version: 66.06
glider: 146
mission: 6
dive: 104
start: 5 23 111 22 36 33
data:
$ID,146
$MISSION,6
$DIVE,104
$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,-269605.09
$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,37
$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
$GPS1,222600,2246.778,-15802.190,39,1.8,44,10.1
$_CALLS,2
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-70.1
$GPS2,223538,2246.823,-15802.238,12,2.0,12,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,-0.008,0.235
$KALMAN_X,-70820.1,-53.3,55.9,61521.5,-336.8
$KALMAN_Y,-124647.2,-527.5,119.5,130465.7,-449.1
$MHEAD_RNG_PITCHd_Wd,347.9,6025,-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,-78.40,0.000,2,0.000,0.000,477,1760,3342,0,0,0,0,0,0
$GC,99,-1.38,-116.8,3.2,-5.2,10,125,12.65,2.55,-2.53,0.000,4,0.166,0.040,2808,3331,3482,0,0,0,0,0,0
$GC,266,-1.29,-116.8,41.1,-17.8,30,271,0.15,2.50,0.00,0.000,6,0.126,0.029,2837,1771,3483,0,0,0,0,0,0
$GC,529,-1.21,-116.8,83.6,-15.3,54,533,0.00,2.45,0.00,0.000,4,0.000,0.024,2837,3335,3484,0,0,0,0,0,0
$GC,564,-1.21,-116.8,89.4,-15.2,56,572,0.00,2.53,0.00,0.000,6,0.000,0.029,2838,1772,3484,0,0,0,0,0,0
$GC,830,-1.17,-116.8,128.2,-13.5,81,835,0.12,2.47,0.00,0.000,4,0.127,0.032,2862,3340,3484,0,0,0,0,0,0
$GC,847,-1.17,-116.8,131.1,-13.1,82,851,0.00,2.47,0.00,0.000,6,0.000,0.028,2862,1773,3484,0,0,0,0,0,0
$GC,1113,-1.17,-116.8,162.1,-11.6,106,1117,0.00,2.45,0.00,0.000,4,0.000,0.032,2862,3337,3486,0,0,0,0,0,0
$GC,1142,-1.17,-116.8,165.9,-11.3,108,1146,0.00,2.47,0.00,0.000,6,0.000,0.026,2862,1773,3485,0,0,0,0,0,0
$GC,1405,-1.17,-116.8,195.0,-11.6,132,1410,0.00,2.45,0.00,0.000,4,0.000,0.026,2862,3334,3486,0,0,0,0,0,0
$GC,1429,-1.21,-116.8,198.0,-11.6,133,1434,0.00,2.47,0.00,0.000,6,0.000,0.027,2862,1773,3485,0,0,0,0,0,0
$GC,1700,-1.26,-116.8,228.8,-11.5,142,1704,0.00,2.45,0.00,0.000,4,0.000,0.028,2862,3331,3486,0,0,0,0,0,0
$GC,1728,-1.31,-116.8,231.9,-10.7,142,1733,0.12,2.45,0.00,0.000,6,0.074,0.028,2818,1790,3486,0,0,0,0,0,0
$GC,1978,-1.31,-116.8,264.2,-13.2,148,1982,0.00,2.80,0.00,0.000,4,0.000,0.080,2817,189,3486,0,0,0,0,0,0
$GC,1999,-1.25,-116.8,267.2,-13.4,148,2004,0.12,2.47,0.00,0.000,6,0.117,0.027,2843,1792,3486,0,0,0,0,0,0
$GC,2256,-1.25,-116.8,293.7,-10.0,155,2260,0.00,2.47,0.00,0.000,4,0.000,0.038,2842,3341,3486,0,0,0,0,0,0
$GC,2351,-1.31,-116.8,303.4,-9.6,157,2355,0.00,2.50,0.00,0.000,6,0.000,0.038,2842,1814,3486,0,0,0,0,0,0
$GC,2624,-1.35,-116.8,327.3,-8.7,164,2625,0.00,0.00,0.00,0.000,6,0.000,0.000,2842,1815,3484,0,0,0,0,0,0
$GC,2867,-1.39,-116.8,347.7,-8.3,170,2868,0.10,0.00,0.00,0.000,6,0.090,0.000,2807,1815,3484,0,0,0,0,0,0
$GC,3109,-1.39,-116.8,371.8,-10.0,176,3114,0.00,2.50,0.00,0.000,4,0.000,0.046,2806,3343,3482,0,0,0,0,0,0
$GC,3143,-1.39,-116.8,375.0,-10.0,176,3149,0.00,2.55,0.00,0.000,6,0.000,0.047,2806,1813,3482,0,0,0,0,0,0
$GC,3393,-1.39,-116.8,398.4,-9.5,183,3398,0.00,2.47,0.00,0.000,4,0.000,0.045,2806,3337,3480,0,0,0,0,0,0
$GC,3415,-1.39,-116.8,400.6,-9.2,183,3420,0.00,2.58,0.00,0.000,6,0.000,0.058,2806,1815,3481,0,0,0,0,0,0
$GC,3672,-1.39,-116.8,425.5,-9.9,190,3673,0.00,0.00,0.00,0.000,6,0.000,0.000,2806,1815,3479,0,0,0,0,0,0
$GC,3914,-1.39,-116.8,452.7,-11.4,196,3918,0.00,2.53,0.00,0.000,4,0.000,0.053,2806,3331,3478,0,0,0,0,0,0
$GC,3930,-1.39,-116.8,454.9,-12.2,196,3934,0.00,2.58,0.00,0.000,6,0.000,0.060,2806,1818,3478,0,0,0,0,0,0
$GC,4191,-1.39,-116.8,486.6,-12.2,203,4196,0.00,2.55,0.00,0.000,4,0.000,0.056,2806,3333,3476,0,0,0,0,0,0
$GC,4248,-1.39,-116.8,493.3,-11.5,204,4253,0.00,2.60,0.00,0.000,6,0.000,0.067,2806,1819,3475,0,0,0,0,0,0
$STATE,4309,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4309,begin apogee
$GC,4315,-0.31,0.0,500.7,11.4,206,4415,1.10,0.00,95.47,0.927,6,0.088,0.000,3050,1973,3001,0,0,0,0,0,0
$STATE,4415,end apogee,CONTROL_FINISHED_OK
$STATE,4415,begin climb
$GC,4418,1.38,116.8,504.1,0.0,208,4528,1.58,2.70,99.03,0.896,4,0.054,0.057,3417,3526,2523,0,0,0,0,0,0
$GC,4550,1.43,190.7,501.2,5.8,211,4622,0.00,2.70,63.33,0.881,6,0.000,0.058,3417,1969,2222,0,0,0,0,0,0
$GC,4865,1.43,190.7,470.2,10.3,219,4867,0.00,0.00,0.00,0.000,6,0.000,0.000,3417,1969,2214,0,0,0,0,0,0
$GC,5109,1.43,190.7,445.1,10.4,225,5113,0.00,2.62,0.00,0.000,4,0.000,0.044,3417,3533,2212,0,0,0,0,0,0
$GC,5158,1.43,190.7,439.5,11.4,226,5163,0.00,2.65,0.00,0.000,6,0.000,0.048,3417,1967,2210,0,0,0,0,0,0
$GC,5432,1.43,190.7,410.7,10.5,233,5437,0.00,2.92,0.00,0.000,4,0.000,0.104,3417,380,2208,0,0,0,0,0,0
$GC,5453,1.43,190.7,408.2,10.7,233,5457,0.00,2.55,0.00,0.000,6,0.000,0.029,3417,1961,2207,0,0,0,0,0,0
$GC,5709,1.45,203.8,383.9,9.3,240,5724,0.00,2.67,9.77,0.769,4,0.000,0.048,3417,3554,2169,0,0,0,0,0,0
$GC,5748,1.48,229.5,380.4,8.6,241,5779,0.10,2.65,24.00,0.832,6,0.092,0.044,3445,1963,2065,0,0,0,0,0,0
$GC,6030,1.48,229.5,351.3,10.4,248,6035,0.00,2.62,0.00,0.000,4,0.000,0.035,3444,3555,2059,0,0,0,0,0,0
$GC,6064,1.48,229.5,347.3,11.3,248,6070,0.00,2.62,0.00,0.000,6,0.000,0.037,3444,1977,2057,0,0,0,0,0,0
$GC,6314,1.48,229.5,320.9,10.6,255,6315,0.00,0.00,0.00,0.000,6,0.000,0.000,3445,1977,2057,0,0,0,0,0,0
$GC,6558,1.51,254.8,299.3,8.6,261,6587,0.00,2.70,21.88,0.792,4,0.000,0.036,3445,3557,1961,0,0,0,0,0,0
$GC,6611,1.53,265.8,294.5,9.4,262,6627,0.00,2.60,10.90,0.728,6,0.000,0.038,3444,1981,1917,0,0,0,0,0,0
$GC,6884,1.53,265.8,265.8,10.9,269,6888,0.00,2.60,0.00,0.000,4,0.000,0.041,3445,3560,1912,0,0,0,0,0,0
$GC,6917,1.53,265.8,262.0,11.7,269,6922,0.00,2.58,0.00,0.000,6,0.000,0.036,3444,1995,1911,0,0,0,0,0,0
$GC,7168,1.53,265.8,234.0,11.3,276,7173,0.00,2.75,0.00,0.000,4,0.000,0.069,3445,393,1910,0,0,0,0,0,0
$GC,7189,1.53,265.8,231.0,12.3,276,7193,0.00,2.55,0.00,0.000,6,0.000,0.020,3445,2023,1910,0,0,0,0,0,0
$GC,7445,1.53,265.8,198.6,13.1,283,7449,0.00,2.50,0.00,0.000,4,0.000,0.036,3445,3561,1909,0,0,0,0,0,0
$GC,7488,1.57,265.8,193.2,13.8,286,7492,0.00,2.53,0.00,0.000,6,0.000,0.037,3445,1997,1908,0,0,0,0,0,0
$GC,7756,1.60,265.8,159.0,11.7,310,7761,0.10,2.53,0.00,0.000,4,0.092,0.032,3472,3552,1907,0,0,0,0,0,0
$GC,7788,1.60,265.8,154.3,11.5,312,7800,0.00,2.50,0.00,0.000,6,0.000,0.035,3472,2025,1907,0,0,0,0,0,0
$GC,8057,1.64,300.0,129.5,8.1,337,8096,0.00,0.00,28.92,0.660,6,0.000,0.000,3472,2025,1775,0,0,0,0,0,0
$GC,8351,1.65,300.6,101.2,10.0,365,8356,0.00,0.00,0.00,0.000,6,0.000,0.000,3472,2025,1773,0,0,0,0,0,0
$GC,8617,1.65,300.6,72.2,11.9,390,8622,0.00,2.75,0.00,0.000,4,0.000,0.055,3472,393,1772,0,0,0,0,0,0
$GC,8651,1.65,300.6,67.1,12.7,392,8660,0.00,2.60,0.00,0.000,6,0.000,0.018,3472,2046,1770,0,0,0,0,0,0
$GC,8919,1.70,300.6,37.0,11.5,417,8924,0.00,2.80,0.00,0.000,4,0.000,0.052,3472,386,1770,0,0,0,0,0,0
$GC,8977,1.70,300.6,29.7,12.0,421,8987,0.00,2.60,0.00,0.000,6,0.000,0.018,3472,2044,1770,0,0,0,0,0,0
$STATE,9216,end climb,SURFACE_DEPTH_REACHED
$STATE,9216,begin surface coast
$FINISH,0.5,0.975271
$STATE,9265,end surface coast,CONTROL_FINISHED_OK
$STATE,9265,begin surface
$SM_CCo,9287,80.93,0.532,0,0,1370,400.08
$SM_GC,1.14,0.00,0.00,80.93,0.000,0.000,0.532,475,1726,1370,-12.17,-1.24,400.08
$IRIDIUM_FIX,2237.01,-15800.20,160800,222246
$TT8_MAMPS,0.026078
$HUMID,57.63
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.80
$XPDR_PINGS,47
$24V_AH,23.5,13.328
$10V_AH,10.4,11.350
$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,28.325,124.300,353.300,80.925,0.000,58.529,69.951,244.925,11.750,0.000,13.712,933.378,6142.923,504.803,1717.143,652.767,33.362,1168.016,0.000,1724.783,0.000,0.536,0.000
$DEVICE_MAMPS,166.439,140.361,927.303,532.298,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,313.133,248.859,351.856,674.180,1019.739,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355524
$DATA_FILE_SIZE,35235,462
$CAP_FILE_SIZE,101633,0
$CFSIZE,260165632,176812032
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240511,011350,2247.912,-15802.727,10,1.5,28,10.1