version: 66.06
glider: 146
mission: 6
dive: 145
start: 5 28 111 18 47 3
data:
$ID,146
$MISSION,6
$DIVE,145
$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,-270774.91
$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,3130
$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,34
$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
$GPS1,183926,2246.989,-15802.884,22,99.0,41,10.1
$_CALLS,1
$_XMS_NAKs,7
$_XMS_TOUTs,1
$_SM_DEPTHo,1.23
$_SM_ANGLEo,-68.7
$GPS2,184608,2246.984,-15802.889,30,1.9,31,10.1
$SPEED_LIMITS,0.143,0.235
$TGT_NAME,WAY1
$TGT_LATLONG,2250.000,-15803.000
$TGT_RADIUS,1500.000
$KALMAN_CONTROL,0.009,0.235
$KALMAN_X,-84841.4,80.3,223.9,74129.6,-154.9
$KALMAN_Y,-136543.1,-112.3,261.2,142101.9,-361.2
$MHEAD_RNG_PITCHd_Wd,352.1,5588,-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,12,begin dive
$GC,15,-1.38,-116.8,0.0,0.0,0,96,0.00,0.00,-78.35,0.000,2,0.000,0.000,479,1814,3353,0,0,0,0,0,0
$GC,100,-1.38,-116.8,3.6,-6.1,10,126,12.48,2.45,-2.28,0.000,4,0.160,0.040,2821,3339,3481,0,0,0,0,0,0
$GC,229,-1.29,-116.8,35.1,-17.3,26,234,0.12,2.50,0.00,0.000,6,0.130,0.027,2846,1772,3482,0,0,0,0,0,0
$GC,497,-1.23,-116.8,76.2,-14.8,50,501,0.00,2.45,0.00,0.000,4,0.000,0.025,2845,3335,3483,0,0,0,0,0,0
$GC,518,-1.17,-116.8,79.7,-14.4,51,523,0.12,2.53,0.00,0.000,6,0.121,0.033,2871,1760,3484,0,0,0,0,0,0
$GC,785,-1.17,-116.8,114.0,-13.9,75,790,0.00,2.67,0.00,0.000,4,0.000,0.063,2871,197,3485,0,0,0,0,0,0
$GC,808,-1.17,-116.8,117.9,-13.3,76,819,0.00,2.42,0.00,0.000,6,0.000,0.015,2872,1810,3484,0,0,0,0,0,0
$GC,1075,-1.17,-116.8,150.1,-11.4,101,1079,0.00,2.30,0.00,0.000,4,0.000,0.027,2871,3296,3485,0,0,0,0,0,0
$GC,1107,-1.17,-116.8,153.9,-11.7,103,1112,0.00,2.40,0.00,0.000,6,0.000,0.028,2871,1774,3485,0,0,0,0,0,0
$GC,1374,-1.17,-116.8,181.2,-9.2,127,1378,0.00,2.38,0.00,0.000,4,0.000,0.031,2871,3295,3485,0,0,0,0,0,0
$GC,1396,-1.21,-116.8,183.9,-9.5,128,1401,0.00,2.40,0.00,0.000,6,0.000,0.032,2871,1775,3486,0,0,0,0,0,0
$GC,1667,-1.26,-116.8,207.5,-9.1,148,1671,0.00,2.38,0.00,0.000,4,0.000,0.031,2871,3295,3486,0,0,0,0,0,0
$GC,1707,-1.33,-116.8,211.5,-9.0,149,1712,0.12,2.38,0.00,0.000,6,0.073,0.032,2825,1793,3486,0,0,0,0,0,0
$GC,1991,-1.33,-116.8,242.6,-10.8,156,1993,0.00,0.00,0.00,0.000,6,0.000,0.000,2826,1793,3486,0,0,0,0,0,0
$GC,2234,-1.33,-116.8,269.6,-11.6,162,2235,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1792,3486,0,0,0,0,0,0
$GC,2477,-1.33,-116.8,298.7,-12.4,168,2481,0.00,2.40,0.00,0.000,4,0.000,0.041,2825,3297,3486,0,0,0,0,0,0
$GC,2551,-1.33,-116.8,307.4,-11.8,169,2555,0.00,2.45,0.00,0.000,6,0.000,0.040,2825,1796,3486,0,0,0,0,0,0
$GC,2800,-1.33,-116.8,335.1,-10.9,175,2805,0.00,2.40,0.00,0.000,4,0.000,0.038,2825,3297,3485,0,0,0,0,0,0
$GC,2827,-1.33,-116.8,338.3,-11.6,175,2832,0.00,2.47,0.00,0.000,6,0.000,0.051,2825,1795,3485,0,0,0,0,0,0
$GC,3078,-1.33,-116.8,364.3,-10.4,181,3082,0.00,2.40,0.00,0.000,4,0.000,0.037,2825,3290,3483,0,0,0,0,0,0
$GC,3120,-1.33,-116.8,368.4,-9.9,182,3125,0.00,2.47,0.00,0.000,6,0.000,0.049,2825,1806,3484,0,0,0,0,0,0
$GC,3404,-1.33,-116.8,396.7,-9.9,189,3405,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1806,3482,0,0,0,0,0,0
$GC,3648,-1.33,-116.8,420.5,-9.6,195,3652,0.00,2.42,0.00,0.000,4,0.000,0.044,2825,3290,3480,0,0,0,0,0,0
$GC,3667,-1.33,-116.8,422.2,-9.7,195,3671,0.00,2.53,0.00,0.000,6,0.000,0.060,2825,1812,3480,0,0,0,0,0,0
$GC,3927,-1.33,-116.8,446.7,-9.3,202,3931,0.00,2.45,0.00,0.000,4,0.000,0.048,2825,3287,3479,0,0,0,0,0,0
$GC,3960,-1.37,-116.8,450.0,-10.1,202,3966,0.00,2.53,0.00,0.000,6,0.000,0.063,2825,1820,3479,0,0,0,0,0,0
$GC,4212,-1.37,-116.8,474.7,-10.0,209,4213,0.00,0.00,0.00,0.000,6,0.000,0.000,2825,1820,3477,0,0,0,0,0,0
$STATE,4452,end dive,TARGET_DEPTH_EXCEEDED
$STATE,4452,begin apogee
$GC,4458,-0.31,0.0,500.7,11.0,215,4558,1.05,0.00,96.43,0.933,6,0.086,0.000,3060,1923,3001,0,0,0,0,0,0
$STATE,4559,end apogee,CONTROL_FINISHED_OK
$STATE,4559,begin climb
$GC,4561,1.38,116.8,504.2,0.0,217,4671,1.58,3.00,98.28,0.913,4,0.052,0.116,3429,383,2523,0,0,0,0,0,0
$GC,4705,1.35,189.3,502.1,5.9,220,4774,0.00,2.62,61.78,0.895,6,0.000,0.034,3429,1958,2228,0,0,0,0,0,0
$GC,5053,1.35,196.2,470.9,9.6,229,5061,0.00,0.00,6.25,0.701,6,0.000,0.000,3429,1958,2200,0,0,0,0,0,0
$GC,5296,1.35,196.2,445.7,10.4,235,5301,0.00,2.72,0.00,0.000,4,0.000,0.059,3429,3560,2196,0,0,0,0,0,0
$GC,5345,1.35,196.2,440.1,11.1,236,5350,0.00,2.70,0.00,0.000,6,0.000,0.045,3429,1966,2196,0,0,0,0,0,0
$GC,5617,1.35,196.2,410.8,10.7,243,5622,0.00,2.65,0.00,0.000,4,0.000,0.044,3429,3563,2194,0,0,0,0,0,0
$GC,5656,1.35,196.2,406.6,10.8,244,5661,0.00,2.65,0.00,0.000,6,0.000,0.047,3429,1973,2193,0,0,0,0,0,0
$GC,5941,1.36,198.6,378.0,9.9,251,5945,0.00,2.85,0.00,0.000,4,0.000,0.082,3429,382,2191,0,0,0,0,0,0
$GC,5962,1.31,198.6,375.6,10.1,251,5966,0.00,2.55,0.00,0.000,6,0.000,0.028,3429,1994,2190,0,0,0,0,0,0
$GC,6217,1.34,218.8,352.3,8.9,258,6241,0.00,2.60,19.23,0.828,4,0.000,0.041,3429,3541,2108,0,0,0,0,0,0
$GC,6265,1.37,248.5,348.3,8.3,259,6301,0.00,2.62,27.40,0.823,6,0.000,0.039,3429,1975,1987,0,0,0,0,0,0
$GC,6545,1.39,260.1,321.6,9.4,266,6558,0.00,0.00,11.10,0.753,6,0.000,0.000,3429,1975,1940,0,0,0,0,0,0
$GC,6789,1.39,264.9,297.8,9.8,272,6799,0.00,2.58,5.40,0.622,4,0.000,0.034,3429,3545,1920,0,0,0,0,0,0
$GC,6811,1.39,264.9,295.6,10.0,272,6816,0.00,2.58,0.00,0.000,6,0.000,0.038,3429,1977,1919,0,0,0,0,0,0
$GC,7066,1.39,264.9,269.4,10.5,279,7067,0.00,0.00,0.00,0.000,6,0.000,0.000,3429,1977,1918,0,0,0,0,0,0
$GC,7310,1.39,264.9,243.2,11.0,285,7314,0.00,2.75,0.00,0.000,4,0.000,0.071,3429,389,1916,0,0,0,0,0,0
$GC,7337,1.39,264.9,239.7,13.0,285,7342,0.00,2.55,0.00,0.000,6,0.000,0.021,3429,2016,1916,0,0,0,0,0,0
$GC,7587,1.43,264.9,212.7,10.8,291,7592,0.00,2.78,0.00,0.000,4,0.000,0.061,3429,390,1915,0,0,0,0,0,0
$GC,7620,1.43,264.9,209.0,11.2,291,7626,0.00,2.50,0.00,0.000,6,0.000,0.022,3429,1983,1915,0,0,0,0,0,0
$GC,7881,1.52,302.0,186.7,7.9,307,7920,0.12,2.58,32.62,0.719,4,0.083,0.038,3463,3535,1768,0,0,0,0,0,0
$GC,7961,1.52,302.0,178.0,10.9,313,7967,0.00,2.55,0.00,0.000,6,0.000,0.031,3463,1972,1765,0,0,0,0,0,0
$GC,8225,1.52,302.0,149.8,10.7,338,8230,0.00,2.53,0.00,0.000,4,0.000,0.031,3463,3534,1763,0,0,0,0,0,0
$GC,8246,1.52,302.0,147.5,10.6,339,8250,0.00,2.53,0.00,0.000,6,0.000,0.031,3463,1980,1762,0,0,0,0,0,0
$GC,8513,1.52,302.0,116.8,12.1,363,8518,0.00,2.53,0.00,0.000,4,0.000,0.031,3463,3542,1762,0,0,0,0,0,0
$GC,8546,1.52,302.0,112.5,12.6,365,8551,0.00,2.50,0.00,0.000,6,0.000,0.035,3463,1986,1760,0,0,0,0,0,0
$GC,8812,1.52,302.0,79.4,12.4,389,8817,0.00,2.70,0.00,0.000,4,0.000,0.058,3463,393,1760,0,0,0,0,0,0
$GC,8848,1.52,302.0,74.8,14.1,391,8852,0.00,2.50,0.00,0.000,6,0.000,0.018,3463,2009,1760,0,0,0,0,0,0
$GC,9115,1.56,302.0,41.3,11.8,415,9119,0.00,2.42,0.00,0.000,4,0.000,0.030,3463,3531,1760,0,0,0,0,0,0
$GC,9161,1.63,302.0,35.5,12.2,418,9165,0.00,2.45,0.00,0.000,6,0.000,0.031,3463,1998,1760,0,0,0,0,0,0
$STATE,9455,end climb,SURFACE_DEPTH_REACHED
$STATE,9455,begin surface coast
$FINISH,0.7,0.980120
$STATE,9499,end surface coast,CONTROL_FINISHED_OK
$STATE,9499,begin surface
$SM_CCo,9523,78.80,0.547,0,0,1369,400.08
$SM_GC,1.39,0.00,0.00,78.80,0.000,0.000,0.547,474,1750,1369,-12.22,-0.59,400.08
$IRIDIUM_FIX,2239.35,-15804.53,210800,161633
$TT8_MAMPS,0.026078
$HUMID,60.27
$INTERNAL_PRESSURE,9.13121
$TCM_TEMP,21.10
$XPDR_PINGS,43
$24V_AH,23.5,18.342
$10V_AH,10.4,15.780
$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,27.650,122.250,358.475,78.800,0.000,28.236,32.538,185.698,10.750,0.000,32.547,950.935,6301.018,499.293,1731.731,524.692,33.359,1151.321,0.000,1719.833,0.000,0.534,0.000
$DEVICE_MAMPS,160.303,139.594,933.439,546.871,0.000,103.000,160.000,223.000,420.000,0.000,50.000,19.800,2.190,19.800,39.800,45.800,81.800,12.000,0.000,8.000,0.000,5.000,0.000
$SENSORS,SBE_CT,SBE_O2,AA3830,WL_BB2F,WL_BBFL2VMT,nil,nil,nil
$SENSOR_SECS,315.787,263.210,353.193,661.429,1000.307,0.000,0.000,0.000
$SENSOR_MAMPS,24.000,19.000,33.000,105.000,105.000,0.000,0.000,0.000
$MEM,355520
$DATA_FILE_SIZE,38436,465
$CAP_FILE_SIZE,99907,0
$CFSIZE,260165632,174686208
$ERRORS,0,0,0,0,0,0,0,0,0,0,0,0,0,0,0
$GPS,280511,212806,2248.036,-15803.104,10,2.0,20,10.1