version: 66.06
glider: 146
mission: 6
dive: 99
start: 5 23 111 8 13 14
data:
$ID,146
$MISSION,6
$DIVE,99
$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,-269494.28
$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,39
$R_STBD_OVSHOOT,45
$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
$GPS1,075454,2249.986,-15757.087,86,1.3,86,10.1
$_CALLS,3
$_XMS_NAKs,13
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-68.5
$GPS2,081220,2250.099,-15757.181,16,1.5,16,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY3
$TGT_LATLONG,2247.000,-15757.800
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.027,-0.233
$KALMAN_X,-68527.8,40.3,-164.8,67998.4,-184.6
$KALMAN_Y,-120861.3,326.8,-108.9,132118.0,-148.2
$MHEAD_RNG_PITCHd_Wd,176.6,5837,-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,16,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-78.72,0.000,2,0.000,0.000,475,1761,3382,0,0,0,0,0,0
$GC,101,-1.38,-116.8,3.7,-7.0,10,127,12.32,2.70,-1.75,0.000,4,0.154,0.070,2811,210,3482,0,0,0,0,0,0
$GC,191,-1.17,-116.8,29.2,-19.5,22,201,0.22,2.45,0.00,0.000,6,0.109,0.014,2860,1825,3483,0,0,0,0,0,0
$GC,458,-1.13,-116.8,70.3,-15.5,47,463,0.00,2.75,0.00,0.000,4,0.000,0.064,2860,204,3483,0,0,0,0,0,0
$GC,506,-1.07,-116.8,79.4,-17.1,50,516,0.08,2.40,0.00,0.000,6,0.110,0.014,2879,1795,3483,0,0,0,0,0,0
$GC,773,-1.07,-116.8,111.0,-11.6,75,777,0.00,2.33,0.00,0.000,4,0.000,0.025,2879,3294,3484,0,0,0,0,0,0
$GC,805,-1.07,-116.8,115.0,-11.5,77,810,0.00,2.42,0.00,0.000,6,0.000,0.026,2879,1760,3484,0,0,0,0,0,0
$GC,1073,-1.11,-116.8,145.9,-11.5,101,1078,0.00,2.40,0.00,0.000,4,0.000,0.024,2879,3295,3484,0,0,0,0,0,0
$GC,1091,-1.16,-116.8,148.9,-11.8,102,1095,0.00,2.45,0.00,0.000,6,0.000,0.030,2879,1754,3485,0,0,0,0,0,0
$GC,1354,-1.21,-116.8,178.5,-10.8,126,1358,0.10,2.45,0.00,0.000,4,0.086,0.031,2842,3298,3485,0,0,0,0,0,0
$GC,1384,-1.21,-116.8,182.3,-12.3,128,1388,0.00,2.45,0.00,0.000,6,0.000,0.032,2842,1762,3485,0,0,0,0,0,0
$GC,1651,-1.21,-116.8,217.7,-13.3,144,1655,0.00,2.40,0.00,0.000,4,0.000,0.029,2842,3295,3485,0,0,0,0,0,0
$GC,1666,-1.21,-116.8,220.0,-13.1,144,1671,0.00,2.42,0.00,0.000,6,0.000,0.033,2842,1762,3485,0,0,0,0,0,0
$GC,1935,-1.21,-116.8,247.7,-9.8,151,1936,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1762,3485,0,0,0,0,0,0
$GC,2177,-1.21,-116.8,275.5,-11.4,157,2181,0.00,2.45,0.00,0.000,4,0.000,0.035,2842,3290,3485,0,0,0,0,0,0
$GC,2250,-1.26,-116.8,283.5,-10.3,158,2255,0.00,2.50,0.00,0.000,6,0.000,0.037,2842,1763,3485,0,0,0,0,0,0
$GC,2502,-1.26,-116.8,307.3,-9.2,164,2506,0.00,2.47,0.00,0.000,4,0.000,0.033,2842,3298,3484,0,0,0,0,0,0
$GC,2557,-1.33,-116.8,312.4,-8.4,165,2561,0.00,2.53,0.00,0.000,6,0.000,0.048,2842,1774,3484,0,0,0,0,0,0
$GC,2825,-1.37,-116.8,336.4,-9.7,172,2829,0.00,2.45,0.00,0.000,4,0.000,0.035,2842,3287,3483,0,0,0,0,0,0
$GC,2841,-1.41,-116.8,338.4,-10.2,172,2846,0.12,2.50,0.00,0.000,6,0.070,0.047,2796,1773,3483,0,0,0,0,0,0
$GC,3102,-1.37,-116.8,372.4,-13.1,179,3107,0.10,2.50,0.00,0.000,4,0.121,0.041,2817,3292,3481,0,0,0,0,0,0
$GC,3153,-1.41,-116.8,378.1,-10.4,180,3158,0.00,2.53,0.00,0.000,6,0.000,0.055,2818,1791,3480,0,0,0,0,0,0
$GC,3425,-1.41,-116.8,405.5,-10.1,187,3429,0.00,2.45,0.00,0.000,4,0.000,0.048,2818,3284,3479,0,0,0,0,0,0
$GC,3491,-1.45,-116.8,412.5,-10.3,188,3495,0.00,2.53,0.00,0.000,6,0.000,0.060,2818,1801,3478,0,0,0,0,0,0
$GC,3747,-1.45,-116.8,438.3,-10.2,195,3752,0.00,3.03,0.00,0.000,4,0.000,0.117,2817,184,3477,0,0,0,0,0,0
$GC,3768,-1.45,-116.8,441.2,-12.0,195,3773,0.00,2.47,0.00,0.000,6,0.000,0.038,2818,1725,3477,0,0,0,0,0,0
$GC,4024,-1.45,-116.8,472.4,-12.3,202,4028,0.00,2.75,0.00,0.000,4,0.000,0.061,2817,3354,3475,0,0,0,0,0,0
$GC,4114,-1.50,-116.8,483.1,-11.7,204,4119,0.10,2.65,0.00,0.000,6,0.091,0.065,2786,1809,3474,0,0,0,0,0,0
$STATE,4269,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4269,begin apogee
$GC,4275,-0.31,0.0,501.7,12.0,208,4376,1.20,0.00,97.07,0.923,6,0.089,0.000,3050,1996,3000,0,0,0,0,0,0
$STATE,4377,end apogee,CONTROL_FINISHED_OK
$STATE,4377,begin climb
$GC,4380,1.38,116.8,504.8,0.0,210,4487,1.60,0.00,99.82,0.900,6,0.054,0.000,3421,1996,2524,0,0,0,0,0,0
$GC,4748,1.43,153.6,482.3,7.9,219,4782,0.00,0.00,32.08,0.876,6,0.000,0.000,3422,1996,2374,0,0,0,0,0,0
$GC,4993,1.45,173.3,460.9,8.9,225,5018,0.00,2.67,17.85,0.849,4,0.000,0.047,3421,3531,2293,0,0,0,0,0,0
$GC,5045,1.47,188.9,456.0,9.1,226,5066,0.00,2.67,15.27,0.823,6,0.000,0.051,3421,1964,2230,0,0,0,0,0,0
$GC,5318,1.50,214.9,432.4,8.5,233,5347,0.10,2.70,23.35,0.848,4,0.100,0.045,3449,3529,2125,0,0,0,0,0,0
$GC,5375,1.47,214.9,425.9,11.8,234,5380,0.00,2.67,0.00,0.000,6,0.000,0.051,3449,1966,2122,0,0,0,0,0,0
$GC,5642,1.42,214.9,396.0,11.1,241,5646,0.00,2.58,0.00,0.000,4,0.000,0.044,3449,3532,2119,0,0,0,0,0,0
$GC,5664,1.39,214.9,393.2,12.5,241,5670,0.12,2.60,0.00,0.000,6,0.124,0.047,3425,1981,2117,0,0,0,0,0,0
$GC,5920,1.39,214.9,364.9,10.9,248,5921,0.00,0.00,0.00,0.000,6,0.000,0.000,3425,1980,2116,0,0,0,0,0,0
$GC,6163,1.39,214.9,337.5,11.3,254,6168,0.00,2.55,0.00,0.000,4,0.000,0.035,3425,3535,2114,0,0,0,0,0,0
$GC,6231,1.39,218.8,330.6,9.8,255,6236,0.00,2.55,0.00,0.000,6,0.000,0.035,3425,1984,2113,0,0,0,0,0,0
$GC,6487,1.43,254.7,309.7,8.0,262,6528,0.00,2.85,34.38,0.808,4,0.000,0.071,3424,390,1962,0,0,0,0,0,0
$GC,6550,1.43,254.7,303.6,10.9,263,6555,0.00,2.53,0.00,0.000,6,0.000,0.021,3424,1983,1959,0,0,0,0,0,0
$GC,6813,1.48,254.7,274.1,11.2,270,6818,0.00,2.53,0.00,0.000,4,0.000,0.038,3425,3537,1957,0,0,0,0,0,0
$GC,6830,1.53,254.7,272.0,10.9,270,6835,0.12,2.53,0.00,0.000,6,0.083,0.031,3459,1979,1955,0,0,0,0,0,0
$GC,7092,1.53,254.7,242.3,11.1,277,7093,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,1979,1954,0,0,0,0,0,0
$GC,7334,1.53,254.7,217.9,10.0,283,7338,0.00,2.53,0.00,0.000,4,0.000,0.040,3459,3541,1953,0,0,0,0,0,0
$GC,7373,1.53,254.7,213.5,11.8,284,7377,0.00,2.53,0.00,0.000,6,0.000,0.037,3459,1979,1952,0,0,0,0,0,0
$GC,7631,1.55,273.8,187.6,8.9,297,7651,0.00,0.00,16.20,0.692,6,0.000,0.000,3459,1979,1884,0,0,0,0,0,0
$GC,7908,1.55,273.8,150.0,14.2,323,7913,0.00,2.53,0.00,0.000,4,0.000,0.038,3459,3539,1881,0,0,0,0,0,0
$GC,7977,1.59,273.8,141.1,11.8,328,7987,0.00,2.55,0.00,0.000,6,0.000,0.037,3459,1983,1881,0,0,0,0,0,0
$GC,8245,1.59,273.8,117.6,10.3,353,8249,0.00,2.53,0.00,0.000,4,0.000,0.037,3459,3549,1880,0,0,0,0,0,0
$GC,8300,1.64,273.8,110.2,13.1,357,8304,0.00,2.50,0.00,0.000,6,0.000,0.031,3459,2002,1880,0,0,0,0,0,0
$GC,8567,1.64,273.8,76.6,10.6,381,8575,0.00,0.00,0.00,0.000,6,0.000,0.000,3459,2002,1880,0,0,0,0,0,0
$GC,8832,1.70,289.5,53.6,9.1,406,8857,0.12,0.00,14.68,0.561,6,0.083,0.000,3496,2002,1819,0,0,0,0,0,0
$GC,9138,1.70,289.5,14.8,11.0,441,9147,0.00,2.50,0.00,0.000,4,0.000,0.029,3496,3543,1817,0,0,0,0,0,0
$GC,9178,1.70,289.5,9.5,14.0,446,9187,0.00,2.47,0.00,0.000,6,0.000,0.034,3496,2022,1817,0,0,0,0,0,0
$STATE,9222,end climb,SURFACE_DEPTH_REACHED
$STATE,9222,begin surface coast
$FINISH,0.5,0.976483
$STATE,9264,end surface coast,CONTROL_FINISHED_OK
$STATE,9264,begin surface
$SM_CCo,9288,90.03,0.538,0,0,1370,400.08
$SM_GC,1.18,0.00,0.00,90.03,0.000,0.000,0.538,475,1758,1370,-12.17,-0.34,400.08
$IRIDIUM_FIX,2239.35,-15800.20,160800,080821
$TT8_MAMPS,0.026078
$HUMID,57.95
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.40
$XPDR_PINGS,46
$24V_AH,23.5,12.616
$10V_AH,10.4,10.804
$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,28.650,117.650,350.700,90.025,0.000,82.307,109.993,592.348,11.500,0.000,18.236,947.505,6194.967,508.189,1728.222,1050.458,33.359,1183.701,0.000,1727.920,0.000,0.536,0.000
$DEVICE_MAMPS,154.167,116.584,923.468,538.434,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,310.784,255.760,347.710,663.624,1005.196,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355612
$DATA_FILE_SIZE,35222,458
$CAP_FILE_SIZE,109768,0
$CFSIZE,260165632,177070080
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,230511,105036,2248.744,-15757.560,23,2.0,23,10.1