version: 66.06
glider: 146
mission: 6
dive: 93
start: 5 22 111 14 53 3
data:
$ID,146
$MISSION,6
$DIVE,93
$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,-269344.25
$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,59
$R_STBD_OVSHOOT,56
$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
$GPS1,143430,2250.130,-15802.545,36,1.5,36,10.1
$_CALLS,4
$_XMS_NAKs,12
$_XMS_TOUTs,0
$_SM_DEPTHo,1.11
$_SM_ANGLEo,-68.9
$GPS2,145210,2249.990,-15802.687,12,2.7,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.169,0.163
$KALMAN_X,-66225.2,437.4,209.0,55515.7,-1229.1
$KALMAN_Y,-116810.1,81.6,147.2,127849.5,-1625.6
$MHEAD_RNG_PITCHd_Wd,35.8,9706,-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,15,end surface,CONTROL_FINISHED_OK
$STATE,15,begin dive
$GC,18,-1.38,-116.8,0.0,0.0,0,99,0.00,0.00,-78.57,0.000,2,0.000,0.000,475,1739,3340,0,0,0,0,0,0
$GC,102,-1.38,-116.8,3.4,-5.6,10,128,12.48,2.58,-2.60,0.000,4,0.160,0.043,2810,3329,3481,0,0,0,0,0,0
$GC,257,-1.29,-116.8,37.4,-17.7,29,262,0.12,2.45,0.00,0.000,6,0.134,0.027,2834,1792,3483,0,0,0,0,0,0
$GC,523,-1.21,-116.8,76.9,-13.3,53,533,0.10,0.00,0.00,0.000,6,0.143,0.000,2853,1792,3483,0,0,0,0,0,0
$GC,784,-1.21,-116.8,108.8,-12.4,78,786,0.00,0.00,0.00,0.000,6,0.000,0.000,2853,1792,3484,0,0,0,0,0,0
$GC,1039,-1.21,-116.8,139.8,-12.0,102,1044,0.00,2.42,0.00,0.000,4,0.000,0.028,2853,3342,3484,0,0,0,0,0,0
$GC,1068,-1.21,-116.8,143.2,-12.2,104,1073,0.00,2.50,0.00,0.000,6,0.000,0.031,2853,1773,3485,0,0,0,0,0,0
$GC,1332,-1.21,-116.8,174.2,-11.8,128,1336,0.00,2.70,0.00,0.000,4,0.000,0.072,2852,197,3485,0,0,0,0,0,0
$GC,1363,-1.21,-116.8,178.4,-13.8,130,1368,0.00,2.40,0.00,0.000,6,0.000,0.014,2853,1807,3485,0,0,0,0,0,0
$GC,1652,-1.21,-116.8,214.9,-12.2,148,1656,0.00,2.35,0.00,0.000,4,0.000,0.034,2853,3313,3485,0,0,0,0,0,0
$GC,1707,-1.26,-116.8,221.7,-11.7,149,1711,0.00,2.42,0.00,0.000,6,0.000,0.029,2853,1785,3485,0,0,0,0,0,0
$GC,1973,-1.26,-116.8,250.0,-10.4,156,1977,0.00,2.40,0.00,0.000,4,0.000,0.032,2853,3306,3485,0,0,0,0,0,0
$GC,1996,-1.30,-116.8,252.3,-10.4,156,2000,0.00,2.45,0.00,0.000,6,0.000,0.037,2853,1789,3485,0,0,0,0,0,0
$GC,2251,-1.34,-116.8,276.1,-9.0,163,2256,0.10,2.42,0.00,0.000,4,0.094,0.033,2817,3306,3484,0,0,0,0,0,0
$GC,2295,-1.34,-116.8,280.5,-9.4,164,2299,0.00,2.47,0.00,0.000,6,0.000,0.041,2817,1785,3484,0,0,0,0,0,0
$GC,2574,-1.34,-116.8,308.2,-9.9,171,2578,0.00,2.42,0.00,0.000,4,0.000,0.038,2817,3306,3483,0,0,0,0,0,0
$GC,2640,-1.34,-116.8,314.8,-9.3,172,2645,0.00,2.47,0.00,0.000,6,0.000,0.039,2817,1802,3483,0,0,0,0,0,0
$GC,2896,-1.34,-116.8,339.9,-10.0,179,2897,0.00,0.00,0.00,0.000,6,0.000,0.000,2818,1803,3482,0,0,0,0,0,0
$GC,3140,-1.34,-116.8,367.0,-11.5,185,3145,0.00,2.45,0.00,0.000,4,0.000,0.041,2817,3301,3481,0,0,0,0,0,0
$GC,3168,-1.34,-116.8,370.9,-12.8,185,3172,0.00,2.53,0.00,0.000,6,0.000,0.056,2817,1803,3481,0,0,0,0,0,0
$GC,3418,-1.34,-116.8,401.4,-12.3,191,3422,0.00,3.00,0.00,0.000,4,0.000,0.110,2817,182,3479,0,0,0,0,0,0
$GC,3440,-1.34,-116.8,404.2,-12.5,191,3444,0.00,2.53,0.00,0.000,6,0.000,0.029,2817,1749,3479,0,0,0,0,0,0
$GC,3695,-1.34,-116.8,435.0,-12.1,198,3699,0.00,2.67,0.00,0.000,4,0.000,0.061,2817,3353,3478,0,0,0,0,0,0
$GC,3734,-1.38,-116.8,439.6,-11.9,199,3738,0.00,2.65,0.00,0.000,6,0.000,0.063,2817,1804,3477,0,0,0,0,0,0
$GC,4018,-1.38,-116.8,470.3,-10.6,206,4022,0.00,2.58,0.00,0.000,4,0.000,0.053,2817,3360,3475,0,0,0,0,0,0
$GC,4057,-1.43,-116.8,474.2,-9.6,207,4062,0.00,2.67,0.00,0.000,6,0.000,0.067,2817,1807,3475,0,0,0,0,0,0
$STATE,4338,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4338,begin apogee
$GC,4346,-0.31,0.0,500.1,8.9,214,4445,1.05,0.00,95.40,0.925,6,0.092,0.000,3048,1992,3000,0,0,0,0,0,0
$STATE,4445,end apogee,CONTROL_FINISHED_OK
$STATE,4445,begin climb
$GC,4448,1.38,116.8,501.7,0.0,216,4556,1.60,3.12,98.10,0.897,4,0.062,0.110,3419,382,2523,0,0,0,0,0,0
$GC,4642,1.31,133.7,490.3,9.1,220,4662,0.00,2.60,14.93,0.821,6,0.000,0.039,3418,1947,2454,0,0,0,0,0,0
$GC,4942,1.37,184.5,468.0,7.1,228,4992,0.00,2.78,43.95,0.877,4,0.000,0.061,3419,3550,2248,0,0,0,0,0,0
$GC,5075,1.39,195.1,456.6,9.4,231,5091,0.00,2.70,10.00,0.772,6,0.000,0.054,3419,1973,2205,0,0,0,0,0,0
$GC,5347,1.41,213.8,432.6,9.0,238,5366,0.00,0.00,17.10,0.828,6,0.000,0.000,3418,1973,2129,0,0,0,0,0,0
$GC,5592,1.42,220.0,409.3,9.7,244,5605,0.00,2.67,6.45,0.700,4,0.000,0.042,3418,3563,2103,0,0,0,0,0,0
$GC,5622,1.42,220.0,406.0,10.2,244,5626,0.00,2.67,0.00,0.000,6,0.000,0.044,3418,1981,2102,0,0,0,0,0,0
$GC,5872,1.42,221.0,380.8,10.0,250,5877,0.00,2.92,0.00,0.000,4,0.000,0.092,3418,378,2100,0,0,0,0,0,0
$GC,5922,1.42,221.0,375.2,11.0,251,5927,0.00,2.60,0.00,0.000,6,0.000,0.025,3418,1991,2098,0,0,0,0,0,0
$GC,6194,1.43,234.1,349.5,9.3,258,6209,0.00,0.00,13.27,0.789,6,0.000,0.000,3418,1991,2046,0,0,0,0,0,0
$GC,6438,1.47,235.4,325.3,10.0,264,6440,0.10,0.00,0.00,0.000,6,0.098,0.000,3444,1992,2042,0,0,0,0,0,0
$GC,6682,1.47,235.4,299.3,10.8,270,6684,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1992,2041,0,0,0,0,0,0
$GC,6925,1.47,235.4,273.1,10.8,276,6926,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1993,2040,0,0,0,0,0,0
$GC,7169,1.47,235.4,246.2,10.8,282,7173,0.00,2.53,0.00,0.000,4,0.000,0.037,3444,3544,2039,0,0,0,0,0,0
$GC,7223,1.47,235.4,240.5,11.2,283,7228,0.00,2.58,0.00,0.000,6,0.000,0.037,3444,1960,2037,0,0,0,0,0,0
$GC,7492,1.48,237.8,213.9,9.9,290,7496,0.00,2.60,0.00,0.000,4,0.000,0.040,3444,3552,2037,0,0,0,0,0,0
$GC,7598,1.48,237.8,203.0,10.6,292,7602,0.00,2.55,0.00,0.000,6,0.000,0.033,3444,1980,2036,0,0,0,0,0,0
$GC,7863,1.48,237.8,177.2,10.1,313,7868,0.00,0.00,0.00,0.000,6,0.000,0.000,3444,1980,2036,0,0,0,0,0,0
$GC,8124,1.48,237.8,146.4,12.2,338,8129,0.00,2.70,0.00,0.000,4,0.000,0.063,3444,389,2036,0,0,0,0,0,0
$GC,8134,1.48,237.8,144.9,12.0,338,8144,0.00,2.53,0.00,0.000,6,0.000,0.025,3444,1997,2035,0,0,0,0,0,0
$GC,8402,1.52,237.8,115.6,10.4,363,8406,0.00,2.45,0.00,0.000,4,0.000,0.036,3444,3536,2035,0,0,0,0,0,0
$GC,8448,1.59,246.1,110.4,9.6,366,8466,0.00,2.55,10.12,0.595,6,0.000,0.037,3444,1972,1995,0,0,0,0,0,0
$GC,8722,1.75,329.7,92.5,5.2,392,8807,0.22,2.60,71.53,0.630,4,0.059,0.031,3505,3528,1655,0,0,0,0,0,0
$GC,8836,1.75,329.7,82.8,11.5,401,8841,0.00,2.53,0.00,0.000,6,0.000,0.037,3505,1975,1652,0,0,0,0,0,0
$GC,9101,1.75,329.7,53.2,11.6,425,9105,0.00,2.50,0.00,0.000,4,0.000,0.035,3505,3533,1650,0,0,0,0,0,0
$GC,9123,1.75,329.7,49.8,12.9,426,9132,0.00,2.55,0.00,0.000,6,0.000,0.030,3505,1976,1649,0,0,0,0,0,0
$GC,9419,1.75,329.7,8.9,13.1,461,9430,0.00,0.00,0.00,0.000,6,0.000,0.000,3505,1976,1649,0,0,0,0,0,0
$STATE,9451,end climb,SURFACE_DEPTH_REACHED
$STATE,9451,begin surface coast
$FINISH,0.6,0.977985
$STATE,9480,end surface coast,CONTROL_FINISHED_OK
$STATE,9480,begin surface
$SM_CCo,9502,56.75,0.540,0,0,1370,400.08
$SM_GC,1.21,0.00,0.00,56.75,0.000,0.000,0.540,482,1742,1370,-12.13,-0.76,400.08
$IRIDIUM_FIX,2241.69,-15804.53,150800,141407
$TT8_MAMPS,0.025311
$HUMID,58.38
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.30
$XPDR_PINGS,43
$24V_AH,23.5,11.826
$10V_AH,10.4,10.145
$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,28.175,108.875,380.850,56.750,0.000,115.087,142.328,455.845,10.750,0.000,33.398,938.833,6409.479,486.982,1799.521,988.396,33.373,1179.912,0.000,1781.388,0.000,0.537,0.000
$DEVICE_MAMPS,160.303,110.448,925.002,539.968,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,317.943,253.282,357.900,669.431,1007.578,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355560
$DATA_FILE_SIZE,38172,469
$CAP_FILE_SIZE,107267,0
$CFSIZE,260165632,177373184
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,220511,173337,2250.070,-15802.112,33,1.2,33,10.1