version: 66.06
glider: 146
mission: 6
dive: 162
start: 5 30 111 19 16 2
data:
$ID,146
$MISSION,6
$DIVE,162
$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,-271396.22
$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,35
$R_STBD_OVSHOOT,64
$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
$GPS1,190904,2249.272,-15801.662,10,2.1,29,10.1
$_CALLS,1
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-70.1
$GPS2,191508,2249.294,-15801.658,14,1.8,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.218,0.089
$KALMAN_X,-87261.1,-325.9,206.5,79076.2,-36.7
$KALMAN_Y,-134865.5,-57.9,503.0,144408.1,-532.8
$MHEAD_RNG_PITCHd_Wd,57.7,8058,-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,-78.60,0.000,2,0.000,0.000,474,1765,3382,0,0,0,0,0,0
$GC,101,-1.38,-116.8,4.2,-8.6,10,127,12.57,2.55,-1.67,0.000,4,0.163,0.044,2820,3333,3481,0,0,0,0,0,0
$GC,243,-1.28,-116.8,39.6,-17.6,27,253,0.10,2.53,0.00,0.000,6,0.108,0.028,2844,1781,3483,0,0,0,0,0,0
$GC,507,-1.20,-116.8,82.1,-15.6,52,513,0.12,2.70,0.00,0.000,4,0.136,0.060,2868,193,3483,0,0,0,0,0,0
$GC,521,-1.12,-116.8,84.4,-14.9,52,530,0.00,2.40,0.00,0.000,6,0.000,0.017,2868,1798,3483,0,0,0,0,0,0
$GC,785,-1.12,-116.8,114.2,-10.6,77,789,0.00,2.35,0.00,0.000,4,0.000,0.031,2868,3290,3484,0,0,0,0,0,0
$GC,865,-1.18,-116.8,122.0,-10.2,83,869,0.00,2.42,0.00,0.000,6,0.000,0.032,2868,1757,3484,0,0,0,0,0,0
$GC,1131,-1.18,-116.8,150.7,-11.9,107,1135,0.00,2.65,0.00,0.000,4,0.000,0.068,2868,191,3485,0,0,0,0,0,0
$GC,1200,-1.18,-116.8,161.0,-13.5,112,1206,0.00,2.33,0.00,0.000,6,0.000,0.019,2868,1742,3486,0,0,0,0,0,0
$GC,1463,-1.18,-116.8,190.0,-10.4,137,1468,0.00,2.45,0.00,0.000,4,0.000,0.025,2868,3312,3486,0,0,0,0,0,0
$GC,1521,-1.26,-116.8,195.8,-10.0,141,1531,0.00,2.50,0.00,0.000,6,0.000,0.028,2868,1771,3486,0,0,0,0,0,0
$GC,1775,-1.30,-116.8,220.3,-9.8,151,1776,0.00,0.00,0.00,0.000,6,0.000,0.000,2868,1771,3486,0,0,0,0,0,0
$GC,2017,-1.36,-116.8,244.1,-9.6,157,2022,0.15,2.45,0.00,0.000,4,0.066,0.028,2820,3310,3486,0,0,0,0,0,0
$GC,2062,-1.36,-116.8,249.4,-12.4,158,2067,0.00,2.45,0.00,0.000,6,0.000,0.035,2820,1779,3487,0,0,0,0,0,0
$GC,2340,-1.36,-116.8,284.3,-12.5,165,2344,0.00,2.42,0.00,0.000,4,0.000,0.036,2820,3307,3486,0,0,0,0,0,0
$GC,2357,-1.36,-116.8,286.4,-12.0,165,2361,0.00,2.50,0.00,0.000,6,0.000,0.032,2820,1773,3486,0,0,0,0,0,0
$GC,2618,-1.36,-116.8,316.6,-11.4,172,2623,0.00,2.45,0.00,0.000,4,0.000,0.035,2820,3309,3486,0,0,0,0,0,0
$GC,2679,-1.36,-116.8,324.2,-11.6,173,2684,0.00,2.53,0.00,0.000,6,0.000,0.044,2820,1781,3486,0,0,0,0,0,0
$GC,2946,-1.36,-116.8,356.3,-12.0,180,2950,0.00,2.50,0.00,0.000,4,0.000,0.041,2820,3308,3484,0,0,0,0,0,0
$GC,2974,-1.36,-116.8,359.5,-11.4,180,2978,0.00,2.55,0.00,0.000,6,0.000,0.050,2820,1785,3485,0,0,0,0,0,0
$GC,3223,-1.36,-116.8,387.0,-10.8,186,3225,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1785,3483,0,0,0,0,0,0
$GC,3467,-1.36,-116.8,412.7,-10.4,192,3472,0.00,2.50,0.00,0.000,4,0.000,0.044,2820,3301,3482,0,0,0,0,0,0
$GC,3534,-1.40,-116.8,419.5,-9.5,193,3539,0.00,2.55,0.00,0.000,6,0.000,0.061,2820,1804,3482,0,0,0,0,0,0
$GC,3791,-1.40,-116.8,444.0,-9.7,200,3792,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1804,3480,0,0,0,0,0,0
$GC,4033,-1.40,-116.8,467.4,-9.8,206,4034,0.00,0.00,0.00,0.000,6,0.000,0.000,2820,1804,3479,0,0,0,0,0,0
$GC,4276,-1.40,-116.8,492.4,-10.3,212,4281,0.00,2.53,0.00,0.000,4,0.000,0.061,2820,3297,3477,0,0,0,0,0,0
$GC,4328,-1.45,-116.8,497.8,-10.7,213,4332,0.00,2.62,0.00,0.000,6,0.000,0.071,2820,1790,3477,0,0,0,0,0,0
$STATE,4346,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4346,begin apogee
$GC,4353,-0.31,0.0,500.2,10.9,213,4453,1.05,0.00,96.68,0.930,6,0.091,0.000,3055,1933,3001,0,0,0,0,0,0
$STATE,4454,end apogee,CONTROL_FINISHED_OK
$STATE,4454,begin climb
$GC,4456,1.38,116.8,503.4,0.0,216,4560,1.62,0.00,99.35,0.907,6,0.053,0.000,3431,1932,2524,0,0,0,0,0,0
$GC,4806,1.40,166.7,485.7,7.2,225,4855,0.00,2.80,42.42,0.893,4,0.000,0.052,3431,3523,2320,0,0,0,0,0,0
$GC,4916,1.37,174.4,476.1,9.6,227,4930,0.00,2.67,7.72,0.741,6,0.000,0.054,3431,1973,2289,0,0,0,0,0,0
$GC,5181,1.38,179.3,449.8,9.8,234,5191,0.00,2.62,5.10,0.650,4,0.000,0.043,3430,3534,2270,0,0,0,0,0,0
$GC,5220,1.38,179.3,445.6,10.9,235,5224,0.00,2.65,0.00,0.000,6,0.000,0.048,3431,1973,2268,0,0,0,0,0,0
$GC,5504,1.38,179.3,416.0,10.3,242,5505,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1973,2266,0,0,0,0,0,0
$GC,5746,1.40,195.0,393.3,9.1,248,5766,0.00,2.65,14.45,0.824,4,0.000,0.044,3430,3535,2206,0,0,0,0,0,0
$GC,5799,1.41,210.2,388.3,9.2,249,5820,0.00,2.65,14.85,0.812,6,0.000,0.044,3431,1966,2143,0,0,0,0,0,0
$GC,6066,1.43,223.6,363.9,9.3,255,6085,0.00,2.65,12.57,0.793,4,0.000,0.036,3431,3530,2088,0,0,0,0,0,0
$GC,6102,1.44,230.0,360.2,9.7,255,6116,0.00,2.60,7.07,0.706,6,0.000,0.043,3431,1977,2062,0,0,0,0,0,0
$GC,6396,1.44,230.7,331.1,10.0,263,6401,0.00,2.55,0.00,0.000,4,0.000,0.040,3431,3542,2059,0,0,0,0,0,0
$GC,6429,1.44,230.7,327.4,10.4,263,6435,0.00,2.58,0.00,0.000,6,0.000,0.035,3431,1981,2058,0,0,0,0,0,0
$GC,6679,1.44,230.7,300.5,11.1,270,6683,0.00,2.55,0.00,0.000,4,0.000,0.039,3431,3541,2057,0,0,0,0,0,0
$GC,6729,1.44,230.7,294.7,11.7,271,6734,0.00,2.55,0.00,0.000,6,0.000,0.033,3431,1987,2056,0,0,0,0,0,0
$GC,7001,1.44,230.7,264.7,11.1,278,7002,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1987,2055,0,0,0,0,0,0
$GC,7245,1.44,230.7,237.5,11.2,284,7249,0.00,2.53,0.00,0.000,4,0.000,0.033,3431,3538,2055,0,0,0,0,0,0
$GC,7271,1.44,230.7,234.5,11.0,284,7276,0.00,2.50,0.00,0.000,6,0.000,0.038,3431,2001,2053,0,0,0,0,0,0
$GC,7523,1.44,230.9,209.0,10.0,290,7524,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,2000,2053,0,0,0,0,0,0
$GC,7771,1.50,240.6,184.4,9.5,305,7786,0.10,2.55,8.95,0.652,4,0.098,0.039,3460,3543,2020,0,0,0,0,0,0
$GC,7841,1.50,240.6,177.0,11.6,311,7845,0.00,2.53,0.00,0.000,6,0.000,0.037,3460,1995,2018,0,0,0,0,0,0
$GC,8103,1.51,253.5,150.6,9.3,335,8124,0.00,0.00,12.77,0.652,6,0.000,0.000,3460,1995,1966,0,0,0,0,0,0
$GC,8383,1.51,253.5,120.4,11.9,361,8388,0.00,2.72,0.00,0.000,4,0.000,0.058,3460,394,1964,0,0,0,0,0,0
$GC,8462,1.51,253.5,110.5,12.5,367,8466,0.00,2.55,0.00,0.000,6,0.000,0.018,3460,2030,1963,0,0,0,0,0,0
$GC,8729,1.53,264.9,85.5,9.4,391,8745,0.00,2.42,11.10,0.581,4,0.000,0.035,3460,3538,1920,0,0,0,0,0,0
$GC,8809,1.59,283.7,78.2,9.0,397,8837,0.00,2.45,17.60,0.594,6,0.000,0.028,3460,2018,1843,0,0,0,0,0,0
$GC,9093,1.64,283.7,49.1,11.3,423,9098,0.12,2.75,0.00,0.000,4,0.082,0.054,3497,395,1840,0,0,0,0,0,0
$GC,9152,1.64,283.7,41.5,12.5,427,9156,0.00,2.50,0.00,0.000,6,0.000,0.018,3497,2024,1839,0,0,0,0,0,0
$GC,9454,1.64,283.7,9.9,11.6,465,9463,0.00,2.42,0.00,0.000,4,0.000,0.036,3497,3532,1839,0,0,0,0,0,0
$GC,9495,1.64,283.7,5.1,11.4,470,9504,0.00,2.47,0.00,0.000,6,0.000,0.029,3497,2010,1838,0,0,0,0,0,0
$STATE,9512,end climb,SURFACE_DEPTH_REACHED
$STATE,9512,begin surface coast
$FINISH,0.6,0.972987
$STATE,9561,end surface coast,CONTROL_FINISHED_OK
$STATE,9561,begin surface
$SM_CCo,9585,94.22,0.538,0,0,1370,400.08
$SM_GC,1.18,0.00,0.00,94.22,0.000,0.000,0.538,479,1752,1370,-12.19,-0.51,400.08
$IRIDIUM_FIX,2244.02,-15801.49,230800,161655
$TT8_MAMPS,0.025311
$HUMID,57.79
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.50
$XPDR_PINGS,46
$24V_AH,23.5,20.361
$10V_AH,10.4,17.635
$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,28.200,117.425,350.650,94.225,0.000,25.542,35.688,172.098,11.500,0.000,16.153,968.427,6265.770,522.908,1790.557,499.910,33.362,1203.289,0.000,1793.301,0.000,0.534,0.000
$DEVICE_MAMPS,162.604,131.924,929.604,537.667,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,324.616,278.767,369.324,699.753,1058.286,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,38573,479
$CAP_FILE_SIZE,100042,0
$CFSIZE,260165632,173813760
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300511,215836,2249.760,-15800.428,30,1.0,34,10.1