version: 66.06
glider: 146
mission: 6
dive: 66
start: 5 19 111 11 40 1
data:
$ID,146
$MISSION,6
$DIVE,66
$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,-268747.38
$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,38
$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
$GPS1,112928,2250.753,-15801.058,10,2.1,29,10.1
$_CALLS,2
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-69.7
$GPS2,113906,2250.690,-15801.048,32,1.9,36,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.181,0.150
$KALMAN_X,-49610.5,248.2,219.9,41879.0,-896.6
$KALMAN_Y,-95375.4,291.0,309.9,107343.3,-1660.6
$MHEAD_RNG_PITCHd_Wd,40.2,7028,-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,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.12,0.000,2,0.000,0.000,478,1743,3334,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.6,-6.7,10,125,12.50,2.62,-2.67,0.000,4,0.166,0.042,2777,3352,3481,0,0,0,0,0,0
$GC,203,-1.21,-116.8,33.4,-20.7,24,213,0.20,2.55,0.00,0.000,6,0.102,0.030,2821,1788,3482,0,0,0,0,0,0
$GC,470,-1.11,-116.8,77.1,-15.4,49,479,0.12,0.00,0.00,0.000,6,0.133,0.000,2845,1788,3483,0,0,0,0,0,0
$GC,732,-1.07,-116.8,113.2,-13.6,74,737,0.00,2.75,0.00,0.000,4,0.000,0.065,2845,187,3484,0,0,0,0,0,0
$GC,763,-0.99,-116.8,117.5,-14.1,76,768,0.12,2.45,0.00,0.000,6,0.129,0.022,2870,1815,3484,0,0,0,0,0,0
$GC,1027,-0.99,-116.8,147.5,-11.3,100,1028,0.00,0.00,0.00,0.000,6,0.000,0.000,2871,1816,3485,0,0,0,0,0,0
$GC,1283,-1.03,-116.8,174.9,-10.9,124,1287,0.00,2.33,0.00,0.000,4,0.000,0.033,2870,3310,3485,0,0,0,0,0,0
$GC,1345,-1.12,-116.8,182.0,-10.4,129,1350,0.10,2.45,0.00,0.000,6,0.086,0.027,2833,1761,3485,0,0,0,0,0,0
$GC,1634,-1.12,-116.8,215.2,-11.6,147,1635,0.00,0.00,0.00,0.000,6,0.000,0.000,2833,1761,3485,0,0,0,0,0,0
$GC,1876,-1.12,-116.8,242.9,-11.2,153,1877,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1761,3486,0,0,0,0,0,0
$GC,2120,-1.12,-116.8,269.6,-10.9,159,2121,0.00,0.00,0.00,0.000,6,0.000,0.000,2834,1761,3486,0,0,0,0,0,0
$GC,2365,-1.12,-116.8,295.0,-10.2,165,2369,0.00,2.50,0.00,0.000,4,0.000,0.041,2833,3307,3485,0,0,0,0,0,0
$GC,2397,-1.12,-116.8,298.4,-10.1,165,2403,0.00,2.50,0.00,0.000,6,0.000,0.040,2834,1773,3485,0,0,0,0,0,0
$GC,2647,-1.12,-116.8,322.4,-9.8,172,2651,0.00,2.47,0.00,0.000,4,0.000,0.036,2834,3309,3484,0,0,0,0,0,0
$GC,2663,-1.12,-116.8,324.4,-10.1,172,2668,0.00,2.53,0.00,0.000,6,0.000,0.043,2834,1765,3484,0,0,0,0,0,0
$GC,2926,-1.12,-116.8,350.5,-9.7,179,2930,0.00,2.50,0.00,0.000,4,0.000,0.042,2834,3304,3483,0,0,0,0,0,0
$GC,2947,-1.12,-116.8,352.9,-9.8,179,2952,0.00,2.55,0.00,0.000,6,0.000,0.051,2833,1764,3483,0,0,0,0,0,0
$GC,3203,-1.12,-116.8,379.9,-10.8,186,3207,0.00,2.50,0.00,0.000,4,0.000,0.040,2833,3305,3481,0,0,0,0,0,0
$GC,3253,-1.18,-116.8,385.5,-10.6,187,3258,0.00,2.58,0.00,0.000,6,0.000,0.056,2833,1781,3481,0,0,0,0,0,0
$GC,3525,-1.22,-116.8,415.0,-10.7,194,3530,0.00,2.50,0.00,0.000,4,0.000,0.044,2833,3309,3479,0,0,0,0,0,0
$GC,3582,-1.29,-116.8,421.1,-10.8,195,3587,0.10,2.60,0.00,0.000,6,0.085,0.060,2796,1789,3479,0,0,0,0,0,0
$GC,3849,-1.29,-116.8,453.9,-12.4,202,3850,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1789,3477,0,0,0,0,0,0
$GC,4092,-1.29,-116.8,482.7,-11.7,208,4093,0.00,0.00,0.00,0.000,6,0.000,0.000,2796,1788,3476,0,0,0,0,0,0
$STATE,4252,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4253,begin apogee
$GC,4260,-0.31,0.0,501.4,11.5,212,4360,1.02,0.00,97.00,0.920,6,0.089,0.000,3021,1888,3001,0,0,0,0,0,0
$STATE,4361,end apogee,CONTROL_FINISHED_OK
$STATE,4361,begin climb
$GC,4364,1.38,116.8,504.9,0.0,214,4475,1.60,3.05,99.15,0.897,4,0.058,0.117,3389,334,2524,0,0,0,0,0,0
$GC,4499,1.43,191.0,501.6,5.7,217,4570,0.00,2.65,64.35,0.883,6,0.000,0.036,3389,1910,2221,0,0,0,0,0,0
$GC,4814,1.50,209.7,474.9,9.0,225,4839,0.12,2.88,16.75,0.831,4,0.084,0.064,3423,3509,2144,0,0,0,0,0,0
$GC,4874,1.50,209.7,468.2,11.7,226,4878,0.00,2.75,0.00,0.000,6,0.000,0.054,3423,1913,2141,0,0,0,0,0,0
$GC,5139,1.50,209.7,437.9,11.5,233,5144,0.00,2.67,0.00,0.000,4,0.000,0.048,3422,3520,2139,0,0,0,0,0,0
$GC,5194,1.50,209.7,431.2,12.1,234,5199,0.00,2.70,0.00,0.000,6,0.000,0.051,3423,1930,2137,0,0,0,0,0,0
$GC,5462,1.50,209.7,399.9,11.7,241,5467,0.00,2.62,0.00,0.000,4,0.000,0.044,3423,3513,2136,0,0,0,0,0,0
$GC,5529,1.50,209.7,392.2,11.3,242,5533,0.00,2.65,0.00,0.000,6,0.000,0.046,3423,1937,2135,0,0,0,0,0,0
$GC,5790,1.51,215.7,366.6,9.7,249,5801,0.00,2.62,5.00,0.627,4,0.000,0.042,3423,3516,2120,0,0,0,0,0,0
$GC,5831,1.51,217.7,362.8,9.9,250,5835,0.00,2.62,0.00,0.000,6,0.000,0.040,3423,1942,2120,0,0,0,0,0,0
$GC,6114,1.53,227.7,335.9,9.5,257,6133,0.00,2.67,11.85,0.771,4,0.000,0.039,3423,3513,2071,0,0,0,0,0,0
$GC,6163,1.53,228.8,331.1,10.0,258,6167,0.00,2.60,0.00,0.000,6,0.000,0.042,3422,1952,2070,0,0,0,0,0,0
$GC,6440,1.53,230.6,303.9,9.9,265,6441,0.00,0.00,0.00,0.000,6,0.000,0.000,3423,1952,2068,0,0,0,0,0,0
$GC,6684,1.53,233.9,279.8,9.8,271,6692,0.00,0.00,6.35,0.651,6,0.000,0.000,3422,1952,2047,0,0,0,0,0,0
$GC,6930,1.58,240.6,256.4,9.7,277,6944,0.00,2.65,7.32,0.669,4,0.000,0.041,3423,3522,2020,0,0,0,0,0,0
$GC,6995,1.64,243.9,250.0,9.8,278,7006,0.10,2.55,4.68,0.558,6,0.099,0.034,3450,1960,2006,0,0,0,0,0,0
$GC,7256,1.64,243.9,222.6,10.7,285,7257,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1959,2004,0,0,0,0,0,0
$GC,7500,1.64,243.9,197.4,10.1,291,7505,0.00,2.78,0.00,0.000,4,0.000,0.072,3450,341,2003,0,0,0,0,0,0
$GC,7535,1.59,243.9,193.5,10.8,293,7541,0.00,2.65,0.00,0.000,6,0.000,0.026,3451,2018,2002,0,0,0,0,0,0
$GC,7797,1.59,243.9,166.2,11.2,318,7802,0.00,2.42,0.00,0.000,4,0.000,0.036,3451,3516,2002,0,0,0,0,0,0
$GC,7897,1.59,243.9,154.7,11.6,326,7902,0.00,2.47,0.00,0.000,6,0.000,0.036,3451,1986,2001,0,0,0,0,0,0
$GC,8160,1.59,243.9,124.9,11.2,350,8161,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1985,2001,0,0,0,0,0,0
$GC,8415,1.60,253.8,98.6,9.5,374,8430,0.00,2.83,9.85,0.586,4,0.000,0.064,3451,334,1965,0,0,0,0,0,0
$GC,8442,1.60,257.0,95.7,9.9,376,8457,0.00,2.65,4.40,0.448,6,0.000,0.018,3451,2026,1952,0,0,0,0,0,0
$GC,8715,1.65,265.2,69.6,9.6,401,8729,0.00,0.00,8.68,0.547,6,0.000,0.000,3451,2027,1918,0,0,0,0,0,0
$GC,8989,1.72,274.8,43.6,9.5,426,9004,0.00,2.40,9.95,0.533,4,0.000,0.030,3451,3522,1879,0,0,0,0,0,0
$GC,9047,1.81,274.8,37.9,10.3,430,9052,0.15,2.50,0.00,0.000,6,0.074,0.031,3492,1980,1878,0,0,0,0,0,0
$STATE,9363,end climb,SURFACE_DEPTH_REACHED
$STATE,9363,begin surface coast
$FINISH,0.4,0.975302
$STATE,9413,end surface coast,CONTROL_FINISHED_OK
$STATE,9413,begin surface
$SM_CCo,9436,100.93,0.537,0,0,1370,400.08
$SM_GC,1.15,0.00,0.00,100.93,0.000,0.000,0.537,474,1732,1370,-12.03,-1.07,400.08
$IRIDIUM_FIX,2241.69,-15751.94,120800,111128
$TT8_MAMPS,0.026078
$HUMID,56.93
$INTERNAL_PRESSURE,9.12144
$TCM_TEMP,21.40
$XPDR_PINGS,35
$24V_AH,23.5,8.657
$10V_AH,10.4,7.266
$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,28.500,99.275,345.325,100.925,0.000,58.668,89.181,213.563,8.750,0.000,37.751,948.220,6248.934,496.582,1806.299,618.988,33.363,1150.855,0.000,1790.455,0.000,0.535,0.000
$DEVICE_MAMPS,166.439,116.584,919.633,536.900,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,324.808,267.638,370.096,706.150,1067.999,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355512
$DATA_FILE_SIZE,38525,478
$CAP_FILE_SIZE,97211,0
$CFSIZE,260165632,178769920
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,190511,142006,2250.724,-15800.582,27,2.0,27,10.1