version: 66.06
glider: 146
mission: 6
dive: 112
start: 5 24 111 21 31 45
data:
$ID,146
$MISSION,6
$DIVE,112
$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,-269804.03
$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,3120
$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,50
$R_STBD_OVSHOOT,59
$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
$GPS1,212204,2250.374,-15757.804,11,99.0,30,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.26
$_SM_ANGLEo,-68.0
$GPS2,213049,2250.383,-15757.866,9,1.2,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.183,-0.092
$KALMAN_X,-75093.7,174.4,-122.1,73217.1,-347.2
$KALMAN_Y,-128526.0,-150.9,-293.7,140968.9,211.4
$MHEAD_RNG_PITCHd_Wd,106.6,1640,-23.0,-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,-1.55,-87.8,0.0,0.0,0,96,0.00,0.00,-78.53,0.000,2,0.000,0.000,475,1748,3338,0,0,0,0,0,0
$GC,99,-1.58,-116.8,3.3,-5.2,10,125,12.25,2.62,-2.58,0.000,4,0.162,0.064,2764,216,3480,0,0,0,0,0,0
$GC,240,-1.39,-116.8,42.5,-23.4,26,245,0.25,2.38,0.00,0.000,6,0.122,0.014,2813,1805,3481,0,0,0,0,0,0
$GC,504,-1.39,-116.8,90.8,-16.4,50,505,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1806,3482,0,0,0,0,0,0
$GC,756,-1.39,-116.8,131.9,-15.9,74,757,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1806,3483,0,0,0,0,0,0
$GC,1011,-1.39,-116.8,167.0,-12.5,98,1012,0.00,0.00,0.00,0.000,6,0.000,0.000,2813,1806,3484,0,0,0,0,0,0
$GC,1267,-1.39,-116.8,200.7,-15.6,122,1272,0.00,2.35,0.00,0.000,4,0.000,0.025,2813,3306,3484,0,0,0,0,0,0
$GC,1297,-1.44,-116.8,205.7,-16.6,122,1301,0.00,2.45,0.00,0.000,6,0.000,0.028,2813,1781,3484,0,0,0,0,0,0
$GC,1548,-1.48,-116.8,243.6,-14.4,128,1552,0.00,2.45,0.00,0.000,4,0.000,0.032,2813,3303,3485,0,0,0,0,0,0
$GC,1587,-1.56,-116.8,248.6,-12.0,129,1592,0.15,2.45,0.00,0.000,6,0.059,0.030,2760,1772,3485,0,0,0,0,0,0
$GC,1870,-1.56,-116.8,285.7,-13.0,136,1872,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1772,3485,0,0,0,0,0,0
$GC,2115,-1.56,-116.8,319.9,-14.2,142,2120,0.00,2.47,0.00,0.000,4,0.000,0.037,2760,3300,3485,0,0,0,0,0,0
$GC,2137,-1.56,-116.8,323.7,-15.8,142,2141,0.00,2.50,0.00,0.000,6,0.000,0.042,2760,1782,3485,0,0,0,0,0,0
$GC,2393,-1.56,-116.8,361.4,-14.7,149,2394,0.00,0.00,0.00,0.000,6,0.000,0.000,2760,1782,3484,0,0,0,0,0,0
$GC,2636,-1.56,-116.8,394.1,-13.1,155,2640,0.00,2.47,0.00,0.000,4,0.000,0.043,2760,3306,3483,0,0,0,0,0,0
$GC,2681,-1.56,-116.8,400.1,-13.0,156,2686,0.00,2.62,0.00,0.000,6,0.000,0.058,2760,1774,3483,0,0,0,0,0,0
$GC,2958,-1.56,-116.8,435.0,-12.2,163,2963,0.00,2.53,0.00,0.000,4,0.000,0.051,2760,3294,3481,0,0,0,0,0,0
$GC,3043,-1.56,-116.8,446.2,-13.1,165,3047,0.00,2.62,0.00,0.000,6,0.000,0.062,2760,1777,3481,0,0,0,0,0,0
$GC,3327,-1.56,-116.8,486.0,-14.5,172,3331,0.00,2.55,0.00,0.000,4,0.000,0.061,2759,3296,3479,0,0,0,0,0,0
$GC,3404,-1.56,-116.8,497.1,-13.6,173,3410,0.00,2.62,0.00,0.000,6,0.000,0.071,2760,1788,3479,0,0,0,0,0,0
$STATE,3448,end dive,TARGET_DEPTH_EXCEEDED
$STATE,3449,begin apogee
$GC,3456,-0.31,0.0,503.0,12.8,175,3556,1.33,0.00,96.72,0.914,6,0.094,0.000,3048,1938,3001,0,0,0,0,0,0
$STATE,3557,end apogee,CONTROL_FINISHED_OK
$STATE,3557,begin climb
$GC,3560,1.58,116.8,505.7,0.0,177,3663,1.80,0.00,98.90,0.893,6,0.051,0.000,3466,1937,2524,0,0,0,0,0,0
$GC,3897,1.58,116.8,474.6,11.5,186,3898,0.00,0.00,0.00,0.000,6,0.000,0.000,3466,1937,2514,0,0,0,0,0,0
$GC,4140,1.60,133.9,452.2,8.7,192,4159,0.00,2.75,13.82,0.818,4,0.000,0.047,3466,3538,2454,0,0,0,0,0,0
$GC,4339,1.62,143.4,435.1,9.3,196,4354,0.00,2.65,9.43,0.773,6,0.000,0.045,3466,1963,2416,0,0,0,0,0,0
$GC,4606,1.66,181.1,415.7,7.1,203,4644,0.00,0.00,34.03,0.857,6,0.000,0.000,3466,1963,2262,0,0,0,0,0,0
$GC,4889,1.68,199.3,391.2,8.6,210,4907,0.00,0.00,16.45,0.809,6,0.000,0.000,3465,1963,2188,0,0,0,0,0,0
$GC,5133,1.69,200.0,367.8,10.0,216,5137,0.00,2.60,0.00,0.000,4,0.000,0.038,3466,3538,2183,0,0,0,0,0,0
$GC,5183,1.69,200.0,362.4,10.4,217,5187,0.00,2.60,0.00,0.000,6,0.000,0.037,3466,1976,2182,0,0,0,0,0,0
$GC,5455,1.72,200.0,328.5,12.8,224,5460,0.12,2.58,0.00,0.000,4,0.085,0.040,3499,3545,2180,0,0,0,0,0,0
$GC,5496,1.72,200.0,323.2,13.7,225,5500,0.00,2.58,0.00,0.000,6,0.000,0.041,3499,1986,2180,0,0,0,0,0,0
$GC,5780,1.72,200.0,286.9,12.6,232,5784,0.00,2.55,0.00,0.000,4,0.000,0.033,3498,3545,2179,0,0,0,0,0,0
$GC,5846,1.72,200.0,277.2,14.7,233,5850,0.00,2.55,0.00,0.000,6,0.000,0.038,3498,1983,2177,0,0,0,0,0,0
$GC,6102,1.72,200.0,242.1,13.0,240,6106,0.00,2.55,0.00,0.000,4,0.000,0.038,3498,3545,2177,0,0,0,0,0,0
$GC,6179,1.72,200.0,233.5,10.6,241,6185,0.00,2.55,0.00,0.000,6,0.000,0.032,3498,1984,2175,0,0,0,0,0,0
$GC,6430,1.76,229.1,213.0,7.8,248,6456,0.00,0.00,25.00,0.724,6,0.000,0.000,3499,1983,2067,0,0,0,0,0,0
$GC,6678,1.76,229.1,190.3,10.6,260,6682,0.00,2.53,0.00,0.000,4,0.000,0.033,3499,3542,2063,0,0,0,0,0,0
$GC,6733,1.76,229.1,183.5,12.1,264,6743,0.00,2.55,0.00,0.000,6,0.000,0.037,3499,1993,2061,0,0,0,0,0,0
$GC,7000,1.76,229.1,153.7,11.0,289,7004,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,1993,2061,0,0,0,0,0,0
$GC,7262,1.80,229.1,124.1,10.4,314,7263,0.00,0.00,0.00,0.000,6,0.000,0.000,3498,1993,2061,0,0,0,0,0,0
$GC,7516,1.88,255.6,100.6,8.0,338,7545,0.12,2.55,23.35,0.615,4,0.077,0.033,3534,3548,1957,0,0,0,0,0,0
$GC,7599,1.88,255.6,90.4,14.4,344,7608,0.00,2.58,0.00,0.000,6,0.000,0.031,3535,1986,1955,0,0,0,0,0,0
$GC,7865,1.88,255.6,50.8,13.0,369,7869,0.00,2.50,0.00,0.000,4,0.000,0.031,3534,3542,1954,0,0,0,0,0,0
$GC,7923,1.88,255.6,43.5,10.5,373,7928,0.00,2.50,0.00,0.000,6,0.000,0.029,3534,1995,1954,0,0,0,0,0,0
$GC,8222,1.88,255.6,8.6,12.9,410,8231,0.00,2.53,0.00,0.000,4,0.000,0.037,3534,3542,1954,0,0,0,0,0,0
$STATE,8259,end climb,SURFACE_DEPTH_REACHED
$STATE,8260,begin surface coast
$FINISH,0.4,0.980175
$STATE,8302,end surface coast,CONTROL_FINISHED_OK
$STATE,8302,begin surface
$SM_CCo,8328,117.40,0.533,0,0,1369,400.08
$SM_GC,1.13,0.00,0.00,117.40,0.000,0.000,0.533,474,1762,1369,-12.17,-0.20,400.08
$IRIDIUM_FIX,2244.02,-15748.90,170800,212137
$TT8_MAMPS,0.026078
$HUMID,58.07
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.10
$XPDR_PINGS,29
$24V_AH,23.5,14.324
$10V_AH,10.4,12.210
$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,28.500,81.900,317.700,117.400,0.000,53.472,121.107,163.213,7.250,0.000,15.765,848.593,5477.737,521.263,1568.621,559.575,33.369,1087.426,0.000,1576.290,0.000,0.534,0.000
$DEVICE_MAMPS,161.837,98.176,914.264,533.065,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,285.583,242.128,324.656,607.016,918.368,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,32099,421
$CAP_FILE_SIZE,81476,0
$CFSIZE,260165632,176418816
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240511,235336,2249.879,-15756.814,14,1.1,24,10.1