.833,33.370,1163.978,0.000,1730.823,0.000,0.535,0.000
$DEVICE_MAMPS,134.992,187.148,914.264,521.560,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,321.675,266.938,360.127,667.798,1009.957,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355676
$DATA_FILE_SIZE,38415,475
$CAP_FILE_SIZE,100656,0
$CFSIZE,260165632,167751680
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130611,202637,2250.050,-15802.993,45,1.9,45,10.1