version: 66.06
glider: 146
mission: 6
dive: 169
start: 5 31 111 15 19 18
data:
$ID,146
$MISSION,6
$DIVE,169
$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,-271582.97
$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,31
$R_STBD_OVSHOOT,57
$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
$GPS1,150807,2247.010,-15759.409,30,1.1,35,10.1
$_CALLS,2
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.21
$_SM_ANGLEo,-68.8
$GPS2,151825,2247.058,-15759.472,9,1.9,20,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY4
$TGT_LATLONG,2247.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.223,-0.073
$KALMAN_X,-88249.2,-114.2,-264.8,84057.6,-118.4
$KALMAN_Y,-132642.1,-466.0,-289.9,139241.7,682.8
$MHEAD_RNG_PITCHd_Wd,241.9,6026,-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,-78.75,0.000,2,0.000,0.000,474,1764,3376,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.8,-6.9,10,127,12.23,2.55,-1.80,0.000,4,0.148,0.044,2829,3341,3481,0,0,0,0,0,0
$GC,280,-1.27,-116.8,45.6,-18.7,30,290,0.12,2.55,0.00,0.000,6,0.106,0.028,2859,1768,3482,0,0,0,0,0,0
$GC,547,-1.22,-116.8,84.4,-12.7,55,552,0.00,2.70,0.00,0.000,4,0.000,0.067,2858,187,3483,0,0,0,0,0,0
$GC,565,-1.15,-116.8,87.8,-13.8,56,570,0.12,2.40,0.00,0.000,6,0.128,0.017,2885,1809,3483,0,0,0,0,0,0
$GC,827,-1.15,-116.8,120.3,-12.5,80,829,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1810,3484,0,0,0,0,0,0
$GC,1082,-1.15,-116.8,151.8,-11.4,104,1083,0.00,0.00,0.00,0.000,6,0.000,0.000,2885,1810,3484,0,0,0,0,0,0
$GC,1338,-1.21,-116.8,176.9,-9.9,128,1342,0.00,2.33,0.00,0.000,4,0.000,0.026,2885,3302,3484,0,0,0,0,0,0
$GC,1384,-1.31,-116.8,181.6,-9.9,131,1390,0.12,2.47,0.00,0.000,6,0.071,0.026,2841,1753,3484,0,0,0,0,0,0
$GC,1673,-1.31,-116.8,215.8,-12.2,150,1677,0.00,2.42,0.00,0.000,4,0.000,0.031,2841,3298,3485,0,0,0,0,0,0
$GC,1701,-1.31,-116.8,219.4,-12.5,150,1705,0.00,2.45,0.00,0.000,6,0.000,0.033,2841,1762,3485,0,0,0,0,0,0
$GC,1950,-1.31,-116.8,245.2,-10.2,156,1955,0.00,2.42,0.00,0.000,4,0.000,0.035,2841,3299,3485,0,0,0,0,0,0
$GC,2022,-1.31,-116.8,253.1,-10.8,157,2027,0.00,2.45,0.00,0.000,6,0.000,0.030,2841,1775,3485,0,0,0,0,0,0
$GC,2274,-1.31,-116.8,280.3,-11.0,163,2278,0.00,2.42,0.00,0.000,4,0.000,0.034,2841,3298,3485,0,0,0,0,0,0
$GC,2306,-1.31,-116.8,284.5,-11.7,163,2312,0.00,2.45,0.00,0.000,6,0.000,0.031,2841,1785,3485,0,0,0,0,0,0
$GC,2556,-1.31,-116.8,312.3,-11.0,170,2560,0.00,2.42,0.00,0.000,4,0.000,0.031,2840,3296,3485,0,0,0,0,0,0
$GC,2589,-1.35,-116.8,316.0,-11.5,170,2594,0.00,2.47,0.00,0.000,6,0.000,0.041,2841,1791,3485,0,0,0,0,0,0
$GC,2840,-1.35,-116.8,340.0,-9.2,177,2844,0.00,2.42,0.00,0.000,4,0.000,0.041,2841,3288,3483,0,0,0,0,0,0
$GC,2901,-1.41,-116.8,346.0,-9.6,178,2905,0.00,2.47,0.00,0.000,6,0.000,0.044,2840,1803,3483,0,0,0,0,0,0
$GC,3163,-1.45,-116.8,370.0,-9.2,185,3168,0.00,2.42,0.00,0.000,4,0.000,0.042,2841,3295,3482,0,0,0,0,0,0
$GC,3204,-1.51,-116.8,373.9,-9.5,186,3209,0.12,2.50,0.00,0.000,6,0.072,0.048,2797,1801,3482,0,0,0,0,0,0
$GC,3487,-1.51,-116.8,406.8,-11.9,193,3491,0.00,2.42,0.00,0.000,4,0.000,0.048,2797,3291,3479,0,0,0,0,0,0
$GC,3543,-1.51,-116.8,413.8,-12.3,194,3547,0.00,2.50,0.00,0.000,6,0.000,0.058,2797,1822,3480,0,0,0,0,0,0
$GC,3809,-1.51,-116.8,444.4,-11.3,201,3813,0.00,2.42,0.00,0.000,4,0.000,0.048,2797,3284,3478,0,0,0,0,0,0
$GC,3830,-1.51,-116.8,447.1,-11.6,201,3834,0.00,2.53,0.00,0.000,6,0.000,0.060,2796,1817,3478,0,0,0,0,0,0
$GC,4087,-1.51,-116.8,474.2,-10.5,208,4091,0.00,2.45,0.00,0.000,4,0.000,0.054,2797,3281,3477,0,0,0,0,0,0
$GC,4130,-1.51,-116.8,479.4,-11.3,209,4134,0.00,2.50,0.00,0.000,6,0.000,0.067,2796,1829,3476,0,0,0,0,0,0
$STATE,4325,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4325,begin apogee
$GC,4331,-0.31,0.0,500.8,10.9,214,4431,1.23,0.00,96.70,0.925,6,0.084,0.000,3071,1917,3001,0,0,0,0,0,0
$STATE,4432,end apogee,CONTROL_FINISHED_OK
$STATE,4432,begin climb
$GC,4436,1.38,116.8,503.2,0.0,216,4547,1.55,3.00,99.25,0.900,4,0.048,0.115,3439,385,2522,0,0,0,0,0,0
$GC,4606,1.29,155.6,497.1,7.8,220,4647,0.00,2.50,33.67,0.874,6,0.000,0.035,3439,1898,2364,0,0,0,0,0,0
$GC,4893,1.25,160.2,470.2,9.8,227,4903,0.12,2.72,4.20,0.572,4,0.126,0.060,3414,3480,2347,0,0,0,0,0,0
$GC,4960,1.25,161.5,463.5,10.0,228,4965,0.00,2.55,0.00,0.000,6,0.000,0.054,3414,1977,2345,0,0,0,0,0,0
$GC,5217,1.28,182.1,440.0,8.8,235,5244,0.00,3.05,20.48,0.850,4,0.000,0.105,3414,382,2256,0,0,0,0,0,0
$GC,5260,1.31,206.5,436.1,8.6,236,5289,0.00,2.53,22.42,0.844,6,0.000,0.031,3415,1916,2159,0,0,0,0,0,0
$GC,5542,1.34,233.8,411.8,8.5,243,5572,0.00,2.67,24.45,0.844,4,0.000,0.046,3414,3485,2047,0,0,0,0,0,0
$GC,5594,1.36,251.1,407.0,9.0,244,5620,0.10,2.55,16.62,0.813,6,0.102,0.048,3441,1977,1976,0,0,0,0,0,0
$GC,5865,1.36,251.1,376.3,11.9,251,5869,0.00,2.50,0.00,0.000,4,0.000,0.034,3440,3495,1972,0,0,0,0,0,0
$GC,5904,1.36,251.1,371.3,12.8,252,5908,0.00,2.50,0.00,0.000,6,0.000,0.039,3441,1998,1970,0,0,0,0,0,0
$GC,6186,1.36,251.1,337.7,11.6,259,6191,0.00,2.83,0.00,0.000,4,0.000,0.079,3441,388,1968,0,0,0,0,0,0
$GC,6208,1.36,251.1,334.8,13.0,259,6213,0.00,2.47,0.00,0.000,6,0.000,0.026,3441,1945,1967,0,0,0,0,0,0
$GC,6463,1.36,251.1,306.6,10.7,266,6468,0.00,2.62,0.00,0.000,4,0.000,0.037,3441,3548,1967,0,0,0,0,0,0
$GC,6535,1.36,251.1,297.6,12.9,267,6539,0.00,2.53,0.00,0.000,6,0.000,0.038,3441,2005,1965,0,0,0,0,0,0
$GC,6791,1.36,251.1,265.6,12.6,274,6796,0.00,2.80,0.00,0.000,4,0.000,0.067,3441,389,1964,0,0,0,0,0,0
$GC,6833,1.36,251.1,260.5,12.3,275,6837,0.00,2.58,0.00,0.000,6,0.000,0.022,3441,2017,1963,0,0,0,0,0,0
$GC,7116,1.38,267.7,233.1,9.1,282,7135,0.00,2.55,13.73,0.724,4,0.000,0.041,3441,3538,1909,0,0,0,0,0,0
$GC,7147,1.38,267.7,229.8,10.7,282,7152,0.00,2.53,0.00,0.000,6,0.000,0.031,3441,2001,1907,0,0,0,0,0,0
$GC,7397,1.42,267.7,200.4,12.1,288,7398,0.00,0.00,0.00,0.000,6,0.000,0.000,3441,2001,1905,0,0,0,0,0,0
$GC,7652,1.48,272.8,174.2,9.7,309,7666,0.00,2.80,5.78,0.577,4,0.000,0.066,3441,394,1886,0,0,0,0,0,0
$GC,7715,1.48,272.8,167.0,11.4,314,7719,0.00,2.55,0.00,0.000,6,0.000,0.024,3441,2023,1885,0,0,0,0,0,0
$GC,7977,1.55,272.8,140.3,10.2,338,7979,0.15,0.00,0.00,0.000,6,0.073,0.000,3481,2024,1884,0,0,0,0,0,0
$GC,8231,1.55,272.8,113.4,11.1,362,8236,0.00,2.75,0.00,0.000,4,0.000,0.059,3481,389,1884,0,0,0,0,0,0
$GC,8265,1.50,272.8,109.1,13.1,364,8274,0.00,2.55,0.00,0.000,6,0.000,0.019,3481,2012,1884,0,0,0,0,0,0
$GC,8532,1.50,272.8,77.1,12.2,389,8537,0.00,2.70,0.00,0.000,4,0.000,0.053,3481,392,1884,0,0,0,0,0,0
$GC,8552,1.50,272.8,74.3,11.6,390,8556,0.00,2.50,0.00,0.000,6,0.000,0.018,3481,2008,1884,0,0,0,0,0,0
$GC,8821,1.50,272.8,45.4,11.7,414,8825,0.00,2.42,0.00,0.000,4,0.000,0.034,3481,3532,1884,0,0,0,0,0,0
$GC,8879,1.55,272.8,38.4,12.0,418,8883,0.00,2.50,0.00,0.000,6,0.000,0.028,3482,1976,1884,0,0,0,0,0,0
$GC,9197,1.63,298.4,8.9,8.6,459,9232,0.00,2.72,22.62,0.536,4,0.000,0.053,3481,396,1783,0,0,0,0,0,0
$STATE,9241,end climb,SURFACE_DEPTH_REACHED
$STATE,9241,begin surface coast
$FINISH,0.6,0.980070
$STATE,9272,end surface coast,CONTROL_FINISHED_OK
$STATE,9272,begin surface
$SM_CCo,9296,82.68,0.532,0,0,1369,400.08
$SM_GC,1.29,0.00,0.00,82.68,0.000,0.000,0.532,480,1842,1369,-12.24,2.04,400.08
$IRIDIUM_FIX,2237.01,-15758.03,240800,151554
$TT8_MAMPS,0.026078
$HUMID,57.63
$INTERNAL_PRESSURE,9.15074
$TCM_TEMP,22.10
$XPDR_PINGS,49
$24V_AH,23.5,21.175
$10V_AH,10.4,18.417
$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,28.075,132.425,359.925,82.675,0.000,53.298,74.334,287.154,12.250,0.000,22.316,967.364,6019.270,502.772,1827.120,682.461,33.366,1208.012,0.000,1815.867,0.000,0.535,0.000
$DEVICE_MAMPS,148.031,209.391,925.002,531.531,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,317.334,269.981,361.950,686.205,1038.931,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355484
$DATA_FILE_SIZE,38331,468
$CAP_FILE_SIZE,107232,0
$CFSIZE,260165632,173432832
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,310511,175700,2247.115,-15800.861,31,1.6,41,10.1