version: 66.06
glider: 146
mission: 6
dive: 434
start: 7 2 111 21 59 48
data:
$ID,146
$MISSION,6
$DIVE,434
$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,100
$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,-278645.97
$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,2010
$C_ROLL_CLIMB,1995
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,25
$R_STBD_OVSHOOT,57
$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
$GPS1,215240,2247.897,-15758.569,11,2.2,30,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.32
$_SM_ANGLEo,-69.2
$GPS2,215858,2247.947,-15758.600,12,99.0,31,10.1
$SPEED_LIMITS,0.143,0.216
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.184,-0.112
$KALMAN_X,-331647.1,-71.7,69.6,328567.2,-1384.1
$KALMAN_Y,85565.1,-190.5,534.5,-78421.8,545.7
$MHEAD_RNG_PITCHd_Wd,111.3,2222,-21.8,-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,-1.48,-97.3,0.0,0.0,0,89,0.00,0.00,-70.95,0.000,2,0.000,0.000,476,1969,3277,0,0,0,0,0,0
$GC,92,-1.48,-97.3,3.9,-7.2,9,110,12.45,0.00,-2.38,0.000,6,0.153,0.000,2843,1969,3410,0,0,0,0,0,0
$GC,450,-1.41,-97.3,71.0,-14.8,48,455,0.10,2.58,0.00,0.000,4,0.146,0.031,2864,3574,3413,0,0,0,0,0,0
$GC,534,-1.47,-97.3,83.0,-12.5,54,543,0.00,2.50,0.00,0.000,6,0.000,0.024,2863,2006,3413,0,0,0,0,0,0
$GC,866,-1.47,-97.3,126.4,-13.1,85,870,0.00,2.47,0.00,0.000,4,0.000,0.027,2864,3576,3414,0,0,0,0,0,0
$GC,911,-1.53,-97.3,133.3,-12.7,88,921,0.08,2.47,0.00,0.000,6,0.043,0.028,2822,2013,3414,0,0,0,0,0,0
$GC,1235,-1.53,-97.3,177.9,-13.1,119,1236,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2013,3415,0,0,0,0,0,0
$GC,1578,-1.53,-97.3,219.4,-11.2,140,1582,0.00,2.47,0.00,0.000,4,0.000,0.031,2822,3570,3415,0,0,0,0,0,0
$GC,1612,-1.57,-97.3,222.8,-10.6,140,1618,0.00,2.42,0.00,0.000,6,0.000,0.026,2822,2016,3415,0,0,0,0,0,0
$GC,1943,-1.57,-97.3,255.1,-9.8,149,1948,0.00,2.50,0.00,0.000,4,0.000,0.037,2822,3577,3416,0,0,0,0,0,0
$GC,2033,-1.63,-97.3,265.3,-11.3,151,2037,0.00,2.45,0.00,0.000,6,0.000,0.025,2822,2030,3416,0,0,0,0,0,0
$GC,2352,-1.66,-97.3,302.2,-11.6,159,2354,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2030,3416,0,0,0,0,0,0
$GC,2676,-1.71,-97.3,333.3,-8.8,167,2677,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,2030,3415,0,0,0,0,0,0
$GC,3003,-1.76,-97.3,359.7,-8.1,175,3005,0.12,0.00,0.00,0.000,6,0.068,0.000,2770,2030,3414,0,0,0,0,0,0
$GC,3326,-1.72,-97.3,395.4,-11.3,183,3331,0.12,2.55,0.00,0.000,4,0.114,0.051,2798,3561,3413,0,0,0,0,0,0
$GC,3450,-1.78,-97.3,409.6,-11.4,185,3456,0.00,2.55,0.00,0.000,6,0.000,0.046,2798,2038,3412,0,0,0,0,0,0
$GC,3783,-1.78,-97.3,450.7,-12.5,194,3784,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2038,3410,0,0,0,0,0,0
$GC,4107,-1.82,-97.3,488.4,-11.3,202,4108,0.00,0.00,0.00,0.000,6,0.000,0.000,2798,2038,3408,0,0,0,0,0,0
$STATE,4226,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4226,begin apogee
$GC,4232,-0.31,0.0,501.8,11.2,205,4318,1.38,0.00,82.30,0.908,6,0.083,0.000,3106,1995,3010,0,0,0,0,0,0
$STATE,4319,end apogee,CONTROL_FINISHED_OK
$STATE,4319,begin climb
$GC,4323,1.48,97.3,504.5,0.0,207,4411,1.65,0.00,83.78,0.895,6,0.035,0.000,3508,1995,2612,0,0,0,0,0,0
$GC,4714,1.38,130.5,484.1,7.7,217,4749,0.17,2.70,28.88,0.860,4,0.127,0.057,3474,3542,2477,0,0,0,0,0,0
$GC,4774,1.31,138.5,479.2,9.5,218,4789,0.00,2.67,8.30,0.741,6,0.000,0.056,3474,1992,2444,0,0,0,0,0,0
$GC,5127,1.27,156.8,446.2,8.8,227,5146,0.12,0.00,16.55,0.825,6,0.133,0.000,3451,1992,2370,0,0,0,0,0,0
$GC,5456,1.32,194.5,421.5,7.4,235,5497,0.00,3.00,34.35,0.850,4,0.000,0.098,3451,400,2215,0,0,0,0,0,0
$GC,5536,1.27,194.5,414.2,10.4,236,5544,0.00,2.53,0.00,0.000,6,0.000,0.030,3451,1968,2212,0,0,0,0,0,0
$GC,5868,1.30,214.3,385.0,8.7,245,5887,0.00,0.00,17.73,0.811,6,0.000,0.000,3451,1968,2136,0,0,0,0,0,0
$GC,6194,1.30,218.6,354.5,9.7,253,6204,0.00,2.65,4.85,0.603,4,0.000,0.039,3450,3574,2118,0,0,0,0,0,0
$GC,6220,1.30,218.6,351.3,11.2,253,6225,0.00,2.65,0.00,0.000,6,0.000,0.035,3451,1977,2117,0,0,0,0,0,0
$GC,6554,1.35,220.3,317.8,9.9,261,6559,0.00,2.72,0.00,0.000,4,0.000,0.076,3450,406,2116,0,0,0,0,0,0
$GC,6626,1.35,220.3,310.1,10.0,262,6630,0.00,2.50,0.00,0.000,6,0.000,0.025,3450,2012,2114,0,0,0,0,0,0
$GC,6958,1.42,232.9,280.9,9.2,270,6977,0.15,2.83,13.57,0.739,4,0.078,0.063,3489,406,2059,0,0,0,0,0,0
$GC,7018,1.37,232.9,274.3,11.7,271,7023,0.00,2.47,0.00,0.000,6,0.000,0.024,3489,1969,2057,0,0,0,0,0,0
$GC,7366,1.37,232.9,236.6,10.5,280,7371,0.00,2.65,0.00,0.000,4,0.000,0.058,3489,407,2056,0,0,0,0,0,0
$GC,7419,1.33,232.9,231.0,11.6,281,7424,0.12,2.47,0.00,0.000,6,0.123,0.025,3464,1979,2054,0,0,0,0,0,0
$GC,7732,1.44,268.4,205.1,7.6,289,7774,0.10,2.67,32.00,0.706,4,0.091,0.035,3491,3556,1914,0,0,0,0,0,0
$GC,7816,1.49,268.4,197.4,10.6,290,7822,0.00,2.62,0.00,0.000,6,0.000,0.031,3492,1962,1912,0,0,0,0,0,0
$GC,8141,1.53,268.4,164.3,10.2,321,8146,0.00,2.65,0.00,0.000,4,0.000,0.063,3492,409,1909,0,0,0,0,0,0
$GC,8187,1.53,268.4,159.1,11.0,324,8196,0.00,2.47,0.00,0.000,6,0.000,0.019,3492,1977,1908,0,0,0,0,0,0
$GC,8515,1.65,314.5,130.7,6.8,355,8562,0.17,0.00,39.95,0.637,6,0.067,0.000,3537,1979,1727,0,0,0,0,0,0
$GC,8880,1.65,314.5,94.6,10.2,390,8885,0.00,2.62,0.00,0.000,4,0.000,0.051,3537,411,1724,0,0,0,0,0,0
$GC,8909,1.65,314.5,91.4,11.2,392,8913,0.00,2.42,0.00,0.000,6,0.000,0.018,3537,1969,1722,0,0,0,0,0,0
$GC,9237,1.69,314.5,57.3,10.9,422,9246,0.00,0.00,0.00,0.000,6,0.000,0.000,3537,1970,1723,0,0,0,0,0,0
$GC,9589,1.69,314.5,18.8,11.5,460,9598,0.00,2.62,0.00,0.000,4,0.000,0.049,3537,413,1722,0,0,0,0,0,0
$GC,9654,1.69,314.5,11.1,12.9,468,9663,0.00,2.40,0.00,0.000,6,0.000,0.018,3537,1952,1723,0,0,0,0,0,0
$STATE,9711,end climb,SURFACE_DEPTH_REACHED
$STATE,9711,begin surface coast
$FINISH,0.6,0.975754
$STATE,9761,end surface coast,CONTROL_FINISHED_OK
$STATE,9761,begin surface
$SM_CCo,9782,53.38,0.514,0,0,1459,380.21
$SM_GC,1.36,0.00,0.00,53.38,0.000,0.000,0.514,479,1954,1459,-12.41,-1.58,380.21
$IRIDIUM_FIX,2239.35,-15800.20,250900,191924
$TT8_MAMPS,0.026078
$HUMID,63.66
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.00
$XPDR_PINGS,31
$24V_AH,23.5,54.122
$10V_AH,10.2,48.147
$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,29.150,77.400,362.250,53.375,0.000,24.945,34.229,161.034,7.750,0.000,33.687,927.331,6578.542,475.936,1751.387,478.896,33.370,1089.180,0.000,1745.063,0.000,0.534,0.000
$DEVICE_MAMPS,153.400,154.934,908.128,513.890,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.960,268.704,367.462,693.456,1048.654,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355412
$DATA_FILE_SIZE,38422,483
$CAP_FILE_SIZE,86048,0
$CFSIZE,260165632,159408128
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,030711,004506,2247.494,-15758.133,33,1.3,39,10.1