version: 66.06
glider: 146
mission: 6
dive: 147
start: 5 29 111 0 29 56
data:
$ID,146
$MISSION,6
$DIVE,147
$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,-270820.91
$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,3130
$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,1970
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,33
$R_STBD_OVSHOOT,65
$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
$GPS1,001607,2249.108,-15803.116,61,1.1,61,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.8
$GPS2,002903,2249.238,-15803.148,14,1.1,33,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,-0.030
$KALMAN_X,-85561.8,238.7,-298.9,74773.5,-194.9
$KALMAN_Y,-136466.3,8.3,-371.7,146712.0,582.7
$MHEAD_RNG_PITCHd_Wd,87.2,10590,-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,17,-1.38,-116.8,0.0,0.0,0,98,0.00,0.00,-78.47,0.000,2,0.000,0.000,480,1757,3362,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.5,-5.9,10,127,12.43,2.70,-2.15,0.000,4,0.158,0.069,2820,196,3481,0,0,0,0,0,0
$GC,140,-0.37,-116.8,17.5,-36.2,14,148,1.02,2.42,0.00,0.000,6,0.100,0.021,3044,1829,3482,0,0,0,0,0,0
$GC,436,-0.67,-116.8,37.9,-5.5,50,441,0.25,2.38,0.00,0.000,4,0.045,0.030,2960,3335,3483,0,0,0,0,0,0
$GC,497,-0.85,-116.8,43.0,-7.9,54,506,0.00,2.53,0.00,0.000,6,0.000,0.027,2960,1774,3483,0,0,0,0,0,0
$GC,764,-1.00,-116.8,66.1,-8.2,79,773,0.20,0.00,0.00,0.000,6,0.050,0.000,2893,1774,3483,0,0,0,0,0,0
$GC,1025,-1.00,-116.8,97.5,-11.0,104,1029,0.00,2.45,0.00,0.000,4,0.000,0.028,2893,3327,3484,0,0,0,0,0,0
$GC,1054,-1.06,-116.8,100.6,-11.2,106,1058,0.00,2.45,0.00,0.000,6,0.000,0.025,2893,1775,3484,0,0,0,0,0,0
$GC,1318,-1.10,-116.8,131.8,-12.3,130,1322,0.00,2.45,0.00,0.000,4,0.000,0.025,2893,3331,3484,0,0,0,0,0,0
$GC,1352,-1.18,-116.8,136.1,-11.1,132,1361,0.00,2.47,0.00,0.000,6,0.000,0.028,2893,1789,3485,0,0,0,0,0,0
$GC,1620,-1.24,-116.8,162.4,-9.7,157,1625,0.15,2.42,0.00,0.000,4,0.064,0.029,2842,3333,3485,0,0,0,0,0,0
$GC,1672,-1.24,-116.8,169.3,-12.0,161,1676,0.00,2.42,0.00,0.000,6,0.000,0.026,2842,1795,3485,0,0,0,0,0,0
$GC,1965,-1.24,-116.8,205.4,-12.0,185,1970,0.00,2.40,0.00,0.000,4,0.000,0.030,2842,3331,3485,0,0,0,0,0,0
$GC,1993,-1.24,-116.8,209.2,-12.4,185,1997,0.00,2.40,0.00,0.000,6,0.000,0.026,2842,1802,3485,0,0,0,0,0,0
$GC,2243,-1.24,-116.8,237.9,-11.5,191,2247,0.00,2.42,0.00,0.000,4,0.000,0.031,2842,3331,3485,0,0,0,0,0,0
$GC,2299,-1.28,-116.8,244.7,-12.4,192,2304,0.00,2.42,0.00,0.000,6,0.000,0.035,2842,1806,3485,0,0,0,0,0,0
$GC,2566,-1.28,-116.8,274.9,-11.1,199,2567,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1806,3485,0,0,0,0,0,0
$GC,2810,-1.28,-116.8,304.0,-12.2,205,2814,0.00,2.47,0.00,0.000,4,0.000,0.036,2842,3330,3485,0,0,0,0,0,0
$GC,2883,-1.34,-116.8,312.7,-11.5,206,2888,0.00,2.47,0.00,0.000,6,0.000,0.040,2843,1815,3485,0,0,0,0,0,0
$GC,3133,-1.34,-116.8,339.9,-10.6,212,3137,0.00,2.42,0.00,0.000,4,0.000,0.041,2842,3320,3484,0,0,0,0,0,0
$GC,3183,-1.40,-116.8,345.0,-10.0,213,3187,0.00,2.50,0.00,0.000,6,0.000,0.051,2842,1818,3484,0,0,0,0,0,0
$GC,3456,-1.40,-116.8,368.3,-8.1,220,3460,0.00,2.42,0.00,0.000,4,0.000,0.041,2842,3320,3482,0,0,0,0,0,0
$GC,3477,-1.44,-116.8,370.3,-8.2,220,3482,0.12,2.47,0.00,0.000,6,0.071,0.044,2794,1822,3482,0,0,0,0,0,0
$GC,3733,-1.40,-116.8,395.8,-10.2,227,3735,0.15,0.00,0.00,0.000,6,0.108,0.000,2825,1822,3481,0,0,0,0,0,0
$GC,3977,-1.40,-116.8,420.3,-10.3,233,3982,0.00,2.45,0.00,0.000,4,0.000,0.041,2826,3316,3479,0,0,0,0,0,0
$GC,3993,-1.40,-116.8,422.4,-10.8,233,3997,0.00,2.50,0.00,0.000,6,0.000,0.059,2826,1829,3479,0,0,0,0,0,0
$GC,4255,-1.40,-116.8,450.7,-10.7,240,4259,0.00,2.45,0.00,0.000,4,0.000,0.047,2826,3319,3478,0,0,0,0,0,0
$GC,4289,-1.44,-116.8,454.2,-11.4,240,4294,0.00,2.58,0.00,0.000,6,0.000,0.066,2826,1824,3478,0,0,0,0,0,0
$GC,4538,-1.44,-116.8,480.2,-10.3,247,4540,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1824,3476,0,0,0,0,0,0
$STATE,4739,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4739,begin apogee
$GC,4745,-0.31,0.0,500.9,10.2,252,4845,1.05,0.00,96.05,0.923,6,0.082,0.000,3062,1948,3000,0,0,0,0,0,0
$STATE,4846,end apogee,CONTROL_FINISHED_OK
$STATE,4846,begin climb
$GC,4849,1.38,116.8,503.8,0.0,254,4953,1.60,0.00,99.50,0.900,6,0.055,0.000,3434,1948,2524,0,0,0,0,0,0
$GC,5186,1.39,167.7,486.9,7.1,263,5232,0.00,0.00,43.80,0.887,6,0.000,0.000,3434,1948,2316,0,0,0,0,0,0
$GC,5469,1.39,168.6,460.0,10.0,270,5470,0.00,0.00,0.00,0.000,6,0.000,0.000,3434,1948,2309,0,0,0,0,0,0
$GC,5714,1.39,168.6,435.3,10.3,276,5718,0.00,2.62,0.00,0.000,4,0.000,0.044,3434,3535,2306,0,0,0,0,0,0
$GC,5763,1.39,168.6,429.8,10.2,277,5768,0.00,2.62,0.00,0.000,6,0.000,0.049,3434,1972,2305,0,0,0,0,0,0
$GC,6036,1.40,177.3,403.4,9.5,284,6045,0.00,0.00,7.53,0.746,6,0.000,0.000,3435,1972,2278,0,0,0,0,0,0
$GC,6281,1.41,188.6,380.2,9.4,290,6294,0.00,0.00,11.30,0.796,6,0.000,0.000,3434,1972,2232,0,0,0,0,0,0
$GC,6569,1.44,210.9,355.1,8.7,297,6591,0.00,0.00,20.42,0.833,6,0.000,0.000,3435,1972,2141,0,0,0,0,0,0
$GC,6812,1.44,213.3,331.0,9.9,303,6817,0.00,2.58,0.00,0.000,4,0.000,0.038,3435,3542,2137,0,0,0,0,0,0
$GC,6854,1.44,213.3,327.1,10.1,304,6859,0.00,2.62,0.00,0.000,6,0.000,0.035,3434,1954,2135,0,0,0,0,0,0
$GC,7138,1.46,225.1,300.0,9.4,311,7157,0.00,2.65,12.77,0.766,4,0.000,0.038,3435,3531,2083,0,0,0,0,0,0
$GC,7174,1.48,242.0,296.5,9.1,311,7198,0.00,2.58,16.55,0.768,6,0.000,0.033,3435,1962,2013,0,0,0,0,0,0
$GC,7467,1.49,250.3,268.8,9.6,319,7482,0.00,2.65,8.18,0.686,4,0.000,0.034,3434,3541,1979,0,0,0,0,0,0
$GC,7494,1.49,250.3,265.9,10.5,319,7498,0.00,2.58,0.00,0.000,6,0.000,0.036,3434,1964,1978,0,0,0,0,0,0
$GC,7749,1.49,250.3,237.2,11.5,326,7750,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1964,1976,0,0,0,0,0,0
$GC,7994,1.49,250.3,208.5,11.8,332,7998,0.00,2.58,0.00,0.000,4,0.000,0.034,3435,3542,1975,0,0,0,0,0,0
$GC,8038,1.54,250.3,203.2,11.1,333,8043,0.12,2.55,0.00,0.000,6,0.077,0.036,3470,1975,1975,0,0,0,0,0,0
$GC,8305,1.54,250.3,172.7,10.8,356,8309,0.00,2.55,0.00,0.000,4,0.000,0.038,3470,3549,1974,0,0,0,0,0,0
$GC,8336,1.54,250.3,169.7,11.2,358,8341,0.00,2.53,0.00,0.000,6,0.000,0.031,3470,1987,1974,0,0,0,0,0,0
$GC,8598,1.54,250.3,141.4,10.5,382,8603,0.00,2.50,0.00,0.000,4,0.000,0.035,3470,3541,1974,0,0,0,0,0,0
$GC,8634,1.54,250.3,137.4,11.3,384,8643,0.00,2.53,0.00,0.000,6,0.000,0.030,3470,1994,1974,0,0,0,0,0,0
$GC,8900,1.60,301.1,113.1,7.1,409,8948,0.00,0.00,43.42,0.647,6,0.000,0.000,3470,1994,1772,0,0,0,0,0,0
$GC,9202,1.60,301.1,83.1,12.7,437,9207,0.00,2.50,0.00,0.000,4,0.000,0.033,3470,3544,1768,0,0,0,0,0,0
$GC,9224,1.60,301.1,79.7,12.6,438,9233,0.00,2.55,0.00,0.000,6,0.000,0.031,3470,1979,1766,0,0,0,0,0,0
$GC,9490,1.60,301.1,46.3,13.0,463,9494,0.00,2.50,0.00,0.000,4,0.000,0.029,3470,3548,1766,0,0,0,0,0,0
$GC,9512,1.64,301.1,42.8,12.8,464,9522,0.00,2.55,0.00,0.000,6,0.000,0.028,3470,1982,1766,0,0,0,0,0,0
$GC,9816,1.72,313.2,15.2,9.3,501,9834,0.15,0.00,10.88,0.507,6,0.067,0.000,3515,1981,1723,0,0,0,0,0,0
$STATE,9903,end climb,SURFACE_DEPTH_REACHED
$STATE,9903,begin surface coast
$FINISH,0.5,0.979319
$STATE,9941,end surface coast,CONTROL_FINISHED_OK
$STATE,9941,begin surface
$SM_CCo,9963,70.53,0.535,0,0,1369,400.08
$SM_GC,1.29,0.00,0.00,70.53,0.000,0.000,0.535,475,1747,1369,-12.21,-0.68,400.08
$IRIDIUM_FIX,2241.69,-15804.53,220800,000044
$TT8_MAMPS,0.026078
$HUMID,58.23
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.00
$XPDR_PINGS,42
$24V_AH,23.5,18.588
$10V_AH,10.4,16.007
$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,29.625,105.850,370.400,70.525,0.000,88.329,155.460,255.027,10.500,0.000,34.549,1015.848,6567.365,529.864,1916.371,783.760,33.367,1194.252,0.000,1911.326,0.000,0.535,0.000
$DEVICE_MAMPS,158.002,168.740,923.468,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,351.124,297.436,407.241,813.852,1231.216,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355500
$DATA_FILE_SIZE,41615,518
$CAP_FILE_SIZE,102940,0
$CFSIZE,260165632,174575616
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290511,031822,2249.165,-15801.584,10,2.6,29,10.1