version: 66.06
glider: 146
mission: 6
dive: 406
start: 6 29 111 12 47 44
data:
$ID,146
$MISSION,6
$DIVE,406
$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,-278060.72
$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,1990
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,12
$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
$GPS1,124031,2247.922,-15758.055,63,0.9,63,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-69.2
$GPS2,124650,2247.935,-15758.117,13,1.9,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.160,-0.172
$KALMAN_X,-291033.9,-11.8,-50.7,288841.3,-1312.6
$KALMAN_Y,56780.2,-83.7,-438.7,-48791.4,831.1
$MHEAD_RNG_PITCHd_Wd,127.1,1814,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.38,-116.8,0.0,0.0,0,91,0.00,0.00,-71.15,0.000,2,0.000,0.000,478,1948,3254,0,0,0,0,0,0
$GC,94,-1.38,-116.8,3.7,-6.5,9,120,12.73,2.60,-4.28,0.000,4,0.160,0.057,2866,398,3488,0,0,0,0,0,0
$GC,249,-1.27,-116.8,36.8,-17.1,28,254,0.15,2.45,0.00,0.000,6,0.128,0.015,2896,2006,3489,0,0,0,0,0,0
$GC,517,-1.21,-116.8,76.6,-15.1,52,522,0.00,2.40,0.00,0.000,4,0.000,0.027,2895,3537,3490,0,0,0,0,0,0
$GC,563,-1.21,-116.8,83.5,-13.9,55,568,0.00,2.47,0.00,0.000,6,0.000,0.031,2896,1963,3490,0,0,0,0,0,0
$GC,829,-1.21,-116.8,117.3,-12.3,79,834,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1963,3491,0,0,0,0,0,0
$GC,1092,-1.21,-116.8,147.0,-9.9,104,1096,0.00,2.47,0.00,0.000,4,0.000,0.034,2896,3536,3492,0,0,0,0,0,0
$GC,1148,-1.29,-116.8,152.7,-9.0,108,1158,0.00,2.45,0.00,0.000,6,0.000,0.028,2896,1997,3492,0,0,0,0,0,0
$GC,1417,-1.35,-116.8,177.6,-9.7,133,1422,0.00,0.00,0.00,0.000,6,0.000,0.000,2895,1997,3492,0,0,0,0,0,0
$GC,1680,-1.43,-116.8,201.0,-9.5,158,1685,0.15,2.65,0.00,0.000,4,0.058,0.061,2834,409,3493,0,0,0,0,0,0
$GC,1709,-1.38,-116.8,204.4,-12.1,158,1714,0.17,2.42,0.00,0.000,6,0.102,0.019,2872,2005,3493,0,0,0,0,0,0
$GC,1959,-1.38,-116.8,230.4,-10.3,164,1960,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2006,3493,0,0,0,0,0,0
$GC,2204,-1.42,-116.8,255.0,-10.0,170,2205,0.00,0.00,0.00,0.000,6,0.000,0.000,2872,2007,3493,0,0,0,0,0,0
$GC,2448,-1.47,-116.8,282.0,-11.4,176,2453,0.00,2.45,0.00,0.000,4,0.000,0.032,2872,3537,3494,0,0,0,0,0,0
$GC,2488,-1.58,-116.8,286.8,-11.8,177,2493,0.17,2.42,0.00,0.000,6,0.058,0.025,2812,2011,3493,0,0,0,0,0,0
$GC,2772,-1.54,-116.8,322.9,-12.4,184,2777,0.12,2.47,0.00,0.000,4,0.111,0.041,2838,3532,3493,0,0,0,0,0,0
$GC,2795,-1.54,-116.8,325.2,-10.0,184,2800,0.00,2.47,0.00,0.000,6,0.000,0.029,2839,1998,3493,0,0,0,0,0,0
$GC,3050,-1.54,-116.8,348.8,-9.4,191,3055,0.00,2.80,0.00,0.000,4,0.000,0.088,2839,404,3492,0,0,0,0,0,0
$GC,3082,-1.54,-116.8,352.2,-10.8,191,3088,0.00,2.47,0.00,0.000,6,0.000,0.026,2839,1966,3492,0,0,0,0,0,0
$GC,3334,-1.54,-116.8,375.0,-9.3,198,3339,0.00,2.62,0.00,0.000,4,0.000,0.048,2838,3562,3492,0,0,0,0,0,0
$GC,3374,-1.59,-116.8,379.0,-9.7,199,3379,0.00,2.58,0.00,0.000,6,0.000,0.045,2839,2001,3492,0,0,0,0,0,0
$GC,3659,-1.63,-116.8,407.4,-10.2,206,3663,0.00,2.58,0.00,0.000,4,0.000,0.043,2839,3567,3490,0,0,0,0,0,0
$GC,3759,-1.71,-116.8,417.8,-10.0,208,3765,0.15,2.60,0.00,0.000,6,0.063,0.051,2788,2013,3490,0,0,0,0,0,0
$GC,4026,-1.66,-116.8,449.4,-12.1,215,4028,0.12,0.00,0.00,0.000,6,0.111,0.000,2814,2013,3488,0,0,0,0,0,0
$GC,4271,-1.66,-116.8,476.8,-11.1,221,4272,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,2013,3487,0,0,0,0,0,0
$STATE,4511,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4511,begin apogee
$GC,4517,-0.31,0.0,501.8,10.1,227,4618,1.27,0.00,97.75,0.904,6,0.077,0.000,3104,2013,3010,0,0,0,0,0,0
$STATE,4619,end apogee,CONTROL_FINISHED_OK
$STATE,4619,begin climb
$GC,4621,1.38,116.8,503.5,0.0,229,4734,1.52,2.75,99.57,0.887,4,0.038,0.058,3476,3564,2531,0,0,0,0,0,0
$GC,4837,1.23,116.8,493.7,10.6,234,4842,0.15,2.70,0.00,0.000,6,0.124,0.057,3447,1998,2526,0,0,0,0,0,0
$GC,5121,1.18,141.8,468.3,8.6,241,5147,0.00,3.05,20.62,0.837,4,0.000,0.106,3447,403,2432,0,0,0,0,0,0
$GC,5205,1.06,141.8,460.0,10.5,243,5210,0.20,2.58,0.00,0.000,6,0.114,0.032,3406,1981,2429,0,0,0,0,0,0
$GC,5490,1.12,188.5,438.1,7.3,250,5534,0.00,0.00,42.30,0.853,6,0.000,0.000,3406,1981,2241,0,0,0,0,0,0
$GC,5772,1.15,212.1,413.8,8.7,257,5800,0.00,2.85,21.12,0.818,4,0.000,0.070,3406,401,2145,0,0,0,0,0,0
$GC,5835,1.15,212.5,407.9,10.0,258,5839,0.00,2.58,0.00,0.000,6,0.000,0.027,3406,1993,2143,0,0,0,0,0,0
$GC,6098,1.25,256.4,387.7,7.5,265,6141,0.17,0.00,40.78,0.825,6,0.067,0.000,3453,1992,1964,0,0,0,0,0,0
$GC,6379,1.25,256.4,357.4,11.2,272,6380,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1992,1957,0,0,0,0,0,0
$GC,6623,1.25,256.4,329.9,11.2,278,6627,0.00,2.75,0.00,0.000,4,0.000,0.066,3452,396,1955,0,0,0,0,0,0
$GC,6683,1.20,256.4,322.1,13.0,279,6687,0.00,2.50,0.00,0.000,6,0.000,0.020,3453,1978,1953,0,0,0,0,0,0
$GC,6943,1.20,256.4,289.4,12.4,286,6944,0.00,0.00,0.00,0.000,6,0.000,0.000,3453,1979,1953,0,0,0,0,0,0
$GC,7187,1.20,256.4,261.3,11.3,292,7191,0.00,2.70,0.00,0.000,4,0.000,0.061,3453,401,1952,0,0,0,0,0,0
$GC,7209,1.20,256.4,258.8,11.5,292,7214,0.00,2.47,0.00,0.000,6,0.000,0.019,3453,1966,1951,0,0,0,0,0,0
$GC,7465,1.27,280.9,235.8,8.6,299,7492,0.00,2.65,21.02,0.718,4,0.000,0.034,3452,3557,1862,0,0,0,0,0,0
$GC,7579,1.34,287.8,225.6,9.6,301,7595,0.00,2.62,6.90,0.608,6,0.000,0.036,3453,1957,1835,0,0,0,0,0,0
$GC,7840,1.39,291.4,200.7,9.8,308,7850,0.10,2.65,4.35,0.495,4,0.087,0.067,3482,415,1822,0,0,0,0,0,0
$GC,7942,1.36,291.4,187.2,13.7,314,7946,0.00,2.42,0.00,0.000,6,0.000,0.019,3482,1965,1821,0,0,0,0,0,0
$GC,8205,1.37,301.7,157.4,9.4,338,8221,0.00,2.65,10.95,0.617,4,0.000,0.058,3482,410,1778,0,0,0,0,0,0
$GC,8273,1.37,303.3,151.2,10.0,343,8277,0.00,2.45,0.00,0.000,6,0.000,0.025,3482,1967,1776,0,0,0,0,0,0
$GC,8539,1.39,315.1,127.3,9.4,367,8558,0.00,0.00,12.90,0.597,6,0.000,0.000,3482,1969,1723,0,0,0,0,0,0
$GC,8818,1.43,315.1,99.2,10.4,393,8822,0.00,2.62,0.00,0.000,4,0.000,0.057,3482,410,1721,0,0,0,0,0,0
$GC,8851,1.43,315.1,95.3,12.1,395,8855,0.00,2.42,0.00,0.000,6,0.000,0.025,3482,1966,1721,0,0,0,0,0,0
$GC,9119,1.55,344.1,69.5,8.4,419,9151,0.12,2.65,25.83,0.566,4,0.078,0.051,3517,413,1606,0,0,0,0,0,0
$GC,9181,1.55,344.1,62.3,12.0,423,9191,0.00,2.42,0.00,0.000,6,0.000,0.018,3517,1945,1605,0,0,0,0,0,0
$GC,9449,1.55,344.1,34.3,10.7,448,9453,0.00,2.55,0.00,0.000,4,0.000,0.049,3517,412,1604,0,0,0,0,0,0
$GC,9481,1.55,344.1,30.0,12.8,450,9490,0.00,2.40,0.00,0.000,6,0.000,0.018,3517,1946,1604,0,0,0,0,0,0
$STATE,9702,end climb,SURFACE_DEPTH_REACHED
$STATE,9702,begin surface coast
$FINISH,0.6,0.980080
$STATE,9743,end surface coast,CONTROL_FINISHED_OK
$STATE,9743,begin surface
$SM_CCo,9766,29.52,0.509,0,0,1460,380.21
$SM_GC,1.15,0.00,0.00,29.52,0.000,0.000,0.509,476,1948,1460,-12.42,-1.19,380.21
$IRIDIUM_FIX,2241.69,-15757.16,220900,090903
$TT8_MAMPS,0.026078
$HUMID,64.05
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.70
$XPDR_PINGS,40
$24V_AH,23.5,51.027
$10V_AH,10.2,45.035
$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,29.700,102.850,404.100,29.525,0.000,30.732,36.148,172.976,10.000,0.000,14.891,988.433,6341.513,491.629,1829.880,525.268,33.371,1166.509,0.000,1837.296,0.000,0.534,0.000
$DEVICE_MAMPS,159.536,105.846,904.293,508.521,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.178,267.002,376.556,706.179,1067.935,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355436
$DATA_FILE_SIZE,38434,489
$CAP_FILE_SIZE,100218,0
$CFSIZE,260165632,160862208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290611,153206,2247.493,-15758.050,9,1.5,25,10.1