version: 66.06
glider: 146
mission: 6
dive: 163
start: 5 30 111 22 6 15
data:
$ID,146
$MISSION,6
$DIVE,163
$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,-271428.53
$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,48
$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
$GPS1,215836,2249.760,-15800.428,30,1.0,34,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.24
$_SM_ANGLEo,-70.8
$GPS2,220522,2249.770,-15800.472,10,2.3,29,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.229,0.052
$KALMAN_X,-87515.2,-331.1,327.9,81242.0,-462.6
$KALMAN_Y,-134654.0,170.1,52.5,145293.5,-386.4
$MHEAD_RNG_PITCHd_Wd,67.1,5941,-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,-78.78,0.000,2,0.000,0.000,478,1752,3365,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.7,-6.0,10,127,12.27,2.58,-2.05,0.000,4,0.152,0.038,2821,3344,3481,0,0,0,0,0,0
$GC,140,-0.43,-116.8,18.3,-37.5,14,150,0.95,2.55,0.00,0.000,6,0.098,0.031,3030,1785,3482,0,0,0,0,0,0
$GC,438,-0.70,-116.8,43.8,-6.8,47,443,0.22,2.50,0.00,0.000,4,0.049,0.029,2960,3354,3483,0,0,0,0,0,0
$GC,472,-0.88,-116.8,46.6,-8.4,49,477,0.00,2.50,0.00,0.000,6,0.000,0.025,2960,1774,3484,0,0,0,0,0,0
$GC,740,-1.03,-116.8,70.0,-8.1,73,746,0.22,2.67,0.00,0.000,4,0.048,0.061,2889,197,3484,0,0,0,0,0,0
$GC,786,-1.03,-116.8,75.4,-12.4,76,791,0.00,2.42,0.00,0.000,6,0.000,0.021,2890,1817,3484,0,0,0,0,0,0
$GC,1049,-1.03,-116.8,106.1,-11.1,100,1053,0.00,2.35,0.00,0.000,4,0.000,0.032,2889,3313,3485,0,0,0,0,0,0
$GC,1142,-1.11,-116.8,114.6,-9.0,107,1146,0.00,2.40,0.00,0.000,6,0.000,0.031,2889,1787,3485,0,0,0,0,0,0
$GC,1408,-1.16,-116.8,139.8,-10.6,131,1412,0.00,2.70,0.00,0.000,4,0.000,0.062,2889,195,3486,0,0,0,0,0,0
$GC,1490,-1.21,-116.8,150.5,-12.4,137,1496,0.00,2.35,0.00,0.000,6,0.000,0.021,2889,1777,3486,0,0,0,0,0,0
$GC,1753,-1.28,-116.8,179.4,-9.9,162,1755,0.15,0.00,0.00,0.000,6,0.068,0.000,2842,1778,3486,0,0,0,0,0,0
$GC,2035,-1.28,-116.8,209.9,-10.8,183,2039,0.00,2.38,0.00,0.000,4,0.000,0.025,2842,3303,3486,0,0,0,0,0,0
$GC,2096,-1.32,-116.8,217.1,-11.9,184,2101,0.00,2.45,0.00,0.000,6,0.000,0.032,2842,1778,3486,0,0,0,0,0,0
$GC,2358,-1.32,-116.8,246.8,-11.5,191,2362,0.00,2.40,0.00,0.000,4,0.000,0.029,2842,3302,3486,0,0,0,0,0,0
$GC,2390,-1.32,-116.8,250.8,-11.5,191,2397,0.00,2.45,0.00,0.000,6,0.000,0.029,2842,1781,3486,0,0,0,0,0,0
$GC,2640,-1.32,-116.8,279.7,-11.7,198,2645,0.00,2.40,0.00,0.000,4,0.000,0.035,2842,3299,3486,0,0,0,0,0,0
$GC,2702,-1.38,-116.8,286.9,-11.5,199,2706,0.00,2.42,0.00,0.000,6,0.000,0.038,2842,1794,3486,0,0,0,0,0,0
$GC,2963,-1.38,-116.8,313.4,-10.1,206,2964,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1794,3486,0,0,0,0,0,0
$GC,3206,-1.38,-116.8,336.7,-9.7,212,3210,0.00,2.42,0.00,0.000,4,0.000,0.033,2842,3302,3485,0,0,0,0,0,0
$GC,3221,-1.38,-116.8,338.4,-9.6,212,3226,0.00,2.47,0.00,0.000,6,0.000,0.043,2842,1804,3485,0,0,0,0,0,0
$GC,3484,-1.42,-116.8,363.6,-9.7,219,3488,0.00,2.45,0.00,0.000,4,0.000,0.042,2842,3298,3484,0,0,0,0,0,0
$GC,3500,-1.46,-116.8,365.4,-9.8,219,3505,0.12,2.50,0.00,0.000,6,0.074,0.044,2799,1802,3484,0,0,0,0,0,0
$GC,3761,-1.46,-116.8,395.4,-11.6,226,3762,0.00,0.00,0.00,0.000,6,0.000,0.000,2799,1802,3482,0,0,0,0,0,0
$GC,4006,-1.46,-116.8,421.3,-10.3,232,4010,0.00,2.50,0.00,0.000,4,0.000,0.049,2799,3301,3480,0,0,0,0,0,0
$GC,4079,-1.46,-116.8,428.2,-9.3,233,4083,0.00,2.55,0.00,0.000,6,0.000,0.058,2798,1808,3481,0,0,0,0,0,0
$GC,4329,-1.46,-116.8,450.2,-8.9,239,4334,0.00,3.05,0.00,0.000,4,0.000,0.107,2798,179,3479,0,0,0,0,0,0
$GC,4346,-1.41,-116.8,451.8,-9.0,239,4352,0.10,2.55,0.00,0.000,6,0.134,0.035,2818,1742,3479,0,0,0,0,0,0
$GC,4608,-1.41,-116.8,475.2,-9.1,246,4612,0.00,2.75,0.00,0.000,4,0.000,0.058,2818,3364,3477,0,0,0,0,0,0
$GC,4665,-1.46,-116.8,480.9,-9.7,247,4669,0.00,2.67,0.00,0.000,6,0.000,0.064,2818,1809,3477,0,0,0,0,0,0
$STATE,4847,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4847,begin apogee
$GC,4853,-0.31,0.0,501.0,11.1,252,4953,1.08,0.00,96.43,0.930,6,0.085,0.000,3059,1998,3000,0,0,0,0,0,0
$STATE,4954,end apogee,CONTROL_FINISHED_OK
$STATE,4954,begin climb
$GC,4956,1.38,116.8,504.8,0.0,254,5060,1.62,0.00,99.47,0.908,6,0.051,0.000,3435,1998,2524,0,0,0,0,0,0
$GC,5295,1.44,209.5,495.5,4.7,263,5377,0.00,0.00,79.88,0.903,6,0.000,0.000,3435,1999,2146,0,0,0,0,0,0
$GC,5617,1.44,209.5,465.2,10.6,271,5621,0.00,2.55,0.00,0.000,4,0.000,0.051,3435,3528,2137,0,0,0,0,0,0
$GC,5677,1.44,209.5,458.5,10.7,272,5682,0.00,2.67,0.00,0.000,6,0.000,0.048,3435,1966,2136,0,0,0,0,0,0
$GC,5940,1.44,209.5,430.4,10.8,279,5945,0.00,2.92,0.00,0.000,4,0.000,0.101,3435,384,2133,0,0,0,0,0,0
$GC,5961,1.38,209.5,427.6,11.9,279,5966,0.00,2.50,0.00,0.000,6,0.000,0.030,3435,1935,2132,0,0,0,0,0,0
$GC,6217,1.38,209.5,398.7,11.4,286,6218,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1934,2131,0,0,0,0,0,0
$GC,6461,1.38,209.5,370.5,11.6,292,6466,0.00,2.65,0.00,0.000,4,0.000,0.046,3434,3551,2130,0,0,0,0,0,0
$GC,6561,1.38,209.5,358.1,12.1,294,6566,0.00,2.65,0.00,0.000,6,0.000,0.042,3435,1947,2129,0,0,0,0,0,0
$GC,6828,1.39,219.3,331.0,9.5,301,6842,0.00,2.65,6.43,0.690,4,0.000,0.038,3435,3557,2107,0,0,0,0,0,0
$GC,6861,1.41,230.0,328.1,9.4,301,6879,0.00,2.62,11.30,0.765,6,0.000,0.041,3435,1962,2063,0,0,0,0,0,0
$GC,7158,1.43,247.7,301.3,9.0,309,7182,0.00,2.72,16.77,0.785,4,0.000,0.035,3435,3558,1990,0,0,0,0,0,0
$GC,7212,1.43,247.7,295.9,10.2,310,7217,0.00,2.62,0.00,0.000,6,0.000,0.038,3435,1965,1988,0,0,0,0,0,0
$GC,7484,1.43,247.7,266.8,11.1,317,7485,0.00,0.00,0.00,0.000,6,0.000,0.000,3435,1965,1986,0,0,0,0,0,0
$GC,7728,1.43,247.7,241.0,10.5,323,7732,0.00,2.58,0.00,0.000,4,0.000,0.040,3435,3550,1985,0,0,0,0,0,0
$GC,7778,1.47,247.7,235.7,10.7,324,7783,0.00,2.60,0.00,0.000,6,0.000,0.038,3435,1963,1984,0,0,0,0,0,0
$GC,8050,1.47,247.7,208.3,10.1,331,8054,0.00,2.60,0.00,0.000,4,0.000,0.034,3435,3558,1984,0,0,0,0,0,0
$GC,8083,1.52,247.7,204.9,10.5,331,8089,0.10,2.58,0.00,0.000,6,0.090,0.031,3463,1975,1983,0,0,0,0,0,0
$GC,8341,1.52,247.7,178.5,10.6,350,8345,0.00,2.58,0.00,0.000,4,0.000,0.038,3463,3558,1983,0,0,0,0,0,0
$GC,8415,1.52,247.7,170.5,10.7,356,8420,0.00,2.55,0.00,0.000,6,0.000,0.031,3463,1980,1983,0,0,0,0,0,0
$GC,8679,1.54,265.9,146.6,9.0,380,8703,0.00,2.78,16.23,0.659,4,0.000,0.065,3463,398,1915,0,0,0,0,0,0
$GC,8728,1.50,265.9,141.5,11.9,384,8732,0.00,2.55,0.00,0.000,6,0.000,0.020,3463,2024,1914,0,0,0,0,0,0
$GC,8991,1.50,265.9,113.2,10.9,408,8996,0.00,2.47,0.00,0.000,4,0.000,0.034,3464,3559,1912,0,0,0,0,0,0
$GC,9049,1.53,265.9,106.3,11.8,412,9058,0.00,2.55,0.00,0.000,6,0.000,0.029,3463,1999,1911,0,0,0,0,0,0
$GC,9315,1.56,285.4,78.8,8.9,437,9343,0.00,2.60,17.52,0.594,4,0.000,0.035,3463,3559,1836,0,0,0,0,0,0
$GC,9374,1.61,285.4,72.5,10.4,441,9383,0.00,2.55,0.00,0.000,6,0.000,0.035,3463,2010,1835,0,0,0,0,0,0
$GC,9640,1.67,285.4,46.2,10.3,466,9645,0.12,2.72,0.00,0.000,4,0.075,0.054,3500,390,1835,0,0,0,0,0,0
$GC,9686,1.67,285.4,41.3,10.8,469,9691,0.00,2.58,0.00,0.000,6,0.000,0.025,3500,2049,1833,0,0,0,0,0,0
$GC,9989,1.67,285.4,10.7,10.5,507,9998,0.00,2.42,0.00,0.000,4,0.000,0.031,3499,3555,1833,0,0,0,0,0,0
$STATE,10053,end climb,SURFACE_DEPTH_REACHED
$STATE,10053,begin surface coast
$FINISH,0.4,0.972756
$STATE,10109,end surface coast,CONTROL_FINISHED_OK
$STATE,10109,begin surface
$SM_CCo,10135,93.15,0.535,0,0,1369,400.08
$SM_GC,1.24,0.00,0.00,93.15,0.000,0.000,0.535,477,1756,1369,-12.20,-0.40,400.08
$IRIDIUM_FIX,2244.02,-15804.53,230800,191946
$TT8_MAMPS,0.026078
$HUMID,57.75
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.80
$XPDR_PINGS,49
$24V_AH,23.5,20.476
$10V_AH,10.4,17.755
$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,29.175,133.875,344.025,93.150,0.000,28.927,43.227,187.146,12.250,0.000,31.694,1054.368,6489.420,555.804,2001.462,536.073,33.372,1246.485,0.000,1992.181,0.000,0.534,0.000
$DEVICE_MAMPS,151.866,107.380,929.604,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,355.672,305.319,410.218,811.565,1227.507,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,41469,524
$CAP_FILE_SIZE,106032,0
$CFSIZE,260165632,173752320
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310511,005801,2250.216,-15759.150,36,1.7,36,10.1