version: 66.06
glider: 146
mission: 6
dive: 166
start: 5 31 111 6 39 59
data:
$ID,146
$MISSION,6
$DIVE,166
$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,-271524.12
$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,32
$R_STBD_OVSHOOT,42
$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
$GPS1,063246,2250.097,-15757.107,8,99.0,27,10.1
$_CALLS,1
$_XMS_NAKs,3
$_XMS_TOUTs,1
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-69.6
$GPS2,063906,2250.143,-15757.065,35,1.3,39,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.068,-0.225
$KALMAN_X,-87700.0,356.7,71.9,86813.0,140.7
$KALMAN_Y,-133168.0,380.0,362.4,143980.3,-247.5
$MHEAD_RNG_PITCHd_Wd,186.7,5955,-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,-78.43,0.000,2,0.000,0.000,475,1767,3371,0,0,0,0,0,0
$GC,101,-1.38,-116.8,4.0,-7.7,10,127,12.25,2.67,-1.90,0.000,4,0.151,0.062,2818,202,3480,0,0,0,0,0,0
$GC,255,-1.20,-116.8,44.5,-18.8,27,263,0.17,2.45,0.00,0.000,6,0.107,0.014,2858,1812,3482,0,0,0,0,0,0
$GC,519,-1.15,-116.8,83.8,-14.7,52,523,0.00,2.72,0.00,0.000,4,0.000,0.061,2858,200,3483,0,0,0,0,0,0
$GC,565,-1.07,-116.8,90.7,-15.8,55,570,0.17,2.35,0.00,0.000,6,0.111,0.015,2895,1780,3483,0,0,0,0,0,0
$GC,833,-1.12,-116.8,123.3,-11.7,79,837,0.00,2.42,0.00,0.000,4,0.000,0.025,2895,3303,3484,0,0,0,0,0,0
$GC,902,-1.22,-116.8,131.6,-10.6,84,912,0.10,2.45,0.00,0.000,6,0.038,0.033,2847,1784,3484,0,0,0,0,0,0
$GC,1167,-1.22,-116.8,164.3,-11.9,109,1172,0.00,0.00,0.00,0.000,6,0.000,0.000,2847,1784,3485,0,0,0,0,0,0
$GC,1430,-1.22,-116.8,196.5,-12.0,134,1434,0.00,2.40,0.00,0.000,4,0.000,0.026,2848,3302,3485,0,0,0,0,0,0
$GC,1462,-1.22,-116.8,200.1,-12.4,136,1467,0.00,2.40,0.00,0.000,6,0.000,0.033,2847,1792,3486,0,0,0,0,0,0
$GC,1713,-1.22,-116.8,229.5,-11.6,142,1715,0.00,0.00,0.00,0.000,6,0.000,0.000,2848,1792,3486,0,0,0,0,0,0
$GC,1956,-1.22,-116.8,255.7,-10.7,148,1960,0.00,2.40,0.00,0.000,4,0.000,0.035,2848,3301,3485,0,0,0,0,0,0
$GC,2033,-1.27,-116.8,264.0,-10.5,149,2039,0.00,2.42,0.00,0.000,6,0.000,0.031,2847,1800,3486,0,0,0,0,0,0
$GC,2283,-1.27,-116.8,289.4,-10.1,156,2287,0.00,2.38,0.00,0.000,4,0.000,0.036,2847,3299,3486,0,0,0,0,0,0
$GC,2306,-1.31,-116.8,291.7,-10.1,156,2310,0.00,2.40,0.00,0.000,6,0.000,0.033,2847,1808,3486,0,0,0,0,0,0
$GC,2567,-1.35,-116.8,318.8,-10.5,163,2571,0.00,2.42,0.00,0.000,4,0.000,0.035,2847,3305,3485,0,0,0,0,0,0
$GC,2582,-1.39,-116.8,320.6,-10.6,163,2587,0.00,2.45,0.00,0.000,6,0.000,0.036,2848,1809,3485,0,0,0,0,0,0
$GC,2845,-1.43,-116.8,347.3,-10.2,170,2850,0.12,2.40,0.00,0.000,4,0.077,0.040,2808,3300,3484,0,0,0,0,0,0
$GC,2868,-1.43,-116.8,349.8,-10.7,170,2872,0.00,2.47,0.00,0.000,6,0.000,0.043,2808,1811,3484,0,0,0,0,0,0
$GC,3123,-1.43,-116.8,379.4,-11.7,177,3127,0.00,2.95,0.00,0.000,4,0.000,0.101,2808,183,3482,0,0,0,0,0,0
$GC,3145,-1.38,-116.8,382.1,-12.5,177,3150,0.10,2.53,0.00,0.000,6,0.129,0.029,2827,1760,3482,0,0,0,0,0,0
$GC,3400,-1.38,-116.8,411.1,-11.1,184,3405,0.00,2.65,0.00,0.000,4,0.000,0.057,2827,3350,3481,0,0,0,0,0,0
$GC,3467,-1.42,-116.8,418.1,-10.4,185,3471,0.00,2.60,0.00,0.000,6,0.000,0.054,2827,1822,3481,0,0,0,0,0,0
$GC,3723,-1.42,-116.8,443.6,-10.0,192,3728,0.00,2.50,0.00,0.000,4,0.000,0.047,2827,3350,3479,0,0,0,0,0,0
$GC,3763,-1.48,-116.8,448.0,-10.9,193,3767,0.00,2.58,0.00,0.000,6,0.000,0.062,2827,1830,3479,0,0,0,0,0,0
$GC,4047,-1.48,-116.8,477.1,-10.1,200,4048,0.00,0.00,0.00,0.000,6,0.000,0.000,2827,1830,3477,0,0,0,0,0,0
$GC,4291,-1.52,-116.8,500.0,-9.2,206,4295,0.12,2.00,0.00,0.000,3,0.077,0.050,2789,3034,3475,0,0,0,0,0,0
$STATE,4296,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4296,begin apogee
$GC,4304,-0.31,0.0,500.6,9.2,206,4404,1.20,0.00,96.45,0.925,6,0.091,0.000,3056,1965,3001,0,0,0,0,0,0
$STATE,4405,end apogee,CONTROL_FINISHED_OK
$STATE,4405,begin climb
$GC,4409,1.38,116.8,503.2,0.0,208,4520,1.60,3.08,98.97,0.902,4,0.051,0.112,3431,385,2524,0,0,0,0,0,0
$GC,4548,1.29,151.7,497.8,8.0,211,4584,0.00,2.60,30.88,0.870,6,0.000,0.038,3431,1961,2382,0,0,0,0,0,0
$GC,4860,1.29,152.6,467.6,10.0,219,4864,0.00,2.72,0.00,0.000,4,0.000,0.061,3431,3556,2373,0,0,0,0,0,0
$GC,4944,1.25,157.2,458.8,9.8,221,4955,0.15,2.65,4.32,0.588,6,0.125,0.046,3403,1982,2359,0,0,0,0,0,0
$GC,5230,1.30,195.6,435.7,7.8,228,5268,0.00,0.00,35.25,0.871,6,0.000,0.000,3403,1981,2203,0,0,0,0,0,0
$GC,5512,1.37,217.5,411.4,8.8,235,5538,0.10,2.67,19.83,0.833,4,0.101,0.044,3430,3559,2113,0,0,0,0,0,0
$GC,5581,1.37,217.5,404.0,11.7,236,5586,0.00,2.65,0.00,0.000,6,0.000,0.045,3430,1981,2111,0,0,0,0,0,0
$GC,5832,1.37,217.9,378.8,10.0,242,5836,0.00,2.58,0.00,0.000,4,0.000,0.041,3430,3558,2108,0,0,0,0,0,0
$GC,5872,1.37,217.9,374.8,10.7,243,5877,0.00,2.62,0.00,0.000,6,0.000,0.041,3430,1990,2106,0,0,0,0,0,0
$GC,6157,1.38,223.9,347.5,9.7,250,6165,0.00,0.00,5.88,0.666,6,0.000,0.000,3430,1989,2088,0,0,0,0,0,0
$GC,6399,1.38,223.9,323.0,10.1,256,6404,0.00,2.58,0.00,0.000,4,0.000,0.033,3431,3559,2085,0,0,0,0,0,0
$GC,6426,1.38,223.9,320.0,10.4,256,6431,0.00,2.60,0.00,0.000,6,0.000,0.038,3430,1980,2084,0,0,0,0,0,0
$GC,6678,1.38,223.9,293.6,10.5,262,6679,0.00,0.00,0.00,0.000,6,0.000,0.000,3430,1980,2083,0,0,0,0,0,0
$GC,6920,1.39,231.4,269.7,9.6,268,6935,0.00,2.65,7.62,0.680,4,0.000,0.033,3430,3563,2056,0,0,0,0,0,0
$GC,7005,1.42,231.4,261.2,10.9,269,7010,0.00,2.58,0.00,0.000,6,0.000,0.035,3430,1993,2055,0,0,0,0,0,0
$GC,7256,1.43,235.3,236.6,9.8,276,7266,0.00,2.80,4.70,0.558,4,0.000,0.067,3430,388,2040,0,0,0,0,0,0
$GC,7298,1.43,235.3,231.9,11.2,277,7303,0.00,2.58,0.00,0.000,6,0.000,0.025,3430,2020,2040,0,0,0,0,0,0
$GC,7578,1.48,245.4,205.3,9.5,284,7594,0.10,2.47,10.60,0.678,4,0.099,0.037,3459,3532,1999,0,0,0,0,0,0
$GC,7644,1.48,245.4,198.2,10.7,285,7649,0.00,2.53,0.00,0.000,6,0.000,0.037,3459,1988,1997,0,0,0,0,0,0
$GC,7918,1.49,246.7,170.3,10.0,310,7923,0.00,2.50,0.00,0.000,4,0.000,0.038,3459,3543,1995,0,0,0,0,0,0
$GC,7951,1.49,246.7,166.0,10.4,312,7961,0.00,2.53,0.00,0.000,6,0.000,0.031,3459,2002,1995,0,0,0,0,0,0
$GC,8217,1.49,246.7,138.2,10.7,337,8222,0.00,2.75,0.00,0.000,4,0.000,0.059,3459,387,1995,0,0,0,0,0,0
$GC,8250,1.49,246.7,134.4,11.6,339,8255,0.00,2.53,0.00,0.000,6,0.000,0.018,3459,2012,1994,0,0,0,0,0,0
$GC,8516,1.49,246.7,107.1,10.4,363,8520,0.00,2.42,0.00,0.000,4,0.000,0.032,3459,3530,1994,0,0,0,0,0,0
$GC,8582,1.49,246.7,100.0,10.2,368,8586,0.00,2.47,0.00,0.000,6,0.000,0.032,3459,1990,1994,0,0,0,0,0,0
$GC,8848,1.52,274.9,76.3,8.4,392,8882,0.00,0.00,25.98,0.603,6,0.000,0.000,3459,1990,1880,0,0,0,0,0,0
$GC,9142,1.57,274.9,48.0,10.3,419,9151,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1990,1878,0,0,0,0,0,0
$GC,9433,1.69,305.0,20.2,8.3,452,9468,0.15,2.55,26.33,0.544,4,0.072,0.035,3502,3526,1757,0,0,0,0,0,0
$GC,9541,1.69,305.0,9.0,10.4,466,9550,0.00,2.50,0.00,0.000,6,0.000,0.031,3501,1998,1754,0,0,0,0,0,0
$STATE,9585,end climb,SURFACE_DEPTH_REACHED
$STATE,9585,begin surface coast
$FINISH,0.6,0.976316
$STATE,9635,end surface coast,CONTROL_FINISHED_OK
$STATE,9635,begin surface
$SM_CCo,9657,76.78,0.532,0,0,1370,400.08
$SM_GC,1.22,0.00,0.00,76.78,0.000,0.000,0.532,476,1746,1370,-12.21,-0.68,400.08
$IRIDIUM_FIX,2241.69,-15759.32,240800,040456
$TT8_MAMPS,0.026078
$HUMID,58.38
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.60
$XPDR_PINGS,45
$24V_AH,23.5,20.815
$10V_AH,10.4,18.088
$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,28.675,121.825,366.800,76.775,0.000,27.676,33.790,168.713,11.250,0.000,40.834,981.329,6298.764,494.981,1848.144,494.896,33.358,1210.865,0.000,1824.289,0.000,0.536,0.000
$DEVICE_MAMPS,151.099,111.982,925.002,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,324.549,275.866,367.116,708.443,1071.553,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,38384,479
$CAP_FILE_SIZE,103205,0
$CFSIZE,260165632,173596672
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310511,092337,2248.914,-15757.479,42,1.1,42,10.1