version: 66.06
glider: 146
mission: 6
dive: 172
start: 5 31 111 23 55 43
data:
$ID,146
$MISSION,6
$DIVE,172
$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,-271663.38
$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,42
$R_STBD_OVSHOOT,61
$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
$GPS1,234431,2248.221,-15802.803,88,1.6,88,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-67.8
$GPS2,235449,2248.280,-15802.872,10,1.3,10,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.023,0.234
$KALMAN_X,-89253.9,-307.2,7.2,79181.5,-400.1
$KALMAN_Y,-131929.9,165.5,-166.8,140038.9,146.4
$MHEAD_RNG_PITCHd_Wd,355.4,3193,-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,16,-1.38,-116.8,0.0,0.0,0,89,0.00,0.00,-70.88,0.000,2,0.000,0.000,474,1753,3165,0,0,0,0,0,0
$GC,92,-1.38,-116.8,3.3,-5.7,9,118,12.35,2.55,-5.97,0.000,4,0.153,0.040,2830,3358,3479,0,0,0,0,0,0
$GC,344,-1.31,-116.8,53.9,-14.9,36,349,0.12,2.53,0.00,0.000,6,0.133,0.025,2854,1782,3482,0,0,0,0,0,0
$GC,608,-1.26,-116.8,90.8,-13.9,60,617,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1782,3482,0,0,0,0,0,0
$GC,872,-1.26,-116.8,129.7,-14.9,85,877,0.00,2.42,0.00,0.000,4,0.000,0.028,2854,3330,3483,0,0,0,0,0,0
$GC,936,-1.26,-116.8,138.9,-11.8,90,940,0.00,2.47,0.00,0.000,6,0.000,0.028,2854,1765,3483,0,0,0,0,0,0
$GC,1200,-1.26,-116.8,170.3,-11.5,114,1208,0.00,0.00,0.00,0.000,6,0.000,0.000,2855,1765,3484,0,0,0,0,0,0
$GC,1465,-1.26,-116.8,200.4,-11.1,139,1466,0.00,0.00,0.00,0.000,6,0.000,0.000,2854,1765,3484,0,0,0,0,0,0
$GC,1706,-1.26,-116.8,227.6,-11.3,145,1710,0.00,2.47,0.00,0.000,4,0.000,0.033,2855,3337,3484,0,0,0,0,0,0
$GC,1755,-1.33,-116.8,233.5,-11.2,146,1760,0.00,2.50,0.00,0.000,6,0.000,0.036,2855,1771,3484,0,0,0,0,0,0
$GC,2029,-1.33,-116.8,264.6,-11.8,153,2033,0.00,2.47,0.00,0.000,4,0.000,0.034,2854,3332,3484,0,0,0,0,0,0
$GC,2080,-1.40,-116.8,271.0,-11.9,154,2084,0.00,2.50,0.00,0.000,6,0.000,0.037,2854,1779,3484,0,0,0,0,0,0
$GC,2352,-1.45,-116.8,302.4,-11.1,161,2357,0.12,2.85,0.00,0.000,4,0.076,0.090,2814,189,3484,0,0,0,0,0,0
$GC,2385,-1.37,-116.8,306.8,-13.5,161,2392,0.12,2.45,0.00,0.000,6,0.119,0.029,2840,1757,3483,0,0,0,0,0,0
$GC,2636,-1.37,-116.8,333.2,-10.2,168,2641,0.00,2.58,0.00,0.000,4,0.000,0.041,2840,3354,3483,0,0,0,0,0,0
$GC,2714,-1.43,-116.8,341.7,-10.5,169,2720,0.00,2.58,0.00,0.000,6,0.000,0.048,2840,1792,3482,0,0,0,0,0,0
$GC,2966,-1.47,-116.8,367.9,-10.4,176,2970,0.00,2.53,0.00,0.000,4,0.000,0.042,2840,3345,3481,0,0,0,0,0,0
$GC,3015,-1.54,-116.8,373.3,-10.7,177,3020,0.15,2.58,0.00,0.000,6,0.064,0.046,2789,1797,3481,0,0,0,0,0,0
$GC,3288,-1.49,-116.8,408.5,-13.3,184,3293,0.12,2.55,0.00,0.000,4,0.115,0.048,2814,3349,3479,0,0,0,0,0,0
$GC,3316,-1.49,-116.8,412.4,-13.6,184,3320,0.00,2.65,0.00,0.000,6,0.000,0.055,2814,1797,3479,0,0,0,0,0,0
$GC,3565,-1.49,-116.8,443.1,-12.2,190,3570,0.00,2.58,0.00,0.000,4,0.000,0.048,2814,3349,3478,0,0,0,0,0,0
$GC,3609,-1.53,-116.8,448.6,-12.2,191,3614,0.00,2.65,0.00,0.000,6,0.000,0.064,2814,1803,3478,0,0,0,0,0,0
$GC,3888,-1.53,-116.8,481.0,-11.5,198,3889,0.00,0.00,0.00,0.000,6,0.000,0.000,2814,1803,3476,0,0,0,0,0,0
$STATE,4087,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4087,begin apogee
$GC,4093,-0.31,0.0,504.6,11.6,203,4194,1.15,0.00,96.80,0.924,6,0.084,0.000,3071,1982,3001,0,0,0,0,0,0
$STATE,4195,end apogee,CONTROL_FINISHED_OK
$STATE,4195,begin climb
$GC,4197,1.38,116.8,508.1,0.0,205,4302,1.55,0.00,100.30,0.901,6,0.048,0.000,3439,1982,2524,0,0,0,0,0,0
$GC,4525,1.38,171.6,493.7,6.9,213,4580,0.00,2.75,47.03,0.887,4,0.000,0.059,3439,3533,2300,0,0,0,0,0,0
$GC,4604,1.35,189.7,487.1,9.0,214,4629,0.00,2.70,17.10,0.832,6,0.000,0.059,3439,1963,2226,0,0,0,0,0,0
$GC,4898,1.35,189.7,457.2,10.2,222,4899,0.00,0.00,0.00,0.000,6,0.000,0.000,3439,1963,2219,0,0,0,0,0,0
$GC,5141,1.35,191.5,433.1,9.9,228,5145,0.00,2.62,0.00,0.000,4,0.000,0.045,3439,3538,2218,0,0,0,0,0,0
$GC,5161,1.35,191.5,430.9,10.1,228,5166,0.00,2.67,0.00,0.000,6,0.000,0.051,3439,1963,2217,0,0,0,0,0,0
$GC,5418,1.36,194.4,405.4,9.9,235,5423,0.00,2.90,0.00,0.000,4,0.000,0.095,3439,380,2215,0,0,0,0,0,0
$GC,5445,1.28,194.4,402.2,11.0,235,5450,0.00,2.55,0.00,0.000,6,0.000,0.025,3439,1962,2214,0,0,0,0,0,0
$GC,5695,1.28,194.4,376.7,10.2,241,5699,0.00,2.62,0.00,0.000,4,0.000,0.041,3439,3551,2213,0,0,0,0,0,0
$GC,5802,1.28,194.4,365.7,10.4,243,5806,0.00,2.62,0.00,0.000,6,0.000,0.041,3439,1969,2212,0,0,0,0,0,0
$GC,6062,1.30,206.7,340.8,9.3,250,6082,0.00,2.67,13.60,0.787,4,0.000,0.036,3439,3548,2157,0,0,0,0,0,0
$GC,6122,1.30,206.7,334.9,10.6,251,6127,0.00,2.58,0.00,0.000,6,0.000,0.034,3439,1983,2156,0,0,0,0,0,0
$GC,6388,1.30,206.7,307.5,10.3,258,6392,0.00,2.58,0.00,0.000,4,0.000,0.034,3439,3552,2154,0,0,0,0,0,0
$GC,6414,1.30,206.7,304.5,11.1,258,6419,0.00,2.58,0.00,0.000,6,0.000,0.033,3439,1986,2153,0,0,0,0,0,0
$GC,6666,1.32,227.0,281.7,8.9,264,6690,0.00,2.85,18.52,0.765,4,0.000,0.072,3439,397,2074,0,0,0,0,0,0
$GC,6742,1.32,227.0,274.1,10.9,265,6746,0.00,2.55,0.00,0.000,6,0.000,0.025,3439,2014,2072,0,0,0,0,0,0
$GC,6992,1.33,229.9,249.8,9.9,271,6996,0.00,2.47,0.00,0.000,4,0.000,0.040,3439,3538,2071,0,0,0,0,0,0
$GC,7037,1.33,229.9,244.9,11.1,272,7041,0.00,2.55,0.00,0.000,6,0.000,0.031,3440,1978,2069,0,0,0,0,0,0
$GC,7314,1.33,233.8,216.4,9.8,279,7328,0.00,2.62,6.75,0.620,4,0.000,0.035,3439,3543,2047,0,0,0,0,0,0
$GC,7351,1.37,267.8,213.2,8.1,279,7388,0.00,2.55,31.23,0.720,6,0.000,0.031,3439,1980,1909,0,0,0,0,0,0
$GC,7644,1.43,273.3,185.9,9.7,296,7655,0.00,2.72,6.00,0.571,4,0.000,0.064,3439,393,1885,0,0,0,0,0,0
$GC,7706,1.43,273.3,179.4,11.5,301,7710,0.00,2.50,0.00,0.000,6,0.000,0.019,3439,1999,1883,0,0,0,0,0,0
$GC,7974,1.49,273.3,149.3,11.6,325,7979,0.10,2.75,0.00,0.000,4,0.094,0.061,3469,392,1882,0,0,0,0,0,0
$GC,7984,1.49,273.3,147.0,11.7,325,7990,0.00,2.47,0.00,0.000,6,0.000,0.020,3469,1988,1882,0,0,0,0,0,0
$GC,8249,1.49,273.3,117.2,10.6,350,8257,0.00,0.00,0.00,0.000,6,0.000,0.000,3469,1990,1882,0,0,0,0,0,0
$GC,8513,1.49,273.3,89.7,10.3,375,8518,0.00,2.67,0.00,0.000,4,0.000,0.059,3469,392,1882,0,0,0,0,0,0
$GC,8546,1.49,273.3,86.3,11.4,377,8550,0.00,2.42,0.00,0.000,6,0.000,0.018,3469,1974,1882,0,0,0,0,0,0
$GC,8812,1.49,273.3,59.7,10.6,401,8816,0.00,2.45,0.00,0.000,4,0.000,0.031,3469,3526,1882,0,0,0,0,0,0
$GC,8881,1.54,273.3,51.7,11.8,406,8885,0.00,2.50,0.00,0.000,6,0.000,0.030,3469,1969,1882,0,0,0,0,0,0
$GC,9153,1.64,290.5,28.6,9.0,431,9180,0.10,2.72,15.70,0.536,4,0.091,0.060,3500,391,1815,0,0,0,0,0,0
$GC,9192,1.65,304.6,24.6,9.2,435,9210,0.00,2.50,13.43,0.516,6,0.000,0.025,3500,1981,1758,0,0,0,0,0,0
$STATE,9384,end climb,SURFACE_DEPTH_REACHED
$STATE,9384,begin surface coast
$FINISH,0.4,0.979802
$STATE,9441,end surface coast,CONTROL_FINISHED_OK
$STATE,9441,begin surface
$SM_CCo,9464,77.30,0.528,0,0,1370,400.08
$SM_GC,1.18,0.00,0.00,77.30,0.000,0.000,0.528,480,1736,1370,-12.24,-0.96,400.08
$IRIDIUM_FIX,2239.35,-15804.53,240800,232326
$TT8_MAMPS,0.026078
$HUMID,57.56
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.20
$XPDR_PINGS,45
$24V_AH,23.5,21.528
$10V_AH,10.4,18.754
$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,28.250,119.700,366.450,77.300,0.000,63.556,78.306,280.224,11.250,0.000,11.997,964.221,6179.301,508.489,1817.803,692.999,33.365,1194.187,0.000,1823.228,0.000,0.536,0.000
$DEVICE_MAMPS,153.400,103.545,924.235,528.463,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,319.199,274.339,363.040,706.073,1068.081,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355504
$DATA_FILE_SIZE,38508,471
$CAP_FILE_SIZE,103086,0
$CFSIZE,260165632,173277184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,010611,023606,2249.592,-15802.873,35,1.2,40,10.1