version: 66.06
glider: 146
mission: 6
dive: 151
start: 5 29 111 11 54 52
data:
$ID,146
$MISSION,6
$DIVE,151
$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,-270967.12
$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,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,36
$R_STBD_OVSHOOT,61
$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
$GPS1,114657,2249.894,-15757.851,38,2.4,57,10.1
$_CALLS,1
$_XMS_NAKs,10
$_XMS_TOUTs,0
$_SM_DEPTHo,1.20
$_SM_ANGLEo,-68.0
$GPS2,115358,2249.971,-15757.892,13,3.1,32,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.149,-0.016
$KALMAN_X,-85336.2,-119.6,-309.9,83895.2,38.9
$KALMAN_Y,-136520.3,-15.1,-252.0,148024.6,212.9
$MHEAD_RNG_PITCHd_Wd,86.0,1523,-31.3,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,16,-2.02,-48.3,0.0,0.0,0,96,0.00,0.00,-73.45,0.000,6,0.000,0.000,479,1754,3199,0,0,0,0,0,0
$GC,100,-2.04,-64.2,4.0,-7.8,10,119,11.77,2.60,-1.20,0.000,4,0.162,0.059,2680,199,3265,0,0,0,0,0,0
$GC,137,-1.27,-64.2,18.5,-37.7,14,146,0.77,2.42,0.00,0.000,6,0.119,0.016,2838,1795,3266,0,0,0,0,0,0
$GC,413,-1.51,-64.2,63.9,-13.1,42,418,0.17,2.38,0.00,0.000,4,0.058,0.023,2782,3310,3267,0,0,0,0,0,0
$GC,535,-1.70,-64.2,83.4,-16.1,51,539,0.00,2.40,0.00,0.000,6,0.000,0.029,2782,1785,3268,0,0,0,0,0,0
$GC,803,-1.88,-64.2,122.2,-13.1,75,810,0.25,0.00,0.00,0.000,6,0.048,0.000,2705,1785,3268,0,0,0,0,0,0
$GC,1069,-1.95,-64.2,167.4,-17.6,100,1074,0.00,0.00,0.00,0.000,6,0.000,0.000,2705,1785,3270,0,0,0,0,0,0
$GC,1328,-2.03,-64.2,214.8,-17.3,119,1332,0.00,2.40,0.00,0.000,4,0.000,0.032,2705,3305,3270,0,0,0,0,0,0
$GC,1400,-2.13,-64.2,226.9,-16.2,120,1405,0.17,2.40,0.00,0.000,6,0.054,0.028,2642,1793,3270,0,0,0,0,0,0
$GC,1655,-2.13,-64.2,270.2,-16.7,127,1660,0.12,2.42,0.00,0.000,4,0.126,0.035,2666,3308,3271,0,0,0,0,0,0
$GC,1689,-2.17,-64.2,275.9,-16.1,127,1695,0.00,2.45,0.00,0.000,6,0.000,0.035,2667,1799,3271,0,0,0,0,0,0
$GC,1940,-2.22,-64.2,315.6,-15.7,134,1944,0.00,2.42,0.00,0.000,4,0.000,0.037,2666,3307,3271,0,0,0,0,0,0
$GC,2024,-2.29,-64.2,329.0,-16.3,136,2030,0.15,2.47,0.00,0.000,6,0.066,0.047,2617,1803,3271,0,0,0,0,0,0
$GC,2309,-2.29,-64.2,378.9,-17.7,143,2313,0.00,2.42,0.00,0.000,4,0.000,0.047,2616,3294,3271,0,0,0,0,0,0
$GC,2324,-2.29,-64.2,382.0,-17.4,143,2329,0.00,2.50,0.00,0.000,6,0.000,0.058,2616,1801,3271,0,0,0,0,0,0
$GC,2586,-2.29,-64.2,424.2,-16.0,150,2590,0.00,2.47,0.00,0.000,4,0.000,0.047,2617,3292,3270,0,0,0,0,0,0
$GC,2638,-2.29,-64.2,432.5,-16.8,151,2642,0.00,2.58,0.00,0.000,6,0.000,0.067,2617,1802,3269,0,0,0,0,0,0
$GC,2909,-2.29,-64.2,476.8,-15.7,158,2913,0.00,2.50,0.00,0.000,4,0.000,0.060,2617,3288,3268,0,0,0,0,0,0
$GC,3017,-2.29,-64.2,492.8,-14.5,160,3022,0.00,2.55,0.00,0.000,6,0.000,0.067,2616,1804,3267,0,0,0,0,0,0
$STATE,3073,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3073,begin apogee
$GC,3079,-0.31,0.0,501.7,15.0,162,3138,2.08,0.00,54.92,0.903,6,0.110,0.000,3056,1926,3001,0,0,0,0,0,0
$STATE,3139,end apogee,CONTROL_FINISHED_OK
$STATE,3139,begin climb
$GC,3141,2.04,64.2,503.9,0.0,163,3205,2.22,3.03,54.67,0.884,4,0.054,0.111,3579,383,2738,0,0,0,0,0,0
$GC,3229,2.02,110.8,501.9,3.6,165,3275,0.00,2.62,40.55,0.878,6,0.000,0.041,3580,1951,2549,0,0,0,0,0,0
$GC,3520,2.02,113.8,475.9,9.6,173,3525,0.00,2.78,0.00,0.000,4,0.000,0.064,3579,3552,2541,0,0,0,0,0,0
$GC,3661,2.02,113.8,461.7,10.3,176,3665,0.00,2.67,0.00,0.000,6,0.000,0.049,3579,1984,2538,0,0,0,0,0,0
$GC,3933,2.07,122.3,437.0,8.9,183,3944,0.00,0.00,8.93,0.769,6,0.000,0.000,3579,1985,2502,0,0,0,0,0,0
$GC,4177,2.11,122.3,411.4,10.7,189,4182,0.00,2.62,0.00,0.000,4,0.000,0.041,3579,3565,2498,0,0,0,0,0,0
$GC,4294,2.11,122.3,397.4,11.3,191,4298,0.00,2.65,0.00,0.000,6,0.000,0.041,3579,1980,2496,0,0,0,0,0,0
$GC,4544,2.16,122.3,371.1,10.4,197,4549,0.00,2.60,0.00,0.000,4,0.000,0.037,3579,3566,2495,0,0,0,0,0,0
$GC,4640,2.17,129.8,362.1,9.0,199,4655,0.10,2.60,6.90,0.706,6,0.104,0.041,3603,1985,2471,0,0,0,0,0,0
$GC,4916,2.18,131.9,335.0,9.7,206,4921,0.00,2.83,0.00,0.000,4,0.000,0.077,3603,385,2468,0,0,0,0,0,0
$GC,4984,2.11,135.2,328.7,9.6,207,4995,0.00,2.58,5.78,0.659,6,0.000,0.021,3603,2009,2448,0,0,0,0,0,0
$GC,5239,2.12,144.5,306.0,8.7,213,5254,0.00,2.55,9.65,0.737,4,0.000,0.038,3603,3545,2410,0,0,0,0,0,0
$GC,5405,2.12,144.5,288.2,11.8,216,5411,0.00,2.55,0.00,0.000,6,0.000,0.038,3603,1993,2407,0,0,0,0,0,0
$GC,5655,2.16,144.5,260.6,11.2,223,5656,0.00,0.00,0.00,0.000,6,0.000,0.000,3604,1993,2406,0,0,0,0,0,0
$GC,5899,2.20,144.5,235.4,10.2,229,5903,0.00,2.50,0.00,0.000,4,0.000,0.038,3603,3538,2405,0,0,0,0,0,0
$GC,5955,2.20,144.5,229.4,10.3,230,5959,0.00,2.50,0.00,0.000,6,0.000,0.038,3604,2001,2404,0,0,0,0,0,0
$GC,6222,2.27,154.7,205.9,8.6,237,6236,0.00,2.53,9.23,0.664,4,0.000,0.038,3603,3547,2369,0,0,0,0,0,0
$GC,6371,2.31,154.7,192.7,10.5,244,6376,0.12,2.50,0.00,0.000,6,0.100,0.032,3632,2005,2367,0,0,0,0,0,0
$GC,6635,2.31,154.7,167.7,10.5,268,6640,0.00,2.50,0.00,0.000,4,0.000,0.032,3632,3548,2367,0,0,0,0,0,0
$GC,6889,2.31,154.7,140.9,10.3,289,6893,0.00,2.42,0.00,0.000,6,0.000,0.036,3632,2032,2366,0,0,0,0,0,0
$GC,7155,2.32,157.5,115.5,9.7,313,7160,0.00,2.75,0.00,0.000,4,0.000,0.061,3632,395,2366,0,0,0,0,0,0
$GC,7268,2.28,157.5,102.2,11.3,322,7273,0.00,2.53,0.00,0.000,6,0.000,0.022,3632,2039,2365,0,0,0,0,0,0
$GC,7535,2.33,167.0,78.0,8.7,346,7554,0.00,0.00,11.77,0.574,6,0.000,0.000,3632,2038,2318,0,0,0,0,0,0
$GC,7815,2.39,174.0,55.0,9.1,372,7824,0.00,0.00,7.32,0.506,6,0.000,0.000,3633,2038,2291,0,0,0,0,0,0
$GC,8084,2.51,203.6,35.7,5.9,397,8116,0.17,2.42,26.27,0.558,4,0.066,0.030,3680,3541,2169,0,0,0,0,0,0
$STATE,8353,end climb,SURFACE_DEPTH_REACHED
$STATE,8353,begin surface coast
$FINISH,0.4,0.973079
$STATE,8395,end surface coast,CONTROL_FINISHED_OK
$STATE,8395,begin surface
$SM_CCo,8422,157.95,0.532,0,0,1370,400.08
$SM_GC,1.29,0.00,0.00,157.95,0.000,0.000,0.532,476,1773,1370,-12.21,0.08,400.08
$IRIDIUM_FIX,2239.35,-15757.16,220800,090933
$TT8_MAMPS,0.025311
$HUMID,55.27
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.80
$XPDR_PINGS,40
$24V_AH,23.5,19.042
$10V_AH,10.4,16.429
$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,31.100,97.175,236.000,157.950,0.000,22.310,40.023,207.808,10.000,0.000,36.353,922.441,5263.746,468.450,1822.962,527.546,33.359,1116.548,0.000,1814.850,0.000,0.534,0.000
$DEVICE_MAMPS,161.837,111.215,902.759,531.531,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,297.051,278.414,350.356,695.311,1052.266,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355496
$DATA_FILE_SIZE,35269,438
$CAP_FILE_SIZE,92652,0
$CFSIZE,260165632,174391296
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290511,142025,2250.038,-15757.192,112,1.0,112,10.1