version: 66.06
glider: 146
mission: 6
dive: 279
start: 6 13 111 23 14 42
data:
$ID,146
$MISSION,6
$DIVE,279
$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,-274735.75
$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,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
$GPS1,230743,2250.123,-15802.073,13,1.5,18,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-69.7
$GPS2,231349,2250.115,-15802.158,15,1.5,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.234,-0.018
$KALMAN_X,-124338.8,-51.5,133.8,115097.2,-1171.6
$KALMAN_Y,-62733.5,119.4,-129.9,74247.7,156.0
$MHEAD_RNG_PITCHd_Wd,84.4,8807,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-78.47,0.000,2,0.000,0.000,476,1819,3483,0,0,0,0,0,0
$GC,101,-1.38,-116.8,4.7,-9.6,10,118,12.05,0.00,0.00,0.000,6,0.139,0.000,2850,1819,3485,0,0,0,0,0,0
$GC,397,-1.27,-116.8,69.0,-17.6,41,402,0.15,2.50,0.00,0.000,4,0.110,0.025,2883,3399,3488,0,0,0,0,0,0
$GC,432,-1.27,-116.8,75.4,-13.1,43,441,0.00,2.53,0.00,0.000,6,0.000,0.028,2882,1836,3488,0,0,0,0,0,0
$GC,695,-1.27,-116.8,110.6,-13.5,68,699,0.00,2.65,0.00,0.000,4,0.000,0.063,2883,257,3489,0,0,0,0,0,0
$GC,762,-1.27,-116.8,119.3,-13.1,73,766,0.00,2.38,0.00,0.000,6,0.000,0.015,2883,1845,3489,0,0,0,0,0,0
$GC,1029,-1.27,-116.8,151.5,-10.9,97,1033,0.00,2.38,0.00,0.000,4,0.000,0.024,2883,3375,3490,0,0,0,0,0,0
$GC,1093,-1.33,-116.8,158.8,-9.9,102,1098,0.00,2.45,0.00,0.000,6,0.000,0.031,2883,1819,3490,0,0,0,0,0,0
$GC,1358,-1.37,-116.8,186.2,-9.8,126,1362,0.00,2.47,0.00,0.000,4,0.000,0.033,2883,3371,3491,0,0,0,0,0,0
$GC,1403,-1.46,-116.8,190.8,-9.0,129,1412,0.12,2.45,0.00,0.000,6,0.035,0.031,2831,1842,3491,0,0,0,0,0,0
$GC,1686,-1.41,-116.8,227.4,-13.5,142,1691,0.10,2.42,0.00,0.000,4,0.122,0.031,2852,3378,3491,0,0,0,0,0,0
$GC,1754,-1.46,-116.8,235.3,-11.3,143,1759,0.00,2.42,0.00,0.000,6,0.000,0.028,2852,1842,3492,0,0,0,0,0,0
$GC,2010,-1.46,-116.8,262.3,-10.6,150,2011,0.00,0.00,0.00,0.000,6,0.000,0.000,2852,1842,3492,0,0,0,0,0,0
$GC,2255,-1.50,-116.8,288.5,-10.6,156,2259,0.00,2.45,0.00,0.000,4,0.000,0.031,2852,3374,3492,0,0,0,0,0,0
$GC,2316,-1.58,-116.8,295.3,-10.5,157,2321,0.15,2.47,0.00,0.000,6,0.065,0.038,2799,1844,3492,0,0,0,0,0,0
$GC,2577,-1.52,-116.8,329.3,-13.5,164,2579,0.12,0.00,0.00,0.000,6,0.110,0.000,2826,1844,3492,0,0,0,0,0,0
$GC,2822,-1.52,-116.8,357.4,-11.1,170,2823,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1844,3491,0,0,0,0,0,0
$GC,3064,-1.52,-116.8,382.0,-9.9,176,3065,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1845,3490,0,0,0,0,0,0
$GC,3308,-1.52,-116.8,404.2,-8.7,182,3309,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1844,3489,0,0,0,0,0,0
$GC,3552,-1.52,-116.8,426.0,-9.0,188,3553,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1844,3488,0,0,0,0,0,0
$GC,3796,-1.52,-116.8,450.3,-10.1,194,3801,0.00,2.53,0.00,0.000,4,0.000,0.051,2825,3364,3486,0,0,0,0,0,0
$GC,3897,-1.58,-116.8,461.0,-10.2,196,3901,0.00,2.55,0.00,0.000,6,0.000,0.056,2826,1856,3485,0,0,0,0,0,0
$GC,4162,-1.58,-116.8,488.0,-10.3,203,4167,0.00,2.47,0.00,0.000,4,0.000,0.055,2826,3356,3483,0,0,0,0,0,0
$GC,4208,-1.64,-116.8,493.1,-11.6,204,4214,0.10,2.58,0.00,0.000,6,0.087,0.064,2791,1857,3483,0,0,0,0,0,0
$STATE,4280,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4281,begin apogee
$GC,4287,-0.31,0.0,502.1,11.9,206,4388,1.33,0.00,97.00,0.914,6,0.082,0.000,3088,1962,3010,0,0,0,0,0,0
$STATE,4388,end apogee,CONTROL_FINISHED_OK
$STATE,4388,begin climb
$GC,4392,1.38,116.8,505.0,0.0,208,4502,1.58,2.85,99.65,0.891,4,0.051,0.063,3466,3552,2532,0,0,0,0,0,0
$GC,4549,1.30,163.0,502.6,7.4,212,4596,0.10,2.70,40.30,0.868,6,0.137,0.050,3446,1988,2345,0,0,0,0,0,0
$GC,4852,1.27,188.2,477.1,8.6,220,4876,0.00,0.00,22.60,0.844,6,0.000,0.000,3446,1989,2242,0,0,0,0,0,0
$GC,5096,1.26,212.7,455.6,8.6,226,5125,0.00,2.75,22.15,0.839,4,0.000,0.050,3446,3563,2142,0,0,0,0,0,0
$GC,5184,1.22,212.7,447.4,10.2,228,5189,0.00,2.67,0.00,0.000,6,0.000,0.048,3446,1993,2140,0,0,0,0,0,0
$GC,5468,1.22,212.7,416.6,11.6,235,5472,0.00,2.60,0.00,0.000,4,0.000,0.045,3445,3562,2136,0,0,0,0,0,0
$GC,5518,1.22,212.7,410.6,11.8,236,5523,0.00,2.65,0.00,0.000,6,0.000,0.049,3446,1994,2135,0,0,0,0,0,0
$GC,5791,1.22,212.7,378.8,11.7,243,5792,0.00,0.00,0.00,0.000,6,0.000,0.000,3446,1995,2134,0,0,0,0,0,0
$GC,6033,1.22,212.7,349.4,12.0,249,6038,0.00,2.78,0.00,0.000,4,0.000,0.078,3446,407,2133,0,0,0,0,0,0
$GC,6060,1.15,212.7,346.1,12.6,249,6066,0.17,2.53,0.00,0.000,6,0.115,0.026,3410,2001,2131,0,0,0,0,0,0
$GC,6312,1.23,230.8,322.4,9.0,255,6329,0.00,0.00,15.57,0.769,6,0.000,0.000,3410,2001,2069,0,0,0,0,0,0
$GC,6555,1.34,259.0,301.5,8.4,261,6589,0.17,2.85,26.30,0.774,4,0.068,0.062,3456,406,1953,0,0,0,0,0,0
$GC,6650,1.30,259.0,292.4,12.1,263,6654,0.00,2.55,0.00,0.000,6,0.000,0.020,3456,2005,1951,0,0,0,0,0,0
$GC,6927,1.30,259.0,264.4,10.4,270,6931,0.00,2.53,0.00,0.000,4,0.000,0.041,3456,3560,1949,0,0,0,0,0,0
$GC,6953,1.30,259.0,261.5,11.1,270,6958,0.00,2.60,0.00,0.000,6,0.000,0.033,3456,1976,1947,0,0,0,0,0,0
$GC,7205,1.30,259.0,235.2,10.6,276,7206,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1976,1947,0,0,0,0,0,0
$GC,7447,1.30,259.0,210.4,10.2,282,7448,0.00,0.00,0.00,0.000,6,0.000,0.000,3456,1975,1946,0,0,0,0,0,0
$GC,7696,1.30,259.0,184.8,10.5,297,7701,0.00,2.58,0.00,0.000,4,0.000,0.037,3456,3560,1946,0,0,0,0,0,0
$GC,7738,1.34,259.0,180.5,11.3,300,7742,0.00,2.55,0.00,0.000,6,0.000,0.031,3456,1994,1944,0,0,0,0,0,0
$GC,8002,1.39,271.9,155.3,9.3,324,8019,0.00,2.60,11.25,0.618,4,0.000,0.038,3456,3554,1901,0,0,0,0,0,0
$GC,8064,1.46,282.0,149.6,9.5,329,8079,0.00,2.47,10.43,0.601,6,0.000,0.035,3456,2009,1860,0,0,0,0,0,0
$GC,8335,1.53,290.0,124.9,9.6,354,8348,0.15,0.00,8.30,0.561,6,0.071,0.000,3497,2009,1827,0,0,0,0,0,0
$GC,8606,1.53,290.0,95.9,11.7,379,8610,0.00,2.67,0.00,0.000,4,0.000,0.055,3498,412,1825,0,0,0,0,0,0
$GC,8717,1.53,290.0,80.9,13.2,388,8721,0.00,2.47,0.00,0.000,6,0.000,0.025,3497,2021,1825,0,0,0,0,0,0
$GC,8984,1.53,293.3,53.7,9.9,412,8999,0.00,2.50,4.25,0.400,4,0.000,0.039,3498,3553,1813,0,0,0,0,0,0
$GC,9017,1.57,297.7,49.8,9.8,414,9029,0.00,2.53,5.72,0.453,6,0.000,0.028,3498,2002,1795,0,0,0,0,0,0
$GC,9308,1.58,299.7,21.7,9.9,445,9317,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,2002,1795,0,0,0,0,0,0
$STATE,9482,end climb,SURFACE_DEPTH_REACHED
$STATE,9482,begin surface coast
$FINISH,0.4,0.980078
$STATE,9533,end surface coast,CONTROL_FINISHED_OK
$STATE,9533,begin surface
$SM_CCo,9556,67.55,0.519,0,0,1459,380.21
$SM_GC,1.27,0.00,0.00,67.55,0.000,0.000,0.519,475,1800,1459,-12.35,-0.85,380.21
$IRIDIUM_FIX,2239.35,-15802.37,060900,202028
$TT8_MAMPS,0.026078
$HUMID,60.23
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.20
$XPDR_PINGS,37
$24V_AH,23.5,35.220
$10V_AH,10.4,30.672
$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,28.450,92.550,363.525,67.550,0.000,27.958,37.281,153.256,9.250,0.000,33.205,961.322,6274.687,491.707,1785.699,479.656,33.372,1138.611,0.000,1771.100,0.000,0.534,0.000
$DEVICE_MAMPS,138.827,195.585,914.264,519.259,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,323.448,275.837,366.327,696.526,1053.472,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355468
$DATA_FILE_SIZE,38418,477
$CAP_FILE_SIZE,95569,0
$CFSIZE,260165632,167653376
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,140611,015625,2250.460,-15801.174,38,1.4,38,10.1