version: 66.06
glider: 146
mission: 6
dive: 153
start: 5 29 111 17 33 44
data:
$ID,146
$MISSION,6
$DIVE,153
$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,-271154.47
$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,25
$R_STBD_OVSHOOT,46
$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
$GPS1,171213,2249.488,-15757.706,36,1.6,42,10.1
$_CALLS,5
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-67.6
$GPS2,173250,2249.729,-15757.649,11,2.0,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.010,-0.235
$KALMAN_X,-86100.8,-86.2,62.5,84671.1,3.1
$KALMAN_Y,-135342.6,115.0,373.3,145635.8,405.0
$MHEAD_RNG_PITCHd_Wd,172.4,5060,-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,16,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-78.72,0.000,2,0.000,0.000,474,1760,3420,0,0,0,0,0,0
$GC,101,-1.38,-116.8,4.2,-8.3,10,128,12.48,2.70,-0.98,0.000,4,0.159,0.072,2822,196,3481,0,0,0,0,0,0
$GC,191,-1.19,-116.8,34.8,-21.6,21,201,0.20,2.45,0.00,0.000,6,0.103,0.021,2867,1792,3482,0,0,0,0,0,0
$GC,458,-1.19,-116.8,73.6,-12.8,46,462,0.00,2.38,0.00,0.000,4,0.000,0.031,2867,3318,3482,0,0,0,0,0,0
$GC,528,-1.23,-116.8,83.0,-12.3,51,532,0.00,2.45,0.00,0.000,6,0.000,0.031,2867,1782,3482,0,0,0,0,0,0
$GC,795,-1.23,-116.8,115.5,-11.0,75,800,0.00,2.40,0.00,0.000,4,0.000,0.031,2867,3319,3483,0,0,0,0,0,0
$GC,829,-1.23,-116.8,118.9,-9.6,77,833,0.00,2.38,0.00,0.000,6,0.000,0.028,2867,1811,3483,0,0,0,0,0,0
$GC,1095,-1.23,-116.8,149.1,-11.5,101,1100,0.00,0.00,0.00,0.000,6,0.000,0.000,2867,1811,3483,0,0,0,0,0,0
$GC,1357,-1.23,-116.8,179.0,-11.7,126,1361,0.00,2.35,0.00,0.000,4,0.000,0.031,2867,3321,3484,0,0,0,0,0,0
$GC,1380,-1.27,-116.8,181.7,-11.0,127,1385,0.00,2.38,0.00,0.000,6,0.000,0.028,2867,1811,3484,0,0,0,0,0,0
$GC,1668,-1.30,-116.8,213.6,-10.6,146,1672,0.00,2.38,0.00,0.000,4,0.000,0.029,2867,3324,3484,0,0,0,0,0,0
$GC,1730,-1.38,-116.8,220.1,-9.4,147,1735,0.15,2.38,0.00,0.000,6,0.063,0.031,2815,1818,3484,0,0,0,0,0,0
$GC,1992,-1.34,-116.8,251.1,-12.0,154,1996,0.10,2.38,0.00,0.000,4,0.117,0.028,2836,3319,3484,0,0,0,0,0,0
$GC,2018,-1.34,-116.8,254.5,-12.0,154,2022,0.00,2.38,0.00,0.000,6,0.000,0.028,2836,1821,3484,0,0,0,0,0,0
$GC,2274,-1.34,-116.8,283.5,-11.2,161,2278,0.00,2.85,0.00,0.000,4,0.000,0.080,2836,198,3483,0,0,0,0,0,0
$GC,2289,-1.34,-116.8,285.3,-10.5,161,2294,0.00,2.47,0.00,0.000,6,0.000,0.026,2836,1796,3483,0,0,0,0,0,0
$GC,2552,-1.34,-116.8,311.8,-9.9,168,2553,0.00,0.00,0.00,0.000,6,0.000,0.000,2836,1797,3482,0,0,0,0,0,0
$GC,2794,-1.34,-116.8,337.7,-10.9,174,2798,0.00,2.53,0.00,0.000,4,0.000,0.045,2836,3350,3481,0,0,0,0,0,0
$GC,2860,-1.39,-116.8,345.2,-11.3,175,2865,0.00,2.53,0.00,0.000,6,0.000,0.050,2836,1832,3481,0,0,0,0,0,0
$GC,3117,-1.39,-116.8,372.8,-10.6,182,3122,0.00,2.95,0.00,0.000,4,0.000,0.100,2836,200,3479,0,0,0,0,0,0
$GC,3138,-1.39,-116.8,375.2,-10.7,182,3142,0.00,2.58,0.00,0.000,6,0.000,0.028,2836,1821,3479,0,0,0,0,0,0
$GC,3394,-1.39,-116.8,399.5,-9.3,189,3398,0.00,2.50,0.00,0.000,4,0.000,0.048,2836,3341,3478,0,0,0,0,0,0
$GC,3411,-1.43,-116.8,401.2,-9.5,189,3416,0.00,2.53,0.00,0.000,6,0.000,0.050,2836,1833,3478,0,0,0,0,0,0
$GC,3672,-1.48,-116.8,426.2,-9.6,196,3677,0.12,2.50,0.00,0.000,4,0.077,0.045,2796,3338,3476,0,0,0,0,0,0
$GC,3706,-1.48,-116.8,430.1,-12.0,196,3712,0.00,2.55,0.00,0.000,6,0.000,0.060,2796,1842,3476,0,0,0,0,0,0
$GC,3957,-1.48,-116.8,459.7,-11.9,203,3962,0.00,2.50,0.00,0.000,4,0.000,0.048,2796,3344,3474,0,0,0,0,0,0
$GC,3973,-1.48,-116.8,462.0,-12.2,203,3977,0.00,2.58,0.00,0.000,6,0.000,0.058,2796,1839,3474,0,0,0,0,0,0
$GC,4234,-1.48,-116.8,491.5,-11.2,210,4239,0.00,2.53,0.00,0.000,4,0.000,0.057,2796,3343,3472,0,0,0,0,0,0
$GC,4296,-1.48,-116.8,498.1,-11.0,211,4300,0.00,2.55,0.00,0.000,6,0.000,0.068,2796,1854,3472,0,0,0,0,0,0
$STATE,4352,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4353,begin apogee
$GC,4359,-0.31,0.0,504.0,10.1,213,4458,1.17,0.00,95.25,0.930,6,0.086,0.000,3059,1978,3001,0,0,0,0,0,0
$STATE,4458,end apogee,CONTROL_FINISHED_OK
$STATE,4458,begin climb
$GC,4461,1.38,116.8,506.7,0.0,215,4568,1.60,2.70,98.90,0.903,4,0.051,0.054,3432,3527,2523,0,0,0,0,0,0
$GC,4596,1.38,170.9,501.9,6.9,219,4650,0.00,2.65,46.53,0.882,6,0.000,0.053,3432,1987,2303,0,0,0,0,0,0
$GC,4925,1.36,187.0,471.4,9.1,227,4945,0.00,2.67,14.27,0.828,4,0.000,0.052,3432,3536,2237,0,0,0,0,0,0
$GC,5018,1.36,189.1,462.3,9.9,229,5022,0.00,2.67,0.00,0.000,6,0.000,0.051,3432,1980,2234,0,0,0,0,0,0
$GC,5290,1.38,206.9,437.8,9.0,236,5309,0.00,0.00,18.00,0.845,6,0.000,0.000,3432,1980,2157,0,0,0,0,0,0
$GC,5535,1.39,211.5,414.2,9.8,242,5545,0.00,2.62,4.97,0.641,4,0.000,0.041,3432,3537,2137,0,0,0,0,0,0
$GC,5578,1.39,211.5,409.4,10.2,243,5582,0.00,2.60,0.00,0.000,6,0.000,0.043,3432,1980,2136,0,0,0,0,0,0
$GC,5858,1.40,217.6,382.7,9.7,250,5871,0.00,2.65,6.60,0.710,4,0.000,0.037,3432,3540,2112,0,0,0,0,0,0
$GC,5882,1.40,217.6,379.9,10.2,250,5887,0.00,2.60,0.00,0.000,6,0.000,0.044,3432,1981,2112,0,0,0,0,0,0
$GC,6138,1.40,217.6,354.6,10.1,257,6139,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1981,2110,0,0,0,0,0,0
$GC,6381,1.40,217.6,329.3,10.2,263,6382,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1982,2108,0,0,0,0,0,0
$GC,6626,1.40,222.7,305.5,9.7,269,6636,0.00,2.55,5.05,0.622,4,0.000,0.035,3432,3537,2092,0,0,0,0,0,0
$GC,6653,1.41,223.6,302.6,10.0,269,6658,0.00,2.58,0.00,0.000,6,0.000,0.033,3432,1974,2092,0,0,0,0,0,0
$GC,6903,1.43,243.6,279.5,8.9,275,6927,0.00,0.00,19.73,0.782,6,0.000,0.000,3432,1975,2007,0,0,0,0,0,0
$GC,7191,1.43,243.6,249.5,11.2,282,7192,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1975,2004,0,0,0,0,0,0
$GC,7434,1.47,275.3,228.1,8.2,288,7468,0.00,2.65,28.70,0.748,4,0.000,0.035,3432,3536,1877,0,0,0,0,0,0
$GC,7509,1.54,282.7,221.7,9.6,289,7524,0.15,2.55,7.53,0.637,6,0.074,0.038,3472,1979,1848,0,0,0,0,0,0
$GC,7783,1.54,282.7,188.2,12.4,300,7787,0.00,2.75,0.00,0.000,4,0.000,0.063,3472,382,1844,0,0,0,0,0,0
$GC,7816,1.47,282.7,183.0,13.9,302,7823,0.10,2.50,0.00,0.000,6,0.130,0.021,3452,1990,1843,0,0,0,0,0,0
$GC,8080,1.47,282.7,152.8,11.3,327,8084,0.00,2.47,0.00,0.000,4,0.000,0.038,3452,3527,1843,0,0,0,0,0,0
$GC,8148,1.51,282.7,144.6,10.7,332,8158,0.00,2.53,0.00,0.000,6,0.000,0.035,3452,1983,1841,0,0,0,0,0,0
$GC,8416,1.55,282.7,117.3,12.0,357,8421,0.00,2.70,0.00,0.000,4,0.000,0.064,3452,392,1841,0,0,0,0,0,0
$GC,8471,1.55,282.7,109.9,12.9,361,8476,0.00,2.45,0.00,0.000,6,0.000,0.018,3452,1968,1840,0,0,0,0,0,0
$GC,8739,1.59,282.7,81.2,11.4,385,8744,0.10,2.53,0.00,0.000,4,0.087,0.038,3483,3537,1841,0,0,0,0,0,0
$GC,8785,1.59,282.7,75.1,13.0,388,8790,0.00,2.53,0.00,0.000,6,0.000,0.031,3483,1956,1840,0,0,0,0,0,0
$GC,9053,1.63,309.3,44.3,8.5,412,9081,0.00,2.55,22.75,0.576,4,0.000,0.028,3483,3526,1738,0,0,0,0,0,0
$GC,9148,1.70,309.3,33.1,11.9,419,9157,0.00,2.55,0.00,0.000,6,0.000,0.031,3483,1974,1736,0,0,0,0,0,0
$STATE,9417,end climb,SURFACE_DEPTH_REACHED
$STATE,9417,begin surface coast
$FINISH,0.4,0.980086
$STATE,9495,end surface coast,CONTROL_FINISHED_OK
$STATE,9495,begin surface
$SM_CCo,9518,73.60,0.539,0,0,1369,400.08
$SM_GC,1.34,0.00,0.00,73.60,0.000,0.000,0.539,474,1758,1369,-12.22,-0.37,400.08
$IRIDIUM_FIX,2239.35,-15754.99,220800,171750
$TT8_MAMPS,0.026078
$HUMID,59.09
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.60
$XPDR_PINGS,51
$24V_AH,23.5,19.306
$10V_AH,10.4,16.655
$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,28.350,122.650,368.275,73.600,0.000,138.019,197.670,494.375,12.750,0.000,13.338,964.550,6444.880,513.433,1777.829,1132.406,33.372,1184.453,0.000,1778.886,0.000,0.536,0.000
$DEVICE_MAMPS,158.769,99.710,929.604,539.201,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,317.482,250.592,353.786,677.350,1024.265,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,38347,468
$CAP_FILE_SIZE,114748,0
$CFSIZE,260165632,174264320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290511,201540,2248.544,-15757.853,83,1.2,83,10.1