version: 66.06
glider: 146
mission: 6
dive: 271
start: 6 13 111 0 55 57
data:
$ID,146
$MISSION,6
$DIVE,271
$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,-274493.62
$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,33
$R_STBD_OVSHOOT,64
$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
$GPS1,004901,2250.349,-15757.302,44,1.9,44,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.25
$_SM_ANGLEo,-70.2
$GPS2,005502,2250.362,-15757.377,13,1.9,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.080,-0.221
$KALMAN_X,-114592.5,-238.8,36.0,113807.8,-957.9
$KALMAN_Y,-63894.3,105.8,-364.3,76109.1,796.4
$MHEAD_RNG_PITCHd_Wd,150.1,6269,-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,16,-1.38,-116.8,0.0,0.0,0,90,0.00,0.00,-71.28,0.000,2,0.000,0.000,471,1819,3261,0,0,0,0,0,0
$GC,93,-1.38,-116.8,3.5,-6.5,9,119,12.02,2.65,-4.25,0.000,4,0.135,0.067,2853,262,3489,0,0,0,0,0,0
$GC,224,-1.23,-116.8,33.8,-18.6,26,229,0.17,2.38,0.00,0.000,6,0.143,0.014,2889,1843,3491,0,0,0,0,0,0
$GC,492,-1.23,-116.8,72.1,-13.2,50,496,0.00,2.40,0.00,0.000,4,0.000,0.028,2889,3385,3492,0,0,0,0,0,0
$GC,512,-1.23,-116.8,75.2,-12.7,51,517,0.00,2.45,0.00,0.000,6,0.000,0.026,2889,1836,3491,0,0,0,0,0,0
$GC,779,-1.23,-116.8,108.3,-12.3,75,783,0.00,2.67,0.00,0.000,4,0.000,0.056,2889,251,3493,0,0,0,0,0,0
$GC,838,-1.23,-116.8,117.0,-13.7,79,844,0.00,2.40,0.00,0.000,6,0.000,0.015,2889,1850,3493,0,0,0,0,0,0
$GC,1099,-1.23,-116.8,149.3,-12.0,104,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1852,3493,0,0,0,0,0,0
$GC,1356,-1.28,-116.8,176.5,-10.6,128,1357,0.00,0.00,0.00,0.000,6,0.000,0.000,2889,1851,3493,0,0,0,0,0,0
$GC,1629,-1.35,-116.8,204.4,-10.2,151,1634,0.10,2.40,0.00,0.000,4,0.088,0.025,2851,3366,3493,0,0,0,0,0,0
$GC,1661,-1.35,-116.8,208.4,-12.1,151,1669,0.00,2.42,0.00,0.000,6,0.000,0.031,2851,1840,3494,0,0,0,0,0,0
$GC,1913,-1.35,-116.8,238.9,-12.2,158,1917,0.00,2.42,0.00,0.000,4,0.000,0.030,2851,3371,3494,0,0,0,0,0,0
$GC,1957,-1.40,-116.8,244.7,-12.5,159,1961,0.00,2.42,0.00,0.000,6,0.000,0.026,2851,1853,3494,0,0,0,0,0,0
$GC,2234,-1.40,-116.8,276.1,-10.8,166,2235,0.00,0.00,0.00,0.000,6,0.000,0.000,2851,1853,3494,0,0,0,0,0,0
$GC,2480,-1.44,-116.8,298.5,-9.1,172,2484,0.00,2.40,0.00,0.000,4,0.000,0.030,2851,3370,3494,0,0,0,0,0,0
$GC,2496,-1.49,-116.8,300.3,-9.4,172,2501,0.00,2.42,0.00,0.000,6,0.000,0.031,2851,1851,3494,0,0,0,0,0,0
$GC,2758,-1.53,-116.8,327.5,-10.6,179,2759,0.10,0.00,0.00,0.000,6,0.081,0.000,2809,1850,3494,0,0,0,0,0,0
$GC,3002,-1.53,-116.8,358.5,-12.6,185,3006,0.00,2.45,0.00,0.000,4,0.000,0.041,2809,3367,3493,0,0,0,0,0,0
$GC,3034,-1.53,-116.8,362.7,-11.8,185,3040,0.00,2.53,0.00,0.000,6,0.000,0.051,2809,1850,3493,0,0,0,0,0,0
$GC,3284,-1.53,-116.8,391.1,-11.2,192,3289,0.00,2.45,0.00,0.000,4,0.000,0.041,2809,3356,3492,0,0,0,0,0,0
$GC,3302,-1.53,-116.8,393.0,-11.3,192,3306,0.00,2.50,0.00,0.000,6,0.000,0.049,2809,1853,3492,0,0,0,0,0,0
$GC,3562,-1.53,-116.8,423.5,-11.8,199,3563,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1853,3490,0,0,0,0,0,0
$GC,3806,-1.53,-116.8,453.2,-12.2,205,3807,0.00,0.00,0.00,0.000,6,0.000,0.000,2809,1853,3489,0,0,0,0,0,0
$GC,4049,-1.53,-116.8,481.7,-11.6,211,4054,0.00,2.50,0.00,0.000,4,0.000,0.056,2809,3358,3487,0,0,0,0,0,0
$GC,4100,-1.53,-116.8,487.3,-11.4,212,4105,0.00,2.60,0.00,0.000,6,0.000,0.066,2809,1850,3487,0,0,0,0,0,0
$STATE,4248,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4248,begin apogee
$GC,4254,-0.31,0.0,504.4,11.4,216,4355,1.23,0.00,97.88,0.905,6,0.076,0.000,3089,1957,3010,0,0,0,0,0,0
$STATE,4356,end apogee,CONTROL_FINISHED_OK
$STATE,4356,begin climb
$GC,4359,1.38,116.8,507.6,0.0,218,4469,1.58,2.97,99.65,0.884,4,0.042,0.110,3464,407,2531,0,0,0,0,0,0
$GC,4489,1.32,201.5,507.1,5.1,221,4568,0.00,2.60,73.30,0.872,6,0.000,0.038,3464,1979,2187,0,0,0,0,0,0
$GC,4822,1.24,201.5,469.8,12.6,230,4827,0.17,2.75,0.00,0.000,4,0.114,0.059,3429,3578,2179,0,0,0,0,0,0
$GC,4917,1.24,201.5,458.3,11.9,232,4921,0.00,2.70,0.00,0.000,6,0.000,0.053,3429,1998,2176,0,0,0,0,0,0
$GC,5190,1.24,201.5,427.2,11.2,239,5191,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1998,2174,0,0,0,0,0,0
$GC,5433,1.26,222.3,404.6,8.8,245,5452,0.00,0.00,17.40,0.805,6,0.000,0.000,3429,1998,2102,0,0,0,0,0,0
$GC,5676,1.28,234.5,382.6,9.3,251,5690,0.00,0.00,12.10,0.767,6,0.000,0.000,3428,1998,2053,0,0,0,0,0,0
$GC,5920,1.30,252.6,360.1,9.0,257,5944,0.00,2.72,16.98,0.779,4,0.000,0.036,3428,3582,1979,0,0,0,0,0,0
$GC,5985,1.30,255.0,354.0,9.9,258,5990,0.00,2.65,0.00,0.000,6,0.000,0.041,3428,1999,1977,0,0,0,0,0,0
$GC,6246,1.31,263.5,329.4,9.5,265,6262,0.00,2.65,11.10,0.732,4,0.000,0.039,3429,3584,1934,0,0,0,0,0,0
$GC,6338,1.38,276.7,320.8,9.3,267,6358,0.12,2.60,13.02,0.736,6,0.083,0.035,3462,2016,1881,0,0,0,0,0,0
$GC,6620,1.38,276.7,287.7,12.1,274,6624,0.00,2.78,0.00,0.000,4,0.000,0.067,3462,408,1877,0,0,0,0,0,0
$GC,6660,1.34,276.7,282.4,13.6,275,6665,0.00,2.60,0.00,0.000,6,0.000,0.026,3463,2044,1876,0,0,0,0,0,0
$GC,6944,1.34,276.7,249.4,11.1,282,6948,0.00,2.80,0.00,0.000,4,0.000,0.057,3462,407,1875,0,0,0,0,0,0
$GC,6965,1.34,276.7,246.7,12.6,282,6969,0.00,2.53,0.00,0.000,6,0.000,0.019,3462,2027,1874,0,0,0,0,0,0
$GC,7221,1.34,276.7,215.6,12.1,289,7222,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2028,1874,0,0,0,0,0,0
$GC,7471,1.34,276.7,185.6,11.6,301,7476,0.00,0.00,0.00,0.000,6,0.000,0.000,3463,2028,1874,0,0,0,0,0,0
$GC,7732,1.35,285.0,159.9,9.6,326,7742,0.00,0.00,7.25,0.576,6,0.000,0.000,3462,2029,1848,0,0,0,0,0,0
$GC,8005,1.39,291.5,134.0,9.7,351,8019,0.00,2.55,7.35,0.555,4,0.000,0.039,3462,3563,1820,0,0,0,0,0,0
$GC,8090,1.46,291.5,123.6,12.0,358,8100,0.00,2.58,0.00,0.000,6,0.000,0.030,3462,1991,1819,0,0,0,0,0,0
$GC,8359,1.51,291.5,94.8,10.2,383,8364,0.10,2.65,0.00,0.000,4,0.087,0.060,3493,416,1818,0,0,0,0,0,0
$GC,8427,1.51,291.5,86.1,11.8,388,8437,0.00,2.47,0.00,0.000,6,0.000,0.019,3493,2005,1817,0,0,0,0,0,0
$GC,8695,1.55,323.5,63.2,8.2,413,8726,0.00,0.00,28.42,0.565,6,0.000,0.000,3493,2008,1691,0,0,0,0,0,0
$GC,8983,1.55,323.5,33.2,10.9,440,8988,0.00,2.65,0.00,0.000,4,0.000,0.050,3493,416,1688,0,0,0,0,0,0
$GC,9031,1.55,323.5,27.5,12.0,444,9040,0.00,2.50,0.00,0.000,6,0.000,0.018,3493,2017,1688,0,0,0,0,0,0
$STATE,9242,end climb,SURFACE_DEPTH_REACHED
$STATE,9242,begin surface coast
$FINISH,0.4,0.979999
$STATE,9284,end surface coast,CONTROL_FINISHED_OK
$STATE,9285,begin surface
$SM_CCo,9308,46.65,0.515,0,0,1460,380.21
$SM_GC,1.17,0.00,0.00,46.65,0.000,0.000,0.515,476,1818,1460,-12.35,-0.34,380.21
$IRIDIUM_FIX,2239.35,-15757.16,050900,222223
$TT8_MAMPS,0.026078
$HUMID,60.67
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.90
$XPDR_PINGS,37
$24V_AH,23.5,34.316
$10V_AH,10.3,29.822
$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,27.900,92.675,384.450,46.650,0.000,29.340,37.841,159.239,9.250,0.000,14.719,941.845,6030.034,485.923,1768.984,490.719,33.364,1119.722,0.000,1781.443,0.000,0.534,0.000
$DEVICE_MAMPS,142.662,110.448,905.060,515.424,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,325.006,275.158,375.705,715.708,1082.533,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,38329,480
$CAP_FILE_SIZE,91736,0
$CFSIZE,260165632,168071168
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130611,033316,2249.446,-15757.535,23,99.0,42,10.1