version: 66.06
glider: 146
mission: 6
dive: 409
start: 6 29 111 21 23 43
data:
$ID,146
$MISSION,6
$DIVE,409
$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,-278135.03
$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,21
$R_STBD_OVSHOOT,81
$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
$GPS1,211636,2247.508,-15801.945,8,1.4,24,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.29
$_SM_ANGLEo,-70.9
$GPS2,212250,2247.530,-15802.019,41,1.3,41,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.026,-0.147
$KALMAN_X,-295860.9,-148.1,-83.4,287175.3,-1416.4
$KALMAN_Y,60088.5,26.7,462.0,-53864.2,485.0
$MHEAD_RNG_PITCHd_Wd,180.1,1942,-31.5,-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,15,begin dive
$GC,17,-2.03,-47.9,0.0,0.0,0,90,0.00,0.00,-70.22,0.000,6,0.000,0.000,476,2018,3206,0,0,0,0,0,0
$GC,93,-2.07,-84.8,3.2,-4.8,9,119,11.90,2.75,-3.00,0.000,4,0.159,0.061,2712,399,3360,0,0,0,0,0,0
$GC,211,-1.98,-84.8,34.4,-24.9,24,216,0.15,2.42,0.00,0.000,6,0.149,0.014,2740,1988,3361,0,0,0,0,0,0
$GC,473,-1.98,-84.8,91.4,-18.4,48,477,0.00,2.47,0.00,0.000,4,0.000,0.031,2740,3547,3362,0,0,0,0,0,0
$GC,505,-2.05,-84.8,96.6,-16.7,50,509,0.00,2.47,0.00,0.000,6,0.000,0.027,2740,1977,3363,0,0,0,0,0,0
$GC,767,-2.13,-84.8,141.9,-17.8,74,772,0.12,2.50,0.00,0.000,4,0.070,0.026,2697,3541,3363,0,0,0,0,0,0
$GC,825,-2.13,-84.8,153.1,-19.8,78,835,0.00,2.45,0.00,0.000,6,0.000,0.023,2696,1995,3363,0,0,0,0,0,0
$GC,1092,-2.18,-84.8,200.2,-15.4,103,1096,0.00,2.42,0.00,0.000,4,0.000,0.029,2697,3543,3364,0,0,0,0,0,0
$GC,1137,-2.25,-84.8,208.0,-15.4,104,1142,0.00,2.40,0.00,0.000,6,0.000,0.025,2696,1997,3364,0,0,0,0,0,0
$GC,1416,-2.32,-84.8,250.7,-14.7,111,1421,0.12,2.47,0.00,0.000,4,0.066,0.038,2643,3534,3365,0,0,0,0,0,0
$GC,1471,-2.32,-84.8,259.8,-17.2,112,1476,0.12,2.40,0.00,0.000,6,0.120,0.030,2669,2005,3365,0,0,0,0,0,0
$GC,1739,-2.37,-84.8,301.0,-15.2,119,1740,0.00,0.00,0.00,0.000,6,0.000,0.000,2669,2005,3366,0,0,0,0,0,0
$GC,1981,-2.43,-84.8,337.9,-15.2,125,1986,0.10,2.53,0.00,0.000,4,0.081,0.046,2629,3538,3366,0,0,0,0,0,0
$GC,2055,-2.43,-84.8,349.3,-16.4,126,2059,0.00,2.47,0.00,0.000,6,0.000,0.047,2629,2024,3366,0,0,0,0,0,0
$GC,2306,-2.43,-84.8,390.9,-16.6,132,2311,0.00,2.92,0.00,0.000,4,0.000,0.094,2629,407,3366,0,0,0,0,0,0
$GC,2339,-2.37,-84.8,396.9,-17.1,132,2345,0.12,2.55,0.00,0.000,6,0.132,0.037,2654,1977,3366,0,0,0,0,0,0
$GC,2589,-2.43,-84.8,436.7,-16.3,139,2593,0.00,2.70,0.00,0.000,4,0.000,0.064,2654,3573,3365,0,0,0,0,0,0
$GC,2668,-2.50,-84.8,449.2,-14.9,140,2674,0.10,2.60,0.00,0.000,6,0.086,0.056,2616,2030,3364,0,0,0,0,0,0
$GC,2917,-2.50,-84.8,490.8,-16.6,147,2918,0.00,0.00,0.00,0.000,6,0.000,0.000,2616,2030,3362,0,0,0,0,0,0
$STATE,2996,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2996,begin apogee
$GC,3004,-0.31,0.0,504.2,16.7,149,3082,2.28,0.00,72.82,0.894,6,0.104,0.000,3102,1989,3010,0,0,0,0,0,0
$STATE,3082,end apogee,CONTROL_FINISHED_OK
$STATE,3083,begin climb
$GC,3085,2.07,84.8,507.0,0.0,151,3166,2.15,0.00,71.75,0.877,6,0.038,0.000,3634,1989,2664,0,0,0,0,0,0
$GC,3412,2.01,91.8,484.2,9.1,159,3421,0.10,0.00,6.62,0.703,6,0.166,0.000,3617,1989,2635,0,0,0,0,0,0
$GC,3654,1.99,105.9,463.7,8.1,165,3669,0.00,0.00,13.48,0.808,6,0.000,0.000,3617,1989,2578,0,0,0,0,0,0
$GC,3897,2.01,118.5,443.4,8.3,171,3916,0.00,2.75,12.12,0.796,4,0.000,0.042,3617,3577,2525,0,0,0,0,0,0
$GC,4046,1.97,118.5,428.8,10.0,174,4051,0.00,2.65,0.00,0.000,6,0.000,0.045,3617,1994,2521,0,0,0,0,0,0
$GC,4313,1.97,121.6,403.3,9.6,181,4318,0.00,2.62,0.00,0.000,4,0.000,0.041,3617,3589,2519,0,0,0,0,0,0
$GC,4571,1.97,121.9,376.1,10.0,186,4576,0.00,2.62,0.00,0.000,6,0.000,0.035,3617,2002,2517,0,0,0,0,0,0
$GC,4821,1.99,134.9,354.6,8.2,193,4840,0.00,2.88,14.10,0.781,4,0.000,0.078,3617,408,2458,0,0,0,0,0,0
$GC,5023,1.92,137.1,336.6,9.7,197,5028,0.12,2.55,0.00,0.000,6,0.151,0.022,3596,2026,2455,0,0,0,0,0,0
$GC,5279,1.99,151.4,315.5,8.0,204,5299,0.00,2.53,15.43,0.766,4,0.000,0.040,3595,3559,2391,0,0,0,0,0,0
$GC,5312,2.05,163.3,312.8,8.4,204,5332,0.10,2.60,11.95,0.732,6,0.109,0.033,3619,1986,2343,0,0,0,0,0,0
$GC,5607,2.08,163.3,281.5,10.7,212,5611,0.00,2.55,0.00,0.000,4,0.000,0.035,3619,3561,2339,0,0,0,0,0,0
$GC,5630,2.09,168.6,279.2,9.3,212,5640,0.00,2.58,5.47,0.608,6,0.000,0.036,3619,1985,2322,0,0,0,0,0,0
$GC,5885,2.16,181.7,257.4,8.2,218,5901,0.12,0.00,13.25,0.715,6,0.095,0.000,3649,1985,2269,0,0,0,0,0,0
$GC,6128,2.16,181.7,231.5,11.1,224,6132,0.00,2.58,0.00,0.000,4,0.000,0.036,3649,3563,2265,0,0,0,0,0,0
$GC,6384,2.16,181.7,202.5,11.2,229,6390,0.00,2.58,0.00,0.000,6,0.000,0.035,3649,1986,2263,0,0,0,0,0,0
$GC,6646,2.18,196.4,178.1,8.0,251,6661,0.00,0.00,13.25,0.650,6,0.000,0.000,3649,1985,2208,0,0,0,0,0,0
$GC,6919,2.24,206.2,154.6,8.7,276,6934,0.00,2.60,10.05,0.603,4,0.000,0.030,3649,3570,2168,0,0,0,0,0,0
$GC,6959,2.29,209.9,150.8,9.5,279,6974,0.10,2.58,4.45,0.464,6,0.104,0.035,3673,1977,2155,0,0,0,0,0,0
$GC,7225,2.29,209.9,120.5,11.3,304,7229,0.00,2.65,0.00,0.000,4,0.000,0.059,3672,407,2153,0,0,0,0,0,0
$GC,7296,2.25,209.9,110.4,14.2,309,7302,0.00,2.45,0.00,0.000,6,0.000,0.023,3673,1992,2152,0,0,0,0,0,0
$GC,7559,2.31,218.7,80.9,8.8,334,7574,0.00,2.53,9.32,0.532,4,0.000,0.031,3673,3556,2118,0,0,0,0,0,0
$GC,7581,2.37,231.7,78.9,8.2,335,7605,0.00,2.58,12.88,0.545,6,0.000,0.031,3673,1989,2063,0,0,0,0,0,0
$GC,7863,2.44,236.5,52.9,9.4,361,7873,0.15,0.00,5.57,0.446,6,0.081,0.000,3714,1989,2045,0,0,0,0,0,0
$GC,8146,2.44,236.5,18.4,13.6,392,8155,0.00,0.00,0.00,0.000,6,0.000,0.000,3714,1989,2044,0,0,0,0,0,0
$STATE,8250,end climb,SURFACE_DEPTH_REACHED
$STATE,8251,begin surface coast
$FINISH,0.6,0.980062
$STATE,8293,end surface coast,CONTROL_FINISHED_OK
$STATE,8293,begin surface
$SM_CCo,8317,119.15,0.516,0,0,1459,380.21
$SM_GC,1.32,0.00,0.00,119.15,0.000,0.000,0.516,476,1987,1459,-12.42,-0.08,380.21
$IRIDIUM_FIX,2237.01,-15758.03,220900,181858
$TT8_MAMPS,0.026078
$HUMID,62.16
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,20.70
$XPDR_PINGS,42
$24V_AH,23.5,51.353
$10V_AH,10.2,45.350
$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,31.050,87.475,292.525,119.150,0.000,30.315,31.922,149.844,10.500,0.000,42.553,875.681,5296.242,470.230,1701.523,468.039,33.367,1108.230,0.000,1675.461,0.000,0.534,0.000
$DEVICE_MAMPS,165.672,153.400,893.555,516.191,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,279.151,243.020,318.661,612.479,927.779,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355412
$DATA_FILE_SIZE,32007,413
$CAP_FILE_SIZE,91950,0
$CFSIZE,260165632,160718848
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290611,234536,2247.124,-15802.973,35,1.0,35,10.1