version: 66.06
glider: 146
mission: 6
dive: 165
start: 5 31 111 4 7 2
data:
$ID,146
$MISSION,6
$DIVE,165
$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,-271482.66
$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,31
$R_STBD_OVSHOOT,39
$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
$GPS1,035906,2250.086,-15758.018,13,1.7,23,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-68.8
$GPS2,040607,2250.185,-15758.005,38,1.2,38,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.125,-0.070
$KALMAN_X,-87522.8,165.2,-277.9,85569.2,512.1
$KALMAN_Y,-133610.6,461.9,108.3,144675.2,334.5
$MHEAD_RNG_PITCHd_Wd,109.2,1750,-32.6,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-2.09,-44.8,0.0,0.0,0,95,0.00,0.00,-73.15,0.000,6,0.000,0.000,476,1768,3184,0,0,0,0,0,0
$GC,99,-2.11,-59.6,4.0,-7.8,10,118,11.65,2.62,-1.08,0.000,4,0.160,0.057,2663,189,3244,0,0,0,0,0,0
$GC,136,-1.45,-59.6,18.1,-36.9,14,145,0.70,2.47,0.00,0.000,6,0.124,0.014,2805,1802,3245,0,0,0,0,0,0
$GC,420,-1.68,-59.6,68.6,-16.9,43,429,0.17,0.00,0.00,0.000,6,0.058,0.000,2750,1804,3247,0,0,0,0,0,0
$GC,683,-1.84,-59.6,110.4,-15.1,68,687,0.00,2.35,0.00,0.000,4,0.000,0.031,2751,3313,3247,0,0,0,0,0,0
$GC,775,-2.02,-59.6,124.2,-14.4,75,780,0.25,2.45,0.00,0.000,6,0.042,0.029,2671,1758,3247,0,0,0,0,0,0
$GC,1038,-2.07,-59.6,171.7,-18.7,99,1039,0.00,0.00,0.00,0.000,6,0.000,0.000,2672,1758,3248,0,0,0,0,0,0
$GC,1288,-2.13,-59.6,213.6,-15.5,117,1293,0.00,2.45,0.00,0.000,4,0.000,0.026,2671,3320,3249,0,0,0,0,0,0
$GC,1373,-2.21,-59.6,227.6,-15.8,119,1378,0.00,2.50,0.00,0.000,6,0.000,0.033,2671,1751,3249,0,0,0,0,0,0
$GC,1657,-2.28,-59.6,272.1,-15.3,126,1662,0.17,2.50,0.00,0.000,4,0.062,0.037,2616,3313,3250,0,0,0,0,0,0
$GC,1708,-2.28,-59.6,280.6,-16.8,127,1712,0.00,2.55,0.00,0.000,6,0.000,0.036,2616,1754,3250,0,0,0,0,0,0
$GC,1979,-2.28,-59.6,326.9,-16.4,134,1984,0.00,2.50,0.00,0.000,4,0.000,0.040,2616,3314,3250,0,0,0,0,0,0
$GC,2081,-2.28,-59.6,342.1,-15.1,136,2085,0.00,2.60,0.00,0.000,6,0.000,0.047,2615,1763,3250,0,0,0,0,0,0
$GC,2347,-2.28,-59.6,382.9,-15.4,143,2351,0.00,2.50,0.00,0.000,4,0.000,0.045,2616,3303,3249,0,0,0,0,0,0
$GC,2401,-2.28,-59.6,391.5,-15.1,144,2406,0.00,2.65,0.00,0.000,6,0.000,0.057,2616,1750,3249,0,0,0,0,0,0
$GC,2669,-2.28,-59.6,433.9,-15.9,151,2673,0.00,2.60,0.00,0.000,4,0.000,0.048,2615,3310,3248,0,0,0,0,0,0
$GC,2836,-2.33,-59.6,462.1,-16.3,154,2841,0.00,2.67,0.00,0.000,6,0.000,0.067,2616,1768,3247,0,0,0,0,0,0
$GC,3086,-2.33,-59.6,499.4,-14.6,161,3090,0.00,2.45,0.00,0.000,3,0.000,0.062,2616,3214,3245,0,0,0,0,0,0
$STATE,3091,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3091,begin apogee
$GC,3100,-0.31,0.0,500.2,14.4,161,3155,2.08,0.00,50.50,0.904,6,0.114,0.000,3059,1961,3001,0,0,0,0,0,0
$STATE,3156,end apogee,CONTROL_FINISHED_OK
$STATE,3156,begin climb
$GC,3158,2.11,59.6,503.0,0.0,162,3218,2.22,3.10,50.35,0.884,4,0.053,0.116,3591,386,2758,0,0,0,0,0,0
$GC,3314,2.08,90.7,496.4,5.4,165,3348,0.00,2.53,27.15,0.867,6,0.000,0.035,3591,1921,2630,0,0,0,0,0,0
$GC,3617,2.09,95.5,469.8,9.3,173,3627,0.00,2.83,4.75,0.620,4,0.000,0.061,3591,3552,2610,0,0,0,0,0,0
$GC,3755,2.10,103.9,457.2,8.8,176,3769,0.00,2.67,8.85,0.768,6,0.000,0.044,3591,1975,2577,0,0,0,0,0,0
$GC,4037,2.16,113.9,432.3,8.5,183,4049,0.00,0.00,9.65,0.784,6,0.000,0.000,3591,1975,2536,0,0,0,0,0,0
$GC,4282,2.22,118.1,409.2,9.4,189,4292,0.00,2.65,4.68,0.614,4,0.000,0.046,3591,3561,2518,0,0,0,0,0,0
$GC,4427,2.26,118.1,394.3,10.1,192,4432,0.12,2.65,0.00,0.000,6,0.102,0.045,3620,1979,2516,0,0,0,0,0,0
$GC,4695,2.26,118.1,367.1,10.3,199,4700,0.00,2.85,0.00,0.000,4,0.000,0.084,3620,385,2514,0,0,0,0,0,0
$GC,4745,2.19,118.1,361.5,11.0,200,4749,0.00,2.55,0.00,0.000,6,0.000,0.021,3621,2001,2514,0,0,0,0,0,0
$GC,5018,2.20,124.4,336.3,9.1,207,5029,0.00,2.53,5.72,0.659,4,0.000,0.040,3620,3548,2494,0,0,0,0,0,0
$GC,5103,2.21,130.6,328.1,9.1,209,5117,0.00,2.60,7.20,0.703,6,0.000,0.033,3620,1972,2468,0,0,0,0,0,0
$GC,5390,2.21,134.8,300.7,9.4,216,5400,0.00,2.58,4.97,0.603,4,0.000,0.039,3620,3541,2451,0,0,0,0,0,0
$GC,5528,2.22,139.2,287.0,9.4,219,5539,0.00,2.58,5.55,0.626,6,0.000,0.035,3620,1974,2433,0,0,0,0,0,0
$GC,5808,2.27,146.3,262.1,9.0,226,5822,0.00,2.62,7.55,0.676,4,0.000,0.038,3620,3544,2403,0,0,0,0,0,0
$GC,6078,2.32,153.1,236.9,9.0,232,6092,0.00,2.53,7.50,0.658,6,0.000,0.038,3620,1996,2375,0,0,0,0,0,0
$GC,6368,2.38,157.3,210.0,9.4,239,6379,0.12,2.55,4.88,0.552,4,0.130,0.033,3651,3545,2358,0,0,0,0,0,0
$GC,6638,2.38,157.3,179.7,10.8,254,6642,0.00,2.50,0.00,0.000,6,0.000,0.035,3651,2010,2357,0,0,0,0,0,0
$GC,6900,2.38,157.3,153.2,10.2,278,6905,0.00,2.47,0.00,0.000,4,0.000,0.035,3651,3542,2356,0,0,0,0,0,0
$GC,7171,2.38,159.8,125.4,9.7,300,7181,0.00,2.50,0.00,0.000,6,0.000,0.034,3650,2006,2356,0,0,0,0,0,0
$GC,7439,2.44,174.9,104.6,7.8,325,7464,0.00,2.53,16.15,0.615,4,0.000,0.035,3651,3537,2286,0,0,0,0,0,0
$GC,7515,2.48,174.9,97.2,10.4,331,7519,0.00,2.47,0.00,0.000,6,0.000,0.035,3651,1995,2286,0,0,0,0,0,0
$GC,7783,2.53,174.9,67.2,11.2,355,7788,0.12,2.50,0.00,0.000,4,0.080,0.030,3687,3542,2285,0,0,0,0,0,0
$GC,7817,2.53,174.9,62.9,12.9,357,7821,0.00,2.47,0.00,0.000,6,0.000,0.030,3687,1995,2284,0,0,0,0,0,0
$GC,8084,2.58,210.8,39.7,4.7,381,8123,0.00,0.00,30.92,0.568,6,0.000,0.000,3686,1995,2141,0,0,0,0,0,0
$GC,8423,2.62,210.8,6.5,10.9,425,8432,0.00,2.53,0.00,0.000,4,0.000,0.032,3687,3547,2136,0,0,0,0,0,0
$STATE,8447,end climb,SURFACE_DEPTH_REACHED
$STATE,8447,begin surface coast
$FINISH,0.6,0.980065
$STATE,8496,end surface coast,CONTROL_FINISHED_OK
$STATE,8496,begin surface
$SM_CCo,8523,152.20,0.532,0,0,1370,400.08
$SM_GC,1.06,0.00,0.00,152.20,0.000,0.000,0.532,476,1767,1370,-12.21,-0.08,400.08
$IRIDIUM_FIX,2244.02,-15759.32,240800,010149
$TT8_MAMPS,0.026078
$HUMID,55.55
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,21.90
$XPDR_PINGS,39
$24V_AH,23.6,20.703
$10V_AH,10.4,17.980
$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,30.725,102.700,246.375,152.200,0.000,29.224,35.073,201.169,9.750,0.000,39.872,942.584,5205.601,456.149,1967.392,526.472,33.363,1183.613,0.000,1947.250,0.000,0.535,0.000
$DEVICE_MAMPS,160.303,115.817,903.526,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,294.984,261.095,342.096,686.098,1037.736,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355544
$DATA_FILE_SIZE,35123,435
$CAP_FILE_SIZE,97003,0
$CFSIZE,260165632,173658112
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310511,063246,2250.097,-15757.107,8,99.0,27,10.1