version: 66.06
glider: 146
mission: 6
dive: 71
start: 5 20 111 1 42 59
data:
$ID,146
$MISSION,6
$DIVE,71
$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,400
$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,-268839.56
$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,3090
$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,1770
$C_ROLL_CLIMB,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,42
$R_STBD_OVSHOOT,23
$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,3001
$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
$GPS1,013627,2248.167,-15757.485,10,1.5,23,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-70.3
$GPS2,014206,2248.174,-15757.535,11,1.2,28,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.029,-0.157
$KALMAN_X,-52308.6,-164.3,180.2,51029.0,-735.4
$KALMAN_Y,-98351.1,-29.8,-153.6,106453.0,-618.1
$MHEAD_RNG_PITCHd_Wd,159.6,2221,-29.6,-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,-1.91,-54.0,0.0,0.0,0,95,0.00,0.00,-75.12,0.000,6,0.000,0.000,479,1751,3222,0,0,0,0,0,0
$GC,98,-1.95,-84.1,3.5,-6.3,10,124,11.77,2.65,-2.38,0.000,4,0.165,0.070,2654,211,3347,0,0,0,0,0,0
$GC,215,-1.73,-84.1,41.5,-29.4,24,224,0.25,2.47,0.00,0.000,6,0.136,0.015,2705,1821,3349,0,0,0,0,0,0
$GC,482,-1.73,-84.1,94.4,-17.7,49,486,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1822,3350,0,0,0,0,0,0
$GC,744,-1.73,-84.1,142.8,-19.8,74,745,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1822,3351,0,0,0,0,0,0
$GC,997,-1.73,-84.1,190.0,-18.0,98,998,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1822,3352,0,0,0,0,0,0
$GC,1265,-1.73,-84.1,236.4,-17.5,109,1267,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1823,3352,0,0,0,0,0,0
$GC,1508,-1.77,-84.1,275.4,-15.6,115,1509,0.00,0.00,0.00,0.000,6,0.000,0.000,2704,1823,3353,0,0,0,0,0,0
$GC,1752,-1.84,-84.1,310.3,-14.2,121,1756,0.00,2.53,0.00,0.000,4,0.000,0.041,2705,3370,3353,0,0,0,0,0,0
$GC,1773,-1.91,-84.1,313.6,-14.5,121,1779,0.12,2.62,0.00,0.000,6,0.074,0.049,2663,1800,3353,0,0,0,0,0,0
$GC,2030,-1.91,-84.1,356.4,-16.8,128,2034,0.00,2.58,0.00,0.000,4,0.000,0.041,2663,3366,3353,0,0,0,0,0,0
$GC,2101,-1.91,-84.1,369.4,-18.1,129,2106,0.00,2.67,0.00,0.000,6,0.000,0.060,2662,1783,3353,0,0,0,0,0,0
$GC,2353,-1.91,-84.1,410.6,-16.5,135,2357,0.00,2.60,0.00,0.000,4,0.000,0.053,2662,3356,3352,0,0,0,0,0,0
$GC,2413,-1.91,-84.1,420.5,-14.9,136,2418,0.00,2.67,0.00,0.000,6,0.000,0.061,2662,1789,3351,0,0,0,0,0,0
$GC,2674,-1.91,-84.1,461.1,-15.6,143,2679,0.00,2.65,0.00,0.000,4,0.000,0.059,2662,3353,3350,0,0,0,0,0,0
$GC,2742,-1.95,-84.1,471.5,-15.3,144,2747,0.00,2.70,0.00,0.000,6,0.000,0.064,2662,1789,3350,0,0,0,0,0,0
$STATE,2954,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2954,begin apogee
$GC,2960,-0.31,0.0,502.2,14.2,150,3037,1.73,0.00,71.30,0.905,6,0.116,0.000,3019,1932,3001,0,0,0,0,0,0
$STATE,3037,end apogee,CONTROL_FINISHED_OK
$STATE,3038,begin climb
$GC,3040,1.95,84.1,505.8,0.0,152,3121,2.17,3.17,71.60,0.884,4,0.061,0.114,3515,337,2657,0,0,0,0,0,0
$GC,3140,2.01,129.2,503.3,4.4,154,3186,0.00,2.62,40.03,0.866,6,0.000,0.044,3515,1905,2474,0,0,0,0,0,0
$GC,3444,2.11,134.3,476.6,9.4,162,3454,0.15,2.83,4.38,0.584,4,0.078,0.067,3551,3505,2452,0,0,0,0,0,0
$GC,3621,2.11,134.3,457.9,10.3,166,3626,0.00,2.67,0.00,0.000,6,0.000,0.051,3551,1921,2450,0,0,0,0,0,0
$GC,3901,2.15,134.3,430.5,10.0,173,3905,0.00,2.65,0.00,0.000,4,0.000,0.041,3551,3512,2446,0,0,0,0,0,0
$GC,3950,2.15,134.3,424.8,11.4,174,3954,0.00,2.67,0.00,0.000,6,0.000,0.050,3551,1926,2446,0,0,0,0,0,0
$GC,4223,2.20,138.2,398.0,9.6,181,4227,0.00,2.62,0.00,0.000,4,0.000,0.043,3551,3514,2444,0,0,0,0,0,0
$GC,4309,2.25,144.3,389.9,9.3,183,4324,0.12,2.65,8.82,0.758,6,0.097,0.048,3580,1921,2412,0,0,0,0,0,0
$GC,4596,2.26,149.0,361.7,9.5,190,4603,0.00,0.00,5.35,0.646,6,0.000,0.000,3581,1921,2393,0,0,0,0,0,0
$GC,4840,2.26,149.0,335.1,11.3,196,4844,0.00,2.62,0.00,0.000,4,0.000,0.037,3580,3518,2390,0,0,0,0,0,0
$GC,4862,2.26,149.0,332.6,11.3,196,4867,0.00,2.62,0.00,0.000,6,0.000,0.042,3580,1925,2389,0,0,0,0,0,0
$GC,5117,2.26,149.0,303.3,11.6,203,5121,0.00,2.62,0.00,0.000,4,0.000,0.041,3580,3524,2388,0,0,0,0,0,0
$GC,5188,2.26,149.0,294.9,11.3,204,5193,0.00,2.62,0.00,0.000,6,0.000,0.035,3580,1930,2387,0,0,0,0,0,0
$GC,5440,2.27,161.6,272.5,8.5,210,5458,0.00,2.70,11.77,0.733,4,0.000,0.035,3580,3524,2341,0,0,0,0,0,0
$GC,5510,2.27,163.8,265.8,9.8,211,5514,0.00,2.65,0.00,0.000,6,0.000,0.041,3580,1924,2339,0,0,0,0,0,0
$GC,5766,2.27,163.8,238.1,11.4,218,5770,0.00,2.58,0.00,0.000,4,0.000,0.035,3580,3515,2337,0,0,0,0,0,0
$GC,5865,2.27,163.8,225.3,13.0,220,5870,0.00,2.58,0.00,0.000,6,0.000,0.037,3581,1948,2337,0,0,0,0,0,0
$GC,6133,2.33,175.2,199.9,8.6,227,6147,0.00,0.00,12.73,0.684,6,0.000,0.000,3581,1948,2286,0,0,0,0,0,0
$GC,6401,2.38,175.2,173.7,11.5,252,6406,0.12,2.58,0.00,0.000,4,0.084,0.032,3611,3521,2282,0,0,0,0,0,0
$GC,6536,2.38,175.2,154.7,14.1,263,6541,0.00,2.58,0.00,0.000,6,0.000,0.039,3612,1943,2282,0,0,0,0,0,0
$GC,6804,2.38,175.2,126.4,10.5,287,6808,0.00,2.55,0.00,0.000,4,0.000,0.039,3611,3518,2281,0,0,0,0,0,0
$GC,6895,2.38,175.2,113.9,13.2,294,6905,0.00,2.55,0.00,0.000,6,0.000,0.031,3611,1957,2281,0,0,0,0,0,0
$GC,7163,2.38,175.2,80.8,13.4,319,7167,0.00,2.53,0.00,0.000,4,0.000,0.039,3611,3520,2281,0,0,0,0,0,0
$GC,7443,2.43,180.4,49.0,9.4,341,7455,0.00,2.53,5.40,0.463,6,0.000,0.031,3611,1969,2264,0,0,0,0,0,0
$GC,7718,2.51,202.1,28.8,7.3,367,7745,0.10,2.53,19.65,0.548,4,0.102,0.036,3639,3525,2176,0,0,0,0,0,0
$GC,7870,2.51,202.1,12.1,13.0,388,7879,0.00,2.58,0.00,0.000,6,0.000,0.032,3640,1957,2175,0,0,0,0,0,0
$STATE,7929,end climb,SURFACE_DEPTH_REACHED
$STATE,7930,begin surface coast
$FINISH,0.4,0.975856
$STATE,7972,end surface coast,CONTROL_FINISHED_OK
$STATE,7972,begin surface
$SM_CCo,7997,160.20,0.531,0,0,1369,400.08
$SM_GC,1.11,0.00,0.00,160.20,0.000,0.000,0.531,475,1754,1369,-12.03,-0.45,400.08
$IRIDIUM_FIX,2239.35,-15757.16,120800,222238
$TT8_MAMPS,0.026078
$HUMID,54.88
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.70
$XPDR_PINGS,36
$24V_AH,23.5,9.201
$10V_AH,10.4,7.801
$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,29.575,89.975,251.025,160.200,0.000,24.329,32.013,142.361,9.000,0.000,29.980,831.695,5144.815,479.714,1619.708,422.977,33.352,1078.061,0.000,1612.370,0.000,0.534,0.000
$DEVICE_MAMPS,164.905,149.565,905.060,530.764,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,272.437,238.481,311.145,612.675,926.731,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355576
$DATA_FILE_SIZE,32074,402
$CAP_FILE_SIZE,83898,0
$CFSIZE,260165632,178532352
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,200511,040006,2246.855,-15757.568,14,1.1,29,10.1