version: 66.06
glider: 146
mission: 6
dive: 96
start: 5 22 111 23 51 0
data:
$ID,146
$MISSION,6
$DIVE,96
$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,-269418.84
$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,56
$R_STBD_OVSHOOT,53
$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
$GPS1,233908,2249.749,-15759.808,11,1.3,11,10.1
$_CALLS,1
$_XMS_NAKs,5
$_XMS_TOUTs,1
$_SM_DEPTHo,1.16
$_SM_ANGLEo,-67.4
$GPS2,235004,2249.742,-15759.884,11,99.0,30,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.224,0.072
$KALMAN_X,-66868.7,-282.6,75.7,61801.0,-169.9
$KALMAN_Y,-118736.6,-408.0,262.7,129702.6,-519.0
$MHEAD_RNG_PITCHd_Wd,62.1,4946,-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,13,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.38,0.000,2,0.000,0.000,476,1740,3377,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.8,-6.7,10,117,12.50,0.00,-1.83,0.000,6,0.161,0.000,2810,1740,3479,0,0,0,0,0,0
$GC,391,-1.25,-116.8,69.9,-20.3,42,396,0.17,2.53,0.00,0.000,4,0.125,0.025,2844,3339,3482,0,0,0,0,0,0
$GC,412,-1.16,-116.8,74.0,-18.8,43,417,0.10,2.45,0.00,0.000,6,0.133,0.032,2864,1796,3482,0,0,0,0,0,0
$GC,680,-1.16,-116.8,111.8,-14.1,67,684,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1796,3483,0,0,0,0,0,0
$GC,940,-1.16,-116.8,147.4,-12.0,92,942,0.00,0.00,0.00,0.000,6,0.000,0.000,2864,1795,3484,0,0,0,0,0,0
$GC,1197,-1.16,-116.8,177.7,-11.4,116,1201,0.00,2.42,0.00,0.000,4,0.000,0.030,2864,3342,3484,0,0,0,0,0,0
$GC,1253,-1.21,-116.8,183.9,-11.3,120,1262,0.00,2.53,0.00,0.000,6,0.000,0.033,2864,1780,3484,0,0,0,0,0,0
$GC,1530,-1.21,-116.8,213.9,-11.4,138,1535,0.00,2.47,0.00,0.000,4,0.000,0.028,2864,3342,3485,0,0,0,0,0,0
$GC,1575,-1.28,-116.8,219.3,-11.4,139,1580,0.10,2.50,0.00,0.000,6,0.084,0.029,2827,1783,3485,0,0,0,0,0,0
$GC,1853,-1.28,-116.8,254.0,-12.5,146,1857,0.00,2.47,0.00,0.000,4,0.000,0.035,2827,3335,3485,0,0,0,0,0,0
$GC,1942,-1.28,-116.8,264.5,-11.2,148,1947,0.00,2.50,0.00,0.000,6,0.000,0.036,2827,1788,3484,0,0,0,0,0,0
$GC,2220,-1.28,-116.8,292.6,-9.7,155,2225,0.00,2.50,0.00,0.000,4,0.000,0.039,2826,3344,3485,0,0,0,0,0,0
$GC,2288,-1.28,-116.8,298.4,-8.5,156,2293,0.00,2.53,0.00,0.000,6,0.000,0.038,2827,1803,3485,0,0,0,0,0,0
$GC,2543,-1.28,-116.8,323.2,-10.4,163,2548,0.00,2.90,0.00,0.000,4,0.000,0.094,2826,190,3484,0,0,0,0,0,0
$GC,2564,-1.28,-116.8,326.1,-12.7,163,2569,0.00,2.53,0.00,0.000,6,0.000,0.028,2826,1791,3484,0,0,0,0,0,0
$GC,2820,-1.28,-116.8,358.3,-13.0,170,2824,0.00,2.53,0.00,0.000,4,0.000,0.044,2827,3345,3483,0,0,0,0,0,0
$GC,2836,-1.28,-116.8,360.5,-13.2,170,2841,0.00,2.58,0.00,0.000,6,0.000,0.048,2826,1805,3483,0,0,0,0,0,0
$GC,3096,-1.28,-116.8,392.0,-11.9,177,3097,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1805,3482,0,0,0,0,0,0
$GC,3340,-1.28,-116.8,417.6,-10.3,183,3344,0.00,2.55,0.00,0.000,4,0.000,0.046,2827,3346,3480,0,0,0,0,0,0
$GC,3374,-1.32,-116.8,421.1,-10.9,183,3379,0.00,2.65,0.00,0.000,6,0.000,0.056,2827,1800,3480,0,0,0,0,0,0
$GC,3624,-1.32,-116.8,447.0,-10.4,190,3628,0.00,2.58,0.00,0.000,4,0.000,0.053,2827,3351,3479,0,0,0,0,0,0
$GC,3679,-1.39,-116.8,452.8,-10.9,191,3683,0.00,2.67,0.00,0.000,6,0.000,0.069,2826,1806,3478,0,0,0,0,0,0
$GC,3947,-1.42,-116.8,480.5,-10.4,198,3951,0.00,2.58,0.00,0.000,4,0.000,0.058,2827,3338,3477,0,0,0,0,0,0
$GC,3986,-1.48,-116.8,485.0,-11.1,199,3991,0.12,2.62,0.00,0.000,6,0.078,0.067,2789,1807,3476,0,0,0,0,0,0
$STATE,4145,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4145,begin apogee
$GC,4151,-0.31,0.0,504.2,12.0,203,4252,1.17,0.00,97.00,0.929,6,0.089,0.000,3049,1977,3001,0,0,0,0,0,0
$STATE,4252,end apogee,CONTROL_FINISHED_OK
$STATE,4252,begin climb
$GC,4256,1.38,116.8,507.9,0.0,205,4366,1.62,2.80,99.93,0.905,4,0.061,0.064,3422,3531,2523,0,0,0,0,0,0
$GC,4419,1.39,159.7,503.7,7.6,209,4463,0.00,2.72,37.20,0.883,6,0.000,0.057,3422,1968,2349,0,0,0,0,0,0
$GC,4722,1.40,166.5,475.8,9.6,217,4730,0.00,0.00,6.18,0.700,6,0.000,0.000,3422,1968,2322,0,0,0,0,0,0
$GC,4963,1.41,180.3,452.8,9.2,223,4978,0.00,0.00,13.50,0.828,6,0.000,0.000,3423,1968,2266,0,0,0,0,0,0
$GC,5247,1.45,209.3,428.8,8.4,230,5280,0.00,2.67,26.17,0.862,4,0.000,0.044,3422,3536,2147,0,0,0,0,0,0
$GC,5360,1.46,219.0,418.1,9.5,232,5377,0.00,2.65,9.68,0.777,6,0.000,0.050,3423,1968,2108,0,0,0,0,0,0
$GC,5621,1.46,219.0,391.5,10.4,239,5622,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1968,2103,0,0,0,0,0,0
$GC,5864,1.46,219.0,366.0,10.4,245,5868,0.00,2.58,0.00,0.000,4,0.000,0.039,3422,3539,2102,0,0,0,0,0,0
$GC,5924,1.46,219.0,359.7,10.3,246,5928,0.00,2.58,0.00,0.000,6,0.000,0.040,3422,1981,2100,0,0,0,0,0,0
$GC,6187,1.48,232.0,335.3,9.3,253,6206,0.00,2.65,11.62,0.779,4,0.000,0.041,3423,3536,2054,0,0,0,0,0,0
$GC,6234,1.49,242.2,330.6,9.5,254,6251,0.10,2.55,10.75,0.755,6,0.099,0.040,3450,1983,2013,0,0,0,0,0,0
$GC,6512,1.49,242.2,299.6,11.8,261,6516,0.00,2.80,0.00,0.000,4,0.000,0.074,3450,384,2008,0,0,0,0,0,0
$GC,6557,1.44,242.2,293.7,13.1,262,6561,0.00,2.53,0.00,0.000,6,0.000,0.020,3450,1988,2007,0,0,0,0,0,0
$GC,6834,1.44,242.2,263.1,10.9,269,6838,0.00,2.53,0.00,0.000,4,0.000,0.038,3450,3537,2006,0,0,0,0,0,0
$GC,6877,1.44,242.2,258.2,11.0,270,6882,0.00,2.55,0.00,0.000,6,0.000,0.032,3450,1975,2005,0,0,0,0,0,0
$GC,7156,1.44,242.2,229.3,10.4,277,7160,0.00,2.72,0.00,0.000,4,0.000,0.071,3450,393,2005,0,0,0,0,0,0
$GC,7210,1.44,242.2,222.6,12.5,278,7214,0.00,2.50,0.00,0.000,6,0.000,0.022,3450,1980,2003,0,0,0,0,0,0
$GC,7470,1.45,244.0,196.1,9.9,287,7474,0.00,2.53,0.00,0.000,4,0.000,0.041,3450,3538,2003,0,0,0,0,0,0
$GC,7544,1.45,244.0,188.4,10.8,293,7549,0.00,2.53,0.00,0.000,6,0.000,0.036,3450,1979,2002,0,0,0,0,0,0
$GC,7807,1.45,244.0,161.5,11.1,317,7811,0.00,2.67,0.00,0.000,4,0.000,0.064,3450,394,2002,0,0,0,0,0,0
$GC,7826,1.45,244.0,159.3,11.7,318,7830,0.00,2.50,0.00,0.000,6,0.000,0.025,3450,1998,2002,0,0,0,0,0,0
$GC,8088,1.45,244.0,131.7,10.5,342,8093,0.00,2.47,0.00,0.000,4,0.000,0.036,3450,3539,2002,0,0,0,0,0,0
$GC,8158,1.49,244.0,124.3,11.3,347,8162,0.00,2.47,0.00,0.000,6,0.000,0.029,3450,1997,2002,0,0,0,0,0,0
$GC,8424,1.53,245.4,97.7,10.0,371,8429,0.00,0.00,0.00,0.000,6,0.000,0.000,3450,1997,2002,0,0,0,0,0,0
$GC,8691,1.58,246.6,71.2,10.0,396,8695,0.00,2.47,0.00,0.000,4,0.000,0.031,3450,3541,2002,0,0,0,0,0,0
$GC,8711,1.63,246.8,69.0,10.0,397,8716,0.10,2.45,0.00,0.000,6,0.093,0.028,3480,1998,2002,0,0,0,0,0,0
$GC,8981,1.66,278.6,44.6,8.2,421,9024,0.00,2.80,30.90,0.573,4,0.000,0.057,3480,394,1863,0,0,0,0,0,0
$GC,9077,1.66,278.6,36.0,10.1,428,9081,0.00,2.47,0.00,0.000,6,0.000,0.018,3480,1983,1862,0,0,0,0,0,0
$STATE,9386,end climb,SURFACE_DEPTH_REACHED
$STATE,9386,begin surface coast
$FINISH,0.3,0.980154
$STATE,9435,end surface coast,CONTROL_FINISHED_OK
$STATE,9435,begin surface
$SM_CCo,9457,98.35,0.536,0,0,1370,400.08
$SM_GC,1.21,0.00,0.00,98.35,0.000,0.000,0.536,474,1725,1370,-12.17,-1.30,400.08
$IRIDIUM_FIX,2241.69,-15802.37,150800,212147
$TT8_MAMPS,0.026078
$HUMID,57.12
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.60
$XPDR_PINGS,45
$24V_AH,23.5,12.236
$10V_AH,10.5,10.488
$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,28.175,113.875,342.925,98.350,0.000,31.341,35.253,443.760,11.250,0.000,35.142,970.906,6120.647,509.754,1848.812,766.215,33.360,1186.137,0.000,1834.744,0.000,0.535,0.000
$DEVICE_MAMPS,161.070,93.574,928.837,536.133,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,323.404,271.753,365.235,693.377,1048.881,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355744
$DATA_FILE_SIZE,38462,476
$CAP_FILE_SIZE,102067,0
$CFSIZE,260165632,177217536
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230511,023137,2249.670,-15758.864,41,1.5,41,10.1