version: 66.06
glider: 146
mission: 6
dive: 168
start: 5 31 111 12 24 54
data:
$ID,146
$MISSION,6
$DIVE,168
$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,-271560.03
$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,3140
$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,41
$R_STBD_OVSHOOT,36
$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
$GPS1,121807,2247.133,-15757.704,51,1.4,51,10.1
$_CALLS,1
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.2
$GPS2,122401,2247.141,-15757.732,14,1.4,19,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.234,-0.017
$KALMAN_X,-88163.3,189.7,-14.4,86389.8,-748.9
$KALMAN_Y,-132779.1,-268.0,-361.6,139411.5,78.0
$MHEAD_RNG_PITCHd_Wd,255.7,8999,-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,-78.53,0.000,2,0.000,0.000,475,1744,3394,0,0,0,0,0,0
$GC,101,-1.38,-116.8,4.4,-9.0,10,127,12.20,2.60,-1.42,0.000,4,0.148,0.038,2830,3348,3481,0,0,0,0,0,0
$GC,231,-1.29,-116.8,37.1,-14.6,25,241,0.12,2.53,0.00,0.000,6,0.107,0.025,2859,1781,3483,0,0,0,0,0,0
$GC,498,-1.24,-116.8,73.2,-13.7,50,502,0.00,2.47,0.00,0.000,4,0.000,0.025,2859,3357,3483,0,0,0,0,0,0
$GC,531,-1.24,-116.8,77.8,-12.5,52,535,0.00,2.55,0.00,0.000,6,0.000,0.025,2859,1759,3483,0,0,0,0,0,0
$GC,794,-1.20,-116.8,116.0,-15.1,76,798,0.00,2.65,0.00,0.000,4,0.000,0.067,2859,199,3484,0,0,0,0,0,0
$GC,816,-1.15,-116.8,118.9,-15.1,77,821,0.12,2.42,0.00,0.000,6,0.125,0.018,2885,1825,3484,0,0,0,0,0,0
$GC,1083,-1.19,-116.8,150.6,-11.1,101,1087,0.00,2.40,0.00,0.000,4,0.000,0.025,2885,3358,3485,0,0,0,0,0,0
$GC,1116,-1.26,-116.8,154.2,-10.6,103,1120,0.00,2.53,0.00,0.000,6,0.000,0.026,2885,1772,3485,0,0,0,0,0,0
$GC,1383,-1.31,-116.8,181.9,-9.6,127,1388,0.12,0.00,0.00,0.000,6,0.074,0.000,2842,1772,3486,0,0,0,0,0,0
$GC,1661,-1.31,-116.8,214.4,-11.3,145,1665,0.00,2.70,0.00,0.000,4,0.000,0.071,2841,200,3486,0,0,0,0,0,0
$GC,1681,-1.31,-116.8,217.3,-13.1,145,1686,0.00,2.42,0.00,0.000,6,0.000,0.018,2842,1812,3486,0,0,0,0,0,0
$GC,1937,-1.31,-116.8,248.2,-11.9,152,1941,0.00,2.38,0.00,0.000,4,0.000,0.036,2842,3313,3486,0,0,0,0,0,0
$GC,1958,-1.31,-116.8,250.9,-11.8,152,1962,0.00,2.42,0.00,0.000,6,0.000,0.029,2842,1780,3486,0,0,0,0,0,0
$GC,2221,-1.31,-116.8,278.3,-10.5,159,2225,0.00,2.42,0.00,0.000,4,0.000,0.030,2842,3311,3486,0,0,0,0,0,0
$GC,2242,-1.31,-116.8,280.9,-11.2,159,2246,0.00,2.42,0.00,0.000,6,0.000,0.029,2842,1794,3486,0,0,0,0,0,0
$GC,2497,-1.31,-116.8,311.4,-12.5,166,2498,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1794,3486,0,0,0,0,0,0
$GC,2742,-1.31,-116.8,341.6,-12.1,172,2746,0.00,2.42,0.00,0.000,4,0.000,0.041,2842,3309,3485,0,0,0,0,0,0
$GC,2763,-1.35,-116.8,344.3,-11.6,172,2767,0.00,2.47,0.00,0.000,6,0.000,0.042,2842,1798,3485,0,0,0,0,0,0
$GC,3018,-1.38,-116.8,371.2,-10.6,179,3022,0.00,2.45,0.00,0.000,4,0.000,0.039,2842,3307,3484,0,0,0,0,0,0
$GC,3047,-1.44,-116.8,374.4,-11.3,179,3052,0.00,2.50,0.00,0.000,6,0.000,0.046,2842,1800,3484,0,0,0,0,0,0
$GC,3297,-1.48,-116.8,401.4,-10.8,185,3303,0.10,2.97,0.00,0.000,4,0.086,0.099,2803,184,3482,0,0,0,0,0,0
$GC,3319,-1.44,-116.8,404.2,-11.8,185,3324,0.10,2.53,0.00,0.000,6,0.127,0.032,2823,1755,3483,0,0,0,0,0,0
$GC,3576,-1.44,-116.8,431.7,-10.2,192,3580,0.00,2.67,0.00,0.000,4,0.000,0.061,2823,3353,3481,0,0,0,0,0,0
$GC,3665,-1.49,-116.8,441.0,-9.6,194,3670,0.00,2.62,0.00,0.000,6,0.000,0.057,2823,1817,3481,0,0,0,0,0,0
$GC,3944,-1.49,-116.8,467.3,-9.3,201,3945,0.00,0.00,0.00,0.000,6,0.000,0.000,2822,1816,3479,0,0,0,0,0,0
$GC,4186,-1.49,-116.8,490.2,-9.4,207,4191,0.00,2.58,0.00,0.000,4,0.000,0.054,2823,3359,3478,0,0,0,0,0,0
$GC,4231,-1.54,-116.8,494.8,-9.9,208,4236,0.00,2.65,0.00,0.000,6,0.000,0.064,2822,1822,3477,0,0,0,0,0,0
$STATE,4303,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4303,begin apogee
$GC,4310,-0.31,0.0,502.0,9.8,210,4411,1.10,0.00,97.03,0.924,6,0.083,0.000,3070,1993,3000,0,0,0,0,0,0
$STATE,4412,end apogee,CONTROL_FINISHED_OK
$STATE,4412,begin climb
$GC,4414,1.38,116.8,504.4,0.0,212,4518,1.60,0.00,99.43,0.901,6,0.045,0.000,3446,1993,2524,0,0,0,0,0,0
$GC,4752,1.38,171.9,487.4,6.9,221,4806,0.00,2.70,47.10,0.884,4,0.000,0.054,3446,3526,2299,0,0,0,0,0,0
$GC,4843,1.34,187.6,480.1,9.1,223,4863,0.00,2.67,14.75,0.821,6,0.000,0.054,3447,1980,2236,0,0,0,0,0,0
$GC,5121,1.31,204.3,455.1,9.1,230,5142,0.00,2.65,15.62,0.828,4,0.000,0.048,3446,3536,2166,0,0,0,0,0,0
$GC,5186,1.31,204.3,448.1,10.7,231,5190,0.00,2.67,0.00,0.000,6,0.000,0.052,3446,1975,2163,0,0,0,0,0,0
$GC,5442,1.31,204.3,419.9,11.2,238,5446,0.00,2.60,0.00,0.000,4,0.000,0.045,3446,3537,2160,0,0,0,0,0,0
$GC,5476,1.27,204.3,416.0,11.7,238,5482,0.15,2.62,0.00,0.000,6,0.124,0.042,3417,1979,2159,0,0,0,0,0,0
$GC,5726,1.28,214.4,391.7,9.5,245,5740,0.00,2.62,8.73,0.754,4,0.000,0.037,3417,3530,2126,0,0,0,0,0,0
$GC,5785,1.33,214.4,385.5,10.9,246,5790,0.00,2.60,0.00,0.000,6,0.000,0.045,3417,1981,2125,0,0,0,0,0,0
$GC,6053,1.34,228.7,360.6,9.2,253,6072,0.00,2.88,13.77,0.798,4,0.000,0.078,3416,385,2067,0,0,0,0,0,0
$GC,6095,1.34,228.7,356.5,10.1,254,6100,0.00,2.58,0.00,0.000,6,0.000,0.028,3417,1986,2066,0,0,0,0,0,0
$GC,6380,1.40,239.3,330.2,9.4,261,6397,0.12,2.58,10.62,0.765,4,0.097,0.038,3452,3545,2024,0,0,0,0,0,0
$GC,6452,1.40,239.3,321.9,12.0,262,6457,0.00,2.58,0.00,0.000,6,0.000,0.036,3452,1984,2021,0,0,0,0,0,0
$GC,6708,1.40,239.3,295.0,10.4,269,6712,0.00,2.55,0.00,0.000,4,0.000,0.034,3452,3544,2020,0,0,0,0,0,0
$GC,6731,1.40,239.3,292.4,11.2,269,6735,0.00,2.55,0.00,0.000,6,0.000,0.035,3452,1990,2019,0,0,0,0,0,0
$GC,6985,1.40,239.3,264.9,10.9,276,6990,0.00,2.75,0.00,0.000,4,0.000,0.066,3451,393,2019,0,0,0,0,0,0
$GC,7006,1.40,239.3,262.3,11.9,276,7011,0.00,2.55,0.00,0.000,6,0.000,0.025,3452,2012,2018,0,0,0,0,0,0
$GC,7263,1.40,239.3,235.7,10.3,283,7268,0.00,2.47,0.00,0.000,4,0.000,0.041,3452,3537,2018,0,0,0,0,0,0
$GC,7307,1.40,239.3,231.0,10.1,284,7312,0.00,2.53,0.00,0.000,6,0.000,0.037,3452,1986,2017,0,0,0,0,0,0
$GC,7585,1.43,263.1,206.5,8.7,291,7614,0.00,2.80,21.08,0.713,4,0.000,0.063,3452,387,1926,0,0,0,0,0,0
$GC,7621,1.43,263.1,203.1,10.1,291,7627,0.00,2.55,0.00,0.000,6,0.000,0.021,3452,1998,1925,0,0,0,0,0,0
$GC,7884,1.43,263.1,175.5,11.1,313,7889,0.00,2.75,0.00,0.000,4,0.000,0.061,3452,391,1923,0,0,0,0,0,0
$GC,7917,1.43,263.1,171.0,12.8,315,7926,0.00,2.53,0.00,0.000,6,0.000,0.019,3452,1990,1922,0,0,0,0,0,0
$GC,8180,1.43,266.0,143.3,9.9,340,8185,0.00,2.47,0.00,0.000,4,0.000,0.036,3452,3533,1922,0,0,0,0,0,0
$GC,8210,1.48,273.3,140.1,9.6,342,8225,0.00,2.53,9.52,0.606,6,0.000,0.035,3452,1967,1885,0,0,0,0,0,0
$GC,8481,1.54,285.7,115.5,9.3,367,8500,0.10,2.58,12.23,0.598,4,0.087,0.035,3483,3538,1835,0,0,0,0,0,0
$GC,8512,1.54,285.7,111.6,11.7,370,8516,0.00,2.55,0.00,0.000,6,0.000,0.035,3483,1973,1834,0,0,0,0,0,0
$GC,8776,1.54,285.7,80.7,12.1,394,8780,0.00,2.65,0.00,0.000,4,0.000,0.055,3483,389,1833,0,0,0,0,0,0
$GC,8820,1.50,285.7,75.1,13.4,397,8825,0.00,2.47,0.00,0.000,6,0.000,0.018,3484,1987,1832,0,0,0,0,0,0
$GC,9089,1.50,285.7,45.3,10.2,421,9093,0.00,2.45,0.00,0.000,4,0.000,0.029,3483,3526,1832,0,0,0,0,0,0
$GC,9134,1.50,285.7,40.0,11.4,424,9139,0.00,2.50,0.00,0.000,6,0.000,0.028,3483,1968,1831,0,0,0,0,0,0
$GC,9447,1.60,327.4,15.2,7.6,463,9492,0.00,2.70,35.72,0.539,4,0.000,0.050,3483,396,1666,0,0,0,0,0,0
$GC,9510,1.61,341.3,9.6,9.2,470,9528,0.00,2.50,13.12,0.500,6,0.000,0.021,3483,1978,1608,0,0,0,0,0,0
$STATE,9570,end climb,SURFACE_DEPTH_REACHED
$STATE,9570,begin surface coast
$FINISH,0.5,0.975727
$STATE,9648,end surface coast,CONTROL_FINISHED_OK
$STATE,9648,begin surface
$SM_CCo,9670,47.72,0.525,0,0,1369,400.08
$SM_GC,1.15,0.00,0.00,47.72,0.000,0.000,0.525,475,1764,1369,-12.26,-0.17,400.08
$IRIDIUM_FIX,2241.69,-15757.16,240800,090928
$TT8_MAMPS,0.026078
$HUMID,57.56
$INTERNAL_PRESSURE,9.16051
$TCM_TEMP,22.50
$XPDR_PINGS,54
$24V_AH,23.5,21.051
$10V_AH,10.4,18.309
$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,28.175,144.575,398.725,47.725,0.000,29.637,31.623,159.752,13.500,0.000,20.773,1005.352,6195.412,499.353,1866.953,506.827,33.366,1221.765,0.000,1870.620,0.000,0.534,0.000
$DEVICE_MAMPS,148.031,125.788,924.235,525.395,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.172,280.105,377.536,734.011,1110.223,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,38512,489
$CAP_FILE_SIZE,109006,0
$CFSIZE,260165632,173486080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310511,150807,2247.010,-15759.409,30,1.1,35,10.1