version: 66.06
glider: 146
mission: 6
dive: 91
start: 5 22 111 9 9 6
data:
$ID,146
$MISSION,6
$DIVE,91
$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,-269276.41
$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,3120
$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,42
$R_STBD_OVSHOOT,52
$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
$GPS1,085437,2248.700,-15803.222,52,1.6,52,10.1
$_CALLS,3
$_XMS_NAKs,0
$_XMS_TOUTs,0
$_SM_DEPTHo,1.12
$_SM_ANGLEo,-69.7
$GPS2,090810,2248.776,-15803.210,13,2.1,32,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.052,0.229
$KALMAN_X,-64678.6,359.6,-190.8,53558.9,-278.0
$KALMAN_Y,-115490.9,691.4,99.1,123722.4,-714.4
$MHEAD_RNG_PITCHd_Wd,2.8,2295,-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,-78.47,0.000,2,0.000,0.000,475,1754,3351,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.4,-5.7,10,125,12.32,2.58,-2.38,0.000,4,0.155,0.046,2811,3333,3481,0,0,0,0,0,0
$GC,203,-1.25,-116.8,30.9,-19.7,24,208,0.17,2.47,0.00,0.000,6,0.120,0.029,2845,1785,3483,0,0,0,0,0,0
$GC,469,-1.19,-116.8,73.7,-14.5,48,474,0.00,2.70,0.00,0.000,4,0.000,0.064,2845,197,3483,0,0,0,0,0,0
$GC,503,-1.10,-116.8,78.9,-14.7,50,508,0.15,2.40,0.00,0.000,6,0.120,0.016,2877,1816,3484,0,0,0,0,0,0
$GC,767,-1.10,-116.8,109.1,-11.0,74,771,0.00,2.30,0.00,0.000,4,0.000,0.028,2878,3293,3484,0,0,0,0,0,0
$GC,787,-1.10,-116.8,111.3,-10.9,75,791,0.00,2.40,0.00,0.000,6,0.000,0.029,2878,1773,3484,0,0,0,0,0,0
$GC,1054,-1.10,-116.8,140.3,-11.3,99,1059,0.00,2.67,0.00,0.000,4,0.000,0.071,2878,200,3485,0,0,0,0,0,0
$GC,1118,-1.10,-116.8,149.2,-11.9,104,1123,0.00,2.33,0.00,0.000,6,0.000,0.015,2878,1756,3485,0,0,0,0,0,0
$GC,1382,-1.14,-116.8,177.0,-10.4,128,1387,0.00,2.42,0.00,0.000,4,0.000,0.028,2878,3309,3485,0,0,0,0,0,0
$GC,1439,-1.23,-116.8,183.2,-10.2,132,1449,0.08,2.47,0.00,0.000,6,0.039,0.035,2833,1779,3485,0,0,0,0,0,0
$GC,1718,-1.23,-116.8,215.9,-12.2,150,1722,0.00,2.72,0.00,0.000,4,0.000,0.069,2833,191,3485,0,0,0,0,0,0
$GC,1745,-1.18,-116.8,219.9,-13.2,150,1750,0.12,2.40,0.00,0.000,6,0.121,0.021,2859,1780,3485,0,0,0,0,0,0
$GC,1994,-1.18,-116.8,246.8,-10.5,156,1999,0.00,2.45,0.00,0.000,4,0.000,0.032,2859,3321,3485,0,0,0,0,0,0
$GC,2018,-1.23,-116.8,249.3,-10.8,156,2022,0.00,2.45,0.00,0.000,6,0.000,0.029,2859,1786,3485,0,0,0,0,0,0
$GC,2273,-1.28,-116.8,276.4,-10.6,163,2274,0.00,0.00,0.00,0.000,6,0.000,0.000,2859,1786,3485,0,0,0,0,0,0
$GC,2517,-1.34,-116.8,301.5,-10.2,169,2522,0.12,2.47,0.00,0.000,4,0.074,0.038,2815,3314,3484,0,0,0,0,0,0
$GC,2538,-1.34,-116.8,304.2,-11.5,169,2542,0.00,2.47,0.00,0.000,6,0.000,0.044,2815,1801,3485,0,0,0,0,0,0
$GC,2801,-1.34,-116.8,334.4,-11.6,176,2805,0.00,2.45,0.00,0.000,4,0.000,0.041,2815,3313,3484,0,0,0,0,0,0
$GC,2840,-1.34,-116.8,339.1,-11.4,177,2844,0.00,2.50,0.00,0.000,6,0.000,0.047,2815,1805,3484,0,0,0,0,0,0
$GC,3122,-1.34,-116.8,370.7,-11.1,184,3127,0.00,2.50,0.00,0.000,4,0.000,0.047,2815,3318,3482,0,0,0,0,0,0
$GC,3184,-1.34,-116.8,377.4,-11.2,185,3189,0.00,2.55,0.00,0.000,6,0.000,0.058,2815,1805,3482,0,0,0,0,0,0
$GC,3445,-1.34,-116.8,404.6,-10.5,192,3446,0.00,0.00,0.00,0.000,6,0.000,0.000,2815,1805,3481,0,0,0,0,0,0
$GC,3688,-1.34,-116.8,429.9,-10.5,198,3693,0.00,2.50,0.00,0.000,4,0.000,0.054,2815,3308,3479,0,0,0,0,0,0
$GC,3718,-1.34,-116.8,432.8,-10.6,198,3723,0.00,2.58,0.00,0.000,6,0.000,0.066,2815,1804,3479,0,0,0,0,0,0
$GC,3968,-1.34,-116.8,457.9,-10.0,204,3972,0.00,2.50,0.00,0.000,4,0.000,0.048,2815,3307,3478,0,0,0,0,0,0
$GC,4030,-1.38,-116.8,464.0,-9.2,205,4034,0.00,2.58,0.00,0.000,6,0.000,0.062,2815,1811,3477,0,0,0,0,0,0
$GC,4292,-1.38,-116.8,489.4,-9.7,212,4296,0.00,2.50,0.00,0.000,4,0.000,0.062,2815,3303,3475,0,0,0,0,0,0
$GC,4307,-1.38,-116.8,491.2,-9.6,212,4312,0.00,2.58,0.00,0.000,6,0.000,0.068,2815,1815,3475,0,0,0,0,0,0
$STATE,4403,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4403,begin apogee
$GC,4410,-0.31,0.0,500.5,9.7,215,4509,1.05,0.00,95.43,0.932,6,0.086,0.000,3049,1950,3000,0,0,0,0,0,0
$STATE,4509,end apogee,CONTROL_FINISHED_OK
$STATE,4509,begin climb
$GC,4513,1.38,116.8,503.0,0.0,217,4621,1.62,2.80,99.93,0.897,4,0.052,0.066,3425,3528,2523,0,0,0,0,0,0
$GC,4638,1.40,181.6,499.1,6.3,220,4701,0.00,2.70,56.10,0.881,6,0.000,0.054,3425,1966,2259,0,0,0,0,0,0
$GC,4969,1.40,181.6,464.3,10.9,229,4970,0.00,0.00,0.00,0.000,6,0.000,0.000,3424,1966,2251,0,0,0,0,0,0
$GC,5214,1.40,181.6,438.2,10.8,235,5219,0.00,2.65,0.00,0.000,4,0.000,0.051,3424,3540,2248,0,0,0,0,0,0
$GC,5253,1.40,181.6,433.8,11.3,236,5258,0.00,2.67,0.00,0.000,6,0.000,0.048,3425,1972,2246,0,0,0,0,0,0
$GC,5538,1.41,190.0,405.3,9.6,243,5549,0.00,2.62,6.18,0.699,4,0.000,0.039,3425,3543,2225,0,0,0,0,0,0
$GC,5605,1.41,195.0,398.6,9.8,244,5616,0.00,2.65,5.95,0.685,6,0.000,0.048,3425,1972,2206,0,0,0,0,0,0
$GC,5861,1.44,214.2,375.2,8.9,250,5886,0.00,2.97,18.30,0.827,4,0.000,0.094,3425,389,2126,0,0,0,0,0,0
$GC,5904,1.44,218.2,370.9,9.8,251,5914,0.00,2.53,4.90,0.612,6,0.000,0.022,3425,1965,2111,0,0,0,0,0,0
$GC,6187,1.46,232.2,344.4,9.2,258,6206,0.00,2.67,13.43,0.789,4,0.000,0.042,3425,3539,2053,0,0,0,0,0,0
$GC,6236,1.46,232.2,339.6,10.4,259,6241,0.00,2.62,0.00,0.000,6,0.000,0.040,3425,1968,2051,0,0,0,0,0,0
$GC,6514,1.48,249.2,313.9,9.1,266,6532,0.00,0.00,16.08,0.785,6,0.000,0.000,3425,1968,1984,0,0,0,0,0,0
$GC,6759,1.50,265.5,291.8,9.1,272,6780,0.00,2.62,15.60,0.765,4,0.000,0.035,3425,3548,1917,0,0,0,0,0,0
$GC,6815,1.58,273.7,286.1,9.6,273,6830,0.15,2.62,8.68,0.695,6,0.072,0.035,3465,1965,1884,0,0,0,0,0,0
$GC,7086,1.58,273.7,254.4,11.8,280,7087,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,1965,1881,0,0,0,0,0,0
$GC,7331,1.58,273.7,224.5,12.3,286,7332,0.00,0.00,0.00,0.000,6,0.000,0.000,3464,1965,1880,0,0,0,0,0,0
$GC,7573,1.58,273.7,196.0,11.7,292,7578,0.00,2.58,0.00,0.000,4,0.000,0.039,3464,3549,1879,0,0,0,0,0,0
$GC,7594,1.58,273.7,193.0,13.4,293,7600,0.00,2.58,0.00,0.000,6,0.000,0.033,3465,1971,1877,0,0,0,0,0,0
$GC,7859,1.58,273.7,159.1,12.5,318,7863,0.00,2.70,0.00,0.000,4,0.000,0.065,3464,391,1877,0,0,0,0,0,0
$GC,7903,1.58,273.7,152.3,14.8,321,7912,0.00,2.53,0.00,0.000,6,0.000,0.020,3465,1988,1876,0,0,0,0,0,0
$GC,8167,1.58,273.7,119.2,12.4,346,8171,0.00,2.47,0.00,0.000,4,0.000,0.032,3465,3541,1876,0,0,0,0,0,0
$GC,8187,1.58,273.7,116.7,12.4,347,8191,0.00,2.58,0.00,0.000,6,0.000,0.031,3465,1950,1876,0,0,0,0,0,0
$GC,8453,1.58,273.7,84.4,12.0,371,8457,0.00,2.55,0.00,0.000,4,0.000,0.035,3465,3537,1875,0,0,0,0,0,0
$GC,8486,1.58,273.7,80.1,12.6,373,8491,0.00,2.50,0.00,0.000,6,0.000,0.031,3465,1977,1875,0,0,0,0,0,0
$GC,8754,1.58,273.7,49.5,11.1,397,8762,0.00,0.00,0.00,0.000,6,0.000,0.000,3465,1977,1875,0,0,0,0,0,0
$GC,9045,1.64,284.2,20.6,9.4,429,9063,0.00,0.00,9.30,0.509,6,0.000,0.000,3465,1977,1841,0,0,0,0,0,0
$STATE,9214,end climb,SURFACE_DEPTH_REACHED
$STATE,9214,begin surface coast
$FINISH,0.5,0.980202
$STATE,9258,end surface coast,CONTROL_FINISHED_OK
$STATE,9258,begin surface
$SM_CCo,9282,93.78,0.540,0,0,1370,400.08
$SM_GC,1.16,0.00,0.00,93.78,0.000,0.000,0.540,475,1762,1370,-12.17,-0.20,400.08
$IRIDIUM_FIX,2241.69,-15804.53,150800,090907
$TT8_MAMPS,0.026078
$HUMID,58.54
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.20
$XPDR_PINGS,46
$24V_AH,23.5,11.574
$10V_AH,10.4,9.928
$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,28.025,118.100,349.850,93.775,0.000,75.581,112.543,341.324,11.500,0.000,35.055,941.780,6177.690,527.275,1739.226,806.970,33.368,1163.351,0.000,1727.141,0.000,0.535,0.000
$DEVICE_MAMPS,154.934,154.934,931.905,539.968,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,312.353,263.789,351.995,683.817,1034.235,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355532
$DATA_FILE_SIZE,35257,460
$CAP_FILE_SIZE,103891,0
$CFSIZE,260165632,177487872
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220511,114637,2249.643,-15803.212,35,1.0,35,10.1