version: 66.06
glider: 146
mission: 6
dive: 83
start: 5 21 111 10 49 16
data:
$ID,146
$MISSION,6
$DIVE,83
$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,-269097.88
$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,3110
$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,46
$R_STBD_OVSHOOT,19
$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
$GPS1,103921,2250.113,-15758.590,65,2.7,84,10.1
$_CALLS,2
$_XMS_NAKs,2
$_XMS_TOUTs,0
$_SM_DEPTHo,1.22
$_SM_ANGLEo,-73.1
$GPS2,104820,2250.059,-15758.562,9,1.0,9,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.190,0.138
$KALMAN_X,-59964.4,795.0,149.7,55999.1,-600.7
$KALMAN_Y,-107510.0,389.7,444.9,118077.5,-1427.8
$MHEAD_RNG_PITCHd_Wd,43.9,2670,-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,-78.43,0.000,2,0.000,0.000,477,1747,3354,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.6,-6.4,10,125,12.55,2.62,-2.25,0.000,4,0.165,0.040,2798,3363,3481,0,0,0,0,0,0
$GC,150,-0.99,-116.8,21.2,-31.5,16,160,0.40,2.58,0.00,0.000,6,0.101,0.029,2886,1789,3482,0,0,0,0,0,0
$GC,427,-0.99,-116.8,61.9,-12.9,44,431,0.00,2.75,0.00,0.000,4,0.000,0.062,2886,188,3483,0,0,0,0,0,0
$GC,460,-0.99,-116.8,66.4,-13.8,46,464,0.00,2.50,0.00,0.000,6,0.000,0.014,2886,1842,3483,0,0,0,0,0,0
$GC,724,-1.03,-116.8,98.7,-11.2,70,728,0.00,2.83,0.00,0.000,4,0.000,0.062,2886,188,3483,0,0,0,0,0,0
$GC,769,-1.03,-116.8,104.9,-12.3,73,775,0.00,2.50,0.00,0.000,6,0.000,0.015,2886,1842,3483,0,0,0,0,0,0
$GC,1034,-1.08,-116.8,133.7,-11.0,98,1038,0.00,2.83,0.00,0.000,4,0.000,0.062,2886,191,3484,0,0,0,0,0,0
$GC,1054,-1.08,-116.8,135.9,-11.1,99,1058,0.00,2.47,0.00,0.000,6,0.000,0.021,2886,1837,3484,0,0,0,0,0,0
$GC,1317,-1.14,-116.8,166.8,-11.9,123,1318,0.10,0.00,0.00,0.000,6,0.082,0.000,2844,1838,3485,0,0,0,0,0,0
$GC,1570,-1.14,-116.8,198.5,-11.6,147,1575,0.00,2.83,0.00,0.000,4,0.000,0.070,2844,196,3485,0,0,0,0,0,0
$GC,1598,-1.09,-116.8,202.3,-12.8,148,1603,0.12,2.45,0.00,0.000,6,0.117,0.015,2869,1830,3485,0,0,0,0,0,0
$GC,1848,-1.14,-116.8,228.4,-10.2,154,1852,0.00,2.45,0.00,0.000,4,0.000,0.035,2869,3378,3485,0,0,0,0,0,0
$GC,1875,-1.23,-116.8,231.2,-9.7,154,1880,0.12,2.58,0.00,0.000,6,0.073,0.033,2825,1761,3485,0,0,0,0,0,0
$GC,2125,-1.23,-116.8,260.5,-11.9,160,2129,0.00,2.55,0.00,0.000,4,0.000,0.028,2824,3368,3485,0,0,0,0,0,0
$GC,2158,-1.23,-116.8,264.8,-13.1,160,2164,0.00,2.55,0.00,0.000,6,0.000,0.035,2824,1786,3485,0,0,0,0,0,0
$GC,2408,-1.23,-116.8,295.7,-12.4,167,2412,0.00,2.53,0.00,0.000,4,0.000,0.032,2824,3371,3485,0,0,0,0,0,0
$GC,2434,-1.23,-116.8,299.0,-11.8,167,2439,0.00,2.55,0.00,0.000,6,0.000,0.039,2824,1790,3485,0,0,0,0,0,0
$GC,2686,-1.23,-116.8,328.1,-11.4,173,2690,0.00,2.55,0.00,0.000,4,0.000,0.041,2824,3365,3484,0,0,0,0,0,0
$GC,2747,-1.26,-116.8,335.1,-10.7,174,2751,0.00,2.58,0.00,0.000,6,0.000,0.046,2824,1798,3484,0,0,0,0,0,0
$GC,3007,-1.26,-116.8,361.6,-10.0,181,3011,0.00,2.55,0.00,0.000,4,0.000,0.045,2824,3363,3483,0,0,0,0,0,0
$GC,3028,-1.26,-116.8,363.8,-10.1,181,3032,0.00,2.60,0.00,0.000,6,0.000,0.048,2824,1798,3483,0,0,0,0,0,0
$GC,3285,-1.26,-116.8,388.2,-9.6,188,3290,0.00,2.55,0.00,0.000,4,0.000,0.049,2824,3362,3481,0,0,0,0,0,0
$GC,3329,-1.31,-116.8,392.6,-9.1,189,3334,0.00,2.65,0.00,0.000,6,0.000,0.052,2824,1803,3481,0,0,0,0,0,0
$GC,3608,-1.31,-116.8,417.6,-9.1,196,3609,0.00,0.00,0.00,0.000,6,0.000,0.000,2824,1802,3479,0,0,0,0,0,0
$GC,3851,-1.31,-116.8,439.9,-9.1,202,3855,0.00,2.60,0.00,0.000,4,0.000,0.054,2824,3362,3478,0,0,0,0,0,0
$GC,3878,-1.36,-116.8,442.6,-9.5,202,3882,0.00,2.67,0.00,0.000,6,0.000,0.060,2824,1806,3478,0,0,0,0,0,0
$GC,4129,-1.36,-116.8,466.8,-9.7,208,4133,0.00,2.60,0.00,0.000,4,0.000,0.057,2824,3357,3476,0,0,0,0,0,0
$GC,4156,-1.41,-116.8,469.7,-10.1,208,4161,0.10,2.67,0.00,0.000,6,0.088,0.067,2792,1808,3476,0,0,0,0,0,0
$GC,4406,-1.41,-116.8,497.2,-11.1,214,4411,0.00,3.15,0.00,0.000,4,0.000,0.130,2791,182,3474,0,0,0,0,0,0
$STATE,4426,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4426,begin apogee
$GC,4436,-0.31,0.0,500.0,12.6,214,4537,1.10,0.00,96.65,0.930,6,0.094,0.000,3034,1919,3001,0,0,0,0,0,0
$STATE,4538,end apogee,CONTROL_FINISHED_OK
$STATE,4538,begin climb
$GC,4540,1.38,116.8,504.2,0.0,217,4650,1.62,2.80,98.95,0.907,4,0.056,0.065,3410,3511,2523,0,0,0,0,0,0
$GC,4673,1.44,193.5,500.3,5.6,220,4744,0.00,2.78,65.90,0.891,6,0.000,0.057,3411,1916,2212,0,0,0,0,0,0
$GC,4988,1.44,193.5,470.2,10.0,228,4993,0.00,3.05,0.00,0.000,4,0.000,0.119,3410,333,2203,0,0,0,0,0,0
$GC,5033,1.44,193.5,465.3,11.0,229,5037,0.00,2.62,0.00,0.000,6,0.000,0.038,3411,1914,2201,0,0,0,0,0,0
$GC,5310,1.45,202.3,438.4,9.5,236,5324,0.00,2.78,7.15,0.736,4,0.000,0.054,3410,3510,2176,0,0,0,0,0,0
$GC,5348,1.45,204.3,434.7,9.9,236,5353,0.00,2.75,0.00,0.000,6,0.000,0.055,3411,1911,2174,0,0,0,0,0,0
$GC,5599,1.48,227.4,411.9,8.7,243,5628,0.00,2.75,23.08,0.853,4,0.000,0.046,3410,3511,2073,0,0,0,0,0,0
$GC,5641,1.52,261.0,408.0,8.1,244,5682,0.12,2.72,31.17,0.850,6,0.087,0.048,3442,1914,1936,0,0,0,0,0,0
$GC,5928,1.52,261.0,375.3,11.6,251,5929,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1913,1930,0,0,0,0,0,0
$GC,6169,1.52,261.0,347.0,11.7,257,6173,0.00,2.60,0.00,0.000,4,0.000,0.035,3442,3513,1928,0,0,0,0,0,0
$GC,6248,1.52,261.0,337.3,12.7,258,6253,0.00,2.67,0.00,0.000,6,0.000,0.037,3442,1907,1926,0,0,0,0,0,0
$GC,6499,1.52,261.0,306.9,12.2,265,6503,0.00,2.65,0.00,0.000,4,0.000,0.035,3442,3521,1925,0,0,0,0,0,0
$GC,6526,1.52,261.0,303.2,12.8,265,6531,0.00,2.65,0.00,0.000,6,0.000,0.040,3442,1916,1924,0,0,0,0,0,0
$GC,6776,1.52,261.0,273.2,12.0,271,6780,0.00,2.62,0.00,0.000,4,0.000,0.039,3442,3521,1923,0,0,0,0,0,0
$GC,6803,1.52,261.0,269.8,12.2,271,6807,0.00,2.62,0.00,0.000,6,0.000,0.035,3442,1924,1922,0,0,0,0,0,0
$GC,7054,1.52,261.0,239.5,12.2,277,7058,0.00,2.60,0.00,0.000,4,0.000,0.039,3442,3515,1922,0,0,0,0,0,0
$GC,7131,1.55,261.0,229.7,13.0,278,7137,0.00,2.58,0.00,0.000,6,0.000,0.034,3442,1939,1921,0,0,0,0,0,0
$GC,7381,1.55,261.0,200.2,11.6,285,7386,0.00,2.58,0.00,0.000,4,0.000,0.034,3442,3521,1921,0,0,0,0,0,0
$GC,7410,1.55,261.0,197.0,11.6,285,7414,0.00,2.58,0.00,0.000,6,0.000,0.038,3442,1938,1921,0,0,0,0,0,0
$GC,7672,1.55,261.0,166.9,12.7,309,7676,0.00,2.75,0.00,0.000,4,0.000,0.064,3442,337,1920,0,0,0,0,0,0
$GC,7702,1.55,261.0,162.9,13.7,311,7706,0.00,2.58,0.00,0.000,6,0.000,0.022,3442,1984,1920,0,0,0,0,0,0
$GC,7968,1.59,261.0,132.4,11.3,335,7973,0.00,0.00,0.00,0.000,6,0.000,0.000,3442,1986,1919,0,0,0,0,0,0
$GC,8230,1.65,261.0,100.9,12.7,360,8232,0.12,0.00,0.00,0.000,6,0.081,0.000,3479,1986,1919,0,0,0,0,0,0
$GC,8487,1.65,261.0,66.0,12.6,384,8496,0.00,0.00,0.00,0.000,6,0.000,0.000,3479,1986,1920,0,0,0,0,0,0
$GC,8752,1.66,266.1,36.5,9.7,409,8756,0.00,2.78,0.00,0.000,4,0.000,0.054,3478,340,1920,0,0,0,0,0,0
$GC,8797,1.66,266.1,31.5,11.6,412,8802,0.00,2.55,0.00,0.000,6,0.000,0.018,3478,1984,1919,0,0,0,0,0,0
$STATE,9112,end climb,SURFACE_DEPTH_REACHED
$STATE,9112,begin surface coast
$FINISH,0.3,0.975253
$STATE,9175,end surface coast,CONTROL_FINISHED_OK
$STATE,9175,begin surface
$SM_CCo,9199,110.68,0.542,0,0,1369,400.08
$SM_GC,1.18,0.00,0.00,110.68,0.000,0.000,0.542,474,1746,1369,-12.13,-0.68,400.08
$IRIDIUM_FIX,2241.69,-15759.32,140800,101008
$TT8_MAMPS,0.024544
$HUMID,57.67
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.30
$XPDR_PINGS,48
$24V_AH,23.5,10.599
$10V_AH,10.5,9.073
$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,28.600,133.050,322.900,110.675,0.000,55.333,73.232,218.673,12.000,0.000,11.351,949.034,5990.104,514.760,1788.089,611.117,33.363,1173.339,0.000,1795.039,0.000,0.536,0.000
$DEVICE_MAMPS,164.905,129.623,930.371,541.502,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,316.961,274.382,365.168,723.635,1089.794,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355556
$DATA_FILE_SIZE,38384,467
$CAP_FILE_SIZE,101489,0
$CFSIZE,260165632,177901568
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,210511,132543,2250.128,-15757.826,17,2.3,36,10.1