version: 66.06
glider: 146
mission: 6
dive: 167
start: 5 31 111 9 33 20
data:
$ID,146
$MISSION,6
$DIVE,167
$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,-271538.62
$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,44
$R_STBD_OVSHOOT,63
$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
$GPS1,092337,2248.914,-15757.479,42,1.1,42,10.1
$_CALLS,1
$_XMS_NAKs,8
$_XMS_TOUTs,0
$_SM_DEPTHo,1.27
$_SM_ANGLEo,-70.4
$GPS2,093226,2248.904,-15757.501,12,1.1,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.026,-0.233
$KALMAN_X,-87978.5,382.3,260.6,86134.9,-639.7
$KALMAN_Y,-132680.9,119.1,80.1,141742.1,-316.6
$MHEAD_RNG_PITCHd_Wd,163.6,3563,-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,-77.60,0.000,2,0.000,0.000,476,1744,3353,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.0,-8.2,10,126,12.15,2.62,-2.25,0.000,4,0.148,0.064,2820,209,3481,0,0,0,0,0,0
$GC,229,-1.21,-116.8,39.0,-19.2,25,234,0.22,2.38,0.00,0.000,6,0.121,0.014,2865,1790,3483,0,0,0,0,0,0
$GC,495,-1.21,-116.8,78.7,-13.3,49,499,0.00,2.65,0.00,0.000,4,0.000,0.054,2865,211,3484,0,0,0,0,0,0
$GC,529,-1.14,-116.8,83.6,-14.8,51,533,0.00,2.35,0.00,0.000,6,0.000,0.014,2865,1784,3484,0,0,0,0,0,0
$GC,796,-1.14,-116.8,118.9,-13.0,75,800,0.00,2.38,0.00,0.000,4,0.000,0.025,2865,3298,3485,0,0,0,0,0,0
$GC,851,-1.17,-116.8,126.1,-12.5,79,855,0.00,2.38,0.00,0.000,6,0.000,0.026,2865,1791,3485,0,0,0,0,0,0
$GC,1118,-1.17,-116.8,158.2,-11.9,103,1123,0.00,2.35,0.00,0.000,4,0.000,0.025,2865,3300,3486,0,0,0,0,0,0
$GC,1135,-1.17,-116.8,160.9,-11.2,104,1140,0.00,2.40,0.00,0.000,6,0.000,0.025,2865,1778,3486,0,0,0,0,0,0
$GC,1399,-1.17,-116.8,189.0,-10.2,128,1404,0.00,2.67,0.00,0.000,4,0.000,0.069,2865,201,3486,0,0,0,0,0,0
$GC,1415,-1.17,-116.8,191.1,-11.0,129,1420,0.00,2.35,0.00,0.000,6,0.000,0.021,2865,1790,3486,0,0,0,0,0,0
$GC,1699,-1.21,-116.8,221.6,-10.4,141,1703,0.00,2.35,0.00,0.000,4,0.000,0.031,2865,3297,3487,0,0,0,0,0,0
$GC,1743,-1.28,-116.8,225.5,-8.9,142,1747,0.00,2.38,0.00,0.000,6,0.000,0.028,2865,1796,3487,0,0,0,0,0,0
$GC,2026,-1.33,-116.8,253.5,-10.2,149,2027,0.10,0.00,0.00,0.000,6,0.087,0.000,2831,1796,3487,0,0,0,0,0,0
$GC,2269,-1.33,-116.8,282.0,-11.5,155,2273,0.00,2.40,0.00,0.000,4,0.000,0.035,2831,3294,3486,0,0,0,0,0,0
$GC,2325,-1.33,-116.8,288.1,-10.3,156,2329,0.00,2.40,0.00,0.000,6,0.000,0.038,2831,1806,3486,0,0,0,0,0,0
$GC,2591,-1.33,-116.8,317.2,-11.1,163,2592,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1806,3485,0,0,0,0,0,0
$GC,2835,-1.33,-116.8,343.8,-10.8,169,2836,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1806,3484,0,0,0,0,0,0
$GC,3080,-1.33,-116.8,368.7,-10.0,175,3084,0.00,2.42,0.00,0.000,4,0.000,0.037,2830,3289,3483,0,0,0,0,0,0
$GC,3101,-1.33,-116.8,371.2,-10.1,175,3105,0.00,2.45,0.00,0.000,6,0.000,0.051,2831,1806,3483,0,0,0,0,0,0
$GC,3357,-1.33,-116.8,396.9,-10.5,182,3358,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1806,3482,0,0,0,0,0,0
$GC,3600,-1.33,-116.8,422.4,-10.5,188,3604,0.00,2.45,0.00,0.000,4,0.000,0.043,2831,3287,3480,0,0,0,0,0,0
$GC,3657,-1.39,-116.8,428.4,-11.5,189,3662,0.00,2.55,0.00,0.000,6,0.000,0.057,2831,1800,3480,0,0,0,0,0,0
$GC,3924,-1.42,-116.8,456.9,-10.8,196,3925,0.00,0.00,0.00,0.000,6,0.000,0.000,2831,1800,3479,0,0,0,0,0,0
$GC,4168,-1.47,-116.8,481.3,-9.9,202,4172,0.00,2.47,0.00,0.000,4,0.000,0.054,2832,3284,3477,0,0,0,0,0,0
$GC,4196,-1.52,-116.8,484.1,-9.7,202,4201,0.15,2.55,0.00,0.000,6,0.066,0.064,2780,1807,3477,0,0,0,0,0,0
$STATE,4362,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4362,begin apogee
$GC,4368,-0.31,0.0,503.3,11.4,206,4469,1.27,0.00,96.72,0.927,6,0.094,0.000,3060,1929,3001,0,0,0,0,0,0
$STATE,4470,end apogee,CONTROL_FINISHED_OK
$STATE,4470,begin climb
$GC,4472,1.38,116.8,505.6,0.0,208,4576,1.60,0.00,99.60,0.904,6,0.061,0.000,3431,1929,2524,0,0,0,0,0,0
$GC,4810,1.39,161.2,486.2,7.5,217,4856,0.00,2.78,38.45,0.883,4,0.000,0.056,3431,3530,2341,0,0,0,0,0,0
$GC,4873,1.38,191.2,481.1,8.3,218,4907,0.00,2.70,26.83,0.860,6,0.000,0.054,3431,1961,2220,0,0,0,0,0,0
$GC,5177,1.38,191.2,449.9,10.7,226,5181,0.00,2.65,0.00,0.000,4,0.000,0.042,3431,3539,2213,0,0,0,0,0,0
$GC,5243,1.38,191.2,442.4,11.0,227,5247,0.00,2.65,0.00,0.000,6,0.000,0.046,3431,1974,2212,0,0,0,0,0,0
$GC,5503,1.38,191.2,415.4,10.4,234,5508,0.00,2.92,0.00,0.000,4,0.000,0.097,3431,382,2210,0,0,0,0,0,0
$GC,5526,1.33,191.2,412.8,11.7,234,5530,0.00,2.55,0.00,0.000,6,0.000,0.024,3431,1970,2209,0,0,0,0,0,0
$GC,5781,1.34,204.6,388.4,9.3,241,5799,0.00,2.65,11.25,0.792,4,0.000,0.046,3431,3548,2165,0,0,0,0,0,0
$GC,5862,1.34,204.6,380.4,10.1,242,5868,0.00,2.62,0.00,0.000,6,0.000,0.037,3431,1976,2163,0,0,0,0,0,0
$GC,6112,1.36,218.0,356.8,9.3,249,6131,0.00,2.90,12.55,0.792,4,0.000,0.083,3431,393,2111,0,0,0,0,0,0
$GC,6182,1.36,218.0,349.4,10.6,250,6187,0.00,2.53,0.00,0.000,6,0.000,0.025,3431,1977,2109,0,0,0,0,0,0
$GC,6439,1.36,218.7,324.6,10.0,257,6444,0.00,2.58,0.00,0.000,4,0.000,0.042,3431,3545,2107,0,0,0,0,0,0
$GC,6524,1.36,218.7,315.8,10.7,259,6528,0.00,2.58,0.00,0.000,6,0.000,0.039,3431,1973,2106,0,0,0,0,0,0
$GC,6807,1.37,230.6,288.6,9.4,266,6820,0.00,0.00,11.45,0.744,6,0.000,0.000,3431,1972,2060,0,0,0,0,0,0
$GC,7052,1.38,238.4,265.0,9.6,272,7066,0.00,2.62,8.30,0.690,4,0.000,0.034,3431,3538,2028,0,0,0,0,0,0
$GC,7088,1.38,238.4,261.1,10.2,272,7094,0.00,2.58,0.00,0.000,6,0.000,0.034,3431,1977,2027,0,0,0,0,0,0
$GC,7339,1.43,240.2,236.2,9.9,279,7340,0.00,0.00,0.00,0.000,6,0.000,0.000,3431,1977,2026,0,0,0,0,0,0
$GC,7584,1.47,244.1,212.5,9.8,285,7598,0.00,2.65,6.55,0.620,4,0.000,0.035,3431,3552,2003,0,0,0,0,0,0
$GC,7616,1.52,250.5,209.0,9.7,285,7631,0.12,2.60,7.18,0.624,6,0.085,0.034,3466,1968,1979,0,0,0,0,0,0
$GC,7892,1.53,254.8,181.7,9.8,305,7901,0.00,0.00,5.20,0.551,6,0.000,0.000,3466,1968,1961,0,0,0,0,0,0
$GC,8157,1.53,254.8,153.9,10.9,330,8161,0.00,2.55,0.00,0.000,4,0.000,0.033,3466,3552,1960,0,0,0,0,0,0
$GC,8224,1.53,254.8,146.8,12.1,335,8229,0.00,2.58,0.00,0.000,6,0.000,0.038,3466,1969,1959,0,0,0,0,0,0
$GC,8490,1.53,254.8,118.4,10.2,359,8495,0.00,0.00,0.00,0.000,6,0.000,0.000,3466,1969,1959,0,0,0,0,0,0
$GC,8752,1.53,254.8,90.6,10.3,384,8757,0.00,2.53,0.00,0.000,4,0.000,0.037,3466,3548,1959,0,0,0,0,0,0
$GC,8799,1.57,254.8,85.3,11.0,387,8804,0.00,2.55,0.00,0.000,6,0.000,0.029,3466,1973,1959,0,0,0,0,0,0
$GC,9067,1.61,254.8,58.1,10.7,412,9071,0.00,2.55,0.00,0.000,4,0.000,0.036,3466,3559,1959,0,0,0,0,0,0
$GC,9099,1.66,254.8,54.4,10.7,414,9104,0.10,2.53,0.00,0.000,6,0.092,0.034,3496,1970,1959,0,0,0,0,0,0
$GC,9370,1.68,275.6,28.7,8.8,439,9396,0.00,2.55,19.48,0.548,4,0.000,0.027,3497,3550,1875,0,0,0,0,0,0
$GC,9486,1.68,275.6,16.2,11.2,455,9496,0.00,2.55,0.00,0.000,6,0.000,0.031,3496,1997,1874,0,0,0,0,0,0
$STATE,9607,end climb,SURFACE_DEPTH_REACHED
$STATE,9607,begin surface coast
$FINISH,0.4,0.980072
$STATE,9671,end surface coast,CONTROL_FINISHED_OK
$STATE,9671,begin surface
$SM_CCo,9695,100.53,0.534,0,0,1370,400.08
$SM_GC,1.28,0.00,0.00,100.53,0.000,0.000,0.534,476,1744,1370,-12.21,-0.74,400.08
$IRIDIUM_FIX,2239.35,-15757.16,240800,060625
$TT8_MAMPS,0.026078
$HUMID,56.97
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,21.90
$XPDR_PINGS,39
$24V_AH,23.5,20.937
$10V_AH,10.4,18.197
$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,27.975,112.425,343.550,100.525,0.000,28.944,36.601,334.386,9.750,0.000,13.864,972.462,6391.646,539.300,1762.905,661.095,33.369,1172.500,0.000,1770.348,0.000,0.536,0.000
$DEVICE_MAMPS,148.031,97.409,927.303,533.832,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.401,272.419,367.131,702.859,1063.093,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355624
$DATA_FILE_SIZE,38446,481
$CAP_FILE_SIZE,100534,0
$CFSIZE,260165632,173547520
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310511,121807,2247.133,-15757.704,51,1.4,51,10.1