version: 66.06
glider: 146
mission: 6
dive: 164
start: 5 31 111 1 15 37
data:
$ID,146
$MISSION,6
$DIVE,164
$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,-271442.16
$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,34
$R_STBD_OVSHOOT,28
$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
$GPS1,005801,2250.216,-15759.150,36,1.7,36,10.1
$_CALLS,4
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-69.5
$GPS2,011443,2250.461,-15759.292,11,1.1,11,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.205,-0.114
$KALMAN_X,-87564.8,-118.6,-105.2,83523.7,-71.3
$KALMAN_Y,-133808.9,408.0,-280.3,145816.4,716.1
$MHEAD_RNG_PITCHd_Wd,109.1,4005,-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,17,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-77.57,0.000,2,0.000,0.000,477,1754,3375,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.9,-7.7,10,126,12.25,2.67,-1.83,0.000,4,0.151,0.066,2819,198,3481,0,0,0,0,0,0
$GC,157,-1.10,-116.8,23.2,-24.6,17,167,0.28,2.50,0.00,0.000,6,0.108,0.014,2880,1828,3482,0,0,0,0,0,0
$GC,434,-1.10,-116.8,61.0,-13.7,44,438,0.00,2.42,0.00,0.000,4,0.000,0.024,2880,3368,3483,0,0,0,0,0,0
$GC,455,-1.10,-116.8,64.5,-14.8,45,459,0.00,2.55,0.00,0.000,6,0.000,0.031,2880,1762,3483,0,0,0,0,0,0
$GC,722,-1.10,-116.8,99.0,-12.8,69,727,0.00,2.53,0.00,0.000,4,0.000,0.027,2880,3367,3484,0,0,0,0,0,0
$GC,778,-1.17,-116.8,106.2,-12.2,73,783,0.00,2.53,0.00,0.000,6,0.000,0.028,2880,1784,3483,0,0,0,0,0,0
$GC,1044,-1.17,-116.8,137.3,-11.7,97,1049,0.00,2.50,0.00,0.000,4,0.000,0.024,2880,3368,3484,0,0,0,0,0,0
$GC,1087,-1.24,-116.8,142.3,-10.1,100,1091,0.00,2.53,0.00,0.000,6,0.000,0.025,2880,1783,3484,0,0,0,0,0,0
$GC,1353,-1.28,-116.8,171.5,-10.9,124,1359,0.12,2.70,0.00,0.000,4,0.079,0.068,2839,200,3484,0,0,0,0,0,0
$GC,1388,-1.21,-116.8,176.7,-13.8,126,1398,0.10,2.50,0.00,0.000,6,0.093,0.021,2865,1834,3484,0,0,0,0,0,0
$GC,1678,-1.21,-116.8,209.4,-11.4,148,1679,0.00,0.00,0.00,0.000,6,0.000,0.000,2865,1834,3485,0,0,0,0,0,0
$GC,1920,-1.21,-116.8,236.4,-11.1,154,1924,0.00,2.42,0.00,0.000,4,0.000,0.028,2865,3360,3484,0,0,0,0,0,0
$GC,1954,-1.26,-116.8,240.1,-11.0,154,1960,0.00,2.50,0.00,0.000,6,0.000,0.034,2865,1785,3485,0,0,0,0,0,0
$GC,2204,-1.31,-116.8,266.0,-10.3,161,2208,0.00,2.55,0.00,0.000,4,0.000,0.034,2865,3367,3484,0,0,0,0,0,0
$GC,2225,-1.36,-116.8,268.5,-11.0,161,2230,0.12,2.53,0.00,0.000,6,0.071,0.031,2822,1785,3484,0,0,0,0,0,0
$GC,2482,-1.36,-116.8,299.5,-12.4,168,2486,0.00,2.55,0.00,0.000,4,0.000,0.038,2822,3362,3484,0,0,0,0,0,0
$GC,2542,-1.36,-116.8,307.4,-12.3,169,2547,0.00,2.55,0.00,0.000,6,0.000,0.035,2821,1789,3483,0,0,0,0,0,0
$GC,2805,-1.36,-116.8,340.4,-12.5,176,2806,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1789,3482,0,0,0,0,0,0
$GC,3047,-1.36,-116.8,365.7,-10.0,182,3052,0.00,2.60,0.00,0.000,4,0.000,0.041,2822,3363,3481,0,0,0,0,0,0
$GC,3075,-1.36,-116.8,368.4,-9.3,182,3079,0.00,2.62,0.00,0.000,6,0.000,0.053,2821,1799,3481,0,0,0,0,0,0
$GC,3324,-1.36,-116.8,394.0,-10.6,188,3326,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1799,3480,0,0,0,0,0,0
$GC,3570,-1.36,-116.8,423.4,-12.3,194,3574,0.00,2.55,0.00,0.000,4,0.000,0.049,2821,3353,3479,0,0,0,0,0,0
$GC,3619,-1.41,-116.8,430.0,-12.6,195,3624,0.00,2.62,0.00,0.000,6,0.000,0.058,2821,1807,3478,0,0,0,0,0,0
$GC,3891,-1.41,-116.8,461.7,-11.4,202,3893,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1807,3476,0,0,0,0,0,0
$GC,4137,-1.41,-116.8,487.4,-10.4,208,4141,0.00,2.58,0.00,0.000,4,0.000,0.055,2822,3348,3474,0,0,0,0,0,0
$GC,4163,-1.41,-116.8,490.5,-10.7,208,4168,0.00,2.62,0.00,0.000,6,0.000,0.063,2822,1810,3474,0,0,0,0,0,0
$STATE,4289,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4289,begin apogee
$GC,4295,-0.31,0.0,502.9,9.7,211,4395,1.08,0.00,96.28,0.922,6,0.087,0.000,3061,1993,3000,0,0,0,0,0,0
$STATE,4396,end apogee,CONTROL_FINISHED_OK
$STATE,4396,begin climb
$GC,4399,1.38,116.8,505.2,0.0,213,4503,1.58,0.00,99.25,0.900,6,0.050,0.000,3433,1993,2524,0,0,0,0,0,0
$GC,4727,1.40,171.2,488.7,6.9,221,4781,0.00,2.72,46.50,0.884,4,0.000,0.051,3433,3532,2301,0,0,0,0,0,0
$GC,4842,1.41,180.9,479.1,9.5,223,4857,0.00,2.67,9.43,0.772,6,0.000,0.051,3433,1981,2263,0,0,0,0,0,0
$GC,5135,1.43,195.6,452.4,9.2,231,5151,0.00,0.00,13.62,0.822,6,0.000,0.000,3433,1981,2203,0,0,0,0,0,0
$GC,5379,1.44,210.3,429.9,9.2,237,5398,0.00,2.67,13.80,0.816,4,0.000,0.042,3433,3534,2142,0,0,0,0,0,0
$GC,5417,1.46,224.9,426.2,9.2,237,5437,0.00,2.65,14.23,0.811,6,0.000,0.044,3434,1981,2084,0,0,0,0,0,0
$GC,5709,1.46,224.9,395.5,10.7,245,5714,0.00,2.58,0.00,0.000,4,0.000,0.036,3433,3534,2078,0,0,0,0,0,0
$GC,5777,1.46,224.9,387.6,11.9,246,5781,0.00,2.60,0.00,0.000,6,0.000,0.041,3433,1980,2077,0,0,0,0,0,0
$GC,6031,1.46,224.9,360.5,10.3,253,6036,0.00,2.83,0.00,0.000,4,0.000,0.081,3433,378,2076,0,0,0,0,0,0
$GC,6052,1.46,224.9,358.3,10.4,253,6057,0.00,2.58,0.00,0.000,6,0.000,0.023,3433,1990,2074,0,0,0,0,0,0
$GC,6309,1.48,236.2,334.1,9.4,260,6324,0.00,2.60,9.75,0.749,4,0.000,0.041,3433,3549,2037,0,0,0,0,0,0
$GC,6357,1.48,236.2,329.1,10.3,261,6362,0.00,2.60,0.00,0.000,6,0.000,0.041,3434,1984,2036,0,0,0,0,0,0
$GC,6629,1.48,236.2,300.9,10.6,268,6630,0.00,0.00,0.00,0.000,6,0.000,0.000,3433,1984,2035,0,0,0,0,0,0
$GC,6874,1.48,236.9,276.1,10.0,274,6879,0.00,2.55,0.00,0.000,4,0.000,0.040,3433,3546,2034,0,0,0,0,0,0
$GC,6941,1.52,236.9,268.9,10.7,275,6946,0.12,2.53,0.00,0.000,6,0.083,0.035,3469,1990,2032,0,0,0,0,0,0
$GC,7198,1.48,236.9,240.5,11.2,282,7202,0.00,2.55,0.00,0.000,4,0.000,0.035,3469,3548,2032,0,0,0,0,0,0
$GC,7226,1.44,236.9,237.3,11.5,282,7231,0.12,2.53,0.00,0.000,6,0.123,0.038,3445,2001,2031,0,0,0,0,0,0
$GC,7476,1.44,237.2,211.6,10.0,288,7480,0.00,2.50,0.00,0.000,4,0.000,0.038,3445,3551,2031,0,0,0,0,0,0
$GC,7519,1.44,237.2,206.7,10.6,289,7524,0.00,2.50,0.00,0.000,6,0.000,0.035,3445,1999,2031,0,0,0,0,0,0
$GC,7788,1.45,245.0,180.3,9.6,309,7799,0.00,0.00,8.18,0.627,6,0.000,0.000,3445,1999,2002,0,0,0,0,0,0
$GC,8056,1.46,257.6,156.2,9.3,334,8078,0.00,2.83,12.60,0.645,4,0.000,0.061,3445,389,1949,0,0,0,0,0,0
$GC,8096,1.46,257.6,151.2,11.1,337,8102,0.00,2.58,0.00,0.000,6,0.000,0.024,3445,2026,1948,0,0,0,0,0,0
$GC,8359,1.51,257.6,122.5,10.4,362,8363,0.00,2.45,0.00,0.000,4,0.000,0.032,3445,3552,1947,0,0,0,0,0,0
$GC,8430,1.57,257.6,114.8,10.4,367,8437,0.12,2.50,0.00,0.000,6,0.079,0.034,3481,2005,1946,0,0,0,0,0,0
$GC,8693,1.57,257.6,87.3,10.2,392,8694,0.00,0.00,0.00,0.000,6,0.000,0.000,3481,2005,1945,0,0,0,0,0,0
$GC,8951,1.58,261.7,62.4,9.8,416,8961,0.00,0.00,4.78,0.447,6,0.000,0.000,3480,2005,1933,0,0,0,0,0,0
$GC,9219,1.66,300.3,38.1,7.8,441,9258,0.00,0.00,33.97,0.567,6,0.000,0.000,3480,2005,1776,0,0,0,0,0,0
$GC,9565,1.71,300.3,5.8,10.1,488,9575,0.00,2.50,0.00,0.000,4,0.000,0.029,3481,3544,1773,0,0,0,0,0,0
$STATE,9582,end climb,SURFACE_DEPTH_REACHED
$STATE,9582,begin surface coast
$FINISH,0.3,0.980086
$STATE,9638,end surface coast,CONTROL_FINISHED_OK
$STATE,9638,begin surface
$SM_CCo,9664,80.05,0.532,0,0,1370,400.08
$SM_GC,1.12,0.00,0.00,80.05,0.000,0.000,0.532,476,1768,1370,-12.21,-0.03,400.08
$IRIDIUM_FIX,2241.69,-15759.32,240800,010121
$TT8_MAMPS,0.026078
$HUMID,57.75
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.20
$XPDR_PINGS,44
$24V_AH,23.5,20.610
$10V_AH,10.4,17.873
$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,28.100,113.775,362.375,80.050,0.000,109.030,153.074,398.061,11.000,0.000,13.008,987.869,6453.177,507.538,1844.286,954.672,33.375,1180.658,0.000,1851.791,0.000,0.535,0.000
$DEVICE_MAMPS,151.099,81.302,921.934,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,337.199,296.001,390.416,760.458,1149.365,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355528
$DATA_FILE_SIZE,38411,498
$CAP_FILE_SIZE,108747,0
$CFSIZE,260165632,173694976
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310511,035906,2250.086,-15758.018,13,1.7,23,10.1