version: 66.06
glider: 146
mission: 6
dive: 161
start: 5 30 111 16 27 21
data:
$ID,146
$MISSION,6
$DIVE,161
$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,-271379.44
$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,47
$R_STBD_OVSHOOT,41
$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
$GPS1,162007,2249.288,-15803.109,61,1.1,61,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.19
$_SM_ANGLEo,-71.2
$GPS2,162625,2249.338,-15803.105,9,1.6,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.233,-0.029
$KALMAN_X,-87095.9,-165.5,-268.2,76754.5,124.9
$KALMAN_Y,-134489.3,-246.9,106.2,144698.3,573.6
$MHEAD_RNG_PITCHd_Wd,86.9,10493,-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,-78.22,0.000,2,0.000,0.000,474,1748,3376,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.3,-9.1,10,126,12.57,2.58,-1.73,0.000,4,0.162,0.040,2820,3349,3481,0,0,0,0,0,0
$GC,189,-1.26,-116.8,32.7,-22.1,21,195,0.15,2.50,0.00,0.000,6,0.130,0.030,2850,1792,3483,0,0,0,0,0,0
$GC,457,-1.17,-116.8,79.2,-16.0,45,467,0.10,0.00,0.00,0.000,6,0.143,0.000,2870,1792,3483,0,0,0,0,0,0
$GC,718,-1.17,-116.8,112.7,-11.4,70,722,0.00,2.47,0.00,0.000,4,0.000,0.033,2869,3349,3484,0,0,0,0,0,0
$GC,764,-1.17,-116.8,117.5,-10.8,73,768,0.00,2.53,0.00,0.000,6,0.000,0.028,2869,1769,3484,0,0,0,0,0,0
$GC,1031,-1.17,-116.8,149.6,-12.3,97,1036,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1769,3485,0,0,0,0,0,0
$GC,1292,-1.17,-116.8,182.8,-11.9,122,1296,0.00,2.50,0.00,0.000,4,0.000,0.029,2869,3350,3486,0,0,0,0,0,0
$GC,1373,-1.24,-116.8,191.1,-9.3,128,1379,0.00,2.50,0.00,0.000,6,0.000,0.033,2869,1775,3486,0,0,0,0,0,0
$GC,1638,-1.28,-116.8,217.4,-10.3,142,1639,0.00,0.00,0.00,0.000,6,0.000,0.000,2869,1775,3486,0,0,0,0,0,0
$GC,1883,-1.33,-116.8,241.4,-9.7,148,1888,0.12,2.53,0.00,0.000,4,0.077,0.035,2826,3356,3486,0,0,0,0,0,0
$GC,1916,-1.33,-116.8,245.3,-12.0,148,1922,0.00,2.55,0.00,0.000,6,0.000,0.035,2826,1774,3486,0,0,0,0,0,0
$GC,2166,-1.33,-116.8,275.0,-12.3,155,2170,0.00,2.53,0.00,0.000,4,0.000,0.031,2826,3350,3486,0,0,0,0,0,0
$GC,2244,-1.33,-116.8,284.8,-12.0,156,2250,0.00,2.55,0.00,0.000,6,0.000,0.040,2826,1788,3487,0,0,0,0,0,0
$GC,2494,-1.33,-116.8,313.6,-11.2,163,2498,0.00,2.50,0.00,0.000,4,0.000,0.035,2826,3350,3486,0,0,0,0,0,0
$GC,2515,-1.33,-116.8,315.8,-10.0,163,2519,0.00,2.55,0.00,0.000,6,0.000,0.044,2826,1789,3486,0,0,0,0,0,0
$GC,2771,-1.33,-116.8,340.5,-9.8,170,2773,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1789,3485,0,0,0,0,0,0
$GC,3013,-1.33,-116.8,366.1,-10.7,176,3018,0.00,2.55,0.00,0.000,4,0.000,0.045,2825,3348,3484,0,0,0,0,0,0
$GC,3040,-1.33,-116.8,369.3,-11.0,176,3045,0.00,2.58,0.00,0.000,6,0.000,0.047,2826,1802,3484,0,0,0,0,0,0
$GC,3290,-1.33,-116.8,398.0,-11.7,182,3292,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1803,3482,0,0,0,0,0,0
$GC,3535,-1.33,-116.8,426.0,-11.4,188,3540,0.00,2.58,0.00,0.000,4,0.000,0.044,2826,3349,3481,0,0,0,0,0,0
$GC,3562,-1.33,-116.8,429.6,-11.8,188,3567,0.00,2.65,0.00,0.000,6,0.000,0.056,2826,1800,3481,0,0,0,0,0,0
$GC,3813,-1.33,-116.8,455.5,-10.2,194,3817,0.00,2.58,0.00,0.000,4,0.000,0.049,2826,3344,3479,0,0,0,0,0,0
$GC,3869,-1.39,-116.8,460.8,-9.0,195,3874,0.00,2.65,0.00,0.000,6,0.000,0.062,2826,1805,3479,0,0,0,0,0,0
$GC,4136,-1.39,-116.8,483.8,-8.6,202,4137,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1804,3477,0,0,0,0,0,0
$STATE,4336,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4337,begin apogee
$GC,4343,-0.31,0.0,502.9,9.6,207,4443,1.05,0.00,96.62,0.930,6,0.087,0.000,3060,1976,3001,0,0,0,0,0,0
$STATE,4444,end apogee,CONTROL_FINISHED_OK
$STATE,4444,begin climb
$GC,4447,1.38,116.8,505.4,0.0,209,4551,1.60,0.00,99.88,0.905,6,0.059,0.000,3431,1976,2524,0,0,0,0,0,0
$GC,4783,1.39,159.0,487.0,7.6,218,4822,0.00,0.00,36.53,0.882,6,0.000,0.000,3431,1976,2352,0,0,0,0,0,0
$GC,5067,1.43,194.7,464.1,8.0,225,5100,0.00,0.00,31.73,0.871,6,0.000,0.000,3431,1976,2207,0,0,0,0,0,0
$GC,5311,1.47,222.8,443.9,8.4,231,5342,0.00,2.65,25.30,0.860,4,0.000,0.044,3431,3532,2090,0,0,0,0,0,0
$GC,5369,1.47,222.8,438.2,10.3,232,5374,0.00,2.65,0.00,0.000,6,0.000,0.045,3431,1968,2088,0,0,0,0,0,0
$GC,5630,1.47,222.8,411.3,10.4,239,5634,0.00,2.58,0.00,0.000,4,0.000,0.038,3431,3534,2085,0,0,0,0,0,0
$GC,5672,1.47,222.8,407.0,11.0,240,5676,0.00,2.62,0.00,0.000,6,0.000,0.046,3431,1972,2083,0,0,0,0,0,0
$GC,5954,1.47,222.8,376.4,10.9,247,5956,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1972,2082,0,0,0,0,0,0
$GC,6198,1.47,222.8,348.5,11.5,253,6203,0.00,2.58,0.00,0.000,4,0.000,0.039,3430,3541,2080,0,0,0,0,0,0
$GC,6255,1.47,222.8,341.8,12.2,254,6259,0.00,2.58,0.00,0.000,6,0.000,0.043,3431,1987,2079,0,0,0,0,0,0
$GC,6521,1.47,222.8,312.9,10.9,261,6522,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1986,2078,0,0,0,0,0,0
$GC,6764,1.48,230.3,289.0,9.6,267,6775,0.00,2.55,5.47,0.629,4,0.000,0.038,3431,3541,2060,0,0,0,0,0,0
$GC,6810,1.48,230.9,284.5,10.0,268,6814,0.00,2.55,0.00,0.000,6,0.000,0.038,3431,1990,2060,0,0,0,0,0,0
$GC,7087,1.51,259.4,260.4,8.4,275,7122,0.12,2.65,26.90,0.769,4,0.127,0.040,3464,3541,1942,0,0,0,0,0,0
$GC,7162,1.51,259.4,253.0,10.2,276,7166,0.00,2.50,0.00,0.000,6,0.000,0.037,3464,2010,1940,0,0,0,0,0,0
$GC,7411,1.51,259.4,225.3,11.1,282,7413,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2009,1938,0,0,0,0,0,0
$GC,7655,1.51,259.4,196.8,11.9,288,7660,0.00,2.78,0.00,0.000,4,0.000,0.068,3463,392,1937,0,0,0,0,0,0
$GC,7679,1.47,259.4,193.4,14.2,289,7684,0.00,2.55,0.00,0.000,6,0.000,0.020,3464,2012,1935,0,0,0,0,0,0
$GC,7943,1.47,259.4,162.4,12.1,314,7944,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,2013,1935,0,0,0,0,0,0
$GC,8194,1.47,259.4,134.3,10.4,338,8198,0.00,2.42,0.00,0.000,4,0.000,0.031,3464,3538,1935,0,0,0,0,0,0
$GC,8215,1.47,259.4,132.5,10.8,339,8220,0.00,2.50,0.00,0.000,6,0.000,0.031,3464,1986,1934,0,0,0,0,0,0
$GC,8482,1.47,259.4,105.5,10.3,363,8486,0.00,2.70,0.00,0.000,4,0.000,0.062,3463,388,1934,0,0,0,0,0,0
$GC,8545,1.47,259.4,97.9,11.2,368,8549,0.00,2.47,0.00,0.000,6,0.000,0.024,3464,2003,1934,0,0,0,0,0,0
$GC,8813,1.49,278.2,72.6,9.0,392,8840,0.00,2.50,16.30,0.582,4,0.000,0.036,3464,3522,1865,0,0,0,0,0,0
$GC,8882,1.55,281.4,65.9,9.9,397,8897,0.00,2.47,4.28,0.419,6,0.000,0.028,3464,1994,1852,0,0,0,0,0,0
$GC,9156,1.65,302.1,39.4,8.8,422,9185,0.10,2.75,19.02,0.555,4,0.087,0.052,3496,397,1767,0,0,0,0,0,0
$GC,9218,1.61,302.1,32.3,11.9,426,9227,0.00,2.50,0.00,0.000,6,0.000,0.018,3496,1988,1765,0,0,0,0,0,0
$STATE,9478,end climb,SURFACE_DEPTH_REACHED
$STATE,9478,begin surface coast
$FINISH,0.6,0.980100
$STATE,9529,end surface coast,CONTROL_FINISHED_OK
$STATE,9529,begin surface
$SM_CCo,9553,79.43,0.535,0,0,1369,400.08
$SM_GC,1.23,0.00,0.00,79.43,0.000,0.000,0.535,475,1765,1369,-12.22,-0.14,400.08
$IRIDIUM_FIX,2241.69,-15804.53,230800,131348
$TT8_MAMPS,0.026078
$HUMID,58.38
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.70
$XPDR_PINGS,37
$24V_AH,23.5,20.249
$10V_AH,10.4,17.528
$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,28.075,98.000,362.025,79.425,0.000,28.250,32.433,186.771,9.250,0.000,15.502,931.277,6373.958,533.540,1680.592,494.350,33.361,1141.352,0.000,1689.349,0.000,0.536,0.000
$DEVICE_MAMPS,161.837,79.768,929.604,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,318.657,260.880,358.028,680.528,1029.253,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,38359,470
$CAP_FILE_SIZE,91467,0
$CFSIZE,260165632,173871104
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300511,190904,2249.272,-15801.662,10,2.1,29,10.1