version: 66.06
glider: 146
mission: 6
dive: 160
start: 5 30 111 13 33 33
data:
$ID,146
$MISSION,6
$DIVE,160
$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,-271363.31
$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,35
$R_STBD_OVSHOOT,30
$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
$GPS1,132558,2247.755,-15803.049,30,6.1,49,10.1
$_CALLS,1
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.18
$_SM_ANGLEo,-65.5
$GPS2,133238,2247.782,-15803.066,15,1.5,15,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.032,0.233
$KALMAN_X,-86831.7,18.4,-325.7,76435.2,-238.9
$KALMAN_Y,-134274.2,-351.4,-570.0,142382.1,809.4
$MHEAD_RNG_PITCHd_Wd,357.8,4110,-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,12,end surface,CONTROL_FINISHED_OK
$STATE,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.55,0.000,2,0.000,0.000,474,1762,3381,0,0,0,0,0,0
$GC,100,-1.38,-116.8,4.0,-7.7,10,126,12.38,2.67,-1.70,0.000,4,0.155,0.070,2820,207,3480,0,0,0,0,0,0
$GC,177,-1.12,-116.8,29.6,-24.3,20,187,0.28,2.47,0.00,0.000,6,0.173,0.015,2880,1805,3482,0,0,0,0,0,0
$GC,444,-1.12,-116.8,71.6,-15.1,45,449,0.00,2.70,0.00,0.000,4,0.000,0.054,2881,201,3482,0,0,0,0,0,0
$GC,478,-1.08,-116.8,76.8,-14.2,47,482,0.00,2.35,0.00,0.000,6,0.000,0.015,2881,1780,3482,0,0,0,0,0,0
$GC,743,-1.08,-116.8,106.6,-10.5,71,747,0.00,2.40,0.00,0.000,4,0.000,0.031,2881,3305,3484,0,0,0,0,0,0
$GC,812,-1.14,-116.8,114.6,-10.3,76,824,0.00,2.50,0.00,0.000,6,0.000,0.032,2880,1753,3484,0,0,0,0,0,0
$GC,1078,-1.14,-116.8,142.9,-10.8,101,1082,0.00,0.00,0.00,0.000,6,0.000,0.000,2881,1753,3484,0,0,0,0,0,0
$GC,1340,-1.19,-116.8,174.9,-10.6,126,1345,0.00,2.65,0.00,0.000,4,0.000,0.063,2881,200,3485,0,0,0,0,0,0
$GC,1385,-1.19,-116.8,180.7,-12.2,129,1394,0.00,2.35,0.00,0.000,6,0.000,0.021,2881,1751,3485,0,0,0,0,0,0
$GC,1656,-1.24,-116.8,208.8,-9.9,149,1660,0.00,2.45,0.00,0.000,4,0.000,0.027,2881,3310,3485,0,0,0,0,0,0
$GC,1722,-1.34,-116.8,215.9,-9.9,150,1728,0.17,2.45,0.00,0.000,6,0.061,0.032,2824,1763,3486,0,0,0,0,0,0
$GC,1978,-1.29,-116.8,246.9,-12.4,157,1983,0.10,2.72,0.00,0.000,4,0.124,0.070,2845,194,3485,0,0,0,0,0,0
$GC,2001,-1.25,-116.8,249.9,-13.2,157,2006,0.00,2.38,0.00,0.000,6,0.000,0.021,2844,1737,3486,0,0,0,0,0,0
$GC,2257,-1.25,-116.8,276.8,-9.9,164,2261,0.00,2.58,0.00,0.000,4,0.000,0.034,2845,3339,3486,0,0,0,0,0,0
$GC,2336,-1.30,-116.8,284.9,-10.0,165,2342,0.00,2.53,0.00,0.000,6,0.000,0.032,2845,1774,3486,0,0,0,0,0,0
$GC,2586,-1.30,-116.8,307.8,-9.0,172,2587,0.00,0.00,0.00,0.000,6,0.000,0.000,2845,1774,3485,0,0,0,0,0,0
$GC,2830,-1.30,-116.8,330.9,-9.5,178,2834,0.00,2.53,0.00,0.000,4,0.000,0.040,2845,3335,3484,0,0,0,0,0,0
$GC,2885,-1.36,-116.8,336.4,-9.5,179,2890,0.00,2.58,0.00,0.000,6,0.000,0.043,2845,1773,3484,0,0,0,0,0,0
$GC,3153,-1.40,-116.8,361.5,-9.3,186,3158,0.00,2.88,0.00,0.000,4,0.000,0.094,2845,183,3483,0,0,0,0,0,0
$GC,3169,-1.40,-116.8,363.4,-9.4,186,3173,0.00,2.50,0.00,0.000,6,0.000,0.030,2845,1761,3483,0,0,0,0,0,0
$GC,3431,-1.45,-116.8,388.9,-9.8,193,3436,0.12,2.62,0.00,0.000,4,0.078,0.051,2805,3349,3482,0,0,0,0,0,0
$GC,3464,-1.45,-116.8,392.9,-11.7,193,3470,0.00,2.65,0.00,0.000,6,0.000,0.054,2805,1781,3481,0,0,0,0,0,0
$GC,3714,-1.45,-116.8,421.9,-11.5,200,3718,0.00,2.58,0.00,0.000,4,0.000,0.044,2805,3355,3479,0,0,0,0,0,0
$GC,3770,-1.45,-116.8,428.3,-11.2,201,3775,0.00,2.67,0.00,0.000,6,0.000,0.062,2805,1783,3480,0,0,0,0,0,0
$GC,4036,-1.45,-116.8,458.6,-11.5,208,4041,0.00,3.03,0.00,0.000,4,0.000,0.120,2805,184,3478,0,0,0,0,0,0
$GC,4069,-1.38,-116.8,462.8,-12.8,208,4075,0.10,2.60,0.00,0.000,6,0.127,0.035,2825,1771,3478,0,0,0,0,0,0
$GC,4320,-1.38,-116.8,489.6,-10.6,215,4324,0.00,2.70,0.00,0.000,4,0.000,0.069,2825,3355,3476,0,0,0,0,0,0
$GC,4369,-1.43,-116.8,495.1,-11.4,216,4374,0.00,2.67,0.00,0.000,6,0.000,0.059,2825,1786,3476,0,0,0,0,0,0
$STATE,4437,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4437,begin apogee
$GC,4443,-0.31,0.0,502.0,10.1,218,4543,1.05,0.00,96.30,0.923,6,0.089,0.000,3058,2003,3001,0,0,0,0,0,0
$STATE,4544,end apogee,CONTROL_FINISHED_OK
$STATE,4544,begin climb
$GC,4548,1.38,116.8,504.9,0.0,220,4651,1.62,0.00,99.00,0.900,6,0.052,0.000,3435,2003,2524,0,0,0,0,0,0
$GC,4883,1.38,160.8,486.2,7.5,229,4927,0.00,2.65,37.45,0.881,4,0.000,0.049,3434,3520,2344,0,0,0,0,0,0
$GC,5028,1.36,179.9,473.5,8.9,232,5054,0.00,2.62,17.65,0.844,6,0.000,0.054,3434,1993,2266,0,0,0,0,0,0
$GC,5298,1.39,204.5,449.7,8.6,239,5327,0.00,3.17,21.85,0.853,4,0.000,0.111,3435,381,2166,0,0,0,0,0,0
$GC,5346,1.32,204.6,445.4,10.0,240,5351,0.00,2.62,0.00,0.000,6,0.000,0.028,3435,1970,2164,0,0,0,0,0,0
$GC,5624,1.33,210.8,418.4,9.7,247,5632,0.00,0.00,6.20,0.702,6,0.000,0.000,3435,1970,2141,0,0,0,0,0,0
$GC,5867,1.33,210.8,393.9,10.3,253,5871,0.00,2.67,0.00,0.000,4,0.000,0.049,3434,3565,2138,0,0,0,0,0,0
$GC,5940,1.33,210.8,386.0,11.4,254,5944,0.00,2.62,0.00,0.000,6,0.000,0.042,3434,1979,2137,0,0,0,0,0,0
$GC,6189,1.33,210.8,360.4,10.1,260,6194,0.00,2.58,0.00,0.000,4,0.000,0.035,3435,3558,2135,0,0,0,0,0,0
$GC,6230,1.33,210.8,356.4,10.3,261,6235,0.00,2.58,0.00,0.000,6,0.000,0.037,3434,1994,2134,0,0,0,0,0,0
$GC,6515,1.33,213.6,328.8,9.9,268,6519,0.00,2.80,0.00,0.000,4,0.000,0.074,3435,388,2133,0,0,0,0,0,0
$GC,6542,1.29,213.6,325.6,11.0,268,6547,0.12,2.58,0.00,0.000,6,0.125,0.025,3411,2019,2132,0,0,0,0,0,0
$GC,6792,1.35,229.2,302.5,9.1,274,6813,0.00,2.53,16.12,0.782,4,0.000,0.041,3410,3541,2065,0,0,0,0,0,0
$GC,6844,1.42,229.2,297.3,10.6,275,6849,0.12,2.55,0.00,0.000,6,0.083,0.039,3443,1997,2064,0,0,0,0,0,0
$GC,7116,1.42,229.2,267.6,10.5,282,7117,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,1997,2062,0,0,0,0,0,0
$GC,7361,1.42,229.2,243.2,10.1,288,7362,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,1997,2061,0,0,0,0,0,0
$GC,7604,1.45,249.7,221.1,8.9,294,7628,0.00,2.62,18.62,0.726,4,0.000,0.040,3443,3544,1983,0,0,0,0,0,0
$GC,7639,1.47,265.2,217.7,9.1,294,7660,0.00,2.50,15.07,0.699,6,0.000,0.036,3443,2015,1919,0,0,0,0,0,0
$GC,7912,1.47,265.2,190.0,10.1,306,7913,0.00,0.00,0.00,0.000,6,0.000,0.000,3443,2016,1914,0,0,0,0,0,0
$GC,8163,1.47,265.2,163.7,10.5,330,8168,0.00,2.75,0.00,0.000,4,0.000,0.063,3443,391,1914,0,0,0,0,0,0
$GC,8203,1.47,265.2,159.5,11.2,333,8207,0.00,2.60,0.00,0.000,6,0.000,0.018,3442,2052,1913,0,0,0,0,0,0
$GC,8471,1.51,265.2,132.8,10.3,357,8476,0.00,2.83,0.00,0.000,4,0.000,0.060,3443,387,1912,0,0,0,0,0,0
$GC,8535,1.51,265.2,124.5,12.1,362,8539,0.00,2.58,0.00,0.000,6,0.000,0.019,3443,2034,1911,0,0,0,0,0,0
$GC,8799,1.58,275.9,99.1,9.4,386,8815,0.12,2.38,9.85,0.577,4,0.075,0.037,3481,3542,1875,0,0,0,0,0,0
$GC,8827,1.58,275.9,95.8,10.1,388,8831,0.00,2.47,0.00,0.000,6,0.000,0.028,3481,2013,1874,0,0,0,0,0,0
$GC,9094,1.58,275.9,68.1,10.2,412,9099,0.00,2.72,0.00,0.000,4,0.000,0.054,3481,394,1873,0,0,0,0,0,0
$GC,9127,1.55,275.9,64.3,10.8,414,9131,0.00,2.53,0.00,0.000,6,0.000,0.018,3481,2041,1873,0,0,0,0,0,0
$GC,9397,1.62,289.8,36.7,9.2,438,9415,0.00,2.80,13.12,0.540,4,0.000,0.050,3481,386,1818,0,0,0,0,0,0
$GC,9444,1.62,289.8,31.7,11.5,441,9449,0.00,2.55,0.00,0.000,6,0.000,0.017,3481,2044,1817,0,0,0,0,0,0
$STATE,9730,end climb,SURFACE_DEPTH_REACHED
$STATE,9730,begin surface coast
$FINISH,0.5,0.976247
$STATE,9779,end surface coast,CONTROL_FINISHED_OK
$STATE,9779,begin surface
$SM_CCo,9803,89.55,0.535,0,0,1370,400.08
$SM_GC,1.17,0.00,0.00,89.55,0.000,0.000,0.535,475,1748,1370,-12.21,-0.62,400.08
$IRIDIUM_FIX,2237.01,-15800.20,230800,101043
$TT8_MAMPS,0.026078
$HUMID,57.63
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.10
$XPDR_PINGS,46
$24V_AH,23.5,20.135
$10V_AH,10.4,17.424
$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,28.400,131.275,351.250,89.550,0.000,29.282,38.855,196.897,11.500,0.000,18.120,1005.990,6369.402,535.306,1846.610,538.816,33.363,1219.172,0.000,1849.888,0.000,0.535,0.000
$DEVICE_MAMPS,172.575,119.652,922.701,534.599,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,331.007,271.516,373.459,709.279,1072.785,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,38470,488
$CAP_FILE_SIZE,105967,0
$CFSIZE,260165632,173912064
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,300511,162007,2249.288,-15803.109,61,1.1,61,10.1