version: 66.06
glider: 146
mission: 6
dive: 65
start: 5 19 111 8 50 32
data:
$ID,146
$MISSION,6
$DIVE,65
$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,-268709
$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,3090
$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,1920
$HEAD_ERRBAND,10
$ROLL_CNV,0.028270001
$ROLL_TIMEOUT,15
$R_PORT_OVSHOOT,47
$R_STBD_OVSHOOT,50
$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
$GPS1,084355,2250.660,-15802.066,37,1.6,37,10.1
$_CALLS,1
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.14
$_SM_ANGLEo,-69.7
$GPS2,084938,2250.692,-15802.042,14,1.2,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.212,0.101
$KALMAN_X,-49015.8,139.6,148.5,39766.1,-509.0
$KALMAN_Y,-95102.2,788.7,539.1,106340.0,-1240.5
$MHEAD_RNG_PITCHd_Wd,54.5,8701,-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,-78.80,0.000,2,0.000,0.000,475,1741,3336,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.4,-5.9,10,126,12.50,2.62,-2.67,0.000,4,0.165,0.044,2781,3334,3481,0,0,0,0,0,0
$GC,204,-1.20,-116.8,32.9,-19.7,24,214,0.15,2.50,0.00,0.000,6,0.103,0.028,2816,1792,3483,0,0,0,0,0,0
$GC,471,-1.08,-116.8,78.7,-16.9,49,480,0.17,0.00,0.00,0.000,6,0.118,0.000,2850,1792,3484,0,0,0,0,0,0
$GC,733,-1.04,-116.8,115.0,-13.3,74,734,0.00,0.00,0.00,0.000,6,0.000,0.000,2850,1792,3485,0,0,0,0,0,0
$GC,986,-1.04,-116.8,147.7,-12.6,98,991,0.00,2.75,0.00,0.000,4,0.000,0.069,2850,194,3486,0,0,0,0,0,0
$GC,1044,-0.99,-116.8,155.7,-14.1,102,1052,0.08,2.45,0.00,0.000,6,0.104,0.019,2870,1796,3486,0,0,0,0,0,0
$GC,1309,-1.03,-116.8,187.3,-12.0,127,1313,0.00,2.38,0.00,0.000,4,0.000,0.034,2870,3316,3486,0,0,0,0,0,0
$GC,1354,-1.10,-116.8,192.5,-12.2,130,1359,0.00,2.45,0.00,0.000,6,0.000,0.027,2870,1769,3486,0,0,0,0,0,0
$GC,1617,-1.15,-116.8,221.6,-10.2,140,1619,0.12,0.00,0.00,0.000,6,0.076,0.000,2826,1769,3487,0,0,0,0,0,0
$GC,1860,-1.15,-116.8,245.2,-9.2,146,1865,0.00,2.45,0.00,0.000,4,0.000,0.031,2826,3317,3487,0,0,0,0,0,0
$GC,1917,-1.15,-116.8,249.9,-8.4,147,1922,0.00,2.53,0.00,0.000,6,0.000,0.032,2826,1760,3487,0,0,0,0,0,0
$GC,2186,-1.15,-116.8,274.9,-9.8,154,2190,0.00,2.50,0.00,0.000,4,0.000,0.035,2826,3317,3487,0,0,0,0,0,0
$GC,2207,-1.15,-116.8,277.7,-11.2,154,2211,0.00,2.53,0.00,0.000,6,0.000,0.039,2826,1768,3487,0,0,0,0,0,0
$GC,2463,-1.15,-116.8,307.4,-12.2,161,2467,0.00,2.47,0.00,0.000,4,0.000,0.038,2826,3307,3486,0,0,0,0,0,0
$GC,2490,-1.15,-116.8,310.8,-12.4,161,2494,0.00,2.53,0.00,0.000,6,0.000,0.038,2826,1768,3486,0,0,0,0,0,0
$GC,2739,-1.15,-116.8,342.3,-12.7,167,2744,0.00,2.53,0.00,0.000,4,0.000,0.041,2825,3309,3485,0,0,0,0,0,0
$GC,2785,-1.19,-116.8,347.8,-11.5,168,2789,0.00,2.58,0.00,0.000,6,0.000,0.044,2826,1770,3485,0,0,0,0,0,0
$GC,3062,-1.19,-116.8,377.3,-10.2,175,3066,0.00,2.55,0.00,0.000,4,0.000,0.046,2826,3310,3484,0,0,0,0,0,0
$GC,3151,-1.24,-116.8,386.1,-9.4,177,3156,0.00,2.60,0.00,0.000,6,0.000,0.058,2826,1778,3483,0,0,0,0,0,0
$GC,3431,-1.24,-116.8,411.8,-9.1,184,3435,0.00,2.53,0.00,0.000,4,0.000,0.046,2826,3304,3482,0,0,0,0,0,0
$GC,3463,-1.28,-116.8,415.0,-9.4,184,3469,0.00,2.60,0.00,0.000,6,0.000,0.063,2825,1785,3482,0,0,0,0,0,0
$GC,3714,-1.28,-116.8,437.7,-9.2,191,3715,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1785,3480,0,0,0,0,0,0
$GC,3959,-1.32,-116.8,461.2,-9.7,197,3963,0.00,2.58,0.00,0.000,4,0.000,0.055,2825,3306,3479,0,0,0,0,0,0
$GC,3991,-1.37,-116.8,464.7,-10.1,197,3997,0.15,2.60,0.00,0.000,6,0.071,0.067,2782,1789,3479,0,0,0,0,0,0
$GC,4241,-1.33,-116.8,493.8,-11.7,204,4246,0.00,2.58,0.00,0.000,4,0.000,0.056,2781,3302,3477,0,0,0,0,0,0
$GC,4270,-1.33,-116.8,497.0,-11.5,204,4274,0.00,2.62,0.00,0.000,6,0.000,0.070,2781,1789,3477,0,0,0,0,0,0
$STATE,4314,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4314,begin apogee
$GC,4320,-0.31,0.0,502.3,11.2,205,4421,1.10,0.00,97.22,0.926,6,0.094,0.000,3020,1888,3000,0,0,0,0,0,0
$STATE,4422,end apogee,CONTROL_FINISHED_OK
$STATE,4422,begin climb
$GC,4424,1.38,116.8,505.5,0.0,207,4532,1.60,0.00,99.10,0.902,6,0.065,0.000,3386,1888,2525,0,0,0,0,0,0
$GC,4793,1.44,161.8,483.7,7.4,216,4838,0.00,2.80,38.78,0.881,4,0.000,0.055,3386,3479,2340,0,0,0,0,0,0
$GC,4886,1.50,177.7,476.4,9.1,218,4907,0.12,2.72,15.27,0.826,6,0.089,0.057,3418,1922,2276,0,0,0,0,0,0
$GC,5163,1.52,191.9,450.2,9.2,225,5183,0.00,2.72,12.90,0.815,4,0.000,0.051,3418,3493,2217,0,0,0,0,0,0
$GC,5224,1.54,209.4,444.7,9.0,226,5249,0.00,2.70,16.77,0.831,6,0.000,0.056,3418,1939,2146,0,0,0,0,0,0
$GC,5493,1.58,237.6,421.5,8.4,233,5521,0.00,0.00,25.75,0.851,6,0.000,0.000,3418,1938,2031,0,0,0,0,0,0
$GC,5737,1.59,252.0,399.4,9.2,239,5753,0.00,0.00,13.80,0.807,6,0.000,0.000,3418,1938,1973,0,0,0,0,0,0
$GC,5982,1.64,258.1,375.9,9.7,245,5997,0.12,2.65,6.40,0.692,4,0.087,0.037,3450,3494,1947,0,0,0,0,0,0
$GC,6052,1.64,258.1,367.8,11.1,246,6057,0.00,2.62,0.00,0.000,6,0.000,0.044,3450,1932,1946,0,0,0,0,0,0
$GC,6313,1.64,258.1,336.8,12.0,253,6318,0.00,2.58,0.00,0.000,4,0.000,0.036,3450,3497,1944,0,0,0,0,0,0
$GC,6336,1.64,258.1,333.9,13.1,253,6341,0.00,2.60,0.00,0.000,6,0.000,0.038,3450,1936,1943,0,0,0,0,0,0
$GC,6591,1.64,258.1,300.0,13.5,260,6592,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1936,1942,0,0,0,0,0,0
$GC,6834,1.64,258.1,267.6,13.2,266,6839,0.00,2.55,0.00,0.000,4,0.000,0.039,3450,3494,1941,0,0,0,0,0,0
$GC,6891,1.64,258.1,259.9,14.0,267,6895,0.00,2.55,0.00,0.000,6,0.000,0.036,3450,1945,1940,0,0,0,0,0,0
$GC,7157,1.64,258.1,229.5,10.8,274,7158,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1945,1940,0,0,0,0,0,0
$GC,7400,1.65,268.6,206.0,9.4,280,7412,0.00,0.00,9.48,0.667,6,0.000,0.000,3450,1945,1905,0,0,0,0,0,0
$GC,7657,1.65,268.6,179.3,10.7,298,7661,0.00,2.50,0.00,0.000,4,0.000,0.039,3451,3495,1902,0,0,0,0,0,0
$GC,7724,1.69,268.6,171.0,12.1,303,7733,0.00,2.55,0.00,0.000,6,0.000,0.041,3451,1953,1901,0,0,0,0,0,0
$GC,7988,1.69,268.6,143.5,10.7,328,7992,0.00,2.50,0.00,0.000,4,0.000,0.038,3451,3500,1901,0,0,0,0,0,0
$GC,8055,1.74,268.6,136.1,11.0,333,8059,0.00,2.47,0.00,0.000,6,0.000,0.033,3450,1959,1901,0,0,0,0,0,0
$GC,8321,1.74,268.6,107.4,10.7,357,8325,0.00,2.75,0.00,0.000,4,0.000,0.061,3450,344,1901,0,0,0,0,0,0
$GC,8354,1.74,268.6,103.7,11.6,359,8358,0.00,2.55,0.00,0.000,6,0.000,0.022,3450,1983,1900,0,0,0,0,0,0
$GC,8620,1.78,268.6,74.2,10.7,383,8625,0.12,2.45,0.00,0.000,4,0.086,0.031,3487,3507,1900,0,0,0,0,0,0
$GC,8643,1.78,268.6,71.8,10.9,384,8647,0.00,2.50,0.00,0.000,6,0.000,0.031,3487,1955,1900,0,0,0,0,0,0
$GC,8909,1.80,277.9,43.5,9.5,408,8925,0.00,2.47,9.25,0.525,4,0.000,0.029,3487,3498,1867,0,0,0,0,0,0
$GC,8968,1.80,281.4,37.1,9.8,412,8978,0.00,2.50,4.55,0.416,6,0.000,0.031,3487,1972,1853,0,0,0,0,0,0
$GC,9279,1.80,281.4,4.3,11.2,455,9288,0.00,0.00,0.00,0.000,6,0.000,0.000,3487,1971,1852,0,0,0,0,0,0
$STATE,9296,end climb,SURFACE_DEPTH_REACHED
$STATE,9296,begin surface coast
$FINISH,0.5,0.980192
$STATE,9345,end surface coast,CONTROL_FINISHED_OK
$STATE,9345,begin surface
$SM_CCo,9368,96.62,0.535,0,0,1369,400.08
$SM_GC,1.22,0.00,0.00,96.62,0.000,0.000,0.535,478,1744,1369,-12.02,-0.74,400.08
$IRIDIUM_FIX,2239.35,-15742.40,120800,060628
$TT8_MAMPS,0.026078
$HUMID,56.57
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.40
$XPDR_PINGS,40
$24V_AH,23.5,8.540
$10V_AH,10.4,7.157
$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,28.475,108.125,349.275,96.625,0.000,28.309,33.615,153.255,10.000,0.000,16.247,944.494,6153.121,516.546,1734.691,464.046,33.360,1172.755,0.000,1738.836,0.000,0.534,0.000
$DEVICE_MAMPS,164.905,184.080,925.769,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,314.912,263.454,355.414,679.693,1028.203,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355580
$DATA_FILE_SIZE,35266,464
$CAP_FILE_SIZE,96767,0
$CFSIZE,260165632,178827264
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190511,112928,2250.753,-15801.058,10,2.1,29,10.1