version: 66.06
glider: 146
mission: 6
dive: 106
start: 5 24 111 4 20 37
data:
$ID,146
$MISSION,6
$DIVE,106
$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,-269661.56
$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,31
$R_STBD_OVSHOOT,55
$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
$GPS1,040237,2248.765,-15802.963,68,1.3,68,10.1
$_CALLS,3
$_XMS_NAKs,4
$_XMS_TOUTs,0
$_SM_DEPTHo,1.13
$_SM_ANGLEo,-68.6
$GPS2,041943,2248.770,-15803.018,9,1.0,14,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.048,0.230
$KALMAN_X,-72197.6,-74.6,-157.8,61806.2,-463.6
$KALMAN_Y,-125973.4,-138.3,14.1,135113.0,-673.1
$MHEAD_RNG_PITCHd_Wd,1.8,2279,-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,17,-1.38,-116.8,0.0,0.0,0,97,0.00,0.00,-77.78,0.000,2,0.000,0.000,478,1766,3309,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.0,-4.3,10,126,12.25,2.53,-3.25,0.000,4,0.153,0.044,2810,3332,3482,0,0,0,0,0,0
$GC,303,-1.28,-116.8,45.2,-15.7,33,309,0.15,2.50,0.00,0.000,6,0.124,0.030,2839,1765,3483,0,0,0,0,0,0
$GC,570,-1.20,-116.8,81.4,-10.7,57,575,0.00,0.00,0.00,0.000,6,0.000,0.000,2839,1766,3484,0,0,0,0,0,0
$GC,833,-1.14,-116.8,111.8,-11.9,82,838,0.15,2.50,0.00,0.000,4,0.123,0.025,2869,3336,3484,0,0,0,0,0,0
$GC,866,-1.14,-116.8,115.7,-10.1,84,876,0.00,2.53,0.00,0.000,6,0.000,0.035,2869,1777,3484,0,0,0,0,0,0
$GC,1132,-1.14,-116.8,142.1,-10.3,109,1137,0.00,2.45,0.00,0.000,4,0.000,0.029,2869,3341,3485,0,0,0,0,0,0
$GC,1166,-1.18,-116.8,145.5,-9.6,111,1171,0.00,2.53,0.00,0.000,6,0.000,0.034,2869,1766,3485,0,0,0,0,0,0
$GC,1429,-1.18,-116.8,174.8,-12.0,135,1433,0.00,2.47,0.00,0.000,4,0.000,0.025,2869,3345,3485,0,0,0,0,0,0
$GC,1485,-1.25,-116.8,181.0,-12.1,139,1490,0.00,2.50,0.00,0.000,6,0.000,0.027,2869,1783,3485,0,0,0,0,0,0
$GC,1773,-1.31,-116.8,213.8,-11.3,157,1774,0.15,0.00,0.00,0.000,6,0.067,0.000,2822,1782,3485,0,0,0,0,0,0
$GC,2016,-1.31,-116.8,243.4,-12.1,163,2020,0.00,2.45,0.00,0.000,4,0.000,0.036,2823,3334,3485,0,0,0,0,0,0
$GC,2094,-1.31,-116.8,252.6,-11.0,164,2100,0.00,2.45,0.00,0.000,6,0.000,0.033,2822,1803,3485,0,0,0,0,0,0
$GC,2344,-1.31,-116.8,281.9,-11.9,171,2349,0.00,2.85,0.00,0.000,4,0.000,0.084,2822,193,3485,0,0,0,0,0,0
$GC,2405,-1.26,-116.8,290.0,-13.4,172,2410,0.10,2.50,0.00,0.000,6,0.123,0.021,2843,1778,3485,0,0,0,0,0,0
$GC,2667,-1.26,-116.8,319.1,-10.9,179,2668,0.00,0.00,0.00,0.000,6,0.000,0.000,2843,1778,3483,0,0,0,0,0,0
$GC,2910,-1.30,-116.8,342.7,-9.5,185,2914,0.00,2.58,0.00,0.000,4,0.000,0.043,2842,3355,3483,0,0,0,0,0,0
$GC,2980,-1.37,-116.8,349.1,-9.0,186,2984,0.00,2.60,0.00,0.000,6,0.000,0.051,2842,1800,3482,0,0,0,0,0,0
$GC,3235,-1.41,-116.8,374.3,-9.9,193,3240,0.12,2.55,0.00,0.000,4,0.082,0.045,2803,3354,3480,0,0,0,0,0,0
$GC,3256,-1.41,-116.8,376.9,-11.6,193,3261,0.00,2.60,0.00,0.000,6,0.000,0.050,2803,1794,3480,0,0,0,0,0,0
$GC,3513,-1.41,-116.8,407.8,-12.4,200,3518,0.00,2.55,0.00,0.000,4,0.000,0.046,2803,3349,3479,0,0,0,0,0,0
$GC,3540,-1.41,-116.8,411.5,-12.3,200,3545,0.00,2.60,0.00,0.000,6,0.000,0.059,2803,1806,3479,0,0,0,0,0,0
$GC,3791,-1.41,-116.8,443.5,-12.8,206,3795,0.00,2.53,0.00,0.000,4,0.000,0.051,2803,3348,3477,0,0,0,0,0,0
$GC,3806,-1.41,-116.8,445.7,-13.2,206,3810,0.00,2.65,0.00,0.000,6,0.000,0.062,2803,1802,3478,0,0,0,0,0,0
$GC,4068,-1.41,-116.8,478.9,-12.7,213,4073,0.00,2.58,0.00,0.000,4,0.000,0.051,2803,3341,3476,0,0,0,0,0,0
$GC,4112,-1.41,-116.8,484.5,-12.8,214,4116,0.00,2.65,0.00,0.000,6,0.000,0.065,2803,1800,3475,0,0,0,0,0,0
$STATE,4266,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4266,begin apogee
$GC,4272,-0.31,0.0,502.7,11.7,218,4372,1.10,0.00,96.65,0.924,6,0.087,0.000,3048,1986,3001,0,0,0,0,0,0
$STATE,4373,end apogee,CONTROL_FINISHED_OK
$STATE,4373,begin climb
$GC,4377,1.38,116.8,506.0,0.0,220,4486,1.60,2.70,99.10,0.901,4,0.054,0.061,3422,3523,2522,0,0,0,0,0,0
$GC,4510,1.41,182.4,502.5,6.3,223,4574,0.00,2.70,56.47,0.882,6,0.000,0.055,3422,1961,2257,0,0,0,0,0,0
$GC,4825,1.41,182.4,471.4,10.3,231,4826,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1961,2248,0,0,0,0,0,0
$GC,5069,1.41,185.9,447.4,9.8,237,5070,0.00,0.00,0.00,0.000,6,0.000,0.000,3422,1961,2245,0,0,0,0,0,0
$GC,5314,1.41,187.0,423.2,10.0,243,5318,0.00,2.62,0.00,0.000,4,0.000,0.048,3422,3538,2243,0,0,0,0,0,0
$GC,5335,1.41,187.0,420.8,10.4,243,5339,0.00,2.65,0.00,0.000,6,0.000,0.044,3422,1970,2242,0,0,0,0,0,0
$GC,5590,1.43,196.6,396.3,9.5,250,5606,0.00,2.60,11.18,0.792,4,0.000,0.037,3422,3534,2197,0,0,0,0,0,0
$GC,5619,1.45,215.5,393.6,9.0,250,5643,0.00,2.62,18.40,0.819,6,0.000,0.043,3422,1968,2121,0,0,0,0,0,0
$GC,5916,1.46,219.9,364.2,9.8,258,5925,0.00,2.62,4.18,0.562,4,0.000,0.041,3422,3542,2104,0,0,0,0,0,0
$GC,5961,1.46,219.9,359.6,10.5,259,5965,0.00,2.62,0.00,0.000,6,0.000,0.041,3422,1966,2103,0,0,0,0,0,0
$GC,6245,1.46,219.9,330.3,10.7,266,6249,0.00,2.58,0.00,0.000,4,0.000,0.035,3422,3541,2101,0,0,0,0,0,0
$GC,6284,1.46,219.9,325.5,12.0,267,6288,0.00,2.58,0.00,0.000,6,0.000,0.041,3422,1980,2100,0,0,0,0,0,0
$GC,6568,1.46,219.9,295.4,10.1,274,6573,0.00,2.78,0.00,0.000,4,0.000,0.071,3422,388,2099,0,0,0,0,0,0
$GC,6600,1.46,219.9,291.5,11.1,274,6606,0.00,2.53,0.00,0.000,6,0.000,0.020,3422,1987,2099,0,0,0,0,0,0
$GC,6851,1.47,228.0,267.5,9.6,281,6865,0.00,2.83,7.88,0.689,4,0.000,0.064,3422,390,2070,0,0,0,0,0,0
$GC,6935,1.47,228.0,258.4,11.3,282,6941,0.00,2.50,0.00,0.000,6,0.000,0.026,3422,1968,2068,0,0,0,0,0,0
$GC,7185,1.52,232.7,233.6,9.8,289,7197,0.12,2.55,5.40,0.595,4,0.086,0.040,3455,3534,2052,0,0,0,0,0,0
$GC,7270,1.52,232.7,223.8,11.5,291,7275,0.00,2.55,0.00,0.000,6,0.000,0.032,3454,1973,2050,0,0,0,0,0,0
$GC,7530,1.52,235.5,198.3,9.9,298,7541,0.00,2.58,4.12,0.502,4,0.000,0.034,3455,3539,2039,0,0,0,0,0,0
$GC,7603,1.56,270.5,191.9,8.0,304,7640,0.00,2.53,31.70,0.714,6,0.000,0.032,3455,1986,1898,0,0,0,0,0,0
$GC,7902,1.58,280.3,166.1,9.5,332,7917,0.00,2.55,9.38,0.624,4,0.000,0.033,3455,3535,1858,0,0,0,0,0,0
$GC,7941,1.58,280.3,162.3,10.5,335,7945,0.00,2.53,0.00,0.000,6,0.000,0.035,3455,1991,1856,0,0,0,0,0,0
$GC,8208,1.58,280.3,135.0,11.5,359,8213,0.00,2.47,0.00,0.000,4,0.000,0.032,3455,3535,1854,0,0,0,0,0,0
$GC,8253,1.62,280.3,128.8,12.4,362,8263,0.00,2.50,0.00,0.000,6,0.000,0.035,3455,2010,1853,0,0,0,0,0,0
$GC,8521,1.62,285.5,103.3,9.7,387,8532,0.00,2.75,5.62,0.502,4,0.000,0.058,3455,389,1836,0,0,0,0,0,0
$GC,8556,1.62,285.5,98.7,11.4,390,8561,0.00,2.55,0.00,0.000,6,0.000,0.025,3455,2020,1835,0,0,0,0,0,0
$GC,8824,1.68,289.8,71.4,9.8,414,8839,0.12,0.00,5.15,0.465,6,0.077,0.000,3490,2022,1819,0,0,0,0,0,0
$GC,9097,1.68,289.8,39.8,11.9,439,9101,0.00,2.72,0.00,0.000,4,0.000,0.051,3490,389,1819,0,0,0,0,0,0
$GC,9129,1.68,289.8,35.4,13.1,441,9134,0.00,2.47,0.00,0.000,6,0.000,0.018,3490,2007,1819,0,0,0,0,0,0
$STATE,9391,end climb,SURFACE_DEPTH_REACHED
$STATE,9391,begin surface coast
$FINISH,0.5,0.978109
$STATE,9434,end surface coast,CONTROL_FINISHED_OK
$STATE,9434,begin surface
$SM_CCo,9456,90.15,0.535,0,0,1369,400.08
$SM_GC,1.23,0.00,0.00,90.15,0.000,0.000,0.535,476,1722,1369,-12.16,-1.36,400.08
$IRIDIUM_FIX,2241.69,-15802.37,170800,040407
$TT8_MAMPS,0.026078
$HUMID,57.36
$INTERNAL_PRESSURE,9.14098
$TCM_TEMP,21.70
$XPDR_PINGS,47
$24V_AH,23.5,13.605
$10V_AH,10.4,11.570
$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,28.125,124.475,355.225,90.150,0.000,83.323,99.066,579.739,11.750,0.000,15.838,977.801,6197.812,508.982,1850.896,1039.900,33.362,1202.462,0.000,1847.226,0.000,0.536,0.000
$DEVICE_MAMPS,153.400,83.603,924.235,535.366,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,326.056,273.502,375.255,707.755,1065.847,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355692
$DATA_FILE_SIZE,38296,481
$CAP_FILE_SIZE,111711,0
$CFSIZE,260165632,176689152
$ERRORS,0,1,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,240511,070032,2249.452,-15803.215,7,1.9,7,10.1