version: 66.06
glider: 146
mission: 6
dive: 152
start: 5 29 111 14 31 55
data:
$ID,146
$MISSION,6
$DIVE,152
$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,-271140.5
$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,26
$R_STBD_OVSHOOT,45
$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
$GPS1,142025,2250.038,-15757.192,112,1.0,112,10.1
$_CALLS,1
$_XMS_NAKs,32
$_XMS_TOUTs,1
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-64.1
$GPS2,143059,2250.151,-15757.204,169,1.9,171,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.071,-0.224
$KALMAN_X,-85614.4,-125.6,-330.3,85377.6,401.3
$KALMAN_Y,-136259.3,11.4,-51.0,147868.6,477.3
$MHEAD_RNG_PITCHd_Wd,187.5,5924,-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,13,end surface,CONTROL_FINISHED_OK
$STATE,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.15,0.000,2,0.000,0.000,475,1772,3377,0,0,0,0,0,0
$GC,99,-1.38,-116.8,4.0,-7.4,10,125,12.20,2.72,-1.77,0.000,4,0.150,0.066,2820,196,3481,0,0,0,0,0,0
$GC,265,-1.18,-116.8,47.1,-19.1,28,273,0.20,2.45,0.00,0.000,6,0.105,0.014,2865,1810,3482,0,0,0,0,0,0
$GC,531,-1.18,-116.8,84.3,-13.1,53,535,0.00,2.33,0.00,0.000,4,0.000,0.030,2866,3309,3482,0,0,0,0,0,0
$GC,588,-1.18,-116.8,91.0,-11.6,57,592,0.00,2.42,0.00,0.000,6,0.000,0.031,2865,1774,3482,0,0,0,0,0,0
$GC,855,-1.18,-116.8,122.0,-12.1,81,860,0.00,2.65,0.00,0.000,4,0.000,0.059,2866,198,3483,0,0,0,0,0,0
$GC,888,-1.18,-116.8,126.3,-12.9,83,893,0.00,2.35,0.00,0.000,6,0.000,0.021,2865,1791,3484,0,0,0,0,0,0
$GC,1152,-1.18,-116.8,158.2,-11.4,107,1156,0.00,2.35,0.00,0.000,4,0.000,0.031,2865,3295,3484,0,0,0,0,0,0
$GC,1197,-1.24,-116.8,163.9,-11.6,110,1202,0.00,2.45,0.00,0.000,6,0.000,0.027,2865,1764,3484,0,0,0,0,0,0
$GC,1460,-1.24,-116.8,192.0,-10.1,135,1464,0.00,2.40,0.00,0.000,4,0.000,0.030,2865,3297,3484,0,0,0,0,0,0
$GC,1516,-1.29,-116.8,197.8,-11.0,139,1520,0.00,2.40,0.00,0.000,6,0.000,0.029,2866,1782,3484,0,0,0,0,0,0
$GC,1776,-1.29,-116.8,229.5,-12.0,146,1777,0.00,0.00,0.00,0.000,6,0.000,0.000,2866,1781,3484,0,0,0,0,0,0
$GC,2022,-1.34,-116.8,251.3,-8.5,152,2024,0.12,0.00,0.00,0.000,6,0.074,0.000,2824,1781,3484,0,0,0,0,0,0
$GC,2264,-1.34,-116.8,280.1,-12.7,158,2268,0.00,2.45,0.00,0.000,4,0.000,0.038,2823,3297,3484,0,0,0,0,0,0
$GC,2330,-1.34,-116.8,288.2,-11.1,159,2334,0.00,2.42,0.00,0.000,6,0.000,0.033,2823,1789,3484,0,0,0,0,0,0
$GC,2587,-1.34,-116.8,317.4,-11.5,166,2591,0.00,2.40,0.00,0.000,4,0.000,0.031,2823,3297,3483,0,0,0,0,0,0
$GC,2608,-1.34,-116.8,320.3,-12.0,166,2612,0.00,2.47,0.00,0.000,6,0.000,0.043,2823,1784,3483,0,0,0,0,0,0
$GC,2864,-1.34,-116.8,351.4,-12.0,173,2868,0.00,2.47,0.00,0.000,4,0.000,0.041,2824,3296,3482,0,0,0,0,0,0
$GC,2892,-1.34,-116.8,354.6,-11.9,173,2896,0.00,2.53,0.00,0.000,6,0.000,0.048,2823,1788,3482,0,0,0,0,0,0
$GC,3143,-1.34,-116.8,379.9,-10.0,179,3147,0.00,2.45,0.00,0.000,4,0.000,0.044,2823,3290,3481,0,0,0,0,0,0
$GC,3192,-1.38,-116.8,385.5,-10.7,180,3197,0.00,2.47,0.00,0.000,6,0.000,0.051,2823,1811,3480,0,0,0,0,0,0
$GC,3465,-1.38,-116.8,415.0,-11.1,187,3466,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1810,3479,0,0,0,0,0,0
$GC,3708,-1.38,-116.8,442.6,-11.3,193,3709,0.00,0.00,0.00,0.000,6,0.000,0.000,2823,1810,3477,0,0,0,0,0,0
$GC,3951,-1.38,-116.8,468.8,-10.7,199,3956,0.00,2.47,0.00,0.000,4,0.000,0.051,2823,3285,3477,0,0,0,0,0,0
$GC,4024,-1.43,-116.8,476.8,-10.7,200,4028,0.00,2.55,0.00,0.000,6,0.000,0.068,2823,1815,3476,0,0,0,0,0,0
$STATE,4271,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4271,begin apogee
$GC,4279,-0.31,0.0,502.3,10.1,206,4378,1.05,0.00,96.07,0.927,6,0.087,0.000,3059,1917,3000,0,0,0,0,0,0
$STATE,4379,end apogee,CONTROL_FINISHED_OK
$STATE,4379,begin climb
$GC,4382,1.38,116.8,505.2,0.0,208,4489,1.58,0.00,98.07,0.905,6,0.061,0.000,3428,1917,2523,0,0,0,0,0,0
$GC,4751,1.40,163.8,484.7,7.3,217,4796,0.00,2.70,39.78,0.884,4,0.000,0.053,3428,3477,2332,0,0,0,0,0,0
$GC,4915,1.43,187.3,470.9,8.7,220,4942,0.00,2.60,21.05,0.852,6,0.000,0.052,3428,1966,2236,0,0,0,0,0,0
$GC,5203,1.46,209.4,445.8,8.8,228,5228,0.00,2.60,19.70,0.847,4,0.000,0.048,3428,3484,2146,0,0,0,0,0,0
$GC,5291,1.46,209.4,436.9,11.3,230,5295,0.00,2.58,0.00,0.000,6,0.000,0.053,3428,1980,2143,0,0,0,0,0,0
$GC,5568,1.46,209.4,407.0,10.7,237,5572,0.00,2.90,0.00,0.000,4,0.000,0.090,3428,380,2140,0,0,0,0,0,0
$GC,5613,1.42,209.4,401.7,12.7,238,5617,0.00,2.47,0.00,0.000,6,0.000,0.028,3428,1910,2138,0,0,0,0,0,0
$GC,5892,1.42,209.4,370.4,11.2,245,5897,0.00,2.58,0.00,0.000,4,0.000,0.039,3428,3489,2138,0,0,0,0,0,0
$GC,5970,1.42,209.4,361.3,11.0,246,5976,0.00,2.50,0.00,0.000,6,0.000,0.038,3428,1976,2136,0,0,0,0,0,0
$GC,6220,1.43,218.0,336.8,9.5,253,6235,0.00,2.88,6.97,0.701,4,0.000,0.081,3428,389,2112,0,0,0,0,0,0
$GC,6259,1.43,218.0,332.7,10.8,253,6264,0.00,2.42,0.00,0.000,6,0.000,0.021,3428,1919,2111,0,0,0,0,0,0
$GC,6509,1.43,218.1,307.4,10.0,260,6513,0.00,2.55,0.00,0.000,4,0.000,0.038,3428,3488,2110,0,0,0,0,0,0
$GC,6603,1.43,218.1,297.5,10.3,262,6607,0.00,2.45,0.00,0.000,6,0.000,0.038,3428,1984,2108,0,0,0,0,0,0
$GC,6877,1.44,221.5,271.4,9.8,269,6883,0.00,0.00,4.05,0.528,6,0.000,0.000,3428,1984,2098,0,0,0,0,0,0
$GC,7121,1.47,246.5,249.6,8.6,275,7150,0.00,2.85,23.33,0.755,4,0.000,0.071,3428,393,1995,0,0,0,0,0,0
$GC,7164,1.51,280.6,246.1,8.1,276,7205,0.12,2.45,31.25,0.746,6,0.082,0.020,3461,1935,1856,0,0,0,0,0,0
$GC,7449,1.51,280.6,214.5,11.5,283,7454,0.00,2.60,0.00,0.000,4,0.000,0.040,3461,3542,1850,0,0,0,0,0,0
$GC,7527,1.51,280.6,205.0,11.7,284,7533,0.00,2.53,0.00,0.000,6,0.000,0.034,3461,1984,1849,0,0,0,0,0,0
$GC,7788,1.51,280.6,173.5,13.0,306,7793,0.00,2.53,0.00,0.000,4,0.000,0.038,3461,3540,1847,0,0,0,0,0,0
$GC,7844,1.51,280.6,166.8,12.5,310,7848,0.00,2.50,0.00,0.000,6,0.000,0.037,3461,2004,1846,0,0,0,0,0,0
$GC,8108,1.51,280.6,134.9,12.8,334,8109,0.00,0.00,0.00,0.000,6,0.000,0.000,3461,2004,1847,0,0,0,0,0,0
$GC,8359,1.51,280.6,106.0,11.0,358,8364,0.00,2.72,0.00,0.000,4,0.000,0.063,3461,393,1846,0,0,0,0,0,0
$GC,8412,1.51,280.6,100.0,11.0,362,8417,0.00,2.55,0.00,0.000,6,0.000,0.024,3461,2034,1844,0,0,0,0,0,0
$GC,8679,1.51,281.0,72.8,10.0,386,8683,0.00,2.78,0.00,0.000,4,0.000,0.052,3461,390,1844,0,0,0,0,0,0
$GC,8713,1.51,281.0,68.1,12.3,388,8722,0.00,2.55,0.00,0.000,6,0.000,0.018,3461,2026,1844,0,0,0,0,0,0
$GC,8980,1.58,281.0,42.1,10.7,413,8985,0.00,2.42,0.00,0.000,4,0.000,0.031,3461,3544,1844,0,0,0,0,0,0
$GC,9112,1.69,289.1,29.3,9.6,423,9130,0.10,2.42,6.43,0.472,6,0.045,0.027,3499,2038,1823,0,0,0,0,0,0
$STATE,9363,end climb,SURFACE_DEPTH_REACHED
$STATE,9363,begin surface coast
$FINISH,0.5,0.975111
$STATE,9420,end surface coast,CONTROL_FINISHED_OK
$STATE,9421,begin surface
$SM_CCo,9444,90.95,0.535,0,0,1369,400.08
$SM_GC,1.31,0.00,0.00,90.95,0.000,0.000,0.535,474,1760,1369,-12.22,-0.28,400.08
$IRIDIUM_FIX,2241.69,-15759.32,220800,111144
$TT8_MAMPS,0.026078
$HUMID,57.52
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.80
$XPDR_PINGS,41
$24V_AH,23.5,19.161
$10V_AH,10.4,16.542
$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,27.525,111.950,346.700,90.950,0.000,32.759,51.048,270.725,10.250,0.000,172.747,959.009,6120.375,495.128,1988.574,612.763,33.365,1182.419,0.000,1831.916,0.000,0.536,0.000
$DEVICE_MAMPS,150.332,92.040,926.536,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,317.491,273.468,360.078,692.775,1044.999,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,38202,468
$CAP_FILE_SIZE,99956,0
$CFSIZE,260165632,174333952
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290511,171213,2249.488,-15757.706,36,1.6,42,10.1