version: 66.06
glider: 146
mission: 6
dive: 97
start: 5 23 111 2 39 32
data:
$ID,146
$MISSION,6
$DIVE,97
$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,-269434.53
$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,69
$R_STBD_OVSHOOT,57
$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
$GPS1,023137,2249.670,-15758.864,41,1.5,41,10.1
$_CALLS,1
$_XMS_NAKs,13
$_XMS_TOUTs,1
$_SM_DEPTHo,1.15
$_SM_ANGLEo,-70.7
$GPS2,023838,2249.654,-15758.893,13,1.6,13,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY2
$TGT_LATLONG,2250.000,-15757.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.204,0.116
$KALMAN_X,-67401.7,-248.7,52.9,64021.3,-356.5
$KALMAN_Y,-119636.3,-174.6,54.3,130411.8,-821.6
$MHEAD_RNG_PITCHd_Wd,50.4,3293,-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,-116.8,0.0,0.0,0,97,0.00,0.00,-79.07,0.000,2,0.000,0.000,474,1725,3360,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.6,-6.9,10,119,12.57,0.00,-2.10,0.000,6,0.163,0.000,2810,1725,3479,0,0,0,0,0,0
$GC,397,-1.25,-116.8,68.5,-17.1,42,407,0.17,0.00,0.00,0.000,6,0.127,0.000,2844,1725,3483,0,0,0,0,0,0
$GC,664,-1.21,-116.8,103.5,-12.4,67,668,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1725,3483,0,0,0,0,0,0
$GC,924,-1.21,-116.8,134.7,-11.8,92,929,0.00,2.53,0.00,0.000,4,0.000,0.028,2844,3334,3484,0,0,0,0,0,0
$GC,995,-1.21,-116.8,143.1,-12.1,97,1000,0.00,2.40,0.00,0.000,6,0.000,0.028,2844,1811,3484,0,0,0,0,0,0
$GC,1257,-1.21,-116.8,176.2,-12.8,122,1258,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1811,3485,0,0,0,0,0,0
$GC,1540,-1.21,-116.8,210.8,-12.1,143,1544,0.00,2.40,0.00,0.000,4,0.000,0.031,2844,3334,3485,0,0,0,0,0,0
$GC,1584,-1.25,-116.8,215.8,-10.5,144,1588,0.00,2.53,0.00,0.000,6,0.000,0.029,2844,1764,3485,0,0,0,0,0,0
$GC,1861,-1.25,-116.8,240.5,-8.7,151,1862,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1764,3486,0,0,0,0,0,0
$GC,2106,-1.25,-116.8,262.7,-9.2,157,2110,0.00,2.53,0.00,0.000,4,0.000,0.038,2844,3338,3486,0,0,0,0,0,0
$GC,2127,-1.25,-116.8,265.0,-9.6,157,2132,0.00,2.55,0.00,0.000,6,0.000,0.038,2844,1761,3485,0,0,0,0,0,0
$GC,2383,-1.25,-116.8,289.2,-9.3,164,2387,0.00,2.53,0.00,0.000,4,0.000,0.036,2844,3335,3485,0,0,0,0,0,0
$GC,2451,-1.32,-116.8,295.7,-9.6,165,2455,0.00,2.58,0.00,0.000,6,0.000,0.039,2844,1768,3485,0,0,0,0,0,0
$GC,2706,-1.36,-116.8,323.0,-11.0,172,2707,0.00,0.00,0.00,0.000,6,0.000,0.000,2844,1768,3484,0,0,0,0,0,0
$GC,2950,-1.40,-116.8,350.2,-11.2,178,2955,0.12,2.58,0.00,0.000,4,0.077,0.044,2805,3335,3483,0,0,0,0,0,0
$GC,3006,-1.40,-116.8,357.0,-12.4,179,3011,0.00,2.60,0.00,0.000,6,0.000,0.051,2805,1787,3483,0,0,0,0,0,0
$GC,3272,-1.40,-116.8,386.7,-11.1,186,3276,0.00,2.53,0.00,0.000,4,0.000,0.046,2804,3328,3481,0,0,0,0,0,0
$GC,3338,-1.40,-116.8,393.5,-10.0,187,3343,0.00,2.60,0.00,0.000,6,0.000,0.061,2805,1800,3481,0,0,0,0,0,0
$GC,3595,-1.40,-116.8,419.6,-10.5,194,3599,0.00,2.50,0.00,0.000,4,0.000,0.050,2805,3326,3479,0,0,0,0,0,0
$GC,3627,-1.40,-116.8,423.5,-11.2,194,3633,0.00,2.60,0.00,0.000,6,0.000,0.062,2805,1805,3479,0,0,0,0,0,0
$GC,3877,-1.40,-116.8,450.6,-11.0,201,3881,0.00,2.53,0.00,0.000,4,0.000,0.054,2805,3323,3478,0,0,0,0,0,0
$GC,3917,-1.40,-116.8,455.1,-11.2,202,3922,0.00,2.60,0.00,0.000,6,0.000,0.061,2805,1804,3478,0,0,0,0,0,0
$GC,4201,-1.40,-116.8,487.9,-11.5,209,4202,0.00,0.00,0.00,0.000,6,0.000,0.000,2805,1804,3476,0,0,0,0,0,0
$STATE,4320,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4320,begin apogee
$GC,4326,-0.31,0.0,501.7,11.4,212,4427,1.10,0.00,97.12,0.931,6,0.089,0.000,3048,1957,3001,0,0,0,0,0,0
$STATE,4428,end apogee,CONTROL_FINISHED_OK
$STATE,4428,begin climb
$GC,4432,1.38,116.8,505.1,0.0,214,4536,1.60,0.00,100.18,0.908,6,0.064,0.000,3418,1957,2524,0,0,0,0,0,0
$GC,4758,1.47,185.0,491.8,6.1,222,4823,0.00,2.78,58.92,0.896,4,0.000,0.059,3419,3531,2245,0,0,0,0,0,0
$GC,4838,1.51,221.4,486.1,7.9,224,4880,0.12,2.72,32.62,0.869,6,0.085,0.060,3450,1972,2097,0,0,0,0,0,0
$GC,5125,1.46,221.4,452.9,11.8,231,5126,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1972,2090,0,0,0,0,0,0
$GC,5367,1.42,221.4,424.6,11.5,237,5371,0.00,2.60,0.00,0.000,4,0.000,0.042,3450,3535,2087,0,0,0,0,0,0
$GC,5423,1.42,221.4,417.9,11.9,238,5427,0.00,2.62,0.00,0.000,6,0.000,0.049,3451,1979,2085,0,0,0,0,0,0
$GC,5689,1.42,221.4,390.4,10.2,245,5690,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1979,2083,0,0,0,0,0,0
$GC,5933,1.43,226.3,366.7,9.8,251,5937,0.00,2.55,0.00,0.000,4,0.000,0.040,3451,3539,2083,0,0,0,0,0,0
$GC,6011,1.43,226.3,358.2,11.7,252,6017,0.00,2.60,0.00,0.000,6,0.000,0.038,3451,1973,2082,0,0,0,0,0,0
$GC,6261,1.43,226.3,331.8,10.6,259,6265,0.00,2.55,0.00,0.000,4,0.000,0.035,3451,3542,2080,0,0,0,0,0,0
$GC,6310,1.43,226.3,326.3,11.2,260,6314,0.00,2.55,0.00,0.000,6,0.000,0.035,3451,1990,2080,0,0,0,0,0,0
$GC,6584,1.43,226.3,296.9,11.0,267,6585,0.00,0.00,0.00,0.000,6,0.000,0.000,3451,1990,2079,0,0,0,0,0,0
$GC,6826,1.43,226.3,268.9,11.7,273,6830,0.00,2.78,0.00,0.000,4,0.000,0.074,3451,388,2079,0,0,0,0,0,0
$GC,6865,1.37,226.3,264.0,13.3,274,6870,0.15,2.53,0.00,0.000,6,0.117,0.025,3420,1994,2077,0,0,0,0,0,0
$GC,7150,1.43,240.5,236.8,9.2,281,7170,0.00,2.80,14.40,0.728,4,0.000,0.066,3420,387,2019,0,0,0,0,0,0
$GC,7192,1.43,240.5,232.6,10.3,282,7196,0.00,2.53,0.00,0.000,6,0.000,0.020,3420,1990,2018,0,0,0,0,0,0
$GC,7472,1.52,263.8,207.7,8.7,289,7496,0.12,0.00,21.83,0.721,6,0.129,0.000,3454,1991,1925,0,0,0,0,0,0
$GC,7725,1.52,263.8,182.8,10.5,307,7730,0.00,2.53,0.00,0.000,4,0.000,0.035,3454,3541,1921,0,0,0,0,0,0
$GC,7770,1.52,263.8,177.9,11.3,310,7775,0.00,2.53,0.00,0.000,6,0.000,0.035,3454,1985,1919,0,0,0,0,0,0
$GC,8034,1.52,263.8,147.1,12.3,334,8035,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1985,1919,0,0,0,0,0,0
$GC,8286,1.56,263.8,117.4,11.6,358,8287,0.00,0.00,0.00,0.000,6,0.000,0.000,3454,1985,1919,0,0,0,0,0,0
$GC,8542,1.60,263.8,89.2,10.6,382,8546,0.00,2.53,0.00,0.000,4,0.000,0.038,3454,3548,1918,0,0,0,0,0,0
$GC,8575,1.65,263.8,85.5,10.7,384,8584,0.08,2.53,0.00,0.000,6,0.051,0.029,3483,1992,1917,0,0,0,0,0,0
$GC,8843,1.65,263.8,55.6,11.7,409,8848,0.00,2.70,0.00,0.000,4,0.000,0.055,3483,385,1918,0,0,0,0,0,0
$GC,8900,1.65,263.8,48.2,12.5,413,8905,0.00,2.45,0.00,0.000,6,0.000,0.018,3483,1986,1917,0,0,0,0,0,0
$GC,9188,1.67,276.2,19.8,9.3,445,9206,0.00,2.53,10.98,0.518,4,0.000,0.035,3483,3519,1875,0,0,0,0,0,0
$GC,9257,1.70,276.2,11.7,11.1,454,9266,0.00,2.50,0.00,0.000,6,0.000,0.028,3483,1979,1874,0,0,0,0,0,0
$STATE,9315,end climb,SURFACE_DEPTH_REACHED
$STATE,9315,begin surface coast
$FINISH,0.4,0.972260
$STATE,9359,end surface coast,CONTROL_FINISHED_OK
$STATE,9359,begin surface
$SM_CCo,9383,101.43,0.538,0,0,1369,400.08
$SM_GC,1.24,0.00,0.00,101.43,0.000,0.000,0.538,475,1738,1369,-12.17,-0.90,400.08
$IRIDIUM_FIX,2241.69,-15759.32,150800,232357
$TT8_MAMPS,0.026078
$HUMID,57.91
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.40
$XPDR_PINGS,38
$24V_AH,23.5,12.352
$10V_AH,10.4,10.592
$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,28.525,92.975,336.050,101.425,0.000,29.101,40.292,213.127,9.500,0.000,15.066,934.107,6219.182,510.354,1704.697,539.393,33.355,1129.909,0.000,1715.371,0.000,0.535,0.000
$DEVICE_MAMPS,162.604,92.807,931.138,538.434,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,317.936,271.199,357.104,670.112,1013.740,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355584
$DATA_FILE_SIZE,38384,468
$CAP_FILE_SIZE,92160,0
$CFSIZE,260165632,177172480
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230511,051846,2249.880,-15757.983,9,99.0,28,10.1