version: 66.06
glider: 146
mission: 6
dive: 276
start: 6 13 111 14 54 14
data:
$ID,146
$MISSION,6
$DIVE,276
$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,-274646.12
$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,36
$R_STBD_OVSHOOT,60
$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
$GPS1,144645,2246.883,-15802.210,68,1.1,83,10.1
$_CALLS,1
$_XMS_NAKs,6
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-69.3
$GPS2,145319,2246.909,-15802.247,20,1.1,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.066,0.225
$KALMAN_X,-120692.2,11.0,-10.6,111382.6,-1280.3
$KALMAN_Y,-63614.6,-263.4,-245.8,69693.0,514.3
$MHEAD_RNG_PITCHd_Wd,6.3,5867,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,88,0.00,0.00,-70.47,0.000,2,0.000,0.000,474,1822,3228,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.2,-5.0,9,118,11.98,2.53,-4.85,0.000,4,0.135,0.035,2852,3393,3488,0,0,0,0,0,0
$GC,247,-1.30,-116.8,37.2,-17.1,29,257,0.08,2.53,0.00,0.000,6,0.088,0.027,2873,1833,3490,0,0,0,0,0,0
$GC,515,-1.23,-116.8,79.1,-14.9,54,519,0.00,2.47,0.00,0.000,4,0.000,0.025,2873,3398,3491,0,0,0,0,0,0
$GC,544,-1.23,-116.8,84.3,-14.6,56,549,0.00,2.50,0.00,0.000,6,0.000,0.028,2873,1824,3491,0,0,0,0,0,0
$GC,809,-1.19,-116.8,121.9,-14.6,80,814,0.12,2.67,0.00,0.000,4,0.110,0.061,2901,248,3491,0,0,0,0,0,0
$GC,831,-1.19,-116.8,125.6,-13.5,81,837,0.00,2.40,0.00,0.000,6,0.000,0.021,2901,1855,3491,0,0,0,0,0,0
$GC,1098,-1.25,-116.8,154.2,-10.3,106,1102,0.00,2.38,0.00,0.000,4,0.000,0.025,2900,3371,3492,0,0,0,0,0,0
$GC,1144,-1.34,-116.8,159.0,-10.5,109,1149,0.15,2.42,0.00,0.000,6,0.061,0.031,2845,1831,3492,0,0,0,0,0,0
$GC,1409,-1.30,-116.8,195.7,-14.5,133,1414,0.15,2.67,0.00,0.000,4,0.102,0.067,2879,258,3492,0,0,0,0,0,0
$GC,1428,-1.26,-116.8,199.0,-14.9,134,1432,0.00,2.35,0.00,0.000,6,0.000,0.021,2879,1833,3492,0,0,0,0,0,0
$GC,1683,-1.30,-116.8,229.1,-11.6,141,1687,0.00,2.40,0.00,0.000,4,0.000,0.034,2879,3378,3493,0,0,0,0,0,0
$GC,1816,-1.40,-116.8,242.0,-10.0,144,1821,0.10,2.42,0.00,0.000,6,0.080,0.032,2835,1853,3493,0,0,0,0,0,0
$GC,2099,-1.40,-116.8,275.9,-12.0,151,2104,0.00,2.78,0.00,0.000,4,0.000,0.075,2835,252,3493,0,0,0,0,0,0
$GC,2120,-1.35,-116.8,278.7,-12.4,151,2125,0.15,2.40,0.00,0.000,6,0.108,0.017,2867,1820,3493,0,0,0,0,0,0
$GC,2378,-1.41,-116.8,304.2,-9.7,158,2379,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1820,3493,0,0,0,0,0,0
$GC,2620,-1.48,-116.8,326.1,-8.6,164,2625,0.12,2.55,0.00,0.000,4,0.071,0.042,2824,3397,3493,0,0,0,0,0,0
$GC,2714,-1.48,-116.8,335.8,-10.8,166,2719,0.00,2.50,0.00,0.000,6,0.000,0.038,2824,1867,3493,0,0,0,0,0,0
$GC,2988,-1.48,-116.8,364.2,-10.6,173,2993,0.00,2.88,0.00,0.000,4,0.000,0.087,2823,246,3491,0,0,0,0,0,0
$GC,3009,-1.48,-116.8,366.9,-11.7,173,3013,0.00,2.50,0.00,0.000,6,0.000,0.025,2824,1834,3491,0,0,0,0,0,0
$GC,3270,-1.48,-116.8,396.9,-11.5,180,3274,0.00,2.60,0.00,0.000,4,0.000,0.052,2823,3409,3490,0,0,0,0,0,0
$GC,3304,-1.48,-116.8,400.7,-11.8,180,3309,0.00,2.60,0.00,0.000,6,0.000,0.054,2824,1854,3490,0,0,0,0,0,0
$GC,3553,-1.48,-116.8,426.9,-10.3,187,3554,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1853,3489,0,0,0,0,0,0
$GC,3797,-1.48,-116.8,451.5,-10.0,193,3802,0.00,2.58,0.00,0.000,4,0.000,0.049,2823,3414,3487,0,0,0,0,0,0
$GC,3859,-1.53,-116.8,457.9,-10.8,194,3864,0.00,2.65,0.00,0.000,6,0.000,0.061,2824,1853,3487,0,0,0,0,0,0
$GC,4120,-1.53,-116.8,485.4,-10.7,201,4124,0.00,2.60,0.00,0.000,4,0.000,0.051,2824,3411,3485,0,0,0,0,0,0
$GC,4153,-1.58,-116.8,489.2,-11.6,201,4158,0.00,2.65,0.00,0.000,6,0.000,0.065,2824,1858,3485,0,0,0,0,0,0
$STATE,4278,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4278,begin apogee
$GC,4286,-0.31,0.0,503.5,11.3,205,4387,1.17,0.00,97.68,0.913,6,0.075,0.000,3092,2012,3010,0,0,0,0,0,0
$STATE,4388,end apogee,CONTROL_FINISHED_OK
$STATE,4388,begin climb
$GC,4390,1.38,116.8,506.9,0.0,207,4502,1.58,2.75,99.85,0.894,4,0.046,0.064,3466,3550,2532,0,0,0,0,0,0
$GC,4520,1.37,215.1,508.1,4.4,210,4611,0.00,2.70,84.97,0.884,6,0.000,0.053,3466,1994,2133,0,0,0,0,0,0
$GC,4891,1.30,215.1,467.3,12.2,220,4893,0.12,0.00,0.00,0.000,6,0.134,0.000,3442,1994,2124,0,0,0,0,0,0
$GC,5136,1.30,215.1,441.8,10.3,226,5140,0.00,2.62,0.00,0.000,4,0.000,0.047,3442,3557,2122,0,0,0,0,0,0
$GC,5179,1.30,220.4,437.3,9.7,227,5189,0.00,2.65,4.07,0.555,6,0.000,0.049,3442,1993,2111,0,0,0,0,0,0
$GC,5463,1.32,232.2,410.4,9.4,234,5482,0.00,3.00,11.98,0.785,4,0.000,0.096,3442,407,2062,0,0,0,0,0,0
$GC,5517,1.27,232.2,404.7,10.9,235,5522,0.00,2.55,0.00,0.000,6,0.000,0.028,3442,1977,2060,0,0,0,0,0,0
$GC,5790,1.28,241.0,378.8,9.5,242,5801,0.00,0.00,9.00,0.742,6,0.000,0.000,3442,1977,2027,0,0,0,0,0,0
$GC,6035,1.28,241.0,352.8,10.9,248,6039,0.00,2.70,0.00,0.000,4,0.000,0.059,3442,401,2024,0,0,0,0,0,0
$GC,6101,1.28,241.0,344.0,12.9,249,6105,0.00,2.50,0.00,0.000,6,0.000,0.026,3442,1979,2023,0,0,0,0,0,0
$GC,6356,1.28,242.7,317.6,9.9,256,6360,0.00,2.62,0.00,0.000,4,0.000,0.041,3442,3579,2023,0,0,0,0,0,0
$GC,6401,1.28,242.7,313.3,10.4,257,6405,0.00,2.65,0.00,0.000,6,0.000,0.037,3442,1970,2021,0,0,0,0,0,0
$GC,6678,1.28,244.3,286.1,9.9,264,6683,0.00,2.67,0.00,0.000,4,0.000,0.067,3442,411,2021,0,0,0,0,0,0
$GC,6705,1.28,244.3,283.0,11.9,264,6710,0.00,2.47,0.00,0.000,6,0.000,0.020,3442,1984,2020,0,0,0,0,0,0
$GC,6956,1.28,244.3,254.8,11.7,270,6961,0.00,2.58,0.00,0.000,4,0.000,0.041,3442,3563,2020,0,0,0,0,0,0
$GC,6997,1.32,244.3,249.9,12.1,271,7001,0.00,2.62,0.00,0.000,6,0.000,0.031,3442,1956,2018,0,0,0,0,0,0
$GC,7280,1.34,262.5,222.7,9.0,278,7301,0.00,0.00,19.48,0.709,6,0.000,0.000,3442,1956,1939,0,0,0,0,0,0
$GC,7525,1.41,287.7,202.3,8.6,284,7551,0.10,0.00,23.20,0.691,6,0.094,0.000,3470,1956,1837,0,0,0,0,0,0
$GC,7778,1.41,287.7,171.9,12.1,305,7782,0.00,2.60,0.00,0.000,4,0.000,0.034,3471,3560,1833,0,0,0,0,0,0
$GC,7811,1.41,287.7,167.6,12.2,307,7817,0.00,2.58,0.00,0.000,6,0.000,0.031,3470,1965,1831,0,0,0,0,0,0
$GC,8075,1.41,287.7,137.0,11.1,332,8079,0.00,2.60,0.00,0.000,4,0.000,0.033,3470,3562,1831,0,0,0,0,0,0
$GC,8131,1.41,287.7,130.5,10.8,336,8141,0.00,2.58,0.00,0.000,6,0.000,0.035,3471,1988,1831,0,0,0,0,0,0
$GC,8400,1.46,292.8,106.1,9.7,361,8411,0.00,2.67,5.00,0.473,4,0.000,0.056,3470,417,1816,0,0,0,0,0,0
$GC,8439,1.46,292.8,100.7,11.3,364,8449,0.00,2.47,0.00,0.000,6,0.000,0.023,3470,1995,1816,0,0,0,0,0,0
$GC,8708,1.54,316.1,75.5,8.7,389,8736,0.10,2.70,21.83,0.575,4,0.087,0.051,3501,412,1719,0,0,0,0,0,0
$GC,8801,1.54,316.1,65.0,11.9,396,8806,0.00,2.42,0.00,0.000,6,0.000,0.018,3501,1974,1718,0,0,0,0,0,0
$GC,9069,1.54,316.1,35.9,12.0,420,9077,0.00,0.00,0.00,0.000,6,0.000,0.000,3501,1976,1717,0,0,0,0,0,0
$STATE,9359,end climb,SURFACE_DEPTH_REACHED
$STATE,9359,begin surface coast
$FINISH,0.7,0.980058
$STATE,9417,end surface coast,CONTROL_FINISHED_OK
$STATE,9417,begin surface
$SM_CCo,9441,52.97,0.518,0,0,1460,380.21
$SM_GC,1.30,0.00,0.00,52.97,0.000,0.000,0.518,479,1794,1460,-12.33,-1.02,380.21
$IRIDIUM_FIX,2239.35,-15800.20,060900,121226
$TT8_MAMPS,0.026078
$HUMID,60.55
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.80
$XPDR_PINGS,48
$24V_AH,23.5,34.873
$10V_AH,10.3,30.361
$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,28.275,119.200,377.050,52.975,0.000,31.005,34.081,177.714,12.000,0.000,33.288,955.815,6083.207,496.209,1840.042,516.703,33.367,1172.174,0.000,1822.741,0.000,0.534,0.000
$DEVICE_MAMPS,134.992,118.118,913.497,517.725,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,316.913,252.514,356.032,693.331,1047.613,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355468
$DATA_FILE_SIZE,38398,468
$CAP_FILE_SIZE,100352,0
$CFSIZE,260165632,167804928
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,130611,173336,2248.477,-15802.675,12,1.4,27,10.1