version: 66.06
glider: 146
mission: 6
dive: 85
start: 5 21 111 16 24 43
data:
$ID,146
$MISSION,6
$DIVE,85
$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,-269147
$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,3110
$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,35
$R_STBD_OVSHOOT,43
$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
$GPS1,161326,2247.920,-15757.493,25,2.7,44,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-66.9
$GPS2,162349,2247.862,-15757.563,11,1.7,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.085,-0.115
$KALMAN_X,-60786.4,440.6,-86.4,59117.7,-963.7
$KALMAN_Y,-109134.9,-522.7,-463.9,117459.3,-838.8
$MHEAD_RNG_PITCHd_Wd,133.4,1647,-32.6,-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,14,end surface,CONTROL_FINISHED_OK
$STATE,14,begin dive
$GC,17,-2.09,-44.8,0.0,0.0,0,97,0.00,0.00,-73.68,0.000,6,0.000,0.000,479,1754,3182,0,0,0,0,0,0
$GC,100,-2.13,-77.8,3.2,-5.1,10,126,11.60,2.65,-2.67,0.000,4,0.164,0.061,2634,202,3322,0,0,0,0,0,0
$GC,203,-1.98,-77.8,35.7,-29.0,23,208,0.22,2.40,0.00,0.000,6,0.153,0.014,2676,1817,3323,0,0,0,0,0,0
$GC,469,-1.98,-77.8,98.6,-21.0,47,474,0.00,2.33,0.00,0.000,4,0.000,0.025,2676,3313,3324,0,0,0,0,0,0
$GC,503,-2.02,-77.8,105.8,-21.5,49,507,0.00,2.42,0.00,0.000,6,0.000,0.025,2676,1778,3324,0,0,0,0,0,0
$GC,769,-2.08,-77.8,155.9,-17.6,73,774,0.00,2.40,0.00,0.000,4,0.000,0.029,2676,3310,3325,0,0,0,0,0,0
$GC,848,-2.17,-77.8,168.9,-16.0,79,853,0.17,2.40,0.00,0.000,6,0.060,0.030,2621,1784,3325,0,0,0,0,0,0
$GC,1106,-2.17,-77.8,215.2,-17.8,97,1110,0.00,2.38,0.00,0.000,4,0.000,0.030,2622,3302,3326,0,0,0,0,0,0
$GC,1138,-2.17,-77.8,220.9,-16.8,97,1144,0.00,2.40,0.00,0.000,6,0.000,0.035,2622,1792,3326,0,0,0,0,0,0
$GC,1390,-2.17,-77.8,267.3,-19.0,104,1394,0.00,2.40,0.00,0.000,4,0.000,0.036,2622,3302,3326,0,0,0,0,0,0
$GC,1405,-2.17,-77.8,270.8,-19.2,104,1409,0.00,2.47,0.00,0.000,6,0.000,0.041,2622,1787,3327,0,0,0,0,0,0
$GC,1666,-2.17,-77.8,315.7,-16.5,111,1670,0.00,2.42,0.00,0.000,4,0.000,0.041,2622,3298,3327,0,0,0,0,0,0
$GC,1818,-2.22,-77.8,341.2,-17.4,114,1823,0.00,2.50,0.00,0.000,6,0.000,0.050,2622,1804,3327,0,0,0,0,0,0
$GC,2079,-2.25,-77.8,385.5,-17.1,121,2083,0.00,2.42,0.00,0.000,4,0.000,0.049,2622,3290,3326,0,0,0,0,0,0
$GC,2181,-2.31,-77.8,404.0,-18.2,123,2186,0.00,2.55,0.00,0.000,6,0.000,0.064,2622,1808,3326,0,0,0,0,0,0
$GC,2447,-2.35,-77.8,451.2,-17.8,130,2452,0.10,2.50,0.00,0.000,4,0.091,0.054,2589,3289,3324,0,0,0,0,0,0
$GC,2481,-2.35,-77.8,457.8,-19.2,130,2487,0.00,2.55,0.00,0.000,6,0.000,0.063,2589,1815,3324,0,0,0,0,0,0
$STATE,2729,end dive,TARGET_DEPTH_EXCEEDED
$STATE,2729,begin apogee
$GC,2735,-0.31,0.0,506.7,19.6,137,2806,2.17,0.00,66.35,0.905,6,0.120,0.000,3037,1864,3001,0,0,0,0,0,0
$STATE,2806,end apogee,CONTROL_FINISHED_OK
$STATE,2807,begin climb
$GC,2809,2.13,77.8,510.3,0.0,138,2884,2.28,3.00,66.07,0.886,4,0.054,0.113,3576,334,2683,0,0,0,0,0,0
$GC,2999,2.14,87.1,502.3,8.6,142,3013,0.00,2.53,8.88,0.765,6,0.000,0.041,3576,1858,2644,0,0,0,0,0,0
$GC,3272,2.20,91.1,477.2,9.4,149,3282,0.00,2.75,4.20,0.577,4,0.000,0.071,3576,3433,2629,0,0,0,0,0,0
$GC,3391,2.26,96.4,465.9,9.2,151,3403,0.10,2.58,6.12,0.697,6,0.114,0.047,3599,1923,2608,0,0,0,0,0,0
$GC,3647,2.27,100.0,441.1,9.5,158,3657,0.00,3.05,4.40,0.600,4,0.000,0.109,3599,329,2593,0,0,0,0,0,0
$GC,3766,2.21,109.4,431.1,8.6,160,3780,0.00,2.47,9.85,0.787,6,0.000,0.032,3599,1849,2555,0,0,0,0,0,0
$GC,4060,2.24,128.1,410.0,7.2,168,4084,0.00,2.75,17.33,0.834,4,0.000,0.051,3599,3439,2477,0,0,0,0,0,0
$GC,4220,2.28,128.5,395.4,10.0,171,4224,0.00,2.58,0.00,0.000,6,0.000,0.043,3599,1910,2472,0,0,0,0,0,0
$GC,4476,2.33,130.0,370.6,9.8,178,4481,0.00,2.53,0.00,0.000,4,0.000,0.041,3599,3446,2471,0,0,0,0,0,0
$GC,4735,2.38,130.2,343.4,10.0,183,4741,0.12,2.53,0.00,0.000,6,0.104,0.043,3626,1923,2468,0,0,0,0,0,0
$GC,4986,2.38,133.3,318.9,9.6,190,4995,0.00,2.53,4.05,0.545,4,0.000,0.041,3626,3441,2457,0,0,0,0,0,0
$GC,5006,2.38,133.3,316.4,10.9,190,5011,0.00,2.50,0.00,0.000,6,0.000,0.038,3626,1918,2456,0,0,0,0,0,0
$GC,5268,2.38,133.3,286.9,11.9,197,5272,0.00,2.50,0.00,0.000,4,0.000,0.038,3626,3448,2455,0,0,0,0,0,0
$GC,5486,2.39,134.3,261.7,9.9,202,5491,0.00,2.47,0.00,0.000,6,0.000,0.040,3626,1935,2455,0,0,0,0,0,0
$GC,5771,2.40,147.5,237.1,8.1,209,5790,0.00,2.85,13.60,0.726,4,0.000,0.073,3626,313,2398,0,0,0,0,0,0
$GC,5899,2.35,147.5,223.2,12.4,211,5904,0.00,2.50,0.00,0.000,6,0.000,0.025,3626,1883,2395,0,0,0,0,0,0
$GC,6149,2.40,147.5,196.6,10.3,218,6153,0.00,2.62,0.00,0.000,4,0.000,0.044,3626,3493,2394,0,0,0,0,0,0
$GC,6217,2.42,162.6,191.6,7.8,223,6238,0.00,2.55,14.10,0.691,6,0.000,0.038,3626,1928,2336,0,0,0,0,0,0
$GC,6493,2.48,162.6,165.9,11.1,249,6498,0.10,2.75,0.00,0.000,4,0.260,0.063,3650,343,2333,0,0,0,0,0,0
$GC,6528,2.42,162.6,161.3,13.2,251,6534,0.00,2.50,0.00,0.000,6,0.000,0.024,3650,1928,2332,0,0,0,0,0,0
$GC,6791,2.42,162.6,131.3,10.4,276,6795,0.00,2.50,0.00,0.000,4,0.000,0.036,3650,3488,2331,0,0,0,0,0,0
$GC,6945,2.46,164.8,114.6,9.7,288,6954,0.00,2.55,0.00,0.000,6,0.000,0.038,3650,1931,2330,0,0,0,0,0,0
$GC,7212,2.51,164.8,88.5,10.6,313,7216,0.00,2.50,0.00,0.000,4,0.000,0.035,3651,3501,2330,0,0,0,0,0,0
$GC,7244,2.51,164.8,85.1,10.5,315,7249,0.00,2.55,0.00,0.000,6,0.000,0.036,3651,1920,2330,0,0,0,0,0,0
$GC,7511,2.58,182.7,61.2,7.3,339,7539,0.00,2.60,17.65,0.582,4,0.000,0.032,3651,3489,2254,0,0,0,0,0,0
$GC,7636,2.65,187.2,49.3,9.4,348,7647,0.12,2.53,5.00,0.445,6,0.052,0.030,3689,1944,2238,0,0,0,0,0,0
$GC,7924,2.65,187.2,15.3,12.9,381,7933,0.00,0.00,0.00,0.000,6,0.000,0.000,3689,1944,2237,0,0,0,0,0,0
$STATE,8015,end climb,SURFACE_DEPTH_REACHED
$STATE,8015,begin surface coast
$FINISH,0.6,0.978528
$STATE,8065,end surface coast,CONTROL_FINISHED_OK
$STATE,8065,begin surface
$SM_CCo,8088,172.35,0.535,0,0,1369,400.08
$SM_GC,1.28,0.00,0.00,172.35,0.000,0.000,0.535,475,1746,1369,-12.13,-0.68,400.08
$IRIDIUM_FIX,2241.69,-15757.16,140800,161605
$TT8_MAMPS,0.025311
$HUMID,55.35
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.50
$XPDR_PINGS,42
$24V_AH,23.5,10.818
$10V_AH,10.4,9.279
$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,30.125,107.300,237.600,172.350,0.000,55.580,74.639,299.506,10.500,0.000,13.063,879.781,5087.125,485.974,1754.514,681.654,33.361,1159.173,0.000,1754.979,0.000,0.534,0.000
$DEVICE_MAMPS,260.013,129.623,905.060,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,271.835,231.667,310.191,600.679,908.448,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,32083,401
$CAP_FILE_SIZE,98832,0
$CFSIZE,260165632,177811456
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210511,184314,2246.672,-15757.504,9,2.0,9,10.1