version: 66.06
glider: 146
mission: 6
dive: 146
start: 5 28 111 21 38 43
data:
$ID,146
$MISSION,6
$DIVE,146
$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,-270785.72
$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,48
$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
$GPS1,212806,2248.036,-15803.104,10,2.0,20,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.17
$_SM_ANGLEo,-68.3
$GPS2,213750,2248.089,-15803.143,8,2.0,8,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.056,0.228
$KALMAN_X,-85224.3,184.0,-13.8,74216.8,-400.3
$KALMAN_Y,-136416.9,-59.8,-211.5,144441.3,36.5
$MHEAD_RNG_PITCHd_Wd,3.7,3547,-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,-116.8,0.0,0.0,0,97,0.00,0.00,-78.90,0.000,2,0.000,0.000,473,1748,3421,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.5,-9.2,10,126,12.43,2.58,-0.93,0.000,4,0.158,0.040,2819,3334,3481,0,0,0,0,0,0
$GC,290,-1.30,-116.8,50.1,-17.6,30,295,0.12,2.45,0.00,0.000,6,0.132,0.027,2842,1791,3483,0,0,0,0,0,0
$GC,552,-1.23,-116.8,89.4,-14.0,54,553,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1790,3484,0,0,0,0,0,0
$GC,806,-1.18,-116.8,125.8,-14.4,78,811,0.12,2.72,0.00,0.000,4,0.128,0.069,2868,197,3484,0,0,0,0,0,0
$GC,835,-1.14,-116.8,130.1,-14.8,80,839,0.00,2.38,0.00,0.000,6,0.000,0.017,2868,1787,3484,0,0,0,0,0,0
$GC,1099,-1.14,-116.8,163.0,-12.8,104,1103,0.00,2.38,0.00,0.000,4,0.000,0.031,2868,3312,3485,0,0,0,0,0,0
$GC,1155,-1.21,-116.8,170.4,-11.6,108,1164,0.00,2.50,0.00,0.000,6,0.000,0.034,2868,1764,3486,0,0,0,0,0,0
$GC,1423,-1.25,-116.8,201.1,-12.3,133,1427,0.00,2.45,0.00,0.000,4,0.000,0.028,2868,3310,3486,0,0,0,0,0,0
$GC,1468,-1.32,-116.8,207.3,-12.4,134,1473,0.10,2.47,0.00,0.000,6,0.079,0.031,2825,1767,3486,0,0,0,0,0,0
$GC,1745,-1.32,-116.8,242.3,-12.1,141,1749,0.00,2.42,0.00,0.000,4,0.000,0.033,2825,3308,3486,0,0,0,0,0,0
$GC,1773,-1.32,-116.8,245.5,-11.2,141,1777,0.00,2.45,0.00,0.000,6,0.000,0.036,2825,1778,3486,0,0,0,0,0,0
$GC,2022,-1.32,-116.8,272.3,-10.5,147,2024,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1778,3486,0,0,0,0,0,0
$GC,2266,-1.32,-116.8,298.7,-10.8,153,2267,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1778,3486,0,0,0,0,0,0
$GC,2511,-1.32,-116.8,326.8,-11.7,159,2515,0.00,2.47,0.00,0.000,4,0.000,0.041,2825,3309,3485,0,0,0,0,0,0
$GC,2532,-1.32,-116.8,329.6,-11.7,159,2536,0.00,2.50,0.00,0.000,6,0.000,0.043,2825,1784,3486,0,0,0,0,0,0
$GC,2788,-1.32,-116.8,360.4,-12.1,166,2792,0.00,2.47,0.00,0.000,4,0.000,0.036,2825,3306,3485,0,0,0,0,0,0
$GC,2814,-1.32,-116.8,363.7,-12.0,166,2819,0.00,2.53,0.00,0.000,6,0.000,0.052,2825,1784,3484,0,0,0,0,0,0
$GC,3066,-1.32,-116.8,392.3,-11.4,172,3070,0.00,2.50,0.00,0.000,4,0.000,0.046,2825,3307,3483,0,0,0,0,0,0
$GC,3105,-1.36,-116.8,396.9,-11.1,173,3109,0.00,2.58,0.00,0.000,6,0.000,0.055,2825,1792,3483,0,0,0,0,0,0
$GC,3388,-1.36,-116.8,428.2,-11.0,180,3393,0.00,2.97,0.00,0.000,4,0.000,0.107,2825,182,3481,0,0,0,0,0,0
$GC,3417,-1.36,-116.8,431.4,-12.0,180,3422,0.00,2.53,0.00,0.000,6,0.000,0.033,2825,1738,3481,0,0,0,0,0,0
$GC,3667,-1.36,-116.8,460.2,-11.5,186,3672,0.00,2.75,0.00,0.000,4,0.000,0.064,2825,3363,3480,0,0,0,0,0,0
$GC,3722,-1.41,-116.8,466.8,-11.6,187,3727,0.00,2.65,0.00,0.000,6,0.000,0.062,2825,1804,3479,0,0,0,0,0,0
$GC,3989,-1.41,-116.8,497.5,-11.5,194,3994,0.00,2.60,0.00,0.000,4,0.000,0.051,2825,3353,3478,0,0,0,0,0,0
$STATE,4009,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4009,begin apogee
$GC,4017,-0.31,0.0,500.2,11.3,194,4118,1.02,0.00,96.68,0.926,6,0.090,0.000,3055,1958,3000,0,0,0,0,0,0
$STATE,4118,end apogee,CONTROL_FINISHED_OK
$STATE,4118,begin climb
$GC,4121,1.38,116.8,504.1,0.0,197,4225,1.62,0.00,99.78,0.900,6,0.056,0.000,3432,1958,2524,0,0,0,0,0,0
$GC,4439,1.38,151.8,486.0,8.0,205,4471,0.00,0.00,29.98,0.874,6,0.000,0.000,3432,1958,2382,0,0,0,0,0,0
$GC,4680,1.38,151.8,461.8,10.3,211,4684,0.00,2.70,0.00,0.000,4,0.000,0.045,3432,3555,2376,0,0,0,0,0,0
$GC,4753,1.34,151.8,454.4,10.6,212,4758,0.00,2.70,0.00,0.000,6,0.000,0.048,3432,1970,2374,0,0,0,0,0,0
$GC,5003,1.37,179.8,432.6,8.4,218,5033,0.00,2.72,24.40,0.863,4,0.000,0.048,3432,3564,2268,0,0,0,0,0,0
$GC,5098,1.39,193.7,424.6,9.2,220,5117,0.00,2.67,13.48,0.811,6,0.000,0.044,3432,1975,2210,0,0,0,0,0,0
$GC,5375,1.42,219.0,400.7,8.6,227,5404,0.00,3.00,22.73,0.836,4,0.000,0.091,3432,380,2107,0,0,0,0,0,0
$GC,5449,1.38,219.0,393.3,10.2,228,5454,0.00,2.60,0.00,0.000,6,0.000,0.028,3432,1987,2105,0,0,0,0,0,0
$GC,5700,1.39,226.5,369.3,9.6,234,5710,0.00,0.00,7.32,0.716,6,0.000,0.000,3432,1987,2077,0,0,0,0,0,0
$GC,5983,1.39,226.5,340.1,10.3,241,5988,0.00,2.58,0.00,0.000,4,0.000,0.039,3432,3549,2073,0,0,0,0,0,0
$GC,6038,1.39,226.5,333.9,11.1,242,6043,0.00,2.58,0.00,0.000,6,0.000,0.038,3432,1977,2072,0,0,0,0,0,0
$GC,6306,1.39,226.5,306.6,10.2,249,6307,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1977,2071,0,0,0,0,0,0
$GC,6549,1.39,229.0,282.1,9.9,255,6550,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,1977,2070,0,0,0,0,0,0
$GC,6792,1.41,245.2,259.9,9.1,261,6817,0.00,2.85,16.65,0.746,4,0.000,0.070,3432,389,2000,0,0,0,0,0,0
$GC,6825,1.44,268.2,257.0,8.7,261,6854,0.00,2.58,21.83,0.746,6,0.000,0.023,3432,2004,1906,0,0,0,0,0,0
$GC,7123,1.48,268.2,227.2,10.1,269,7125,0.00,0.00,0.00,0.000,6,0.000,0.000,3432,2004,1900,0,0,0,0,0,0
$GC,7366,1.54,274.6,203.6,9.7,275,7380,0.15,2.53,6.30,0.597,4,0.076,0.038,3472,3542,1879,0,0,0,0,0,0
$GC,7399,1.54,274.6,199.7,12.1,275,7403,0.00,2.55,0.00,0.000,6,0.000,0.034,3472,1969,1878,0,0,0,0,0,0
$GC,7661,1.54,274.6,168.2,11.5,299,7665,0.00,2.55,0.00,0.000,4,0.000,0.032,3472,3538,1878,0,0,0,0,0,0
$GC,7695,1.54,274.6,164.8,12.2,301,7700,0.00,2.53,0.00,0.000,6,0.000,0.031,3472,1971,1876,0,0,0,0,0,0
$GC,7961,1.54,274.6,133.4,11.9,325,7966,0.00,0.00,0.00,0.000,6,0.000,0.000,3472,1970,1877,0,0,0,0,0,0
$GC,8222,1.54,274.6,101.7,12.4,350,8224,0.00,0.00,0.00,0.000,6,0.000,0.000,3471,1971,1877,0,0,0,0,0,0
$GC,8481,1.54,274.6,71.9,11.3,374,8485,0.00,2.67,0.00,0.000,4,0.000,0.056,3472,385,1876,0,0,0,0,0,0
$GC,8501,1.54,274.6,69.6,11.1,375,8505,0.00,2.45,0.00,0.000,6,0.000,0.018,3472,1992,1875,0,0,0,0,0,0
$GC,8770,1.54,274.6,42.0,10.1,399,8774,0.00,2.45,0.00,0.000,4,0.000,0.031,3472,3530,1875,0,0,0,0,0,0
$GC,8816,1.61,274.6,36.5,10.8,402,8820,0.00,2.47,0.00,0.000,6,0.000,0.037,3472,1977,1874,0,0,0,0,0,0
$GC,9141,1.61,274.6,5.5,10.1,445,9150,0.00,2.50,0.00,0.000,4,0.000,0.035,3471,3528,1875,0,0,0,0,0,0
$STATE,9158,end climb,SURFACE_DEPTH_REACHED
$STATE,9158,begin surface coast
$FINISH,0.4,0.976360
$STATE,9214,end surface coast,CONTROL_FINISHED_OK
$STATE,9214,begin surface
$SM_CCo,9239,101.22,0.538,0,0,1369,400.08
$SM_GC,1.13,0.00,0.00,101.22,0.000,0.000,0.538,481,1758,1369,-12.19,-0.34,400.08
$IRIDIUM_FIX,2239.35,-15802.37,210800,212155
$TT8_MAMPS,0.026078
$HUMID,58.11
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.70
$XPDR_PINGS,42
$24V_AH,23.5,18.463
$10V_AH,10.4,15.885
$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,27.675,108.300,339.125,101.225,0.000,52.058,74.058,263.517,10.500,0.000,10.183,924.372,6115.087,529.887,1700.909,658.198,33.373,1137.005,0.000,1717.527,0.000,0.534,0.000
$DEVICE_MAMPS,158.002,106.613,925.769,538.434,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,309.413,257.471,350.296,677.365,1024.501,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355480
$DATA_FILE_SIZE,35367,455
$CAP_FILE_SIZE,95518,0
$CFSIZE,260165632,174641152
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,290511,001607,2249.108,-15803.116,61,1.1,61,10.1